Harmonic Drive FHA Series, Руководство пользователя

Страница: 25 / 51

Harmonic Drive LLC 800-921-3332
22
Chapter 2 Guidelines for sizing
2 2
Inertia
(kg
•
m ) (kgf
•
cm
•
s )
1000 10000
100 1000
10 100
1 10
0.1 1
0 20 40 60 80
Max. speed (r/min)
FHA-40C-160
FHA-40C-100
FHA-32C-160
FHA-32C-100
FHA-25C-160
FHA-40C-50
FHA-25C-100
FHA-32C-50
FHA-17C-160 FHA-25C-50
FHA-17C-100
FHA-17C-50
• Equivalent dynamic radial load
The equivalent dynamic radial load is:
2 (Frav (Lr + R) + Fa av . La)
P
C
= X .
(
Fr av +
)
+ Y.Fa av (6)
dp
Where, the variables of the formula are:
Fr av : Average radial load in N(kgf); obtained by formula (2).
Fa av : Average axial load in N(kgf); obtained by formula (3).
dp: Circular pitch of roller: See Fig.1 and Table 1.
X: Radial load factor; obtained by formula (5)
Y: Axial load factor; obtained by formula (5')
Lr, La: Loading point in mm; See Fig.1.
R: Offset; See Fig.1 and Table 1.
• Life of cross roller bearing
Calculate the life of cross roller bearing with the formula below:
10
6
C
10/3
L
B-10
= x (7)
60 x N av
(
fw.Pc
)
Where, the variables of the formula are:
L
B-10
: Life of cross roller bearing in hour
N av : Average output speed in r/min; obtained by formula (4).
C: Basic dynamic load rating in N (kgf). See Table 1.
Pc: Average dynamic radial load in N (kgf); obtained by formula (6) below.
fw: Load factor:
For smooth operation without shock or vibration: fw=1 to 1.2
For normal operation: fw=1.2 to 1.5
For operation with shock and/or vibration: fw=1.5 to 3
• Life of cross roller bearing for swaying motion
Calculate the life of cross roller bearing with the formula below:
10
6
90 C
10/3
L
OC
= x x (8)
60 x n
1
?
(
fw.Pc
)
Where, the variables of the formula are:
Loc: Life of cross roller bearing in hour
n
1
: Average output speed in r/min; obtained by formula (4).
C: Basic dynamic load rating in N (kgf). See Table 1.
Pc: Equivalent dynamic radial load in N (kgf); obtained by formula (6).
fw: Load factor:
For smooth operation without shock or vibration: fw=1 to 1.2
For normal operation: fw=1.2 to 1.5
For operation with shock and/or vibration: fw=1.5 to 3
θ
: Half of sway angle; See the right figure.
Sway Motion
When the sway angle is less than 5 degrees, consult to Harmonic
®
drive systems,
because fretting wear may occur for the operation caused by no oil film
between the race and the rolling element.