GPL Series Robotic Planetary Gearboxes

Transcription

1 GPL Series Robotic Planetary Gearboxes Robotic Planetary Gearboxes GM s GPL Series Robotic Planetary Gearboxes provide the lowest backlash and high tilting rigidity for horizontal and vertical robotic and motion control applications. With a backlash of 0.1 arcmin, the GPL Series can be considered a zero backlash gearbox Best-in-the-market torsional rigidity for 0.6 arcmin lost motion Patented design guarantees the backlash will not increase over the life time of the gearbox Industry-accepted proven performance Seven sizes with nominal output torque of 445 to 3505 Nm and ratios of 50:1 to 200:1 Flanged solid shaft output or flanged hollow shaft output (up to 75 mm through hole) Integrated motor adapter plate ready to mount your motor GPR with right angle input available - contact GM With seven sizes, two output options, and ratios up to 200:1, there is a GPL for your application. Features Zero Backlash 0.1 arcmin Lowest lost motion 0.6 arcmin High torsional rigidity Patented self-adjusting backlash system High torque density Nm/kg Fully-loaded life 20,000 operating hours Efficiency > 90% Quiet < 70 db High output, acceleration and emergency stop torque Superior tilting and torsional stiffness Low vibration Lowest breakaway torque Standard mineral oil Low operating temperature Low moment of inertia Compact design, low weight Input with Integrated motor adapter and clamp Benefits Highest precision for your application Superior accuracy even with low torque Constant precision throughout the entire lifetime Smaller gearbox, lighter overall system Longer lifetime, reduced maintenance costs Lower power consumption, smaller motor Reduced workplace noise exposure More security for your application llows precise positioning High repeatability Better control of the overall system Reduced lubrication cost Longer component and lubricant life Excellent dynamic performance Lighter overall design Ready to mount your motor 2 For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings

2 GPL Series Robotic Planetary Gearboxes Design Features Ground gears for lowest backlash with high repeatability, low noise and high transmission accuracy Planetary 2nd stage Main Bearing supports high external loads Output flange for high torsional and tilting stiffness Conical Spur Gear Zero-backlash 3rd stage Integrated helical input stage for high input ratios and high input speeds Superior Performance The GPL Series provides superior performance compared to cycloidal gearboxes Feature GM Planetary Cycloidal Backlash Torque <0.1 arcmin, remains constant throughout the lifetime of the gearbox Torque of the gearbox rated with output speed n2=15 rpm Backlash can increase after approximately one year, requiring adjustment Some published torques rated for output speed of n2=5 rpm Service Life 20,000 operating hours 6,000 hours Efficiency >90% >85% Power Density Duty Cycle Highest power density (Nm/kg) in comparison to other manufacturers gearboxes S1 (continuous) duty cycle is possible as the teeth are in contact immediately when operation starts; high input speeds up to 6600 rpm are possible. Lower input speeds per published catalog values For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings 3

3 GPL Series Robotic Planetary Gearboxes pplications The GPL Series can be used in a variety of applications where zero-backlash, high tilting and torsional rigidity, and long life are required. With the large output mounting flange, through-hole option, and servo-ready mount, the GPL is ideal for many robotic and motion control applications: Robots Handling systems Tool changers Positioning Rack & pinion Pick & place Turntables and many more Industries The GPL Series is ideal for many industries including: Robotics utomation Packaging Machines Machine tool builders Turntables Printing industry Welding Systems Medical Navigation and many more Motion Control Robotics Precision Turntable driven by GPL Planetary Gearbox rticulated Robot with GPL Planetary Gearbox in the base 4 For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings

4 GPL Series Robotic Planetary Gearboxes GPL Series Models GPL-F Solid Shaft Output with Flange GPL-H Hollow Shaft Output with Flange Mass Moment of Inertia at Input GPL-F GPL-F-056 GPL-F-080 GPL-F-112 GPL-F-160 GPL-F-224 GPL-F-300 GPL-F-400 Mass Moment of Inertia (kgcm 2 ) 50: : : : : : : GPL-H GPL-H-056 GPL-H-080 GPL-H-112 GPL-H-160 GPL-H-224 GPL-H-300 GPL-H-400 Mass Moment of Inertia (kgcm 2 ) 35.5: : : : : : : For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings 5

5 GPL-F Exact Ratio Nominal GPL-F-056 GPL-F-080 GPL-F-112 GPL-F-160 GPL-F-224 GPL-F-300 GPL-F / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / /125 Permanent Output Torque Nm ,480 1,850 2,325 3,435 4,495 Nominal Output Torque1a Nm ,165 1,450 1,820 2,690 3,505 cceleration Torque1b Nm 625 1,075 1,630 2,030 2,550 3,765 4,905 Emergency Stop Torque1c Nm 1,545 2,530 3,780 4,800 6,090 8,990 11,980 Output Running Friction (Drag) Nm Breakaway Torque Nm x running friction torque (depends on size, mounting position, oil level and operating temperature) Max. Output Speed 3 rpm Permissible verage Input Speed 4 rpm 4,000 3,500 3,500 3,500 3,000 2,500 2,000 Maximum Input Speed3 rpm 6,000 5,000 5,000 5,000 4,500 4,000 3,500 Permanet Bending Moment 2a Nm 1,070 1,280 2,410 2,750 3,060 4,800 6,080 Emergency Stop Bending Moment Max1c Nm 3,645 4,345 5,910 7,800 9,280 11,410 13,750 Tilting Stiffness Nm/arcmin 1,170 1,560 2,230 2,300 2,620 5,490 6,260 Torsion Stiffness5 Nm/arcmin ,130 1,350 Max. xial Force (Static)2b kn Max. Radial Force (Static)2c kn Max. xial Force (Dynamic)2b kn Max. Radial Force (Dynamic)2c kn Power Density Nm/kg Weight kg Backlash Lost Motion ngular Transmission cccuracy 0.1 arcmin 0.6 arcmin 50 arcsec Efficiency Under Full Load 90% Service Life Noise Lubrication 1a) 12 million times during lifetime 1b) 6 million times during lifetime 1c) 3,000 times during lifetime Note: Calculations based on output speed n2 = 15 rpm 2a) Permanent tilting moment for load case Fa =0 and Fr = 0 2b) Max axial force for load case permanent tilting moment = 0 and Fr = 0 2c) Max radial force for load case permanent tilting moment = 0 and Fa = 0 20,000 hours <70 db Mineral Oil 3) Higher input speeds possible 4) t nominal torque and 20 C ambient temperature 5) t 50% to 100% nominal torque 6 For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings

6 GPL-H Exact Ratio Nominal GPL-H-056 GPL-H-080 GPL-H-112 GPL-H-160 GPL-H-224 GPL-H-300 GPL-H / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / Permanent Output Torque Nm Nominal Output Torque1a Nm cceleration Torque1b Nm Emergency Stop Torque1c Nm Max. Output Speed 3 rpm Output Running Friction (Drag) Nm Breakaway Torque Nm x running friction torque (depends on size, mounting position, oil level and operating temperature) Permissible verage Input Speed 4 rpm Maximum Input Speed3 rpm Permanet Bending Moment 2a Nm Emergency Stop Bending Moment Max1c Nm Tilting Stiffness Nm/arcmin Torsion Stiffness5 Nm/arcmin Max. xial Force (Static)2b kn Max. Radial Force (Static)2c kn Max. xial Force (Dynamic)2b kn Max. Radial Force (Dynamic)2c kn Power Density Nm/kg Weight6 kg Backlash Lost Motion ngular Transmission cccuracy 0.1 arcmin 0.6 arcmin 50 arcsec Efficiency Under Full Load 90% Service Life Noise Lubrication 1a) 12 million times during lifetime 1b) 6 million times during lifetime 1c) 3,000 times during lifetime Note: Calculations based on output speed n2 = 15 rpm 2a) Permanent tilting moment for load case Fa =0 and Fr = 0 2b) Max axial force for load case permanent tilting moment = 0 and Fr = 0 2c) Max radial force for load case permanent tilting moment = 0 and Fa = 0 20,000 hours <70 db Mineral Oil 3) Higher input speeds possible 4) t nominal torque and 20 C ambient temperature 5) t 50% to 100% nominal torque 6) Weight vary depending on input and ratio For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings 7

7 GPL-056 Dimensions GPL-F x M8 12[0.4724] h h H x THRU DETIL [3.63]* GPL-H x M10 15[0.5906] h h H H x M4 8 [0.3150] EQULLY SPCED x THRU DETIL [3.63]* 8 For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings

8 GPL-080 Dimensions GPL-F h8 16 x M8 13[0.5118] h H x THRU DETIL [3.63]* GPL-H h x M10 15[0.5906] h H H [0.2953] x M5 9[0.3543] x THRU 9.5 [0.374] DETIL [3.63]* For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings 9

9 GPL-112 Dimensions GPL-F x M10 15[0.5906] h h H x THRU DETIL [3.563]* GPL-H TYP x M12 18[0.7087] [0.315] h h H H x M4 6.5[0.2260] EQULLY SPCED [0.3937] DETIL 12 x THRU [3.563]* 10 For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings

10 GPL-160 Dimensions GPL-F x M10 18[0.7087] h h H [0.187] 1 [0.0394] x THRU [0.0394] DETIL [3.612]* GPL-H X M [0.8563] h h H H [0.3248] x M5 12[0.4724] EQULLY SPCED x THRU 10 [0.3937] DETIL [3.612]* For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings 11

11 GPL-224 Dimensions GPL-F x M [0.7776] h h H [0.2362] x THRU 1 [0.0394] DETIL [3.602]* GPL-H x M [0.7776] h h H7 9 [0.3543] H [0.4134] DETIL x M5 12[0.7424] EQULLY SPCED x THRU [3.602]* 12 For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings

12 GPL-300 Dimensions GPL-F x M12 20[0.7874] h h H [0.0984] THRU 1 [0.0394] 8.25 [0.3248] DETIL [4.606]* GPL-H x M12 20[0.7874] h h x M6 12[0.4724] EQULLY SPCED x THRU H H7 10.5[0.4134] [4.606]* For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings 13

13 GPL-400 Dimensions GPL-F x M12 20[0.7874] [0.0787] h h H x THRU 1.25 [0.0492] 7.5 [0.2953] DETIL [4.488]* GPL-H x M16 28[1.1024] h h H H [0.3549] [0.4331] 10 x M6 12[0.4724] EQULLY SPCED x THRU DETIL [4.488]* 14 For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings

14 GPL Series Type Code GPL Mounting Position U = Output Up Output Vertical D = Output Down N = North/12:00 Output Horizontal W = West/9:00 E = East/3:00 S = South/6:00 TYPE CODES FOR GPL SERIES Example: GPL - F S - M H C0000 Gearbox Series GPL = Inline GPR = Right ngle Gearbox Style F = Solid Flange Output H = Hollow Flange Output Gearbox Size 056, 080, 112, 160, 224, 300, 400 Ratio F Style = 050, 063, 080, 100, 125, 160, 200 H Style = 036 (35.5), 045, 056, 071, 090, 125, 132 (131.5) Configuration Code ssigned by GM Output Code ssigned by GM Motor Code ssigned by GM Mounting Position Output Vertical: U = Output Up D = Output Down Output Horizontal: N = Input North/12:00 S = Input South/6:00 E = Input East/3:00 W = Input West/9:00 For more information, call us toll-free at 888-GM-7117 Visit for 2-D and 3-D Drawings 15