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No.000032 Pick and place mechanism with ball spline
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Compact design utilizing ball spline
Related Category
Timing Belt
| Product name | Timing Belts - MXL, XL, L, H |
|---|---|
| Model number | TUN165L050 |
| Characteristic | General purpose timing belts for transmission. Although some tooth fabrics for MXL and XL rubber belts are changed to comply with the bear-back specifications, it does not affect the performance. |
* Orange colored cells in the table below indicate the part numbers that were actually used in this app. example.
Selection criteria
Transmit torque from driving to driven pulley.
Risk info.
A pulley layout enabling replacements
Available sizes
■Timing Belts - MXL / XL / L / H
| Material | MXL | XL | L | H | ||
|---|---|---|---|---|---|---|
| Tooth surface cover | Tooth rubber | Core wire | ||||
| Nylon canvas | Chloroprene Rubber | Glass fiber cord S / Z Alternately Twisted Continuous | ○ | ○ | ○ | ○ |
| Polyurethane | Polyurethane | MXL: Kevlar XL ･ L: Steel cord | ○ | ○ | ○ | - |
■Reference dimensions
| Belt type | Pitch | Belt width | Belt length reference |
|---|---|---|---|
| MXL | 2.032 | 4.8, 6.4, 9.5, 12.7 | 100 - 1100 |
| XL | 5.08 | 6.4, 7.9, 9.5, 12.7 | 200 - 2100 |
| L | 9.525 | 12.7, 19.1, 25.4, 38.1 | 300 - 1800 |
| H | 12.7 | 19.1, 25.4, 38.1, 50.8 | 600 - 4300 |
Selection steps
■Timing belt selection procedure
* Timing belt selection is made together with timing pulley
- Determining of usage conditions
- Designed power ･ Rotational speed ･ Interim shaft distance ･ motion pattern, etc.
↓
- Belt (pulley) interim selection
- Belt type ･ Belt width
↓
- Verifying specification compatibility
-
- Verifying calculated shaft distance, etc.
- Verifying tension and load
Performance info.
■Load info. of timing belt
| Belt type | Small pulley rotational speed (rpm) | Designed power (kW) |
|---|---|---|
| MXL, XL, L, H, T5, T10 | 10 - 20000 | 0.01 - 800 |
Technical calculations
■Technical calculations
Timing Pulley
| Product name | Timing Pulleys L Type |
|---|---|
| Model number | ATPA19L050-A-N30 |
| Characteristic | New! METRIC/ INCH Bores Available! |
* Orange colored cells in the table below indicate the part numbers that were actually used in this app. example.
Selection criteria
Transfer rotary motion. Aluminum type selected for weight reduction purposes.
Risk info.
Accuracy degradation due to wear over time.
Available sizes
■Timing Pulleys L Type
| Material | Surface treatment | Tooth type / Belt width | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MXL | XL | L | H | |||||||||||||||
| Pulley | Flange | 4.8 | 6.4 | 9.5 | 12.7 | 6.4 | 7.9 | 9.5 | 12.7 | 12.7 | 19.1 | 25.4 | 38.1 | 19.1 | 25.4 | 38.1 | 50.8 | |
| MXL, XL: EN AW-2017 Equiv. L, H: EN AW-7075 Equiv. | EN AW-5052 Equiv. | Clear anodize | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ |
| Black anodize | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| Hard anodize | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| Electroless nickel plating | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| EN 1.1191 Equiv. | EN 1.0330 Equiv. | - | - | ○ | ○ | - | ○ | - | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ |
| Black oxide | - | ○ | ○ | - | ○ | - | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| Electroless nickel plating | - | ○ | ○ | - | ○ | - | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||
| EN 1.4301 Equiv. | EN 1.4301 Equiv. | - | - | ○ | ○ | - | ○ | - | ○ | ○ | - | - | - | - | - | - | - | - |
■Pulley number of teeth and shaft bore DIA.
| Belt type | Shape | Number of teeth | Pitch circle DIA. | Shaft bore DIA. |
|---|---|---|---|---|
| MXL | K, A, B | 14 - 72 | O9.6 - 46.57 | O3 - 35 |
| XL | A, B | 10 - 72 | O16.17 - 116.43 | O4 - 80 |
| L | A, B, D | 10 - 72 | O30.32 - 218.30 | O6 - 100 |
| H | A, B, D | 14 - 72 | O58.60 - 291.06 | O12 - 100 |
K: With collar
A: No hub
B: With hub
D: With hub Relieved
Selection steps
■Timing pulley selection steps
* Timing pulley selection is made at the same time as the timing belt.
- Determining of usage conditions
- Design power ･ Rotational speed ･ Rotation ratio ･ Interim shaft distance, Motion pattern, etc.
↓
- Temporary selection of pulley (Belt)
- Tooth profile ･ Belt width
↓
- Verifying specification compatibility
-
- Verifying calculated shaft distance, etc.
- Verifying tension･Load
Accuracy Info
■Timing pulley accuracy
Shaft bore tolerance: H7
Technical calculations
■Technical calculations
Bearings with Housing
| Product name | Standard Length/Double Bearings/Retained |
|---|---|
| Model number | BGRBB6007ZZ-50 |
* Orange colored cells in the table below indicate the part numbers that were actually used in this app. example.
Selection criteria
Compact double bearing type with high bearing performance
Available sizes
■Bearings with Housings - Standard Length, Double Bearings, Retained
| Flange Shape | Material | Surface treatment | ||
|---|---|---|---|---|
| Bearing | Housing | Retaining ring | Housing | |
| Round type Square type Compact type | Steel | EN 1.1191 Equiv. | Spring steel | Black oxide |
| EN 1.4301 Equiv. | Electroless nickel plating | |||
| EN AW-2017 Equiv. | EN 1.4301 Equiv. | Clear anodizing | ||
| Stainless | ||||
| EN 1.4301 Equiv. | - | |||
■Sizes
| Shaft bore DIA. | Bearing part number | Seal | Overall length | Pilot O.D. | |
|---|---|---|---|---|---|
| O30 | 6806 | Double shielded Non-contact rubber seal Contacting rubber seal | 35 | 50 | O50 |
| 6906 | 35 | 50 | O54 | ||
| 6006 | 40 | 60 | O62 | ||
| 6206 | 50 | 60 | O70 | ||
| O35 | 6007 | 50 | 60 | O70 | |
| 6207 | 60 | 80 | O84 | ||
| O40 | 6008 | 60 | 70 | O78 | |
| 6208 | 60 | 80 | O92 | ||
Accuracy Info
■Accuracy of bearing housing
Pilot O.D. tolerance: g7
Seating face - Pilot perpendicularity: 0.01
Ball Spline
| Product name | Ball Splines/Both Ends Stepped Tapped |
|---|---|
| Model number | BSLM13-350-F6-E25-P10-Q10-M6-N6-SC0 |
* Orange colored cells in the table below indicate the part numbers that were actually used in this app. example.
Selection criteria
Suitable for a transmission element when linear and rotary motion are needed at the same time.
Available sizes
■Ball Splines -Both Ends Stepped 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. |
| 10 | O10.4 | 60 - 600 | O21 |
| 13 | O13.4 | 60 - 600 | O24 |
| 16 | O16.6 | 70 - 600 | O31 |
For EN 1.4125 Equiv. spline shaft max. overall length is 390mm.
Selection steps
■Ball spline selection steps
- Determine application conditions
- (Load, Torque, Feed distance, Life)
↓
- Temporarily select ball spline specifications
- (Temporarily select spline shaft DIA., spline shaft length, overall length based on app. conditions)
↓
- Verify basic safety
-
- Allowable load
- Life
Accuracy Info
■Accuracy of ball spline shaft
(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 - | ||
| 10 | O10.4 | 33 | 59 | 83 | 103 | 82 | 102 | |
| 13 | O13.4 | 39 | 56 | 71 | 83 | 62 | 75 | |
| 16 | O16.6 | |||||||
Performance info.
■Ball spline load rating
| Name No. | Basic torque rating | Basic load rating | ||
|---|---|---|---|---|
| Dynamic (Nm) | Static (Nm) | Dynamic (kN) | Static (kN) | |
| 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 running life is calculated with the formula below.
●In case of radial loads
●In case of torque loads
- L: Life (km)
- ft: Temp. 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 life time is calculated with the formula below.
- Lh: Run hours (hr)
- L: Life (km)
- St: Stroke length (mm)
- n: Number of cycles per minute (cpm)
■Temp. factor (ft)
■Hardness factor (fh)
■Load rating ratio (fp)
| Name No. | Spline shaft DIA. | Distributed load | Direct download |
|---|---|---|---|
| 10 | O10.4 | 1 | 0.71 |
| 13 | O13.4 | 1 | 0.71 |
| 16 | O16.6 | 1 | 0.68 |
■Load factor (fw)
| Application conditions | Load factor (fw) |
|---|---|
| No vibration 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 - |
IDEA NOTE Transmit rotational power to the ball spline nut
This app. example uses a ball splines with flanged type nut.
Flanged nut is mounted on a hollow shaft, and rotation is transmitted via a pulley.
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Application Overview
Purpose
- Pick, rotate and lower workpiece to next work station.
Target workpiece
- Plastic pin with square base
- Pin DIA.: O15, Length: 100mm
- Protrusion on one location
Design Specifications
Operating Conditions or Design Requirements
- W150 x D240 x H377mm
- Up / down stroke: 150mm
- Rotation angle: 90deg.
Required Performance
- Rotational position accuracy: ±1°
Selection Criteria for Main Components
- A ball spline is used for accurate linear motion as well as for its ability to rotate its orientation.
Design Evaluation
Verification of main components
- Select a motor that satisfies the torque at required speed.
- Motor selection
- Calculation of load torque
App. condition: Timing belt drive - Conditional value:
D = 57.61 x 10?3m - pulley pitch diameter
F = 5N - belt tension force
W = 0kg - workpiece mass
μ = 0.1 - coefficient of friction, sliding surface
g = 9.8m/s2 - gravitational acceleration - From: Load torque T = D / 2 x (F + μWg) N･m
T = 1 / 2 x 57.61 x 103 x (5 + 0.1 x 0 x 9.8) = 144 x 10?3N･m
therefore, we select a motor with larger torque then T = 0.14N･m - Torque of the selected motor MAMA012P1A (with continuous operation range up to 5000r/min) is 0.19N･m, and satisfy requirements.
Motor rated torque > Actually applied torque.
- Calculation of load torque
Other Design Consideration
- For smooth rotation ball spine is supported by ball bearing on two ends and rotation is transmitted thru pulley.
- If needed install position sensors.
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