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No.000034 Transfer unit using single axis actuator
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Single axis guide with a floating mechanism utilizing a cam follower
Related Category
Single Axis Robot
| Product name | Single Axis Robot RSH3 |
|---|---|
| Part number | RSH310-C21A-N-F1-3-500 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Linear motion unit that satisfies load capacity, stroke, and motion speed requirements.
Risk info.
Disconnection
Available sizes
■Single axis robot (RSH3, Slider type)
■General specifications
| Ball screw | Motor | Position detector | Operating atmosphere temp. ･ humidity | Controller power input |
|---|---|---|---|---|
| O15 (C7 Rolled) | AC Servo motor 100W | Resolver | 0 ~ 40°C ･ 35 ~ 85%RH (No condensation) | AC100 - 115V AC200 - 230V |
■Basic specifications
| Lead (mm) | Stroke (mm) |
|---|---|
| 5 | 150 - 1050 (50Increment) |
| 10 | |
| 20 |
■Dimensions ･ Mass
| Dimensions ･ Mass | Stroke | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 150 | 200 | 250 | 300 | 350 | 400 | 450 | 500 | 550 | 600 | |
| Overall length | 518 | 568 | 618 | 668 | 718 | 768 | 818 | 868 | 918 | 968 |
| Mass (kg) | 4.7 | 5 | 5.3 | 5.6 | 5.9 | 6.2 | 6.6 | 6.9 | 7.2 | 7.5 |
| ■Dimensions ･ Mass | Stroke | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| 650 | 700 | 750 | 800 | 850 | 900 | 950 | 1000 | 1050 | |
| Overall length | 1018 | 1068 | 1118 | 1168 | 1218 | 1268 | 1318 | 1368 | 1418 |
| Mass (kg) | 7.8 | 8.1 | 8.4 | 8.7 | 9 | 9.3 | 9.7 | 10 | 10.3 |
Selection steps
■Single axis robot selection steps
Load capacity
↓
Stroke
↓
Cycle time or Max. Speed
↓
Detail confirmation
Accuracy Info
■Accuracy of Single Axis Robot
Repeatability: ±0.01mm
Performance info.
■Basic specifications
| Lead (mm) | Max. load capacity | Rated force (N) | Max. speed (mm/sec) | Rated Life |
|---|---|---|---|---|
| Horizontal (kg) | ||||
| 5 | 80 | 339 | 300 - 105 | 10,000km or more |
| 10 | 60 | 169 | 600 - 210 | |
| 20 | 30 | 84 | 1200 - 420 |
Max. speed (mm/sec)
| Lead (mm) | Stroke | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 150 - 600 | 650 | 700 | 750 | 800 | 850 | 900 | 950 | 1000 | 1050 | |
| 5 | 300 | 255 | 225 | 195 | 180 | 165 | 150 | 135 | 120 | 105 |
| 10 | 600 | 510 | 450 | 390 | 360 | 330 | 300 | 270 | 240 | 210 |
| 20 | 1200 | 1020 | 900 | 780 | 720 | 660 | 600 | 540 | 480 | 420 |
Linear Guide
| Product name | Linear Guides/Heavy Load |
|---|---|
| Part number | SX2R28-760 |
| Features | Compliant with the industry standard specifications. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable for linear guidance and as a load support.
Available sizes
■linear guide (Standard block, Light preload, High grade, 2 - blocks)
| Material | Hardness | Overall height | Rail length |
|---|---|---|---|
| Carbon steel (SCM etc. alloy steel) | 58HRC ~ | 24 | 160 - 1480 |
| 28 | 220 - 1960 | ||
| 33 | 220 - 1960 |
Selection steps
■Linear guide selection steps
- Determine application conditions
- (Moving body speed, feed rate, motion pattern, Life)
↓
- Temporary selection of linear guide specifications
- (Temporarily select block type, height,
rail length based on the application condition)
↓
- Confirm basic safety
-
- ● Load capacity
- ● Life
- ● Preload
Accuracy Info
■Preload and accuracy reference (Standard block ･ Light preload ･ High grade)
(μm)
| Tolerance of H | ±100 | |
|---|---|---|
| Pair variation of H | 20 | |
| Tolerance of W2 | ±100 | |
| Pair variation of W2 | H24 ･ 28 | 20 |
| H33 | 30 | |
(μm)
| Rail length | |||||||||
|---|---|---|---|---|---|---|---|---|---|
| - 250 | 251 - 400 | 401 - 500 | 501 - 630 | 631 - 800 | 801 - 1000 | 1001 - 1250 | 1251 - 1600 | 1601 - 2000 | |
| Running parallelism | 7 | 12 | 14 | 18 | 21 | 23 | 25 | 27 | 28.5 |
Performance info.
■Linear guide load rating (For heavy loads ･ Normal clearance ･ Standard grade)
| Overall height | Basic load rating | Allowable static moment | ||
|---|---|---|---|---|
| C (Dynamic) kN | Co (Static) kN | MA ･ MB N･m | Mc N･m | |
| 24 | 8.6 | 14.2 | 69 | 98 |
| 28 | 12.5 | 21.3 | 155 | 232 |
| 33 | 20.2 | 34.5 | 275 | 393 |
Technical calculations
■Linear guide life calculations
- ●Life
- When the linear system is in motion with applied load, the rolling surfaces and races are subject to repeated stress. This stress can cause scale-like flaking due to material fatigue. The total run distance until the flaking appears is the "Life" of the linear system.
- ●Rated life
- Rated life is a total distance 90% of linear guides reach without flaking when a group of the same guides are run under the same condition. The rated life can be calculated with basic dynamic load rating and the load applied on the guides as follows.
-
- When using linear guides, load calculations are initially needed. It is not easy to calculate the loads during linear motion due to vibrations and shocks, as well as load distribution on the guides. Furthermore, operating environment temperature has large effect on life. When these conditions are taken in consideration, the calculations would be as follows.
-
- L: Rated life (km)
- fH: Hardness factor (see Fig-1)
- fT: Temperature factor (see Fig-2)
- fC: Contact factor (see Table-1)
- fW: Load factor (see Table-2)
- C: Basic dynamic load rating (N)
- P: Applicable load (N)
- ●Hardness factor (fH)
-
In using linear guides, the shaft that balls contact must have sufficient hardness, If adequate hardness cannot be obtained, load rating decreases and life will be reduced as a result.
Please compensate the life rating with hardness factor.
- ●Temperature factor (fT)
-
When the temperature of linear guides exceed 100°C, hardness of blocks and rails will be reduced, causing reduction of life. Please compensate the life rating with temperature factor.
* Please use linear guides within temperature shown on product pages.
- ●Contact factor (fC)
-
Table-1. Contact factor
Number of blocks installed on one rail and contact factor fC
1 1.00 2 0.81 3 0.72 4 0.66 5 0.61 In general, it is common to use 2 or more blocks on 1 rail. In such case, load applicable on each block would not be uniform due to machining variations. As the result, allowable load rating on each block would vary depending on the number of blocks used per rail. Please compensate the life rating with contact factor shown on Table-1.
- ●Load factor (fW)
-
Table-2. Load factor
Application condition fw No external shocks or vibrations and
speed is low 15m/min or less1.0 - 1.5 No significant shocks or vibration and
med. speed 60m/min or less1.5 - 20 External shocks and vibrations exist
and the speed is high 60m/min or over2.0 - 3.5 When calculating loads applicable on linear guides, other than the weight of the object, inertial force due to motion speeds, moment loads, and variations of each over time must also be obtained accurately. However, accurate calculation would be difficult due to repeated starts and stops and various shocks and vibrations. Therefore, the Load Factors shown in Table-2 are used to simplify the life calculations.
- ●Applicable load calculation method
- When moment loads apply a block, use the following formula to convert the moment load to applicable load.
-
- P: Applicable load (N)
- F: Downward load (N)
- Co: Static load rating (N)
- MA: Allowable static moment - Pitching direction (N･m)
- MC: Allowable static moment - Rolling direction (N･m)
- Lp: Load point distance (m) in pitching direction
- Lr: Load point distance (m) in rolling direction
Cam Follower
| Product name | Cam Followers/Hex Hole/Crown Type/No Seal |
|---|---|
| Part number | CFUA12-30 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable for supporting linear transfer.
Available sizes
■Cam follower, with Hex socket, Flat type
| Purpose | Main body | Nut | |||
|---|---|---|---|---|---|
| Material | Seal | Material | Surface treatment | ||
| N / A | Yes | ||||
| General | JIS-SUJ (Bearing Steel) | ○ | ○ | EN 1.1191 Equiv. | Black oxide |
| EN 1.4125 Equiv. | ○ | ○ | EN 1.4301 Equiv. | - | |
| Low particle generation | - | ○ | |||
| Heavy load | JIS-SUJ (Bearing Steel) | - | ○ | EN 1.1191 Equiv. | Black oxide |
| Stud DIA. | Thread | Outer race diameter | Outer race width | Overall length |
|---|---|---|---|---|
| O8 | M8 x 1.25 | O19 | 11 | 32 |
| O10 | M10 x 1.25 | O22 | 12 | 36 |
| O26 | ||||
| O12 | M12 x 1.5 | O30 | 14 | 40 |
| O32 | ||||
| O16 | M16 x 1.5 | O35 | 18 | 52 |
Accuracy Info
■Cam follower accuracies
Stud diameter tolerance: h7
Outer ring DIA. Tolerance: 0 / -0.05
Outer race DIA. Tolerance: 0 / 0.12
Performance info.
■Cam follower reference data
| Stud DIA. - Outer race diameter | General | |||||
|---|---|---|---|---|---|---|
| Basic dynamic load rating C (kN) | Basic static load rating Cor (kN) | Max allowable load (kN) | Track load capacity (Crowned) (kN) | Rotational speed limit (rpm) | ||
| With Seal | Without Seal | |||||
| 8 - 19 | 4.17 | 4.65 | 4.73 | 1.37 | 14000 | 20000 |
| 10 - 22 | 5.33 | 6.78 | 5.81 | 1.67 | 11900 | 17000 |
| 10 - 26 | 2.06 | |||||
| 12 - 30 | 7.87 | 9.79 | 9.37 | 2.45 | 9800 | 14000 |
| 12 - 32 | 2.74 | |||||
| 16 - 35 | 12.00 | 18.30 | 17.30 | 3.14 | 7000 | 10000 |
| Stud DIA. - Outer race diameter | Heavy load | ||||
|---|---|---|---|---|---|
| Basic dynamic load rating C (kN) | Basic static load rating Cor (kN) | Max allowable Load (kN) | Track load capacity (Crowned) (kN) | Rotational speed limit (rpm) | |
| With Seal | |||||
| 8 - 19 | 8.13 | 11.20 | 4.73 | 1.37 | 3480 |
| 10 - 22 | 9.42 | 14.30 | 5.81 | 1.67 | 2880 |
| 10 - 26 | 2.06 | ||||
| 12 - 30 | 13.40 | 19.80 | 9.37 | 2.45 | 2320 |
| 12 - 32 | 2.74 | ||||
| 16 - 35 | 20.60 | 37.60 | 17.30 | 3.14 | 1800 |
IDEA NOTE Floating mechanism
A floating structure utilizes the connection between robot and slide table as a cam follower.
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Application Overview
Purpose
- Two axis mechanism for workpiece transfer.
Target workpiece
- Plastic plate
W188 x D68 x t5
Design Specifications
Operating Conditions or Design Requirements
- External dimensions: W400 x L900 x (H593)
- Stroke (Left/Right) : 500mm
- Stroke (Up/Down) : 200mm
Required Performance
- Positioning accuracy
Left/Right: ±0.2 / 500mm
Up/Down: ±0.2 / 200mm
Selection Criteria for Main Components
- A single axis robot is used for multi-point positioning capability and a long stroke.
- A single axis robot is used since acceleration / deceleration and good positioning accuracy are needed.
Design Evaluation
Verification of main components
- Select a robot that satisfies load capacity, stroke, and motion speed requirements.
- Single axis robot selection calculations
- X axis robot
(1) Load capacity → Select from [Max load capacity] of Spec. List: 10kg (98N)
(2) Stroke → Select from [Stroke] of Spec. list: 500mm
(3) Cycle time → Select from [Cycle time graph] or [Max speed]: 1.2sec
Temporarily select RSH310-C21A-N-F1-3-500
(4) Detail confirmation
Overhang: 111mm allowable at 20kg, actual overhang 68mm.
Bending moment: 98N x 0.068m = 6.7N･m
Selected model's allowable moment is 163N･m, and is sufficient for this application. - Z axis robot
(1) Load capacity → Select from [Max load capacity] of Spec. List: 10kg (98N)
(2) Stroke → Select from [Stroke] of Spec. list: 200mm
(3) Max speed → Select from [Max speed] of spec. list: 80mm/sec
Temporarily select RSDG306B-C1-N-3-200
(4) Detail confirmation
Max push force: 10 x 9.8 = 98N, the max allowable push force is 550N, therefore selected robot satisfies load requirements.
- X axis robot
Other Design Consideration
- Ensure that supported aluminum extrusion frame has sufficient rigidity.
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