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No.000175 Workpiece Gripper Unit with Suction Cups
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19
Fixing the sliding suction cup at hands.
Related Category
Suction Cup Fittings (With Pads)
| Product name | Suction Cups/with Fitting/Spring Type/Shape K |
|---|---|
| Part number | MVPKN20 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Convenient item because all the assembly parts including the pad are included
Available sizes
■Suction cup with fitting (With pad) Fixed type, Top tube connection: One touch type (Shape K)
| Body Material | Surface Treatment | Pad Shape | Pad Material |
|---|---|---|---|
| Brass | Electroless Nickel Plating | Standard | Nitrile Rubber |
| Conductive Silicon Rubber | |||
| Fluorinerubber | |||
| Deep type | Nitrile Rubber | ||
| Fluororubber |
■Sizes and Dimensions
| Pad Shape | Suction Cup | Connection Dia. | Overall Length | Mounting thread DIA. x Pitch | |
|---|---|---|---|---|---|
| O.D. | Length | ||||
| Standard | Ø2 | 4 | Ø4 | 28.3 | M6 x 0.75 |
| Ø3 | |||||
| Ø4 | |||||
| Ø6 | 7 | Ø6 | 32.6 | M10 x 1.0 | |
| Ø8 | 5.5 | 31.1 | |||
| Ø10 | 8 | 34.1 | M12 x 1.0 | ||
| Ø15 | 9 | 35.1 | |||
| Ø20 | 10 | 37.5 | M14 x 1.0 | ||
| Deep type | Ø20 | 11 | 38.7 | ||
| Ø25 | 12 | 39.7 | |||
| Ø30 | 14 | 41.7 | |||
| Ø40 | 17.5 | 45.2 | |||
Ball Splines
| Product name | Ball Splines/Both Ends Tapped |
|---|---|
| Part number | BSHN8-130-M4-N4 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Compact and highly rigid linear guide
Available sizes
■Ball spline (Both ends tapped)
| Spline Shafts | Material | JIS-SUJ (Bearing Steel) | EN 1.4125 Equiv. | |
|---|---|---|---|---|
| Hardness | 58HRC ~ | 55HRC ~ | ||
| Nut | Material | 4115 Alloy Steel | EN 1.4125 Equiv. | |
| Hardness | 58HRC ~ | 55HRC ~ | ||
| Shape | Round Flange | ○ | ○ | |
| Compact Flange | ○ | - | ||
| Straight | ○ | ○ | ||
■Dimensions
| Spline Shafts | 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
- Determination on Operating Conditions
- (Load, Torque, Feed distance, Life)
↓
- Temporary selection of ball
spline specifications - (Spline shaft Dia., spline shaft length, overall length are temporarily
selected based on application conditions)
↓
- Basic safety check
-
- ●Allowable Load
- ●Operating Life
Accuracy Info
■Ball spline shaft accuracy
(µm)
| Name No. | Spline shaft DIA. | Nut O.D. runout (max.) | Max. Runout of Spline Axis Line | |||||
|---|---|---|---|---|---|---|---|---|
| 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 Rated Torque | 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: Rated load 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 time (hr)
- L: Running life (km)
- St: Stroke length (mm)
- n: Cycles per minute (cpm)
■Temperature Factor (ft)
■Hardness Factor (fh)
■Rated load ratio (fp)
| Name No. | Spline shaft DIA. | Distributed load | Direct Download |
|---|---|---|---|
| 6 | Ø6 | 1 | 1 |
| 8 | Ø8 | 1 | 1 |
| 10 | Ø10.4 | 1 | 0.71 |
| 13 | Ø13.4 | 1 | 0.71 |
| 16 | Ø16.6 | 1 | 0.68 |
■Load factor (fw)
| Conditions of Use | Load factor (fw) |
|---|---|
| No external shocks or vibrations (Low speed 1 ~ 2 15m/min or less) | 1 - 2 |
| Some shocks or vibration (Med. speed 2 ~ 3 60m/min or less) | 2 - 3 |
| Severe shocks and vibrations exist (High speed 3 or more 60m/min or over) | 3 - |
Shaft Collar
| Product name | Shaft Collars/Clamp/Compact/Standard |
|---|---|
| Part number | PSCS10-10 |
| Features | Shaft Damage from tightening Avoidable |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Effective item used as a simple stopping mechanism.
Available sizes
■Shaft Collar (Clamp Standard Type)
| Material | Surface Treatment |
|---|---|
| EN 1.1191 Equiv. | Black Oxide |
| Electroless Nickel Plating | |
| EN 1.4301 Equiv. | |
| EN AW-2017 Equiv. | - |
| Clear Anodize | |
| Black Anodize |
■Sizes and Dimensions
| Material | Shaft Bore Dia. | Thickness (width) | O.D. | Fastening Bolt Dia. (Coarse) |
|---|---|---|---|---|
| EN 1.1191 Equiv. ･ EN 1.4301 Equiv. | Ø3 | 8 | Ø16 | M3 |
| Ø4 | 8 | Ø18 | ||
| Ø5 | 8 | Ø20 | ||
| 10 | Ø22 | M4 | ||
| Ø6 | 8 | Ø20 | M3 | |
| 10 | M4 | |||
| Ø8 | 8 | Ø25 | M3 | |
| 10 | M4 | |||
| 12 | Ø30 | M5 | ||
| 15 | M6 | |||
| Ø10 | 8 | M3 | ||
| 10 | M4 | |||
| 12 | M5 | |||
| 15 | Ø35 | M6 | ||
| Ø12 | 8 | Ø30 | M3 | |
| 10 | M4 | |||
| 12 | M5 | |||
| 15 | Ø35 | M6 | ||
| Ø13 | 10 | Ø30 | M4 | |
| 12 | Ø34 | M5 | ||
| 15 | Ø35 | M6 | ||
| Ø15 | 10 | Ø34 | M4 | |
| 12 | Ø35 | M5 | ||
| 15 | Ø40 | M6 | ||
| Ø16 | 10 | Ø35 | M5 | |
| 12 | ||||
| 15 | Ø40 | M6 | ||
| Ø18 ･ Ø20 | 10 | M5 | ||
| 12 | ||||
| 15 | Ø45 | M6 | ||
| Ø25 | 12 | M5 | ||
| 15 | Ø50 | M6 | ||
| 20 | Ø55 | |||
| Ø30 | 15 | |||
| 20 | Ø60 | M8 | ||
| Ø35 | 15 | M6 | ||
| Ø40 | 18 | Ø70 | M8 | |
| Ø50 | 22 | Ø85 | M10 | |
| EN AW-2017 Equiv. | Ø3 | 8 | Ø16 | M3 |
| Ø4 | 8 | Ø18 | ||
| Ø5 | 8 | Ø20 | ||
| Ø6 | 8 | |||
| Ø8 | 8 | Ø25 | ||
| 10 | ||||
| Ø10 | 10 | Ø30 | M4 | |
| Ø12 | 10 | |||
| Ø13 | 10 | |||
| Ø15 | 10 | Ø34 | ||
| Ø16 | 10 | Ø35 | M5 | |
| 12 | ||||
| Ø20 | 10 | Ø40 | ||
| 12 | ||||
| 15 | ||||
| Ø25 | 12 | Ø45 | ||
| 15 | ||||
| Ø30 | 15 | Ø55 | M6 | |
| Ø35 | 15 | Ø60 | ||
| Ø40 | 18 | Ø70 | M8 | |
| Ø50 | 22 | Ø85 | M10 |
Accuracy Info
■Accuracy of shaft collars
| I.D. Tolerance | +0.05 / +0.01 |
|---|---|
| O.D. Tolerance | ±0.1 |
| Overall Thickness (width) Tolerance | ±0.1 |
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Application Overview
Purpose
- Purpose
- With the suction cup, various types of plastic cases with different step part heights are transported without change of setups.
- Operation
- When workpiece types are changed, no change over of suction cup types is conducted. Transportation is performed corresponding to plastic cases with different step part heights for different types of products.
The suction cup slides up and down by the spline shaft to absorb workpiece step difference. By fixing the upper part of the spline shaft with an air chuck, horizontal transportation of the suction cup and workpiece is conducted.
- When workpiece types are changed, no change over of suction cup types is conducted. Transportation is performed corresponding to plastic cases with different step part heights for different types of products.
Points for use
- By chucking the slide of the suction cup, transportation of irregular shaped workpieces maintaining their horizontal posture is possible.
Target workpiece
- Shape: Plastic cases with height differences.
- Size: W120 x D100 x H15 (allowable difference in step difference 10mm) mm
- Weight: 800g
Design Specifications
Operating Conditions or Design Requirements
- Suction cup stroke 15mm
- Suction cup maximum reaction force: 7.93N x 2 (including weights of the guide, etc.)
- Hand gripping force: About 70N (air pressure 0.4MPa)
70 x 70% = 49N - External size: W100 x D60 x H230mm
Required Performance
- Allowable transportable load: 8N
Selection Criteria for Main Components
- Gripping force of the air chuck: 46.2N or more
Select an air chuck with a gripping force of 49N.
Design Evaluation
Verification of main components
- Verify the allowable transportable load by air chuck gripping for feasibility of transporting workpieces.
- Check the allowable transportable weight by air chuck gripping
- Conditional values: workpiece weight: M1 = 800g = 0.8kg, weight of a structure gripped by the air chuck: M2 = 0.4kg, gravitational acceleration g = 9.8m/s², friction coefficient µ = 0.5 (rubber vs. metal), spring constant of the spring: k = 0.2N/mm, maximum deflection of the spring: L = 21.5mm, gripping force of the air chuck: H = 49N
- Maximum downward load by the springs (2 pieces) : S = k x L x 2 = 0.2 x 21.5 x 2 = 8.6N
- Downward load by the structure and springs: W = M2 x g + S = 0.4 x 9.8 + 8.6 = 3.9 + 8.6 = 12.5N
- Maximum transportable weight with the chuck: P = H x µ = 49 x 0.5 = 24.5N
Allowable transportable weight: Q = P - W = 24.5 - 12.5 = 12.0N - Downward load of the workpiece: N = M1 x g = 0.8 x 9.8 = 7.8N This corresponds to 65% ( = 7.8 / 12 x 100) of the allowable transportable weight, and thus, the workpiece can be transported.
- Checking the allowable transportable weight of the suction cup
- Conditional values: Pad size = Ø20mm ∴ pressure receiving area S = 3.14cm², vacuum
Sling up capacity: W [N] = P x S x 0.1 / t = 80 x (3.14 x 4pieces) x 0.1 / 4 = 25.1N
⇒Allowable transportable weight of the air chuck 24.5N ≤ allowable transportable weight of the suction cup 25.1N Thus, the workpiece transporting force is satisfied.
- Conditional values: Pad size = Ø20mm ∴ pressure receiving area S = 3.14cm², vacuum
Other Design Consideration
- Irregular-shaped workpieces are sucked by sliding the suction cup with the guide.
Status of irregular-shaped workpieces can be retained by holding and fixing the slide with the chuck. - Rubber sheets are affixed on the inner sides of the chuck craw to retain the position of the slid spline shaft.
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