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Market Information MAI 66
Prov
endesig
n
furth
erimpr
oved
Components for parallel kinematicsSeries GLK, GLAE
Joints and struts form the core components of machineswith parallel kinematics (PKM). Irrespective of the controltechnology possibilities, good mechanical characteristicsremain indispensable. These essentially determine theachievable rigidity and accuracy. INA PKM components weredeveloped in order to fulfil the requirements of the variousareas of application.
For the flexible linkage of the struts to the machine frameworkand the platform, INA offers cardanic joints with two or threedegrees of freedom and ball joints whose design is matched tothe area of application; for machine tools, these are high rigidityand documented accuracy, while for handling equipment largeswivel angles and low mass are the primary requirements.
The telescopic struts are now available as catalogue items intwo proven series with stroke length scales. Depending onthe application, either ball screw drives or planetary rollerscrews with various pitch values can be used.
In short: the range offers improved cost-effectiveness forhigh precision movements through standardised sizes withnumerous degrees of freedom. Naturally, individual customersolutions can also be designed as before.
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Componentsfor parallel kinematicsBall joints
with three degrees of freedom
Cardanic joints
with two or three degrees of freedom
Features
Ball and cardanic joints
Ball and cardanic joints for parallel kinematics:
I have, depending on their design, two or three degreesof freedom
I have very high rigidity and load carrying capacity
I are preloaded and thus clearance-free
I run smoothly and free from stick-slip
I have swivel angles appropriate to the design
I have a defined joint intersection point
I are sealed
I are greased using a special grease and can berelubricated.
Ball jointsI are complete units comprising:
a ball stud with an external thread, a ball socket witha centring device, a half-ball, a concave seal carrier anda 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
I have three degrees of freedom
I have a swivel angle of20, optionally up to 30
I are coated with Corrotect.
Cardanic joints
I are complete units comprising:
a joint yoke with a centring device, a crosspin andpreloaded, sealed radial and axial needle roller bearings
I have either two or three degrees of freedom
the third degree is freedom is achieved by meansof a radial/axial bearing combination in the head ofthe crosspin
I have maximum swivel angles
in axis I up to 45
in axis II up to 90
in axis III up to 360.
Ball joint
I half-ball with ground outer slideway for the seals,screw mounted to the ball socket
I concave seal carrier screw mounted to the ball studby means of a locknut
I a full complement set of rolling balls
I hardened raceways for the rolling elements
ICardanic joint
I GLK 2 with two degrees of freedom,GLK 3 with three degrees of freedom
I crosspin supported in the joint yokeby means of radial/axial bearings
GLK
1074
64
GLK 2GLK 3
107
468
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Telescopic struts
Features
Telescopic struts
Telescopic struts for parallel kinematics:
I 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 andfour linear ball bearing units KUVS
I can be fitted with INA ball and cardanic joints
the joint type depends on the application andcan be freely selected by the customer
I are fitted, depending on the required rigidity,with a ball screw spindle or a planetary roller screw
the rigidity is defined in accordance with customerrequirements
the four-row axial angular contact ball bearing DKLFA
allows high spindle speeds with maximum rigidityI can support tensile and compressive forces
I are suitable for high feed speeds
I run extremely accurately, smoothly and free from stick-slip
I are clearance-free in all directions due to the high torsionalrigidity of the l inear guidance systms and the racewaysground on the surface of the sliding tube
I have a low mass due to the dimensioning of thecomponents
I can be supplied with a Corrotect coating
I are produced with sliding tube diameters of 70 mmand 80 mm
other sizes may be available by agreement
I allow, in conjunction with the ball and cardanic joints,compact designs with a reduced number of components.
Telescopic strut
I internal thread or flange mounting in the sliding tubeto support the ball or cardanic joints
I sliding tube with ground raceways forlinear ball bearing units KUVS
I nut secured against rotation in the sliding tube
GLAE
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Basic load ratingsfor ball and cardanic joints
Maximum load carrying capacity
The maximum load carrying capacity Pmax of ball joints isshown in Figure 1.
It depends on:
I the size of the jointI the direction of the load (tensile/compressive load).
Basic static load ratings for cardanic joints
The basic static load ratings C0 are shown in Figure 2.
They depend on:
I the type of joint
I the swivel angle .
The basic static load rating C0 is only influenced by the swivel
angle . The swivel angles and have no influence onthe basic static load rating.
Static load safety factor
The static load safety factor S0 must be 4!For other static load safety factors, INA must beconsulted!
Figure 1 Maximum load carrying capacity Pmax
Figure 2 Basic static load ratings C0 as a function ofthe swivel angle
M
aximuml
oadcarryingcapacity
Pmax
KN
7
6
3,5
3
Swivel angle up to 30
F-232 386.1 (compressive)
F-232 386.1 (tensile)
F-232 956 (compressive)
F-232 956 (tensile)
107
380
F-232 919.1 / F-232 920.1
KN70
60
5051
40
30
20
10
55,8
Loadcarryingcapacity0
10 20 30 40 45 50
Swivel angle of axis
C
107381
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Bearingsfor cardanic support
Dimension table Dimensions in mm
F-number Mass Dimensions Basic load ratings
d D B radial
kg
dyn.CkN
stat.C0kN
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
Axial angular contact ball bearings F-231091, F-233697, coupling and swiveling bearing arrangement F-232183
D0,010
B0,25
d0,05
0,6 +1,4
+04
0,6
20
3 3
0,3
+0
,3
120
45 20
20 1520
87
140
0,5
+0
,018
78
M501,5
14
152
355
50
110
112
0
,008
0
,5
0
,008
92
2 M6
4522,5
45
45
3M8
45
845=360
13,5
180
125
+1
+10,05
0
,2
0
,1
7
6
0
,20
,1
8
0,2
0,4
0,4
0,010 15
0,01015
0,02A
A
Threaded
extraction hole
Threadedextraction hole
100%Supply with
inspection certificate
0,3+0,7
F-231091F-233697
F-232183
107465
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Telescopic struts
Series GLAE
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.
Dimension table Dimensions in mm
Designation Diameter of sliding tube3)
Dimensions
D1 D2 D3 D4 d3 MA Lmin L1 L2 L3 Strokelength
Spindlediameter
0,015 h8
GLAE F-232220 70 70 130 90 120 301) 5622)
941
501) 851)
600
401141 800
1241 950
GLAE F-236437 80 80 170 130 130 451) 5622) 1380 501) 981) 563 900 50
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Hole pattern for GLAE F-232220 Hole pattern for GLAE F-236437
45 845=360
22,5
11+0,2
110
Retaining screw
107479
45845=360
22,5
11+0,20,1
45845=360
Retaining screw
150
Retaining screw
107480
GLAE
M
D
D
1
A
4
3
2
2
L
1L
d
D
L
3D
330
R75
50
L
min
H6
M8
16
3
F-236437107467
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Swivelling rotary/cardanic jointswith two degrees of freedom
Series GLK 2
with three degrees of freedom
Series GLK 3
F-237169.1 with two degrees of freedom
45
30
82
25
0,2
5
82
5
0,5
J6
30
0,5
30
R20107470
1) Measured and documented.2) Basic load ratings: see diagram, page 4.3) Ensure prior orientation.
Dimension table Dimensions in mm
Designation F-number Mass Degreesof freedom
Swivel angle Fixing screws Lubricationnipple
Basic loadratings
Rigidity
M1 M2 stat.
C0
CS
kg NIP DIN 3 405 kN N/ m
GLK 3 F-237169 1 3 360903603) 4,2 50
GLK 2 F-237169.1 0,95 2 903603) 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
F-237169 with three degrees of freedom
B-B
A-A 30
82
10
48
BB
C-C 63 825
660=360
660=36030
60
60
C C
A
A
R25
28
R25
51
M351
12
15
25
R24 108103
0,5
0,5
250,25
53,30,02
Centring hole type A
to ISO 866-1975
ZM nutnot included
in delivery
0,005
(R46)
0,25
150,005
107469
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Swivel angles and F-232920.1 with two degrees of freedom
Swivel angle
Swivelangle
45
45
30
30
15
150 60 75 90
107361
M562
52h6
10
27
90
107477
F-232919.1 with three degrees of freedom
6 6
128*
73
45*
M562
max. 2
Centring connectorCylindrical roller 12 18
is supplied loose
H612
18
52
80135
90
90
85
150
9
70
45 45
h6
155
10
0,021)
90
documented
1) Flatness of adjacent surface
*
M 12 M
107476
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Ball jointwith three degrees of freedom
Series GLK
1) Rapid-fit cartridge for polyamide tube to DIN 73378 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.
Dimension table Dimensions in mm
Design-ation
F-number Mass Degreesoffreedom
Swivel angle Dimensions Basicloadratings
Rigidity
H h1 h22) h3 h4 h5 h6 D d1 d2 d3 Ma Mb Mc SA C0 Csten-
sile
Cscomp-
ressivekg H6 kN
GLK F-23 29 56 2,3 3 2020 360 1 44 3 5 35 35 20 19 1 0 70 40 32 6 M201,5 M171 M401,5 1) 5) 280 400
GLK F-232386.1 4,5 3 2020 360 1 85 4 0 50 44 30 21 1 0 90 55 45 6 M251,5 M251,5 M562 1) 5) 350 700
GLK
b
5
4
3
33)
4)
DM
h
h
h
2h
6h
1h
d
3d
M
D
SA
a
c
2Md
1d
H
107353
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Application example
PKM machining centre
107466
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INA-Schaeffler KG
91072 Herzogenaurach Germany
Internet www.ina.comE-Mail [email protected]
In Germany:Telephone 0180/ 5 0038 72Fax 0180 / 5 00 38 73
From other countries:
Telephone +49 / 9132/ 82-0Fax +49 / 91 32 / 82-49 50
Sach-Nr.0
05-299-462/MAI66GB-D12021
PrintedinGermany
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