Juntas Esfericas

8/3/2019 Juntas Esfericas

1/12

Market Information MAI 66

Prov

endesig

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furth

erimpr

oved

Components for parallel kinematicsSeries GLK, GLAE

Joints and struts form the core components of machineswith parallel kinematics (PKM). Irrespective of the controltechnology possibilities, good mechanical characteristicsremain indispensable. These essentially determine theachievable rigidity and accuracy. INA PKM components weredeveloped in order to fulfil the requirements of the variousareas of application.

For the flexible linkage of the struts to the machine frameworkand the platform, INA offers cardanic joints with two or threedegrees of freedom and ball joints whose design is matched tothe area of application; for machine tools, these are high rigidityand documented accuracy, while for handling equipment largeswivel angles and low mass are the primary requirements.

The telescopic struts are now available as catalogue items intwo proven series with stroke length scales. Depending onthe application, either ball screw drives or planetary rollerscrews with various pitch values can be used.

In short: the range offers improved cost-effectiveness forhigh precision movements through standardised sizes withnumerous degrees of freedom. Naturally, individual customersolutions can also be designed as before.

137

145

www.bergab.ru [email protected] . (495)-228-06-21, (495) 223-3071


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Componentsfor parallel kinematicsBall joints

with three degrees of freedom

Cardanic joints

with two or three degrees of freedom

Features

Ball and cardanic joints

Ball and cardanic joints for parallel kinematics:

I have, depending on their design, two or three degreesof freedom

I have very high rigidity and load carrying capacity

I are preloaded and thus clearance-free

I run smoothly and free from stick-slip

I have swivel angles appropriate to the design

I have a defined joint intersection point

I are sealed

I are greased using a special grease and can berelubricated.

Ball jointsI are complete units comprising:

a ball stud with an external thread, a ball socket witha centring device, a half-ball, a concave seal carrier anda 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

I have three degrees of freedom

I have a swivel angle of20, optionally up to 30

I are coated with Corrotect.

Cardanic joints

I are complete units comprising:

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

I have either two or three degrees of freedom

the third degree is freedom is achieved by meansof a radial/axial bearing combination in the head ofthe crosspin

I have maximum swivel angles

in axis I up to 45

in axis II up to 90

in axis III up to 360.

Ball joint

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

I concave seal carrier screw mounted to the ball studby means of a locknut

I a full complement set of rolling balls

I hardened raceways for the rolling elements

ICardanic joint

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

I crosspin supported in the joint yokeby means of radial/axial bearings

GLK

1074

64

GLK 2GLK 3

107

468



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Telescopic struts

Features

Telescopic struts

Telescopic struts for parallel kinematics:

I 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 andfour linear ball bearing units KUVS

I can be fitted with INA ball and cardanic joints

the joint type depends on the application andcan be freely selected by the customer

I are fitted, depending on the required rigidity,with a ball screw spindle or a planetary roller screw

the rigidity is defined in accordance with customerrequirements

the four-row axial angular contact ball bearing DKLFA

allows high spindle speeds with maximum rigidityI can support tensile and compressive forces

I are suitable for high feed speeds

I run extremely accurately, smoothly and free from stick-slip

I are clearance-free in all directions due to the high torsionalrigidity of the l inear guidance systms and the racewaysground on the surface of the sliding tube

I have a low mass due to the dimensioning of thecomponents

I can be supplied with a Corrotect coating

I are produced with sliding tube diameters of 70 mmand 80 mm

other sizes may be available by agreement

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

Telescopic strut

I internal thread or flange mounting in the sliding tubeto support the ball or cardanic joints

I sliding tube with ground raceways forlinear ball bearing units KUVS

I nut secured against rotation in the sliding tube

GLAE

107

358



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Basic load ratingsfor ball and cardanic joints

Maximum load carrying capacity

The maximum load carrying capacity Pmax of ball joints isshown in Figure 1.

It depends on:

I the size of the jointI the direction of the load (tensile/compressive load).

Basic static load ratings for cardanic joints

The basic static load ratings C0 are shown in Figure 2.

They depend on:

I the type of joint

I the swivel angle .

The basic static load rating C0 is only influenced by the swivel

angle . The swivel angles and have no influence onthe basic static load rating.

Static load safety factor

The static load safety factor S0 must be 4!For other static load safety factors, INA must beconsulted!

Figure 1 Maximum load carrying capacity Pmax

Figure 2 Basic static load ratings C0 as a function ofthe swivel angle

M

aximuml

oadcarryingcapacity

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

Loadcarryingcapacity0

10 20 30 40 45 50

Swivel angle of axis

C

107381



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Bearingsfor 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

D0,010

B0,25

d0,05

0,6 +1,4

+04

0,6

20

3 3

0,3

+0

,3

120

45 20

20 1520

87

140

0,5

+0

,018

78

M501,5

14

152

355

50

110

112

0

,008

0

,5

0

,008

92

2 M6

4522,5

45

45

3M8

45

845=360

13,5

180

125

+1

+10,05

0

,2

0

,1

7

6

0

,20

,1

8

0,2

0,4

0,4

0,010 15

0,01015

0,02A

A

Threaded

extraction hole

Threadedextraction hole

100%Supply with

inspection certificate

0,3+0,7

F-231091F-233697

F-232183

107465



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Telescopic struts

Series 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.


Designation Diameter of sliding tube3)

Dimensions

D1 D2 D3 D4 d3 MA Lmin L1 L2 L3 Strokelength

Spindlediameter

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



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

45 845=360

22,5

11+0,2

110

Retaining screw

107479

45845=360

22,5

11+0,20,1

45845=360

Retaining screw

150

Retaining screw

107480

GLAE

M

D

D

1

A

4

3

2

2

L

1L

d

D

L

3D

330

R75

50

L

min

H6

M8

16

3

F-236437107467



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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

0,2

5

82

5

0,5

J6

30

0,5

30

R20107470

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


Designation F-number Mass Degreesof freedom

Swivel angle Fixing screws Lubricationnipple

Basic loadratings

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=36030

60

60

C C

A

A

R25

28

R25

51

M351

12

15

25

R24 108103

0,5

0,5

250,25

53,30,02

Centring hole type A

to ISO 866-1975

ZM nutnot included

in delivery

0,005

(R46)

0,25

150,005

107469



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Swivel angles and F-232920.1 with two degrees of freedom

Swivel angle

Swivelangle

45

45

30

30

15

150 60 75 90

107361

M562

52h6

10

27

90

107477

F-232919.1 with three degrees of freedom

6 6

128*

73

45*

M562

max. 2

Centring connectorCylindrical roller 12 18

is supplied loose

H612

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

107476



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10

Ball jointwith three degrees of freedom

Series GLK

1) Rapid-fit cartridge for polyamide tube to DIN 73378 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.


Design-ation

F-number Mass Degreesoffreedom

Swivel angle Dimensions Basicloadratings

Rigidity

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

sile

Cscomp-

ressivekg H6 kN

GLK F-23 29 56 2,3 3 2020 360 1 44 3 5 35 35 20 19 1 0 70 40 32 6 M201,5 M171 M401,5 1) 5) 280 400

GLK F-232386.1 4,5 3 2020 360 1 85 4 0 50 44 30 21 1 0 90 55 45 6 M251,5 M251,5 M562 1) 5) 350 700

GLK

b

5

4

3

33)

4)

DM

h

h

h

2h

6h

1h

d

3d

M

D

SA

a

c

2Md

1d

H

107353



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Application example

PKM machining centre

107466



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INA-Schaeffler KG

91072 Herzogenaurach Germany

Internet www.ina.comE-Mail [email protected]

In Germany:Telephone 0180/ 5 0038 72Fax 0180 / 5 00 38 73

From other countries:

Telephone +49 / 9132/ 82-0Fax +49 / 91 32 / 82-49 50

Sach-Nr.0

05-299-462/MAI66GB-D12021

PrintedinGermany


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