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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 [email protected] 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
erm
any
