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Components for parallel kinematics

Series GLK, GLAE

e n rov si g m p de r i n e ve rth o P r fu
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.

Market Information MAI 66

137 145

Components for parallel kinematics

Ball joints with three degrees of freedom Cardanic joints with two or three degrees of freedom

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Ball joint

Features Ball and cardanic joints Ball and cardanic joints for parallel kinematics: I have, depending on their design, two or three degrees of 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 be relubricated. Ball joints I 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 I have three degrees of freedom I have a swivel angle of 20, 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 and preloaded, sealed radial and axial needle roller bearings I 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 I have maximum swivel angles in axis I up to 45 in axis II up to 90 in axis III up to 360.

GLK

I half-ball with ground outer slideway for the seals,

screw mounted to the ball socket by means of a locknut

I concave seal carrier screw mounted to the ball stud I a full complement set of rolling balls I hardened raceways for the rolling elements

I Cardanic joint
GLK 2 GLK 3

I GLK 2 with two degrees of freedom, I crosspin supported in the joint yoke
by means of radial/axial bearings

GLK 3 with three degrees of freedom

107 468

107 464

Telescopic struts

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Telescopic strut

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 and four linear ball bearing units KUVS I can be fitted with INA ball and cardanic joints the joint type depends on the application and can 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 customer requirements the four-row axial angular contact ball bearing DKLFA allows high spindle speeds with maximum rigidity I 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 torsional rigidity of the linear guidance systms and the raceways ground on the surface of the sliding tube I have a low mass due to the dimensioning of the components I can be supplied with a Corrotect coating I are produced with sliding tube diameters of 70 mm and 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.

GLAE

I internal thread or flange mounting in the sliding tube

to support the ball or cardanic joints linear ball bearing units KUVS

I sliding tube with ground raceways for I nut secured against rotation in the sliding tube

107 358

Basic load ratings for ball and cardanic joints

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Maximum load carrying capacity The maximum load carrying capacity Pmax of ball joints is shown in Figure 1. It depends on: I the size of the joint I the direction of the load (tensile/compressive load).
Maximum load carrying capacity

KN 7 Pmax 6

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

Figure 1 Maximum load carrying capacity Pmax 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 on the 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 be consulted!

70 KN 60 51 C0 Load carrying capacity 50 40 30 20 10

55,8

10

20

30

40 45 50

Swivel angle of axis

107 381

F-232 919.1 / F-232 920.1

Figure 2 Basic static load ratings C0 as a function of the swivel angle 4

107 380

Bearings for cardanic support

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Dimension table Dimensions in mm F-number Mass Dimensions d D B Basic load ratings radial dyn. C kN 25 30 57 62 28 28 27,5 29,5 68 stat. C0 kN 24,1 30,5 128

kg F-231091 F-233697 F-232183 0,35 0,39 6

3 F-231091 F-233697

20
d 0,05 0,3+0,7 0,6 +04 D 0,010

0,3

+0,3

B 0,25 F-232183 7 0,1

0,2

0,6 +1,4

100%
Supply with inspection certificate

0,4

120 +1 45 0,05 20+1 20 20 15 0,010 15 8 0,010 15 0,02 A 2 M6

45

22,5

45

140 0,5 78 M50 1,5 14 +0,018

Threaded extraction hole

45
112 0,008

50 0,008 110 0,5

92

A 15 2

5 3

7 0,1

0,2

3 M8 0,4
Threaded extraction hole

180
45 8 45=360

13,5 0,2
107 465

Axial angular contact ball bearings F-231091, F-233697, coupling and swiveling bearing arrangement F-232183 5

125

Telescopic struts
Series GLAE

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Dimension table Dimensions in mm Designation Diameter of sliding tube3) Dimensions D1 D2 D3 D4 d3 MA Lmin L1 L2 L3 Stroke length Spindle diameter

0,015 GLAE F-232220 GLAE F-236437

1) 2) 3)

h8 941 600 501) 501) 851) 981) 563 800 950 900 50 40 120 130 301) 451) 56 22) 56 22) 1141 1241 1380

70 80

70 80

130 170

90 130

Dependent on the adjacent construction. To be defined by the customer. Dependent on the joint type. Other sizes may be available by agreement.

www.bergab.ru skf@bergab.ru . (495)-228-06-21, (495) 223-3071

45 8 45=360 8 45=360 45
0 11

22,5

45

8 45=360

150

22,5 Retaining screw Retaining screw

107 479

Retaining screw
107 480

11+0,2

11+0,2 0,1

Hole pattern for GLAE F-232220

Hole pattern for GLAE F-236437

L min L3 D4 D1 D2

L2

D3 d3

MA

50 H6
M 8 16

L1

5 R7

3 30

F-236437

GLAE 7

107 467

Swivelling rotary/ cardanic joints

with two degrees of freedom Series GLK 2 with three degrees of freedom Series GLK 3

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82 45 J6 30

5 0,5

82

30 0,5

25 0,25

30

R20

F-237169.1 with two degrees of freedom

Dimension table Dimensions in mm Designation F-number Mass Degrees of freedom Swivel angle kg GLK 3 GLK 2 GLK 3 GLK 2
1) 2) 3)

Fixing screws M1 M2

Lubrication nipple

Basic load ratings stat. C0

Rigidity CS N/ m 50 50 450 450

NIP DIN 3 405 3 2 3 2 360 90 3603) M8 30 M8 30 M8 60 M8 60 AM 8 1 AM 8 1 90 3603) 90 45 360 90 45

kN 4,2 4,2
2) 2)

F-237169 F-237169.1 F-232919.1 F-232920.1

1 0,95 7 7

Measured and documented. Basic load ratings: see diagram, page 4. Ensure prior orientation.

A-A

82 30 15 0,005 C

A C

25 ZM nut
not included in delivery

0,25

R24 B B 25 12 10 15 48 Centring hole type A to ISO 866-1975

0,005

53,3

0,02

103

0,5

108

0,5

R25

28
0,25

M35 1
(R46)

R25 51 A 30 6 60=360 60 6 60=360 60

B-B

C-C

63

8 25

F-237169 with three degrees of freedom 8

107 469

107 470

www.bergab.ru skf@bergab.ru . (495)-228-06-21, (495) 223-3071

90 M56 2 52 h6 10 27 15

45

30 Swivel angle

15

107 361

Swivel angles

and

F-232920.1 with two degrees of freedom

90 M56 2 52 h6 10

6 155 128*

6
45

90
45

90

73 45* 18 150 M2 M1 9 0,02 1) 12 H6 Centring connector

Cylindrical roller 12 is supplied loose 18

max. 2 85 70

F-232919.1 with three degrees of freedom 9

107 476

80 135

1) Flatness of adjacent surface * documented

107 477

30 45 Swivel angle

60

75

90

Ball joint
Series GLK

www.bergab.ru skf@bergab.ru . (495)-228-06-21, (495) 223-3071

with three degrees of freedom

Dimension table Dimensions in mm Design- F-number ation Mass Degrees Swivel angle of freedom kg GLK GLK
1) 2) 3) 4) 5)

Dimensions

Basic Rigidity load ratings d1 H6 d 2 d 3 Ma Mb Mc SA C0 kN M20 1,5 M17 1 M40 1,5

1) 1) 5) 5)

h1 h22) h3 h4 h5 h6 D

Cs
tensile

Cs
compressive

F-232956

2,3

3 3

20 20 20 20

360 144 35 35 360 185 40 50

35 20 19 10 70 40 32 6 44 30 21 10 90 55 45 6

280 400 350 700

F-232386.1 4,5

M25 1,5 M25 1,5 M56 2

Rapid-fit cartridge for polyamide tube to DIN 73 378 Measured and documented. At 2 points on circumference. At 6 points on circumference. Basic load ratings: see diagram, page 4.

4 0,75 with threaded connector M10 1, min. 6 mm deep.

D Mb

Mc d2

h5

h4 d3 3) h3 H d3 4) h2 h6

h1 SA Ma D d1
107 353

GLK 10

Application example

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PKM machining centre

11

107 466

www.bergab.ru skf@bergab.ru . (495)-228-06-21, (495) 223-3071

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