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No.000179 Centering mechanism utilizing floating joint
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Correction of angular misalignment generated by the suction cup
Related Category
Floating Joint
| Product name | Floating Joints -Extra Short Threaded Stud Mount/Threaded |
|---|---|
| Part number | FJCMXS6-1.0 |
| Features | Floating joint is used to compensate any misalignment between cylinder and moving object. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable for angular misalignments
Available sizes
■Floating Joint - Extra Short
| Body/Cover | Joints | Spring | Washer | |||||
|---|---|---|---|---|---|---|---|---|
| Material | Surface Treatment | Material | Surface Treatment | Hardness | Material | Material | Surface Treatment | Hardness |
| EN 1.1191 Equiv. | Black Oxide | EN 1.1191 Equiv. | Black Oxide | 35 - 45 HRC | EN 1.4301 Equiv. | EN 1.4301 Equiv. | Nitriding Treatment | 600HV - |
| EN 1.4301 Equiv. | - | EN 1.4125 Equiv. | - | |||||
■Sizes
| Cylinder Mounting Side | Output | Allowable Lateral Misalignment | Allowable Angular Misalignment | Body Thickness | Body Hex Size | Overall Length | ||
|---|---|---|---|---|---|---|---|---|
| Thread Dia. - Pitch | Thread Length | Thread Dia. - Pitch | Thread Length | |||||
| M5 - 0.8 | 6 | M8 - 1.25 | 8.5 | 0.5 | 4° | 14 | 24 | 33 |
| M6 - 1.0 | ||||||||
| M8 - 1.25 | 8.5 | M10 - 1.5 | 10 | 15.5 | 27 | 39.5 | ||
| M10 - 1.5 | 10 | M14 - 2.0 | 11 | 19.5 | 30 | 47 | ||
Spring Plungers
| Product name | Spring Plungers/Stainless Steel |
|---|---|
| Part number | PJHK5-5 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Spring load and overall size
Available sizes
■Spring Plungers - Stainless Steel
| Nose Material | Load type | Body | Nose | Spring | Operating Temperature | |
|---|---|---|---|---|---|---|
| Material | Material | Hardness | Material | |||
| Stainless Steel | Ultra Light Load | EN 1.4301 Equiv. | EN 1.4125 Equiv. | 55HRC - | EN 1.4568 Equiv. | -30 - 260°C |
| Light Load | ||||||
| Heavy Load | ||||||
| Extra Heavy Load | ||||||
| Plastic | Ultra Light Load | Polyacetal | - | -30 - 80°C | ||
| Light Load | ||||||
| Heavy Load | ||||||
| Extra Heavy Load | ||||||
■Sizes and Dimensions
| Screw Dia. (Coarse) | Nose | Body length | |
|---|---|---|---|
| Diameter | Stroke | ||
| M3 | Ø1 | 1.5 | 15 |
| 3 | 15 | ||
| M4 | Ø1.6 | 2 | 15 |
| 4 | 24 | ||
| M5 | Ø2 | 3 | 20 |
| 5 | 27 | ||
| M6 | Ø2.5 | 3 | 25 |
| 5 | 30 | ||
| M8 | Ø3.1 | 3 | 25 |
| 5 | 27 | ||
| M10 | Ø3.8 | 5 | 30 |
| 10 | 43 | ||
| M12 | Ø5.5 | 5 | 30 |
| 10 | 43 | ||
| 15 | 51 | ||
| M16 | Ø8 | 10 | 57 |
| 15 | 57 | ||
| 20 | 65 | ||
Performance info.
■Spring Load (N) of Spring Plunger (Stainless Steel)
| Load type | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Screw Dia. (Coarse) | Nose | Ultra Light Load | Light Load | Heavy Load | Extra Heavy Load | |||||
| Diameter | Stroke | min. | max. | min. | max. | min. | max. | min. | max. | |
| M3 | Ø1 | 1.5 | 0.12 | 0.4 | 0.4 | 1.3 | 0.8 | 2.94 | 1.1 | 3.42 |
| 3 | 0.12 | 0.4 | 0.2 | 1.3 | 0.6 | 2.93 | 0.8 | 3.41 | ||
| M4 | Ø1.6 | 2 | 0.27 | 0.65 | 0.9 | 2 | 2 | 8.8 | 6.1 | 13.8 |
| 4 | 0.18 | 0.65 | 0.6 | 2.1 | 1.9 | 8.75 | 5.8 | 13.6 | ||
| M5 | Ø2 | 3 | 0.4 | 3 | 1.4 | 9.7 | 2.7 | 16.3 | 6.8 | 22 |
| 5 | 0.35 | 3 | 1.1 | 10.3 | 1 | 17.1 | 5.7 | 21.5 | ||
| M6 | Ø2.5 | 3 | 1.8 | 3.05 | 6 | 9.8 | 8 | 26.4 | 15.8 | 35.6 |
| 5 | 1.5 | 3.05 | 3.4 | 9.86 | 4.4 | 26.6 | 12.9 | 34.4 | ||
| M8 | Ø3.1 | 3 | 1.9 | 3.15 | 6 | 9.9 | 14.7 | 27 | 21.9 | 36.3 |
| 5 | 1.4 | 3.15 | 4 | 9.83 | 6.7 | 26.6 | 14.7 | 34.5 | ||
| M10 | Ø3.8 | 5 | 1.6 | 4.6 | 5.7 | 14.7 | 8.2 | 45.7 | 24.5 | 58.6 |
| 10 | 1.6 | 4.6 | 4.4 | 14.7 | 6.2 | 45.1 | 19.8 | 58.7 | ||
| M12 | Ø5.5 | 5 | 1.7 | 4.7 | 5.8 | 14.7 | 18.2 | 49 | 34.9 | 63.6 |
| 10 | 1.6 | 4.7 | 5 | 14.7 | 8.2 | 49.1 | 25.5 | 63.6 | ||
| 15 | 1.8 | 4.7 | 6.9 | 14.7 | 7.5 | 48.9 | 20.1 | 63.7 | ||
| M16 | Ø8 | 10 | 2.8 | 10.8 | 9.2 | 34.2 | 18.9 | 68.5 | 38.7 | 88.4 |
| 15 | 2.6 | 10.8 | 8.6 | 34.4 | 14.4 | 68.6 | 33.9 | 88.1 | ||
| 20 | 2 | 11 | 7.1 | 34.4 | 4.2 | 68.6 | 25.4 | 88.1 | ||
* Min. load is the initial load, max. is when the Nose is depressed fully.
Suction Cup Fittings
| Product name | Suction Cups/with Fitting/Spring Type/Shape K |
|---|---|
| Part number | MVPKN15 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable for lifting a workpiece from uneven surfaces
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 | ||
| Fluorinerubber |
■Sizes and Dimensions
| Pad Shape | Suction pad | 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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Application Overview
Purpose
- Purpose
- Correction of angular misalignment of workpiece.
- Operation
- Descend the arm so that the suction cups attach to a workpiece. The suction cup surface will follow the tilt of the workpiece because of the allowable angular misalignment tolerance of the floating joint. Once the workpiece is suctioned, lift the workpiece so that the angular misalignment is restored. Angular misalignment is restored by repulsive force of the spring plungers.
Target workpiece
- Shape: Flat plates such as circuit boards, etc.
- Size: W200 x L200 x H0.8mm
- Weight: 500g
Design Specifications
Operating Conditions or Design Requirements
- Arm upper surface - Suction cup surface: 57mm
- External size: W341 x D142 x H58mm
- Allowable lateral misalignment: 0.5, allowable angular misalignment: 4°;
Required Performance
- Locating accuracy: ±1mm
Selection Criteria for Main Components
- Floating joint: Shall have lateral misalignment tolerance and angular misalignment tolerance.
- Suction cup: Shall not exceed the allowable weight of the floating joint.
Design Evaluation
Verification of main components
- Verify the suction force is sufficient to hold workpiece.
- Work retention weight
- Conditional values: maximum tension using force of the floating joint: F1 = 500N
Suction holder pad diameter: D = 1.5cm
Vacuum level: P = -60kPa
Number of suction holders: n = 4 [pieces], Horizontal sling safety factor: f = 4, gravitational acceleration: g = 9.8N/m²
Pad area: C = D2 x (π / 4) = 1.77cm²
Suction force per suction holder: W = { (C x P) / 101} x 10.13 x (1 / f) Thus, W = 2.66N
Suction force with 4 suction holders: W' = 4 x W = 10.6N - F1 >> W" Thus, sufficiently safe for the floating joint.
- Maximum weight of the workpiece = W' /g = 1.08kg Thus, safe against workpiece weight of 500g.
- Conditional values: maximum tension using force of the floating joint: F1 = 500N
Other Design Consideration
- The overall unit height can be reduced by using a floating joint.
- Roughness of cone-shaped plunger support may hinder level restoration and centering. Make sure the finish is Ra 1.6 or better.
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