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RV Cycloidal Pin Wheel Reducer
PRODUCTS
Detail
Robot model ZDFT1220 Freedom 6 Position Ground installation andsuspended
ceiling installationMaximum operating speed J1 Axis 145/sec J2 Axis 115°/sec J3 Axis 150/sec J4 Axis 265°/sec J5 Axis 215/sec J6 Axis 260°/sec Maximum operating range J1 Axis ±180° J2 Axis -125°~+90° J3 Axis -86°~+202° J4 Axis ±170° J5 Axis -150°~+116° J6 Axis ±360° Maximum activity radius 1980mm Maximum end load 12Kg Body weight About 198Kg Allowable torque J4 22N ·m J5 22N ·m J6 9.8N ·m Allowable moment of inertia J4 0.65kg ·m² J5 0.65kg-m² J6 0.17kg-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 armfixed seat
componentsSmall arm
componentsWrist Consult Coordinate system 0 Coordinate system 1 Coordinate system 2 Coordinate system 3 Coordinate system 4 Coordinate system 5 lxx(Kgmm²) / 2.1×10⁶ 9.4×10⁵ 1.0×10⁶ 2.1×10⁶ 2.0×10⁴ lyy(Kgmm²) / 2.7×10⁶ 1.2×10⁷ 5.6×10⁵ 2.1×10⁶ 1.0×10⁴ lz(Kgmm²) / 1.6×10⁶ 1.1×10⁷ 1.4×10⁶ 4.5×10⁴ 1.7×10⁴ ■ Joint coupling
Joint J1-J2 J2-J3 J3-J4 J4-J5 J4-J6 J5-J6 Coupling relationship equation
(Coupling coefficient)/ / / / / 35 ■ Reducer parameters
Model 100C 250BX 42D 32谐波Harmonic 20谐波Harmonic FBS32 Reducer reduction ratio 36.75 111 105 50 80 30 Comprehensive reduction ratio 102.9 111 104 102 128 105 Rated output speed (r/min) 15 15 15 25 25 25 Rated torque(N ·m) 980 1078 412 76 25 25 Permissibletorque for starting
and stopping (N ·m)2450 2695 1029 216 56 56 Instantaneous maximum torque (N ·m) 4900 5390 2058 382 98 98 Moment rigidity (N ·m) 2450 2940 1660 / / / Instantaneous maximum torque (N ·m) 4900 5880 3320 / / / ■ Motor parameters
Joint J1 J2 J3 J4 J5 J6 Motor model 130 180 130 60 50 50 Rated power (kW) 2 3 1.5 0.4 0.2 0.2 Rated voltage(V) 220 Rated current (A) 10 18 7 2.6 1.5 1.5 Rated torque (N ·m) 6.36 14.3 4.77 1.27 0.63 0.63 Rated speed (r/min) 3000 2000 3000 3000 3000 3000 Maximum speed (/min) 3000 2200 3100 4500 4500 4500 Rotor inertia (*10e-4kgm²) 16.5 51 9 0.4 0.2 0.2 Line back
electromotive force coefficient (V/Krpm)50.5 52.8 48 33 30 30 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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