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No.000059 Pick-up and Place (Suction Cup Head)
Good IDEA!
17

A pick and place mechanism with a single axis robot

Relevant category

Cylinder with guides

Cylinder with guides
Product name Cylinders with Twin Guides
Part number MGCLB16-50
Features Cylinders having the guides on both ends for usability.
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Accuracy Info | Performance info.

Selection criteria

For ease of design this was selected for as it is a complete assembly with no extra designing required.

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Available sizes

■Cylinder with guides (Fixed stroke type)

Tube
I.D. 		Bearing Slide bearing Linear bushing bearing Cylinder
width 		Overall length
(Shown + Stroke) 		Thickness
St 10 20 25 30 40 50 75 100 10 20 25 30 40 50 75 100
φ12 ○ ○ － ○ ○ ○ ○ ○ ○ ○ － ○ ○ ○ ○ ○ 56 39 22
φ16 ○ ○ － ○ ○ ○ ○ ○ ○ ○ － ○ ○ ○ ○ ○ 62 43 25
φ20 － ○ － ○ ○ ○ ○ ○ － ○ － ○ ○ ○ ○ ○ 72 47 30
φ25 － ○ － ○ ○ ○ ○ ○ － ○ － ○ ○ ○ ○ ○ 86 47.5 38
φ32 － － ○ － － ○ ○ ○ － － ○ － － ○ ○ ○ 112 48
φ50 － － ○ － － ○ － ○ － － － － － － － － 146 72 60

*Sensor sold separately

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Accuracy Info

■Non-rotating accuracy of a cylinder

Non-rotational accuracy: Play in between the guide rod and the bearing is represented as the runout angle centered around the piston rod.

Tube
I.D. 		Non-rotating accuracy of the tip link bar
Slide bearing Linear bushing bearing
φ12 ±0.12° ±0.06°
φ16 ±0.10° ±0.06°
φ20 ±0.09° ±0.05°
φ25 ±0.08° ±0.05°
φ32 ±0.06° ±0.04°
φ50 ±0.05° －

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Performance info.

■Cylinder with guides operational pressure range

Min. operating pressure (Mpa): 0.1
Max. operating pressure (Mpa): 1.0
Proof pressure(MPa)：　1.5

■Theoretical thrust

(N)

Tube
I.D. 		Operation
direction 		Operating pressure (MPa)
0.4 0.5
φ12 Push 45 57
Pull 34 42
φ16 Push 80 101
Pull 60 75
φ20 Push 126 157
Pull 94 118
φ25 Push 196 245
Pull 151 189
φ32 Push 322 402
Pull 241 302
φ50 Push 785 982
Pull 660 825

■Allowable rotational torque

Indicates allowable dynamic value when the cylinder is operated while a rotational torque is applied at the tip of the guide rod.

(N･m)

Tube
I.D. 		Bearing
type 		Stroke
10 20 25 30 40 50 75 100
φ12 Slide bearing 0.50 0.40 - 0.33 0.28 0.25 0.77 0.65
Linear bushing 0.41 0.31 - 0.25 0.69 0.59 0.40 0.32
φ16 Slide bearing 0.91 0.75 - 0.64 0.56 0.49 1.25 1.06
Linear bushing 0.76 0.60 - 0.49 1.14 1.02 0.79 0.65
φ20 Slide bearing - 1.43 - 1.23 1.08 0.96 1.51 1.27
Linear bushing - 1.12 - 0.93 2.12 1.90 1.50 1.24
φ25 Slide bearing - 2.26 - 1.94 1.71 1.52 2.38 2.00
Linear bushing - 1.98 - 1.65 3.75 3.37 2.68 2.22
φ32 Slide bearing - - 6.71 - - 5.24 4.30 3.64
Linear bushing - - 3.61 - - 2.55 6.48 5.41
φ50 Slide bearing - - 13.0 - - 10.8 - 10.6

■ Allowable lateral load

Indicates allowable dynamic value when the cylinder is operated while a lateral load (load perpendicular to the guide rod) is applied at the tip of the guide rod.

（N)

Tube
I.D. 		Bearing
type 		Stroke
10 20 25 30 40 50 75 100
φ12 Slide bearing 24 19 - 16 14 12 37 31
Linear bushing 20 15 - 12 33 29 19 16
φ16 Slide bearing 40 33 - 28 24 21 55 46
Linear bushing 33 26 - 21 50 44 34 28
φ20 Slide bearing - 52 - 45 39 35 55 46
Linear bushing - 41 - 34 77 69 54 45
φ25 Slide bearing - 69 - 60 52 47 73 62
Linear bushing - 61 - 51 115 104 82 68
φ32 Slide bearing - - 166 - - 131 107 91
Linear bushing - - 90 - - 34 162 135
φ50 Slide bearing - - 296 - - 245 - 241

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Suction cup with fitting

Suction cup with fitting
Product name Suction Cups - with Fitting, Spring Type, Shape K
Part number MVPKN10
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Risk info. | Available sizes

Selection criteria

Suitable for gripping the flat surface of the workpiece

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Risk info.

Loss of suction ability due to wear and degradation

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Available sizes

■Suction cup with fitting (With pad) Fixed type, Top tube connection: One touch type (Shape K)

Body material Surface treatment Pad shape Pad material
Brass Electroless
nickel plating 		Standard Nitrile rubber
Conductive silicon rubber
Fluorine rubber
Deep type Nitrile rubber
Fluorine rubber

■Sizes and Dimensions

Pad shape Suction pad Port size Overall length Mounting thread DIA. x Pitch
O.D. Length
Standard φ2 4 φ4 28.3 M6×0.75
φ3
φ4
φ6 7 φ6 32.6 M10×1.0
φ8 5.5 31.1
φ10 8 34.1 M12×1.0
φ15 9 35.1
φ20 10 37.5 M14×1.0
Deep type φ20 11 38.7
φ25 12 39.7
φ30 14 41.7
φ40 17.5 45.2

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IDEA NOTE Design steps reduced with combination of commercially available components

Aiming to reduce design steps by structuring the major mechanism with a combination of commercially available components.

  • 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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    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.

    3. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    4. 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

  • Pick and place transfer with suction holder.

Target workpiece

  • Plastic disc.
  • Workpiece size: φ84, height 13mm
  • Workpiece weight: 20g

Design Specifications

Operating Conditions or Design Requirements

  • Stroke: 500mm
  • External dims.: W990 x D347 x H311mm

Required Performance

  • Positioning accuracy: ±0.9mm
  • Robot transfer weight: 3kg

Selection Criteria for Main Components

  • A single axis robot is used since multiple positions are needed over a single stroke.

Design Evaluation

Verification of main components

  • Select a suction holder appropriate for suction hold the workpiece and a robot that satisfies the transfer specifications (Load capacity, speed , stroke).
  • Selection of suction holder
    • Conditional value: Workpiece weight Mw = 0.02kg
      Gravitational acceleration g = 9.8m/s²
      Approx. suction force Fr = Mw × g × 1.2 = 0.02 × 9.8 × 1.2 = 0.24N *1.2 is a 20% buffer since its approximate.
      Temporary pad DIA. selection: φ10mm
      Pad area A: 0.785cm²
      When the vacuum Va is assumed to be: 40-kPa,
    • Suction force Fv= (A×Va) / 101 × 10.13 = (0.785 × 40) / 101 × 10.13 =3.15N
      Fv>>Fr thus no problem.
  • Selection of single axis robot
    • ① Load capacity → Select from [Max. load capacity]: 3kg
      ② Stroke → Select from [Stroke]: 500mm
      ③ Cycle time → Select from [Cycle time graph] 1.2sec
      RS220-C1-N-3-700 is selected.
      ④ Detail confirmation
      Overhang: At 4kg, 53.5mm against allowable value of 120mm, thus no problem.

Other Design Consideration

  • With the longer stroke use a cable carrier to prevent the wiring harness from getting tangled or damaged.
  • Due to deterioration of the suction cup, include a pressure switch to monitor contact, also perform periodical maintenance to prevent suction loss.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample Picture MISUMI Part Number
(click the Part Number below for details) 		Quantity
1 Single Axis Robots RS2 - Straight RS220-C1-N-3-700 1
2 Cable Carriers - Flap Open-Close Type MHPUS206-50-20-B 1
3 Cylinders with Twin Guides MGCLB16-50 1
4 Vacuum Fittings/Sponge/Bellows/Fixed Type MVPKN10 1
5 Locating Pins - Straight, Sphere (Press Fit) SLPSQAG4-L12 2
6 Hex Posts - Both Ends Tapped LSBRK8-40 6
7 Rectangular Washers&Nuts with Two Clearance Holes FK2TS16-A50-P30 1
8 Locating Pins - Straight, Sphere (Press Fit) SLPSQAG4-L9 2
9 Hex Posts - Both Ends Tapped LSFB12-156.5 4
10 Sensors for Cylinders MD13L1 2
  • The part list above only contains MISUMI parts.
    Part list download (CSV) includes MISUMI and third party components used in this example.
  • 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.

    Good IDEA!

    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.

    3. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    4. The Data including the third-part components are made by the Company.

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