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No.000128 Sorting Mechanism
Good IDEA!
13

Reduce cycle time by utilizing right/left sorting mechanism

Related Category

Single Axis Robot

Single Axis Robot
Product name Single Axis Robots RS2/Linear
Part number RS220-C1-C-3-150
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Selection steps | Accuracy Info | Performance info.

Selection criteria

Robot is selected to minimize jerk during transporting.

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Available sizes

■Single axis robot (RS, slider type, No brake)

■General specifications

Ball screw Motor Position detector Operating environment
temp - Humidity 		Controller input
power supply
Ø8
(C10 Rolled) 		Stepping Resolver
(Incremental) 		0 ~ 40°C ･ 35 ~ 85%RH
(No condensation) 		DC24V±10%
Ø12
(C10 Rolled)

Basic specifications

Slider Upper Surface
Height (mm) 		Type Lead
(mm) 		Stroke
(mm)
51 RS1 2 50 ~ 400
(Increment of 50)
6
12
57 RS2 6 50 ~ 800
(Increment of 50)
12
20
60 RS3 6 50 ~ 800
(Increment of 50)
12
20

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Selection steps

■Single axis robot selection steps

Load capacity

↓

Stroke

↓

Cycle time or Max. Speed

↓

Detail confirmation

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Accuracy Info

■Single axis robot accuracy

Repeatability: ±0.02

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Performance info.

■Single axis robot Performance info.

Slider Upper Surface
Height (mm) 		Type Lead
(mm) 		Load capacity (kg) Max. push force Allowable moment capacity (N･m) Max speed
(mm/sec) 		Rated
life
Horizontal Vertical (N) Pitching Yawing Rolling
51 RS1 2 6 4 150 19 16 17 100 10,000km
or more
6 4 2 90 300
12 2 1 45 600
57 RS2 6 10 2 90 33 25 30 300 ~ 190 10,000km
or more
12 6 1 45 600 ~ 380
20 4 - 27 1000 ~ 633
60 RS3 6 12 4 120 38 32 34 300 ~ 190 10,000km
or more
12 8 2 60 600 ~ 380
20 6 - 36 1000 ~ 633

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Air Gripper

Air Gripper
Product name Air Gripper/Parallel Type
Part number ACHK6-N
Features Compact Type Pneumatic Grippers with high precision, high rigidity, strong retaining force and.
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Selection steps | Performance info.

Selection criteria

Compact suitable for workpiece gripping.

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Available sizes

■Small parallel air gripper (Integrated sensor)

Part name Material Surface treatment
Main body EN AW-5056 Equiv. Clear anodize
Fingers ･ Attachment mount EN 1.1191 Equiv. Nitriding treatment

■Specifications and Dimensions

Operating method Stroke Cylinder I.D. Overall width Overall height Thickness
Single Acting ･ Double Acting 4 Ø8 26 40.5 10
6 Ø12 30 45 16.4

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Selection steps

■Small parallel gripper selection steps

Confirmation of Conditions
(Confirming required stroke,weight, and shape)

↓

Calculation of required gripping force
  • 10 ~ 20 times of the workpiece weight required
  • (Varies by friction coefficient of fingers and workpiece.)

↓

Model Selection
  • ●Gripping method (O.D. gripping ･ I.D. gripping)
  • ●Open/close operation method (Single acting or Dual acting)
  • ●Stroke
  • ●Gripping points and gripping force

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Performance info.

■Small parallel gripper (Integrated sensor) load info.

Stroke Cylinder
I.D. 		Operating pressure
range 		Effective gripping force (N) Allowable static load (N)
Single acting (Spring) Dual acting F1 F2
4 Ø8 0.3 ~ 0.5MPa 4.2 (1) 4.9 5 2.5
6 Ø12 10.4 (1.9) 12.2 10 5

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Cable Carrier

Cable Carrier
Product name Cable Carriers/Flap Open-Close Type (Cable Carrier+Mounting Brackets)
Part number MHPUS202-45-12-A
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes

Selection criteria

To protect connection cables

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Available sizes

■Cable carrier, Flap open/close type

Main body Mounting bracket
Material Material Surface treatment
Nylon 6 + Glass Fiber 20%
(Operating temp. -10 ~ 80°C)
Flammability standards UL94-HB equivalent 		Low Carbon Steel Trivalent chromate

■Sizes and Dimensions

Name
No. 		Bend radius Number of links Mounting direction Inner height Mounting height (Required
space
height)
Inner height Height Inner width Width Link pitch
102 19 5 ~ 23 Mounting Direction S 9 12 20 27 20 50 65
202 25 6 ~ 34 For Moving Ends: Mounting on the Outer Circumference
For Both Moving and Fixed Ends: Common to the outer and inner circumferences 		For Moving Ends: Mounting on the Inner Circumference
For Both Moving and Fixed Ends: Common to the outer and inner circumferences 		14 20 14 26 25 70 85
30 6 ~ 34 80 95
45 8 ~ 36 110 125
203 30 6 ~ 34 14 20 20 32 25 80 95
45 8 ~ 36 110 125
204 38 6 ~ 36 14 22 20 40 32 98 118
50 7 ~ 37 122 142
206 38 6 ~ 36 14 22 40 60 32 98 118
50 7 ~ 37 122 142
306 50 6 ~ 38 For Moving Ends: Mounting on the Outer Circumference
For Both Moving and Fixed Ends: Common to the outer and inner circumferences 		For Moving Ends: Mounting on the Inner Circumference
For Both Moving and Fixed Ends: Common to the outer and inner circumferences 		24 34 44 60 45 134 160
100 10 ~ 42 234 260
408 50 6 ~ 38 24.5 40 58 78 45 140 170
75 8 ~ 40 190 220
100 10 ~ 42 240 270
150 13 ~ 45 340 370
412 50 6 ~ 38 24.5 40 97 117 45 140 170
75 9 ~ 41 190 220
100 10 ~ 42 240 270

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IDEA NOTE Shorten cycle time

The part feeder sorts parts to both the left and right which doubles the feeding capacity and reduces the cycle time.

  • 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.
    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).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

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    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. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be 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 CAD data consists of some sub-assemblies.
       Each sub-assembly unit can be used as it is or can be edited.

Application Overview

Purpose

  • Workpieces discharged from a feeder are sorted to the right or the left by a single axis robot.
  • Components are transported by using an air gripper.

Points for use

  • Automated mechanism with air grippers and single axis robots.

Target workpiece

  • Plastic caps
    External dims.: Ø20 x L36
    Workpiece weight 6.5g

Design Specifications

Operating Conditions or Design Requirements

  • External dimensions: W690 x D428 x H427
  • Single axis robot stroke: 140mm (Workpiece receiving section) - Max operating stroke: 150mm
  • Single axis robot stroke: 115mm (Workpiece Sorting section) - Max operating stroke: 150mm
  • Cylinder with twin guides stroke: 10 mm

Selection Criteria for Main Components

  • Single axis robot
    • Select a robot with a load capacity that exceeds the combined weight of all the moving mechanisms. This actuator should also satisfy the required allowable moment load rating.
  • Air gripper
    • The allowable static load rating of the gripper should exceed the load weight.
  • Cylinder with guides
    • Select a cylinder with a load rating that is smaller than the allowable eccentric load (from catalog).

Design Evaluation

Verification of main components

  • Verify that the motor has the required load capacity to transport the components in both directions. Ensure that the motor has the required allowable moment rating.
  • Single axis robot transported load
    • <Right/left air gripper>: 0.253kg
      Air gripper: 37g, Speed controller: 8g x 2, Gripper fingers: 8g x 2, Upper drive base: 87g, Upper carrier bracket; 90g, Workpiece: 6.5g
    • Workpiece sorting mechanism: 1.144kg
      Workpiece retainer plate: 680g, Lower drive base: 388g, Workpiece guide: 27g x 2pcs., Fiber unit: 5g x 2pcs., Workpiece: 6.5g x 2pcs.
    • Robot load capacity: 4kg > Total mass (0.253 + 1.144 = 1.397kg): OK

Other Design Consideration

  • The brackets mounted on the cylinder functions as a location guide for sorting and transporting components.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample picture MISUMI Part Number
For Price and Days to ship click on Part No. 		Quantity
1 Single-Axis Robot (Currently not available) RS220-C1-C-3-150 3
2 Air Cylinders With Twin Guides MGCLF12-10 1
3 Air Gripper Parallel Type ACHK6-N 2
4 Cable Carrier MHPUS202-45-12-A 3
5 Flow Rate Control Valves MNSPS4-M3 4
6 Flow Rate Control Valves SPSNL4-M5 2
7 Sensors for Air Cylinders ME33L3 4
8 Dowel Pins MSC4-10 12
9 Locating Pins SXSXC-D1.2-L5.5-E0.5 4
10 Socket Head Cap Screws-with Washer SCBS3-12 4
11 Socket Head Cap Screws-with Washer SCBS4-6 6
12 Socket Head Cap Screws-with Washer SCBS4-10 18
13 Socket Head Cap Screws-with Washer SCBS4-15 16
  • The part list above contains only MISUMI parts.
    The list of parts and machined products of other manufacturers than MISUMI can also be downloaded by part list download (CSV).
  • 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.
    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).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

    CAD Data Download (Unit Assembly)

    CAD Data Download: File Format
    生成

    Thank you for downloading the data.

    Click the Good IDEA! button when this application example is helpful.


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

    Good IDEA!

    Cautions on the CAD data

    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. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be 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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