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No.000032 Pick and place mechanism with ball spline
Good IDEA!
60

Compact design utilizing ball spline

Related Category

Timing Belt

Timing Belt
Product name Timing Belts - MXL, XL, L, H
Model number TUN165L050
Characteristic General purpose timing belts for transmission. Although some tooth fabrics for MXL and XL rubber belts are changed to comply with the bear-back specifications, it does not affect the performance.
* Orange colored cells in the table below indicate the part numbers that were actually used in this app. example.
Selection criteria | Risk info. | Available sizes | Selection steps | Performance info. | Technical calculations

Selection criteria

Transmit torque from driving to driven pulley.

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Risk info.

A pulley layout enabling replacements

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Available sizes

■Timing Belts - MXL / XL / L / H

Material MXL XL L H
Tooth surface cover Tooth rubber Core wire
Nylon canvas Chloroprene
Rubber 		Glass fiber cord
S / Z Alternately Twisted Continuous 		○ ○ ○ ○
Polyurethane Polyurethane MXL: Kevlar
XL ･ L: Steel cord 		○ ○ ○ -

■Reference dimensions

Belt type Pitch Belt width Belt length reference
MXL 2.032 4.8, 6.4, 9.5, 12.7 100 - 1100
XL 5.08 6.4, 7.9, 9.5, 12.7 200 - 2100
L 9.525 12.7, 19.1, 25.4, 38.1 300 - 1800
H 12.7 19.1, 25.4, 38.1, 50.8 600 - 4300

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Selection steps

■Timing belt selection procedure

* Timing belt selection is made together with timing pulley

Determining of usage conditions
Designed power ･ Rotational speed ･ Interim shaft distance ･ motion pattern, etc.

↓

Belt (pulley) interim selection
Belt type ･ Belt width

↓

Verifying specification compatibility
  • Verifying calculated shaft distance, etc.
  • Verifying tension and load

Performance info.

■Load info. of timing belt

Belt type Small pulley rotational speed (rpm) Designed power (kW)
MXL, XL, L, H, T5, T10 10 - 20000 0.01 - 800

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Technical calculations

■Technical calculations

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Timing Pulley

Timing Pulley
Product name Timing Pulleys L Type
Model number ATPA19L050-A-N30
Characteristic New! METRIC/ INCH Bores Available!
* Orange colored cells in the table below indicate the part numbers that were actually used in this app. example.
Selection criteria | Risk info. | Available sizes | Selection steps | Accuracy Info | Technical calculations

Selection criteria

Transfer rotary motion. Aluminum type selected for weight reduction purposes.

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Risk info.

Accuracy degradation due to wear over time.

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Available sizes

■Timing Pulleys L Type

Material Surface treatment Tooth type / Belt width
MXL XL L H
Pulley Flange 4.8 6.4 9.5 12.7 6.4 7.9 9.5 12.7 12.7 19.1 25.4 38.1 19.1 25.4 38.1 50.8
MXL, XL:
EN AW-2017 Equiv.

L, H:
EN AW-7075 Equiv. 		EN AW-5052 Equiv. Clear anodize ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Black anodize ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Hard anodize ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Electroless
nickel plating 		○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
EN 1.1191 Equiv. EN 1.0330 Equiv. - - ○ ○ - ○ - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Black
oxide 		- ○ ○ - ○ - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Electroless
nickel plating 		- ○ ○ - ○ - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
EN 1.4301 Equiv. EN 1.4301 Equiv. - - ○ ○ - ○ - ○ ○ - - - - - - - -

■Pulley number of teeth and shaft bore DIA.

Belt type Shape Number of teeth Pitch circle DIA. Shaft bore DIA.
MXL K, A, B 14 - 72 O9.6 - 46.57 O3 - 35
XL A, B 10 - 72 O16.17 - 116.43 O4 - 80
L A, B, D 10 - 72 O30.32 - 218.30 O6 - 100
H A, B, D 14 - 72 O58.60 - 291.06 O12 - 100

K: With collar
A: No hub
B: With hub
D: With hub Relieved

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Selection steps

■Timing pulley selection steps

* Timing pulley selection is made at the same time as the timing belt.

Determining of usage conditions
Design power ･ Rotational speed ･ Rotation ratio ･ Interim shaft distance, Motion pattern, etc.

↓

Temporary selection of pulley (Belt)
Tooth profile ･ Belt width

↓

Verifying specification compatibility
  • Verifying calculated shaft distance, etc.
  • Verifying tension･Load

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Accuracy Info

■Timing pulley accuracy

Shaft bore tolerance: H7

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Technical calculations

■Technical calculations

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Bearings with Housing

Bearings with Housing
Product name Standard Length/Double Bearings/Retained
Model number BGRBB6007ZZ-50
* Orange colored cells in the table below indicate the part numbers that were actually used in this app. example.
Selection criteria | Available sizes | Accuracy Info

Selection criteria

Compact double bearing type with high bearing performance

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Available sizes

■Bearings with Housings - Standard Length, Double Bearings, Retained

Flange Shape Material Surface treatment
Bearing Housing Retaining ring Housing
Round type
Square type
Compact type 		Steel EN 1.1191 Equiv. Spring steel Black oxide
EN 1.4301 Equiv. Electroless nickel plating
EN AW-2017 Equiv. EN 1.4301 Equiv. Clear anodizing
Stainless
EN 1.4301 Equiv. -

■Sizes

Shaft bore DIA. Bearing
part number 		Seal Overall length Pilot
O.D.
O30 6806 Double shielded

Non-contact
rubber seal

Contacting
rubber seal 		35 50 O50
6906 35 50 O54
6006 40 60 O62
6206 50 60 O70
O35 6007 50 60 O70
6207 60 80 O84
O40 6008 60 70 O78
6208 60 80 O92

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Accuracy Info

■Accuracy of bearing housing

Pilot O.D. tolerance: g7
Seating face - Pilot perpendicularity: 0.01

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Ball Spline

Ball Spline
Product name Ball Splines/Both Ends Stepped Tapped
Model number BSLM13-350-F6-E25-P10-Q10-M6-N6-SC0
* Orange colored cells in the table below indicate the part numbers that were actually used in this app. example.
Selection criteria | Available sizes | Selection steps | Accuracy Info | Performance info. | Technical calculations

Selection criteria

Suitable for a transmission element when linear and rotary motion are needed at the same time.

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Available sizes

■Ball Splines -Both Ends Stepped Tapped

Spline
Shaft 		Material EN 1.3505 Equiv. EN 1.4125 Equiv.
Hardness 58HRC ~ 55HRC ~
Nut Material EN 1.722515 Equiv. EN 1.4125 Equiv.
Hardness 58HRC ~ 55HRC ~
Shape Round flange ○ ○
Compact flange ○ -
Straight ○ ○

■Dimensions

Spline shaft Nut
Name No. Shaft DIA. Overall length Pilot DIA.
10 O10.4 60 - 600 O21
13 O13.4 60 - 600 O24
16 O16.6 70 - 600 O31

For EN 1.4125 Equiv. spline shaft max. overall length is 390mm.

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Selection steps

■Ball spline selection steps

Determine application conditions
(Load, Torque, Feed distance, Life)

↓

Temporarily select ball spline specifications
(Temporarily select spline shaft DIA., spline shaft length, overall length based on app. conditions)

↓

Verify basic safety
  • Allowable load
  • Life

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Accuracy Info

■Accuracy of ball spline shaft

(μm)

Name
No. 		Spline
Shaft DIA. 		Nut O.D. runout Spline shaft center runout (Max.)
(Max.) Length - 200 201 - 315 316 - 400 401 - 500 501 -
10 O10.4 33 59 83 103 82 102
13 O13.4 39 56 71 83 62 75
16 O16.6

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Performance info.

■Ball spline load rating

Name
No. 		Basic torque rating Basic load rating
Dynamic (Nm) Static (Nm) Dynamic (kN) Static (kN)
10 11 21 2.4 4.3
13 20 37 3.3 5.9
16 51 93 6.2 11.1

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Technical calculations

Ball spline running life is calculated with the formula below.

●In case of radial loads

In case of radial loads

●In case of torque loads

In case of torque loads
  • L: Life (km)
  • ft: Temp. factor
  • fh: Hardness factor
  • fp: Load rating 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 life time is calculated with the formula below.

寿命時間
  • Lh: Run hours (hr)
  • L: Life (km)
  • St: Stroke length (mm)
  • n: Number of cycles per minute (cpm)

■Temp. factor (ft)

Temp. factor (ft)

■Hardness factor (fh)

Hardness factor (fh)

■Load rating ratio (fp)

Name No. Spline shaft DIA. Distributed load Direct download
10 O10.4 1 0.71
13 O13.4 1 0.71
16 O16.6 1 0.68

■Load factor (fw)

Application conditions Load factor (fw)
No vibration or shocks
(Low speed 1 ~ 2 15m/min or less) 		1 - 2
Some vibrations and shocks
(Med. speed 2 ~ 3 60m/min) 		2 - 3
Severe vibrations and shocks
(High speed 3 and over 60m/min or over) 		3 -

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IDEA NOTE Transmit rotational power to the ball spline nut

This app. example uses a ball splines with flanged type nut.
Flanged nut is mounted on a hollow shaft, and rotation is transmitted via a pulley.

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      You will need to edit the Data so that it meets your specific design conditions.
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       Each sub-assembly unit can be used as it is or can be edited.

Application Overview

Purpose

  • Pick, rotate and lower workpiece to next work station.

Target workpiece

  • Plastic pin with square base
    • Pin DIA.: O15, Length: 100mm
    • Protrusion on one location

Design Specifications

Operating Conditions or Design Requirements

  • W150 x D240 x H377mm
  • Up / down stroke: 150mm
  • Rotation angle: 90deg.

Required Performance

  • Rotational position accuracy: ±1°

Selection Criteria for Main Components

  • A ball spline is used for accurate linear motion as well as for its ability to rotate its orientation.

Design Evaluation

Verification of main components

  • Select a motor that satisfies the torque at required speed.
  • Motor selection
    • Calculation of load torque
      App. condition: Timing belt drive
    • Conditional value:
      D = 57.61 x 10?3m - pulley pitch diameter
      F = 5N - belt tension force
      W = 0kg - workpiece mass
      μ = 0.1 - coefficient of friction, sliding surface
      g = 9.8m/s2 - gravitational acceleration
    • From: Load torque T = D / 2 x (F + μWg) N･m
      T = 1 / 2 x 57.61 x 103 x (5 + 0.1 x 0 x 9.8) = 144 x 10?3N･m
      therefore, we select a motor with larger torque then T = 0.14N･m
    • Torque of the selected motor MAMA012P1A (with continuous operation range up to 5000r/min) is 0.19N･m, and satisfy requirements.
      Motor rated torque > Actually applied torque.

Other Design Consideration

  • For smooth rotation ball spine is supported by ball bearing on two ends and rotation is transmitted thru pulley.
  • If needed install position sensors.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample picture MISUMI Part Number
For Price and Days to ship click on Part No. 		Quantity
1 Floating Joints FJUC10 1
2 Collars FNCLB-V6-D15-L18.2 4
3 Hex Posts LSFB12-57 2
4 Timing Pulleys ATPA19L050-B-P13 1
5 Timing Belts TUN165L050 1
6 Timing Pulleys ATPA19L050-A-N30 1
7 Shaft Collars SCSLAW35-43 1
8 Parallel Keys KESSM8-20 1
9 Bearing W/Housing BGRBB6007ZZ-50 1
10 Ball Spline BSLM13-350-F6-E25-P10-Q10-M6-N6-SC0 1
11 Bearing Spacer CLBU10-17-5.0 1
12 Bearing W/Housing BGTAB6200ZZ 1
13 Shaft Collars SCSBS10-16 1
14 Metallscheiben FWSSM-D15-V6.5-T3.1 1
  • The part list above contains only MISUMI parts.
    The list of parts and machined products of other manufacturers than MISUMI can also be downloaded by part list download (CSV).
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    If any term or provision of these Terms is invalid, illegal, or unenforceable in any jurisdiction, such invalidity, illegality, or unenforceability shall not affect any other term or provision of these Terms or invalidate or render unenforceable such term or provision in any other jurisdiction. Section 139 BGB (German Civil Code) shall not apply.
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