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No.000291 Magazine Transfer Mechanism

The rotary hand that pulls magazines out of the box.

Single Axis Robot

Product name Single Axis Robot RSH1
Part number RSH106-C22A-C-F0-3-300
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Based on stroke, accuracy and thrust force.

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Available sizes

■Single Axis Robot RSH1

Height
(mm)
Type Lead
(mm)
Stroke
(50mm Increments)
65 RSH1 6 150-800
12
20
RSH2 5 150-1050
10
20
30
RSH3 5 150-1050
10
20

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Selection steps

■Single Axis Robot Selection Steps

Load Capacity

Stroke

Cycle Time or Max. Speed

Check for Details

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Accuracy Info.

Single Axis Robot Accuracy

Height
(mm)
Type Lead
(mm)
Stroke
(50mm Increments)
Positioning Repeatability
(mm)
65 RSH1 6 150-800 ±0.02
12
20
RSH2 5 150-1050 ±0.01
10
20
30
RSH3 5 150-1050 ±0.01
10
20

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Performance info.

■Speeds / Loads (Load info.) of Single Axis Robot

Type Lead
(mm)
Max.
Load
Capacity
(kg)
Allowable Moment
(N・m)
Max. Velocity (mm/sec)
Horizontal Vertical Pitching Yawing Rolling 150-
550st
600
st
650
st
700
st
750
st
800
st
RSH1 6 40 8 95 70 110 360 324 270 234 216 180
12 20 4 720 648 540 468 432 360
20 12 - 1200 1080 900 780 720 600
Type Lead
(mm)
Max.
Load
Capacity
(kg)
Allowable Moment
(N・m)
Max. Velocity (mm/sec)
Horizontal Vertical Pitching Yawing Rolling 150-
650st
700
st
750
st
800
st
850
st
900
st
950
st
1000
st
1050
st
RSH2 5 50 16 95 70 110 300 255 225 195 180 165 150 135 120
10 40 8 600 510 450 390 360 330 300 270 240
20 20 4 1200 1020 900 780 720 660 600 540 480
30 7 - 1800 1530 1350 1170 1080 990 900 810 720
Type Lead
(mm)
Max.
Load
Capacity
(kg)
Allowable Moment
(N・m)
Max. Velocity (mm/sec)
Horizontal Pitching Yawing Rolling 150-
600st
650
st
700
st
750
st
800
st
850
st
900
st
950
st
1000
st
1050
st
RSH3 5 80 163 128 143 300 255 225 195 180 165 150 135 120 105
10 60 600 510 450 390 360 330 300 270 240 210
20 30 1200 1020 900 780 720 660 600 540 480 420

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Technical Calculations

■Technical Calculation for Single Axis Robot

Selection Method of Single Axis Robot
http://th.misumi-ec.com/maker/misumi/mech/product/rs/

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Linear Shafts

Product name Precision Hollow Linear Shafts - Straight
Part number PSPTR16-520-M12-SC25
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Based on accuracy, stroke and design

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Available sizes

■Precision Hollow Linear Shafts - Straight

Material Hardness Surface Treatment
52100 Bearing Steel Induction Hardened
52100 Bearing Steel: 58HRC or More
440C Stainless Steel: 56HRC or More
-
440C Stainless Steel
52100 Bearing Steel Hard Chrome Plating:
Plating Hardness HV750 -
Plating Thickness 5 µm or more
52100 Bearing Steel Low Temp. Black Chrome Plating

■Sizes and Dimensions

O.D. Length
in 1 mm Increments
Thread Dia.
3 4 5 6 8 10 12 16 20 24 30 Rc1/8 Rc1/4 Rc3/8
6 20~600 - - - - - - - - - - - - -
8 20~800 - - - - - - - - - - - -
10 20~800 - - - - - - - - - - - -
12 20~1000 - - - - - - - - - - - -
13 25~1000 - - - - - - - - - - - -
16 30~1200 - - - - - - - - - - - -
20 30~1200 - - - - - - - - - - - -
25 35~1200 - - - - - - - - - - - - -
30 35~1500 - - - - - - - - - - - - -
35 35~1500 - - - - - - - - - - - - -
40 50~1500 - - - - - - - - - - - -
50 60~1500 - - - - - - - - - - - - -

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Accuracy Info.

■Accuracy of the Shafts

O.D.
(mm)
O.D. Tolerance (mm)
g6
6 -0.004
 -0.012
8 -0.005
-0.014
10
12 -0.006
-0.017
13
15
16
18
20 -0.007
-0.020
25
30
35 -0.009
-0.025
40
50

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Oil Free Bushing Housing Unit

Product name Oil Free Bushing with Housing Units
Part number JFBA16
Features Suitable for horizontal use. Reduces the time of manufacturing and assembling the housing.
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Housing unit that supports both linear and rotary motion.

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Available sizes

■Oil Free Bushing with Housing Units

Housing Bushing
Material Surface Treatment Material
Aluminum Alloy Clear Anodize Polyacetal

■Sizes and Dimensions

I.D. Mounting Surface - Shaft Bore
Dimension
Width Height
6 14 16 22
8 16 20 26
10 19 26 32
12 20 26 34
16 27 36 49

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Accuracy Info.

■Accuracy of oil free Bushing

I.D.(mm) Tolerance
6 +0.095
+0.045
8
10
12 +0.120
+0.060
15
16

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IDEA NOTE Combining linear and rotary motion units

By combining a rotary actuator with a linear actuator, the arm is able to extend and the fingers can rotate.

  • 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.
    In case that the CAD data is found to have been to be used for any purpose other than mentioned above or against the related laws, MISUMI may take legal actions, including the one for blocking the involved user from using CAD data and from accessing to the MISUMI site.
    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).

    CAD Download (Unit Assembly)

    CAD Download: File Format
    生成

    Thank you for downloading the data.

    Click the Good IDEA! button when you find interesting design tips.


    This data is utilized in order to list more useful application examples in the future.

    CAD Data Limitations

    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. Unit assembly Data consists of some sub-assemblies.
      It is configured so that each sub-assembly unit can be used as it is or 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 dimensions of the MISUMI parts in the Data, which can be specifed at 1mm intervals, can be edited under historical data.
    6. The Data including the third-part components are made by the Company.

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  • * Unit assembly Data consists of some sub-assemblies.
       It is configured so that each sub-assembly unit can be used as it is or edited.

Application Overview

Purpose

  • A mechanism used to remove magazines from a box and transfer them to cutting operation.
  • The magazine box has limited access. The removal fingers are inserted in the horizontal position between the magazines and the box. Once they are in position, the fingers are rotated to the vertical position so they can engage the magazines.
  • Only one layer of magazine is pulled-out during one cycle.

Points for use

  • The box used for transporting the magazines is only open on one side.

Target workpiece

  • Small-part magazine
  • External dimensions: W 280 x D 70 x H 23 mm
  • Capacity: 0.22kg (including transporting parts: 0.33 kg)

Design Specifications

Operating Conditions or Design Requirements

  • External dimensions: W 600 x D 1005 x H 416 mm
  • Pull-out stroke: 257 mm

Required Performance

  • Movable object weight: 12 kg
    Workpiece weight: 0.33 x 3 = 0.99 kg
    12+0.99=12.99kg

Selection criteria for Main Components

  • Single axis robot
    • Select one with a thrust of 127.3 N (12.99 kg) or more.

Design Evaluation

Verification of main components

  • Verify that robot thrust exceeds required thrust.
  • Single axis robot
    • Thrust: 283 N (catalogue value)
    • Required thrust: 12.99 (workpiece Capacity)×9.8=127.3 N<283 N

Other Design Consideration

  • To reduce the weight of the arms entering the box, hollow shafts are used.
  • Three arms are used in the mechanism that removes the magazines. One is fixed and two are adjustable.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample Picture MISUMI Part Number Quantity Unit Price*
($)
Days to Ship* Catalog Page Number
1 Single Axis Robot RSH1 - Straight RSH106-C22A-C-F0-3-300 1 Price check 1_481_2014
2 Miniature Linear Guides - Wide Rails - Standard Blocks, Light Preload / Slight Clearance SE2B20-580 2 Price check 1_555_2015
3 Cam Followers/Crown Type/No Seal CFUR6-16 1 Price check 1_1045_2014
4 Floating Connectors/Extra Short Type/Flange Mounting/Threaded FJMCR12-1.75 1 Price check 2_1551_2014
5 Oldham Couplings - Set Screw / Spacers MCOLK38-15-16 2 Price check 1_1087_2014
6 Shafts - Hollow /One End Tapped Hollow with Wrench Flat PSPTR16-520-M12-SC25 2 Price check 1_215_2014
7 Shafts - Both Ends Tapped Hollow Shafts - Not applicable to Both Ends Tapped Hollow Shafts / Both Ends Tapped Hollow with Wrench Flats PSPWR16-465-M12-N12-SC30 1 Price check 1_219_2014
8 Oil Free Bushing Housing Units - Blocks JFBA16 2 Price check 1_402_2014
9 Oil Free Bushing Housing Units - Flanged JFRA16 5 Price check 1_402_2014
10 Oil Free Resin Washers JZW17 4 Price check 1_402_2014
11 Retaining Rings/External/C-Type STWN16 4 Price check 2_265_2014
12 Metal Washers - T Dimension Configurable, Precision Class WSSM30-12-6 1 Price check 2_114_2014
13 Cable Carriers-Slit Type SZ08F-30-048-18 2 Price check 1_667_2014
14 Lifting Eye Bolts CHIC10 2 Price check 2_223_2014
15 One End Chamfered/One End Radiused/h7 Tolerance MSH5-15 14 Price check 2_259_2014
16 One End Chamfered/One End Radiused/h7 Tolerance MSH10-20 2 Price check 2_259_2014
17 Socket Head Cap Screws/with Standard Washer Set CBST5-25 20 Price check 2_178_2014
18 Socket Head Cap Screws/with Standard Washer Set CBST6-15 8 Price check 2_178_2014
19 Socket Head Cap Screws/with Standard Washer Set CBST6-25 1 Price check 2_178_2014
20 Socket Head Cap Screws/with Standard Washer Set CBST6-30 11 Price check 2_178_2014
21 Socket Head Cap Screws/with Standard Washer Set CBST8-35 24 Price check 2_178_2014
  • The part list above only contains MISUMI parts.
    Part list download (CSV) includes MISUMI and third party components used in this example.
  • For price and shipping date see the Web 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.
    In case that the CAD data is found to have been to be used for any purpose other than mentioned above or against the related laws, MISUMI may take legal actions, including the one for blocking the involved user from using CAD data and from accessing to the MISUMI site.
    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).

    CAD Download (Unit Assembly)

    CAD Download: File Format
    生成

    Thank you for downloading the data.

    Click the Good IDEA! button when you find interesting design tips.


    This data is utilized in order to list more useful application examples in the future.

    CAD Data Limitations

    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. Unit assembly Data consists of some sub-assemblies.
      It is configured so that each sub-assembly unit can be used as it is or 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 dimensions of the MISUMI parts in the Data, which can be specifed at 1mm intervals, can be edited under historical data.
    6. The Data including the third-part components are made by the Company.

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