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No.000127 Workpiece rotate and transfer mechanism
104
104
Rotate and transfer but workpiece orientation in direction of travel remains the same.
Related Category
Timing Pulley
| Product name | High Torque Timing Pulleys/8YU |
|---|---|
| Part number | GPA50YU8150-A-N30 |
| Features | Circular Tooth Profile Pulleys with little backlash, suitable for positioning. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Low backlash, light weight pulley.
Available sizes
■High torque timing pulley 8YU type
| Material | Surface treatment | Included set screw material | |
|---|---|---|---|
| Pulley | Flange | ||
| EN AW-2017 Equiv. | EN AW-5052 Equiv. | Clear anodize | EN 1.4301 Equiv. |
| EN 1.1191 Equiv. | Low Carbon Steel | - | Chromium-molybdenum steel (Black oxide) |
| Black oxide | |||
■Number of teeth and shaft bore DIA.
| Shape | Applicable belt width | Number of teeth | Pitch circle DIA. | Shaft bore DIA. |
|---|---|---|---|---|
| With hub | 15 ･ 20 ･ 25 | 20 - 60 | Ø50.93 - Ø152.79 | Ø16 - 32 |
| No hub |
* Please see the product pages for details.
Selection steps
■Timing pulley selection steps
- Determining of usage conditions
- Designed power, rotational speed, rotation ratio, interim shaft distance, motion pattern, etc.)
↓
- Pulley (Belt) temporary selection
- Tooth profile･Belt width
↓
- Verification of specifications applicability
-
- Confirmation of calculated shaft distance, etc.
- Confirmation of belt tension and load
Accuracy Info
■Timing pulley accuracy
Shaft bore tolerance: H7
Technical calculations
■Technical calculations
Ball Spline
| Product name | Ball Splines/Both Ends Tapped |
|---|---|
| Part number | BSHS6-80-M3-N3 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Used for both linear and rotary motion at the same time
Available sizes
■Ball spline (Both ends 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. |
| 6 | Ø6 | 60 - 400 | Ø14 |
| 8 | Ø8 | Ø16 | |
| 10 | Ø10.4 | 90 - 600 | Ø21 |
| 13 | Ø13.4 | 100 - 600 | Ø24 |
| 16 | Ø16.6 | 110 - 600 | Ø31 |
* Length selection range will vary according to material and nut configuration.
Please see the product pages for details.
Selection steps
■Ball spline selection steps
- Determine application conditions
- (Load, Torque, Feed distance, Life)
↓
- Temporarily select ball spline specifications
- (Spline shaft DIA., spline shaft length, overall length are temporarily selected based on application conditions.)
↓
- Safety Check
-
- ●Load capacity
- ●Life
Accuracy Info
■Ball spline shaft accuracy
(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 - | ||
| 6 | Ø6 | 27 | 72 | 89 | 126 | 163 | - | |
| 8 | Ø8 | |||||||
| 10 | Ø10.4 | 33 | 59 | 83 | 103 | 82 | 102 | |
| 13 | Ø13.4 | 39 | 56 | 71 | 83 | 62 | 75 | |
| 16 | Ø16.6 | |||||||
Performance info.
■Ball spline rated loads
| Name No. | Basic torque rating | 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: 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's life time is calculated with the formula below.
- Lh: Run hours (hr)
- L: Life (km)
- 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 |
|---|---|---|---|
| 10 | Ø10.4 | 1 | 0.71 |
| 13 | Ø13.4 | 1 | 0.71 |
| 16 | Ø16.6 | 1 | 0.68 |
■Load factor (fw)
| App. condition | Load factor (fw) |
|---|---|
| No vibrations 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 - |
Air Gripper
| Product name | Air Gripper/Parallel Type |
|---|---|
| Part number | ACHK6-D |
| Features | Compact Type Pneumatic Grippers with high precision, high rigidity, strong retaining force |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable for gripping small rectangular workpiece
Available sizes
■Small parallel gripper (Sensor mounted type)
| Part name | Material | Surface treatment |
|---|---|---|
| Main body | EN AW-5056 Equiv. | Clear anodize |
| Jaws ･ attachment mounting | EN 1.1191 Equiv. | Nitriding treatment |
■Specifications and Dimensions
| Operating method | Stroke | Cylinder I.D. | Overall width | Overall height | Overall thickness |
|---|---|---|---|---|---|
| Single acting ･ Double acting | 4 | Ø8 | 26 | 40.5 | 10 |
| 6 | Ø12 | 30 | 45 | 16.4 |
Accuracy Info
■Small parallel gripper selection steps
- Confirm Design Specifications
- (Confirm required stroke, workpiece weight, etc.)
↓
- Calculations of required gripping force
- 10 ~ 20 times the workpiece weight
(Varies depending on friction coefficient between the jaws and workpiece)
↓
- Selecting a model type and applicability confirmation
-
- ●Gripping method (O.D. gripping ･ I.D. gripping)
- ●Open/close operation method (Single acting ･ Double acting)
- ●Stroke
- ●Gripping points and gripping force
Performance info.
■Small parallel gripper (Sensor mounted type) load info.
| Stroke | Cylinder I.D. | Operating pressure range | Effective grip force (N) | Allowable static load rating (N) | ||
|---|---|---|---|---|---|---|
| Single acting (Spring) | Dual acting | F1 | F2 | |||
| 4 | Ø8 | 0.3 ~ 0.5MPa | 4.2 (1) | 4.9 | 5 | 2.5 |
| 6 | Ø12 | 10.4 (1.9) | 12.2 | 10 | 5 | |
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Application Overview
Purpose
- (Purpose)
Workpieces on a conveyor are rotated 90 degrees and transferred to the next process.
The gripper rotates 180 degrees, ensuring the workpiece is transferred without changing its orientation. - (Operation)
Gripper down → Grip workpiece → Gripper up → 90 degree rotation and transfer → Gripper rotate 180 degrees → Gripper down → Workpiece released → Gripper up
Target workpiece
- Shape: Connector
size: W40 x D30 x H26
Weight: 0.1kg
Design Specifications
Operating Conditions or Design Requirements
- Transfer angle: 90 degrees
- Rotation angle: 180 degrees
- Up/down cylinder stroke: 10mm
- Clamp stroke: 3mm One side
- External dims.: W136 (Before rotation) x D403 x H398
Selection Criteria for Main Components
- Timing pulley ratio is 2 : 1
- Minimize inertia by reducing weight of the swinging parts, etc.
- Select an air gripper force that accounts for the friction coefficient and the workpiece weight.
Design Evaluation
Verification of main components
- The Motor selection calculations are shown below since the inertia moment applied to the stepping motor is critical.
- Time for 90 degree motion t0: 0.5 sec.
- Acceleration time t1: 0.1 sec.
- Inertia moment of swinging object: JL = 4.16 x 10⁻²kg･m²
- Operation angle: θ = 90°, Stepping motor min. step angle: θs = 0.072°
- Operation pulse count: A=θ/θs=1250 pulses
- Pulse rate: f2 = A / (t0 - t1) = 3125Hz
- Motion speed: NM = θs / 360 x f2 x 60 = 37.5r/min
- Selected motor's rotor inertia moment: J0 = 1.1 x 10⁻⁴
- Gear ratio: i = 1 / 10
- Acceleration torque calculation: Ta = (J0･i² + JL) / 9.55 x NM / t1 = 2.065N･m
- Required torque calculation: TM = Ta x Safety margin = 4.13N･m (Safety margin of 2)
- Based on Motor Torque Characteristic chart, the selected motor is OK
- Confirmation of inertia ratio: JL / (J0 x i²) = 3.78 ≤ 10 is OK
Other Design Consideration
- The pulley at the center of rotation is fixed.
- For actual installation, a cover will be needed to ensure safety and dust prevention.
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