Miniature Direct Drive Rotary Actuators
固定导向柔顺杆件6R伪刚体模型
固定导向柔顺杆件6R伪刚体模型刘凯;曹毅;葛姝翌【摘要】为提高固定导向型伪刚体模型的计算精度，基于伪刚体模型的原理提出了一种固定导向6R伪刚体模型.建立了该模型的运动学方程，并根据逆运动学分析方法及优化算法求解了模型的4个最优特征半径系数和3个扭簧刚度系数.通过数值算例模拟固定导向6R 伪刚体模型的末端动作路径，并将其与固定导向2R伪刚体模型及柔顺杆件的末端路径进行对比.结果表明，固定导向6R 伪刚体模型能够更加精确地模拟相应柔顺杆件的末端动作过程，且其相对误差几乎为0.最后，通过 AN-SYS有限元分析实例验证了该模型在实际计算中的精确性.%Based on the principles of PRBM,a new fixed-guided 6R PRBM was presented to im-prove the calculation accuracy for the fixed-guided compliant links firstly.Secondly,the kinematics e-quation of the model was set up,and the optimal characteristic radius coefficients and the spring stiff-ness coefficients were acquired using the optimization algorithm and inverse kinematical analysis.In order to validate the calculation accuracy of the fixed-guided 6R PRBM,numerical examples were demonstrated by comparing the tip locus of the fixed-guided 6R PRBM with that of the fixed-guided 2R PRBM.Further research shows that the fixed-guided 6R PRBM may actually simulate the tip locus of the compliant links and the relative error is almost equal to zero.Finally,the accuracy of the model in actual calculation was verified by finite element analysis and engineering examples.【期刊名称】《中国机械工程》【年(卷),期】2016(027)021【总页数】6页(P2920-2925)【关键词】伪刚体模型;固定;导向柔顺杆件;优化算法;有限元分析【作者】刘凯;曹毅;葛姝翌【作者单位】江南大学，无锡，214122;江南大学，无锡，214122; 上海交通大学系统控制与信息处理教育部重点实验室，上海，200240; 哈尔滨工业大学机器人技术与系统国家重点实验室，哈尔滨，150080;江南大学，无锡，214122【正文语种】中文【中图分类】TH112柔顺机构是一种利用机构杆件自身柔性变形来实现运动和力传递或转换的新型机构[1]。
精密电动执行器LTA系列技术参考说明书
TECHNICAL REFERENCE
MOTORIZED LINEAR STAGES
MOTORIZED ROTATION STAGES
MOTORIZED OPTICAL MOUNTS
836 M o t o r i z e d P o s i t i o n i n g
LTA Series
Precision Motorized Actuators
On-Axis Accuracy (µm)
Maximum Speed (mm/s) Axial Load Capacity (N) Side Load Capacity(3)
LTA-HS 50
0.035 0.1 0.15 typical, 0.5 guaranteed 0.6 typical, 2 guaranteed 5 typical, 15 guaranteed 5 50 5N
page 899). The LTA-HS is optimized for high-speed applications and provides a longer travel range. The mounting interface of the LTA-HS is compatible with a large number of Newport and other manufacturer's manual components.
FESTO Mini滑动机 EGSC-BS 紧凑型位置器说明书
Compact positioning!Powerful and low cost The internal, protectedrecirculating ball bearing guide of the EGSC can easily absorb high forces and torques. The high-quality ball screw ensures smooth, quiet, low-friction operation and precisepositioning, while the life-time lubrication ensures a long ser-vice life. The competitive-ly-priced mini slide EGSC is built to run all day.Wide range of applications Available in four force ranges from 25 mm to 200 mm, the EGSC is the perfect fit for many applications.Multi-axis systemsThe mini slide EGSC is commonly used as a Z-axis in multi-axis systems. Easily mount the EGSC to electric linear actuators ELGC to create compact 2-axis and 3-axis Cartesian systems.Mount one EGSC to another EGSC to create compact,precision XZ Cartesian systems.Easily orient parts using the electric rotary actuator ERMO, which mounts directly to the EGSC yoke plate. No adapter kit required.Its compact dimensions and optimized installation space make the low-cost and compact mini slide EGSC the ideal choice for applications in electronics assembly, small parts handling, test and inspection, lab automation and many other desktop applications. The axes are designed to easily assemble into compact multi-axis systems, and are perfectly complemented by the electric rotary actuator ERMO and linear actuators ELGC.P S I 183.2.u s e n 1.2018 – E r r o r s a n d o m i s s i o n s e x c e p t e dSimple and compact systemsVery high-quality ball screw with minimal internal frictionBreathing port• Standard: sintered plate screwed into the port• Connect a standard fitting to apply pressurized air to prevent ambient particles and moisture being drawn in, or apply vacuum to prevent particles being emittedRigid, high load-bearing andprecise linear guide to absorbforces and provide a long service lifeTechnical data Design Electric mini slide with ball screw Sizes25 / 32 / 45 / 60Fixed strokes [mm]25 (200)Max. feed force [N]20 / 60 / 120 / 250Max. speed [mm/s]600Max. acceleration [m/s 2]15Repeatability [µm]± 15Compact, integrated coupling to minimize motor footprintStandardized interface for direct mounting of the electric rotary drive ERMO without the need for adaptersFlexible motor mounting. Modify motor orientation at any time. Parallel and axial kits provide even greater flexibility for motor positionCompact double bearing integrated in the mini slide to save spaceClean look design: easy to clean and less prone to contaminationEasily assemble 2-axis and 3-axis Cartesian systems combining the mini slide EGSC with electric rotary actuator ERMO and ball screw and toothed belt linear axes ELGC.Rotary lift solution with mini slide EGSC and electric rotary ERMO Compact pick, place and rotate solution with EGSC (x2) and ERMOCompact 3-axis solution with EGSC, ELGC-BS and ELGC-TB。
蜂巢SWITCH限位开关说明说明书
Limitless leadership. Available with a variety of actuators, electrical specifications, terminations, circuitries and sealing ratings, Honeywell’s MICRO SWITCH limit switches offer superior flexibility and performance. These precision snap-action switches — sealed in rugged housings — are used to detect presence or absence in areas where physical contact is allowed.And Honeywell delivers all the benefits your applications demand:• Reliability, repeatability, accuracy• Impressive breadth of product offerings • Tested-tough, for industrial machinery• Supreme performance, through superior application understanding• Withstanding shock, vibration, washdowns and outdoor environmentsFEATURESLIMIT SWITCHES GLA Series.Features: Metal housings for rugged applications • Galvanically isolated contacts for controlling separatecircuits • Wide variety of actuators and circuitry options for increased flexibility • International conduit sizes available for global applications • Direct-acting NC contacts designed to ensure opening when actuated • 2NO version available • Gold contacts optional for low-energy switching • EN50041 mounting pattern Benefits: Specifically designed for world-wide applications and are supported by Honeywell global resources for sale and after sale service. Applicationsinclude machine tools, material handling equipment, packaging machinery, textile machinery, construction machinery and equipment, vehicles and lift trucks.GLS Miniature (GLD, GLC, GLE) Series.Features: GLC metal housings or GLD plastic housings for design versatility (metal = better sealing, unaffected by UV light) • Galvanically isolated contacts for controlling two separate circuits • Direct-acting NC contacts deignedMICRO SWITCHLimit Switches Line Guidecontinued on page 5to ensure opening when actuated • Gold contacts optional for low-energy switching • 2NO version available • Wide variety of actuators and circuitry options for increased flexibility • International conduit sizes available for global applications • EN50047 mounting patternBenefits: Specifically designed for world-wide applications and are supported by Honeywell global resources for sale and after sale service. Applicationsinclude machine tools, material handling equipment, packaging machinery, textile machinery, construction machinery and equipment, vehicles and lift trucks.NGC Series.Features: SPDT or DPDT configurable circuitry • Snap-action, positive-break contacts • Metal or plastic housing • Pre-leaded cable and M12 connector options • Side exit (standard) and bottom exit connection options • Variety of heads and actuator leversBenefits: Can be configured more than 380,000 ways, carries global approvals, and sealed to IP67 for potential use in indoor and outdoor applications.Applications include boom position detection, elevators and escalators, machine tools, mobile light towers, packaging equipment, rail doors, and scissor liftsSZL-VL-S Series.Features: Silver-alloy contacts standard • Stainless steel levers with either steel and nylon rollers • Variety of actuators • Positive-opening contacts (plunger version only)Benefits: Designed for applications of small mounting space. Applicationsinclude scissor/boom position detection, vehicle accessibility lifts, escalators/motorized walkways, machine tools, mobile light towers, packaging equipment, conveyor equipment,overhead doors, agriculture equipmentSZL-VL-S2 MICRO SWITCH Limit Switches Line GuideMICRO SWITCH Limit Switches.Application-proven limit switches for any need:General Purpose switches meet IEC standards for worldwide acceptance — for injection molding, PLC interface, machine tooling, elevators and escalators, gaming, packaging and textile, food and beverage, industrial doors, scissor and platform lifts and electronic assembly.Heavy-duty switches offer a rugged, die-cast body — epoxy-coated — with multiple mounting and actuatoroptions. Low- and high-temp construction and factory-sealed, pre-wired versions are also available. Applications include food and beverage machinery, shipboard and dockside, caustic waste handling, power generating plants, pulp and paper,welding, automotive machine tools and conveyors.Compact Precision and Miniature switches feature a small metal or plastic package size. Applications include material handling, printing machinery, machine tools, agricultural equipment, overhead cranes and hoists, packaging and earthmoving, stamping, conveyors, surface transportation and textile, and printing machinery.Sensing and Internet of Things 3SL1 SeriesMICRO SWITCH Limit Switches Line GuideMICRO SWITCH Specialty Limit Switches.Application-proven specialty limit switches for swing-door applications:Relialign™ SeriesResidential Door Interlocks are designed for use in residential swing door applications, specifically dumbwaiters, lifts for the mobility impaired and swing-door elevators in the USA. In Canada, the RDI is designed for use in residential swing door applications, specifically elevators and dumbwaiters but is not designed for use in lifts for the mobility impaired. The interlock holds the door in place and prevents it from being opened in potentially unsafe conditions (e.g. the elevator/lift car is not presentat the door). A number ofdesign features contribute to increase safety, reduce nuisance stoppages and call-backs, and contribute to simplified wiring and installation. Featuring a custom internal solenoid control, the RDI may reduce complexity of the host controller, reduce power consumption for a “greener” product, extend solenoid life and reduce solenoid “time outs,” reducing customer aggravation.4 HEAVY-DUTY LIMIT SWITCHES HDLS Series (Standard, Stainless Steel, and Fully Potted). Features: Rugged housing with electrostatic epoxy finish • Sealedto NEMA 1, 3, 4, 4X, 6, 6P, 12, 13;IP65/66/67 • Fully potted versions exceed NEMA 6P washdown • Side rotary styles may be field modified for CW and/or CCW operation • Operating heads can be rotating 90° • Factory sealed pre-wired or factory-installed connectors available • Corrosion resistant stainless steel housing available • Low temperature sealing available • High temperature, chemical resistant fluorocarbon seals available Benefits: Includes boss-and-socket head design for secure head-to-body retention, unique all-metal drive trainfor consistent operating characteristics even at high temperature, and self-lifting pressure plate terminals save wiring time. Type 316 case stainless steelbody is designed to minimize crevices where food particles could become trapped. Fully potted version providesan extra degree of protection in harsh environments by sealing the cavity with epoxy. Applications include machine tools, material handling, packaging, presses, shipboards/dockside, power generating plants, food and beverage machinery, conveying equipment, and more.OTHER LIMIT SWITCHES14CE/914CE Series.Features: Rugged housing for harsh environments • Miniature size for smaller applications • Available with direct-acting contacts • Pre-leaded or various quick-connect terminations for design flexibility • Wide variety of actuator styles including seal-booted versions Benefits: 14CE and 914CE Series switches incorporate fluorocarbon diaphragm sealing to provide reliable protection. Versions with boot seal also meet NEMA 12 requirements. For low temperature applications (down to-40 °C, [-40 °F]), CE switches can be supplied with low temperature seals and lubricant.14 CE versions are designed for European applications and meetthe requirements of the low voltagedirective. 914CE products meet UL andCSA standards, as well as EuropeanCE requirements. Applications includeprocessing equiment, textile machinery,machine tools, robotics, and more.LS Series.Features: Mode of operation is fieldadjustable • NEMA 1, 3, 4, 6, and 13 •Wide choice of heads and actuators •Variety of operating characteristics •Captive screws • UL and CSA approvedparts availableBenefits: LS fits in many places toosmall for any other fully adjustable limitswitch. 200LS switches are the originalplug-in concept for reducing downtimeby making changeover simple and fast.Applications include machine tools,conveyors, material handing, and lifttrucks.BZE6/V6 Series.Features: Rugged electrostaticepoxy-coated metal housing • Precisemechanism offers increased repeatability• Booted versions sealed to NEMA 1, 3, 4and IP66 • Unsealed actuators sealed toNEMA 1and IP40 • Side or flange mount• Low temperature options available •Gold contacts available • Removableterminal enclosure for easy of wiringBenefits: Offered with or withoutactuator seal boots. Both have acombination insulator/seal cementedinside the bottom enclosure. Leadwashers are used to seal the mountingholes on side mount switches. All sidemount switches are installed with#6 screws, except the BZE6-2RN7(#8 screws). Removal of the bottomenclosure exposes the terminals foreasy wiring. Applications includepackaging equipment, textile machinery,construction equipment, printingmachinery, and more.SL1 Series.Features: Ideal source of replacementparts for imported machine tools • NEMA3, 4, 13 and IEC IP67 sealing • Smallersize saves space • Rugged zinc die-casthousing • Snap-in terminal enclosuresmakes mounting and wiring easy •Temperature ranges: standard and lowBenefits: Sealed, sensitive, and havea long life. Compact size makes themsuitable for the total miniaturization ofmachinery or equipment. Applicationsinclude robotics, auto factory floor, andelectronic assembly equipment.SPECIALTY LIMIT SWITCHESRelialign™ Series (RDI ResidentialDoor Interlocks).Features: Compliant to ASME A17.1,UL standard 104, and CSA-B44.1 •Manual override for easy actuationwithout user hazard • Two separatemechanical actions to indicate doorclosure • Rugged metal housing availablein white and bronze color • Metal key •Internal solenoid control • No open orexposed contacts • Key engagementminimizes nuisance stoppage • Doorclosure retention cam to hold doorwith minimal key-to-interlock play •Series or parallel wiring option for thedoor closed and door locked switches •6-pin terminal strip or Cat 5 connectionoptions • Configurable product platform• Universal voltage for ac and dcapplicationsBenefits: Meets required safety codes.Reduced potential for call-backs withreliable performance and multiple designfeatures to minimize nuisance stoppageof applications. Simplified wiring andinstallation. Reduced OEM design andmanufacturing costs. Applicationsinclude residential elevators, residentialdumbwaiters, and platform/vertical liftsSensing and Internet of Things 5002314-9-EN IL50 GLO May 2017Copyright © 2017 Honeywell International Inc. All rights reserved.Warranty. Honeywell warrants goods of its manufacture as being free of defective materials and faulty workmanship during the applicable warranty period. Honeywell’s standard product warranty applies unless agreed to otherwise by Honeywell in writing; please refer to your order acknowledgment or consult your local sales office for specific warranty details. If warranted goods are returned to Honeywell during the period ofcoverage, Honeywell will repair or replace, at its option, without charge those items that Honeywell, in its sole discretion,finds defective. The foregoing is buyer’s sole remedy and is in lieu of all other warranties, expressed or implied, including those of merchantability and fitness for a particular purpose. In no event shall Honeywell be liable for consequential, special, or indirect damages.WARNINGPERSONAL INJURY• DO NOT USE these products as safety or emergency stop devices or in any other application where failure of the product could result in personal injury.Failure to comply with theseinstructions could result in death or serious injury.WARNINGMISUSE OF DOCUMENTATION• The information presented in this catalogue is for reference only. DO NOT USE this document as product installation information.• Complete installation, operation and maintenance information is provided in the instructions supplied with each product.Failure to comply with theseinstructions could result in death or serious injury.While Honeywell may provide applica-tion assistance personally, through our literature and the Honeywell web site, it is buyer’s sole responsibility to determine the suitability of the product in the ap-plication.Specifications may change without notice. The information we supply isbelieved to be accurate and reliable as of this writing. However, Honeywell assumes no responsibility for its use.Honeywell Sensing and Internet of Things 9680 Old Bailes Road Fort Mill, SC 29707 Find out moreTo learn more about Honeywell’s sensing and switch products, call +1-815-235-6847, email inquiries to *********************, or visit 。
3D模型中英文对照表
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GRC24A-5 旋转伺服机械芯说明书
Rotary actuator for rotary valves andbutterfly valves• Nominal torque 40 Nm• Nominal voltage AC/DC 24 V• Control Open-close• Running time motor 35 sTechnical dataElectrical data Nominal voltage AC/DC 24 VNominal voltage frequency50/60 HzNominal voltage range AC 19.2...28.8 V / DC 21.6...28.8 VPower consumption in operation8 WPower consumption in rest position 2.5 WPower consumption for wire sizing11 VAConnection supply / control Cable 1 m, 3 x 0.75 mm²Parallel operation Yes (note the performance data)Functional data Nominal torque40 NmManual override with push-button, can be lockedRunning time motor35 s / 90°Sound power level, motor60 dB(A)Position indication Mechanically (integrated)Safety Protection class IEC/EN III Safety Extra-Low Voltage (SELV)Protection class UL UL Class 2 SupplyDegree of protection IEC/EN IP54Degree of protection NEMA/UL NEMA 2, UL Enclosure Type 2EMC CE according to 2014/30/EUCertification IEC/EN IEC/EN 60730-1 and IEC/EN 60730-2-14Certification UL cULus according to UL60730-1A, UL60730-2-14 and CAN/CSA E60730-1:02Mode of operation Type 1Rated impulse voltage supply / control0.8 kVControl pollution degree3Ambient temperature range-30...50 °CNon-operating temperature-40...80 °CAmbient humidity Max. 95% r.h., non-condensingMaintenance Maintenance-freeMechanical data Connection flange F05Weight Weight 2.5 kgSafety notes!• This device has been designed for use in stationary heating, ventilation and airconditioning systems and must not be used outside the specified field of application,especially in aircraft or in any other airborne means of transport.• Outdoor application: only possible in case that no (sea)water, snow, ice, insolationor aggressive gases interfere directly with the actuator and that is ensured that theambient conditions remain at any time within the thresholds according to the datasheet.• Only authorised specialists may carry out installation. All applicable legal orinstitutional installation regulations must be complied during installation.• The switch for changing the direction of rotation may only be operated by authorisedspecialists. The direction of rotation must not in particular be reversed in a frostprotection circuit.• The device may only be opened at the manufacturer’s site. It does not contain anyparts that can be replaced or repaired by the user. GRC24A-5 • en-gb • 2018-07-02 • subject to changes1• Cables must not be removed from the device.• The device contains electrical and electronic components and must not be disposed of as household refuse. All locally valid regulations and requirements must be observed.Product featuresSimple direct mountingSimple direct mounting on the rotary valve or butterfly valve with mounting flange. The mounting orientation in relation to the fitting can be selected in 90° steps.Manual overrideManual override with push-button possible (the gear is disengaged for as long as the button is pressed or remains locked).Adjustable angle of rotation Adjustable angle of rotation with mechanical end stops.High functional reliability The actuator is overload protected, requires no limit switches and automatically stops when the end stop is reached.Combination valve/actuatorFor valves with the following mechanical specifications in accordance with ISO 5211 F05:- Square stem head SW = 14 mm for form-fit coupling of the rotary actuator.- Hole circle d = 50 mmAccessoriesDescriptionType Electrical accessoriesAuxiliary switch, add-on, 1 x SPDT S1A Auxiliary switch, add-on, 2 x SPDTS2A Feedback potentiometer 140 Ohm, add-on P140A Feedback potentiometer 200 Ohm, add-on P200A Feedback potentiometer 500 Ohm, add-on P500A Feedback potentiometer 1 kOhm, add-on P1000A Feedback potentiometer 2.8 kOhm, add-on P2800A Feedback potentiometer 5 kOhm, add-on P5000AFeedback potentiometer 10 kOhm, add-onP10000AElectrical installation!Notes• Connection via safety isolating transformer.• Parallel connection of other actuators possible. Observe the performance data.• Direction of rotation switch is covered. Factory setting: Direction of rotation Y2.Wiring diagrams AC/DC 24 V, open-closeT~Cable colours:1 = black 2 = red 3 = whiteRotary actuator, Open-close, AC/DC 24 V, 40 Nm, Running time motor 35 sSafety notesGRC24A-5 • en-gb • 2018-07-02 • subject to changes2Dimensional drawingsFurther documentation• Overview Valve-actuator combinations• Data sheets for rotary valves and butterfly valves• Installation instructions for actuators and/or rotary valves and butterfly valves • General notes for project planningRotary actuator, Open-close, AC/DC 24 V, 40 Nm, Running time motor 35 sDimensions [mm]GRC24A-5 • en-gb • 2018-07-02 • subject to changes3。
Parker 旋钮式电机分类目录说明书
Index Rotary ActuatorsParker . . .PV Series Vane Actuators•8 model sizes• 2 standard rotations•7 to 1800 lb-in output torque at 100 PSIGSingle or double-vane actuators are permanentlylubricated for trouble-free service and low breakaway. Unique construction provides high torque in a compact, lightweight package. Options include stroke adjusters, bumpers, rear porting, fluorocarbon seals, and magnets for Hall effect or reed switches. Pressures to 150 PSIG.WR Series Wrist Rotate Units• 2 models•Adjustable rotation from 30° to 205°•15 and 65 lb-in output torque at 100 PSIGRugged actuators provide added features to allow use as a modular pick-and-place component or as a precision pneumatic rotary actuator. Features include hydraulic shock absorbers or polyurethane bumpers and optional plug-in style inductive proximity sensors.PRN Series Vane Rotary Actuators• 5 miniature and 4 standard models•Rotation angles 90°, 100°, 270° and 280°•Oscillating reference points of 40°, 45° and 90°•1.33 to 2355 in-lb torque at 100 PSIPRN Series single or double-vane actuators yield a high output torque to weight ratio. The unique vane design assures minimal leakage and stable low speed oscillation at low operating pres-sures. Foot or flange mounting is available. Reed and Hall effectswitches are optional.PTR SeriesRack & Pinion Actuators• 5 bore sizes from 1” to 3-1/4”• 5 standard rotations•39 to 2250 lb-in output torque at 100 PSIGRugged, reliable single or double-rack actuators provide superior performance with the broadest torque range in the industry.Proximity sensors, Hall effect and reed switches are available for position sensing. A wide choice of options for unmatchedapplication flexibility including three-position, anti-backlash and integral air/oil units are available. Pressures to 250 PSIG.HP SeriesRack & Pinion Actuators• 2 models• 3 standard rotations•4,500 and 10,000 lb-in output torque at 100 PSIGRugged, large-bore actuators provide reliability in heavy-duty applications. Steel racks and pinions and a full range of options. Pressures to 100 PSIG.XR SeriesRack & Pinion Actuators• 5 bore sizes from .56” to 2.00”•8 standard rotations• 6 to 236 lb-in output torque at 100 PSIGEconomical compact, high-performance actuators offer rugged internal components packaged in a precision, unitized aluminum housing. Numerous options include bumpers, cushions, shock absorbers, stroke adjusters, reed and Hall effect switches, flow controls and anti-backlash. Pressures to 150 PSIG.B671/F672 Actuators• 4 bore sizes from 1-1/2” to 5”•100 to 2500 lb-in output torque at 100 PSIRugged design provides equal torque in both directions throughout the range of rotation. Can be coupled to a Hydrocheck for smooth, controlled motion.Prelubricated. Pressures to 140 PSI.Torque RangeIntroduction100009000800070006000500040003500300025002000175015001250100090080070060050040030025020015010080604035302520151050HP10HP10HP4.5HP4.5PRN800D B6714B6714PTR322PTR322PV46D PRN800S PRN800SPV44D PTR321, B6713PTR321, B6713PRN300D PTR252PV46PTR252PV36D, PV42DPTR202, B6712PV44PTR202, B6712PV42D, PRN150D PTR251PTR251PV33D, PRN300SPV36, PRN300SPTR201PV42PTR201PTR152, XR20PTR152, XR20PRN150S PV33, PRN150SPV22D, PRN50DPTR151, B6711PTR151, B6711PRN30D XR15XR15PTR102PV22PTR102PRN50S PRN50S PRN30S PTR101, XR10PRN30SPTR101, XR10PV11D PRN20S PRN20SPV10D XR07XR07PRN10SPV11, PRN10SXR05PV10XR05PRN1S, PRN3S PRN1S, PRN3SNominal Torque at 100 PSIActuator Model,Rotation ≤ 95°Actuator Model,Rotation >100°Torque SelectionParker rotary actuators provide output torque up to 10,000 lb-in. The chart to the right shows the nominal torque output range of various actuator models at 100 PSI.Caution:This chart is intended as a guide only. Refer to actual product data in this catalog before specifying an actuator.Factors such as pressure rating, rotation, and actual torque output may be affected by specific product details and options.Output Torque,lb-inVaneVaneRack & PinionRack & PinionType VaneRack & PinionSeriesPRN PV WR XR PTR B671HP 90°/100° 195°/100° 1210°90°/100°90°90°90°Standard Rotations180° 2275°/280° 2180°/190°180°180°180°270°/280° 2270°/280°270°360°/370°360°360°360°Maximum Torque at 100 psi (lb-in)25401800652362000250010,000Maximum Air Pressure Rating (psi)100/140150150150250140100Shaft Bearing Type Ball or Radial Ball Radial Ball Radial Ball Bronze Bronze CompositeComposite BushingBushingBushingBushingBushingBushingNon-Lube Service •••••••Metric (M) or Imperial (I)M I II M, I I IHall Effect••C••Switch OptionsReed••C••CProximity sensor •C ••Double end••••Shaft OptionsFemale •••Preload keyway ••Special C CC C CCStroke adjust••••••Rotation Cushions ••••Options Bumpers •••••Shock absorbers••••Port Relocation ••••C•3-Position C•Air/Oil ••3Zero Backlash •••••Fluorocarbon Seals •••••Flange Mount •••Washdown C •C CClean RoomC•C•= Available from catalog C = Consult Factory Performance OverviewBasic performance features of the rotator product line are shown below.See catalog sections for greater detail and ordering information.1 Double vane 2Single vane 3Hydro-check optionFeaturesIntroductionDesign torqueDesign torque represents the maximum torque that an actua-tor must supply in an application. This maximum is the greater of the Demand Torque or the Cushion Torque. If the demand torque exceeds what the actuator can supply, the ac-tuator will either move too slowly or stall. If the cushion torque is too high, the actuator may be damaged by exces-sive pressure. Demand torque and cushion torque are de-fined below in terms of load, friction, and acceleration torque.Equations for calculating demand torque and cushion torque for some general applications are provided on the following pages.T - TorqueThe amount of turning effort exerted by a rotary actuator.T D - Demand TorqueThis is the torque required from the actuator to do the job and is the sum of the load torque, friction torque, and accel-eration torque, multiplied by an appropriate design factor.Design factors vary with the applications and the designers’knowledge.Equation 4-3)T T T T D f L=++αT L - Load torqueThis is the torque required to equal the weight or force of the load. For example, in Fig. 4-8a, the load torque is 563 N•M (5000 lb-in.); in Fig. 4-8b the load torque is zero; in Fig. 4-8c the load torque is 563 N•m (5000 lb-in.). The load torque term is intended to encompass all torque components that aren't included in the friction or acceleration terms.T f - Friction torqueThis is the torque required to overcome friction between any moving parts, especially bearing surfaces. In Fig. 4-8a, the friction torque is zero for the hanging load; in Fig. 4-8b the friction torque is 775 N•m (6880 lb-in) for the sliding load;in Fig. 4-8c the friction torque is zero for the clamp.Equation 4-4)T Wrf =µT a - Acceleration TorqueThis is the torque required to overcome the inertia of the load in order to provide a required acceleration or decelera-tion. In Fig. 4-8a the load is suspended motionless so there is no acceleration. In Fig. 4-8b, the load is accelerated from0 to some specified angular velocity. If the mass moment of inertia about the axis of rotation is I and the angular accel-eration is a, the acceleration torque is equal to Ia. In Fig. 4-8c there is no acceleration.Some values for mass moment of inertia are given in Table 4. Some useful equations for determining a are listed in Table 5. Equation 5 below shows the general equation for accel-eration torque.Equation 4-5)T C - Cushion TorqueThis is the torque that the actuator must apply to provide a required deceleration. This torque is generated by restricting the flow out of the actuator (meter-out) so as to create a back pressure which decelerates the load. This back pressure (de-celeration) often must overcome both the inertia of the load and the driving pressure (system pressure) from the pump.See applications.Equation 4-6)The friction torque T f reduces the torque the actuator must apply to stop the load. The load torque T L may add to, or subtract from the torque required from the actuator, depend-ing upon the orientation of the load torque. For example, a weight being swung upward would result in a load torque that is subtracted.Warning: Rapid deceleration can cause high pressure intensification at the outlet of the actuator. Always in-sure that cushion pressure does not exceed the manufacturer's pressure rating for the actuator.KE – Kinetic Energy (1/2 J m ω2)This is the amount of energy that a rotating load has. The rotator must be able to stop the load. All products have ki-netic energy rating tables. Choose the appropriate decelera-tion option (i.e., bumper, cushions, shock absorbers, etc.) that meets or exceeds the kinetic energy of the load.Calculating Torque Requirements IntroductionPages 8-10 excerpted from the Parker Hannifin Design Engineers Handbook.T α = I αT C = T α* +P r V– T f ±T L θDemand Torque Examples IntroductionMoments of Inertia Introduction11Parker Hannifin Corporation Actuator DivisionΘωmax=.035 ×tα=ωmax2Θ57.3α=ωmax( t ⁄ 2 )K.E.=1/2 J m ω2T a=α × J mDistance from pivot point to T f =W × U s ×center of external bearingsT L= Torque arm length × W L × cos (φ)to C.G. of loadWhere φ =Angle between torque arm andhorizontal plane( )BASIC VELOCITY, ACCELERATION, KINETIC ENERGY AND TORQUE EQUATIONSEquations below are based on triangular velocity profile.Where:Θ=Angle of Rotation (Degrees)t =Time to rotate through Θ (sec)ω=Angular velocity, radians/sec α=Angular accelerations (radians/sec 2)W L =Weight of load (lbf)T a =T orque to accelerate load (lb-in)U s =Coefficient of static frictionJ m *=Rotational mass moment of inertia (lb-in-sec 2)T f =T orque to overcome friction (lb-in)T L=T orque to overcome effects of gravity*Use "I" values from T able 4.( )( )Basic EquationsIntroductionCONVEYOR STOPCLAMPINGTENSIONING/SHOCK ABSORPTIONMIXINGCAMMINGFEEDINGCONVEYOR TRANSFEROPENING/CLOSING TURNTABLE/INDEXINGDIVERTING UNLOADING/DUMPINGDAMPER CONTROLVALVE ACTUATIONHARMONIC DRIVENotes14Parker Hannifin CorporationActuator Division。
MRD-S电气旋转机械臂·微型旋转机械臂说明说明书
· Miniature Rotary ActuatorsSizes 4 .. 12Weight1.2 kg .. 1.8 kg Max. torque 0.4 Nm .. 1.2 Nm Max. speed Max. speed 600 rpm Max. useful load 1 kg .. 3 kgApplication exampleRotary Gripping Combination with Z-stroke for the rapid handling of workpiecesMiniature Rotary Actuators 2-Finger Parallel Gripper MPG 20with attachment-fingersShort-stroke Module with linear direct driveMiniature Rotary Actuators225Brushless synchronous motor with permanent magnet for maximum positioning accuracyIntegrated pneumatic and electric rotary feed-through for modest space requirements and minimized interfering contours Large number of pole pairsfor a powerful torque even at low speeds Special motor geometryfor superior dynamics and acceleration Virtually no wearing partsfor a highly reliable system with long service lifeEcoDrive CS drive systemwith various standard communication interfaces for easy integration and start-up (Simodrive system available on request)Powerful torque motor with electric and pneumatic rotary feed-throughMiniature Rotary ActuatorArea of applicationFor all applications with exceptional requirements in terms of a chievable repeatability, rotary speed, acceleration and tool life.Your advantages and benefitsInformation about the seriesDrive3-phase, electronically commutated AC synchronous motor. The primary part (stator)is a 3-phase Cu coil, the secondary part (rotor) is an iron support with integrated permanent magnetMeasuring systemNon-contact, optical incremental measuring system with extremely high resolution and integrated reference track with reference mark Media feed-through 4 electric (max. 60 V / 1 A)2 pneumatic (max. 8 bar)Bearing arrangementPreloaded precision ball bearings, free from play, with life-time lubricationMaterialAnodized motor housing, hard-coated rotary table Operating temperature From 10 °C to 40 °CAccessoriesEcoDrive CS controllers from Rexroth (other manufacturers on request) Ready-made cable sets in various lengthsScope of deliveryCentering sleeves, assembly and operating manual with manufacturer’s declaration Warranty 24 months· Miniature Rotary ActuatorsHousinganodized, double-sided mating flange surface with centering rings Rotary table with centering collarInput rotary transmission leadthrough(4x) electrical and (2x) pneumatic MotorplugConnection incremental optical r otary encoderOutput rotary transmission leadthrough(4x) electrically pluggable and (2x) pneumaticThe unit is driven by a 3-phase brushless synchronous motor with permanent m agnet.Mechanical transmission elements such as gears can be completely eliminated. The high positioning accuracy is achieved by means of an incremental, optical shaft encoder with reference mark.Function descriptionAn electric and pneumatic rotary feed-through is integrated as special equipment.Options and special informationFunctionElectrical · Rotary Actuators ·Miniature Rotary Actuators227Repeat accuracyRepeat accuracy is defined as the spread of the target position after 100 consecutive positioning cycles. The target position remains unchanged during these cycles, and is always approached from the same direction.General information on the seriesAccessories from SCHUNK –the suitable complement for the highest level of functionality, reliability and controlled production of all automation components.Parallel-InterfaceSercos InterfaceCANopen ProfibusCentering sleevesDrive controllerCable for electric rotary feed-throughCable for shaft encoderInterfaces Start-up softwareAccessoriesMotor power cableFor the exact size of the required accessories, availability of this size and the designation and ID, please refer to the additional views at the end of the size in question. You will find more detailed information on our accessory range in the …Accessories“ catalog section.。
Actuator(音圈马达,VCM) intro-
Operating principle
弗莱明左手法则
F=kBLIN
k, 常数 B, 磁场强弱 L, 磁场共有长度 I, 电流 N, 导线根数
空间有磁场B,在横切磁场的电线通电流I,电线产生向上方向的力F
Operating principle Ｂ磁场
N
I 电流
S
or
S
Ｆ
N
弹簧片控制 移动位置
Structure
US$:1.8~2.2 US$:2.5~3.5
台湾香港 客户
永成国际 致伸科技 普立尔
敦南科技
大陆客户 东莞光阵 宁波舜宇
US$:2.5~4.2
AF模组 10*10*7
对焦距离
80cm-无穷远
可分别对无穷远及微距 场景对焦清楚 0.1s~1.5s 可用 可用
对焦时间 压缩输出 防抖
无需 可用 可用
AF VS FF
e. AF模组组装与传统FF模组的比较：
FF模组 模组组装困难度 简单
AF模组 更复杂，有额外的组装VCM的步 骤 由于VCM的组装而导致额外的良 率的损失
Structure
Base plate
Thickness: 0.45
Structure
上簧片：一端固定于磁性框架 另一端与Carrier联接
Magnet frame
Structure
Magnet Frame
Structure
Cap
Structure
Upper Yoke plate of Carrier
Thickness: 0.25
Structure
Yoke plate
Structure
Carrier with Coil
ACTUATOR, IN PARTICULAR WHEEL ACTUATOR PROVIDED W
专利名称：ACTUATOR, IN PARTICULAR WHEEL ACTUATOR PROVIDED WITH A DRIVE 发明人：HÄGELE, Michael申请号：EP2004007494申请日：20040708公开号：WO05/007487P1公开日：20050127专利内容由知识产权出版社提供摘要：The invention relates to an actuator (1), in particular a wheel actuator for an electrically controlled steering system for a vehicle. At least one electric motor (2) drives a rotary valve (11) or a control bushing (12) of a control hydraulic valve (3) by means of a reducing gear (7). Said control hydraulic valve (3) distributes a pressurising medium to the working areas (25, 26) of the servo-cylinder of the actuator (1). In order to reduce the overall dimensions of the actuator (1) to a minimum and obtain adjusting forces which enable the actuator (1) to be used with a steering system for trucks and commercial vehicles, the reducing gear (7) is embodied at least in two-stage shape, wherein an intermediate gear (8) is used as a first stage (8 ) between a pinion (24) of the electric motor and a wheel (10). Said wheel is torsionally fixed to the rotary valve (11) or to the control bushing (12) of the control hydraulic valve (3).申请人：HÄGELE, Michael地址：DE,DE国籍：DE,DE代理机构：ZF LENKSYSTEME GMBH更多信息请下载全文后查看。
IMI STI FasTrak智能角度调节器系列说明书
CML: Enclosed Control Drive ActuatorThe CML series pneumatic actuator system is composed of anactuator and a manual override integrated into a steel housing whichis portable. This rugged construction guarantees continuousoperation in harsh environments, for example in power stations,steel industries, petrochemical plants or desert areas etc. Thisactuator provides small to medium torque (up to 100 daNm) forangular control of dampers, butterfly valves, speed variators, radialvanes etc. Manual operation is by a clutchable lever, equippedwith a mechanical system. This system allows the movementof the actuator through an external lever and locks it in therequired position.> A ctuator with manual override and lock > P ortable within steel housing> U p to 100 daNm> 20degC to 70degC> L ever has 70deg or 90deg operating angle > T ypical operating pressure 7barg up to 10 barg> Front easily removable foraccess / maintenance>I deal for use in harsh environments maintaining excellent performance>N o competitors have such a wide range of products>Manual override built-in as standard>E asy installation of a wide range of accessories on a separate internal panel >Easy maintenance>Designed for a long operating life >I nternal linear (SC) actuator with built-in permanent lubrication system(see SC brochure for more information)>B alancing Security Sensor device (BSS) to switches automatically from manual function to modulating with signal (after request to come in service) only when the signal matches position where actuator is mechanically locked from manual override. (BSS is available as an option).Key features BenefitsA typical CML actuator in on-off executionfor open and close damper on power stationcooler equipment.FasTrak is a smart positioner which has a high-capacity and high-precision digital-pneumatic valve controller that replaces a conventional positioner.Total capability invalve actuationTechnical specificationsHousing Carbon steelLever shaftAlloy steel 38 NiCrMo4 heat treated Shaft supportBronze bushing on bearing External lever Carbon steelManual overrideManual by-pass function for manual override using an external leverTubing & fittingsBrass fittings and copper tubing(stainless steel 316 available on option)Standard painting RAL 7030 greyAir supplyDry instrument air according to ISO 8573-1Operating pressurePneumatic version from 7 barg up to 10 barg (special version available on request) Standard operating temperature-20°C to 70°C (lower or higher temperature on request)Available with a wide range of positioners, in particular we suggest FT positioners (see FT brochure for more information)Working lever operating angle - 63/125 and 100/100 ✂ 90° - 100/200 and 125/200 ✂ 70°The CML utilises an IMI STI linear actuator from the SC series of actuators with abuilt-in permanent lubrication system, which has been patented by IMI STI. This ensures an extremely smooth valve operation even if dry instrument air is used. Thanks to this lubrication system, which is common to all IMI STI actuators, no maintenance of the moving parts is required, even after many years of continuous service.The patented lubrication system consists mainly of a grease lubricant filled annular cavity placed inside the cylinder piston, between a sealing ring and a sliding ring to avoid direct contact between the metal surfaces of the piston and the cylinder, even in case of lateral forces acting on the actuator stem; the annular cavity is filled with grease which, during the piston movement, keeps the metal partslubricated allowing very smooth sliding and a long seal life.Actuator with piston built-in permanent lubrication systemLinear SC actuators are suitable for service in harsh environments such as desert areas.The air-lock device is mounted onpneumatic actuators when they need to be isolated from control devices (positioners, electro-pneumatic distributors etc) in the event air pressure falls below thepre-determinedoperating safety point.The enclosure for electronic position transmitter house a wide range of either mechanical or inductive limitswitches (up to 4).*****************************BresciaVeronaMilano/Orio al Serio AirportMilan Linate AirportPiacenza。
商用飞机专业术语库——飞控系统
auxiliary flight control system aileron aileron control elevator control rudder rudder control flap slat high lift system pitch control force roll control force yaw control pedal force control effectiveness closed loop control system control law,CL trim system control law of flareout pilot induced oscillation,PIO flutter mode control trim manual trim auto trim flight envelope protection handling quality C*parameter C*criterion D*parameter D*criterion control stick transducer linear variable differential transducer,LVDT rotary variable differential transformer,RVDT side stick controller full authority control horizontal flight heading active control technology,ACT relaxed static stability,RSS maneuver load control gust load alleviation ride smoothing yaw damper pitch damper control augmentation system,CAS normal control mode secondary control mode direct control mode redundancy management standby emergency flight control system active standby active redundancy standby redundancy analytical redundancy redundancy technique architecture;redundancy configuration non-similar redundancy
PHD Plus电动旋转轴动力系统说明书
CYLINDERSPOWERED SLIDES ROTARY ACTUATORSESCAPEMENTSGRIPPERSMULTI-MOTION ACTUATORSCLAMPS SWITCHES PHD PLUS® +49 (0)2401 619 77 0PNEUMATIC, HYDRAULIC & ELECTRIC PRODUCTSSOLUTIONS OVERVIEWPHD Plus® electric actuatorsof proven pneumatic designsand components, but nowelectrically driven..team is ready to help. Wewelcome special requests forunique products, regardless ofquantity or frequency of order.PHD Clamps have become theindustry standard for handlingsheet metal in automotive transferpresses and other workholding/transfer applications. All PHDClamps are customer-driven designswith on-site testing.This dedicated division is focused totallyon the specific needs of the plasticpackaging industry. PPC offers solutionsfor injection molding, stretch blowmolding, continuous extrusion, pre-fill,fill, post-fill, thermoforming and more.COMPLETESOLUTIONSComponentsOur standard pneumatic line of actuators includesa full line of cylinders, grippers, slides, rotaryactuators, multi-motion actuators, escapements,and proximity switches and sensors to provideyou with the motion you require.Through 60 years of innovation, PHD has designed andproduced high precision, reliable products for the automationindustry in Fort Wayne, Indiana, USA. In 1992, PHD establisheditself in Europe and founded the PHDinEurope corporation.We offer an extensive line of standard pneumatic actuatorsthat are known for long life and high quality. Using either boltdirect units or transition plates, our actuators can be combinedto create millions of application variations. We can help move,turn, slide, lift, grip, reach, rotate, and clamp almost anything toincrease your efficiency.Our products, supported by our strong commitment to delivery,service, and quality have made us a leader in the modularautomation industry.Our facilities include two manufacturing facilities, a Technology &Training Center, and Administration Building located in the U.S.A. High Precision, Reliable ProductsUsing our vast array of components, our highly trained application specialists work with you to examine yourprocess, offering you the best solution for your application goals.Our European Headquarters includes training facilities and is located nearCologne, Germany.We provide intensive training schools for our distributors - members of a world-wide distribution network, the MDN.Thumb ® Cylinders and linear actuators, known for durability and versatility. NFPA cylinders can be specified with built-in flow controls, adjustable cushions, shock pads, proximity switches, and many other options, making it easy to find the perfect cylinder for your application. One of our specialized models is our heavy duty Tom Thumb ® Cylinders. These units can be specified for light duty cycle or high pressure hydraulic service. For applications demanding a medium duty cylinder , we offer air/oil tandems, back to back or three-position models.APPLICATIONA cylinder, gripper, and saddle powered slide provide cost effective automation for this assembly and pull test application. First, the part is fed to the work platform using a Series CTS Guide Rod Cylinder as a light duty slide with a gripper affixed to the tool plate. Next, a saddle type slide and another Series CTS Cylinder and gripper perform the final part assembly. The next stage of the application is a pull test to ensure proper part assembly. Finally, the part is ejected into a completed parts bin.A combination of Series SxH and SD Slides automate this sorting process. First, a Series SAH Slide extends to eject an incomplete part from the line. Next, the complete part continues to the pick and place assemblyperformed by a gripper and slide combination. The vertical motion is supplied by a Series SBH Slide and the horizontal slide is a Series SD. The part is secured in the nest below by a Series SAH Slide. Once complete, this slide retracts which allows the assembly unit to proceed for further operations.We offer a complete line of rotary actuators with a wide range of options including built-in speed controls, adjustable cushions and angle adjustments. Our pneumatic and hydraulic rack-and-pinion rotary actuators are available in miniature series for small part orientation, as well as larger series for applications requiring up to 3579Nm of torque. Standard rotations range from 45° to 450°;however , larger degrees of rotations are also available.M U LT I -M O T I O Our multi-motion actuators provide rotary and linear motion from one output shaft. The reach-and-turn motions are APPLICATIONA three-position Series 1000-8000 Multi-Motion Actuator is used in this automated inspection station. When a rejected unit isspotted, two grippers are lowered by retracting the multi-motion linear section. One gripper grips the rejected unit while the other gripper grips a replacement. The multi-motion extends, rotates 180° and retracts, setting thereplacement unit on the conveyor. It extends and swings back 190° placing the rejected unit into a reject bin. It returns to its original position and waits for the next bad unit.Combined linear and rotary motions in one automation devicegrippers range in size from miniature for small part gripping to heavy duty units capable of more than 2000N of gripping force. Most grippers are available witha built-in sensor and set point module to provide four or more adjustable sensingpositions throughout the movement ofthe jaws. All of our grippers can be used for internal or external gripping and come in a variety of jaw styles to adapt to any application. Our grippers can also be, rotary, and multi-motion actuators for pick and, and other applications involving repetitive motion. Grippers are available for pneumatic,hydraulic, or electric service to fit yourwith a Series GRT Gripper to create this reachand pick style of assembly device. Parts arereleased one at a time by an escapement froma feeder. The vertical slide extends the GRTgripper which grasps the part. The vertical slideretracts and the horizontal slide extends overthe empty nest. The vertical slide then extendsthe GRT gripper and places the part in the nest.APPLICATION 2A PHD slide, rotary actuator, and gripper placeand hold the shroud onto liquid propane tanks.Once positioned, the shroud is spot weldedand released. The Series GRB gripper jawsopen 180° allowing clearance for the tank tobe released down the conveyor. This eliminatesthe need for an additional axis of the motion toclear the gripper.PHD offers 16 differentseries of grippersSeries GRM ClampsSeries GRM Clamps are designed specifically for handling sheet metal in stamping/fabricating press applications. position within a range of 0 - 3mm metal thickness. This ensures part retention even if air pressure is removed or lost. We have developed a wide selection of modular jaw tips for maximum clamping performance over many material and application conditions.APPLICATION 1Series GRM Clamps are used in this typicalmaterial handling applicationfor the automotive/metal stamping press. Four clamps are used at each “stamping station” inside the press. The clamps grab onto the material as the transfer rails lift and advance the sheet to each stage of the forming process. The Series GRM Clamp is ideal due to the locking jaw mechanism, which prevents dropping of the part during transfer.Our wide variety of clamp products provide superior part holding and transferring for your assembly andwelding environments.C L11 +49 (0)2401 619 77 012+49 (0)2401 619 77 0S W I T C H E S & S E N S O R SEscapement applied in a vertical orientation over a gravity parts feeder. The tooling attached to the rods of the escapement isoffset to separate parts that are wider than the distance between the escapement’s rods. This sequencing and part separation ensures that only one part is released at a time.controllers and logic systems used in industry today. As a result, we provide switches and sensors to create an easy interface between these different systems and our actuators. Ourswitches and sensors mount directly onto the actuator , eliminating bulky electromechanical proximity switches and mounting hardware.13 +49 (0)2401 619 77 0P L A S We have standard component stretch rods, nozzle and needle cylinders, fillers, transfer arms and a variety of unique solutions. PHD PPC Components are the actuators of choice to keep your blow molding lines running while increasing productivity and reducing downtime and scrap. PHD also offers a complete line of pneumatic and hydraulic cylinders, escapements, grippers, slides, rotary actuators, clamps,multi-motion actuators, and proximity switches which can be combined or used individually to provide the motion your downstream application requires. With millions of component variations, we can help pick, place, twist, turn, lift, grip, reach, rotate, eject, andclamp what you need to increase your productivity. If an application requires a modified component, our PlasticPackaging Components team is ready to help. We welcome special requests for unique products, regardless of quantity or frequency of order . PHD and ourlocal MDN partner will work closely with you to find a solution to your needs.APPLICATIONIn the stretch blow mold machine, Series BCS Stretch Rod Cylinders are used to drive the stretch rod housing and stretch rod to its final position. This stretching action in conjunction with the high pressure blow air will convert the heated preform into the finished container in the mold.Series BCS Stretch RodCylinderP SP I C MOODi r L AT I C A C K A GNG O P N E N T S G R U P SOLUTIONSQu al i t ye l ve ySupport(List marks of PHD which appear on promotional material) areeither registered trademarks or trademarks of PHD, Inc. Any other marks or names referenced herein are either registered trade-marks or trademarks of their respective owners. No association with or endorsement of any company, organization, or product is intended or should be inferred.SIDEL ®KRONES ®14+49 (0)2401 619 77 0 Nearly every standard unit we make is manufactured to order. That’sbecause we have such a wide variety of actuators, options and accessories available. We have the capabilities built into our factory systems to modify products within our everyday processes. Because of our flexibility, creating Unique Solutions ® is simple for PHD.We have dedicated assembly cells,machining centers, and many engineers to design and build unique solutions for our customers. With over 34,000 unique designs and over 100,000 quotes already in our database, we can provide most quotes within eight working hours. We have the systems in place to provide the best delivery in the industry.Creating unique solutions is simple for us. We can make solutions simple for you!Custom Series GRR GripperSPECIAL REQUIREMENTS15 +49 (0)2401 619 77 0E L E C T R I C A L LY-D R I V E N C O M P O N E N T SPHD Plus ® products are built on the foundation of proven pneumatic designs and components, but nowelectrically driven. Our new Your Motor , Your Way’s simple 3-step process allows users to employ our proven technology operated by the motor and controls of your choice. This saves time and money by eliminating the need to learn or place into service a new motor and controls platform. With Your Motor , Your Way integration into an existing controls system is quick and easy. If you prefer a complete package, your local PHD distributor can provide motors and controls to fit your application needs. This all provides the best offering of electrically-driven linear products with the flexibility to configure Your Motor , Your Way!APPLICATIONA combination for PHD Plus ® Series ESK and ESL Slides is used in this custom trimmingapplication. The rigid support provided by these slides and the precision of the Series ECVCylinders powering them makes the ideal multi-axis device to automate this process.Size, Select, & ConfigureRefer to our easy 3 step process online atSeries ESK Slide+49 (0)2401 619 77 0 Your local distributor16。
普玛精密阀门手册说明书
STEALTH VALVE & CONTROLS LTD .The “Application Solution” Company®Exclusive Stocking Distributor for Valves, Actuators, Instruments and Specialty Products Serving:Industrial, Power, Food and Beverage, Chemical, OEM, Municipal, Automotive,Petro-Chemical, Pulp and Paper, Mining and Commercial MarketsE S T A B L I S H E D 1991P M P P R E C I S I O N V A L V E C O . L T D .10 D e g r e e V Va r i -V I n s e r t s 30 D e g r e e V 60 D e g r e e V F i l l e r VT H E “A P P L I C A T I O N S O L U T I O N ” C O M P A N Y®MANUAL & AUTOMATEDBALL VALVESTHROTTLING & CONTROLA101One Piece Reduced Port Investment Cast Blow Out Proof Stem800 PSI WOG 150 PSI SteamCF8M WCB N.P.T.1/4”– 2”PTFE RPTFEtch LockLimit Switches Stem ExtensionA200Two Piece Full Port Investment Cast Blow Out Proof Stem Actuator MountingA201– 1000 PSI WOG A202– 2000 PSI WOG A203– 3000 PSI WOG A206– 6000 PSI WOG CF8M WCB N.P.T.A201– 1/4”– 3”A202– 1/2”– 2”A203– 1/4”– 2”A206– 1/2”– 2”PTFE RPTFE DELRIN tch Lock Pneumatic ElectricLimit Switches Solenoid Switches Position TransmittersPositioners Volume Boosters Speed Controls Air Filter Regulators MAN UA L•T H E “A P P L I C A T I O N S O L U T I O N ” C O M P A N Y®MODELDESIGNPRESSURE CLASS BODY MATERIAL ENDCONNECTIONSSIZE RANGE SEAT MATERIAL OPERATORS ACCESSORIESM276Two Piece Full PortISO 5211DirectActuator Mounting Blow Out Proof Stem “O”Ring Stem Seal Low Operating Torque 1000 PSI WOG 150 PSI SteamCF8MN.P.T.1/2”– 2”PTFE RPTFE S.S.Non-Lock LeverPneumatic ElectricLimit Switches Solenoid Switches Position TransmittersPositioners Volume Boosters Speed Controls Air Filter RegulatorsA301Three Piece Full PortInvestment Cast Blow Out Proof Stem1000 PSI WOG 150 PSI SteamCF8M WCB N.P.T.B.W.S.W.1/4”– 4”PTFE RPTFEtch LockLimit Switch Stem ExtensionsNOTE: 200 PSI Steam Using RTFE Seats / 250 PSI Steam Using Graphite Steam SeatsM392Three PieceFull PortISO 5211Direct Actuator MountingInvestment Cast Blow Out Proof Stem 1000 PSI WOG150 PSI SteamCF8MWCBN.P.T.B.W.S.W.1/4”– 3”PTFERPTFEtch LockPneumaticElectricLimit SwitchesSolenoid Valves Position TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsM305/M306Three PieceM305Standard PortM306Full PortISO 5211DirectActuator MountingInvestment CastBlow Out Proof StemFire Tested Design2000 PSI WOG250 PSI Steam1/2” – 11/4” 2000 PSI11/2” – 2” 1500 PSICF8MWCBN.P.T.B.W.S.W.1/4”– 21/2”PTFERPTFEMG1241Steam Seatstch LockPneumaticElectricLimit SwitchesSolenoid ValvesPosition TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsM2013KCThree Piece SanitaryFull PortISO 5211Actuator MountingInvestment CastBlow Out Proof StemCavity Filled SeatInterior Finish 20 RA2000 PSI WOG150 PSI SteamCF8MT-ClampButtweld1/4”– 2”PTFERPTFEtch LockPneumaticElectricLimit SwitchesSolenoid ValvesPosition TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsM380FThree Piece - Full PortISO 5211MountingInvestment CastBlow Out Proof StemPatented “Sealmaster”Stem ArrangementLive Loaded Stem PackingAPI 607Fire SafeANSI CLASS 6001480 PSI CWP250 PSI SteamCF8MWCBN.P.T.B.W.S.W.1/2”– 3”PTFERPTFEUHMWPESteam Seatstch LockPneumaticElectricLimit SwitchesSolenoid ValvesPosition TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsEmission ControlM333Three WayStandard PortISO 5211DirectActuator MountingInvestment CastBlow Out Proof Stem“L”or “T”Port1000 PSI WOG150 PSI SteamCF8MN.P.T.1/2”– 2”PTFERPTFES.S.Non-Lock LeverPneumaticElectricLimit SwitchesSolenoid ValvesPosition TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsA U T O M A T E D•T H E“A P P L I C A T I O N S O L U T I O N”C O M P A N Y®NOTE: 200 PSI Steam Using RTFE Seats / 250 PSI Steam Using Graphite Steam SeatsM333-4-5WayFull PortISO 5211Mounting Blow Out Proof StemAnti Static Device TUV-TA-LUFT Sealing Trunnion Mount “L” “LL” “T” “TT”PortANSI 150ANSI 300CF8MWCBN.P.T.S.W., B.W.Flanged – M303/8”– 6”PTFERPTFEtch LockPneumaticElectricManual GearLimit SwitchesSolenoid Valves Position TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsEmission ControlM115One PieceStandard PortISO 5211DirectActuator MountingFire Tested DesignFloating BallAnti StaticANSI 150CF8MWCBR.F.Flanged1/2”– 12”PTFERPTFEtch LockPneumaticElectricManual GearHydraulicLimit SwitchesSolenoid ValvesPosition TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsStem ExtensionsM200Two PieceFull PortISO 5211DirectActuator MountingFire Tested DesignFloating BallAnti StaticANSI WAFER – M272ANSI 150 – M215ANSI 300 – M230ANSI 600 – M260CF8MWCBR.F.FlangedRTJ Flanged1/2”– 12”PTFERPTFEMG1241Steam Seatstch LockPneumaticElectricManual GearHydraulicLimit SwitchesSolenoid ValvesPosition TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsStem ExtensionsBFSSanitary ButterflyPolished Interior150 PSI WOGCF8MWCBTri ClampWelded Ends1”– 4”SiliconeVitontch LockPneumaticElectricLimit SwitchesSolenoid ValvesPosition TransmittersPositionersVolume BoostersSpeed ControlsAir Filter RegulatorsStem ExtensionsF L A NG E DACCESSORIESLimit SwitchesPositionersPositionTransmittersFilter RegulatorsSolenoid T H E“A P P L I C A T I O N S O L U T I O N”C O M P A N Y®NOTE: 200 PSI Steam Using RTFE Seats / 250 PSI Steam Using Graphite Steam SeatsT H E “AP P L I C A T I O N S O L U T I O N ” C O M P A N Y®INNOVATIVE VALVE TECHNOLOGYPneumatic Actuation•Double Acting, Spring Return Design •Hard-Coat Anodized Aluminum Body •Constant Torque Output •Compact Design•ISO 5211 Direct Actuator Mounting •Maximum Output Torque 40,000in-lbs•Namur Mounting for Solenoid Valve, Limit Switch and Positioner •Anti Blowout Pinion •Long Life Piston Guides•Pressure Rating 125psig Maximum •Temperature Range: -20C to +85C•Optional High Temperature Seals to 150C •Pre-Lubricated•End Caps Powder Coated Die Cast Aluminum •Open /Close Adjustment Stops•Optional Features: Epoxy Coated, E.N.P.BodiesElectric Rotar y ActuationAll PMP Actuators provide quiet and reliable operation for all rotary valves. All units are self-locking as standard, local visual indicators with manual override options together with a wide range of voltages. •IP 67 (NEMA 4, NEMA 4X )Waterproof and Dust-proof Enclosures •Maximum Output Torque 35,000in-lbs •Material: Aluminum Alloy •Finish: Dry Powder Coated•Standard Extended Duty Cycle Induction Motor, H Insulation Class for OM-1and OM-A,F Class for BM-2and OM-2to OM-10•Built-in Thermal Motor Protection (135˚C )•All models have continuous position indication on the top of actuator cover•Non-clutch design, the manual operation can be operated without any lever, clutch or brake upon power outage •When the electric motor is operating, the manual override will not rotate•Ambient Temperature: -5˚C to +60˚C •Humidity: 30%to 95%•Available in the following standard voltages: DC/AC - 12V, 24V,Single phase - 110V, 220V,Three phase - 220V, 380V, 440V•High alloy steel gear trains provide self-locking function to avoid valve back drive •Gear trains are factory lubricated with a high temperature rated lubricant •External adjustable mechanical stops are provided on all electric actuators•ISO 9001, CE, CSA Options•Internal Heater with Thermostat •Additional Limit Switches •Potentiometer Unit (1K 0hm )•Local Control Unit (local/remote, on/off )•Conduit Entries 1/2” NPT or M20•Adjustable Torque Switches•Current Position Transmitter (output 4-20m A )•Modulating Controller •Various power suppliesISO 5211Direct Actuator MountingORDERING INFORMATION (Example)A101 — 08 — 03 — FP — 6 — 6 — 02 — LL — NModel Size End Port Body Ball/Stem Seat Operator AccessorySolenoidsSpeed Controls & MufflersLimit SwitchPositionersPneumatic Rotary Actuators Electric Rotary ActuatorNEMA 4, 4X-CSA, CE, UL CERTIFIEDM3062000 WOG 1/4”– 2”M276900 WOG 1/4”– 2”M3921000 WOG 1/4”– 3”M3331000 WOG 1/2”– 2”L or T Port M380F Class 6001/2”– 3”Fire SafeM115/M215/M230150RF/300RF 1/2”– 12”M30150RF/300RF1”– 8”3-4-5Way L, T, LL, TTModel Size EndPortBodyBall/SeatsOperatorAccessories(inches)ConnectionsStemA1011/408N.P.T.01Reduced RP C.S.2C.S.2TFE01Manual LeverMLNone NA2013/810S.W.02Standard SP31663166RTFE02Latch LeverLLStem Extension ST A2021/215 B.W.03Full Port FPMonel 7Monel 7MG124103Oval Handle OV Emmission EM A2033/420Tri-Clamp 04V Port VP Other X Other XTFM160004Manual Gear MG Limit Switch LS A206 1 25Compression 05L Port LP Cavity F 05 D.A. Pneumatic DA Beacon Indicator BI A301 1 1/432Weld End Sch.06T Port TP Peek06S.R. Pneumatic SR Solenoid SO M305 1 1/240N.P.T. x S.W.07LL Port LL 50% S.S + TFE 07Hydraulic HO Speed ControlSC M306250N.P.T. x B.W.08TT Port TT50% B.P. + TFE 08Electric EAPneumatic Positioner PP M30 2 1/265S.W. x B.W.09Delrin 09IP Positioner IP M33380ANSI 150 R.F.15Stellite 10Hart Positioner HP M3334100ANSI 300 R.F.30TFM 421511NEMA 4N4M380F 5125ANSI 600 R.F.60Other 10NEMA 7N7M380I 6150Other XXHeaterH M3928200Modular Control MC M11510250Position Meter PM M21512300Torque SwitchTS M230Position Transmitter PT M260Local Control LC M276Volume Booster VBGearONTARIO – 1273North Service Road East, Unit F6, Oakville ON L6H 1A7–TEL 905 845 4500 •FAX 905 845 45052520c St. Laurent Boulevard, Suite 102, Ottawa ON K1H 1B1 – TEL 613 739 4626 •FAX 613 739 1679BRITISH COLUMBIA – TEL 604 632 4657 •FAX 604 632 4658QUEBEC – 3460 Poirier, St. Laurent QC H4R 2J5 – TEL 514 332 4260 •FAX 514 331 3924 •TOLL FREE 1 800 361 5571VISIT OUR APPLICATION DATA SHEETS ON THE WEBsales @ MMUNICIPALIINDUSTRIALPPOWERCCOMMERCIAL•24 H O U R E M E R G E N C Y VA LV E R E S P O N S E •416 945 1258 •。
PR Electrical 电子产品 - 基本原理 - 通用旋转操作器 238说明书
PRElectrical · Principle of Function ·Universal Rotary ActuatorsModular RoboticsModular·Standardized interfaces for mechatronics and control for rapid and simple assembly without complicated designs·Cube geometry with diverse possibilities for creating individual solutions from the modular system Integrated·The control and power electronics are fully integrated in the modules for minimal space requirements and interfering contours ·Single-cable technology combines data transmission and the power supply for minimal assembly and start-up costs Intelligent·Integrated high-end microcontroller for rapid data processing ·Decentralized control system for digital signal processing ·Universal communication interfaces for rapid incorporation in e xisting servo-controlled conceptsYour advantages and benefitsThe modules of the PowerCube series provide the basis for flexible c ombinatorics in automation. Complex systems and multiple-axis robot structures with several degrees of freedom can be achieved with mini-mum time and expenditure spent on design and programming.Module overviewThe innovative technology of the PowerCube modules already forms the basis of numerous applications in the fields of measuring and testing systems, laboratory automation, service robotics and flexible robot t echnology.PGServo-electric2-Finger Parallel Gripper PRServo-electric Rotary Actuators PWServo-electricRotary Pan Tilt ActuatorsPSMServo-motors with integrated position control PDUServo-positioning motor with precision gearsPLSServo-electric Linear Axes withball-and-screw spindle drivePRUniversal Rotary ActuatorsMethod of actuationThe PowerCube modules work completely independently. The master control system is only required for generating the sequential program and sending it step by step to the connected modules. Therefore, only the current sequential command is ever stored in the modules, and the subsequent command is stored in the buffer. The current, rotational speed and positioning are controlled in the module itself. Likewise, functions such as t emperature and limit monitoring are performed in the module itself. Real-time capability is not absolutely essential for the master control or bus system.Control version AB C Hardware Control with SPC (S7)Control with PC Control with PC Interface Profibus DPCAN bus / RS-232CANopenSoftwareWindows operating system LINUX operating system Development platformsPowerCube (LabView, Diadem)standard software PowerCube on request on request on request (gsd file, programming examples)standard software (e.g. Eckelmann CNC 55)Included with the “PowerCube Standard Software“ CD-ROM (ID 0307700): Assembly and operating manual with manufacturer’s declaration, quick-step software, demo and d iagnosticprogram plus various driver files.1234567889ᕃ24 VDC / 48 VDC power supply provided by the customerᕄControl system provided by the customer (see control versions A, B and C)ᕅPAE 130 TB terminal block for connecting the voltage supply, the communication and the hybrid cable ᕆPDU servo-motorᕇLinear axis with PLS ball-and-screw spindle drive and PSM servo-motorᕈHybrid cable (single-cable technology) for connecting the PowerCube modules (voltage supply and communication)ᕉPW Servo-electric Rotary Pan Tilt Actuator ᕊPG Servo-electric 2-Finger Parallel Gripper ᕋPR Servo-electric Rotary ActuatorPRL· Universal Rotary ActuatorsSizes 60 .. 120Weight1.0 kg .. 3.6 kg Torque4.5 Nm .. 216 Nm Axial force 120 N .. 800 N Bending moment 20 Nm .. 320 NmApplication exampleMobile platform with autonomous loading and unloading possibility for workpiece transportation3-Finger Electric Gripping HandLWA 3 Light-weight Arm consists of 7 PRL modulesPRLElectrical · Rotary Actuators ·Universal Rotary ActuatorsHollow shaft for media feed-throughfor minimizing interfering contours and break of cable High torques at smallest space requirements for short cyclesAbsolute position encoder without additional set-up Magnetic brakefor save hold in case of power outageFully integrated control and power electronics for creating a decentralized control systemVersatile actuation optionsfor simple integration in existing servo-controlled concepts via P rofibus DP, CAN bus or RS-232Standard connecting elements and uniform control conceptfor extensive combinatorics with other PowerCube modules (see explanation of the PowerCube system)Single-cable technology for data transmission and power supply (plug & play)for low assembly and start-up costsServo-electric rotary actuator with > 360° rotating angleUniversal Rotary ActuatorArea of applicationFor universal use in clean to slightly dirty environments as handling or positioning system components; for workpiece or sensor p ositioning in measuring and testing applications; as extension axes and axes for industrial and service robots and in machining centers.Your advantages and benefitsGeneral information on the seriesWorking principlewith Harmonic Drive ®gear driven by a brushless DC servo-motor Housing materialAluminum alloy, hard-anodizedActuationservo-electric, with brushless servo-motor and incremental encoder for position and speed control Warranty 24 monthsScope of delivery“PowerCube Standard Software“ CD-ROM, containing assembly and operating m anual with manufacturer’s declaration, quick-step software, demo and diagnostic program and various driver files (see explanation of PowerCube system).Other information · 2 digital EIA 24 VDCPRL· Universal Rotary ActuatorsComplete performance and control electronicsIntegrated brake Brushless servo-motor Harmonic Drive ®gearThe rotary actuator is equipped with a Harmonic Drive ®precision gear, which is d riven directly by a brushless DC servo-motor.Function descriptionThe PRL rotary actuator is electrically actuated by the fully integrated control andpower electronics. In this way, the module does not require any additional external control units.A varied range of interfaces, such as Profibus DP, CAN-Bus or RS-232 are available as methods of communication. This enables you to create industrial bus networks, and ensures easy integration in control systems. You can make use of our hybrid cables for conveying the supply voltage and for communication.If you wish to create combined systems (e.g. a rotary gripping module), various other modules from our PowerCube series are at your disposal.Electrical actuationSectional diagramPRLUniversal Rotary ActuatorsRepeat accuracyRepeat accuracy is defined as the spread of the limit position after 100 consecutive swiveling cycles.Position of driveThe position of the motor shaft is always shown in the drawing in the zero position (0°). From here, it can be rotated clockwise and anti-clockwise.The turning range may exceed 360° several times, depending on the type of application. After switch on the module reports its position as an absolute value (last position before switch off).Swiveling timeSwiveling times are purely the times of the output cube to rotate from rest position to rest position. Relay switching times or SPC reaction times are not included in the above times and must be taken into consideration when determining cycle times.Load-dependent rest periods may have to be included in the cycle time.General information on the seriesElectrical accessories PAE terminal blockPAM standardc onnecting elementsAccessoriesHybrid cableFor the exact size of the required accessories, availability of this size and the designation and ID, please refer to the additional views at the end of the size in question. You will find more detailed information on our accessory range in the …Accessories“ catalog section.PRL 80· Universal Rotary ActuatorsThe peak torques act as a temporary drive reserve on acceleration and braking. *Higher accuracy on requestTechnical data Moment loadMoments and forces may occur simultaneously.Description PRL 80-552ID0306915 Mechanical operating dataNominal torque[Nm]20.7 Peak torque[Nm]41.4 Rotating angle (>)[°]360.0 IP class65 Weight[kg] 1.2 Swiveling time (90°) with mean attached load[s] 4.25 Min. ambient temperature[°C] 5.0 Max. ambient temperature[°C]55.0 Repeat accuracy*[°]0.02 Max. angular velocity[°/s]25.0 Max. acceleration[°/s2]100.0 Gear ratio552:1 Electrical operating dataNominal voltage[VDC]24.0 Nominal power current[A] 3.0 Max. current[A] 6.0 Resolution[arcsec] 1.0 Control electronicsIntegrated electronics Yes Voltage supply[VDC]24.0 Nominal power current[A]0.5 Sensor systemInterfaces RS-232; Profibus-DP; CAN-Bus-PRL 80Universal Rotary Actuatorsᕃ24 VDC voltage supply provided by customer ᕄControl (SPC, etc.) provided by customerᕅPAE 130 TB terminal block for connecting the voltage supply, the communication and thehybrid cableᕆHybrid cable for connecting the PowerCube modulesMain viewsThe drawing shows the rotary actuator with damp-proof cap in the basic version with closed jaws, the dimensions do not include the options described below.1234ᕎᕞThrough-boreᕑᕠElectronics connectionActuationDescriptionID Terminal block PAE 130 TB 0307725PowerCube Communication cable0307759PowerCube Hybrid cable, straight (per meter)9941120You can find further cables in the “Accessories“ catalog section.Interconnecting cable。
Actuonix L16 Linear Actuator说明书
ApplicationsRoboticsConsumer appliances ToysRC vehicles AutomotiveIndustrial AutomationMiniature Linear Motion Series · L16Actuonix Motion Devices’ unique line of Miniature Linear Actuators enables a new generation of motion-enabled product designs, with capabilities that have never before been combined in a device of this size. These linear actuators are a superior alternative to designing your own push/pull mechanisms.The L16 actuators are complete, self contained linear motion devices with position feedback for sophisticated position control capabilities, end of stroke limit switches for simple two position automation, or RC servo. Several gear ratios are available to give you varied speed/force configurations.L16 Specifications Gearing Option35:1 63:1 150:1Peak Power Point 50N @16mm/s 75N @10mm/s 175N @4mm/sPeak Efficiency Point 24N @24mm/s 38N @15mm/s 75N @7mm/sMax Speed (no load) 32mm/s20mm/s8mm/sMax Force (lifted) 50N 100N 200N Back Drive Force31N 46N 102N Stroke Option 50mm 100mm 140mmMass56g 74g 84gRepeatability (-P & LAC) 0.3mm 0.4mm 0.5mm Max Side Load (extended) 40N 30N 20N Closed Length (hole to hole) 118mm 168mm 208mm Feedback Potentiometer 6kΩ 50%11kΩ 50% 16kΩ 50% Feedback Linearity Less than 2.00%Input Voltage “P”, “S” Rated at 12VDC. “R” series rated at 6VDCStall Current650mA @ 12V Operating Temperature -10 C to +50 C Audible Noise 60dB @ 45cmIngress Protection IP-54 Mechanical Backlash 0.25mmLimit SwitchesMax. Current Leakage: 8uAMaximum Static Force 250N Maximum Duty Cycle 20%Basis of OperationThe L16 is designed to push or pull a load along its full stroke length. The speed of travel is determined by the load applied. (See the Load Curves). Actuator speed can be reduced by lowering the drive voltage. When power is removed the actuator will hold its position, unless the applied load exceeds the back drive force. Repeated stalling or stalling for more than a few seconds will shorten the life of the actuator significantly. Stalling is when an actuator is pushing a load that it cannot move. Actuators should be tested in each specific application to determine their effective life under those loading conditions and environment.A c t u o n i x M o t i o n D e v i c e s I n c . C o p y r i g h t 201950mm L16 – Actual SizeModel SelectionThe L16 has 3 configuration choices: Stroke, Gear Ratio and Controller. L16 options are identified according to the following model numbering scheme:L16-SS-GG-VV-CFeature OptionsSS: Stroke50, 100, 140 (mm)GG: Gear reduction ratio (refer to load curves above) 35, 63, 150(lower ratios are faster but push less force, and vice versa)VV: Voltage 12 vdc or 6 vdc (-R only)C: Controller P Potentiometer FeedbackS Limit SwitchesR RC Linear ServoL16 Controller OptionsOption S – End of Stroke Limit SwitchesWIRING: (see last page for pin numbering)1 - Red – Motor V+2 – Black – Motor V- (Ground)-S actuators are ideal for manually controlled applications and simple two position automated mechanisms. The –S actuators have limit switches that will turn off power to the motor when the actuator reaches within 0.5mm of the end of stroke. Internal diodes allow the actuator to reverse away from the limit switch. The limit switches cannot be moved once the actuator is manufactured. While voltage is applied to the motor power pins, (1 & 2) the actuator extends. Reverse the polarity and the actuator retracts. This can be accomplished manually with a DPDT switch or relay, or using an H-Bridge circuit. The –S model cannot be used with the LAC control board. Option P – Potentiometer Position FeedbackWIRING: (see last page for pin numbering)1 - Orange – Feedback Potentiometer negative reference rail2 - Purple – Feedback Potentiometer wiper3 - Red – Motor V+ (6V or 12V)4 - Black – Motor V- (Ground)5 - Yellow – Feedback Potentiometer positive reference rail-P actuators are suited to automatically controlled positioningsystems, but they can also be driven manually. The –Pactuators have no built in controller, but do provide an analog position feedback signal that can be input to an externalcontroller. While voltage is applied to the motor power pins,(3 & 4) the actuator extends. Reverse the polarity and the actuator retracts. This can be accomplished manually with a DPDT switch or relay, or using an H-Bridge circuit. Position of the actuator stroke can be monitored via the internal linear potentiometer. Provide any stable low and high reference voltage on pins 1 & 5, then read the position signal on pin 2. The voltage on pin 2 will vary linearly between the two reference voltages in proportion to the position of the actuator stroke.The L16 –P actuator can be used as a linear servo byconnecting the actuator to an external controller such as the LAC board offered by Actuonix. This control board reads the position signal from the L16, compares it with your input control signal then commands the actuator to move via an on-board H-bridge circuit. The LAC allows any one of the following control inputs:Analog 0-3.3V or 4-20mA, or Digital 0-5V PWM, 1-2ms Standard RC, or USB. The RC input effectively transforms your L16 into a linear servo, which is a direct replacement for any common hobby servo used in RC toys and robotics. Refer to the LAC datasheet for more details. A c t u o n i x M o t i o n D e v i c e s I n c . C o p y r i g h t 2 0 1 9Option R – RC Linear ServoWIRING: (see last page for pin numbering) 1 - White – RC input signal (RC-servo compatible) 2 - Red – Power (+6 VDC) 3 - Black – Ground Note: Reversing the polarity of pins 2 and 3 may permanently damage the actuator -R actuators are ideally suited to use in robotics andradio control models. The –R actuators or ‘linear servos’ are a direct replacement for regular radio controlled hobby servos. The desired actuator position is input to the actuator on lead 1 as a positive 5 Volt pulse width signal. A 1.0 ms pulse commands the controller to fully retract the actuator, and a 2.0 ms pulse signals it to fully extend. If the motion of the actuator, or of other servos in your system, seems erratic, place a 1–4Ω resistor in series with the actuator’s red V+ lead wire.L16 –R Linear Servos are the only 6 volt models in the L16 range because they are designed to work with typical RC receivers and battery packs. Consequently they also are compatible with Arduino control boards, VEX Microcontrollers and many other similar boards designed for robotics.OrderingSmall quantity orders can be placed directly online at . Purchase orders, volume quotes, and custom requests can be sent to ****************** . Each actuator ships with two mounting brackets, #8-32 mounting hardware and male connector pins. The cable length is approximately 300mm and connector is a 0.1” pitch female socket connector. Custom OptionsContact Actuonix for quotes and lead-times on any non-standard customizations. Typically we can modify the stroke, limit switch positions, cable length and connector on a minimum order quantity of 500 pieces.Any modifications requiring mold changes will involve higher MOQ and/or NRE fees.Accessories Visit for compatible accessories including cable extensions, DPDT switches and relays, position indicators and power supplies.A c t u o n i x M o t i o n D e v i c e s I n c . C o p y r i g h t 2019。
Honeywell GLS全球微型限位开关系列数据手册说明书
MICRO SWITCH Global Miniature Limit SwitchesGLC | GLD | GLE SeriesDESCRIPTIONHoneywell MICRO SWITCH GLS miniature limit switch family offers a wide range of products for global solutions. Thesedurable and reliable limit switches are suitable for many industrial applications, agriculture equipment, transportation equipment, and other applications requiring an environmentally sealed (IP and NEMA) switch.The compact housings are often ideal for equipment where space is at a premium. The extensive product range is available in three different housing types; metal housing, plastic housing or a three conduit metal housing which are mounting compatible to EN50047. A wide range of actuators, contact blocks, and conduit/connectivity options enhance the product offering.In today’s demanding age of logic-level controls,electromechanical switches are frequently used to interface with PLCs and other logic level devices. GLS limit switches offer an option for gold-plated contacts for the standard switch. This option promotes the switch reliability for logic-level applications.VALUE TO CUSTOMERS• Meets EN50047 mounting standards and EN/IEC electrical standards for world-wide use• Large existing install base and channel allows for quick delivery worldwide• Wide range of actuators and circuitry options in same footprint• Certified for global use with CCC 1, CSA, CE, and UL acceptanceDIFFERENTIATION• Modular design of limit switch (heads/actuators, bodies, and contact blocks) allows for rapid customization and delivery • Removable contact block for wiring ease• Galvanically isolated contacts for controlling two separate circuitsFEATURES• Designed to EN50047 standard• Metal housing or double-insulated plastic housing for indoor and outdoor applications• Wide range of actuator heads and levers• Heads can be positioned at 90° increments for designflexibility. Side rotary actuator heads can be factory set for CW, CCW, or CW and CCW actuation• Certified for global applications: CE, UL, CSA, CCC 1• Conforms to CE, EN50047, IEC/EN 60947-5-1; CSA C22.2 #14;UL 508; CCC 1 GB14048.5, EN45545-2 (GLC/GLE)• Sealed to IP66 and NEMA/UL 1, 4, 12, and 13• -40 °C [-40 °F] standard construction for side rotary and plunger actuated switches suitable for many severe outdoor environments• Dual bearing design on side rotary actuators reduces side loading and enhances mechanical life• Variety of NC and NO double-break snap-action or slow-action contact options• Silver contacts for power switching or gold-plated contacts for low energy loads•the normally closed contact. Each contact throw is electrically isolated to accept different voltages (Form Zb contacts).Double pole double throw (2NC/2NO) contact option require same polarity for each pole. (Form Za for each pole)• Contact blocks are available as snap action or slow action • Mechanical life up to 10 million operationsPOTENTIAL APPLICATIONS• Passenger elevators • Commerical appliances • Escalators/moving stairs • Scissor/platform lifts • Material handling• Machine tool equipment •Off-road equipmentPORTFOLIOThe GLC Series, GLD Series, and GLE Series are a segment of Honeywell’s global limit switch offering. The global limit switch products also include the GLA Series, the GLL Series, the NGC Series, and SZL-VL series. In addition to the global limit switch series, Honeywell provides a comprehensive line of medium duty industrial limit switches (CE Series, E6/V6 Series, LS Series) and heavy-duty HDLS Series (Heavy Duty Limit Switch).1CCC certification is not available on the GL Series Switches sold within Europe, Middle East, and Africa. Option for CCC certification in these regions is available upon request.Sensing and Internet of Things107147Issue 181CCC certification is not available on the GL Series Switches sold within Europe, Middle East, and Africa. Option for CCC certification in these regions is available upon request.Table 2. Electrical RatingIEC 60947-5-1 (EN60947-5-1) AC 15, A300; DC 13, Q300Silver Contacts Gold Contactsac dcA300UeAC15IeVA Q300UeDC13IeVA 1 V 10 m A min.50 V 100 mAmax.Volts Amps Make Break Volts Amps Make Break120672007201250.556969240372007202500.2769692 Sensing and Internet of Things 3Figure 1. Product NomenclatureGLSwitch TypeA1AHead/ActuatorBodyCPlease contact your Honeywell provider/representative for assistance.ConduitAGLS Series Global Limit SwitchL01Basic SwitchModification CodesFor Actuator types beginning with A**For Type A modification codes,more than one code may be permissible. For example,GLCA01A1B-13 is a side rotary,lever-actuated switch,GLCA01A1B, adjusted for clock-wise actuation only. The operating shaft is to the right side of the switch when viewing the switch from the front (label side).MICRO SWITCH™ GLC SERIES ORDER GUIDE/RECOMMENDED LISTINGS For listings not shown, contact your Honeywell representative.1Contact closedTable 4. Side Rotary, Metal Roller14 1Contact closed n; Contact open o. *Positive opening occurs.Table 7. Side Rotary Adjustable, Metal Rod, A4J (140 mm rod) and A4L (200 mm rod)1Contact closed n; Contact open o. *Positive opening occurs.Table 8. Side Rotary Offset Lever, Metal RollerSensing and Internet of Things 51Contact closed n; Contact open o. *Positive opening occurs.1Contact closed n; Contact open o. *Positive opening occurs. Table 10. Top Pin Plunger16 1Contact closed n; Contact open o. *Positive opening occurs. NOTE: Bar chart measurements are in millimeters.1Contact closedTable 13. Coil Spring Wobble, 130 mm11Contact closedSensing and Internet of Things 71Contact closedn; Contact open o.Figure 1. GLC Side Rotary • A1, A1A, A1B, and A1YFigure 2. GLC Side Rotary • A2, A2A, A2B, and A2Y Figure 5. GLC Side Rotary • A9A7,2 mm [0.28 in]for 0.5-14 NPTconduit threads.7,2 mm [0.28 in] for 0.5-14 NPT conduit threads.7,2 mm [0.28 in] for0.5-14 NPT conduitthreads.Figure 10. GLC Wobble • K8A/K8B7,2 mm [0.28 in] for0.5-14 NPT conduitthreads.Sensing and Internet of Things 9MICRO SWITCH™ GLD SERIES ORDER GUIDE/RECOMMENDED LISTINGS For listings not shown, contact your Honeywell representative.1Contact closed n; Contact open o. *Positive opening occurs.1Contact closed n; Contact open o. *Positive opening occurs.10 1Contact closed n; Contact open o. *Positive opening occurs. **No roller Table 19. Side Rotary Adjustable, Metal Roller1Contact closed n; Contact open o. *Positive opening occurs.1Contact closed n; Contact open o. *Positive opening occurs. Table 21. Side Rotary Offset Lever, Metal Roller1Contact closed n; Contact open o. *Positive opening occurs. Table 22. Side Rotary Conveyor Lever, Ceramic Roller1Contact closed n; Contact open o. *Positive opening occurs.1Contact closed n; Contact open o. *Positive opening occurs.Table 24. Side Rotary Adjustable, 50 mm Rubber Roller1Contact closed n; Contact open o. *Positive opening occurs. Table 25. Top Pin Plunger1Contact closed n; Contact open o. *Positive opening occurs. NOTE: Bar chart measurements are in millimeters.1Contact closed nTable 27. Top Roller Lever11Contact closed n; Contact open o.Figure 13. GLD Side Rotary • A2, A2A, A2B, and A2YFigure 14. GLD Side Rotary Rod • A4J (140 mm) & A4L (200 mm)0.5-14 NPT conduitthreads.0.5-14 NPT conduitthreads.7,2 mm [0.28 in] for0.5-14 NPT conduitthreads.7,2 mm [0.28 in] for0.5-14 NPT conduit threads.Figure 21. GLD Wobble • K8A/K8BMICRO SWITCH™ GLE SERIES ORDER GUIDE/RECOMMENDED LISTINGS For listings not shown, contact your Honeywell representative.1Contact closed n; Contact open o. *Positive opening occurs. † 0.5-14 NPT conduit option includes adapter.Table 31. Side Rotary, Metal Roller1Contact closed n; Contact open o. *Positive opening occurs. † 0.5-14 NPT conduit option includes adapter.Contact closed nTable 34. Side Rotary Adjustable, Metal Rod, A4J (140 mm Rod)1Contact closed n; Contact open o. *Positive opening occurs.† 0.5-14 NPT conduit option includes adapter.1Contact closed n; Contact open o. *Positive opening occurs. † 0.5-14 NPT conduit option includes adapter. Table 36. Side Rotary Offset Lever, Metal Roller1Contact closed n; Contact open o. *Positive opening occurs. † 0.5-14 NPT conduit option includes adapter. Table 37. Side Rotary Conveyor Lever, Ceramic Roller1Contact closed n; Contact open o. *Positive opening occurs.1Contact closed nTable 39. Top Roller Plunger1Contact closed n; Contact open o. *Positive opening occurs. NOTE: Bar chart measurements are in millimeters. † 0.5-14 NPT conduit option includes adapter. Table 40. Top Roller LeverSensing and Internet of Things 2111Contact closed n; Contact open o.22 Sensing and Internet of Things 23Figure 25. GLE Side Rotary • A4J and A4LFigure 33. GLE Conduit Adapter for 0.5-14 NPT24 Sensing and Internet of Things 25REPLACEMENT PARTS - BASIC SWITCHESFACTORY PRE-WIRED LIMIT SWITCHES WITHFACTORY PRE-WIRED LIMIT SWITCHES WITH INTEGRAL CONNECTOREpoxy-coated Metal Limit SwitchesGLCC01B-D1: Top pin plunger, 1NC/1NO snap action, with Deutsch DT style 4 pin connector GLCC01C-D1: Top roller plunger, 1NC/1NO snap action, with Deutsch DT style 4 pin connectorGLCC06A1B-D1: Side rotary with metal roller, 2NC slow action, with Deutsch DT style 4 pin connectorPlastic Limit SwitchesGLDC01A1A-D1: Side rotary with plastic roller, 1NC/1NO snap action, with Deutsch DT style 4 pin connectorGLDC01A1B-D1: Side rotary with metal roller, 1NC/1NO snap action, with Deutsch DT style 4 pin connectorGLDC01C-D1: Top roller plunger, 1NC/1NO snap action, with Deutsch DT style 4 pin connectorNote: Reference base catalog listing for switch characteristics. For example, cat. listing GLCC01B-D1 has base cat. listing GLCC01B.Connector Without Limit SwitchGLZ8C-DEU : DT style 4 pin connector prewired with 6 in. of lead wires (4) and 20 mm conduit thread with jam nutGLZ8C-PA : DT style 4 pin connector packet with all parts furnishedunassembled for a 20 mm conduit threadWarranty/RemedyHoneywell warrants goods of its manufacture as being free of defective materials and faulty workmanship. Honeywell’s standard product warranty applies unless agreed tootherwise by Honeywell in writing; please refer to your order acknowledgement or consult your local sales office for specific warranty details. If warranted goods are returned to Honeywell during the period of coverage, Honeywell will repair or replace, at its option, without charge those items it finds defective. The foregoing is buyer’s sole remedy and is in lieu of all other warranties, expressed or implied, including those of merchantability and fitness for a particular purpose. In no event shall Honeywell be liable for consequential, special, or indirect damages.While we provide application assistance personally, through our literature and the Honeywell web site, it is up to the customer to determine the suitability of the product in the application.Specifications may change without notice. The information we supply is believed to be accurate and reliable as of this printing. However, we assume no responsibility for its use.m WARNINGPERSONAL INJURYDO NOT USE these products as safety or emergency stop devices or in any other application where failure of the product could result in personal injury.Failure to comply with these instructions could result in death or serious injury.m WARNINGMISUSE OF DOCUMENTATION• The information presented in this product sheet is for reference only. Do not use this document as a product installation guide.•Complete installation, operation, and maintenanceinformation is provided in the instructions supplied with each product.Failure to comply with these instructions could result in death or serious injury.ADDITIONAL MATERIALSThe following associated literature is available on the Honeywell web site at :• Product installation instructions • Aerospace range guide • Transportation range guide• Limits and Machine Safety range guide • Product application-specific information– Application Note: Sensors and Switches for IndustrialManual Process Valves – Application Note: Sensors and Switches Used in ValveActuators and Valve Positioners – Industrial Machinery Switch Guide– Limit and Enclosed Switches Application Information – Limit and Enclosed Switches Operating Characteristics – Limit and Enclosed Switches Reference Standards – Limit and Enclosed Switches Typical Applications – Sensors and Switches in Mobile Cranes – Sensors and Switches in Front Loaders – Sensors and Switches in Elevator Applications107147-18-EN | 18 | 04/19© 2019 Honeywell International Inc. All rights reserved.For more informationHoneywell Sensing and Internet of Things services its customers through a worldwide network of sales offices and distributors. For application assistance, current specifications, pricing or the nearest Authorized Distributor, visit or call:Asia Pacific +65 6355-2828Europe +44 1698 481481USA/Canada+1-800-537-6945Honeywell Sensing and Internet of Things 9680 Old Bailes Road Fort Mill, SC 29707 www. 。
55-CRQ2 Series II 2 G Rotary Actuator 迷你说明书
Instruction Manual Rotary ActuatorII 2 GMarking Description:II2GEx hThe intended use of this Rotary Actuator is to convert potential energyprovided by compressed air into a force which causes mechanicalNote 1: The X at the end of the certificate number represents that this product issubject to “Special Conditions of Use”, please see Section 2.3.1 Safety InstructionsThese safety instructions are intended to prevent hazardous situationsand/or equipment damage. These instructions indicate the level ofpotential hazard with the labels of “Caution,” “Warning” or “Danger.”They are all important notes for safety and must be followed in additionto International Standards (ISO/IEC) *1), and other safety regulations.*1) ISO 4414: Pneumatic fluid power - General rules relating to systems.ISO 4413: Hydraulic fluid power - General rules relating to systems.IEC 60204-1: Safety of machinery - Electrical equipment of machines.(Part 1: General requirements)ISO 10218-1: Robots and robotic devices - Safety requirements forindustrial robots - Part 1: Robots.Refer to product catalogue, Operation Manual and HandlingPrecautions for SMC Products for additional information.Keep this manual in a safe place for future reference.WarningAlways ensure compliance with relevant safety laws andstandards.All work must be carried out in a safe manner by a qualified person incompliance with applicable national regulations.2 SpecificationsThis product is suitable for use in Zones 1 and 2 only.2.1 Product Specifications:Refer to the operation manual for this product;2.1.2 Energy and Speed Specification:WarningEnsure a speed is selected that is within the products allowable kineticenergy limit.In the case that the kinetic energy value exceeds the specification usean external method of absorbing the energy e.g. a shock absorber, ifthere are still concerns, please contact SMC.Do not stop or hold the product at the midpoint by keeping air pressurein the product, this is not an acceptable use of the product.If the product is used at low speed below the specified speedadjustment range, it can introduce problems such as the stick-slipphenomenon or stop movement altogether.2.2 Production Batch Code:The batch code printed on the label indicates the month and the year ofproduction as per the following table;2.3 Special Conditions of Use:Products are suitable for sub-divisions IIC.Products are suitable for Zones 1 and 2 only.2.3.1 Temperature Marking:2.3.1.1 Standard Product:In the normal ambient temperature range (+0°C to +40°C) the productis rated to temperature class T6.In the special ambient temperature range (+40°C to +60°C) the productis rated to temperature class T5.3 Installation3.1 InstallationWarningDo not install the product unless the safety instructions have been readand understood.Do not twist or bend the cylinder or mount the product when subject totension.Do not use in an application where the product is stopped mid-stroke,via an external stop.Do not use where cylinders are being synchronised to move a singleload.For direct mounting, use standard hexagon socket head cap screws3.1.1 Direct Loading to the ShaftAlthough applying static loads as shown in the table below areallowable, it is recommended that they are not applied directly to theIn order to improve operating conditions, it is recommended that a3.1.2 Axis Alignment on Extended ShaftsWhen the rotary actuator is used with an extended shaft, ensure thatthe axis centres of the rotary actuator and its counterpart are aligned.If they are off-centred, the load factor becomes large and an excessivebending moment may be applied to the shaft. In such a condition, theassembly may not perform a stable operation and the shaft may be3.2 EnvironmentWarningDo not use in an environment where corrosive gases, chemicals, saltwater or steam are present.Do not use in an explosive atmosphere except within the specifiedrating.Do not expose to direct sunlight. Use a suitable protective cover.Do not install in a location subject to vibration or impact in excess ofthe product’s specifications.Do not mount in a location exposed to radiant heat that would result intemperatures in excess of the product’s specifications.Do not use in wet environments, where water can remove the presenceof the lubrication.Do not use in case of heavy dusty environments where dust canpenetrate into the cylinder and dry the grease.Do not allow dust layers to build up on the cylinder surface and insulatethe product.3.3 PipingCautionBefore connecting piping make sure to clean up chips, cutting oil, dustetc.When installing piping or fittings, ensure sealant material does notenter inside the port. When using seal tape, leave 1 thread exposedon the end of the pipe/fitting.Tighten fittings to the specified tightening torque.Port Size ModelThe rotary actuator port is equipped with a fixed size orifice. Do notenlarge the hole. Enlarging the hole will increase the operation speedof the actuator and the consequent impact at the end of each strokecould lead to the actuator failure.3.4 LubricationCautionSMC products have been lubricated for life at manufacture, and do notrequire lubrication in service.If a lubricant is used in the system, refer to catalogue for details.3.5 Basic CircuitPlugging one of the ports on the actuator is considered a non-intendeduse, and could relate to an increase in maximum surface temperatureabove what the product specification declares.3.6 Electrical ConnectionThe product should be grounded by the piston rod and the body inorder to create an electrically conductive path to the system/application.Ground the product in accordance with applicable regulations.Do not pass an electrical current through the product.4 SettingsRefer to the standard product catalogue for general setup precautions.5 How to OrderRefer to catalogue for ‘How to Order’.6 Outline DimensionsRefer to catalogue for outline dimensions.ORIGINAL INSTRUCTIONS7.1 General maintenanceCautionNot following proper maintenance procedures could cause the product to malfunction and lead to equipment damage.If handled improperly, compressed air can be dangerous.Maintenance of pneumatic systems should be performed only by qualified personnel.Before performing maintenance, turn off the power supply and be sure to cut off the supply pressure. Confirm that the air is released to atmosphere.After installation and maintenance, apply operating pressure and power to the equipment and perform appropriate functional and leakage tests to make sure the equipment is installed correctly.If any electrical connections are disturbed during maintenance, ensure they are reconnected correctly and safety checks are carried out as required to ensure continued compliance with applicable national regulations.Do not make any modification to the product.Do not disassemble the product, unless required by installation or maintenance instructions.Do not use a product which looks or contains damage, this will invalidate the certification. If damage is seen, please replace the product immediately.Periodically check the product for any damage or rust appearing. This could result in an increase in friction and lead to dangerous conditions. Replace the whole actuator if any of these conditions appear.8.1 Limited warranty and disclaimer/compliance requirements Refer to Handling Precautions for SMC Products.Caution8.2 Obligations of the end-userEnsure the product is used within the specification outlined.Ensure that the maintenance periods are suitable for the application. Ensure any cleaning processes to remove dust layers are made with the atmosphere in mind (e.g. using a damp cloth to avoid static build up).Ensure that the application does not introduce additional hazards by mounting, loading, impacts or other methods.Ensure that there is sufficient ventilation and air circulation around the product.If the product is subject to direct heat sources in the application, they should be shielded so that the actuator temperature stays within the stated operating range.DangerDo not exceed any of the specifications listed in Section 2 of this document as this will be deemed improper use.Air equipment has an air leakage during operation within certain limits. Do not use this equipment when the air itself introduces additional hazards and could lead to an explosion.Use only Ex certified auto switches. These should be ordered separately.Do not use this product in the presence of strong magnetic fields that could generate a surface temperature higher than the product specification.Avoid applications where the shaft and the adjoining part in the application can create a possible ignition source.Do not install or use these actuators where there is the possibility for the shaft and adjoining parts to impact foreign objects.In the event of damage or failure of any parts located in the vicinity where this product has been installed, it is the responsibility of the user to determine whether or not this has compromised the safety and condition of this product and/or the application.External impact on the cylinder body could result in a spark and/or cylinder damage. Avoid any application where foreign objects can hit or impact the cylinder. In such situations the application should install a suitable guard to prevent this occurrence.Do not use this equipment where vibration could lead to failure.This product shall not be disposed of as municipal waste. Check your local regulations and guidelines to dispose this product correctly, in order to reduce the impact on human health and the environment.Refer to or www.smc.eu for your local distributor/importer.URL : https:// (Global) https:// www.smc.eu (Europe) SMC Corporation, 4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021, JapanSpecifications are subject to change without prior notice from the manufacturer. © 2023 SMC Corporation All Rights Reserved. Template DKP50047-F-085M。
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[9]
A prototype one legged rickshaw showing the direct drive leg fully compressed (left)and fully extended (right).This robot rickshaw made a few short hops forward during the 90seconds of runtime before the prototype leg burned up,a result of not taking care of heat dissipation in the coils of this leg.Each leg link is about 4.5in length.
My most grateful thanks to Fred Hansen for precision machining and electrical engineering.Thanks to the NYU Computer Science graduate students who contributed to this research:Andreas Moshovos,BrettPorter,Ron Hecker and David Max.Thanks to the New York Academy of Science for appointing high school interns Josh Davis and Janak Gada to our laboratory.Thanks to Dr.Benjamin Bederson of Bellcore for highly useful discussions and insights.Thanks to Prof.Ken Goldberg of USC for collaborating on the applicationofthe directdrive actuators tothe Siggraph Data Mitt exhibit,and for discussions.Thanks to Profs.B.Mishra,Ken Perlin,Jack Schwartz,Robert Dewar,and Ed Schonburg for their support.
[1],
,in IEEE International Conference on Robotics and
Automation,May 1991.[2],
,Tech.Report CMU-RI-TR-81-
1,Carnegie Mellon,1981.[3]
,,in IEEE Interna-
tional Conference on Robotics and Automation,May 1992.[8]
A prototype direct drive finger joint with a90degree workspace.This finger joint includes Hall effect sensors to detect rotor position and an integrated power driver chip(L293)and A/D converter on the backplate of the stator.
Thick walled
cylinder
The universal link is a primitive element in a direct drive robotmechanism.Thelinkeliminatesallcomponentsfromtherobotexcept the essential parts:a rotor magnet(solid cylinder),a connecting shaft(thin walled cylinder),and the statorcoilforthenextlink(thickwalled cylinder). Because the link is the union of simple solid shapes,the link inertia matrix has a simple form.The coil assembly also contains a rotor shaft,not shown in this figure.
The direct drive finger is a three link mechanism made of stacked coil and magnet pairs.Maximum force at the fingertip is1.0Nt, and fingertip force is determined by controlled torques at the joints.The
finger has no gears and therefore has passive dynamics.
The Precision Spherical Pointing Motor is machined to a high tolerance and has a75degree conical workspace.The rotor limb containsacylindricalpermanentmagnet,andthestatorholdsoneadditional permanent magnet so that the rotor has a neutral resting orientation in the center of its workspace.
A low cost Spherical Pointing Motor(SPM)The SPM rotor is a permanent magnet attached to a gimbal.The actuator shaft extends outward from the gimbal.The stator consists of a pair of Helmholtz coils mounted orthogonally,and a thin steel plate that holds the magnet shaft in a centered position when no current flows into the coils.In addition to radiating excess heat from the coils,the heat sinks provide a structure to hold the coils.。