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No.000149 Lifting and Carrying Mechanism Using Eccentric Shaft

Lift and carry by a single actuator

Related Category

Rotary Shaft

Product name Rotary Shafts/Both Ends Tapped with Key Grooves
Part number PSFHKRW15-76-M5-N5-KA0-A25-KB56-B20
Features Tolerance Options: g6 (ground), h7 (ground) and h9 polished
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Effective because engineered components requiring accuracy such as keyway are available in the market.

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Available sizes

■Rotary Shaft (Both Ends Tapped, with Keyway Type)

O.D. tolerance Material Surface Treatment
h9 (Cold-drawn) EN 1.1191 Equiv. Black Oxide
Electroless Nickel Plating
EN 1.4301 Equiv. -
h7 (Ground) EN 1.1191 Equiv. Black Oxide
Electroless Nickel Plating
EN 1.4301 Equiv. -
g6 (Ground) EN 1.1191 Equiv. Black Oxide
Electroless Nickel Plating
EN 1.4301 Equiv. -

■Sizes

O.D. Tolerance O.D. Length
(Configure in 1mm increments)
h9 O6 20.0 ~ 300.0
O8 20.0 ~ 400.0
O10 20.0 ~ 500.0
O12 30.0 ~ 600.0
O15 30.0 ~ 700.0
O20 40.0 ~ 800.0
O25 50.0 ~ 800.0
O30 60.0 ~ 800.0
O35 70.0 ~ 800.0
h7 O6 20.0 ~ 300.0
O8 20.0 ~ 400.0
O10 20.0 ~ 500.0
O12 30.0 ~ 600.0
O15 30.0 ~ 700.0
O20 40.0 ~ 800.0
O25 50.0 ~ 800.0
O30 60.0 ~ 800.0
O35 70.0 ~ 800.0
O40 80.0 ~ 800.0
O50 100.0 ~ 800.0
g6 O6 20.0 ~ 300.0
O8 20.0 ~ 400.0
O10 20.0 ~ 500.0
O12 30.0 ~ 600.0
O13 30.0 ~ 600.0
O15 30.0 ~ 700.0
O16 30.0 ~ 800.0
O17 40.0 ~ 800.0
O18 40.0 ~ 800.0
O20 40.0 ~ 800.0
O22 40.0 ~ 800.0
O25 50.0 ~ 800.0
O30 60.0 ~ 800.0
O35 70.0 ~ 800.0
O40 80.0 ~ 800.0
O50 100.0 ~ 800.0

■Detailed Keyway Dimensions of Rotary Shaft

Shaft Dia. b t r
Reference Dim. Tolerance Reference Dim. Tolerance
6 2 - 0.004
- 0.029
1.2 +0.1
0
0.08 ~
0.16
8 ・ 10 3 1.8
12 4 0
- 0.03
2.5
13 ~ 17 5 3.0 0.16 ~
0.25
18 ~ 22 6 3.5
25 ・ 30 8 0
- 0.036
4.0 +0.2
0
35 10 5.0 0.25 ~
0.4
40 12 0
- 0.043
5.0
50 14 5.5

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Accuracy Info

■O.D. Tolerance Table

O.D. O.D. Tolerance
h9 h7 g6
O6  0
- 0.030
 0
- 0.012
- 0.004
- 0.012
O8  0
- 0.036
 0
- 0.015
- 0.005
- 0.014
O10
O12  0
- 0.043
 0
- 0.018
- 0.006
- 0.017
O13 - -
O15  0
- 0.043
 0
- 0.018
O16 - -
O17 - -
O18 - -
O20  0
- 0.052
 0
- 0.021
- 0.007
- 0.020
O22 - -
O25  0
- 0.052
 0
- 0.021
O30
O35  0
- 0.062
 0
- 0.025
- 0.009
- 0.025
O40 -
O50 -

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Timing Pulleys

Product name High Torque Timing Pulleys/5GT
Part number GPA50GT5120-A-N15
Features Circular Tooth Profile Pulleys with minimal backlash, suitable for positioning.
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Effective to transmit the driving force without causing slipping or speed changes

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Available sizes

■Timing Pulleys (5GT Type)

Material Surface Treatment Accessory
Set Screw
Pulley Flange
EN AW-2017 Equiv.
(Duralumin)
EN AW-5052 Equiv. Clear Anodize EN 1.4301 Equiv.
EN 1.1191 Equiv. Low Carbon Steel - Chromium-molybdenum steel
(Black Oxide)
Black Oxide

■Sizes and Dimensions

Number of teeth Nominal
Width
Pulley
Shape
Shaft Bore
Specs.
Shaft Bore Specs.(Configure in 1mm increments)
Straight Bore Straight Bore + Tap New JIS Keywayed Bore + Tap Stepped Holes - Stepped Holes
(Counterbore Holes on the Hub Side)
Both Ends Stepped Bore
Hole Dia. Hole Dia. Counterbore Hole Dia. Counterbore
Depth
Hole Dia. Counterbore Hole Dia. Counterbore
Depth
No Hub With Hub No Hub With Hub No Hub With Hub No Hub With Hub No Hub With Hub With Hub, without Hub No Hub No Hub No Hub
14 9


12


15
No Hub




With Hub
Straight Bore

Straight Bore
+Tap

New JIS
Keywayed Bore
+ Tap


Stepped Hole

Stepped Hole
(Counterbore Holes
on the Hub Side)

Both Ends
Stepped Bore
6 - 10 6 - 8 6 - 8 - - - 6 - 8 - (When no hub)
2.0 ?
Counterbore depth
? Ridge width - 2.0


(When with hub)
2.0 ?
Counterbore depth
? Full length - 2.0
6 8 3-14
Total of
counterbore depth
? Width - 3
15 6 - 10 6 - 10 6 - 8 6 - 8 6 8 - 10 8 6 - 8 8 - 10
16 6 - 12 6 - 12 6 - 10 6 8 6 - 10 6 - 8 8 - 12 8 - 10 6 - 10 8 - 12
18 6 - 14 6 - 14 6 - 13 6 - 9 8 - 10 6 - 10 6 - 10 8 - 12 8 - 12 6 - 12 8 - 14
20 6 - 16 8 - 15 8 - 14 8 - 10 8 - 12 8 8 - 14 8 - 13 10 - 16 10 - 15 8 - 14 10 - 16
22 8 - 19 8 - 19 8 - 17 8 - 12 8 - 12 8 8 - 17 8 - 14 10 - 19 10 - 16 8 - 17 10 - 19
24 8 - 22 8 - 22 8 - 18 8 - 16 8 - 14 8 - 10 8 - 20 8 - 16 10 - 23 10 - 18 8 - 20 10 - 22
25 8 - 22 8 - 22 8 - 20 8 - 16 8 - 16 8 - 12 8 - 20 8 - 18 10 - 23 10 - 20 8 - 20 10 - 22
26 10 - 27 10 - 24 10 - 21 10 - 16 10 - 17 10 - 13 10 - 25 10 - 20 12 - 27 12 - 22 10 - 25 12 - 27
28 10 - 27 10 - 27 10 - 24 10 - 20 10 - 19 10 - 15 10 - 25 10 - 25 12 - 27 12 - 27 10 - 25 12 - 27
30 10 - 28 10 - 28 10 - 26 10 - 22 10 - 20 10 - 16 10 - 26 10 - 26 12 - 28 12 - 28 10 - 26 12 - 28
32 10 - 32 10 - 30 10 - 30 10 - 22 10 - 23 10 - 17 10 - 30 10 - 26 12 - 32 12 - 28 10 - 30 12 - 32
34 12 - 37 12 - 32 12 - 32 12 - 24 12 - 26 12 - 18 12 - 35 12 - 28 14 - 37 14 - 30 12 - 35 14 - 37
36 12 - 37 12 - 34 12 - 34 12 - 26 12 - 30 12 - 20 12 - 35 12 - 30 14 - 37 14 - 32 12 - 35 14 - 37
40 12 - 42 12 - 36 12 - 36 12 - 26 12 - 30 12 - 22 12 - 40 12 - 32 14 - 42 14 - 34 12 - 40 14 - 42
44 12 - 50 12 - 38 12 - 42 12 - 26 12 - 30 12 - 23 12 - 48 12 - 34 14 - 50 14 - 36 12 - 48 14 - 50
48 12 - 55 12 - 42 12 - 45 12 - 30 12 - 30 12 - 26 12 - 53 12 - 38 14 - 55 14 - 38 12 - 53 14 - 55
50 12-59 12 - 42 12 - 45 12 - 30 12 - 30 12 - 27 12 - 57 12 - 38 14 - 59 14 - 40 12 - 57 14 - 59
60 12 - 72 12 - 44 12 - 45 12 - 30 12 - 30 12 - 30 12 - 70 12 - 40 14 - 72 14 - 42 12 - 70 14 - 72

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Selection steps

■Timing pulley selection steps

* Select the timing belt together with the timing pulley.

The automated selection tool is available

Link opens to Japanese Calculation link

Determine Operating Conditions
Designed power, rotational speed, rotation ratio, interim shaft distance, motion pattern, etc.

Belt temporary selection
Belt type/Belt width

Verification of specifications applicability
  • Confirmation of calculated shaft distance, etc.
  • Confirmation of belt tension and load

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Accuracy Info

■Shaft Bore Dia. of Timing Pulley

Shaft Bore Dia. Tolerance
(H7)
6 - 10 +0.015
 0
10 - 18 +0.018
 0
18 - 30 +0.021
 0
30 - 50 +0.025
 0
50 - 80 +0.030
 0

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Motors with Electromagnetic Brake

Motors with Electromagnetic Brake
Product name Small gearhead motor with electromagnetic brake
Part number PACMB90-W40-V100
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Effective for the equipment requiring strong brake force or heavy load

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Available sizes

■Motors with Electromagnetic Brake

Type Outer Dimensions Output (W) Voltage (V) Shaft Length Gear Head Length Motor Length
Single-phase
3-Phase
60 6 100 32 26 75
200
70 15 100 30 80
200
80 25 100 30 85
200
90 40 100 37 105
200
60 100 38 50 120
200
90 100 130
200

The 3-phase motor can be used in 220 V.

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Selection steps

■Small geared motor selection steps

Determination of the Driving Facility
Specify the driving facility and overall dimensions, then check required conditions for the driving facility, such as the mass and travel speed of the material to be transferred.

Calculation of rotational speed and load
Calculate the load torque, loading moment of inertia and rotational speed at the motor driving shaft.

Confirmation of Required Specifications
Confirm the required specifications, position accuracies, position holding, speed ranges, operating environment, and environmental resistance, etc. at the drive section and equipment.

Motor Model Selection
Select the models most suitable for the required specifications.

Interim Selection of Motor and Gearhead
Select motor and gearhead candidates based on calculated rotational speeds, load torque and inertia values as well as the selected motor models.

Confirmation of the Selected Motor
Finalize the selection by confirming that all the specifications of the motor and the gearhead adequately meet the requirements.

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Performance info.

■Small Size Geared Motor (Speed, Load)

Type Outer Dimensions Output (W) Voltage (V) 50Hz 60Hz
Rated Starting Torque
(N・m)
Rated Starting Torque
(N・m)
Rotational Speed
(r/min)
Torque
(N・m)
Rotational Speed
(r/min)
Torque
(N・m)
Single-phase 60 6 100 1300 0.044 0.056 1600 0.035 0.056
200 1300 0.044 0.056 1600 0.035 0.056
70 15 100 1300 0.11 0.10 1600 0.088 0.10
200 1300 0.11 0.10 1600 0.088 0.10
80 25 100 1300 0.19 0.20 1600 0.16 0.20
200 1300 0.19 0.20 1600 0.16 0.20
90 40 100 1300 0.29 0.32 1625 0.24 0.32
200 1300 0.29 0.32 1625 0.24 0.32
60 100 1275 0.45 0.57 1600 0.36 0.57
200 1275 0.45 0.57 1600 0.36 0.57
90 100 1225 0.7 0.68 1525 0.56 0.70
200 1225 0.7 0.68 1525 0.56 0.70
Type Outer Dimensions Output (W) Voltage (V) 50Hz 60Hz
Rated Starting Torque
(N・m)
Rated Starting Torque
(N・m)
Rotational Speed
(r/min)
Torque
(N・m)
Rotational Speed
(r/min)
Torque
(N・m)
3-Phase 80 25 200 1350 0.18 0.54 1625 0.15 0.4
1375 0.18 0.66 1650 0.15 0.5
90 40 1350 0.28 0.72 1625 0.24 0.51
1375 0.27 0.88 1675 0.23 0.63
60 1350 0.42 1.0 1625 0.35 0.69
1375 0.41 1.2 1650 0.34 0.87
90 1350 0.63 1.6 1625 0.53 1.1
1400 0.62 2.0 1650 0.52 1.4

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Technical Calculations

■Technical Calculations for Electromagnetic Brake Motors

Outline of Small Size Geared Motor

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IDEA NOTE Accurate pitch feed is made possible by reasonably-priced AC motor

As the positioning grooves receive workpieces at the start and end of the feed, the accurate pitch feed is possible with reasonably-priced AC motor.

IDEA NOTE A single actuator performs both lifting and carrying movements

A parallel link structure is made by linking two eccentric shafts so as to efficiently use the parallel link movement.

IDEA NOTE Two bearings are attached on a single thin plate

Two single bearing holders are attached on the thin plate from both sides to serve as a double bearing.

  • TERMS AND CONDITIONS FOR USE OF CAD DATA
    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.
    1. CAD Data
    The Data is prepared for assisting the Company's users in the CAD design process by providing dimensions and other Product information. In order to provide the best speed and stability working within this site, the Product drawings were simplified to reduce the size of the Data. For instance, some of the Products are shown without the oil groove shape, screws or spring shape. Also, please be aware that the tolerance, surface roughness and/or chamfer of the Data may vary from the actual Products.
    2. Disclaimer on Data
    While the Company has carefully prepared the Data, accuracy of the Data is not guaranteed and is subject to the variances as described above. The Company may also modify, add or delete the Data at any time without prior notice. The Company assumes no liability for any direct, indirect, consequential or special damages that you may claim resulted from your use of the Data or any changes to or deletions of the Data regardless of the reason. The Company provides no warranty as to the quality, accuracy, functionality, safety or reliability of the combination of Products and parts. Example applications and combinations of the Products are provided for illustrative purposes only.
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    1. 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.
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       Each sub-assembly unit can be used as it is or can be edited.

Application Overview

Purpose

  • Purpose
    • To perform accurate pitch feed of cylinder-shaped workpiece.
  • Operation
    • As appearance inspection and NG product ejection are performed at the final position, workpieces move from one positioning groove to the next positioning groove one by one.

Target workpiece

  • Shape: aluminum cylinder part
  • Size: O20 x 200mm
  • Weight: 0.15kg

Design Specifications

Operating Conditions or Design Requirements

  • Movement amount and movement pitch: 150mm
  • Movement speed: 1sec. / pitch
  • Outer dimensions: W970 x D306 x H306mm

Selection Criteria for Main Components

  • To allow a movement amount of 150mm, the misalignment amount from the rotation center to the rotation edge is set to 75mm.
  • Timing belt is used to drive two eccentric shafts.
  • Selected a gear ratio that enables the speed of 1 pitch/second.

Design Evaluation

Verification of main components

  • Select motor based on load torque and moment of inertia.
    • Here, calculation for selection of AC motor is explained.
    • Select gear ratio based on workpiece movement time.
    • Conditional value: movement time per stroke = approx. 1.0sec., motor rotation speed = 1,300rpm, timing pulley ratio = 50 : 25 = 2 : 1
    • 60 x gear ratio x 2 / 1.0 ? motor rotation speed Therefore, from gear ratio ? (1,300 x 1.0) / (2 x 60) = 10.8, select 1 : 10 for the gear ratio (i) of gearhead.
    • Calculation of load torque
    • Conditional value: g = 9.807 (m/s2), m = 2 (kg), η = 0.81, r = 0.075m
    • From T'm = F・r/η and F = m・g,
      T'm = 2 x 9.807 x 0.075/0.81 = 1.816N・m
      Considering safety factor Sf = 2 and pulley ratio, the load torque Tm is:
      Tm = T'm x Sf / 2 = 1.816 x 2 / 2 = 1.816N・m
    • Check of loading moment of inertia
      Moment of inertia applied to large belt pulley: J1 = 1.8162 x 10-2kg・m2
      Moment of inertia of small belt pulley: J2 = 1.3312 x 10-?kg・m2
      From moment of inertia applied to small belt pulley: Jd = J2 + J1 (b / a)2 (b / a = pulley ratio), Jd = 1.3312 x 10-? + 1.8162 x 10-2 x (25/50)2?= 4.554 x 10-3kg・m2
      Moment of inertia in motor shaft is, from Jm = Jd・(1 / i)2,
      Jm = 4.554 x 10-3 x (1 / 10)2 = 4.554 x 10-? (kg・m2) = 0.455kg・cm2
    • From allowable moment of inertia of PACMB90-40W-100V = 0.735 (kg・cm2) and allowable torque of ACMGX90-10 = 2.25 (N・m), 0.735 (kg・cm2) > 0.455 (kg・cm2), 2.25 (N・m) > 1.816 (N・m)?
      -> Specifications are satisfied.

Other Design Consideration

  • The movement amount accuracy depends on the machining accuracy of the workpiece receiving part. Therefore, the required accuracy is the workpiece receiving part manufacturing accuracy.
  • The cover of the timing belt is omitted from this drawing for illustrative reasons, but in the actual machine, the cover is mounted for safety and dust prevention purposes.
  • The maximum movement value in the specifications represents the movement amount due to misalignment amount, but by changing the workpiece receiving position, the movement amount can be changed accordingly.

Explore Similar Application Examples

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Part List

No. Part Name Sample picture MISUMI Part Number
For Price and Days to ship click on Part No.
Quantity
1 Rotary Shaft PSFHKRW15-76-M5-N5-KA0-A25-KB56-B20 2
2 Rotary Shaft PSFHKRW15-47-M5-N5-KA0-A20 2
3 Rotary Shaft PSFRHH15-100-F24-P12-T24-M5 2
4 Bearing W/ Housing BGRR6002ZZ 8
5 Deep Groove Ball Bearings B6001ZZ 4
6 Metal Washers FWSSM-D21-V15-T6 4
7 Metal Washers FWSSM-D21-V15-T4 6
8 Metal Washers WSSM20-5-2 8
9 Metal Washers WSSM16-5-2 4
10 Collars FNCLM-V12-D16-L12 4
11 High Torque Timing Pulleys GPA50GT5120-A-N15 2
12 High Torque Timing Pulleys GPA25GT5120-B-N12 1
13 Timing Belts GBN1330EV5GT-120 1
14 Cantilever Pin FXJC8-10-F5-MA5 2
15 Idler AFBD19-30 2
16 Screw Stopper TSBE5-5 1
17 Blocks For Adjusting Bolts AJKBM5-13 1
18 Adjusting Bolts AJSTM5-25 1
19 Hex Posts PLSFB13-206 4
20 Parallel Keys KEG5-25 2
21 Parallel Keys KEG5-20 4
22 Retaining Rings-C-Type RTWN28 4
  • 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).
  • You will find information on price and shipping days, in the Online Quote and Order System.
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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.
    1. CAD Data
    The Data is prepared for assisting the Company's users in the CAD design process by providing dimensions and other Product information. In order to provide the best speed and stability working within this site, the Product drawings were simplified to reduce the size of the Data. For instance, some of the Products are shown without the oil groove shape, screws or spring shape. Also, please be aware that the tolerance, surface roughness and/or chamfer of the Data may vary from the actual Products.
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    ANY AND ALL CONTENT APPEARING ON THIS WEB SITE IS PROVIDED FOR INFORMATIONAL PURPOSES ONLY. THIS WEB SITE, ITS CONTENT AND ITS LINKS ARE PROVIDED ON AN "AS IS" AND "AS AVAILABLE" BASIS AND ARE USED ONLY AT YOUR SOLE RISK, TO THE FULLEST EXTENT PERMISSIBLE BY LAW. THE COMPANY DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, OF ANY KIND, REGARDING THIS WEB SITE (INCLUDING ITS CONTENT, HARDWARE, SOFTWARE AND LINKS), INCLUDING AS TO FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, TITLE, NON INFRINGEMENT, RESULTS, ACCURACY, COMPLETENESS, ACCESSIBILITY, COMPATIBILITY, SECURITY AND FREEDOM FROM COMPUTER VIRUS. THE COMPANY WILL NOT BE LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING DIRECT, INDIRECT, CONSEQUENTIAL, SPECIAL, INCIDENTAL OR PUNITIVE DAMAGES AND/OR LOST PROFITS, IN CONNECTION WITH USE OF THE INTERNET, THIS WEB SITE, ITS CONTENT OR ITS LINKS
    Further, the Company will not be liable to you for any failure or delay by the Company to provide access to the Data or any of its obligations under these terms and conditions where such failure or delay is the direct or indirect result of any circumstances beyond the Company's reasonable control (and the Company's obligations will be suspended for the duration of such circumstances).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

    CAD Data Download (Unit Assembly)

    CAD Data Download: File Format
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    Cautions on the CAD data

    1. 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.
    2. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be edited.
    3. * The part in the frame is a sub-assembly unit.

    4. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    5. The dimensions of the MISUMI parts in the Data, which can be specifed at 1mm intervals, can be edited under historical data.
    6. The Data including the third-part components are made by the Company.

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