About Rorobot · 5 Fingers Centripetal Combination Other Combinations 3 Fingers Centripetal Combination 7. Robot Flange Rigid Rod Slide Mounting Platte Finger Module RF-02 RR-02 SMP-04

About Rorobot

About Rorobot

1

Rorobot specializes in the design, development, production and sales of the

flexible hand at the end of the robot arm. The product technology is applied to

industrial automation, logistics, food, medical, automobile, clothing, textile, 3C

electronics, toys, education and many other industries.

At present, the main products are finger module, gripper suit, beak suit, control

unit and so on. Among them, gripper suit is a universal flexible gripper which

really simulates the strength and touch of the human finger, while beak is the

think-tank for solving jewellery and micro irregular objects.

Choosing “Rorobot" is to give your robot a gentle hand. We look forward to

your inquiry and wish to cooperate sincerely with you.

Assembling View

Robot

Connector Part

Quick Changer

Connector Part

Quick Changer

Gripper Suit GS-3C5V5-08-S01-01

Robot Flange

Slide Mounting Platte

Finger Module

Spring Rod

Assembling View

2

[ FM ]

Finger Module

1.1

[ F ]

Roro Finger

1.2

[ BS ]

Beak Suit

2.0

[ B ]

Beak

2.1

[ SMP ]


3.1

[ P ]

Profile

3.5

[ RF ]

Robot Flange

3.2

[ QC ]

Quick Changer

3.7

[ CP ]

Connector Part

3.6

[ SR ]

Spring Rod

3.3

[ RR ]

Rigid Rod

3.4

[ GS ]

Gripper Suit

1.0

General Index

[ ACU ]

Active Control Unit

4.2

[ PCU ]

Passive Control Unit

4.1

General Index

3

Encoding Method

Encoding Method

4

GS - 2 B5V5 - 04 - R01 - 01

① Category Name

② Module Number

③ Finger Module

④ Slide Mounting Platte

⑤ Connector Rod

Gripper Suit

⑥ Robot Flange

① Category Name [GS] Gripper Suit

② Module Number[Example] 2：Module Number is 2

Optional 2/3/4…

③ Finger Module

[Example] B5V5：FM-B5V5 Finger Module Series-V5

Finger Module Series-V4 Refer to 1.1.1

Finger Module Series-V5 Refer to 1.1.2

④ Slide Mounting Platte[Example] 04：SMP-04

Refer to 3.1

⑤ Connector Rod

[Example] R01：RR-01 Rigid Rod

[Example] S01：SR-01 Spring Rod

Refer to 3.3, 3.4

⑥ Robot Flange[Example] 01：RF-01

Refer to 3.2

Encoding Method

FM - A6 V4

① Category Name

② Finger Model

③ Finger Series

Finger Module

BS - 2B - S01 - 01

① Category Name

② Beak Model③ Connector Rod

Roro Beak Suit

Encoding Method

5

④ Robot Flange

① Category Name [FM] Finger Module

② Finger Model

[Example] A6：Finger-A6 Series-A Knobs-6

This version includes 21 finger models.

Refer to 1.2

③ Finger SeriesV4：Series-V4 Air Input - Underside

V5：Series-V5 Air Input - Backside

① Category Name [BS] Beak Suit

② Beak Model[Example] 2B：Beak-2B Pieces-2

Optional Pieces-2/3/4... Refer to 2.1

③ Connector Rod[Example] S01：SR-01 Spring Rod

Refer to 3.3

④ Robot Flange[Example] 01：RF-01

Refer to 3.2

1

[ FM ]

Finger Module

1.1

[ F ]

Finger

1.2

[ GS ]

Gripper Suit

1.0

6

Combination Mode

Combination Mode

4 Fingers Centripetal Combination

Parallel Combination



Other Combinations


7

Robot Flange Rigid Rod Slide Mounting Platte Finger Module

RF-02 RR-02 SMP-04 2 x FM-B5V5

GS-2B5V5-04-R02-02 2 Fingers Gripper Suit

1.0 Gripper Suit

1.0 Gripper Suit

Component Module

Robot Flange

RF-02


SMP-04

Finger Module

FM-B5V5

Rigid Rod

RR-02

2 Fingers gripper suit, the most basic combination, has strong versatility and

adaptability. It is suitable for gripping soft, light objects and strip objects.

8

Normal StateNegative Pressure State Positive Pressure State Fingertip Stroke

Series - GS-2B[X]V5-04-R02-02 Parameter

1.0 Gripper Suit

1.0 Gripper Suit

Series - GS-2B[X]V5-04-R02-02 Performance

9

Maximum Load Working Frequency Precision Range

250 g 150 times/min 0.5 mm

Gmin [mm] Gmax [mm]

GS-2B3V5-04-R02-02 10 - 35*(85**) 31 40 1 73*(123**) 38 216*(224**)

GS-2B4V5-04-R02-02 10 - 35*(85**) 41.5 40 1 85*(135**) 50 221*(229**)

GS-2B5V5-04-R02-02 10 - 35*(85**) 52 40 1 115*(165**) 80 226*(234**)

GS-2B6V5-04-R02-02 10 - 35*(85**) 62.5 40 1 115*(165**) 75 231*(239**)

GS-2B7V5-04-R02-02 10 - 35*(85**) 73 40 1 145*(195**) 105 236*(244**)

GS-2B8V5-04-R02-02 10 - 35*(85**) 83.5 40 1 155*(205**) 115 241*(249**)

Height

X1 [mm]

*：SMP-04 Slide Mounting Platte（short type）

**：SMP-11 Slide Mounting Platte（long type）

Self Weight

[g]

Parameter

Gripper Suit

Static Fingertip Distance

D [mm]

Dynamic Fingertip Distance G Fingertip Stroke

HR [mm]

Finger Length

Lf [mm]

Robot Flange

RF-01


SMP-08

Finger Module

FM-C4V5

Spring Rod

SR-01

3 Fingers gripper suit has strong adaptability and relatively high speed. It is

especially suitable for round objects to be surrounded and crawled, and can also be

used for external bracing.

10

GS-3C4V5-08-S01-01 3 Fingers Gripper Suit

1.0 Gripper Suit

1.0 Gripper Suit

Component Module

Robot Flange Spring Rod Slide Mounting Platte Finger Module

RF-01 SR-01 SMP-08 3 x FM-C4V5

11


Series - GS-3C[X]V5-08-S01-01 Parameter

1.0 Gripper Suit

1.0 Gripper Suit

Series - GS-2B[X]V5-04-R02-02 Performance



Gmin [mm] Gmax [mm]

GS-3C3V5-08-S01-01 20 - 80* (150**) 21 32 5 100* (170**) 22 225*(257**)

GS-3C4V5-08-S01-01 20 - 80* (150**) 28 32 5 116* (186**) 36 232.5*(264.5**)

GS-3C5V5-08-S01-01 20 - 80* (150**) 35 32 5 120* (190**) 41 240*(272**)

GS-3C6V5-08-S01-01 20 - 80* (150**) 42 32 5 135* (205**) 54 247.5*(279.5**)

GS-3C7V5-08-S01-01 20 - 80* (150**) 49 32 5 150* (220**) 67 255*(287**)

GS-3C8V5-08-S01-01 20 - 80* (150**) 56 32 5 160* (230**) 76 262.5*(294.5**)



Self Weight

[g]

Parameter

Gripper Suit


D [mm]


HR [mm]

Finger Length

Lf [mm]

Height

X1 [mm]

Robot Flange

RF-01


SMP-09

Finger Module

FM-B5V5

Spring Rod

SR-01

4 Fingers gripper suit has high adaptability and speed, and is especially suitable

for gripping square objects.

12

GS-4B5V5-09-S01-01 4 Fingers Gripper Suit

1.0 Gripper Suit

1.0 Gripper Suit

Component Module

Robot Flange Spring Rod Slide Mounting Platte Finger Module

RF-01 SR-01 SMP-09 4 x FM-B5V5

13


Series - GS-4B[X]V5-09-S01-01 Parameter

1.0 Gripper Suit

1.0 Gripper Suit

Series - GS-4B[X]V5-09-S01-01 Performance



Gmin [mm] Gmax [mm]

GS-4B3V5-09-S01-01 27 - 100* (190**) 31 40 5 138* (228**) 38 355*(410**)

GS-4B4V5-09-S01-01 27 - 100* (190**) 41.5 40 5 150* (240**) 50 365*(420**)

GS-4B5V5-09-S01-01 27 - 100* (190**) 52 40 5 180* (270**) 80 375*(430**)

GS-4B6V5-09-S01-01 27 - 100* (190**) 62.5 40 5 190* (280**) 80 385*(440**)

GS-4B7V5-09-S01-01 27 - 100* (190**) 73 40 5 210* (300**) 105 395*(450**)

GS-4B8V5-09-S01-01 27 - 100* (190**) 83.5 40 5 220* (310**) 115 405*(460**)



Self Weight

[g]

Finger Length

Lf [mm]

Height

X1 [mm]

Parameter

Gripper Suit


D [mm]


HR [mm]

Robot Flange

RF-02


SMP-10

Finger Module

FM-A5V4

Rigid Rod

RR-02

5 Fingers gripper suit has relatively high load capacity, especially for heavy

objects.

14

GS-5A5V4-10-R02-02 5 Fingers Gripper Suit

1.0 Gripper Suit

1.0 Gripper Suit

Component Module

Robot Flange Rigid Rod Slide Mounting Platte Finger Module

RF-02 RR-02 SMP-10 5 x FM-A5V4

15


Series - GS-5A[X]V4-10-R02-02 Parameter

1.0 Gripper Suit

1.0 Gripper Suit

Series - GS-5A[X]V4-10-R02-02 Performance

Gmin [mm] Gmax [mm]

GS-5A3V4-10-R02-02 32 - 110* (220**) 41 36 5 150* (260**) 30 655*(739**)

GS-5A4V4-10-R02-02 32 - 110* (220**) 55 36 5 170* (280**) 55 685*(823**)

GS-5A5V4-10-R02-02 32 - 110* (220**) 69 36 5 200* (310**) 80 715*(907**)

GS-5A6V4-10-R02-02 32 - 110* (220**) 83 36 5 230* (340**) 115 745*(991**)

GS-5A7V4-10-R02-02 32 - 110* (220**) 97 36 5 250* (360**) 135 775*(1075**)

GS-5A8V4-10-R02-02 32 - 110* (220**) 111 36 5 280* (390**) 165 805*(1159**)

GS-5A9V4-10-R02-02 32 - 110* (220**) 125 36 5 300* (410**) 180 835*(1243**)

GS-5A10V4-10-R02-02 32 - 110* (220**) 139 36 5 330* (440**) 215 865*(1327**)



Self Weight

[g]

Finger Length

Lf [mm]

Height

X1 [mm]

Parameter

Gripper Suit


D [mm]


HR [mm]



1.0 Gripper Suit

1.0 Gripper Suit

Parallel Combination

The spliced finger module is very expansibility. The number of fingers can be

increased and reduced according to the needs. The design is compact and compact.

The weight is light. The load is high. The slot is installed. The angle of fingers can

be adjusted freely, especially for the gripping of strip, rod and bar.

16

Other Combinations

The design of block type makes rorobot finger module can be stitching and

extending seamlessly, with the sliding mounting plate and standard profile. Rorobot

gripper suit has high expansibility and adaptability, without additional customization.

The user can build a variety of combination methods freely according to the actual

needs, greatly shorten the design cycle and save the development cost.

17

1.0 Gripper Suit

1.0 Gripper Suit

1.1 Finger Module

1.1 Finger Module

1.1.1 Series - FM-V4

18

Finger series Model No. Height H [mm] Fingertip Stroke HR [mm] Finger Length Lf [mm] Length L [mm] Width W [mm] Load Range [g] Self Weight [g]

FM-A3V4 51 30 41 78 31 200 - 500 70

FM-A4V4 51 55 55 92 31 200 - 500 75

FM-A5V4 51 80 69 106 31 200 - 500 80

FM-A6V4 51 115 83 120 31 200 - 500 85

FM-A7V4 51 135 97 134 31 200 - 500 90

FM-A8V4 51 165 111 148 31 200 - 500 95

FM-A9V4 51 180 125 162 31 200 - 500 100

FM-A10V4 51 215 139 176 31 200 - 500 1050 0

FM-B3V4 45 38 31 61 25 150 - 300 42

FM-B4V4 45 50 42 71 25 150 - 300 43.5

FM-B5V4 45 80 52 82 25 150 - 300 45

FM-B6V4 45 75 63 92 25 150 - 300 46.5

FM-B7V4 45 105 73 103 25 150 - 300 48

FM-B8V4 45 115 84 113 25 150 - 300 49.5

FM-B9V4 45 128 94 124 25 150 - 300 510 0

FM-C3V4 37 22 21 50 18 0 - 100 19.2

FM-C4V4 37 36 28 57 18 0 - 100 20

FM-C5V4 37 41 35 64 18 0 - 100 20.8

FM-C6V4 37 54 42 71 18 0 - 100 21.6

FM-C7V4 37 67 49 78 18 0 - 100 22.4

FM-C8V4 37 76 56 85 18 0 - 100 23.2

Series-C

Series-A

Series-B

1.1.2 Series - FM-V5

1.1 Finger Module

1.1 Finger Module

19

Finger series Model No. Height H [mm] Fingertip Stroke HR [mm] Finger Length Lf [mm] Length L [mm] Width W [mm] Load Range [g] Self Weight [g]

FM-A3V5 36 30 41 88 31 200 - 500 52

FM-A4V5 36 55 55 102 31 200 - 500 57

FM-A5V5 36 80 69 116 31 200 - 500 62

FM-A6V5 36 115 83 130 31 200 - 500 67

FM-A7V5 36 135 97 144 31 200 - 500 72

FM-A8V5 36 165 111 158 31 200 - 500 77

FM-A9V5 36 180 125 172 31 200 - 500 82

FM-A10V5 36 215 139 186 31 200 - 500 87

FM-B3V5 29 38 31 71 25 150 - 300 28

FM-B4V5 29 50 42 82 25 150 - 300 29.5

FM-B5V5 29 80 52 92 25 150 - 300 31

FM-B6V5 29 75 63 103 25 150 - 300 32.5

FM-B7V5 29 105 73 113 25 150 - 300 34

FM-B8V5 29 115 84 124 25 150 - 300 35.5

FM-B9V5 29 128 94 134 25 150 - 300 37

FM-C3V5 22 22 21 53 18 0 - 100 13.7

FM-C4V5 22 36 28 60 18 0 - 100 14.5

FM-C5V5 22 41 35 67 18 0 - 100 15.3

FM-C6V5 22 54 42 74 18 0 - 100 16.1

FM-C7V5 22 67 49 81 18 0 - 100 16.9

FM-C8V5 22 76 56 88 18 0 - 100 17.7

Series-C

Series-A

Series-B

1.2 Roro Finger

1.2 Roro Finger

Size Parameter

20

Positive Pressure Hmin Negative Pressure Hmax

A3 28 10 20 41 69 24 200 - 500 30

A4 28 25 30 55 83 24 200 - 500 35

A5 28 35 45 69 97 24 200 - 500 40

A6 28 55 60 83 111 24 200 - 500 45

A7 28 65 70 97 125 24 200 - 500 50

A8 28 80 85 111 139 24 200 - 500 55

A9 28 85 95 125 153 24 200 - 500 60

A10 28 105 110 139 167 24 200 - 500 65

B3 21 19 19 31 52 18 150 - 300 14

B4 21 25 25 42 62 18 150 - 300 15.5

B5 21 40 40 52 73 18 150 - 300 17

B6 21 35 40 63 83 18 150 - 300 18.5

B7 21 50 55 73 94 18 150 - 300 20

B8 21 55 60 84 104 18 150 - 300 21.5

B9 21 60 68 94 115 18 150 - 300 23

C3 14 12 10 21 34 12 0 - 100 3.7

C4 14 18 18 28 41 12 0 - 100 4.5

C5 14 21 20 35 48 12 0 - 100 5.3

C6 14 26 26 42 55 12 0 - 100 6.1

C7 14 32 35 49 62 12 0 - 100 6.9

C8 14 36 36 56 69 12 0 - 100 7.7

Model No.Height

H [mm]

Series-B

Series-C

Series

Series-A

Load Range

[g]

Width

W [mm]

Length

L [mm]

Lf

[mm]

Fingertip Stroke HR [mm] Self Weight

[g]

1.2 Roro Finger

1.2 Roro Finger

Model comparison

Series - A

21

Series - B

Series - C

2

[ B ]

Beak

2.1

[ BS ]

Beak Suit

2.0

22

2.0 Roro Beak Suit

2.0 Roro Beak Suit

BS-2B-S01-01 2 pieces Beak Suit

Component Module

23

Robot Flange

RF-01

Roro Beak

B-2B

Spring Rod

SR-01

Robot Flange Spring Rod Roro Beak

RF-01 SR-01 B-2B

2.0 Roro Beak Suit

2.0 Roro Beak Suit

2.0.1 BS-2B-S01-01 Roro Beak Suit with pneumatic nipple spring rod and Flange

2.0.2 BS-2B-p Roro Beak Suit Pneumatic Pen

Roro Beak Suit with cushioning function can be directly installed at the end of the robot arm.

24

2 pieces Roro Beak

Gripping Range : 1-5mm, Application : fibrous, striped small objects

3 pieces Roro Beak

Gripping Range : 7-12mm, Application : gripping small rings by external bracing

4 pieces Roro Beak

Gripping Range : 1-5mm, Application : spherical, irregular small objects, the best universality

2.1 Roro Beak

2.1 Roro Beak

2.1.1 Roro Beak B-2B



25

Maximum Load Maximum Working Frequency Precision Range


3[ SMP ]


3.1

[ P ]

Profile

3.5[ RF ]

Robot Flange

3.2

[ QC ]

Quick Changer

3.7

[ CP ]

Connector Part

3.6[ SR ]

Spring Rod

3.3

[ RR ]

Rigid Rod

3.4

26

3.1 Slide Mounting Platte

3.1 Slide Mounting Platte

SMP-01 / SMP-02 / SMP-03

SMP-04

SMP-08 SMP-09 SMP-10

SMP-05 SMP-06 SMP-07

27

Model No. Slot-Length A [mm] Slot-Spacing B [mm] Length L [mm] Width W [mm] Thickness [mm]

SMP-01 50 10 65 20 6

SMP-02 75 10 90 20 6

SMP-03 100 10 115 20 6

Model No. Slot-Length A [mm] Slot-Spacing B [mm] Length L [mm] Thickness [mm]

SMP-04 20 10 62 8

SMP-05 50 10 148 10

SMP-06 67 10 190 10

SMP-007 78 10 220 10

SMP-08 (short type) 15 10 78 10

SMP-09 (short type) 22 10 100 10

SMP-10 (short type) 23 10 110 10

3.2 Robot Flange

3.2 Robot Flange

3.2.1 Robot Flange RF-01

3.2.2 Robot Flange RF-02

28

3.3 Spring Rod

3.3 Spring Rod 3.4 Rigid Rod

3.4 Rigid Rod

SR-01

29

Model No. Length L [mm] Diameter D [mm]

RR-01 35 10

RR-02 55 10

RR-03 75 10

RR-04 95 10

RR-05 115 10

3.5 Profile

3.5 Profile

30

Model No. Length L [mm] Width W [mm] Height H [mm]

P-001 100 20 20

P-002 150 20 20

P-003 200 20 20

P-004 300 20 20

Cross fixed arch support for aluminum profile

Connecting parts of section and rod

3.6 Connector Part

3.6.1 Connector Part CP-01

3.6.2 Connector Part CP-04

3.6 Connector Part

31

3.7 Quick Changer

Loading Range：0-5 kg

Quick Changer QC-02F

3.7 Quick Changer

Quick Changer QC-02M

32

4

[ ACU ]

Active Control Unit

4.2

[ PCU ]

Passive Control Unit

4.1

33

Roro Gripping system consists of roro gripper, roro control unit, compressed air source,

industrial robot and its control system.

Roro control unit, as the standard driving control unit of rorobot gripper suit, is controlled by

the standard I/O signal port, the high and low level signal port or the remote control, and can

work with the industrial robot or PLC in a simple and efficient cooperative work. The parameter

adjustment panel is visual and intuitive. Knob adjustment is simple and convenient. No additional

software is needed to complete the opening and closing force of the gripper and the adjustment

of the opening and closing speed. The built-in sensor can feed back the gesture of the gripper in

real time, realize closed-loop control, speed up the work rhythm and improve the work efficiency.

The remote controller of control unit can remotely control the opening and closing of the gripper,

making the debugging convenient and efficient, thus greatly saving the on-the-spot downtime

and debugging time.

4.0 Control Unit

Roro Gripping system

4.0 Control Unit

34

4.1 PCU / Passive Control Unit

Work and Installation Parameter

4.0 Control Unit

4.0 Control Unit

PCU passive control unit is driven by compressed air. It is designed for the working

situation of compressed air source. With industrial manipulator, it is reliable, durable, long

service life, fast working speed, all metal shell, high protection grade, and can adapt to bad

working environment.

35

Name Parameter

Fuselage Shell Cast aluminum

Working Voltage AC 220V 50Hz

Working Pressure 0.3~0.8MPa dry clean air

Output Pressure -70~120KPa

Output pressure

overload protection120Kpa

Controlling I/O switch / 12~24VDC level signal / remote controller

I/O Switch

24V Level signal (3.3, 5, 12V optional)

Cooling Mode Natural Cooling

Occasions Avoid a large amount of dust, oil, and corrosive gases

Net Weight [kg] 5.8

Size [mm] 330*230*120

Protection Grade IP53

Feedback Signal

4.2 ACU / Active Control Unit

Work and Installation Parameter

4.0 Control Unit

4.0 Control Unit

ACU active control unit has a built-in drive and battery. Under the condition of full power,

active control unit can drive the rorobot gripper suit for 3.5 hours without power supply and gas

source. It is designed for the non gas source work site. It can be used for the worksite of the AGV

mobile robot workstation or rorobot gripper suit. It is light, portable and easy to operate. That is,

reducing the tedious pipeline on the commissioning site and shortening the commissioning time.

36

Name Parameter

Fuselage Shell ABS Waterproof Plastic

Working Voltage AC 220V 50Hz

DC 12.6V

DC 48V (optional)

Output Pressure -70~120KPa

Output pressure

overload protection120Kpa

Controlling I/O switch / 12~24VDC level signal / remote controller

I/O Switch

12V Level signal (3.3, 5, 24V optional)

Cooling Mode Natural Cooling

Occasions Avoid a large amount of dust, oil, and corrosive gases

Net Weight [kg] 3.9

Size [mm] 330*230*110

Protection Grade IP53

Charging Voltage

Feedback Signal

Documents

About Rorobot · 5 Fingers Centripetal Combination Other Combinations 3 Fingers Centripetal Combination 7. Robot Flange Rigid Rod Slide Mounting Platte Finger Module RF-02 RR-02 SMP-04