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No.000236 Lifting Mechanism
Workpiece is lifted by a single axis robot
Related Category
Single Axis Robot
| Product name | Rod Type with Support Guide |
|---|---|
| Part number | RSDG106B-C1-C-3-100 |
| Features | Maximum Load Capacity: 20kg (Horizontal) / 7.5kg (Vertical) Max. Push Force: 100N Stroke: 50~200mm Max. Velocity: 500mm/sec |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Single axis robot is selected in order to meet requirement for precise pitch feed action.
Available sizes
■Single axis robot
| Height (mm) | Type | Lead (mm) | Stroke (specify in 50mm increment) |
|---|---|---|---|
| 48 | RSDG1 | 6 | 50-200 |
| 12 | |||
| 49.5 | RSDG2 | 2 | 50-300 |
| 6 | |||
| 12 | |||
| 56.4 | RSDG3 | 2 | 50-300 |
| 6 | |||
| 12 |
Selection steps
■Single Axis Robot Selection Step
Load Capacity.
↓
Stroke.
↓
Cycle Time or Max. Velocity.
↓
Detail confirmationAccuracy Info
■Accuracy of Single Axis Robot
Positioning Repeatability (mm) ±0.02.
Performance info.
■Speed
Load of Single Axis Robot (Load Information)
| Type | Lead (mm) | Max Load Capacity (kg) | Max. Push Force (N) | Max. Velocity (mm/sec) | |
|---|---|---|---|---|---|
| Horizontal | Vertical | ||||
| RSDG1 | 6 | 20 | 7.5 | 100 | ~ 250 |
| 12 | 10 | 3.5 | 75 | ~ 500 | |
| Type | Lead (mm) | Max Load Capacity (kg) | Max. Push Force (N) | Max. Velocity (mm/sec) | |
|---|---|---|---|---|---|
| Horizontal | Vertical | ||||
| RSDG2 | 2 | 45 | 24 | 600 | ~ 80 |
| 6 | 40 | 11 | 300 | ~ 250 | |
| 12 | 25 | 4 | 150 | ~ 500 | |
| Type | Lead (mm) | Max Load Capacity (kg) | Max. Push Force (N) | Max. Velocity (mm/sec) | |
|---|---|---|---|---|---|
| Horizontal | Vertical | ||||
| RSDG3 | 2 | 60 | 28.5 | 900 | ~ 50 |
| 6 | 55 | 18.5 | 550 | ~ 150 | |
| 12 | 50 | 8.5 | 250 | ~ 300 | |
Precision Linear Shafts
| Product name | Both Ends Stepped and Tapped/Both Ends Stepped |
|---|---|
| Part number | PSFAH20-100-F8-P12-M6-T8-LKC-WSC10-X10 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Suitable Parallelism
Available sizes
■Precision Linear Shafts
| Material | Hardness | Surface Treatment |
|---|---|---|
| EN 1.3505 Equiv. | High Frequency Hardening, Effective Hardened Depth EN 1.3505 Equiv. 58HRC ~ EN 1.4125 Equiv. 58HRC ~ | - |
| EN 1.4125 Equiv. | ||
| EN 1.3505 Equiv. | Hard Chrome Plating: Plating Hardness HV 750 ~, Plating Thickness 5 µm or more | |
| EN 1.4125 Equiv. | ||
| EN 1.3505 Equiv. | Low Temperature Black Chrome Plating | |
| EN 1.4125 Equiv. | ||
| EN 1.1191 Equiv. | - | Hard Chrome Plating: Plating Hardness HV 750 ~, Plating Thickness 5 µm or more |
| EN 1.4301 Equiv. |
■Sizes and Dimensions
| O.D. | Length | Thread Dia. | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| M3 | M4 | M5 | M6 | M8 | M10 | M12 | M16 | M20 | M24 | M30 | ||
| 8 | 25-796 | ○ | ||||||||||
| 10 | 25-796 | ○ | ○ | ○ | ||||||||
| 12 | 25-996 | ○ | ○ | ○ | ○ | |||||||
| 13 | 25-996 | ○ | ○ | ○ | ○ | ○ | ||||||
| 15 | 25-996 | ○ | ○ | ○ | ○ | ○ | ○ | |||||
| 16 | 25-1196 | ○ | ○ | ○ | ○ | ○ | ○ | |||||
| 18 | 25-1196 | ○ | ○ | ○ | ○ | ○ | ○ | |||||
| 20 | 25-1196 | ○ | ○ | ○ | ○ | ○ | ○ | |||||
| 25 | 25-1196 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ||||
| 30 | 25-1496 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | |||
| 35 | 25-1496 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | |||
| 40 | 25-1496 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | |||
| 50 | 25-1496 | ○ | ○ | ○ | ○ | ○ | ○ | ○ | ○ | |||
Accuracy Info
■Shaft Accuracy Information
| O.D. (mm) | O.D. Tolerance(mm) | ||
|---|---|---|---|
| g6 | h5 | f8 | |
| 8 | -0.005 -0.014 | 0 -0.006 | -0.013 -0.035 |
| 10 | |||
| 12 | -0.006 -0.017 | 0 -0.008 | -0.016 -0.043 |
| 13 | |||
| 15 | |||
| 16 | |||
| 18 | |||
| 20 | -0.007 -0.020 | 0 -0.009 | -0.020 -0.053 |
| 25 | |||
| 30 | |||
| 35 | -0.009 -0.025 | 0 -0.011 | -0.025 -0.064 |
| 40 | |||
| 50 | |||
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Application Overview
Purpose
- Lifts workpiece by using a single axis linear actuator.
Points for use
- Single axis robot is programmed for a set of predetermined movements.
Target workpiece
- Washer
- Exterior shape: Ø16 x t3mm
- Workpiece weight: 4g
Design Specifications
Operating Conditions or Design Requirements
- Exterior shape dimensions: W175 x D135 x H473mm
- Single axis robot stroke distance: 62.5mm
<Maximum stroke distance: 100mm.> - Single axis robot maximum transferable mass: 7.5kg
- 1 pallet contains 5 rows of 14 workpieces in a single vertical row
- A proximity switch is installed in another unit on the upstream side to detect position
Required Performance
- Single axis robot positioning repeatability: +/- 0.02mm
- Single axis robot accuracy without rotation: +/- 0.05°-> +/- 0.00083mm
Selection Criteria for Main Components
- Single Axis Robot
- A robot, for which the movable section + workpiece weight does not exceed the maximum transferable mass, is selected.
- Shaft
- A shaft with additional machining for minimizing the range of tolerance for length is selected in order to prevent tilting in the installation of the robot (tolerance: +/- 0.03mm)
Design Evaluation
Verification of main components
- The robot transferable mass is verified for the capability to transfer the workpiece.
- Single Axis Robot Transfer Weight.
- Condition value: 4g, workpiece insert shaft weight: 44.6g, rod plate weight: 212.2g
- Maximum transferable weight of single axis robot M = workpiece weight (70 pieces) + workpiece insert shaft (5 shafts) + Rod plate weight, thus M = 4 x 70 + 44.6 x 5 + 212.2 = 715.2g ≈ 0.72kg
- Maximum transfer weight of single axis robot: 0.72kg < Maximum transferable mass of single axis robot: 7.5kg
-> Safety margin ratio of 10 is ensured.
Other Design Consideration
- A step type and a straight type are utilized for positioning of single axis robot.
- A stopper pin with urethane is used as a mechanical stopper.
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