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RV Cycloidal Pin Wheel Reducer
PRODUCTS
Detail
Robot model ZDFH0620 Freedom 6 Position Ground installation and suspended
ceiling installationMaximum operating speed J1 Axis 145°/sec J2 Axis 115°/sec J3 Axis 150°/sec J4 Axis 290°/sec J5 Axis 315°/sec J6 Axis 925°/sec Maximum operating range J1 Axis ±180° J2 Axis -125°~+90° J3 Axis -86°~+202° J4 Axis ±170° J5 Axis ±120° J6 Axis ±360° Maximum activity radius 1982mm Maximum end load 6Kg Body weight About 195Kg Allowable torque J4 10.5N ·m J5 10.5N-m J6 5.9N-m Allowable moment of inertia J4 0.28kg ·m² J5 0.28kg-m² J6 0.06kg-m² Repeatability ±0.08mm Robot base size 300×420mm Ambienttem perature 0~45℃ Relative humidity 20~80%RH Atmospheric pressure 89KPa~106KPa(Altitude below 1000m) Vibration,impact,collision ≤0.5G Protection grade IP54(Wrist IP65) ■ Work scope diagram
■ Installation interface diagram
Inertia tensor of the connecting rod relative to the center of mass
Object Base Rotating seat
componentsBoom components Small arm fixed seat
componentsSmall arm
componentsWrist Consult Coordinate system 0 Coordinate system 1 Coordinate system 2 Coordinate system 3 Coordinate system 4 Coordinate system 5 Ixx(Kgmm²) / 2.1×10⁶ 9.4×10⁵ 1.0×10⁶ 2.1×10⁶ 1.3×10⁴ lyy(Kgmm²) / 2.7×10⁶ 1.2×107 5.6×10⁵ 2.1×10⁶ 4.5×10³ lz(Kgmm²) / 1.6×10⁶ 1.1×107 1.4×10⁶ 4.5×10⁴ 1.1×10⁴ ■ Joint coupling
Joint J1-J2 J2-J3 J3-J4 J4-J5 J4-J6 J5-J6 Coupling relationship equation
(Coupling coefficient)/ / / / / 11.7 ■ Reducer parameters
Model 100C 250BX 42D 32 Harmonic 20 Harmonic Gearbox Reducer reduction ratio 36.75 111 105 50 50 / Comprehensive reduction ratio 102.9 111 104 102 102 35.1 Rated output speed (r/min) 15 15 15 25 25 / Rated torque (N ·m) 980 1078 412 76 25 / Permissible torque for starting
and stopping (N ·m)2450 2695 1029 216 56 / Instantaneous maximum torque (N ·m) 4900 5390 2058 382 98 / Moment rigidity (N ·m) 2450 2940 1660 / / / lnstantaneous maximum torque (N-m) 4900 5880 3320 / / / ■ Motor parameters
Joint J1 J2 J3 J4 J5 J6 Motor model 130 180 130 60 40 40 Rated power (kW) 2 3 1.5 0.4 0.1 0.1 Rated voltage (V) 220 Rated current (A) 10 18 7 2.6 0.85 0.85 Rated torque (N ·m) 6.36 14.3 4.77 1.27 0.31 0.31 Rated speed (r/min) 3000 2000 3000 3000 3000 3000 Maximum speed (r/min) 3000 2200 3100 5000 5400 5400 Rotor inertia (*10e-4kgm²) 16.5 51 9 0.4 0.06 0.06 Line back
electromotive force coefficien (V/Krpm)t50.5 52.8 48 33 25.2 25.2 Number of pole pairs 5 Encoder 17 bit multi turn insulation value Tamagawa agreement RELATED PRODUCTS
MESSAGES
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Contact
Ningbo Zhongda Leader Intelligent Transmission Co., Ltd.
Add.: No. 185 Xinxing 1st Road, Cixi High-tech Industrial
Development Zone, Ningbo
Tel: +86-574-63537171
Fax: +86-574-63534879
WhatsApp: +86-19136773454
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