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No.000238 Chucking mechanism for heavy workpieces

Heavy workpiece chucking mechanism using a claw engagement.

Related Category

Compact Cylinders

Product name Compact Cylinders
Part number MSCCA40-30
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Thin type is selected to minimize the overall length.

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Available sizes

■Compact Cylinders (Stroke Fixed Type)

Tube I.D.
(mm)
Stroke
St(mm)
Length
(mm)
Width
(mm)
12 5-30 25.5 + St 25
16 29
20 5-50 34 + St 36
25 37.5 + St 40
32 40 + St 45
40 5-100 46.5 + St 52
50 10-100 48.5 + St 64
63 30-100 54 + St 77

* See each product page for detailed shape and dimension.

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Selection steps

■Cylinder Selection Steps

1. Define various conditions of the load.

2. Calculate the cylinder output. (in case of double-acting type)

3. Determine the tube I.D.

4. Determine the theoretical reference speed.

5. Verify the cylinder's cushion mechanism.

6. Verify applicable lateral load on the cylinder.

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Performance info

■Compact Cylinder Operating Pressure Range

Min. Operating Pressure (MPa): 0.1
Max. Operating Pressure (MPa): 1.0
Pressure Resistance (MPa): 1.5

(N)

Tube
I.D.
Operation
Direction
Operating pressure (MPa)
0.4 0.5
Ø12 Outstroke 45 57
Instroke 34 42
Ø16 Outstroke 80 101
Instroke 60 75
Ø20 Outstroke 126 157
Instroke 94 118
Ø25 Outstroke 196 245
Instroke 151 189
Ø32 Outstroke 322 402
Instroke 241 302
Ø40 Outstroke 503 628
Instroke 422 528
Ø50 Outstroke 785 982
Instroke 660 825
Ø63 Outstroke 1247 1559
Instroke 1121 1402

■ Allowable Lateral Load

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Floating Joints

Product name Floating Joints/Flange Mounting/Tapped
Part number FJUC14
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Space saving size is selected to minimize the length.

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Available sizes

■Floating Joint (Space Saving Type)

Material Hardness Surface Treatment
Flange Connector
EN 1.1191 Equiv. 45 ~ 55HRC Sphere 45 to 50 HRC
Induction Hardened
Black Oxide Coating
EN 1.4125 Equiv. -

■Sizes and Dimensions

Type Thread Dia. Mount Flange Cylinder Connector
O.D. Thickness Wrench Flats Overall Length
Standard

Separate

Wrench Flats
5 34 11 22 17
6 20
8 40 25 23
10 25
12 52 12 34 29
14 33
16 62 16 41 37
18 41
20 74 20 48 46
22 50
24 80 24 54 55
26 60
30 90 32 64 65

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Precision Linear Shafts

Product name One End Threaded/One End Tapped with Cross-Drilled Hole/Wrench Flats
Part number SFZH25-145-F37-B25-P16-N12-H30
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

A shaft with a tapped hole is selected in order to improve the tightening efficiency with consideration of the narrow pitch between the shafts.

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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. 56HRC ~
-
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 1.1191 Equiv. - Hard Chrome Plating: Plating Hardness HV 750 -,
Plating Thickness 5 µm or more
EN 1.4301 Equiv.

■Sizes and Dimensions

O.D. Tolerance Type O.D. (mm) Length
(Configure in 1mm increment)
g6


h5


f8
6 25-598
8 25-798
10 25-798
12 25-998
13 25-998
15 25-998
16 25-1198
18 25-1198
20 25-1198
25 25-1198
30 25-1498
35 25-1498
40 40-1498
50 50-1498

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Accuracy Info

■Shaft Accuracy Information

O.D. Tolerance
O.D. (mm) g6 h5 f8
6 -0.004
-0.012
 0
-0.005
-0.010
-0.028
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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IDEA NOTE  Secure centering of workpieces

The differential sizing of the cylinder diameter enables secure centering of workpieces using a cylinder with a larger diameter (with a larger thrust) as a reference.

  • 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.
      You will need to edit the Data so that it meets your specific design conditions.
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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

  • A chucking mechanism which utilizes a large claw to hold and move heavy work pieces. Used in place of large diameter bore cylinders.

Points for use

  • This unit is connected to the end of a robot arm to works as a manipulator.
  • The unit drives an air cylinder supplied from the arm of the robot to open and close the hand.

Target workpiece

  • Workpiece
    • Outer Dimensions: W573 x D150 x H15mm
      Weight: 5.4kg
  • Workpiece magazine
    • Outer Dimensions: W153 x D600 x H102mm
      Weight: 15.3kg

Design Specifications

Operating Conditions or Design Requirements

  • Entire system:
    • Maximum Outer Dimensions: W695 (with hand opened) x D137 x H149mm
      Frame dimensions: W560 x D137 x H102mm
  • Cylinder
    • Reference Side: Cylinder diameter Ø50mm, stroke 30mm
      Slave side: Cylinder diameter Ø40mm, stroke 30mm
  • Work action
    • Horizontal swing acceleration Steady: 0.2G
      Horizontal swing acceleration Instantaneous maximum: 1G

Required Performance

  • Inertia force at horizontal swing during maximum acceleration < Cylinder holding force.

Selection Criteria for Main Components

  • Capacity of cylinder must be adequate and safe during transportation of the work piece.

Design Evaluation

Verification of main components

  • Ø40 mm cylinder output (horizontal swing 1G)
    • Inertia force applied to the cylinder: F = ma = (m1 + m2)a
    • Total weight of workpiece section m1 = 6 x 5.4 + 15.3 = 47.7kg
    • Weight of total hand: m2 = 2.11kg
      -> F = (47.7 + 2.11) x 9.8 = 488N
    • Pull thrust: F2 =ηx A2 x P
    • Load ratio: η= 1 (from catalog)
    • Pull pressure reception area: A2 = 1056mm² (from catalog)
    • Operating Pressure: P = 0.5MPa
    • F2 = 1 x 1056 x 0.5 = 528N
    • Safety margin ratio: F2/F = 528/488 = 1.08times

Other Design Consideration

  • Through the use of two shafts on one side the mechanism, the transmission of a moment to the cylinder is absorbed by the repulsive force against the hand with shearing force between the shaft and housing.
  • Oil-free bushings are used due to the drilled hole on the linear slide of the shaft.

Explore Similar Application Examples

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Part List

No. Part Name Sample picture MISUMI Part Number
For Price and Days to ship click on Part No.
Quantity
1 Air Cylinders MSCCA40-30 1
2 Air Cylinders MSCCA50-30 1
3 Sensors for Air Cylinders ME33L1 4
4 Floating Joints FJUC14 1
5 Floating Joints FJUC18 1
6 Oil Free Bushings MPBZ25-20 8
7 Linear Shaft SFZH25-145-F37-B25-P16-N12-H30 2
8 Linear Shaft SFZH25-135-F37-B25-P16-N12-H30 2
9 Flow Rate Control Valves SPSNL8-1 2
10 Flow Rate Control Valves SPSNL8-2 2
11 Socket Head Cap Screws-with Washer CBST6-20 32
12 Low Head Cap Screws CBS12-20 18
  • 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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