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- inCAD Library Home
- > No.000219 Gripper for Multiple Worpieces
No.000219 Gripper for Multiple Worpieces
28
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Simultaneously grips two workpieces with a single cylinder.
Relevant category
Floating Joint
| Product name | Tip Connection Joints - Tapped |
|---|---|
| Part number | TCMJF10-10-M5-F6-B4 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Appropriate joint for connecting a cylinder and a T-slot joint
Available sizes
■Tip Connection Joints - Tapped
| Material | Surface Treatment | Hardness |
|---|---|---|
| 1045 Carbon Steel | Hard Chrome Plating Plating Thickness 3 μm or more | 750HV- |
| O1 Tool Steel | - | 53-58HRC |
| 304 Stainless Steel | - | - |
■Sizes and Dimensions
| Shaft Dia. | Shaft Length | Thread Dia. | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| 3 | 4 | 5 | 6 | 8 | 10 | 12 | 14 | 16 | 20 | ||
| 8 | 10-100 | ○ | ○ | ○ | ○ | - | - | - | - | - | - |
| 10 | 10-100 | - | ○ | ○ | ○ | ○ | - | - | - | - | - |
| 12 | 15-150 | - | - | ○ | ○ | ○ | ○ | - | - | - | - |
| 16 | 15-150 | - | - | - | ○ | ○ | ○ | ○ | - | - | - |
| 20 | 20-200 | - | - | - | - | ○ | ○ | ○ | ○ | - | - |
| 25 | 25-200 | - | - | - | - | - | ○ | ○ | ○ | ○ | ○ |
Accuracy Info
■Accuracy of the Floating Joints T-slots, Tip Connection Joints
| Shaft Dia. | Shaft Dia. Tolerance (g6) |
|---|---|
| 8 | -0.005 -0.014 |
| 10 | -0.006 -0.017 |
| 12 | |
| 16 | |
| 20 | -0.007 -0.020 |
| 25 |
Point Pads
| Product name | Point Pads - Tapped |
|---|---|
| Part number | PDUPK10 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable pad for chucking a workpiece
Available sizes
■Point Pads - Tapped
| Material | Type | |||
|---|---|---|---|---|
| Spherical | Hole Type | Flat Type | Tapped | |
| PEEK | ○ | - | ○ | ○ |
| PTFE Resin | - | - | ○ | - |
| Ultra High-molecular-weight Polyethylene | ○ | ○ | ○ | ○ |
■Point pad dimensions
Link
| Product name | Links - Standard |
|---|---|
| Part number | LNFS5-L30-W10-T5 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Selected to turn linear motion into a swinging motion
Available sizes
■Links - Standard
| Material | Surface Treatment |
|---|---|
| 1045 Carbon Steel | Black Oxide |
| Electroless Nickel Plating | |
| 304 Stainless Steel | - |
■Sizes and Dimensions
| Hole Dia. | Hole Pitch (1 mm increments) | Width (1 mm increments) | Thickness (Selectable) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 2 | 3 | 5 | 6 | 9 | 10 | 12 | 16 | 19 | 22 | |||
| 2 | 10-75 | 7-12 | ○ | ○ | - | - | - | - | - | - | - | - |
| 3 | 10-150 | 10-20 | - | - | ○ | ○ | - | - | - | - | - | - |
| 4 | - | - | ○ | ○ | ○ | - | - | - | - | - | ||
| 5 | - | - | ○ | ○ | ○ | - | - | - | - | - | ||
| 6 | - | - | ○ | ○ | ○ | - | - | - | - | - | ||
| 8 | - | - | ○ | ○ | ○ | ○ | - | - | - | - | ||
| 10 | 20-200 | 15-30 | - | - | ○ | ○ | ○ | ○ | - | - | - | - |
| 12 | 20-30 | - | - | ○ | ○ | ○ | ○ | ○ | ○ | - | - | |
| 13 | - | - | ○ | ○ | ○ | ○ | ○ | ○ | - | - | ||
| 14 | 20-40 | - | - | - | - | ○ | ○ | ○ | ○ | - | - | |
| 15 | - | - | - | - | ○ | ○ | ○ | ○ | - | - | ||
| 16 | - | - | - | - | ○ | ○ | ○ | ○ | - | - | ||
| 18 | - | - | - | - | ○ | ○ | ○ | ○ | - | - | ||
| 20 | 30-300 | 25-50 | - | - | - | - | ○ | ○ | ○ | ○ | ○ | - |
| 25 | 30-60 | - | - | - | - | ○ | ○ | ○ | ○ | ○ | ○ | |
Accuracy Info
■Accuracy of the links - standard (width configurable)
| Hole Dia. | Hole Dia. Tolerance (H7) |
|---|---|
| 2 | +0.009 0 |
| 3 | |
| 4 | +0.012 0 |
| 5 | |
| 6 | |
| 8 | +0.015 0 |
| 10 | |
| 12 | +0.018 0 |
| 13 | |
| 14 | |
| 15 | |
| 16 | |
| 18 | |
| 20 | +0.021 0 |
| 25 |
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CAD Download (Unit Assembly)
CAD Download: File Format
CAD Data Limitations
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Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
You will need to edit the Data so that it meets your specific design conditions. -
Unit assembly Data consists of some sub-assemblies.
It is configured so that each sub-assembly unit can be used as it is or edited. - The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
- The Data including the third-part components are made by the Company.
* The part in the frame is a sub-assembly unit.
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Your access to the CAD data that MISUMI Corporation (hereinafter referred to as the Company) posts on this site (including 3D CAD data, intermediate 3D CAD data and 2D CAD data; hereinafter referred to as the Data) are of products manufactured and/or sold by the Company (hereinafter referred to as the Products) assumes that you have read and accepted these terms and conditions which govern your use of the Data. If you do not agree to these terms and conditions, you must stop using this website and the Data. You must not use the Data for any unlawful purpose or in any manner inconsistent with these terms and conditions.
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- * Unit assembly Data consists of some sub-assemblies.
It is configured so that each sub-assembly unit can be used as it is or edited.
Application Overview
Purpose
- Purpose
- To position and temporarily grip workpieces α and β at the same time.
- Operation
- When the cylinder makes a pushing movement, the outer chuck connected to the cylinder via a link opens, and the inner chuck connected with a fulcrum opens by a roller at the end of the shaft. When the Cylinder makes a pulling movement, the roller is detached from inner chuck and the workpiece ß is held by spring force and the outer chuck closes to grip workpiece α.
Target workpiece
- Workpiece α
- Shape: rotor
- Size: φ40 x H32mm
- Weight: 0.30kg
- Workpiece β
- Shape: shaft
- Size: φ6 x H62mm
- Weight: 0.04kg
Design Specifications
Operating Conditions or Design Requirements
- Cylinder stroke: 20mm
- Outer dimensions: D120 ｘ W50 ｘ H224mm
Required Performance
- Required accuracy: 0.1mm
- Load on outer chuck: 111.5N
- Load on inner chuck: 9.41N
Selection Criteria for Main Components
- A cylinder is selected using a safety factor of 3.
- As the inner chuck holds a workpiece with a spring force and not cylinder thrust, a spring that can grip workpiece ß is selected.
Design Evaluation
Verification of main components
- The cylinder thrust and spring force are verified based on the required workpiece chucking force.
- Confirmation of workpiece gripping force
- Conditional value: mass of workpiece α M1 = 0.4kg, mass of workpiece β M2 = 0.04kg, gravitational acceleration g = 9.8m/s², cylinder thrust (when pulling, at operating air pressure of 0.4 MPa) F = 118N,
Installation angle of chuck A link θ = 10°, distance from arm fulcrum to power point of chuck A L1 = 30mm, distance from arm fulcrum to acting point of chuck A L2 = 90mm,
distance from arm fulcrum to spring of chuck B R1 = 22mm, distance from arm fulcrum to chucking part of chuck B R2 = 29mm, initial tension of tension spring T = 5.1N, spring constant of tension spring k = 1.86N/mm, deflection amount of tension spring during chuck D = 3mm
Number of arms of chuck A = number of arms of chuck B N = 2 pieces - To chuck workpiece α, the pulling force of the cylinder is used.
The force at the acting point of the link of the chuck A = chucking force of chuck A: Q1 = (F/N)/tanθ x (L1/L2) = (118/2)/tan10 x (30/90) = 334.6 x (30/90) = 111.5N - As the weight of workpiece α = W1 = M1 x g = 0.4 x 9.8 = 3.92N, considering the friction coefficient and number of arms, the workpiece gripping force is (Q1 x N)/W1 = (111.5 x 2)/3.92 = 56.9 times. Therefore, the workpiece can be gripped.
- To chuck workpiece β, the force of tension spring is used.
Force by tension spring: S = T + k x D = 5.1 + 1.86 x 3 = 10.68N - The force at acting point of chuck B link = chucking force of chuck B: Q2 = S x (R1/R2)/N = 10.68 x (22/29)/2 = 4.05N
- As the weight of workpiece β = W2 = M2 x g = 0.04 x 9.8 = 0.39N, considering the friction coefficient and number of arms, the workpiece gripping force is (Q2 x μ x N)/W2 = (4.05 x 2)/0.39 = 20.7 times. Therefore, the workpiece can be gripped.
- Conditional value: mass of workpiece α M1 = 0.4kg, mass of workpiece β M2 = 0.04kg, gravitational acceleration g = 9.8m/s², cylinder thrust (when pulling, at operating air pressure of 0.4 MPa) F = 118N,
Other Design Consideration
- By using a link mechanism, a chucking force greater than the cylinder thrust is produced.
- By using a cylinder, the machining cost is reduced.
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