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No.000129 Compact Workpiece Transfer
23
23
Extrusion Mechanism utilizing a linear guide
Relevant category
Linear Guides for Heavy Load
| Product name | Linear Guides for Heavy Load, With Resin Retainer, Interchangeable, Light Preload |
|---|---|
| Part number | SXWZ28-400 |
| Features | With No Mutual Ball Contacts, Resin Retainer provides Low-Noise and Smooth Movements. |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Rail Strength
Available sizes
■Linear Guides for Heavy Load, With Resin Retainer, Interchangeable, Light Preload
| Type | Number of Blocks | Material | Hardness |
|---|---|---|---|
| Standard | 1・2 | Carbon Steel | 58HRC〜 |
| Wide Block Through Hole | |||
| Wide Block Tapped Hole |
■Sizes and Dimensions
| Block Type | Overall Height | Rail Length (Configure in 1 mm increments) | Block Dimension | Rail Width | |||
|---|---|---|---|---|---|---|---|
| 1 blocks | 2 blocks | Width | Length | ||||
| 1 blocks | 2 blocks | ||||||
| Standard | 24 | 100〜1480 | 160～1480 | 34 | 56.8 | 56.8 x 2 pcs. | 15 |
| 28 | 160〜1960 | 220〜1960 | 42 | 65.2 | 65.2 x 2 pcs. | 20 | |
| 33 | 160〜1960 | 220〜1960 | 48 | 81.6 | 81.6 x 2pcs. | 23 | |
| 42 | 200〜1960 | 280〜1960 | 60 | 96.4 | 96.4 x 2pcs. | 28 | |
| Wide Block | 24 | 100〜1480 | 160〜1480 | 52 | 56.8 | 56.8 x 2 pcs. | 15 |
| 28 | 160〜1960 | 220〜1960 | 59 | 65.2 | 65.2 x 2 pcs. | 20 | |
| 33 | 160〜1960 | 220〜1960 | 73 | 81.6 | 81.6 x 2 pcs. | 23 | |
| 42 | 200〜1960 | 280〜1960 | 90 | 96.4 | 96.4 x 2 pcs. | 28 | |
Selection Steps
Linear guide selection steps
- Determine Application Conditions
- (Moving mass, feed rate, motion pattern, life)
↓
- Temporarily select linear bushing specifications
- (Block type, overall height, rail length are temporarily selected according to the conditions of use.)
↓
- Basic safety check
-
- Allowable Load
- Operating Life
- Preload
Accuracy Info
■Preload and Accuracy Standard (Heavy Load Linear Guide With Plastic Retainers, Interchangeable, Light Preload)
(μm）
| Radial Clearance | -4～0（H24・28） |
|---|---|
| -5～0（H33・42） | |
| H Dimension Tolerance | ±20 |
| Pair variation of H | 15 |
| Tolerance of dims. W2 | ±30 |
| Pair variation of W2 | 25 |
(μm）
| Rail Length (mm) | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| -80 | 81-125 | 126-200 | 201-250 | 251-315 | 316-400 | 401-500 | 501-630 | 631-800 | 801-1000 | 1001-1250 | 1251-1600 | 1601-2000 | |
| Running Parallelism | 6 | 6.5 | 7 | 8 | 9 | 11 | 12 | 14 | 16 | 18 | 20 | 23 | 26 |
Performance info.
■Rated Load of Linear Guide (Heavy Load Linear Guide With Plastic Retainers, Interchangeable, Light Preload)
| Overall Height | Basic Load Rating | Allowable Static Moment | |||
|---|---|---|---|---|---|
| C (Dynamic) kN | C0 (Static) kN | MA N・m | MB N・m | Mc N・m | |
| 24 | 7.9 | 15.6 | 74 | 62 | 78 |
| 28 | 11.1 | 21.8 | 124 | 104 | 149 |
| 33 | 17.9 | 33.5 | 242 | 203 | 266 |
| 42 | 27.3 | 50.5 | 415 | 305 | 480 |
Technical Calculations
Operating Life Calculation for Linear Guides
- Operating Life
- When the linear system is in motion with applied load, the rolling surfaces and races are subject to repeated stress. This stress can cause scale-like flaking due to material fatigue. The total run distance until the flaking appears is the "Life" of the linear system.
- Rated Life
- Rated life is the total travel distance that 90% of linear guides of the same type can reach, under the same conditions, with no occurrence of flaking damage. Rated life can be calculated with the basic dynamic load rating and the actual load applied on the linear guides, as shown below.
-
- Load must be calculated before actually using linear guides. To obtain loads during linear reciprocating motion, it is necessary to consider vibrations and impacts during motion as well as the distribution load applied to the linear guides.The operating environment temperature also effects the life of these parts. When taking these conditions into consideration, the calculation will be:
-
- L: Rated Life (Km)
- fH: Hardness Factor (See Fig.1)
- fT: Temperature Factor (See Fig.2)
- fC: Contact Factor (See Table-1)
- fW: Load Factor (See Table-2)
- C: Basic Dynamic Load Rating (N)
- P: Applied Load (N)
- Hardness factor (fH)
-
For linear applications, the rail and ball bearings must have sufficient hardness. If they do not, the load rating decreases and the life will be reduced.
- Temperature factor (fT)
-
When the temperature of the linear system exceeds 100 degrees C, the hardness will decrease and as a result, the allowable load and life will be reduced.
* Please use linear guides within the resistant temperature range on the product pages.
- Contact factor (fC)
-
Table-1. Contact Factor
Number of blocks per rail Contact factor fC
1 1.00 2 0.81 3 0.72 4 0.66 5 0.61 In general, it is common to use two or more blocks on one rail. In these cases, the load on each block will vary depending on the machining precision and will not have equally distributed loads. As a result, the allowable load per block will vary depending on the number of blocks used on the rail.
- Load Factor (fW)
-
Table-2. Load Factor
Condition of Use fw No shocks / vibrations, low speed: 15 m/min. or less 1.0-1.5 No significant shocks / vibrations, medium speed: 60 m/min. or less 1.5-20 With shocks / vibrations, high speed: 60 m/min. or more 2.0-3.5 To calculate the load applied to the linear guides, in addition to the object weight, the inertia force attributed to the motion velocity, moment loads and the variations of each over time must be obtained. However, for reciprocating motion applications, it is difficult to obtain accurate calculations due to effects of the vibrations and shocks. therefor, use Table 2 to simplify the life calculations.
- Applied Load P Calculation Method
- When load is applied to the a block, convert moment load into applied load using the following formula.
-
- P: Applied Load (N)
- F: Downward load (N)
- C0: Static load rating (N)
- MA: Allowable Static Moment - Pitching Direction (N·m)
- MC: Allowable Static Moment - Rolling Direction (N·m)
- Lp: Load point distance (m) in pitching direction
- Lr: Load point distance (m) in rolling direction
Floating Joint
| Product name | Floating Joint - Bracket Mounting Type |
|---|---|
| Part number | FLCL10-1.25 |
| Features | Floating Joint can be installed vertically |
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria
Bracket mounting type required for this application
Available sizes
■Floating Joint - Bracket Mounting Type
| Part Name | Material | Surface Treatment | |
|---|---|---|---|
| Main Body | Steel Ball Retainer Plate | Nitrile Rubber | - |
| Rod Tip Socket | 1018 Carbon Steel | Trivalent Chromate | |
| Cap | 52100 Bearing Steel | ||
| Steel Ball Retainer | |||
| Ball Holder | |||
| Case | Cast Iron Class No. 30 | ||
| Thread | 1018 Carbon Steel | ||
| Mounting Part | (M8〜M12) | Low Carbon Steel | |
| (M14〜M26) | Cast Iron Class No. 30 | Enamel Paint (Blue) | |
■Sizes and Dimensions
| Thread Dia. - Pitch | Overall Length | Main Body Outer Dia. | Overall Width | Core Height | Allowable Misalignment |
|---|---|---|---|---|---|
| M8−1.0 | 49.5 | φ30 | 31 | 16 | 0.5 |
| M10−1.25 | 61.5 | φ36 | 43 | 19 | 0.75 |
| M12−1.5 | |||||
| M14−1.5 | 110 | φ51 | 51 | 26 | 1 |
| M16−1.5 | |||||
| M18−1.5 | 120 | ||||
| M22−1.5 | 145 | φ62 | 62 | 32 | 1.5 |
| M26−1.5 | 173 | φ69 | 69 | 37 |
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Application Overview
Purpose
- A design where the linear guide is fixed and the rail moves to help avoid interference. A pusher attached to the end of the rail pushes the workpiece into the transfer box.
Points for use
- Useful in designs where air cannot be used to power the transfer mechanism.
Target workpiece
- Resin magazine (resin pallet)
- Outer dimensions: W67 x H70 x D80 mm
- Workpiece weight: 170 g x 3 pieces = 510 g
Design Specifications
Operating Conditions or Design Requirements
- Outer dimensions: W663 x H373 x D164 mm
- Single axis robot stroke: 300 mm [movable stroke: 229 mm]
Required Performance
- Workpiece transfer positioning accuracy: ±0.1 mm
- Required workpiece transfer load capacity: 2.4 kg
- Workpiece transfer speed: 350 mm/s
Selection Criteria for Main Components
- Single axis robot
- A single axis robot that satisfies "maximum load capacity ≥ movable part mass + workpiece weight".
- A robot that satisfies the transfer speed specification and is reasonably priced.
- A robot that satisfies the transfer stroke.
- Linear Guides
- Linear guides that satisfy the allowable moment.
Design Evaluation
Verification of main components
- Whether the linear guides withstand the loading moment and whether the robot is suitable for the transfer specifications (load capacity, speed, stroke) are verified.
- Linear guide allowable moment
- Linear guide allowable moment: MB = 104 N·m (yawing)
- Single axis robot maximum push force: f = 150 N
Distance from rotation center to acting point: I = 0.136 m
Safety factor: e = 5 times
Loading moment: M = 150 N x 0.136 = 20.4
Required allowable moment: MB > M x e = 20.4 x 5 = 102 N·m
Therefore, linear guides with allowable moment of 104 N·m are selected.
- Transfer mass: 2.25 kg
- Linear guide rail: 0.92 kg, slide plate: 0.58 kg, pan: 0.32 kg, claw holder: 0.37 kg, claw: 0.06 kg
- Workpiece mass: 0.17 kg x 3 pieces = 0.51 kg
- Friction coefficient: 0.3 (tentative value)
- Required operation power: workpiece mass x friction coefficient = 0.51 kg x 0.3 = 0.153 kg
- Required transferable mass
- 2.25 kg + 0.153 kg = 2.403 kg < 25 kg (single axis robot maximum load capacity)
- Required speed
- 1 cycle: 3 s
Required speed = (transfer distance x 2) ÷ 3 = 458 mm ÷ 3 s = 153 mm/s
As acceleration/deceleration time is not considered in this equation,
Acceleration: 0.1 G = 980 mm/s² (tentative value)
Setting speed: 350 mm/s < 500 mm/s (single axis robot maximum speed)
Acceleration time = speed ÷ acceleration = 350 mm/s ÷ 980 mm/s² = 0.33 s
Moving distance during acceleration/deceleration = acceleration x acceleration time ÷ 2 = 980 mm/s² x 0.33 s ÷ 2 = 53.4 mm
Moving distance at setting speed = distance per cycle - moving distance per cycle during acceleration/deceleration = 229 mm x 2 - 53.4 mm x 4 = 244.4 mm
Moving time at setting speed = moving distance at setting speed ÷ setting speed = 244.4 mm ÷ 350 mm/s = 0.77 s - 1 cycle = 0.77 s + 0.33 s x 4 = 2.09 s
- Marginal time: 3 s - 2.09 s = 0.91 s
- 1 cycle: 3 s
Other Design Consideration
- Since linear guide is mounted directly above the workpiece transfer table, a drip pan is installed to catch excess grease.
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