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- inCAD Library Home
- > No.000177 Reverse Gripper
No.000177 Reverse Gripper
58
58
Gripper that can reverse and rotate.
Relevant category
Cable Carriers
| Product name | Cable Carriers -Slit- |
|---|---|
| Part number | SE08F-30-028-14 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Organizes cables and protects them against wear and tear on moving objects.
Available sizes
■Cable Carriers - Slit (Type 08F)
| Type | Material |
|---|---|
| Outer Radius Mount | Special Plastic (Operating Temperature: -30 - 100℃) Equivalent to Flammability Standard UL94-V2 |
| Inner Radius Mount |
■Sizes and Overall Dimensions
| Bending Radius | Number of Links | Mounting height | (Required Space Height) | (Arc + Allowance) | Link Pitch |
|---|---|---|---|---|---|
| 28 | 1〜37 | 76 | 91 | 130 | 20 |
| 38 | 1〜38 | 96 | 111 | 160 | |
| 48 | 1〜40 | 116 | 131 | 190 |
■Sizes and Link Cross Section Dimensions
| Inner height | Overall Height | Inner width | Overall Width | Number of Comb Teeth |
|---|---|---|---|---|
| 14.6 | 19.3 | 16 | 24.2 | 2 |
| 20 | 28.2 | 2 | ||
| 30 | 38.2 | 3 | ||
| 40 | 48.2 | 4 | ||
| 50 | 58.2 | 5 |
Bearings with Housings
| Product name | Bearings with Housings - Direct Mount, Standard with Pilot, Retained |
|---|---|
| Part number | SBGCR6901ZZ |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Bearing and housing sold as a set.
Available sizes
■Bearings with Housings, Pilot, Retained
| Flange Shape | Material | Surface Treatment | Material of the Included Retaining Ring | |
|---|---|---|---|---|
| Bearing | Holder | Holder | ||
| Round ・ Square ・ Compact | Steel | 1045 Carbon Steel | Black Oxide | Spring Steel |
| Electroless Nickel Plating | 304 Stainless Steel | |||
| 2017 Aluminum Alloy | Clear Anodize | |||
| Stainless Steel | ||||
| 304 Stainless Steel | − | |||
■Sizes and Dimensions
| Seal | Bearing | Shaft Bore Dia. | Bearing O.D. | Bearing Width | Flange External Dimensions | Compact Flange Wrench Flats | Overall Thickness | Flange Thickness | Pilot Part Length | Pilot Dia. |
|---|---|---|---|---|---|---|---|---|---|---|
| Non-contact Rubber Seal ・ Contact Rubber Seal | 623 | φ3 | φ10 | 4 | 33 | 16 | 9 | 7 | 2 | φ14 |
| 624 | φ4 | φ13 | 5 | 35 | 18 | 10 | 8 | φ17 | ||
| 605 | φ5 | φ14 | 5 | 36 | 20 | 10 | 8 | φ18 | ||
| 625 | φ16 | 5 | 38 | 22 | 10 | 8 | φ20 | |||
| 606 | φ6 | φ17 | 6 | 39 | 23 | 11 | 9 | φ21 | ||
| 626 | φ19 | 6 | 41 | 25 | 11 | 9 | φ24 | |||
| 698 | φ8 | φ19 | 6 | 41 | 25 | 11 | 9 | φ24 | ||
| 608 | φ22 | 7 | 45 | 29 | 12 | 10 | φ27 | |||
| 628 | φ24 | 8 | 47 | 32 | 13 | 11 | φ30 | |||
| 6800 | φ10 | φ19 | 5 | 41 | 25 | 10 | 8 | φ24 | ||
| 6900 | φ22 | 6 | 45 | 29 | 11 | 9 | φ27 | |||
| 6000 | φ26 | 8 | 50 | 34 | 13 | 11 | φ32 | |||
| 6200 | φ30 | 9 | 54 | 38 | 14 | 12 | φ36 | |||
| 6801 | φ12 | φ21 | 5 | 44 | 29 | 10 | 8 | φ26 | ||
| 6901 | φ24 | 6 | 48 | 31 | 11 | 9 | φ30 | |||
| 6001 | φ28 | 8 | 52 | 36 | 13 | 11 | φ34 | |||
| 6201 | 32φ | 10 | 56 | 40 | 15 | 13 | φ38 | |||
| 6802 | φ15 | φ24 | 5 | 47 | 32 | 10 | 8 | φ30 | ||
| 6902 | φ28 | 7 | 57 | 37 | 12 | 10 | φ35 | |||
| 6002 | φ32 | 9 | 60 | 40 | 14 | 12 | φ38 | |||
| 6202 | φ35 | 11 | 64 | 44 | 17 | 15 | φ42 | |||
| 6903 | φ17 | φ30 | 7 | 60 | 38 | 12 | 10 | φ36 | ||
| 6003 | φ35 | 10 | 66 | 44 | 16 | 14 | φ42 | |||
| 6203 | φ40 | 12 | 72 | 50 | 18 | 16 | φ48 | |||
| 6804 | φ20 | φ32 | 7 | 60 | 40 | 12 | 10 | φ38 | ||
| 6904 | φ37 | 9 | 69 | 47 | 15 | 13 | φ45 | |||
| 6004 | φ42 | 12 | 77 | 54 | 18 | 16 | φ50 | |||
| 6204 | φ47 | 14 | 81 | 58 | 20 | 18 | φ54 | |||
| 6805 | φ25 | φ37 | 7 | 69 | 47 | 13 | 11 | φ45 | ||
| 6905 | φ42 | 9 | 77 | 54 | 15 | 13 | φ50 | |||
| 6005 | φ47 | 12 | 88 | 58 | 18 | 16 | φ54 | |||
| 6205 | φ52 | 15 | 94 | 64 | 22 | 20 | φ60 | |||
| 6806 | φ30 | φ42 | 7 | 77 | 54 | 13 | 11 | φ50 | ||
| 6906 | φ47 | 9 | 88 | 58 | 15 | 13 | φ54 | |||
| 6006 | φ55 | 13 | 96 | 66 | 20 | 18 | φ62 | |||
| 6206 | φ62 | 16 | 104 | 74 | 23 | 21 | φ70 | |||
| 6007 | φ35 | 14 | 21 | 19 | ||||||
| 6207 | φ72 | 17 | 126 | 88 | 26 | 23 | 3 | φ84 | ||
| 6008 | φ40 | φ68 | 15 | 114 | 82 | 23 | 21 | 2 | φ78 | |
| 6208 | φ80 | 18 | 134 | 96 | 27 | 24 | 3 | φ92 | ||
| Double shielded | 6010 | φ50 | 16 | 25 | 22 | |||||
| 6210 | φ90 | 20 | 147 | 110 | 31 | 28 | φ106 |
Accuracy Info
■Accuracy Information of the Bearings with Housings, Pilot, Retained
Pilot Dia. Tolerance: g7
Concentricity of the Pilot and the Bearing Housing: 0.02 or less
Perpendicularity of the Flange Mounting Surface and the Bearing Housing: 0.01 or less
Shaft Collar
| Product name | Shaft Collars - D Shaped - Compact Slit Type |
|---|---|
| Part number | PSDNJ15-8 |
| Features | Utilization of Mounting Hole on Cut Side facilitates Sensor Bracket Mounting |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Mounting holes on side allow for easy installation of sensor brackets.
Available sizes
■Shaft Collar Clamp D Cut, Cut Surface Mount Hole, Compact
| Material | Surface Treatment | Accessory |
|---|---|---|
| 1045 Carbon Steel | Black Oxide | Hex Socket Head Cap Screw 1 pcs. |
| Electroless Nickel Plating | Hex Socket Head Cap Screw 1 pcs. (SUS) | |
| 304 Stainless Steel | − |
■Sizes and Dimensions
| Shaft Bore Dia. | Overall Width (Thickness) | O.D. | Fastening Screw Dia. (Coarse) | Mounting Screw Dia. (Coarse) |
|---|---|---|---|---|
| φ10 | 8 | φ30 | M3 | M3 |
| φ12 | ||||
| φ15 | ||||
| φ16 | ||||
| φ20 | φ35 | |||
| φ25 | 10 | φ42 | M4 | M4 |
| φ30 | 12 | φ50 | M5 |
* Please see the product pages for dimension details.
Accuracy Info
Shaft Bore Dia. Tolerance: +0.05/+0.01
O.D. Tolerance: ±0.1
Overall Width Tolerance: ±0.1
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Application Overview
Purpose
- Purpose
- Gripper reverses and rotates the workpiece as it is laser engraved.
- Operation
- Workpieces are transported to the receiving/discharging position by a robot. Once the workpiece is in place, the three-claw pneumatic gripper reverses the part 90° and moves forward into printing position. As the piece is being laser marked, a stepper motor and timing belt rotates the workpiece. When printing is completed, the gripper reverses back 90° into receiving/discharging position and the piece is removed by a robot.
Target workpiece
- Shape: Bar-shape
- Workpiece size: φ 12 x L 145 mm
- Weight: 37 g
Design Specifications
Operating Conditions or Design Requirements
- Stroke of the three-claw pneumatic gripper: 6 mm
- Reversing angle: 90°
- Rotation angle: 90°
- External size: W 460 x D 165 x H 230 mm
Required Performance
- Position repeatability accuracy of the three-claw pneumatic gripper: ± 0.1 mm
Design Evaluation
Verification of main components
- Verify the gripping force of the pneumatic gripper for appropriate workpiece gripping force.
- Check the gripping force of the three-claw pneumatic gripper
- Conditional values: Center of gravity of workpiece L1 = 85mm, workpiece gripping point L2 = 59.5 mm, workpiece weight m = 37 g, supply pressure p = 0.5MPa, gravitational acceleration g = 9.8m/s², friction coefficient μ=0.2 (metal vs. metal)
- Gripping force F1 of the three-claw pneumatic gripper at supply pressure p, and workpiece gripping point L2 is obtained form the graph as F1 = 4.5 N.
Gripping force on the workpiece F1' = F1 x μ Thus, F1' = 4.5 x 0.2 = 0.9 N - Required gripping force F2 is obtained from the balance of the moment as follows.
Mg×L1=F2×L2
F2 = Mg x (L1/L2) Thus, F2 = 37 x 10⁻³ x 9.8 x (85/59.5) = 0.518 N
F1'>F2 Thus, sufficient gripping force is achieved.
Other Design Consideration
- Install a mechanical stopper to limit the rotation of the three-claw pneumatic gripper below 270°. This stopper serves as a countermeasure against cable entanglement and disconnection.
- For safety purposes, a cover is installed over the timing belt.
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