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No.000090 Suction cup pick-up hand
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A mechanism capable of lifting different sized objects by switching to different suction cups.
Related Category
Brackets
| Product name | 5 Series/Thin 2 Slots |
|---|---|
| Part number | HBLSS5-SET |
| Features | Thin Extruded Brackets designed for space-saving. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Cost-effective 90deg. extrusion brackets.
Available sizes
■Thin brackets
| Material | Surface treatment |
|---|---|
| EN AW-6061 Equiv.-T5 Aluminum Alloy (JIS) | Clear anodize |
| Black anodize |
■Sizes and Dimensions
| Vertical | Horizontal | Length | Load capacity (N) |
|---|---|---|---|
| 20 | 20 | 14 | 686 |
| 34 | 1176 | ||
| 54 | 1617 |
Suction Cups
| Product name | Suction Cups |
|---|---|
| Part number | SRP20 |
| Features | Lightweighed Suction Cups. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable for lifting flat, thin workpieces.
Available sizes
■Suction pads
| Material | Color | Hardness |
|---|---|---|
| Silicon rubber | Sky blue | Shore A40 |
| Semitransparent | Shore A50 |
■Sizes and Dimensions
| Pad diameter (mm) | Applicable bracket |
|---|---|
| 6 | SRK10 SRK10□□ SRKN10 SRKN10□□ |
| 9 | |
| 12 | |
| 15 | SRK20 SRK20□□ SRKN20 SRKN20□□ |
| 20 | |
| 30 | |
| 40 |
Tubes
| Product name | Tubes/Water Resisting Polyurethane |
|---|---|
| Part number | PUTL4-3-C (Cut after purchase) |
| Features | Highly Water-resistant Tubes |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Flexible, excellent wear strength with configurable cut-of-length.
Available sizes
■Water resistant polyurethane tube
| O.D. (mm) | Color | Material |
|---|---|---|
| 3.2 | B (Black), C (Clear) | Polyurethane |
| 4 | B (Black) C (Clear) W (White) R (Red) Y (Yellow) BL (Blue) G (Green) BC (Clear blue) | |
| 6 | ||
| 8 | ||
| 10 | ||
| 12 | ||
| 16 | B (Black) |
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Application Overview
Purpose
- Pick-up hand to be mounted at the end of robotic arm.
Points for use
- Capable of handling different size objects as well as lifting multiple objects at the same time.
Target workpiece
- Panel (Small)
External dims.: W250 x D400 x t1mm
Weight: 140g - Panel (Large)
External dims.: W500 D500 x T1mm
Weight: 300g
Design Specifications
Operating Conditions or Design Requirements
- External dimensions: W370 x D425 x H246mm
- Suction pad spring adapter stroke: 10mm
(Spring adapter to compensate for any height difference in workpiece, and impact to pad when pushing pad to a workpiece) - Spring constant: 0.032kgf/mm
Selection Criteria for Main Components
- Tube
- Flexible (small bending radius) and economical tube is selected.
- Suction bracket
- Bracket easy to connect to fittings and containing an internal spring is selected.
Design Evaluation
Verification of main components
- Verify that selected suction pad can handle the needed lifting force.
- Suction pad required diameter
- When DA > D, satisfies specification
- DIA. Of pad used: DA = 20mm
- Required pad DIA.: D
- Workpiece mass: M = 0.3kg
- Safety factor: S = 4 (workpiece hanging horizontally)
- Number of pads: n = 6pcs.
- Vacuum level: P = 60[-kPa]
- D = 2 x √ ((M x 9.8 x S x 1000) / (πxn x P))
D = 2 x √ ((0.3 x 9.8 x 4 x 1000) / (π x 6 x 60)) = 6.5
DA = 20 > 6.5 = D
Other Design Consideration
- The robot hand is made lightweight through the use of aluminum extrusions.
- Both large and small workpieces can be handled by adjusting the position of the suction cups along the extrusion.
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