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- > No.000081 No Load Gripping Mechanism
No.000081 No Load Gripping Mechanism
17
17
No load gripping with a cylinder
Relevant category
Cylinder with Guides
| Product name | Cylinders with Twin Guides? |
|---|---|
| Part number | MGCLF16-20 |
| Features | Cylinders having the guides on both ends for usability. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Guided type, size and stroke.
Available sizes
■Cylinder with Guides (Fixed stroke type)
| Bore dia. | Bearing | Slide bearing | Linear bushing bearing | Cylinder width (mm) | Overall length （Below +St） | Thickness (mm) | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| St | 10 | 20 | 25 | 30 | 40 | 50 | 75 | 100 | 10 | 20 | 25 | 30 | 40 | 50 | 75 | 100 | ||||
| φ12 | ○ | ○ | ― | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ― | ○ | ○ | ○ | ○ | ○ | 56 | 39 | 22 | |
| φ16 | ○ | ○ | ― | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ― | ○ | ○ | ○ | ○ | ○ | 62 | 43 | 25 | |
| φ20 | ― | ○ | ― | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ― | ○ | ○ | ○ | ○ | ○ | 72 | 47 | 30 | |
| φ25 | ― | ○ | ― | ○ | ○ | ○ | ○ | ○ | ― | ○ | ― | ○ | ○ | ○ | ○ | ○ | 86 | 47.5 | 38 | |
| φ32 | ― | ― | ○ | ― | ― | ○ | ○ | ○ | ― | ― | ○ | ― | ― | ○ | ○ | ○ | 112 | 48 | ||
| φ50 | ― | ― | ○ | ― | ― | ○ | ― | ○ | ― | ― | ― | ― | ― | ― | ― | ― | 146 | 72 | 60 | |
Selection steps
■Cylinder selection steps
1, Define various load conditions
↓
2, Calculate cylinder output. (in case of double acting cylinder)
↓
3, Determine bore dia.
↓
4, Determine theoretical reference speed
↓
5, Verify cylinder's cushion mechanism
6, Verify lateral load applicable on the cylinder
Accuracy Info
■Non-rotating accuracy of guided cylinder
Non-rotating accuracy: Looseness by guide rod and bearing clearance represented in a rotation angle centered on the piston rod.
| Bore dia. | Non-rotating accuracy of tip link bar | |
|---|---|---|
| Slide bearing | Linear bushing bearing | |
| φ12 | ±0.12° | ±0.06° |
| φ16 | ±0.10° | ±0.06° |
| φ20 | ±0.09° | ±0.05° |
| φ25 | ±0.08° | ±0.05° |
| φ32 | ±0.06° | ±0.04° |
| φ50 | ±0.05° | － |
Performance info.
■Theoretical force
(N)
| Bore dia. (mm) | Operation direction | Applied pressure (MPa) | |
|---|---|---|---|
| 0.4 | 0.5 | ||
| 12 | Push side | 45 | 57 |
| Pull side | 34 | 42 | |
| 16 | Push side | 80 | 101 |
| Pull side | 60 | 75 | |
| 20 | Push side | 126 | 157 |
| Pull side | 94 | 118 | |
| 25 | Push side | 196 | 245 |
| Pull side | 151 | 189 | |
| 32 | Push side | 322 | 402 |
| Pull side | 241 | 302 | |
| 50 | Push side | 785 | 982 |
| Pull side | 660 | 825 | |
■ Allowable lateral load
（N・ｍ)
| Bore dia. (mm) | Stroke (mm) | |||||||
|---|---|---|---|---|---|---|---|---|
| 10 | 20 | 25 | 30 | 40 | 50 | 75 | 100 | |
| 12 | 24 | 19 | ― | 16 | 14 | 12 | 37 | 31 |
| 16 | 40 | 33 | ― | 28 | 24 | 21 | 55 | 46 |
| 20 | ― | 52 | ― | 45 | 39 | 35 | 55 | 46 |
| 25 | ― | 69 | ― | 60 | 52 | 47 | 73 | 62 |
| 32 | ― | ― | 166 | ― | ― | 131 | 107 | 91 |
| 50 | ― | ― | 296 | ― | ― | 245 | ― | 241 |
Sensor for cylinder
| Product name | Sensors - For Cylinders, Grippers? |
|---|---|
| Part number | MD13L3 |
| Features | Sensors dedicated for Double Acting Cylinder |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Sensors dedicated to selected cylinder
Available sizes
■Sensor for cylinder
| Cable length (m) | Sensor type | Number of leads | Lead wire exit direction |
|---|---|---|---|
| 1、3 | With contacts | 2 wires | Back |
| 1、3 | No contacts | 3 wires | |
| 1、3 | No contacts | 2 wires | |
| 1、3 | No contacts | 3 wires | Top |
| 1、3 | No contacts | 2 wires |
Flow Rate Control Valve
| Product name | Flow Rate Control Valves - 90 Deg. Elbow, Standard |
|---|---|
| Part number | SPSNL6-M5 |
| Features | Speed Controllers capable of adjusting the flow rate of compressed air. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
To match selected cylinder size and to control cylinder stroke speed
Available sizes
■Flow Rate Control Valve
| Material | Control type | Color | |
|---|---|---|---|
| Black | White | ||
| Polybutylene terephthalate Threads: 304 Stainless Steel | Meter-out | ○ | ○ |
| Polybutylene terephthalate Threads: Brass | Meter-out | - | - |
| Meter-in | |||
■Sizes and Dimensions
| Bore dia. (mm) | Thread size |
|---|---|
| 4 | M5 |
| 1 | |
| 6 | M5 |
| 1 | |
| 2 | |
| 8 | 1 |
| 2 | |
| 3 | |
| 10 | 2 |
| 3 | |
| 4 | |
| 12 | 3 |
| 4 |
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Application Overview
Purpose
- Gripper mechanism that lifts workpiece without transferring load from lifting cylinder.
Points for use
- Gripping the workpiece is done using guided cylinder.
- Since workpiece is loosely held inside gripper fingers this design is not recommended in applications that require high positioning accuracy.
Target workpiece
- Molded plastic assembly
External dims.: W110 x D40 x H88mm
Workpiece weight: 167g
Design Specifications
Operating Conditions or Design Requirements
- External dimensions: W217 x D80 x H137mm (When workpiece released)
- Cylinder stroke: 20mm
Required Performance
- Cylinder stroke tolerance: +1.5mm MAX.
Selection Criteria for Main Components
- Cylinder
- A cylinder with adequate stroke for the workpiece is selected.
- Gripping unit is mounted at the end of the robot arm, for space saving purpose low profile cylinders are selected.
Design Evaluation
Verification of main components
- Calculation not required since no load applies to the cylinder.
Other Design Consideration
- When holding the workpiece, use a wide surface for stability.
- Design should allow some clearance (~2mm) between gripping fingers and workpiece to compensate for cylinder stroke tolerance.
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