TQ Series. Low-backlash Gearboxes. High Performance Precision Planetary Gearboxes.

Transcription

1 TQ Series Low-backlash Gearboxes High Performance Precision Planetary Gearboxes

2 SUMMARY 1 General information 3 1. Symbols, units and definitions 3 2. Selecting the gear unit 4 3. Service life of bearings 6 2 Features of TQ series 8 3 Ordering code 9 4 Dimensions and technical specifications 10 TQ TQ TQ TQ TQ Revisions Refer to page 20 for the catalogue revision index. Visit to search for catalogues with up-to-date revisions. 1

3 TQ GEARBOX FEATURES & HIGHLIGHTS (3) (4) (2) (1) (1) For a two-stage reducer, the input stage is a smaller size - This allows for higher input speeds. (2) Straddled bearing support of the planetary carrier. (3) Honing finish - spheroidal Cast Iron housing. (4) High strength Aluminum clamp. TQ Gearbox Structure Finite Element Analysis 2

4 1 GENERAL INFORMATION 1.1 SYMBOLS, UNITS AND DEFINITIONS Values depending on the APPLICATION term u.m. definition A 2 [N] Axial force on output shaft A 2 EQU [N] Equivalent axial force applying on output shaft A 2 MAX [N] Maximum axial force applying on output shaft R 2 [N] Radial force on output shaft R 2 EQU [N] Equivalent radial force applying on output shaft R 2 MAX [N] Maximum radial force applying on output shaft ED [min] Duration of the duty ED% [%] Cyclic duration factor L 10h TARGET [h] Output shaft bearings desired basic rating life M 1 PEAK [Nm] Maximum input torque (limited by motor control) M 2(1)... M 2(n) [Nm] Output torque at the times t 1... t n M 2 EQU [Nm] Equivalent output torque M 2 MAX [Nm] Maximum output torque in case of emergency M T2EQU [Nm] Equivalent tilting moment applying on output shaft M T2MAX [Nm] Maximum tilting moment applying on output shaft n 1 [min -1 ] Nominal input speed n 2 [min -1 ] Output speed n 2(1)... n 2(n) [min -1 ] Output speed based on the times t 1... t n n 2 EQU [min -1 ] Equivalent output speed n 2 MAX [min -1 ] Maximum output speed T [C ] Ambient temperature t 1... t n [s] Operating time t [s] Cycle duration including pause Z [1/h] Number of cycles per hour Values depending on the GEAR DRIVE SELECTION term u.m. definition A 2 3 max [N] Admissible axial force on output shaft A 2' max [N] Axial force acting simultaneously with radial force R 1 max [N] Admissible radial force at midpoint of input shaft R 2 3 max [N] Admissible radial force at midpoint of output shaft C B [Nm] Constant for bearing's lifetime calculation C t Torsional stiffness f n Speed factor f z Cycle factor f T Temperature adjusting factor i Gearbox ratio J G [kgcm²] Mass moment of inertia of the gearhead K n Speed constant L 10h [h] Bearings basic rating life L Z [mm] Factor for bearing lifetime calculation M a 2 [Nm] Maximum acceleration output torque M n 2 [Nm] Rated output torque M p 2 [Nm] Emergency stop output torque. Permitted 1000 times during service life of the gearbox M T2max [Nm] Maximum tilting moment applying on output shaft n 1 max [min -1 ] Maximum momentary input speed. The speed the unit can be driven at occasionally and in non-repetitive conditions For duty type S5, it cannot be applied continuously for more than 30 seconds p Bearing lifetime exponent η [%] Gear efficiency ϕ R [arcmin] Reduced backlash is calculated in static conditions and with the application of a torque equal to 2% of the gear unit rated torque ϕ S [arcmin] Standard backlash is calculated in static conditions and with the application of a torque equal to 2% of the gear unit rated torque 3

5 1.2 SELECTING THE GEAR UNIT (a) Ratio i i = n 1 n 2 (b) Equivalent output torque M 2 EQU [Nm] M 2EQU n 2(1) t n 2(n) t n = 3 n 2(1) t 1 M 2(1) n 2(n) t n M 2(n) (c) Equivalent output speed n 2 EQU [min -1 ] (d) Speed factor f n (e) Temperature adjusting factor f T n 2 EQU = n 2(1) t 1 + n 2(2) t n 2(n) t n t K n If 1 f n = 1 n i 2 EQU K n If < 1 f n = Obtain from diagram n i f T 2 EQU T[ C] (f) t 1 + t t n Cyclic duration factor ED% [%] ED% = 100 t Duration of the duty ED [min] ED = t 1 + t t n 3600 (g) Number of cycles per hour Z [1/h] Z = t 2 (h) Cycle factor f z (i) Maximum input torque M 1 PEAK [Nm] f z z[1/h] a) maximum possible application torque b) limited motor torque by inverter c) maximum motor torque K n - speed constant f n - speed factor i TQ 060 TQ 070 TQ 090 TQ 130 TQ f n K n n 2 EQU i 1 4

6 M 2(1) Load diagram M 2(2) M 2: Output torque 0 M 2(3) [s] n 2(2) Speed diagram n 2(1) n) 2(3) n2(1) = n2(3) = 0.5 n2(2) n 2: Output speed 0 [s] t1 t2 t3 t4 ED Estimate ratioi (a) Select a smaller ratio NO n 2 MAX i n 1 max YES Define M 2 EQU (b) Define n 2 EQU (c) Select gearunit Select a biggerunit Define f n (d) NO M 2 EQU f n M n 2 Select a smallerratio YES NO n 2 EQU i n 1 f T (e) ED% and ED 60% 20 min YES ED% 60% or ED 20min (f) (g) Z 1000 YES NO S1 duty S5 duty Define f Z (h) Select a biggerunit Define M 1 PEAK Define M 1 PEAK (i) Select a biggerunit NO M 1 PEAK i M a 2 M 1 PEAK i f Z M a 2 NO Select a biggerunit YES YES NO M 2 MAX M p2 YES Check the external forces on outputshaft 5

7 1.3 SERVICE LIFE OF BEARINGS x R 2 y A 2 (a) Maximum radial force applying on output shaft Maximum axial force applying on output shaft R 2 MAX A 2 MAX [N] [N] Please consider the specific conditions (e.g. belt drives under acceleration torque) (b) Maximum tilting moment applying on output shaft M T 2 MAX [Nm] M T2MAX = R 2 MAX (x + L Z ) ± A 2 MAX y 1000 (c) Equivalent forces applying on output shaft R 2 EQU A 2 EQU [N] [N] 3 3 R 2EQU = 3 n 2(1) t 1 R 2(1) n 2(n) t n R 2(n) n t n t 2(1) 1 2(n) n A = 3 2 EQU n 2(1) t 1 A 2(1) n2(n n 2(1) t n 2(n) t n ) t n 3 A 2(n) (d) Equivalent tilting moment applying on output shaft M T 2 EQU [Nm] M T2EQU = R 2 EQU (x + L Z ) + A 2 EQU y 1000 (e) Equivalent output speed n 2 EQU [min -1 ] n 2 EQU= n 2(1) t 1 + n 2(2) t n 2(n) t n t 1 + t t n (f) Bearings' basic rating life L 10h [h] L 10h = C B n 2 EQU M T2EQU p TQ 060 TQ 070 TQ 090 TQ 130 TQ 160 SB HB SB HB L Z [mm] M T 2 max [Nm] 129, C B [Nm] p

8 Select a bigger unit Define R 2MAX and A 2MAX (a) NO A 2 MAX R 2 MAX YES A 2 max R 2 max Select a bigger unit Calculate M T2MAX (b) NO M T 2MAX M T 2max YES Please contact us Define R 2EQU and A 2EQU (c) NO A 2EQU R 2 EQU YES f Calculate M T2EQU (d) Define n 2EQU (e) Select a bigger unit Calculate lifetime L 10h (f) NO L 10h L 10h TARGET YES Calculation of bearings lifetime complete TQ 060 TQ 070 SB TQ 070 HB TQ 090 SB TQ 090 HB TQ 130 TQ 160 f

9 2 FEATURES OF TQ SERIES Low backlash planetary drives of TQ series combine outstanding performances with a distinctive Italian style which makes them immediately recognizable amongst similar products within the reference industry. Their design and construction has been developed with the goal of offering consumers a line of products which feature absolute and consistent Quality, which in turn provides a competitive advantage for machines and systems that adopt them as transmission devices. TQ drives feature a single class of precision, corresponding to the following values of circumferential backlash 1stage units: standard ϕ S = 3 (ϕ S = 4 for TQ 060 and TQ 070) 2stage units: standard ϕ S = 5 (ϕ S = 6 for TQ 060 and TQ 070) A high IP rating (IP65) provides inner parts with protection against the ingress of dust and liquids. Input section oil seals made from a Fluoroelastomer compound are supplied as standard. Noise pressure level 60 Lp 70 db(a). Conditions: distance 1 m ; measured without load and an input speed of n1 = 3000 min -1 ; i = 10. Numerous adapters allow matching the most popular brands of servomotors. Lubrication optimized for the type of duty specified when ordering. In the absence of contamination the lubricant requires no periodical changes. duty TQ TQ 160 other seals S1 (continuous) synthetic oil viscosity ISO VG 220 Fluoroelastomer S5 (intermittent) NLGI grease consistency 00 NBR Ambient temperature min -20 C, max +30 C. For temperature higher than 30 C please consider derating factor ft. Housing temperature limit must not exceed 90 C. Distribution of nominal torque M n2 [Nm] [i] TQ TQ TQ TQ TQ stage gearheads Output shaft max. loading capacity Available motor shaft diameters [N] TQ TQ TQ TQ TQ060 0 TQ 060 TQ 070 SB TQ 070 HB TQ 090 SB TQ 090 HB TQ 130 R 2max A 2max TQ ø[mm] 8

10 3 ORDERING CODE TQ STD 80A3 CD 19 S5 SB KL OUTPUT SHAFT CONFIGURATION KL smooth keyless shaft KE keyed shaft OUTPUT SHAFT BEARINGS SB standard HB reinforced (TQ TQ 090) DUTY S1 continuous duty S5 intermittent duty INPUT SHAFT BORE MOTOR COUPLING CD clamping device INPUT SECTION 30A A motor adapter FM without motor adapter BACKLASH STD (ϕ S) LOW (ϕ R) 1 reduction 2 reductions 1 reduction 2 reductions TQ 060 4' 6' 2' 4' TQ 070 4' 6' 2' 4' TQ 090 3' 5' 2' 3' TQ 130 3' 5' 2' 3' TQ 160 3' 5' 2' 3' GEAR RATIO REDUCTIONS 1 2 FRAME SIZE SERIES TQ 9

11 Ø N TQ 060 N4 Ø D F7 L5 M5x N N Ø 16 k6 Ø 60 g6 Ø N h9 62 L L4 Ø N1 Ø 68 N N3 N4 Ø D F7 L5 4 DIMENSIONS AND TECHNICAL SPECIFICATIONS TQ D5 M4 M5 M6 M6 M6 L L L TQ L6 L4 Ø N D5 M4 M5 M6 M6 M6 L L L

12 TQ 060 TQ TQ N N1 N3 N4 N5 L max 30A M4x B M4x A M4x C M4x A M5x B M5x A M6x A M8x B M8x For FM version contact us for overall dimensions. Please contact us for other motor adapters and input shaft bore! M n 2 M a 2 M p 2 n 1 n 1 max ϕ S ϕ R C t R 2 max A 2 max η J G [kgcm 2 ] i [Nm] [Nm] [Nm] [min -1 ] [min -1 ] [arcmin] [N] [N] % TQ 060 1_ ' 2' TQ 060 1_ ' 2' TQ 060 1_ ' 2' TQ 060 1_ ' 2' TQ 060 1_ ' 2' TQ 060 2_ ' 4' TQ 060 2_ ' 4' TQ 060 2_ ' 4' TQ 060 2_ ' 4' TQ 060 2_ ' 4' TQ 060 2_ ' 4' TQ 060 2_ ' 4' TQ 060 2_ ' 4' TQ 060 2_ ' 4'

13 Ø N TQ 070 N4 Ø D F7 L5 M8x max N N Ø 22 k6 Ø 70 g6 Ø N h Ø 85 L Ø N1 N4 Ø D F7 L5 TQ min D5 M6 M6 M6 M6 L L6 min max 18 TQ N N L6 L4 Ø N D5 M4 M5 M6 M6 M6 L L L

14 TQ 070 TQ N N1 N3 N4 N5 L max 50C M4x A M5x B M5x A M6x A M8x A M8x B M8x A M10x TQ N N1 N3 N4 N5 L max 30A M4x B M4x A M4x C M4x A M5x B M5x A M6x A M8x B M8x For FM version contact us for overall dimensions. Please contact us for other motor adapters and input shaft bore! ϕ S ϕ R C t SB HB M n 2 M a 2 M p 2 n 1 n 1 max R 2 max A 2 max R 2 max A 2 max J G [kgcm 2 ] η i [Nm] [Nm] [Nm] [min -1 ] [min -1 ] [arcmin] [N] [N] [N] [N] % TQ 070 1_ ' 2' TQ 070 1_ ' 2' TQ 070 1_ ' 2' TQ 070 1_ ' 2' TQ 070 1_ ' 2' TQ 070 2_ ' 4' TQ 070 2_ ' 4' TQ 070 2_ ' 4' TQ 070 2_ ' 4' TQ 070 2_ ' 4' TQ 070 2_ ' 4' TQ 070 2_ ' 4' TQ 070 2_ ' 4' TQ 070 2_ ' 4'

15 Ø N TQ 090 N4 Ø D F7 L5 M12x28 N N Ø 32 k6 Ø 90 g6 Ø N h Ø 120 L Ø N1 N4 Ø D F7 L5 TQ min 243 max D5 M6 M6 M6 M8 M8 M8 L L6 min max TQ N5 N min max L Ø N D5 M6 M6 M6 M6 L L6 min max 18 14

16 TQ 090 TQ N N1 N3 N4 N5 L max 60A M5x A M6x A M8x A M8x B M8x A M10x A M14x A M14x TQ N N1 N3 N4 N5 L max 50C M4x A M5x B M5x A M6x A M8x A M8x B M8x A M10x For FM version contact us for overall dimensions. Please contact us for other motor adapters and input shaft bore! M n 2 M a 2 M p 2 n 1 n 1 max i [Nm] [Nm] [Nm] [min -1 ] [min -1 ] SB HB J G [kgcm 2 ] ϕ S ϕ R C t R 2max A 2 max R 2max A 2 max η [arcmin] [N] [N] [N] [N] % TQ 090 1_ ' 2' TQ 090 1_ ' 2' TQ 090 1_ ' 2' TQ 090 1_ ' 2' TQ 090 1_ ' 2' TQ 090 2_ ' 3' TQ 090 2_ ' 3' TQ 090 2_ ' 3' TQ 090 2_ ' 3' TQ 090 2_ ' 3' TQ 090 2_ ' 3' TQ 090 2_ ' 3' TQ 090 2_ ' 3' TQ 090 2_ ' 3'

17 Ø N TQ 130 N4 Ø D F7 L5 M16x36 N5 112 N Ø 40 k6 Ø 130 g6 Ø N min max h Ø 165 L Ø N1 N4 Ø D F7 L5 TQ D5 M6 M6 M8 M8 M8 M10 L L6 min max TQ N5 N min max L Ø N D5 M6 M6 M6 M8 M8 M8 L L6 min max

18 TQ 130 TQ N N1 N3 N4 N5 L max 80A M6x A M8x A M8x B M8x A M10x A M14x A M14x A M14x TQ N N1 N3 N4 N5 L max 60A M5x A M6x A M8x A M8x B M8x A M10x A M14x A M14x For FM version contact us for overall dimensions. Please contact us for other motor adapters and input shaft bore! M n 2 M a 2 M p 2 n 1 n 1 max ϕ S ϕ R C t R 2max A 2 max η J G [kgcm 2 ] i [Nm] [Nm] [Nm] [min -1 ] [min -1 ] [arcmin] [N] [N] % TQ 130 1_ ' 2' TQ 130 1_ ' 2' TQ 130 1_ ' 2' TQ 130 1_ ' 2' TQ 130 1_ ' 2' TQ 130 2_ ' 3' TQ 130 2_ ' 3' TQ 130 2_ ' 3' TQ 130 2_ ' 3' TQ 130 2_ ' 3' TQ 130 2_ ' 3' TQ 130 2_ ' 3' TQ 130 2_ ' 3' TQ 130 2_ ' 3'

19 Ø N TQ 160 N4 Ø D F7 L5 M20x42 N5 112 N Ø 55 k6 Ø 160 g6 Ø N max h Ø 215 L Ø N1 N4 Ø D F7 L5 TQ min D5 M6 M8 M8 M8 M10 M12 L L6 min max TQ N5 N3 356 min 412 max L Ø N D5 M6 M6 M8 M8 M8 M10 L L6 min max

20 TQ 160 TQ N N1 N3 N4 N5 L max 95A M8x A M8x A M10x A M14x A M14x A M14x A M14x TQ N N1 N3 N4 N5 L max 80A M6x A M8x A M8x B M8x A M10x A M14x A M14x A M14x For FM version contact us for overall dimensions. Please contact us for other motor adapters and input shaft bore! M n 2 M a 2 M p 2 n 1 n 1 max ϕ S ϕ R C t R 2max A 2 max η J G [kgcm 2 ] i [Nm] [Nm] [Nm] [min -1 ] [min -1 ] [arcmin] [N] [N] % TQ 160 1_ ' 2' TQ 160 1_ ' 2' TQ 160 1_ ' 2' TQ 160 1_ ' 2' TQ 160 1_ ' 2' TQ 160 2_ ' 3' TQ 160 2_ ' 3' TQ 160 2_ ' 3' TQ 160 2_ ' 3' TQ 160 2_ ' 3' TQ 160 2_ ' 3' TQ 160 2_ ' 3' TQ 160 2_ ' 3' TQ 160 2_ ' 3'

21 INDEX OF REVISIONS (R) TI_CAT_TQ_STD_ENG_R01_0 Description 4, 5 Sect 1.2 Selecting the gear unit : -Updated cycle factor (f z)values -Updated temperature adjusting factor (f T) calculation -Updated speed constant values (K n) - Modified gearbox selection method 6, 7 Sect 1.3 Service life of bearings : - Updated table with SB and HB values - Updated bearings calculation method 8 Sect. 2 Features of TQ series : - Updated output shaft diagram with SB and HB values 9 Sect. 3 Ordering code : - Introduced option low backlasch - Introduced option FM - Introduced option SB and HB Sect. 4 Dimensions and technical specifications : - Updated motor adapter name and dimensions - Updated performances values This publication supersedes and replaces any previous edition and revision. We reserve the right to implement modifications without notice. This catalogue cannot be reproduced, even partially, without prior consent. 20

22 TECHNOGEAR TQ features the highest performance when it comes to Torque, Robustness, Precision, and Accuracy This product range scores in every category...

23 TECHNOGEAR Precision Planetary Gearing Products We have your gearing solution covered. SIPCO Mechanical Linkage Solutions strives for continual customer satisfaction in the products and services we offer; delivering excellence, reliability, and performance you can count on.. SIPCO-MLS Galveston Rd. Webster, TX (T) (F)