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No.000177 Gripper that reverses and rotates
65
65
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.
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 |
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.
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 |
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
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.
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.
Accuracy Info
Shaft Bore Dia. Tolerance: +0.05 / +0.01
O.D. Tolerance: ±0.1
Overall Width Tolerance: ±0.1
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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.
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