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No.000128 Sorting Mechanism
47
47
Reduce cycle time by utilizing right/left sorting mechanism
Relevant category
Single axis robot
| Product name | Single Axis Robot RS2 |
|---|---|
| Part number | RS220-C1-C-3-150 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Robot is selected to minimize jerk during transporting.
Available sizes
■Single axis robot (RS, slider type, No brake)
General specifications
| Ball screw | Motor | Position detector | Operating environment temp - Humidity | Controller input power supply |
|---|---|---|---|---|
| φ8 (C10 Rolled) | Stepping | Resolver (Incremental) | 0〜40℃・35〜85%RH (No condensation) | DC24V±10% |
| φ12 (C10 Rolled) |
Basic specifications
| Slider Upper Surface Height (mm) | Type | Lead (mm) | Stroke (mm) |
|---|---|---|---|
| 51 | RS1 | 2 | 50〜400 (Increment of 50) |
| 6 | |||
| 12 | |||
| 57 | RS2 | 6 | 50〜800 (Increment of 50) |
| 12 | |||
| 20 | |||
| 60 | RS3 | 6 | 50〜800 (Increment of 50) |
| 12 | |||
| 20 |
Selection steps
■Single axis robot selection steps
Load capacity
↓
Stroke
↓
Cycle time or Max. Speed
↓
Detail confirmation
Accuracy Info
Single axis robot accuracy
Repeatability: ±0.02
Performance info.
■Single axis robot Performance info.
| Slider Upper Surface Height (mm) | Type | Lead (mm) | Load capacity(kg) | Max. push force | Allowable moment capacity (N·m) | Max speed (mm/sec) | Rated life | |||
|---|---|---|---|---|---|---|---|---|---|---|
| Horizontal | Vertical | (N) | Pitching | Yawing | Rolling | |||||
| 51 | RS1 | 2 | 6 | 4 | 150 | 19 | 16 | 17 | 100 | 10,000km or more |
| 6 | 4 | 2 | 90 | 300 | ||||||
| 12 | 2 | 1 | 45 | 600 | ||||||
| 57 | RS2 | 6 | 10 | 2 | 90 | 33 | 25 | 30 | 300～190 | 10,000km or more |
| 12 | 6 | 1 | 45 | 600～380 | ||||||
| 20 | 4 | - | 27 | 1000～633 | ||||||
| 60 | RS3 | 6 | 12 | 4 | 120 | 38 | 32 | 34 | 300～190 | 10,000km or more |
| 12 | 8 | 2 | 60 | 600～380 | ||||||
| 20 | 6 | - | 36 | 1000～633 | ||||||
Technical calculations
Convenient sizing software is available to use.
Air gripper
| Product name | Air Gripper - Parallel Type - |
|---|---|
| Part number | ACHK6-N |
| Features | Compact Type Pneumatic Grippers with high precision, high rigidity, strong retaining force and. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Compact suitable for workpiece gripping.
Available sizes
■Small parallel air gripper (Integrated sensor)
| Part name | Material | Surface treatment |
|---|---|---|
| Main body | 5056 Aluminum Alloy | Clear anodize |
| Fingers · Attachment mount | 1045 Carbon Steel | Nitriding treatment |
■Specifications and Dimensions
| Operating method | Stroke | Cylinder I.D. | Overall width | Overall height | Thickness |
|---|---|---|---|---|---|
| Single Acting · Double Acting | 4 | φ8 | 26 | 40.5 | 10 |
| 6 | φ12 | 30 | 45 | 16.4 |
Selection steps
■Small parallel gripper selection steps
- Confirmation of Conditions
- (Confirming required stroke,weight, and shape)
↓
- Calculation of required gripping force
-
- 10~20 times of the workpiece weight required
- (Varies by friction coefficient of fingers and workpiece.)
↓
- Model Selection
-
- ●Gripping method (O.D. gripping · I.D. gripping)
- ●Open/close operation method (Single acting or Dual acting)
- ●Stroke
- ●Gripping points and gripping force
Performance info.
■Small parallel gripper (Integrated sensor) load info.
| Stroke | Cylinder I.D. | Operating pressure range | Effective gripping force(N) | Allowable static load(N) | ||
|---|---|---|---|---|---|---|
| Single acting (Spring) | Dual acting | F1 | F2 | |||
| 4 | φ8 | 0.3～0.5MPa | 4.2(1) | 4.9 | 5 | 2.5 |
| 6 | φ12 | 10.4(1.9) | 12.2 | 10 | 5 | |
Cable carrier
| Product name | Cable Carriers Flap Open-Close Type |
|---|---|
| Part number | MHPUS202-45-12-A |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
To protect connection cables
Available sizes
■Cable carrier, Flap open/close type
| Main body | Mounting bracket | |
|---|---|---|
| Material | Material | Surface treatment |
| Nylon 6 + Glass Fiber 20% (Operating temp. -10~80℃) Flammability standards UL94-HB equivalent | Low Carbon Steel | Trivalent chromate |
■Sizes and Dimensions
| Name No. | Bend radius | Number of links | Mounting direction | Inner height | Mounting height | (Required space height) | |||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Inner height | Height | Inner width | Width | Link pitch | |||||||
| 102 | 19 | 5〜23 | Mounting Direction S For Both Moving and Fixed Ends: Common to the outer and inner circumferences | 9 | 12 | 20 | 27 | 20 | 50 | 65 | |
| 202 | 25 | 6〜34 | Mounting Direction A For Moving Ends: Mounting on the Outer Circumference For Fixed Ends: Common to the Outer and Inner Circumference | Mounting Direction B For Moving Ends: Mounting on the Inner Circumference For Fixed Ends: Common to the Outer and Inner Circumference | 14 | 20 | 14 | 26 | 25 | 70 | 85 |
| 30 | 6〜34 | 80 | 95 | ||||||||
| 45 | 8〜36 | 110 | 125 | ||||||||
| 203 | 30 | 6〜34 | 14 | 20 | 20 | 32 | 25 | 80 | 95 | ||
| 45 | 8〜36 | 110 | 125 | ||||||||
| 204 | 38 | 6〜36 | 14 | 22 | 20 | 40 | 32 | 98 | 118 | ||
| 50 | 7〜37 | 122 | 142 | ||||||||
| 206 | 38 | 6〜36 | 14 | 22 | 40 | 60 | 32 | 98 | 118 | ||
| 50 | 7〜37 | 122 | 142 | ||||||||
| 306 | 50 | 6〜38 | Mounting Direction A For Moving Ends: Common to the Outer and Inner Circumference For Fixed Ends: Mounting on the Outer Circumference | Mounting Direction B For Moving Ends: Common to the Outer and Inner Circumference For Fixed Ends: Mounting on the Inner Circumference | 24 | 34 | 44 | 60 | 45 | 134 | 160 |
| 100 | 10〜42 | 234 | 260 | ||||||||
| 408 | 50 | 6〜38 | 24.5 | 40 | 58 | 78 | 45 | 140 | 170 | ||
| 75 | 8〜40 | 190 | 220 | ||||||||
| 100 | 10〜42 | 240 | 270 | ||||||||
| 150 | 13〜45 | 340 | 370 | ||||||||
| 412 | 50 | 6〜38 | 24.5 | 40 | 97 | 117 | 45 | 140 | 170 | ||
| 75 | 9〜41 | 190 | 220 | ||||||||
| 100 | 10〜42 | 240 | 270 | ||||||||
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* The part in the frame is a sub-assembly unit.
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Application Overview
Purpose
- Workpieces discharged from a feeder are sorted to the right or the left by a single axis robot.
- Components are transported by using an air gripper.
Points for use
- Automated mechanism with air grippers and single axis robots.
Target workpiece
- Plastic caps
External dims.: φ20 x L36
Workpiece weight 6.5g
Design Specifications
Operating Conditions or Design Requirements
- External dimensions: W690 x D428 x H427
- Single axis robot stroke: 140mm (Workpiece receiving section)-Max operating stroke: 150mm
- Single axis robot stroke: 115mm (Workpiece Sorting section)-Max operating stroke: 150mm
- Cylinder with twin guides stroke: 10 mm
Selection Criteria for Main Components
- Single axis robot
- Select a robot with a load capacity that exceeds the combined weight of all the moving mechanisms. This actuator should also satisfy the required allowable moment load rating.
- Air gripper
- The allowable static load rating of the gripper should exceed the load weight.
- Cylinder with guides
- Select a cylinder with a load rating that is smaller than the allowable eccentric load (from catalog).
Design Evaluation
Verification of main components
- Verify that the motor has the required load capacity to transport the components in both directions. Ensure that the motor has the required allowable moment rating.
- Single axis robot transported load
- <Right/left air gripper>: 0.253kg
Air gripper: 37g, Speed controller: 8g x 2, Gripper fingers: 8g x 2, Upper drive base: 87g, Upper carrier bracket; 90g, Workpiece: 6.5g - Workpiece sorting mechanism: 1.144kg
Workpiece retainer plate: 680g, Lower drive base: 388g, Workpiece guide: 27g x 2pcs., Fiber unit: 5g x 2pcs., Workpiece: 6.5g x 2pcs. - Robot load capacity: 4kg > Total mass (0.253 + 1.144 ＝ 1.397kg): OK
- <Right/left air gripper>: 0.253kg
Other Design Consideration
- The brackets mounted on the cylinder functions as a location guide for sorting and transporting components.
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