Market Information MAI 66

Proven design

further im

proved

Components for parallel kinematicsSeries GLK, GLAE

Joints and struts form the core components of machines with parallel kinematics (PKM). Irrespective of the control technology possibilities, good mechanical characteristics remain indispensable. These essentially determine the achievable rigidity and accuracy. INA PKM components were developed in order to fulfil the requirements of the various areas of application.For the flexible linkage of the struts to the machine framework and the platform, INA offers cardanic joints with two or three degrees of freedom and ball joints whose design is matched to the area of application; for machine tools, these are high rigidity and documented accuracy, while for handling equipment large swivel angles and low mass are the primary requirements.The telescopic struts are now available as catalogue items in two proven series with stroke length scales. Depending on the application, either ball screw drives or planetary roller screws with various pitch values can be used.In short: the range offers improved cost-effectiveness for high precision movements through standardised sizes with numerous degrees of freedom. Naturally, individual customer solutions can also be designed as before.

137

145

2

Components for parallel kinematicsBall joints

with three degrees of freedom

Cardanic joints

with two or three degrees of freedom

Features

Ball and cardanic jointsBall and cardanic joints for parallel kinematics:� have, depending on their design, two or three degrees

of freedom� have very high rigidity and load carrying capacity� are preloaded and thus clearance-free� run smoothly and free from stick-slip� have swivel angles appropriate to the design� have a defined joint intersection point� are sealed� are greased using a special grease and can be

relubricated.

Ball joints� are complete units comprising:

– a ball stud with an external thread, a ball socket with a centring device, a half-ball, a concave seal carrier and a locknut

– a large number of small balls. As a result, the Hertzian pressure between the ball socket, half-ball, ball stud and rolling elements remains at a low level

– a lubrication adapter for a polyamide tube to DIN 73 378� have three degrees of freedom� have a swivel angle of �20°, optionally up to �30°� are coated with Corrotect®.

Cardanic joints� are complete units comprising:

– a joint yoke with a centring device, a crosspin and preloaded, sealed radial and axial needle roller bearings

� have either two or three degrees of freedom– the third degree is freedom is achieved by means

of a radial/axial bearing combination in the head of the crosspin

� have maximum swivel angles– in axis I up to �45°– in axis II up to �90°– in axis III up to �360°.

Ball joint

� half-ball with ground outer slideway for the seals, screw mounted to the ball socket

� concave seal carrier screw mounted to the ball stud by means of a locknut

� a full complement set of rolling balls� hardened raceways for the rolling elements

�Cardanic joint

� GLK 2 with two degrees of freedom, GLK 3 with three degrees of freedom

� crosspin supported in the joint yoke by means of radial/axial bearings

GLK

107

464

GLK 2GLK 3

107

468

3

Telescopic struts

Features

Telescopic strutsTelescopic struts for parallel kinematics:� are complete units comprising:

– a sliding tube and fixed tube, a drive spindle with a nut, a four-row axial angular contact ball bearing DKLFA and four linear ball bearing units KUVS

� can be fitted with INA ball and cardanic joints– the joint type depends on the application and

can be freely selected by the customer� are fitted, depending on the required rigidity,

with a ball screw spindle or a planetary roller screw– the rigidity is defined in accordance with customer

requirements– the four-row axial angular contact ball bearing DKLFA

allows high spindle speeds with maximum rigidity� can support tensile and compressive forces� are suitable for high feed speeds� run extremely accurately, smoothly and free from stick-slip� are clearance-free in all directions due to the high torsional

rigidity of the linear guidance systms and the raceways ground on the surface of the sliding tube

� have a low mass due to the dimensioning of the components

� can be supplied with a Corrotect® coating� are produced with sliding tube diameters of 70 mm

and 80 mm– other sizes may be available by agreement

� allow, in conjunction with the ball and cardanic joints, compact designs with a reduced number of components.

Telescopic strut

� internal thread or flange mounting in the sliding tube to support the ball or cardanic joints

� sliding tube with ground raceways for linear ball bearing units KUVS

� nut secured against rotation in the sliding tube

GLAE

107

358

4

Basic load ratings for ball and cardanic joints

Maximum load carrying capacityThe maximum load carrying capacity Pmax of ball joints is shown in Figure 1.It depends on:� the size of the joint� the direction of the load (tensile/compressive load).

Basic static load ratings for cardanic jointsThe basic static load ratings C0 are shown in Figure 2.They depend on:� the type of joint� the swivel angle �.The basic static load rating C0 is only influenced by the swivel angle �. The swivel angles � and � have no influence on the basic static load rating.

Static load safety factorThe static load safety factor S0 must be � 4! For other static load safety factors, INA must be consulted!

Figure 1 · Maximum load carrying capacity Pmax

Figure 2 · Basic static load ratings C0 as a function of the swivel angle �

Max

imum

load

car

ryin

g ca

paci

ty

Pmax

KN

7

6

3,5

3

Swivel angle up to 30˚

F-232 386.1 (compressive)F-232 386.1 (tensile)

F-232 956 (compressive)F-232 956 (tensile)

107

380

F-232 919.1 / F-232 920.1

KN70

60

5051

40

30

20

10

55,8

Load

car

ryin

g ca

paci

ty

0

10 ˚ 20 ˚ 30 ˚ 40 ˚ 45 ˚ 50 ˚

Swivel angle of axis �

C

107

381

5

Bearings for cardanic support

Dimension table · Dimensions in mm

F-number Mass Dimensions Basic load ratings

d D B radial

�kg

dyn.CkN

stat.C0kN

F-231091 0,35 25 57 28 27,5 24,1

F-233697 0,39 30 62 28 29,5 30,5

F-232183 6 – – – 68 128

Axial angular contact ball bearings F-231091, F-233697, coupling and swiveling bearing arrangement F-232183

D �0,010

B�0,25

d�0,05

0,6 +1,4

+04

0,6

20˚

3 3

0,3+

0,3

�

12045 20

20 15208

�7

�14

0�

0,5

+0,

018

�78

M50

1,

5�

14

152

355˚

�50

�11

0

�11

2�0,

008

�0,

5

�0,

008

�92

2 M6

45˚22,5˚

45˚

45˚

3M8

45˚845˚=360˚

�13,5

180˚

�12

5

+1

+1�0,05

0,

2�

0,1

7�

6

0,

20,

1�

8

�0,2

�0,4

�0,4

0,010 15

0,01015

0,02 A

A

Threadedextraction hole

Threadedextraction hole

100%Supply withinspection certificate

0,3+0,7

F-231091F-233697

F-23218310

7 46

5

6

Telescopic strutsSeries GLAE

1) Dependent on the adjacent construction. To be defined by the customer.2) Dependent on the joint type.3) Other sizes may be available by agreement.

Dimension table · Dimensions in mm

Designation Diameter of sliding tube3)

Dimensions

D1 D2 D3 D4 d3 MA Lmin L1 L2 L3 Stroke length

Spindle diameter

� –0,015 h8

GLAE F-232220 70 70 130 90 120 301) 5622)

941

501) 851) –

600

401141 800

1241 950

GLAE F-236437 80 80 170 130 130 451) 5622) 1380 501) 981) 563 900 50

7

Hole pattern for GLAE F-232220 Hole pattern for GLAE F-236437

45˚ 845˚=360˚

22,5˚

�11+0,2

�110

Retaining screw

107

479

45˚845˚=360˚

22,5˚

�11+0,2–0,1

45˚845˚=360˚

Retaining screw

�150

Retaining screw

107

480

GLAE

M

DD

1

A

4

3

2

2

L

1L

d

D

L

3D

330

˚

R 75

�50

Lmin

H6

M816

3

F-236437 107

467

8

Swivelling rotary/cardanic jointswith two degrees of freedom

Series GLK 2

with three degrees of freedom

Series GLK 3

F-237169.1 with two degrees of freedom

�45

�30

�82

25�

0,25

�82

5 �0,

5

J6

30

0,5

30

R20 107

470

1) Measured and documented.2) Basic load ratings: see diagram, page 4.3) Ensure prior orientation.

Dimension table · Dimensions in mm

Designation F-number Mass Degrees of freedom

Swivel angle Fixing screws Lubrication nipple

Basic load ratings

Rigidity

° M1 M2 stat.C0

CS

�kg � � � NIP DIN 3 405 kN N/�m

GLK 3 F-237169 1 3 360903603) – – – 4,2 50

GLK 2 F-237169.1 0,95 2 903603) – – – 4,2 50

GLK 3 F-232919.1 7 3 9045360 M830 M860 AM 81 2) 450

GLK 2 F-232920.1 7 2 9045 M830 M860 AM 81 2) 450

F-237169 with three degrees of freedom

B-B

A-A �30�82

10

48

BB

C-C �63 �825

660˚=360˚

660˚=360˚30˚

60˚

60˚

C C

A

A

R25

28

R25

51

M351

�12

�15

25

R24 108103

0,50,5

25�0,25

53,3�0,02

Centring hole type Ato ISO 866-1975

ZM nutnot includedin delivery

�0,005

(R46)

�0,25

�15�0,005

�

�

�

107

469

9

Swivel angles � and � F-232920.1 with two degrees of freedom

Swivel angle �

Sw

ivel

ang

le

45˚

45˚

30˚

30˚

15˚

15˚0˚ 60˚ 75˚ 90˚

�

107

361

M562�52h6

10

27

�90

107

477

F-232919.1 with three degrees of freedom

6 �6

128*

73

45*

M562

max. 2

Centring connectorCylindrical roller �12 18is supplied loose

H6�12

18

�52

80135

� �90˚

90˚

85

150�9

70

45˚ 45˚��

h6

155

10

0,021)

�90

documented

1) Flatness of adjacent surface*

�

M 12 M

107

476

10

Ball jointwith three degrees of freedom

Series GLK

1) Rapid-fit cartridge for polyamide tube to DIN 73 378 �40,75 with threaded connector M101, min. 6 mm deep.2) Measured and documented.3) At 2 points on circumference.4) At 6 points on circumference.5) Basic load ratings: see diagram, page 4.

Dimension table · Dimensions in mm

Design-ation

F-number Mass Degrees of freedom

Swivel angle Dimensions Basic load ratings

Rigidity

° H h1 h22) h3 h4 h5 h6 D d1 d2 d3 Ma Mb Mc SA C0 Cs

ten-sile

Cs comp-ressive�kg � � � H6 kN

GLK F-232956 2,3 3 2020 360 144 35 35 35 20 19 10 70 40 32 6 M201,5 M171 M401,5 1) 5) 280 400

GLK F-232386.1 4,5 3 2020 360 185 40 50 44 30 21 10 90 55 45 6 M251,5 M251,5 M562 1) 5) 350 700

GLK

b

5

4

3

3 3)

4)

DM

h

h

h

2h

6h

1h

d

3d

MD

SA

a

c

2

M

d

1d

H

107

353

11

Application example

PKM machining centre

107

466

INA-Schaeffler KG91072 Herzogenaurach · GermanyInternet www.ina.comE-Mail info@ina.comIn Germany:Telephone 0180 / 5 00 38 72Fax 0180 / 5 00 38 73From other countries:Telephone +49 / 9132 / 82-0Fax +49 / 9132 / 82-49 50

Sac

h-N

r. 00

5-29

9-46

2/M

AI 6

6 G

B-D

120

21

· Prin

ted

in G

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any