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No.000177 Gripper that reverses and rotates

Reverse gripper

Related Category

Cable Carriers

Product name Cable Carriers/Slit Type
Part number SE08F-30-028-14
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Organizes cables and protects them against wear and tear on moving objects.

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Available sizes

■Cable Carriers - Slit (Type 08F)

Type Material
Outer Radius Mount Special Plastic
(Operating Temperature: -30 - 100°C)
Equiv. to Flammability Standard UL94-V2
Inner Radius Mount

■Sizes and Overall Dimensions

Bending Radius Number of Links Mounting height (Required Space Height) (Arc + Allowance) Link Pitch
28 1 ~ 37 76 91 130 20
38 1 ~ 38 96 111 160
48 1 ~ 40 116 131 190

■Sizes and Link Cross Section Dimensions

Inner height Overall Height Inner width Overall Width Number of Comb Teeth
14.6 19.3 16 24.2 2
20 28.2 2
30 38.2 3
40 48.2 4
50 58.2 5

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Bearings with Housings

Product name Direct Mount/Standard with Pilot/Retained
Part number SBGCR6901ZZ
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Bearing and housing sold as a set.

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Available sizes

■Bearings with Housings, Pilot, Retained

Flange Shape Material Surface Treatment Material of the Included
Retaining Ring
Bearing Housing Housing
Round type

Square type

Compact type
Steel EN 1.1191 Equiv. Black Oxide Spring Steel
Electroless Nickel Plating EN 1.4301 Equiv.
EN AW-2017 Equiv. Clear Anodize
Stainless
EN 1.4301 Equiv. -

■Sizes and Dimensions

Seal Bearing Shaft Bore
Dia.
Bearing
O.D.
Bearing
Width
Flange
External Dimensions
Compact Flange
Wrench Flats
Overall
Thickness
Flange
Thickness
Pilot Part
Length
Pilot Dia.
Non-contact Rubber Seal

Contact Rubber Seal
623 Ø3 Ø10 4 33 16 9 7 2 Ø14
624 Ø4 Ø13 5 35 18 10 8 Ø17
605 Ø5 Ø14 5 36 20 10 8 Ø18
625 Ø16 5 38 22 10 8 Ø20
606 Ø6 Ø17 6 39 23 11 9 Ø21
626 Ø19 6 41 25 11 9 Ø24
698 Ø8 Ø19 6 41 25 11 9 Ø24
608 Ø22 7 45 29 12 10 Ø27
628 Ø24 8 47 32 13 11 Ø30
6800 Ø10 Ø19 5 41 25 10 8 Ø24
6900 Ø22 6 45 29 11 9 Ø27
6000 Ø26 8 50 34 13 11 Ø32
6200 Ø30 9 54 38 14 12 Ø36
6801 Ø12 Ø21 5 44 29 10 8 Ø26
6901 Ø24 6 48 31 11 9 Ø30
6001 Ø28 8 52 36 13 11 Ø34
6201 32Ø 10 56 40 15 13 Ø38
6802 Ø15 Ø24 5 47 32 10 8 Ø30
6902 Ø28 7 57 37 12 10 Ø35
6002 Ø32 9 60 40 14 12 Ø38
6202 Ø35 11 64 44 17 15 Ø42
6903 Ø17 Ø30 7 60 38 12 10 Ø36
6003 Ø35 10 66 44 16 14 Ø42
6203 Ø40 12 72 50 18 16 Ø48
6804 Ø20 Ø32 7 60 40 12 10 Ø38
6904 Ø37 9 69 47 15 13 Ø45
6004 Ø42 12 77 54 18 16 Ø50
6204 Ø47 14 81 58 20 18 Ø54
6805 Ø25 Ø37 7 69 47 13 11 Ø45
6905 Ø42 9 77 54 15 13 Ø50
6005 Ø47 12 88 58 18 16 Ø54
6205 Ø52 15 94 64 22 20 Ø60
6806 Ø30 Ø42 7 77 54 13 11 Ø50
6906 Ø47 9 88 58 15 13 Ø54
6006 Ø55 13 96 66 20 18 Ø62
6206 Ø62 16 104 74 23 21 Ø70
6007 Ø35 14 21 19
6207 Ø72 17 126 88 26 23 3 Ø84
6008 Ø40 Ø68 15 114 82 23 21 2 Ø78
6208 Ø80 18 134 96 27 24 3 Ø92
Double shielded 6010 Ø50 16 25 22
6210 Ø90 20 147 110 31 28 Ø106

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Accuracy Info

■Accuracy Information of the Bearings with Housings, Pilot, Retained

Pilot Dia. Tolerance: g7

Concentricity of the Pilot and the Bearing Housing: 0.02 or less

Perpendicularity of the Flange Mounting Surface and the Bearing Housing: 0.01 or less

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Shaft Collar

Product name Shaft Collars/D Cut/Compact/Split
Part number PSDNJ15-8
Features Utilization of Mounting Hole on Cut Side facilitates Sensor Bracket Mounting
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Mounting holes on side allow for easy installation of sensor brackets.

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Available sizes

■Shaft Collar Clamp D Cut, Cut Surface Mount Hole, Compact

Material Surface Treatment Accessory
EN 1.1191 Equiv. Black Oxide Hex Socket Head Cap Screw 1 pcs.
Electroless Nickel Plating Hex Socket Head Cap Screw 1 pcs.
(SUS)
EN 1.4301 Equiv. -

■Sizes and Dimensions

Shaft Bore Dia. Overall Width
(Thickness)
O.D. Fastening Screw Dia.
(Coarse)
Mounting Screw Dia.
(Coarse)
Ø10 8 Ø30 M3 M3
Ø12
Ø15
Ø16
Ø20 Ø35
Ø25 10 Ø42 M4 M4
Ø30 12 Ø50 M5

* Please see the product pages for dimension details.

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Accuracy Info

Shaft Bore Dia. Tolerance: +0.05 / +0.01

O.D. Tolerance: ±0.1

Overall Width Tolerance: ±0.1

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IDEA NOTE Reverse pneumatic gripper converts straight motion into rotational.

If you are transferring a workpiece with the same shape for a long period of time, lock the angle of the suction hand.

IDEA NOTE Stepper motor helps keep cost down.

A stepper motor and photo micro sensor at the origin point are able to rotate the three-claw pneumatic gripper.

IDEA NOTE 揺動自転構造

断面図参照

  • 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.

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    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.
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    2. The CAD data unit assembly consists of sub-assemblies.
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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
    • Gripper reverses and rotates the workpiece as the workpiece is laser engraved.
  • Operation
    • Workpieces are transported to the receiving/discharging position by a robot. Once the workpiece is in place, the three-claw pneumatic gripper reverses the part 90° and moves forward into printing position. As the piece is being laser marked, a stepper motor and timing belt rotates the workpiece. When printing is completed, the gripper reverses back 90° into receiving/discharging position and the piece is removed by a robot.

Target workpiece

  • Shape: Bar-shape
  • Workpiece size: Ø12 x L145mm
  • Weight: 37g

Design Specifications

Operating Conditions or Design Requirements

  • Stroke of the three-claw pneumatic gripper: 6mm
  • Reversing angle: 90°
  • Rotation angle: 90°
  • External size: W460 x D165 x H230mm

Required Performance

  • Position repeatability accuracy of the three-claw pneumatic gripper: ±0.1mm

Design Evaluation

Verification of main components

  • Verify the gripping force of the pneumatic gripper for appropriate workpiece gripping force.
  • Check the gripping force of the three-claw pneumatic gripper
    • Conditional values: Center of gravity of workpiece L1 = 85mm, workpiece gripping point L2 = 59.5mm, workpiece weight m = 37g, supply pressure p = 0.5MPa, gravitational acceleration g = 9.8m/s², friction coefficient µ = 0.2 (metal vs. metal)
    • Gripping force F1 of the three-claw pneumatic gripper at supply pressure p, and workpiece gripping point L2 is obtained form the graph as F1 = 4.5N.
      Gripping force on the workpiece F1' = F1 x µ Thus, F1' = 4.5 x 0.2 = 0.9N
    • Required gripping force F2 is obtained from the balance of the moment as follows.
      Mg x L1 = F2 x L2
      F2 = Mg x (L1 / L2) Thus, F2 = 37 x 10⁻³ x 9.8 x (85 / 59.5) = 0.518N
      F1' > F2 Thus, sufficient gripping force is achieved.

Other Design Consideration

  • Install a mechanical stopper to limit the rotation of the three-claw pneumatic gripper below 270°. This stopper serves as a countermeasure against cable entanglement and disconnection.
  • For safety purposes, a cover is installed over the timing belt.

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 Ball Bearing SB6902ZZ 2
2 High Torque Timing Pulleys HTPK32S2M060-A-P4 2
3 Locating Pins SJPDSC4-4 2
4 Locating Pins SXST-D3-L13-E1 2
5 Cable Carrier SE08F-30-028-14 1
6 Metal Washers WSSS15-4-2 2
7 Bearing W/ Housing SBGCR6901ZZ 2
8 Low Head Cap Screws CBSST4-10 4
9 Timing Belts HTBN256S2M-60 1
10 Parallel Keys KEDS4-12 1
11 Collars CLBP12-16-5 1
12 Shaft Collars PSDNJ15-8 1
13 Collars CLBP15-19-5.5 1
14 Cam Followers CFUA5-13 1
15 Countersunk Screws SFBJ3-8 8
16 Low Head Cap Screws CBSST8-16 4
17 Dowel Pins MSC3-10 2
  • 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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