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No.000174 Transfer Mechanism
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Transporting an object while retaining the angle of suction
Related Category
Small Cylinders
| Product name | Air Cylinders/Panel Mount/Single Acting |
|---|---|
| Part number | MSPCM6-15 |
| Features | Ultra Compact-sized air cylinder which can be mounted on panels. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Compact, useful for linear motion designs with space restraints
Available sizes
■Air Cylinder - Panel Mount Single Acting
| Operating Type | Single Acting Outstroke Type |
|---|---|
| Applicable Fluid | Air |
| Min. Operating Pressure | 0.2MPa |
| Max. Operating Pressure | 0.7MPa |
| Pressure Resistance | 1.0MPa |
| Operating Temperature Range | 5°C ~ 60°C |
| Piston Speed | 50mm/s ~ 500mm/s |
| Cushion Mechanism | None |
| Stroke Tolerance | 0 ~ +1.0mm |
| Lubrication | Oil-Free |
■Material of Each Part
| Part Name | Material | Surface Treatment |
|---|---|---|
| Body | C36000 Brass | Electroless Nickel Plating |
| Body Nut | ||
| Rod Nut | ||
| Cover | JIS-C5441B | - |
| Piston Rod | EN 1.4305 Equiv. | |
| Piston Gasket | NBR Nitrile Rubber | |
| Spring | SWP |
■Sizes and Dimensions
| Tube I.D. | Stroke | Overall Length | Body Thread Length | Piston Rod Length | Rod Tip Thread Dia. | Body Thread Part Dia. | Air Pipe Connection Bore Dia. |
|---|---|---|---|---|---|---|---|
| Ø6 | 5 | 27.5 | 12.5 | 9 | M3 x 0.5 | M10 x 1.0 | M5 x 0.8 |
| 10 | 34.5 | 19.5 | |||||
| 15 | 41.5 | 26.5 |
Metal Pushers
| Product name | Metal Pushers/Tapped |
|---|---|
| Part number | KPHRS6-17-3 |
| Features | Metal Pushers with flat or sphere shape tip |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Spherical tip is effective for applications with inclined surfaces
Available sizes
■Metal Pushers Tapped Type
| Tip Shape | Material | Surface Treatment | Hardness (Tip) |
|---|---|---|---|
| Flat / Sphere | EN 1.1191 Equiv. | Black Oxide | Induction Hardened and Tempered HRC45 ~ 50 |
| 420 Stainless Steel | - |
■Sizes and Dimensions
| O.D. | Overall Length (1mm increments) | Tap Dia. x Pitch | Tap Depth | Wrench Flats for Tools | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Flat Type | Spherical | M3 x 0.5 | M4 x 0.7 | M5 x 0.8 | M6 x 1.0 | M8 x 1.0 | M8 x 1.25 | M10 x 1.25 | M10 x 1.5 | M12 x 1.25 | M12 x 1.5 | M12 x 1.75 | M14 x 1.5 | M18 x 1.5 | |||
| Ø6 | 15 ~ 50 | 17 ~ 50 | ○ | Tap DIA. x 1.5 | 5 | ||||||||||||
| Ø8 | 17 ~ 50 | 20 ~ 50 | ○ | ○ | 7 | ||||||||||||
| Ø10 | 19 ~ 50 | 23 ~ 50 | ○ | ○ | ○ | 8 | |||||||||||
| Ø12 | 21 ~ 100 | 26 ~ 100 | ○ | ○ | ○ | 10 | |||||||||||
| Ø15 | 23 ~ 100 | 30 ~ 100 | ○ | ○ | ○ | ○ | 14 | ||||||||||
| Ø16 | |||||||||||||||||
| Ø18 | 26 ~ 100 | 34 ~ 100 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | 17 | ||||||
| Ø20 | 28 ~ 100 | 37 ~ 100 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||||||||
| Ø30 | 36 ~ 100 | 50 ~ 100 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | 27 | |||||||
| Ø40 | 41 ~ 150 | 60 ~ 100 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | 37 | |||||||
Accuracy Info
■Accuracy of Metal Pushers Tapped Type
O.D. Tolerance: 0 / -0.2
Overall Length Tolerance: ±0.3
IDEA NOTE Floating pressure is adjustbale
By combining several regulators and electromagnetic valves as shown in the air circuit diagram, floating pressure is made variable. Thus, in transportation,free floating is eliminated by using the set pressure A, and in suction, free floating is achieved by using the set pressure B.
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Application Overview
Purpose
- Purpose
- Utilizing suction cups to transport differently shaped plastic cases while maintaining the orientation the workpiece.
- Operation
- The spherical bearings and air cylinder allow the suction cups to be tilted, so they are flush against the workpiece.
- By using regulators and electromagnetic valves, the floating pressure can be adjusted during the transfer process.
Points for use
- The angle of suction cups can be retained by locking the air circuit.
Target workpiece
- Shape: Plastic case
- Size: W100 x D120 x H20 (max) mm
- Weight:0.3kg
Design Specifications
Operating Conditions or Design Requirements
- Spherical bearing deviation angle 13°
- Cylinder stroke: 8.3 + 3 = 11.3mm
- Output 11.3 x 70% = 7.91N･m (air pressure 0.4 MPa)
- Spring force at 15mm stroke 3.66N
7.91 - 3.66 = 4.25N - External size: 96 x 100 x 130mm
Required Performance
- Allowable weight: 1.38kg
Selection Criteria for Main Components
- Air Cylinder
- Output at least 3.76 N at stroke of 15 mm or more.
Design Evaluation
Verification of main components
- Verify the air cylinder output
Force conditional values at maximum tilt of the workpiece
Workpiece weight: M = 0.3kg
Gravitational acceleration: g = 9.8m/s²
Workpiece maximum tilt: θ₁ = 13°
Distance between rotation center and workpiece center of
gravity: L₁ = 25mm = 0.025m
Distance between rotation center and cylinder mounting: L₂ = 18mm = 0.018m
Cylinder output: F = 4.25N
Suction cup diameter: d = Ø20
Vacuum level: p = 70 -kPa = 0.07 -MPa
Safety factor at suction: S = 4 - Air cylinder selection
- Moment by the workpiece: M₁
M₁ = Mxgxsinθ₁ x L₁ = 0.3 x 9.8xsin13° x 0.025 = 0.017N･m
Force F₂ applied to the cylinder by moment M₁
M₁ = F₂' x L₂ = F₂ x cosθ₁ x L₂ Thus, we have the following:
F₂ = M₁ / (cosθ₁ x L₂) = 0.017 / (cos13° x 0.018) = 0.017 / (0.97 x 0.018)
= 0.97N
Thus, select an air cylinder with cylinder output of F. - Check the load by the selected cylinder.
Moment M₂ by the air cylinder at maximum tilt
M₂ = F' x L₂ = Fxcosθ₁ x L₂
= 4.25 x cos13° x 0.018 = 4.25 x 0.97 x 0.018 = 0.075N･m
Therefore, M₂ > M₁. Thus, meeting the condition. - Check the suction force.
Vacuum level: p = 70 -kPa = 0.07 -MPa, cup diameter: d = Ø20mm
Safety factor at suction: S = 4, number of cups: n = 4
Suction force: W = π / 4 x d² x p x 1 / S x n = π / 4 x 20² x 0.07 x 1 / 4 x 4 = 22N
Therefore, W > M x g ⇒ 22N > 3N Thus, the suction force satisfies the condition.
Other Design Consideration
- By using a guide pin with a spherical bearing, the floating suction hand can be tilted in the desired direction to grip a workpiece.
- The suction hand is free floating after the workpiece is released. Therefore, it is recommended to use the four cylinders to lock the hand in place when it is not gripping a workpiece.
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