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  • Helpful application examples for mechanical engineers.

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No.000174 Transfer Mechanism

Transporting an object while retaining the angle of suction

Small Cylinders

Product name Air Cylinders - Panel Mount, Single Acting
Part number MSPCM6-15
Features Ultra Compact-sized air cylinder which can be mounted on panels.
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Compact, useful for linear motion designs with space restraints

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Available sizes

■Air Cylinders - Panel Mount, Single Acting

Operating Type Single Acting Outstroke Type
Applicable Fluid Air
Min. Operating Pressure 0.2MPa
Max. Operating Pressure 0.7MPa
Pressure Resistance 1.0MPa
Operating Temperature Range 5℃~60℃
Piston Speed 50mm/s~500mm/s
Cushion Mechanism None
Stroke Tolerance 0~+1.0mm
Lubrication Oil-Free

■Material of Each Part

Part Name Material Surface Treatment
Body C36000 Brass Electroless
Nickel Plating
Body Nut
Rod Nut
Cover C54400 Bronze -
Piston Rod 303 Stainless Steel
Piston Gasket NBR Nitrile Rubber
Spring SWP

■Sizes and Dimensions

Tube
I.D.
Stroke Overall Length Body
Thread Length
Piston
Rod Length
Rod Tip
Thread Dia.
Body
Thread Part Dia.
Air Pipe Connection
Bore Dia.
φ6 5 27.5 12.5 9 M3×0.5 M10×1.0 M5×0.8
10 34.5 19.5
15 41.5 26.5

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Metal Pushers

Product name Metal Pushers - Threaded/Tapped
Part number KPHRS6-17-3
Features Metal Pushers with flat or sphere shape tip
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Spherical tip is effective for applications with inclined surfaces

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Available sizes

■Metal Pushers - Threaded/Tapped

Tip Shape Material Surface Treatment Hardness (Tip)
Flat/Sphere 1045 Carbon Steel Black Oxide Induction Hardened and Tempered
HRC45〜50
420 Stainless Steel

■Sizes and Dimensions

O.D. Overall Length (1 mm increments) Tap Dia. x Pitch Tap
Depth
Wrench Flats
for Tools
Flat Type Spherical M3
×
0.5
M4
×
0.7
M5
×
0.8
M6
×
1.0
M8
×
1.0
M8
×
1.25
M10
×
1.25
M10
×
1.5
M12
×
1.25
M12
×
1.5
M12
×
1.75
M14
×
1.5
M18
×
1.5
φ6 15〜50 17〜50 Tap
DIA.×1.5
5
φ8 17〜50 20〜50 7
φ10 19〜50 23〜50 8
φ12 21〜100 26〜100 10
φ15 23〜100 30〜100 14
φ16
φ18 26〜100 34〜100 17
φ20 28〜100 37〜100
φ30 36〜100 50〜100 27
φ40 41〜150 60〜100 37

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Accuracy Info

■Accuracy of Metal Pushers Tapped Type

O.D. Tolerance: 0/-0.2
Overall Length Tolerance: ±0.3

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IDEA NOTE Maintain the angle of the suction cups by locking the air circuit

If you are transferring a workpiece with the same shape for a long period of time, lock the angle of the suction hand.

IDEA NOTE Floating pressure is adjustbale

By combining several regulators and electromagnetic valves as shown in the air circuit diagram, floating pressure is made variable. Thus, in transportation,free floating is eliminated by using the set pressure A, and in suction, free floating is achieved by using the set pressure B.

  • 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).

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


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    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 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

  • Purpose
    • To utilize suction cups for transporting different shape plastic cases while maintaining orientation of the workpiece.
  • Operation
    • The spherical bearings and air cylinder allow the suction cups to be tilted, so they are flush against the workpiece.
    • By using regulators and electromagnetic valves, the floating pressure can be adjusted during the transfer process.

Points for use

  • The angle of suction cups can be retained by locking the air circuit.

Target workpiece

  • Shape: Plastic case
  • Size: W 100 x D 120 x H 20 (max) mm
  • Weight:0.3kg

Design Specifications

Operating Conditions or Design Requirements

  • Spherical bearing deviation angle 13°
  • Cylinder stroke: 8.3 + 3 = 11.3 mm
  • Output 11.3 x 70% = 7.91 N・m (air pressure 0.4 MPa)
  • Spring force at 15 mm stroke 3.66 N
    7.91-3.66=4.25N
  • External size: 96 x 100 x 130 mm

Required Performance

  • Allowable weight: 1.38 kg

Selection Criteria for Main Components

  • Air Cylinder
    • Output at least 3.76 N at stroke of 15 mm or more.

Design Evaluation

Verification of main components

  • Verify the air cylinder output
    Force conditional values at maximum tilt of the workpiece
    Workpiece weight: M=0.3kg
    Gravitational acceleration: g = 9.8m/s²
    Workpiece maximum tilt: θ₁=13°
    Distance between rotation center and workpiece center of
    gravity: L₁ = 25mm = 0.025m 
    Distance between rotation center and cylinder mounting: L₂ = 18mm = 0.018m 
    Cylinder output: F = 4.25N
    Suction cup diameter:d=φ20
    Vacuum level: p = 70 -kPa = 0.07 -MPa
    Safety factor at suction: S=4
  • Air cylinder selection
        Moment by the workpiece:M₁  

    M₁=M×g×sinθ₁×L₁=0.3×9.8×sin13°×0.025=0.017N・m
    Force F₂ applied to the cylinder by moment M₁
    M₁ = F₂' x L₂ = F₂ x cosθ₁ x L₂ Thus, we have the following:
    F₂=M₁/(cosθ₁×L₂) =0.017/(cos13°×0.018)=0.017/(0.97×0.018)
    =0.97N  
    Thus, select an air cylinder with cylinder output of F.
  • Check the load by the selected cylinder.
    Moment M₂ by the air cylinder at maximum tilt
    M₂=F'×L₂=F×cosθ₁×L₂
    =4.25×cos13°×0.018=4.25×0.97×0.018=0.075N・m
    Therefore, M₂>M₁. Thus, meeting the condition.
  • Check the suction force.
    Vacuum level: p = 70 -kPa = 0.07 -MPa, cup diameter: d = φ 20mm
    Safety factor at suction: S = 4, number of cups: n = 4
    Suction force:W=π/4×d²×p×1/S×n=π/4×20²×0.07×1/4×4=22N
    Therefore, W > M x g  ⇒ 22N > 3N Thus, the suction force satisfies the condition.

Other Design Consideration

  • By using a guide pin with spherical bearing, floating suction hand can be tilted in a desired direction to grip the workpiece.
  • The suction hand is free floating after the workpiece is released. Therefore, it is recommended to use the four cylinders to lock the hand in place when it is not gripping a workpiece.

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 Vacuum Fittings/Sponge/Bellows/Fixed Type MVPKN20 4 Price check 2_1445_2014
2 Air Cylinders/Panel Mount/Single Acting MSPCM6-15 4 Price check 2_1490_2014
3 Pusher - Male and Female Threaded KPHRS6-17-3 4 Price check 2_1552_2014
4 Linear Shafts-One End Stepped, Both Ends Female Thread- SFAA13-50-F13-P10-M4-N6 1 Price check 1_161_2015
5 Hex Socket Extra Low Head Cap Screws [1-150 Pieces Per Package]【1-500 Pieces Per Package】 CBSS4-8 1 Price check 2_195_2014
6 Metal Washers - T Dimension Configurable, Precision Class WSSB13-4-2 1 Price check 2_114_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 Data including the third-part components are made by the Company.

    Page top

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