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- > No.000032 Pick and Place Mechanism with Ball Spline
No.000032 Pick and Place Mechanism with Ball Spline
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Compact design utilizing ball spline
Relevant category
Timing Belt
| Product name | Timing Belts - MXL / XL / L / H |
|---|---|
| Part number | TUN165L050 |
| Features | General purpose timing belts for transmission. Although some tooth fabrics for MXL and XL rubber belts are changed to comply with the bear-back specifications, it does not affect the performance. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Transmit torque from driving to driven pulley.
Risk info.
A pulley layout enabling replacements
Available sizes
■Timing Belts - MXL / XL / L / H
| Material | MXL | XL | L | H | ||
|---|---|---|---|---|---|---|
| Tooth surface cover | Tooth rubber | Core wire | ||||
| Nylon canvas | Chloroprene Rubber | Glass fiber cord S/Z Alternately Twisted Continuous | ○ | ○ | ○ | ○ |
| Polyurethane | Polyurethane | MXL: Kevlar XL・L: Steel cord | ○ | ○ | ○ | － |
■Reference dimensions
| Belt type | Pitch | Belt width | Belt length reference |
|---|---|---|---|
| MXL | 2.032 | 4.8, 6.4, 9.5, 12.7 | 100-1100 |
| XL | 5.08 | 6.4, 7.9, 9.5, 12.7 | 200-2100 |
| L | 9.525 | 12.7, 19.1, 25.4, 38.1 | 300-1800 |
| H | 12.7 | 19.1, 25.4, 38.1, 50.8 | 600-4300 |
Selection steps
■Timing belt selection procedure
* Timing belt selection is made together with timing pulley
Automated selection tool is available to use.
http://fawos.misumi.jp/FA_WEB/pulley_us/
- Determining of usage conditions
- Designed power・Rotational speed・Interim shaft distance・motion pattern, etc.
↓
- Belt (pulley) interim selection
- Belt type·Belt width
↓
- Verifying specification compatibility
-
- Verifying calculated shaft distance, etc.
- Verifying tension and load
Performance info.
■Load info. of timing belt
| Belt type | Small pulley rotational speed(rpm) | Designed power(kW) |
|---|---|---|
| MXL、XL、L、H、T5、T10 | 10-20000 | 0.01-800 |
Timing Pulley
| Product name | Timing Pulleys L Type |
|---|---|
| Part number | ATPA19L050-A-N30 |
| Features | New! METRIC/ INCH Bores Available! |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Transfer rotary motion. Aluminum type selected for weight reduction purposes.
Risk info.
Accuracy degradation due to wear over time.
Available sizes
■Timing Pulleys L Type
| Material | Surface treatment | Tooth type/Belt width | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MXL | XL | L | H | |||||||||||||||
| Pulley | Flange | 4.8 | 6.4 | 9.5 | 12.7 | 6.4 | 7.9 | 9.5 | 12.7 | 12.7 | 19.1 | 25.4 | 38.1 | 19.1 | 25.4 | 38.1 | 50.8 | |
| MXL、XL： 2017 Aluminum Alloy L、H： 7075 Aluminum Alloy | 5052 Aluminum Alloy | Clear anodize | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ |
| Black anodize | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| Hard anodize | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| Electroless nickel plating | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| 1045 Carbon Steel | Low Carbon Steel | − | － | ○ | ○ | － | ○ | － | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ |
| Black oxide | － | ○ | ○ | － | ○ | － | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| Electroless nickel plating | － | ○ | ○ | － | ○ | － | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| 304 Stainless Steel | 304 Stainless Steel | - | － | ○ | ○ | － | ○ | － | ○ | ○ | － | － | － | － | － | － | － | － |
■Pulley number of teeth and shaft bore DIA.
| Belt type | Shape | Number of teeth | Pitch circle DIA. | Shaft bore DIA. |
|---|---|---|---|---|
| MXL | K, A, B | 14-72 | φ9.6-46.57 | φ3-35 |
| XL | A, B | 10-72 | φ16.17-116.43 | φ4-80 |
| L | A, B, D | 10-72 | φ30.32-218.30 | φ6-100 |
| H | A, B, D | 14-72 | φ58.60-291.06 | φ12-100 |
K: With collar
A: No hub
B: With hub
D: With hub Relieved
Selection steps
■Timing pulley selection steps
* Timing pulley selection is made at the same time as the timing belt.
Automated selection tool is available to use.
http://fawos.misumi.jp/FA_WEB/pulley_us/
- Determining of usage conditions
- Design power・Rotational speed・Rotation ratio・Interim shaft distance, Motion pattern, etc.
↓
- Temporary selection of pulley (Belt)
- Tooth profile・Belt width
↓
- Verifying specification compatibility
-
- Verifying calculated shaft distance, etc.
- Verifying tension·Load
Accuracy Info
■Timing pulley accuracy
Shaft bore tolerance: H7
Bearings with Housing
| Product name | Bearings with Housings - Standard Length, Double Bearings, Retained |
|---|---|
| Part number | BGRBB6007ZZ-50 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Compact double bearing type with high bearing performance
Available sizes
■Bearings with Housings - Standard Length, Double Bearings, Retained
| Flange Shape | Material | Surface treatment | ||
|---|---|---|---|---|
| Bearing | Housing | Retaining ring | Housing | |
| Round type Square type Compact type | Steel | 1045 Carbon Steel | Spring steel | Black oxide |
| 304 Stainless Steel | Electroless nickel plating | |||
| 2017 Aluminum Alloy | 304 Stainless Steel | Clear anodizing | ||
| Stainless | ||||
| 304 Stainless Steel | − | |||
■Sizes
| Shaft bore DIA. | Bearing part number | Seal | Overall length | Pilot O.D. | |
|---|---|---|---|---|---|
| φ30 | 6806 | Double shielded Non-contact rubber seal Contacting rubber seal | 35 | 50 | φ50 |
| 6906 | 35 | 50 | φ54 | ||
| 6006 | 40 | 60 | φ62 | ||
| 6206 | 50 | 60 | φ70 | ||
| φ35 | 6007 | 50 | 60 | φ70 | |
| 6207 | 60 | 80 | φ84 | ||
| φ40 | 6008 | 60 | 70 | φ78 | |
| 6208 | 60 | 80 | φ92 | ||
Accuracy Info
■Accuracy of bearing housing
Pilot O.D. tolerance: g7
Seating face - Pilot perpendicularity: 0.01
Ball Spline
| Product name | Ball Splines -Both Ends Stepped Tapped |
|---|---|
| Part number | BSLM13-350-F6-E25-P10-Q10-M6-N6-SC0 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable for a transmission element when linear and rotary motion are needed at the same time.
Available sizes
■Ball Splines -Both Ends Stepped Tapped
| Spline Shaft | Material | 52100 Bearing Steel | 440C Stainless Steel | |
|---|---|---|---|---|
| Hardness | 58HRC～ | 55HRC～ | ||
| Nut | Material | 4115 Alloy Steel | 440C Stainless Steel | |
| Hardness | 58HRC～ | 55HRC～ | ||
| Shape | Round flange | ○ | ○ | |
| Compact flange | ○ | - | ||
| Straight | ○ | ○ | ||
■Dimensions
| Spline shaft | Nut | ||
|---|---|---|---|
| Name No. | Shaft DIA. | Overall length | Pilot DIA. |
| 10 | φ10.4 | 60-600 | φ21 |
| 13 | φ13.4 | 60-600 | φ24 |
| 16 | φ16.6 | 70-600 | φ31 |
For 440C Stainless Steel spline shaft max. overall length is 390mm.
Selection steps
■Ball spline selection steps
- Determine application conditions
- (Load, Torque, Feed distance, Life)
↓
- Temporarily select ball spline specifications
- (Temporarily select spline shaft DIA., spline shaft length, overall length based on app. conditions)
↓
- Verify basic safety
-
- Allowable load
- Life
Accuracy Info
■Accuracy of ball spline shaft
(μm)
| Name No. | Spline Shaft DIA. | Nut O.D. runout | Spline shaft center runout(Max.) | |||||
|---|---|---|---|---|---|---|---|---|
| (Max.) | Length | -200 | 201-315 | 316-400 | 401-500 | 501- | ||
| 10 | φ10.4 | 33 | 59 | 83 | 103 | 82 | 102 | |
| 13 | φ13.4 | 39 | 56 | 71 | 83 | 62 | 75 | |
| 16 | φ16.6 | |||||||
Performance info.
■Ball spline load rating
| Name No. | Basic torque rating | Basic load rating | ||
|---|---|---|---|---|
| Dynamic (Nm) | Static (Nm) | Dynamic (kN) | Static (kN) | |
| 10 | 11 | 21 | 2.4 | 4.3 |
| 13 | 20 | 37 | 3.3 | 5.9 |
| 16 | 51 | 93 | 6.2 | 11.1 |
Technical calculations
Ball spline running life is calculated with the formula below.
●In case of radial loads
●In case of torque loads
- L: Life (km)
- ft: Temp. factor
- fh: Hardness factor
- fp: Load rating ratio
- fw: Load factor
- L0: Rated life (50km)
- C: Basic dynamic load rating (N)
- F: Applicable radial load (N)
- Ct: Basic dynamic torque rating (N・m)
- T: Applicable torque (N・m)
Ball spline life time is calculated with the formula below.
- Lh: Run hours (hr)
- L: Life (km)
- St: Stroke length
- n: Number of cycles per minute (cpm)
■Temp. factor (ft)
■Hardness factor (fh)
■Load rating ratio (fp)
| Name No. | Spline shaft DIA. | Distributed load | Direct download |
|---|---|---|---|
| 10 | φ10.4 | 1 | 0.71 |
| 13 | φ13.4 | 1 | 0.71 |
| 16 | φ16.6 | 1 | 0.68 |
■Load factor (fw)
| Application conditions | Load factor (fw) |
|---|---|
| No vibration or shocks (Low speed 1~2 15m/min or less) | 1-2 |
| Some vibrations and shocks (Med. speed 2~3 60m/min) | 2-3 |
| Severe vibrations and shocks (High speed 3 and over 60m/min or over) | 3- |
IDEA NOTE Transmit rotational power to the ball spline nut
This app. example uses a ball splines with flanged type nut.
Flanged nut is mounted on a hollow shaft, and rotation is transmitted via a pulley.
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Application Overview
Purpose
- Pick, rotate and lower workpiece to next work station.
Target workpiece
- Plastic pin with square base
- Pin DIA.: φ15, Length: 100mm
- Protrusion on one location
Design Specifications
Operating Conditions or Design Requirements
- W150XD240XH377mm
- Up/down stroke: 150mm
- Rotation angle: 90deg.
Required Performance
- Rotational position accuracy: ±1°
Selection Criteria for Main Components
- A ball spline is used for accurate linear motion as well as for its ability to rotate its orientation.
Design Evaluation
Verification of main components
- Select a motor that satisfies the torque at required speed.
- Motor selection
- Calculation of load torque
App. condition: Timing belt drive - Conditional value:
D = 57.61 x 10³m - pulley pitch diameter
F = 5N - belt tension force
W = 0kg - workpiece mass
μ = 0.1 - coefficient of friction, sliding surface
g = 9.8m/s² - gravitational acceleration - From: Load torque T = D/2 × (F + μWg) Nm
T = 1 / 2 × 57.61 × 10³ × (5 + 0.1 × 0 × 9.8) = 144 × 10³Nm
therefore, we select a motor with larger torque then T =0.14Nm - Torque of the selected motor MAMA012P1A (with continuous operation range up to 5000r/min) is 0.19Nm, and satisfy requirements.
Motor rated torque > Actually applied torque.
- Calculation of load torque
Other Design Consideration
- For smooth rotation ball spine is supported by ball bearing on two ends and rotation is transmitted thru pulley.
- If needed install position sensors.
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