Components for parallel kinematics Series GLK, GLAE Joints and struts form the core components of machines with parallel kinematics (PKM). Irrespective of the control technology possibilities, good mechanical characteristics remain indispensable. These essentially determine the achievable rigidity and accuracy. INA PKM components were developed in order to fulfil the requirements of the various areas of application. For the flexible linkage of the struts to the machine framework and the platform, INA offers cardanic joints with two or three degrees of freedom and ball joints whose design is matched to the area of application; for machine tools, these are high rigidity and documented accuracy, while for handling equipment large swivel angles and low mass are the primary requirements. The telescopic struts are now available as catalogue items in two proven series with stroke length scales. Depending on the application, either ball screw drives or planetary roller screws with various pitch values can be used. In short: the range offers improved cost-effectiveness for high precision movements through standardised sizes with numerous degrees of freedom. Naturally, individual customer solutions can also be designed as before. Proven design further improved 137 145 Market Information MAI 66
Components for parallel kinematics Ball joints with three degrees of freedom Cardanic joints with two or three degrees of freedom Ball joint Features Ball and cardanic joints Ball and cardanic joints for parallel kinematics: have, depending on their design, two or three degrees of freedom have very high rigidity and load carrying capacity are preloaded and thus clearance-free run smoothly and free from stick-slip have swivel angles appropriate to the design have a defined joint intersection point are sealed are greased using a special grease and can be relubricated. Ball joints are complete units comprising: a ball stud with an external thread, a ball socket with a centring device, a half-ball, a concave seal carrier and a 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 have three degrees of freedom have a swivel angle of 20, optionally up to 30 are coated with Corrotect. Cardanic joints are complete units comprising: a joint yoke with a centring device, a crosspin and preloaded, sealed radial and axial needle roller bearings have either two or three degrees of freedom the third degree is freedom is achieved by means of a radial/axial bearing combination in the head of the crosspin have maximum swivel angles in axis I up to 45 in axis II up to 90 in axis III up to 360. GLK half-ball with ground outer slideway for the seals, screw mounted to the ball socket concave seal carrier screw mounted to the ball stud by means of a locknut a full complement set of rolling balls hardened raceways for the rolling elements Cardanic joint GLK 2 GLK 3 GLK 2 with two degrees of freedom, GLK 3 with three degrees of freedom crosspin supported in the joint yoke by means of radial/axial bearings 107 464 107 468 2
Telescopic struts Telescopic strut Features GLAE Telescopic struts Telescopic struts for parallel kinematics: 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 and four linear ball bearing units KUVS can be fitted with INA ball and cardanic joints the joint type depends on the application and can be freely selected by the customer are fitted, depending on the required rigidity, with a ball screw spindle or a planetary roller screw the rigidity is defined in accordance with customer requirements the four-row axial angular contact ball bearing DKLFA allows high spindle speeds with maximum rigidity can support tensile and compressive forces are suitable for high feed speeds run extremely accurately, smoothly and free from stick-slip are clearance-free in all directions due to the high torsional rigidity of the linear guidance systms and the raceways ground on the surface of the sliding tube have a low mass due to the dimensioning of the components can be supplied with a Corrotect coating are produced with sliding tube diameters of 70 mm and 80 mm other sizes may be available by agreement allow, in conjunction with the ball and cardanic joints, compact designs with a reduced number of components. 107 358 internal thread or flange mounting in the sliding tube to support the ball or cardanic joints sliding tube with ground raceways for linear ball bearing units KUVS nut secured against rotation in the sliding tube 3
Basic load ratings for ball and cardanic joints Maximum load carrying capacity The maximum load carrying capacity P max of ball joints is shown in Figure 1. It depends on: the size of the joint the direction of the load (tensile/compressive load). KN 7 P max 6 Maximum load carrying capacity 3,5 3 F-232 386.1 (compressive) F-232 386.1 (tensile) F-232 956 (compressive) F-232 956 (tensile) Swivel angle up to 30 107 380 Figure 1 Maximum load carrying capacity P max Basic static load ratings for cardanic joints The basic static load ratings C 0 are shown in Figure 2. They depend on: the type of joint the swivel angle. The basic static load rating C 0 is only influenced by the swivel angle. The swivel angles and have no influence on the basic static load rating. Static load safety factor The static load safety factor S 0 must be 4! For other static load safety factors, INA must be consulted! C0 Load carrying capacity 70 KN 60 50 40 30 20 10 51 55,8 10 20 30 40 50 Swivel angle of axis F-232 919.1 / F-232 920.1 Figure 2 Basic static load ratings C 0 as a function of the swivel angle 107 381 4
Bearings for cardanic support Dimension table Dimensions in mm F-number Mass Dimensions Basic load ratings d D B radial kg dyn. C kn stat. C 0 kn 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 F-231091 F-233697 3 3 20 d 0,05 0,3 +0,7 D 0,010 0,3 +0,3 0,6 +04 F-232183 0,4 0,2 0,1 7 8 8 B 0,25 0,6 +1,4 +1 120 45 0,05 +1 20 20 20 15 0,01015 0,010 15 0,02 A 22,5 100% Supply with inspection certificate 1400,5 78 M501,5 14 +0,018 2M6 Threaded extraction hole 0,008 0,5 0,008 50 110 112 92 180 125 15 2 5 3 5 0,2 6 70,1 A 0,4 3M8 Threaded extraction hole Axial angular contact ball bearings F-231091, F-233697, coupling and swiveling bearing arrangement F-232183 8=360 13,50,2 107 465 5
Telescopic struts Series GLAE Dimension table Dimensions in mm Designation Diameter of sliding tube 3) Dimensions D 1 D 2 D 3 D 4 d 3 M A L min L 1 L 2 L 3 Stroke length Spindle diameter 0,015 h8 941 600 GLAE F-232220 70 70 130 90 120 30 1) 562 2) 1141 50 1) 85 1) 800 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. 1241 950 GLAE F-236437 80 80 170 130 130 45 1) 562 2) 1380 50 1) 98 1) 563 900 50 40 6
8=360 8=360 22,5 8=360 110 150 22,5 Retaining screw Retaining screw Retaining screw 11 +0,2 Hole pattern for GLAE F-232220 Hole pattern for GLAE F-236437 107 479 11 +0,2 0,1 107 480 Lmin L 3 L2 D1 D4 D2 D 3 d3 MA M816 50 H6 L 1 R 75 330 GLAE F-236437 107 467 7
Swivelling rotary/ cardanic joints with two degrees of freedom 82 45 J6 30 5 0,5 82 Series GLK 2 300,5 25 0,25 with three degrees of freedom 30 Series GLK 3 F-237169.1 with two degrees of freedom R20 107 470 Dimension table Dimensions in mm Designation F-number Mass Degrees of freedom 1) Measured and documented. 2) Basic load ratings: see diagram, page 4. 3) Ensure prior orientation. Swivel angle Fixing screws Lubrication nipple Basic load ratings Rigidity M 1 M 2 stat. C 0 C S kg NIP DIN 3 405 kn N/m GLK 3 F-237169 1 3 36090360 3) 4,2 50 GLK 2 F-237169.1 0,95 2 90360 3) 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 A-A 82 30 15 0,005 A C C ZM nut not included in delivery M351 12 B R24 53,3 0,02 1080,5 0,5 103 B (R46) 250,25 25 0,25 R25 R25 28 10 48 150,005 Centring hole type A to ISO 866-1975 660 =360 60 30 51 A 660 =360 60 B-B C-C 63 825 F-237169 with three degrees of freedom 107 469 8
90 M562 52 h6 Swivel angle 30 15 10 27 0 15 30 60 75 90 Swivel angle 107 361 107 477 Swivel angles and F-232920.1 with two degrees of freedom 90 M562 52h6 10 155 128* 6 6 90 90 73 45* 18 M2 M1 150 9 0,02 1) 12 H6 Centring connector Cylindrical roller 12 18 is supplied loose max. 2 85 70 F-232919.1 with three degrees of freedom 80 135 1) Flatness of adjacent surface * documented 107 476 9
Ball joint with three degrees of freedom Series GLK Dimension table Dimensions in mm Designation F-number Mass Degrees of freedom Swivel angle Dimensions Basic load ratings Rigidity H h 1 h 2) 2 h 3 h 4 h 5 h 6 D d 1 d 2 d 3 M a M b M c SA C 0 C s tensile kg H6 kn GLK F-232956 2,3 3 2020 360 144 35 35 35 20 19 10 70 40 32 6 M201,5 M171 M401,5 1) 5) 280 400 GLK F-232386.1 4,5 3 2020 360 185 40 50 44 30 21 10 90 55 45 6 M251,5 M251,5 M562 1) 5) 350 700 1) Rapid-fit cartridge for polyamide tube to DIN 73 378 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. C s compressive D Mb Mc d2 h5 h4 d3 3) h3 d 4) 3 H h 2 h 6 h 1 SA GLK Ma D d 1 107 353 10
Application example PKM machining centre 107 466 11
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