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- inCAD Library Home
- > No.000175 Workpiece Gripper Unit with Suction Cups
No.000175 Workpiece Gripper Unit with Suction Cups
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Fixing the sliding suction cup at hands.
Relevant category
Suction Cup Fittings (With Pads)
| Product name | Suction Cups - with Fitting, Spring Type, Shape K |
|---|---|
| Part number | MVPKN20 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Conveniently includes all assembly items and pads.
Available sizes
■Suction cup with fitting (With pad) Fixed type, Top tube connection: One touch type (Shape K)
| Body Material | Surface Treatment | Pad Shape | Pad Material |
|---|---|---|---|
| Brass | Electroless Nickel Plating | Standard | Nitrile Rubber |
| Conductive Silicon Rubber | |||
| Fluorinerubber | |||
| Deep type | Nitrile Rubber | ||
| Fluororubber |
■Sizes and Dimensions
| Pad Shape | Suction Cup | Connection Dia. | Overall Length | Mounting thread DIA. x Pitch | |
|---|---|---|---|---|---|
| O.D. | Length | ||||
| Standard | φ2 | 4 | φ4 | 28.3 | M6×0.75 |
| φ3 | |||||
| φ4 | |||||
| φ6 | 7 | φ6 | 32.6 | M10×1.0 | |
| φ8 | 5.5 | 31.1 | |||
| φ10 | 8 | 34.1 | M12×1.0 | ||
| φ15 | 9 | 35.1 | |||
| φ20 | 10 | 37.5 | M14×1.0 | ||
| Deep type | φ20 | 11 | 38.7 | ||
| φ25 | 12 | 39.7 | |||
| φ30 | 14 | 41.7 | |||
| φ40 | 17.5 | 45.2 | |||
Ball Splines
| Product name | Ball Splines - Both Ends Tapped |
|---|---|
| Part number | BSHN8-130-M4-N4 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Compact and highly rigid linear guide
Available sizes
■Ball spline (Both ends tapped)
| Spline Shafts | 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 Shafts | Nut | ||
|---|---|---|---|
| Name No. | Shaft Dia. | Overall Length | Pilot DIA. |
| 6 | φ6 | 60-400 | φ14 |
| 8 | φ8 | φ16 | |
| 10 | φ10.4 | 90-600 | φ21 |
| 13 | φ13.4 | 100-600 | φ24 |
| 16 | φ16.6 | 110-600 | φ31 |
* Length selection range will vary according to material and nut configuration. Please see the product pages for details.
Selection steps
■Ball spline selection steps
- Determination on Operating Conditions
- (Load, Torque, Feed distance, Life)
↓
- Temporary selection of ball
spline specifications - (Spline shaft Dia., spline shaft length, overall length are temporarily
selected based on application conditions)
↓
- Basic safety check
-
- Allowable Load
- Operating Life
Accuracy Info
■Ball spline shaft accuracy
(μm)
| Name No. | Spline shaft DIA. | Nut O.D. runout (max.) | Max. Runout of Spline Axis Line | |||||
|---|---|---|---|---|---|---|---|---|
| Length | -200 | 201-315 | 316-400 | 401-500 | 501- | |||
| 6 | φ6 | 27 | 72 | 89 | 126 | 163 | - | |
| 8 | φ8 | |||||||
| 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 rated loads
| Name No. | Basic Rated Torque | Basic Load Rating | ||
|---|---|---|---|---|
| Dynamic (Nm) | Static (Nm) | Dynamic (kN) | Static (kN) | |
| 6 | 3.8 | 7 | 1.2 | 2.1 |
| 8 | 4.8 | 8.7 | 1.2 | 2.1 |
| 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 life calculations
Ball spline's running life is calculated with the formula below.
For radial load
For torque load
- L: Life (km)
- fT: Temperature factor
- fh; Hardness factor
- fp: Rated load 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's life time is calculated with the formula below.
- Lh: Run time (hr)
- L: Running life
- St: Stroke length
- n: Cycles per minute (cpm)
■Temperature Factor (ft)
■Hardness Factor (fh)
■Rated load ratio (fp)
| Name No. | Spline shaft DIA. | Distributed load | Direct Download |
|---|---|---|---|
| 6 | φ6 | 1 | 1 |
| 8 | φ8 | 1 | 1 |
| 10 | φ10.4 | 1 | 0.71 |
| 13 | φ13.4 | 1 | 0.71 |
| 16 | φ16.6 | 1 | 0.68 |
■Load factor (fw)
| Conditions of Use | Load factor (fw) |
|---|---|
| No external shocks or vibrations (Low speed 1~2 15m/min or less) | 1-2 |
| Some shocks or vibration (Med. speed 2~3 60m/min or less) | 2-3 |
| Severe shocks and vibrations exist (High speed 3 or more 60m/min or over) | 3- |
Shaft Collar
| Product name | Shaft Collars - Slit |
|---|---|
| Part number | PSCS10-10 |
| Features | Shaft Damage from tightening Avoidable |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Effective item used as a simple stopping mechanism.
Available sizes
■Shaft Collars - Slit
| Material | Surface Treatment |
|---|---|
| 1045 Carbon Steel | Black Oxide |
| Electroless Nickel Plating | |
| 304 Stainless Steel | |
| 2017 Aluminum Alloy | − |
| Clear Anodize | |
| Black Anodize |
■Sizes and Dimensions
| Material | Shaft Bore Dia. | Thickness (width) | O.D. | Fastening Bolt Dia. (Coarse) |
|---|---|---|---|---|
| 1045 Carbon Steel ・ 304 Stainless Steel | φ3 | 8 | φ16 | M3 |
| φ4 | 8 | φ18 | ||
| φ5 | 8 | φ20 | ||
| 10 | φ22 | M4 | ||
| φ6 | 8 | φ20 | M3 | |
| 10 | M4 | |||
| φ8 | 8 | φ25 | M3 | |
| 10 | M4 | |||
| 12 | φ30 | M5 | ||
| 15 | M6 | |||
| φ10 | 8 | M3 | ||
| 10 | M4 | |||
| 12 | M5 | |||
| 15 | φ35 | M6 | ||
| φ12 | 8 | φ30 | M3 | |
| 10 | M4 | |||
| 12 | M5 | |||
| 15 | φ35 | M6 | ||
| φ13 | 10 | φ30 | M4 | |
| 12 | φ34 | M5 | ||
| 15 | φ35 | M6 | ||
| φ15 | 10 | φ34 | M4 | |
| 12 | φ35 | M5 | ||
| 15 | φ40 | M6 | ||
| φ16 | 10 | φ35 | M5 | |
| 12 | ||||
| 15 | φ40 | M6 | ||
| φ18 ・ φ20 | 10 | M5 | ||
| 12 | ||||
| 15 | φ45 | M6 | ||
| φ25 | 12 | M5 | ||
| 15 | φ50 | M6 | ||
| 20 | φ55 | |||
| φ30 | 15 | |||
| 20 | φ60 | M8 | ||
| φ35 | 15 | M6 | ||
| φ40 | 18 | φ70 | M8 | |
| φ50 | 22 | φ85 | M10 | |
| 2017 Aluminum Alloy | φ3 | 8 | φ16 | M3 |
| φ4 | 8 | φ18 | ||
| φ5 | 8 | φ20 | ||
| φ6 | 8 | |||
| φ8 | 8 | φ25 | ||
| 10 | ||||
| φ10 | 10 | φ30 | M4 | |
| φ12 | 10 | |||
| φ13 | 10 | |||
| φ15 | 10 | φ34 | ||
| φ16 | 10 | φ35 | M5 | |
| 12 | ||||
| φ20 | 10 | φ40 | ||
| 12 | ||||
| 15 | ||||
| φ25 | 12 | φ45 | ||
| 15 | ||||
| φ30 | 15 | φ55 | M6 | |
| φ35 | 15 | φ60 | ||
| φ40 | 18 | φ70 | M8 | |
| φ50 | 22 | φ85 | M10 |
Accuracy Info
■Accuracy of shaft collars
| I.D. Tolerance | +0.05/+0.01 |
|---|---|
| O.D. Tolerance | ±0.1 |
| Overall Thickness (width) Tolerance | ±0.1 |
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Application Overview
Purpose
- Purpose
- Using suction cups, various plastic work pieces with different step heights can be transported without changing the setup.
- Operation
- When work pieces vary, changing the suction cups is unnecessary. The suction cups unit slide up and down the spline shaft to absorb the different heights of the work pieces. Horizontal transportation of the work piece is conducted by fixing the upper part of the spline shaft with an air chuck.
Points for use
- Transportation of irregular shaped work pieces in their horizontal posture is possible by chucking the slide of the suction cup.
Target workpiece
- Shape: Plastic cases with height differences.
- Size: W 120 x D 100 x H 15 (allowable difference in step difference 10 mm)
- Weight: 800 g
Design Specifications
Operating Conditions or Design Requirements
- Suction cup stroke 15 mm
- Suction cup maximum reaction force: 7.93N x 2 (including weights of the guide, etc.)
- Hand gripping force: About 70N (air pressure 0.4MPa)
70×70％=49N - External size: W 100 x D 60 x H 230 mm
Required Performance
- Allowable transportable load: 8 N
Selection Criteria for Main Components
- Gripping force of the air chuck: >= 46.2N
Select an air chuck with a gripping force of 49 N.
Design Evaluation
Verification of main components
- Verify the transportable load limit by the air chuck for the feasibility of transporting the work pieces.
- Check the allowable transportable weight by air chuck gripping
- Conditional values: workpiece weight: M1 = 800g = 0.8kg, weight of a structure gripped by the air chuck: M2 = 0.4kg, gravitational acceleration g = 9.8 m/s², friction coefficient μ = 0.5 (rubber vs. metal), spring constant of the spring: k = 0.2 N/mm, maximum deflection of the spring: L = 21.5 mm, gripping force of the air chuck: H = 49 N
- Maximum downward load by the springs (2 pieces): S = k x L x 2 = 0.2 x 21.5 x 2 = 8.6N
- Downward load by the structure and springs: W = M2 x g + S = 0.4 x 9.8 + 8.6 = 3.9 + 8.6 = 12.5 N
- Maximum transportable weight with the chuck: P = H x μ = 49 x 0.5 = 24.5 N
Allowable transportable weight: Q = P - W = 24.5 - 12.5 = 12.0 N - Downward load of the workpiece: N = M1 x g = 0.8 x 9.8 = 7.8N This corresponds to 65% (=7.8/12×100) of the allowable transportable weight, and thus, the workpiece can be transported.
- Checking the allowable transportable weight of the suction cup
- Conditional values: Pad size = φ 20mm ∴ pressure receiving area S ＝ 3.14cm², vacuum pressure P ＝ - 80 kPa, safety factor t = 4
Sling up capacity: W [N] ＝ P x S x 0.1/ｔ＝ 80 x (3.14 x 4pieces) x 0.1/4 = 25.1N
⇒Allowable transportable weight of the air chuck 24.5N ≦ allowable transportable weight of the suction cup 25.1N Thus, the workpiece can be transported.
- Conditional values: Pad size = φ 20mm ∴ pressure receiving area S ＝ 3.14cm², vacuum pressure P ＝ - 80 kPa, safety factor t = 4
Other Design Consideration
- By sliding the suction cup up and down using the guide, irregular shaped work pieces can be transported.
The orientation of irregular shaped work pieces can be retained by holding and fixing the slide with a chuck. - Rubber pads are affixed on the inner sides of the chuck grips to retain the position of the spline shaft.
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