TQ-TQK-TR-MP LC-LCK-SL-KR Series. Precision Planetary Gearboxes

Transcription

1 TQ-TQK-TR-MP LC-LCK--KR Series Precision Planetary Gearboxes

2 OUR PRODUCTS AT A GLANCE PRODUCT INLINE RIGHT ANGLE PRODUCT LINE-UP CONFIGURATIONS HIGH PERFORMANCE NEW TQ NEW TQK Yes Yes Highest Precision & Performance High Speed Applications Highest Axial & Radial Load Capacities Quiet Operation Modular Design for your Needs Highest Precision & Performance High Speed Applications Highest Axial & Radial Load Capacities Quiet Operation Modular Design for your Needs Solid Shaft Solid Shaft HIGH POWER DENSITY PRECISION TR Yes Yes MP Yes Yes NEW LC Yes High Performance High Precision Modular Design for your Needs High Performance Medium Precision Modular Design for your Needs Flexible Economic Precision New High Torque Option Available Solid Shaft Hollow Bore Shaft Input Shaft Solid Shaft Hollow Bore Shaft Input Shaft Solid Shaft Input Shaft FLEXIBILITY NEW LCK NEW Yes Yes Flexible Economic Precision New High Torque Option Available Dynamic Belt Application Compactness Economic Precision New High Torque Option Available Solid Shaft Input Shaft Solid Shaft KR Yes Precision, Dynamics & Compactness at Unbeatable Price Solid Shaft Flange Shrink Disk 12

3 MAX. NOM. TORQUE MAX. ACC. TORQUE RATIO i TORQUE DENSITY TORSIONAL STIFNESS BACKLASH CONFIGURATIONS [Nm] [-] [arcmin] STANDARD 4-6 LOW STANDARD 5-7 LOW STANDARD 5-7 LOW STANDARD LOW STANDARD LOW STANDARD STANDARD 12 LOW STANDARD 8 13

4 SERVO GEARHEADS Motion applications require the use of planetary gearboxes to adapt speeds and torques, while ensuring precision demanded by the application. Bonfiglioli Riduttori has chosen to use planetary precision gearboxes with BMD range of permanent magnet synchronous motors. These gearheads combined with powerful drive electronics are designed for servo applications requiring highest standards in terms of dynamics, precision, robustness, durability and long term operation. An important requirement for automation applications is high torque capability in a compact and light package. This high torque density requirement (a high torque/volume or torque/weight ratio) is important for automation applications with changing high dynamic loads in order to avoid additional system inertia. 14

5 TECHNICAL INFORMATION

6 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 T2 EQU [Nm] Equivalent tilting moment applying on output shaft M T2 MAX [Nm] Maximum permissible 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 16

7 Values depending on the GEAR DRIVE SELECTION term u.m. definition A 2/3 max [N] Admissible axial force on output shaft A 2/3' 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 Factor ratio between axial and radial forse 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 T2 max [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 ϕ S [arcmin] [arcmin] Reduced backlash is calculated in static conditions and with the application of a torque equal to 2% of the gear unit rated torque Standard backlash is calculated in static conditions and with the application of a torque equal to 2% of the gear unit rated torque 17

8 1.2 SELECTING THE GEAR UNIT (a) Ratio i i = n 1 n 2 n 3 2(1) t 1 M 2(1) (b) Equivalent output torque M 2 EQU [Nm] M 2 EQU = n 2(1) 3 t 1 n 2(n) n 2(n) t n t n 3 M 2(n) (c) Equivalent output speed n 2 EQU [min -1 ] (d) Speed factor f n t n 1 + n 2(2) t t n 2 EQU = n 2(1) n 2(n) t If If K n 1 f n = 1 n 2 EQU i K n < 1 f n = Obtain from diagram n 2 EQU i (e) Temperature adjusting factor f T (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 f T T [ C] 2 (h) Cycle factor* f z (i) Maximum input torque M 1 PEAK [Nm] f z z [1/h] *For Z>6000 please contact us! a) maximum possible application torque b) limited motor torque by inverter c) maximum motor torque f n - speed factor f n K n n 2 EQU i 1 18

9 K n - speed constant i TQ 060 TQ 070 TQ 090 TQ 130 TQ i TQK 060 TQK 070 TQK 090 TQK 130 TQK i TR / MP TR / MP TR / MP TR / MP TR / MP TR / MP TR / MP * 500* 350* * 600* 350* * 150* 150* 1150* * 300* * * * i LC 050 LC 070 LC 070P LC 090 / LC 090P LC 120 / LC 120P LC 155 / LC 155P / / / / / / / / / / / / / / / / / / / / / i LCK 050 LCK 070 LCK 070P LCK 090 LCK 090P LCK 120 LCK 120P LCK 155 LCK 155P i / 090P 120 / 120P / / / / / / / / / / / / / / / i KR 010 KR 020 KR 030 KR In case of S1 duty the values marked with * reduce the averange service life of bearings. 19

10 M 2(1) Load diagram M 2(2) M 2: Output torque 0 M 2(3) [s] n 2(2) Speed diagram n 2: Output speed n 2(1) n) 2(3) n 2(1) = n 2(3) = 0.5 n 2(2) 0 t 1 t 2 t 3 t 4 [s] ED Estimate ratio i (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 gear unit Select a bigger unit Define f n (d) NO M 2 EQU f n M n 2 Select a smaller ratio YES NO n 2 EQU i n 1 f T (e) ED% 60% and ED 20 min YES ED% 60% or ED 20 min (f) (g) Z 1000 YES NO S1 duty S5 duty Define f Z (h) Select a bigger unit Define M 1 PEAK Define M 1 PEAK (i) Select a bigger unit NO M 1 PEAK i M a 2 M 1 PEAK i f Z M a 2 NO Select a bigger unit YES YES NO M 2 MAX M p 2 YES Check the external forces on output shaft 20

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12 1.3 SERVICE LIFE OF BEARINGS x R 2 y A 2 (a) Maximum radial force applying on output shaft R 2 MAX [N] Please consider the specific conditions Maximum axial force applying on output shaft A 2 MAX [N] (e.g. belt drives under acceleration torque) (b) Maximum tilting moment applying on output shaft M T 2 MAX [Nm] M T 2 MAX = R 2 MAX (x + L Z ) ± 1000 A 2 MAX y (c) Equivalent forces applying on output shaft 3 3 n 2(1) n 2(n) t n R 2(n) t 3 1 R 2(1) R 2 EQU [N] R 2 EQU = n 2(1) A 2 EQU [N] = A 2 EQU t 1 n 2(1) t 1 n 2(n) 3 3 n 2(1) t 1 A 2(1) n 2(n) t n A 2(n) t n n 2(n) t n (d) Equivalent tilting moment applying on output shaft M T 2 EQU [Nm] M T 2 EQU = R 2 EQU (x + L Z ) A 2 EQU n (e) Equivalent output speed n 2 EQU [min -1 ] n 2(1) t 1 + n 2(2) t n 2(n) t n 2 EQU = t 1 + t t n (f) Bearings' basic rating life L 10h [h] L = C B 10h n 2 EQU M T 2 EQU p y TQ / TQK 060 TQ / TQK 070 TQ / TQK 090 TQ / TQK 130 TQ / TQK 160 SB SB HB SB HB SB SB L Z [mm] M T 2 max [Nm] C B [Nm] p TR 053 TR 060 TR 080 TR 105 TR 130 TR 160 TR 190 SB SB SB SB SB SB SB L Z [mm] M T 2 max [Nm] C B [Nm] p MP 053 MP 060 MP 080 MP 105 MP 130 MP 160 MP 190 SB SB SB HB SB HB SB SB SB L Z [mm] M T 2 max [Nm] C B [Nm] p LC / LCK 050 LC / LCK / 070 LC / LCK / 090 LC / LCK / 120 LC / LCK 155 L Z [mm] M T 2 max [Nm] C B [Nm] p

13 Select a bigger unit Define R 2 MAX and A 2 MAX (a) NO A 2 MAX R 2 MAX A 2 max R 2 max YES Select a bigger unit Calculate M T 2 MAX (b) NO M T 2 MAX M T 2 max YES Please contact us Define R 2 EQU and A 2 EQU (c) NO A 2 EQU R 2 EQU YES f Calculate M T 2 EQU (d) Define n 2 EQU (e) Select a bigger unit Calculate lifetime L 10h (f) NO L 10h L 10h TARGET YES Calculation of bearings lifetime complete f TQ / TQK TR MP LC / LCK KR SB SB 053 SB SB 053 SB SB 050 SB SB 070 SB SB 010 SB SB SB ; 160 SB 070 HB ; 090 HB 080 SB SB 130 SB SB 080 HB ; 105 HB 020 HB HB 23

14 New PLANETARY PRECISION GEARBOX FOR PULLEY DRIVES - Planetary precision gearbox for pulley drives Series knows no rivals in compactness, efficiency and optimization for timing belt pulley drive systems. This series is the ideal complement to conveyor belt servo-drives and all other applications needing to combine high precision with ultra-compact size. Improved Performance as the key to downsizing Enhanced performance of our precision gearbox (New P option) may open up important downsizing in many applications where previously was impossible to ensure a higher transmissible output torque. As an additional benefit, downsizing lead to an improvement of energy efficiency by selecting a more compact gearbox with higher torque density and reducing significantly the acceleration mass. Transmissible torque is now improved up to 40%. Product Line Up: High Torque Density Option P available to extend Product Performance Higher Acceleration and Nominal Torques Higher Radial and Axial Load Capacities Designed for Cyclic and Continuous Duty Higher Torsional Stiffness Geometrical Backlash less than 6 arcmin Optionally available with a Timing Belt Pulley. Quiet Running Universal Design allow any Mounting Orientation 177

15 8 FEATURES OF NEW SERIES The new Series from Tecnoingranaggi knows no rivals in compactness, efficiency and optimisation for timing belt pulley drive systems. Reduced backlash units from the Series are the ideal complement to conveyor belt servo-drives and all other applications needing to combine high precision with ultra-compact size. Available with either standard (STD) or reduced (LOW) backlash: 1-stage units: standard ϕ S 12 ; reduced ϕ R 6 2-stage units: standard ϕ S 15 ; reduced ϕ R 8 A high IP rating (IP64) provides inner parts with protection against the ingress of dust and liquids. Input section oil seals made from a Fl oroelastomer compound are supplied as standard. Noise pressure level L P 70 db(a). Conditions: distance 1 m; measured without load an input speed of n 1 = 3000 min- 1 ; i=10. Units are factory packed with synthetic grease to NLGI consistency class 00, in the absence of contamination the lubricant requires no periodical changes. Ambient temperature min -20 C, max +30 C. For temperature higher than 30 C please consider derating factor ft. Housing temperature must not exceed T max = 90 C. Available as Version P with higher output Torque. Distribution of nominal torque M n2 [Nm] [i] P P P Output shaft max. loading capacity Available motor shaft bores R 2 max [N] ø [mm] 178

16 8.1 ORDERING CODE STD 80A CD 19 YP UH1 LUBRICANT UH1 standard food grade synthetic lubricant PULLEY FOR TIMING BELT YP pulley provided NP pulley not provided INPUT SHAFT BORE MOTOR COUPLING CD clamping device INPUT SECTION 25AH A1 motor adapter FM without motor adapter BACKLASH 1 reduction 2 reductions STD LOW ϕ S 12' ϕ S 15' ϕ R 6' ϕ R 8' GEAR RATIO REDUCTIONS 1 2 FRAME SIZE P 090P 120P SERIES 179

17 Ø N DIMENSIONS AND TECHNICAL SPECIFICATIONS 070 N5 54 AT05 0 Ø 8 N3 51 p = 5 mm z = 43 Ø 5.5 x5 L3 5.5 Ø x Ø 68 h7 F7 Ø 68 h7 Ø 59 Ø 46 Ø 65 Ø 67.5 Ø 71 N2 YP Ø 6 10 ( 070 1) 26.7 ( 070 2) ( 070 1) ( 070 2) min max N N1 N2 N3 N5 L max min max 25AH AH AH AH AH AH AH AH AH B M4x B M4x A M4x B M5x BH C M4x MH A M5x A M5x B M5x C M5x A M6x B M5x A M5x A M6x Please contact us for other motor adapters and input shaft bore. 180

18 2 Ø N Ø 9 x4 N3 N5 L3 R Ø 82 Ø 68 h7 F7 M5 M5 12 Ø 6 H7 Ø 25 g4 Ø 58 Ø 68 h7 N2 Ø ( 070 1) 26.7 ( 070 2) min max NP 78.2 ( 070 1) 94.9 ( 070 2) FM 3 D1 D2 D3 D4 D5 L1 L2 L3 L4 L M4x8 M M4x8 M M4x8 M M4x8 M 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] % _ ' 6' _ ' 6' _ ' 6' _ ' 6' _ ' 6' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' * Applies for timing belt application

19 Ø N AT10 0 p = 10 mm z = 28 Ø 15 Ø 6.6 x7 N3 N5 L Ø x Ø 88 h7 F7 Ø 88 h7 Ø 75 Ø 50 Ø 82.5 Ø 87.5 Ø 95 YP Ø 8 12 ( 090 1) 36.8 ( 090 2) ( 090 1) ( 090 2) N N N1 N2 N3 N5 L max 40B M4x A M4x B M5x BH C M4x D M6x A M6x A M5x AH B M5x C M5x A M6x AH B M5x A M5x A M6x A M8x B M8x A M8x B M8x B M8x Please contact us for other motor adapters and input shaft bore. 182

20 2 Ø N Ø 31 Ø 11 x4 92 Ø Ø 88 h7 F7 N3 N5 12 ( 090 1) 36.8 ( 090 2) L R M6 M Ø 8 H7 Ø 40 g4 Ø 74 Ø 88 h7 N2 NP 90.3 ( 090 1) ( 090 2) FM 3 D1 D2 D3 D4 D5 L1 L2 L3 L4 L M6x10 M M6x10 M M6x10 M M6x10 M 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] % _ ' 6' _ ' 6' _ ' 6' _ ' 6' _ ' 6' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' * Applies for timing belt application

21 Ø N AT20 0 p = 20 mm z = 19 Ø 20 Ø 9 x7 N3 N5 L Ø x Ø 118 h7 F7 Ø 118 h7 Ø 102 Ø 70 Ø 109 Ø Ø 131 YP Ø 8 20 ( 120 1) 52.5 ( 120 2) ( 120 1) ( 120 2) N N N1 N2 N3 N5 L max 50D M6x A M6x A M5x AH B M5x A M6x AH B M5x A M6x AH A M8x A M8x B M8x A M8x A M8x B M8x B M8x A M10x A M10x Please contact us for other motor adapters and input shaft bore. 184

22 2 Ø N Ø 13 x4 Ø Ø 118 h7 F7 N3 N5 L3 R M8 Ø 8 H7 Ø 50 g4 Ø 100 Ø 118 h7 Ø ( 120 1) 52.5 ( 120 2) ( 120 1) ( 120 2) 4.2 N2 NP FM 3 D1 D2 D3 D4 D5 L1 L2 L3 L4 L M6x15 M M6x15 M M6x15 M M6x15 M M6x15 M 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] % ; ; _ ' 6' _ ' 6' _ ' 6' _ ' 6' _ ' 6' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' _ ' 8' * Applies for timing belt application

23 Ø N 1 070P N5 54 AT05 0 Ø 8 N3 51 p = 5 mm z = 43 Ø 5.5 x5 L3 5.5 Ø x Ø 68 h7 F7 Ø 68 h7 Ø 59 Ø 46 Ø 65 Ø 67.5 Ø 71 N2 YP Ø 6 10 ( 070P 1) 26.7 ( 070P 2) ( 070P 1) ( 070P 2) min max 070P P N N1 N2 N3 N5 L max min max 25AH AH AH AH AH AH AH AH AH B M4x B M4x A M4x B M5x BH C M4x MH A M5x A M5x B M5x C M5x A M6x B M5x A M5x A M6x Please contact us for other motor adapters and input shaft bore. 186

24 2 Ø N 1 070P Ø 9 x4 N3 N5 L3 R Ø 82 Ø 68 h7 F7 M5 M5 12 Ø 6 H7 Ø 25 g4 Ø 58 Ø 68 h7 N2 Ø ( 070P 1) 26.7 ( 070P 2) min max NP 78.2 ( 070P 1) 94.9 ( 070P 2) FM 3 D1 D2 D3 D4 D5 L1 L2 L3 L4 L M4x8 M M4x8 M M4x8 M M4x8 M 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] % P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' * Applies for timing belt application

25 Ø N 1 090P AT10 0 p = 10 mm z = 28 Ø 15 Ø 6.6 x7 N3 N5 L Ø x Ø 88 h7 F7 Ø 88 h7 Ø 75 Ø 50 Ø 82.5 Ø 87.5 Ø 95 YP Ø 8 12 ( 090P 1) 36.8 ( 090P 2) ( 090P 1) ( 090P 2) N2 090P P N N1 N2 N3 N5 L max 40B M4x A M4x B M5x BH C M4x D M6x A M6x A M5x AH B M5x C M5x A M6x AH B M5x A M5x A M6x A M8x B M8x A M8x B M8x B M8x Please contact us for other motor adapters and input shaft bore. 188

26 2 Ø N 1 090P Ø 31 Ø 11 x4 92 Ø Ø 88 h7 F7 N3 N5 12 ( 090P 1) 36.8 ( 090P 2) L R M6 M Ø 8 H7 Ø 40 g4 Ø 74 Ø 88 h7 N2 NP 90.3 ( 090P 1) ( 090P 2) FM 3 D1 D2 D3 D4 D5 L1 L2 L3 L4 L M6x10 M M6x10 M M6x10 M M6x10 M 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] % P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' * Applies for timing belt application

27 Ø N 1 120P AT20 0 p = 20 mm z = 19 Ø 20 Ø 9 x7 N3 N5 L Ø x Ø 118 h7 F7 Ø 118 h7 Ø 102 Ø 70 Ø 109 Ø Ø 131 YP Ø 8 20 ( 120 1) 52.5 ( 120 2) ( 120 1) ( 120 2) N2 120P P N N1 N2 N3 N5 L max 50D M6x A M6x A M5x AH B M5x A M6x AH B M5x A M6x AH A M8x A M8x B M8x A M8x A M8x B M8x B M8x A M10x A M10x Please contact us for other motor adapters and input shaft bore. 190

28 2 Ø N 1 120P Ø 13 x4 Ø Ø 118 h7 F7 N3 N5 L3 R M8 Ø 8 H7 Ø 50 g4 Ø 100 Ø 118 h7 Ø ( 120P 1) 52.5 ( 120P 2) ( 120P 1) ( 120P 2) 4.2 N2 NP FM 3 D1 D2 D3 D4 D5 L1 L2 L3 L4 L M6x15 M M6x15 M M6x15 M M6x15 M M6x15 M 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] % ; ; P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 1_ ' 6' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' P 2_ ' 8' * Applies for timing belt application