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- inCAD Library Home
- > No.000079 Grip Mechanism
No.000079 Grip Mechanism
38
38
Linkage operated grip mechanism controlled and released by an external force.
Relevant category
Single Axis Robot
| Product name | Single Axis Robot RSH1 |
|---|---|
| Part number | RSH120-C22A-C-F0-3-800 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable for transferring workpieces in cycle time
Available sizes
Single Axis Robot (Straight)
| Height (mm) | Type | Lead (mm) | Stroke (50 mm Increments) |
|---|---|---|---|
| 65 | RSH1 | 6 | 150-800 |
| 12 | |||
| 20 | |||
| RSH2 | 5 | 150-1050 | |
| 10 | |||
| 20 | |||
| 30 | |||
| RSH3 | 5 | 150-1050 | |
| 10 | |||
| 20 |
Selection steps
■Single Axis Robot Selection Steps
Load Capacity
↓
Stroke
↓
Cycle Time or Max. Speed
↓
Check for Details
Accuracy Info
Accuracy of Single Axis Robot
| Height (mm) | Type | Lead (mm) | Stroke (50 mm Increments) | Positioning Repeatability (mm) |
|---|---|---|---|---|
| 65 | RSH1 | 6 | 150-800 | ±0.02 |
| 12 | ||||
| 20 | ||||
| RSH2 | 5 | 150-1050 | ±0.01 | |
| 10 | ||||
| 20 | ||||
| 30 | ||||
| RSH3 | 5 | 150-1050 | ±0.01 | |
| 10 | ||||
| 20 |
Performance info.
■Single axis robot Performance info.
| Type | Lead (mm) | Max. load capacity(kg) | Moment capacity (N·m) | Max. speed(mm/sec) | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Horizontal | Vertical | Pitching | Yawing | Rolling | 150-550 | 600 | 650 | 700 | 750 | 800 | ||
| RSH1 | 6 | 40 | 8 | 95 | 70 | 110 | 360 | 324 | 270 | 234 | 216 | 180 |
| 12 | 20 | 4 | 720 | 648 | 540 | 468 | 432 | 360 | ||||
| 20 | 12 | - | 1200 | 1080 | 900 | 780 | 720 | 600 | ||||
| Type | Lead (mm) | Max. load capacity(kg) | Moment capacity (N·m) | Max. speed(mm/sec) | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Horizontal | Vertical | Pitching | Yawing | Rolling | 150-650 | 700 | 750 | 800 | 850 | 900 | 950 | 1000 | 1050 | ||
| RSH2 | 5 | 50 | 16 | 95 | 70 | 110 | 300 | 255 | 225 | 195 | 180 | 165 | 150 | 135 | 120 |
| 10 | 40 | 8 | 600 | 510 | 450 | 390 | 360 | 330 | 300 | 270 | 240 | ||||
| 20 | 20 | 4 | 1200 | 1020 | 900 | 780 | 720 | 660 | 600 | 540 | 480 | ||||
| 30 | 7 | - | 1800 | 1530 | 1350 | 1170 | 1080 | 990 | 900 | 810 | 720 | ||||
| Type | Lead (mm) | Max. load capacity(kg) | Moment capacity (N·m) | Max. speed(mm/sec) | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Horizontal | Pitching | Yawing | Rolling | 150-600 | 650 | 700 | 750 | 800 | 850 | 900 | 950 | 1000 | 1050 | |||
| RSH3 | 5 | 80 | 163 | 128 | 143 | 300 | 255 | 225 | 195 | 180 | 165 | 150 | 135 | 120 | 105 | |
| 10 | 60 | 600 | 510 | 450 | 390 | 360 | 330 | 300 | 270 | 240 | 210 | |||||
| 20 | 30 | 1200 | 1020 | 900 | 780 | 720 | 660 | 600 | 540 | 480 | 420 | |||||
Cantilever Shafts
| Product name | Cantilever Shafts - Flanged - with Tapped End |
|---|---|
| Part number | FXEB6-12-F5-M3 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Pivot pin for link mechanism.
Available sizes
■Cantilever Shafts (Screw Mounted)
| Type | Material | Surface Treatment |
|---|---|---|
| Round Type Compact Type | 1045 Carbon Steel | Black Oxide |
| Electroless Nickel Plating | ||
| 304 Stainless Steel | - |
| Pin Dia. (mm) | Pin Length (1 mm Increments) |
|---|---|
| 6 | 5－100 |
| 8 | |
| 10 | |
| 12 | 10－150 |
| 13 | |
| 15 | |
| 16 | |
| 17 | |
| 18 | |
| 20 | |
| 22 | |
| 25 | |
| 30 | |
| 35 | |
| 40 | |
| 50 |
Accuracy Info
Accuracy of Cantilever Shafts
Perpendicularity: 0.02
| Pin Dia. (mm) | Tolerance g6 (mm) |
|---|---|
| 6 | -0.004 -0.012 |
| 8 | -0.005 -0.014 |
| 10 | |
| 12 | -0.006 -0.017 |
| 13 | |
| 15 | |
| 16 | |
| 17 | |
| 18 | |
| 20 | -0.007 -0.020 |
| 22 | |
| 25 | |
| 30 | |
| 35 | -0.009 -0.025 |
| 40 | |
| 50 |
IDEA NOTE Workpiece retaining using a linkage mechanism.
Workpiece I.D. is Unrestrained and be released from one side by a linkage mechanism.
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Application Overview
Purpose
- Automated pusher mechanism for grip and release of molded plastic workpieces.
Points for use
- Workpiece is gripped by jaws placed inside its bore diameter, roughly guided on its outer diameter, and is internally secured by a spring.
- To release workpiece i.e. gripper jaws, external force is applied.
Target workpiece
- Molded plastic product
Dims.: φ67 x H30 mm
Weight: 50g
Design Specifications
Operating Conditions or Design Requirements
- External dims.: W190 x D100 x H66
- Push stroke when clamped: 14mm
- Single axis robot stroke: 800mm
Required Performance
- Workpiece retaining load: 2.61N
- Max. operating force when released: 6.67N
Selection Criteria for Main Components
- Compression spring
- Select a spring with a constant that does not apply excessive load on workpiece, as well as keeping the operation efforts low.
- Linear guide
- Since little moment loads apply, select an optimum guide relative to the fixture size.
Design Evaluation
Verification of main components
- Verify retaining load during clamping and the pusher force when releasing.
- Compression spring load
- Reaction force F = kx
- Workpiece retaining load: 2.61N
- Assumed deflection when retaining workpiece: x = 9mm
- From k = F / x = 2.61 / 0 = 0.29, spring constant k = 0.29N/mm is selected.
- Assumed deflection when unchucked: x = 23mm (when workpiece retained 9mm (set length:36mm, free length: 45mm), when unchucked 14mm)
- Spring load when unchucked: F = kx = 0.29 x 23 = 6.67N
- Applied pressure by the pusher is 6.67N or more.
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