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No.000291 Magazine Transfer Mechanism
31
31
The rotary hand that pulls magazines out of the box.
Relevant category
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.
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 |
Selection steps
■Single Axis Robot Selection Steps
Load Capacity
↓
Stroke
↓
Cycle Time or Max. Speed
↓
Check for Details
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 |
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 | |||||
Technical Calculations
■Technical Calculation for Single Axis Robot
Selection Method of Single Axis Robot
https://th.misumi-ec.com/en/maker/misumi/mech/product/rs/
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
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 | - | - | - | - | - | - | - | - | - | - | ○ | - | - | - |
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 |
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.
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 |
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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- * 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
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