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No.000075 Rotate and Transfer Mechanism
61
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Motor and gear system rotates the arm and gripper simultaneously.
Related Category
Spur Gears
| Product name | Spur Gears/Induction Hardened/Pressure Angle 20Deg. |
|---|---|
| Part number | GEAHBH2.0-36-20-A-35 |
| Features | Gears with hardened teeth which provides excellent strength, abrasion resistance and high precision |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
A gear is placed to reduce the speed of the motor output rotation by half
Available sizes
■Induction Hardened Spur Gears (Ground)
| Material | Surface Treatment | Hardness | Accessory |
|---|---|---|---|
| EN 1.1191 Equiv. | Black Oxide | Tooth Induction Hardened 51 - 55 HRC (depth 1 mm or more) | Set screw (EN 1.7220 Equiv. Black Oxide) |
■Sizes and Dimensions
| Module | Number of Teeth | Shaft bore DIA. (1 mm Increments) | |
|---|---|---|---|
| Round Hole Round Hole + Tap | Keyway Keyway + Tap | ||
| 2.0 | 15 | 12 - 17 | 12 - 14 |
| 16 | 12 - 18 | 12 - 15 | |
| 18 | 12 - 21 | 12 - 18 | |
| 20 | 15 - 22 | 15 - 19 | |
| 22 | |||
| 24 | 15 - 26 | 15 - 23 | |
| 25 | 15 - 28 | 15 - 24 | |
| 28 | 15 - 31 | 15 - 28 | |
| 30 | 18 - 35 | 18 - 31 | |
| 32 | |||
| 36 | |||
| 40 | 20 - 42 | 20 - 38 | |
| 45 | |||
| 48 | |||
| 50 | 25 - 42 | 25 - 38 | |
| 60 | 25 - 45 | 25 - 42 | |
| 2.5 | 16 | 15 - 22 | 15 - 19 |
| 20 | 18 - 28 | 18 - 24 | |
| 24 | 18 - 33 | 18 - 30 | |
| 25 | 20 - 35 | 20 - 31 | |
| 28 | 20 - 42 | 20 - 38 | |
| 30 | 20 - 45 | 20 - 42 | |
| 36 | 20 - 49 | 20 - 45 | |
| 40 | 25 - 49 | 25 - 45 | |
| 45 | 25 - 52 | 25 - 49 | |
| 48 | |||
| 50 | 25 - 56 | 25 - 50 | |
Accuracy Info
■Accuracy of Induction Hardened Spur Gears (Ground)
Gear accuracy: Previous JIS B 1702 Class 2 (New JIS B 1702-1 Class 6 equivalent)
Shaft bore DIA. tolerance: H7
Rod End Bearings
| Product name | Rod End Bearings/90 Deg. Link Ball Type |
|---|---|
| Part number | RBLD5 |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Connecting link mechanism.
Available sizes
■Rod End Bearings (Link Ball L Type / Right hand thread)
| Material | |
|---|---|
| Holder | High Strength Zinc Alloy * M4, 5: High Strength Aluminum Alloy |
| Shank with Ball | EN 1.1181 Equiv. |
| Boots | NBR Type Special Synthetic Rubber |
■Sizes and Dimensions
| Thread Dia. | Ball Center - Holder Edge | Ball Center - Shank Edge |
|---|---|---|
| 4 | 18 | 15 |
| 5 | 27 | 21 |
| 6 | 30 | 26 |
| 8 | 36 | 31 |
| 10 | 43 | 43 |
| 10 (Fine Thread) | 37 | |
| 12 | 50 | 49 |
| 12 (Fine Thread) | 42 | |
| 14 | 57 | 62 |
| 14 (Fine Thread) | 56 | |
| 16 | 64 | 66 |
| 16 (Fine Thread) | 60 |
Accuracy Info.
■Allowable Incline Angle of Rod End Bearings
| Thread Dia. | Allowable Incline Angle |
|---|---|
| 4 | 40° |
| 5 | |
| 6 | |
| 8 | |
| 10 | |
| 10 (Fine Thread) | |
| 12 | |
| 12 (Fine Thread) | |
| 14 | |
| 14 (Fine Thread) | |
| 16 | 30° |
| 16 (Fine Thread) |
Performance info.
■Yield Strength and Static Load Capacity of Rod End Bearings
| Thread Dia. | Yield Strength (N) | Static Load Capacity (N) |
|---|---|---|
| 4 | 1370 | 4510 |
| 5 | 2250 | 6470 |
| 6 | 3920 | 9900 |
| 8 | 6570 | 12500 |
| 10 | 11300 | 18300 |
| 10 (Fine Thread) | ||
| 12 | 16400 | 26700 |
| 12 (Fine Thread) | ||
| 14 | 19800 | 36400 |
| 14 (Fine Thread) | ||
| 16 | 26900 | |
| 16 (Fine Thread) |
Rod End Coupling Rods
| Product name | Rod End Coupling Rods/Both Ends Threaded |
|---|---|
| Part number | LBRFN5-180 |
| Features | Rod End Coupling Rods with the right-hand/left-hand thread selectable in size and length. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
To connect rod end bearings.
Available sizes
■Rod End Coupling Rods (Both Ends Threaded, Length Configurable)
| Material | Surface Treatment | Accessory (one hex nut for right / left-hand thread) | |
|---|---|---|---|
| Material | Surface Treatment | ||
| EN 1.1191 Equiv. | Black Oxide | EN 1.1191 Equiv. | Trivalent Chromate |
| Electroless Nickel Plating | |||
| EN 1.4301 Equiv. | - | EN 1.4301 Equiv. | - |
■Sizes and Dimensions
| Thread Dia. (Coarse) | Overall Length | Thread Length (Under Head) | Opposite Side |
|---|---|---|---|
| 3 | 25 - 39 | 8 | 6 |
| 40 - 300 | 15 | ||
| 4 | 35 - 49 | 12 | 7 |
| 50 - 400 | 20 | ||
| 5 | 40 - 59 | 13 | 8 |
| 60 - 600 | 25 | ||
| 6 | 50 - 69 | 17 | 10 |
| 70 - 600 | 30 | ||
| 8 | 60 - 89 | 23 | 13 |
| 90 - 1000 | 40 | ||
| 10 | 70 - 109 | 28 | 17 |
| 110 - 1000 | 50 | ||
| 12 | 80 - 129 | 33 | 19 |
| 130 - 1000 | 60 | ||
| 14 | 130 - 1000 | 60 | 21 |
| 16 | 170 - 1000 | 80 | 24 |
| 18 | 170 - 1000 | 80 | 27 |
| 20 | 170 - 1000 | 80 | 30 |
| 22 | 170 - 1000 | 80 | 32 |
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Application Overview
Purpose
- Transfers workpieces on a conveyor to the next process by rotating the work piece 180°. The arm rotates the workpiece 90°and the linkage rotates the gripper another 90°.
- Gripper down→Retain workpiece→Gripper up→ 90°rotate & transfer ･ Workpiece rotate 90°→Gripper down→Workpiece released→Gripper up.
Target workpiece
- Shape: Connector
Size: W50 x D10 x H15mm
Weight: 0.1kg
Design Specifications
Operating Conditions or Design Requirements
- Transfer angle: 90 degrees
- Workpiece rotation angle: 90 degrees
- Cylinder stroke: 20mm
- Clamp stroke: 10mm
- External dims: W100 x D317 x H269 (Before rotation)
Selection Criteria for Main Components
- Ratio of fixed linkage and moving linkage ratio to be 1:1.
- Suppress inertia by reducing weight of swinging components.
- Confirm that the gear is strong enough to withstand the inertial force.
- Select the air gripper based on friction coefficient and workpiece weight.
Design Evaluation
Verification of main components
- It is important to calculate the inertia that applies to the stepper motor. The calculations are below.
- Time that takes to move 90° t 1 : 0.5sec
- Acceleration time t0 : 0.1sec
- Swinging and rotating arm inertia moment: J 1 = 4.063 x 10⁻² kg･m²
- Inertia moment of a gear on the motor shaft: J 2 = 3.598 x 10⁻⁵ kg･m²
- Inertia moment applicable to motor shaft: Since it is via gear, JL = J 1 x (Number of Teeth of sm. gear / Number of Teeth of L. gear)² +J 2 = 1.019 x 10⁻² kg･m²
- Operating pulses:A = θ/θs = 1250pulses
Here, the operating angle:θ = 90°, Min. step angle of stepping motor:θs = 0.072° - Operational pulse rate: f2 = A / (t 0 - t 1 ) = 3125Hz
- Motion speed: NM = θs/360 x f 2 x 60 = 37.5r/min
- Inertia moment of motor's rotor: J = 0 =2.8 x 10⁻⁵
- Motor gear ratio: i = 10
- Acceleration torque calculation: Ta = (J 0 ･i² +JL) / 9.55 x NM / t 1 = 0.51N･m
- Calculation of required torque:TM = Ta x Safety margin = 1.02N･m Safety ratio given: 2) Select motor from torque characteristics chart.Motor is OK
- Verifying inertia ratio: JL / (J 0 x i²) = 3.64≤10 is OK
Other Design Consideration
- The main shaft (center of rotation) and linkage arm to the main shaft are fixed.
- The gripper at rotation end can elevate and rotate.
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