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No.000175 Workpiece Gripper Unit with Suction Cups

Fixing the sliding suction cup at hands.

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

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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

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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

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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.

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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

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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

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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

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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 -

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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.

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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

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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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IDEA NOTE Fixing the sliding suction cup at hands.

With the type in which the suction cup slides, errors in suction heights can be amended but it cannot fix the height. 
By separately attaching a cushion to the fixed type suction cup, maintaining posture is made possible.

  • 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.
    3. Copyright
    Copyrights to the content and the Data belong to the Company or the manufacturers of the Products. The said copyright is protected by the Copyright Act and international treaties. The use (including duplication, modification, uploading, posting, transmission, distribution, licensing, sales and publishing) of the Data except for the purpose to use the Data described above without prior approval of the Company is not allowed. The Data cannot be used for any purposes (including sales promotion) except for designing your machine. If you violate this provision or the laws or regulations, the Company may prohibit you from the use of the Data, the Company’s site and/or take legal action. So long as you comply with these terms and conditions, the Company grants to you a non-exclusive, non-transferable, revocable license to access and use the Data for the sole purpose of assisting you in designing machines that incorporate 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.

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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 Data including the third-part components are made by the Company.

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  • * Unit assembly CAD data consists of some sub-assemblies.
       Each sub-assembly unit can be used as it is or can be edited.

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.

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.

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.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample picture MISUMI Part Number
For Price and Days to ship click on Part No.
Quantity
1 Suction Cups - with Fittings MVPKN20 4
2 Ball Spline BSHN8-130-M4-N4 2
3 Shaft Collars PSCS10-10 2
4 Compression Springs WY13-55 2
5 Washers for Compression Springs SPGCC15-11-8 4
6 Hex Posts PLSBRK7-130 4
7 Rubber Sheets RBTMA1-5 1
  • 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.
  • 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.
    3. Copyright
    Copyrights to the content and the Data belong to the Company or the manufacturers of the Products. The said copyright is protected by the Copyright Act and international treaties. The use (including duplication, modification, uploading, posting, transmission, distribution, licensing, sales and publishing) of the Data except for the purpose to use the Data described above without prior approval of the Company is not allowed. The Data cannot be used for any purposes (including sales promotion) except for designing your machine. If you violate this provision or the laws or regulations, the Company may prohibit you from the use of the Data, the Company’s site and/or take legal action. So long as you comply with these terms and conditions, the Company grants to you a non-exclusive, non-transferable, revocable license to access and use the Data for the sole purpose of assisting you in designing machines that incorporate products.
    4. Disclaimer of Warranty
    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
    生成

    Thank you for downloading the data.

    Click the Good IDEA! button when this application example is helpful.


    This data is utilized in order to list more useful application examples in the future.

    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 Data including the third-part components are made by the Company.

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