旋转气缸选型方法

Series CRB1

Series CRB2

F: Pressing force (N) Static torque calculation Ts = F x Ex.)

Clamp

Shaft center

Graph (3)

M o m e n t o f i n e r t i a x 10-3 b a s e d o n a 1 k g l o a d m a s s (k g ·m 2)

a or r (mm)0.83 x 10

-3

How to read the graph: only when the dimension of the load is “a” and “r”

[Example] When the load shape is w , a = 100 mm, and the load mass is 0.1 kg.In Graph (3), the point at which the vertical line of a = 100 mm and the line of the load shape w intersect indicates that the moment of inertia of the 1 kg

mass is 0.83 x 10–3 kg·m 2.

Because the mass of the load is 0.1 kg, the actual moment of inertia is 0.83 x 10–3 x 0.1= 0.083 x 10–3 kg·m 2.

(Note: If “a” is divided into “a 1a 2”, the moment of inertia can be obtained by calculating them separately.)

q w

e

r

t y

u

i

Graph for calculating the moment of inertia

Step

1How to read the graph: when the dimension of the load contains both “a” and “b”.

[Example] When the load shape is t , a = 100 mm, b = 100 mm, and the load mass is 0.5 kg.In Graph (3), obtain the point at which the vertical line of a = 100 mm and the line of the load shape t intersect. Move this intersection point to Graph (4), and the point at which it intersects with the curve of b = 100 mm indicates that the moment of inertia of the 1 kg mass is 1.7 x 10–3 kg·m 2.

Since the load weight is 0.5 kg, the actual moment of inertia is 1.7 x 10–3 x 0.5 = 0.85 x 10–3 kg·m 2.

Graph (4)

Moment of inertia x 10-3 based on a 1 kg load mass (kg·m 2)

Graph (9) CRA1 /Size: 30 to 100 (Without cushion)Graph (10) CRA1 /Size: 50 to 100 (With cushion)

M o m e n t o f i n e r t i a (k g •m 2)

M o m e n t o f i n e r t i a (k g • m 2)

Rotation time (s /90°)

Rotation time (s /90°)

Graph (13) MSQ /Size: 10 to 200 (Adjust bolt type)

Graph (11) CRQ2 /Size: 10 to 40 (Without cushion)

Graph (12) CRQ2 /Size: 20 to 40 (With cushion)

0.2

0.5

3.0

2.0

1.0

0.7

1

Rotation time (s /90°)M o m e n t o f i n e r t i a (k g ·m 2)

0.3

0.1

0.01

0.001

0.0001

0.00001

MSQ Ȟ10 A MSQ Ȟ3 A MSQ Ȟ2 A MSQ Ȟ7 A

MSQ Ȟ20 A MSQB200 A

MSQB100 A MSQB 70 A

MSQ Ȟ50 A MSQ Ȟ30 A M o m e n t o f i n e r t i a (k g ·m 2)

M o m e n t o f i n e r t i a (k g ·m 2)

Rotation time (s /90°)

Rotation time (s /90°)

MSQ Ȟ1 A