High Speed Automation HZR Series za30

Transcription

1 zla5 HZR Series za3 Features Designed as a vertical axis unit Load lifting capacities up to 15 kg Velocity up to 1 meters/sec. Positional repeatability of ±,2 mm Torsion-resistant housing Roller wheel bearings for smooth vertical motion High vertical acceleration The HZR is a rugged vertical axis unit unique to the high speed automation industry. It is specifically designed to satisfy the mechanical demands placed on the vertical axis of a multi-axis gantry robot utilized for high throughput lifting and transporting of heavy or bulky loads. The payload is supported by a high strength extruded aluminum profile which is lifted and guided through a torsion-resistant cast aluminum housing. Maintenance-free, heavy duty polyamide bearing wheels evenly distribute and support the high forces induced by rapid horizontal acceleration of the load. A wear-free, steel cord reinforced timing belt transmits large traction forces to provide high accelerations and lifting capability in the vertical direction. Typical Fields of Application Materials handling: palletization, feeding, removal Textile machinery building: crosscutting, slitting and stacking, quilting, seam stitching Process engineering: painting, coating, bonding Storage technology: commissioning, inventory Machine tool building: workpiece loading, tool changing Testing technology: guiding ultrasonic sensors C62

2 HZR Series Specifications Characteristic Units HZR5 HZR8 HZR1 P(Standard) E(Extended) Unit Weight Basic Unit (based on 1 meter travel) kg (lb) 15,3 (33.73) 17,2 (37.92) 37 (81.8) 6 (132.3) Weight of additional length kg/m (lb/ft) 2,9 (1.95) 2,9 (1.95) 7,4 (4.9) 1,2 (6.85) Moment of Inertia (based on 1 meter travel) Inertia reflected to drive pulley kg-cm 2 (lb-in 2 ) 66,11 (22.58) 66,51 (22.72) 25 (85.4) 357 (122.) Travel and Speed 1 Maximum Speed m/s (in/s) 5 () 5 () 5 () 5 () Maximum Acceleration m/s 2 (in/s 2 ) 5 (197) 5 (197) 1 (393) 1 (393) Maximum Travel m (in) 1,5 (59.1) 1,5 (59.1) 1,5 (59.1) 2, (78.7) Geometric Data Cross Section (square profile) mm (in) 5 (1.97) 5 (1.97) 8 (3.2) 1 (3.9) Moment of Inertia I x cm 4 (in 4 ) 29,9 ( ) 29,9 ( ) 187,1 (4.5) 383,3 (9.2) Section Modulus, W cm 3 (in 3 ) 29,9 ( ) 29,9 ( ) 46,7 (2.85) 76,6 (4.67) Pulley Data, Torques, Forces Travel Distance per Revolution mm/rev (in/rev) 18 (7.9) 18 (7.9) 24 (9.45) 24 (9.45) Pulley Diameter mm (in) 57,3 (2.26) 57,3 (2.26) 76,4 (3.1) 76,4 (3.1) Maximum Drive Torque Nm (lb-in) 47 (416.3) 47 (416.3) 18 (956.7) 168 (1488.1) Static Load kg (lb) 45 (99.2) 45 (99.2) 75 (165) 15 (331) Maximum Belt Traction (effective load) N (lb) 1654 (371.8) 1654 (371.8) 2822 (635) 441 (992) Repeatability mm (in) ±,2 (±.8) ±,2 (±.8) ±,2 (±.8) ±,2 (±.8) 1 For higher speeds, accelerations or longer travel consult Daedal Application Engineering for assistance. C63

3 HZR Series Performance Curves Force and Moment Loading Z Y Extension Loads X Z Y M y F y M x F x L X The software package (DimAxes) is available for determination of precise carriage loading. Visit to request a Gantry Robot CD. M z F z F YE F XE Force, N 1,8 1,6 1,4 1, 1, F l = F y (P) F l = F y (E) Force vs. Speed E - Extended guiding P - Standard guiding F Z Speed, m/sec HZR5 Series Force, N M y (E) M l (E) M l (P) M y (P) M z (E) 5 M z (P) Moment Load vs. Speed E - Extended guiding P - Standard guiding Speed, m/sec Force, N F y = F y (E) F x = F x (P) HZR5 Series Force vs. Extended Length E - Extended guiding P - Standard guiding Length, mm 3,6 (81) Force vs. Speed HZR8 Series 6 (442.5) Moment Loads vs. Speed 1, (215) HZR8 Series Force vs. Extended Length 3, (675) 2,4 (54) 1,8 (45) 1, (27) 6 (135) F x Fy F z Moment, Nm (ft-lb) 48 (354.) 36 (265.5) 24 (177.) 12 (88.5) M x Mz My HZR 1 HZR 8 8 (16) 6 (135) 4 (9) (45) F XE F YE (39.4) (78.7) (118.1) (157.4) (196.8) (39.4) (78.7) (118.1) (157.4) (196.8) , 1,25 (9.9) (19.7) (29.6) (39.4) (49.2) Length, mm (in) 7, (1,575) Force vs. Speed HZR1 Series 1,4 (1,32.5) Moment Loads vs. Speed M y 2,5 (562) HZR1 Series Force vs. Extended Length 5,6 (1,26) 1,12 (826.) 2, (45) 4, (945) 2,8 (63) 1,4 (315) F z Fx = Fy Moment, Nm (ft-lb) 84 (619.5) 56 (413.) 28 (26.5) M z M x 1,5 (337) 1, (225) 5 (112) F YE F XE (39.4) (78.7) (118.1) (157.4) (196.8) (39.4) (78.7) (118.1) (157.4) (196.8) , 1,5 1,875 (14.7) (29.5) (44.2) (59.) (73.8) Length, mm (in) C64

4 Total Length = Travel (1) (16) (1) (14) 6 - M4 Thread depth.24 (6) ,2) (146,2) (136 (16) -,6) 5.51 (14) 6.22 (158) (5) (3) M4 Thread Through (3) Motor Cable Encoder Cable 1.38 (35) 1.77 (45).12 (3).295 (7.5).98 (25) Dia. HZR Series Dimensions (mm) CAD Files... Download from daedalpositioning.com HZR5 Series 7.5 7mm dia (1) Profile cross section mm dia. Stroke 8.5 mm dia (1) HZR8 Series HZR1 Series 6.8 mm thru hole available for M8 tap 4 8 sq Cross Section of Profile (enlarged to show detail) mm thru hole available for M8 tap Sq M8 Mounting Holes Motor (typical) Tension Adjustment Station sq Cross Section of Profile (enlarged to show detail) Ø typ. 75 typ M1 (16 Places) Motor (typical) Tension Adjustment Station Total Length = Travel Total Length = Travel Travel 35 M8 x 2 DP (4 plcs) Mounting Surface (adaptor plates available per application) Travel 4 M8 x 2 DP (4 plcs) Mounting Surface (adaptor plates available per application) C65

5 HZR5 & HZR8 Series How to Order Model Series HZR5 HZR8 Table Travel xxxx... Mounting Flange Options xxxx xxxx = (mm) HZR8 mtg.to (2) HLE1 ( C L to C L 31mm) HZR8 mtg.to (2) HLE1 ( C L to C L 36mm) HZR8 mtg.to (2) HLE1 ( C L to C L 4mm) No Mounting Flange... Drive Station Interface (HZR8 only) A B C D HZR5 mtg.to (2) HLE8 HZR5 mtg.to (2) HLE1 HZR5 mtg.to (2) HLE15 Housing machined to accept 92 mm gearbox Housing machined to accept 115 mm gearbox SP SP1 Orientation Options Gearbox Right... ARO Gearbox Left... ALO Gear Reducer with Motor Mounting Flange No Reducer... Customer Supplied Reducer... PRN-92 (HDY92/NO92/JO92)... WPL9 (HDY92/NO92/JO92)... UTN-92 (JO921/JO922)... PRN-92 (Universal Flange)... WPL9 (Universal Flange)... UTN-92 (Universal Flange)... PRN-115, Daedal Option (HDY115)... GAA GABnn GZAJnn GAKnn GZAYnn GZSCnn GSDnn GZSEnn GZAMnn ** WPL115 (HDY115)... GAPnn ** PRN-115, Daedal Option (HDY142C6)... PRN-115, Daedal Option (RS43C)... PRN-115, Daedal Option (Universal Flange)... GZAXnn ** GZBCnn ** GZSFnn ** WPL115 (Universal Flange)... GSGnn ** UTN-115, Daedal Option (Universal Flange)... GZSJnn ** *In-line single stage ratios: 3:1, 5:1, 8:1, 1:1 In-line dual stage ratios: 15:1, 25:1 Right angle ratios: 5:1, 8:1, 1:1 Motor Option*** No Motor... M Customer Supplied M1 HDY92E4-44S... M26 HDY115A6-88S... M28 HDY115C6-88S.. M29 RE42CSK1... M36 ***Zeta stepper motors equipped with 3 meter cable. Servo motor cables not included (ordered separately). HDY7C4-44S... NO74FR-NMSN... NO342FR-NMSN... NO72FE-NTQN... NO342FE-NTQN... J921GR-NMSN... Extended Option 16 additional rollers (HZR5 only)... **HZR8 only M38 M39 M4 M41 M42 M43 E HZR8 (Check Dimensions for Compatibility) (Check Dimensions for Compatibility) Order Example xxxx A SP1 ALO GZAJnn M46 F G H J922JR-NMSN... J923KR-NMSN... J921GE-NMSN... J922JE-NMSN... J923KE-NMSN... M44 M45 M46 M47 M48 E C66

6 HZR1 Series How to Order Model Series... Table Travel xxxx... Mounting Flange Options Mounting to HLE1, Center to Center 36 mm Mounting to HLE15, Center to Center 4 mm No Mounting Flange... Drive Station Interface Housing machined to accept 115 mm gearbox Orientation Options Gearbox Right... Gearbox Left... Gear Reducer with Motor Mounting Flange No Reducer... Customer Supplied Reducer... PRN-115, Daedal Option (HDY115)... WPL115 (HDY115)... PRN-115, Daedal Option (Universal Flange)... WPL-115 (Universal Flange)... UTN-115, Daedal Option (Universal Flange)... *In-line single stage ratios: 3:1, 5:1, 8:1, 1:1 In-line dual stage ratios: 15:1, 25:1 Right angle ratios: 5:1, 8:1, 1:1 Motor Option* No Motor... Customer Supplied... HDY115A6-88S... HDY115C6-88S... J921GR-NMSN... J922JR-NMSN... J923KR-NMSN... J921GE-NMSN... J922JE-NMSN... J923KE-NMSN... *Zeta stepper motors equipped with 3 meter cable. Servo motor cables not included (ordered separately). HZR1 xxxx A C D SP ARO ALO GAA GABnn GZAMnn GZAPnn GZSFnn GZSGnn GZSJnn MO M1 M28 M29 M43 M44 M45 M46 M47 M48 HZR1 xxxx = (mm) (Check dimensions for compatibility) Order Example xxxx A SP ALO GZAMnn M29 C67