Vane Type Rotary Actuators Series Variations

Transcription

1 Vane Type Rotary Actuators Series Variations Vane Type Exterior CRB Series 0,, 0,, CRBU Series 0,, 0,, CRB Series, 6, 80, Has a compact body with exterior dimensions that do not change regardless of the rotation angle, up to a maximum of 80. No backlash in terms of construction. The piping outlets are available in two directions: the body side or the axial direction. If a double vane type is used, twice the torque of the single vane can be attained while the external configuration remains identical to that of the single vane (except for size 0). The amount of leakage is extremely small due to the adoption of a special seal construction. Features Round and compact type Can be mounted in the vertical, horizontal and axial directions. Even if it is equipped with an auto switch, the piping outlets are available in two directions: the body side or the axial direction. Points of how to select a rotary actuator Suitable for applications in which compactness of the actuator is particularly important. Can be used as a part of a robot arm, due to its compact and lightweight package. Note) There is no protrusion in the radial direction even if a switch unit or an angle adjustment unit is installed. Suitable for applications in which compactness of the actuator is important due to constraints in the mounting direction. Provides a rotation angle of up to 80 and has a large torque. Suitable for applications in which compactness of the actuator is important. Rotary table/high precision type A Series,, 7, 0 Improved table top deflection 0.0 mm or less When deflection accuracy for table top is required. Rotary table B Series,, 7, 0 Has a compact body with exterior dimensions that do not change regardless of the rotation angle, up to a maximum of. No backlash in terms of construction. A load can be mounted directly. The rotation range can be adjusted easily. Angle adjustment is provided as standard. The body can be centered easily during installation. Suitable for applications in which a table is required. Suitable for applications in which compactness of the actuator is important due to constraints in the mounting direction. Can be used as a part of a robot arm. 6

2 Vane Type/Rotary Actuators Series Variations Action Single vane Double vane Single vane Double vane Single vane Double vane Single vane Single vane Double vane Conditions: 0. MPa Rotating angle Effective torque (N m) Speed regulation range (s/ ) 0.0 to to to to to to to to to to to to 0. Allowable kinetic energy (J) Remarks:. Effective torque: The values given in the table above, which are representative values, could vary according to usage conditions and thus they are not guaranteed.. Adjustable speed range: If the product is used below the low-speed range, it could cause the product to stick.. series, Single vane type is angle adjustable ± at the edge of rotation of the angle range and ±. for double vane type. 4. For the series, take the moment of inertia of the table in consideration in calculating the kinetic energy of the load. 0. to 0.07 to 0. Page 47 to to 7 9 to 70 7 CRB CRB CRA CRQ MSZ CRQX X MRQ D-

3 Rack & Pinion Type Rotary Actuators Series Variations Rack & Pinion Type Exterior B Series 0, (Basic Type) U Series 0, (With external stopper) CRA Series,, 6, 80, CRQ Series 0,, 0,, Lightweight, compact Able to integrate the wiring and the piping in the front side or lateral side. No backlash. Can be used at relatively slower speeds, as compared with the vane type. Can be selected with air cushion. CRQ: 0, excepted Features Can be mounted from three directions: top and bottom of the main body and the back side Can be mounted from two directions: bottom of the main body and the back side Angle adjustment is possible. A compact auto switch (D- M9 type) can be mounted. There is a slight backlash of less than due to the single piston construction. A wide variety, from small to large models, are available. These can be used with the air-hydro specifications. (Except size ) There is no backlash because the double piston type has been adopted. Rotary table Series A thin rotary table unit,,, 7, 0, 0,, with a low table top, 70,, 00 height. The body can be centered 0, 0,, (With external shock absorber) No backlash. Piping direction is selectable from the edge side of the main body and the lateral side. Actuator with internal shock absorber is selectable. ( 0, 0,,, 70,, 00) Actuator with external shock absorber is selectable. ( 0, 0,, ) easily during installation. A load can be mounted directly. The angle can be adjusted as desired. (Between 0 and ) (Adjustor bolt, Internal absorber) The body can be used as a flange. Points of how to select a rotary actuator Suitable for applications in which compactness of the actuator is particularly important. Suitable for applications in which compactness of the actuator is particularly important. When angle adjustment is required. Suitable for applications that require a wide range of speed adjustment. Suitable for air-hydro applications. Suitable for applications in which a thin profile is required. Suitable for applications requiring no backlash. Suitable for applications in which a table is required. Suitable for applications in which a thin profile is required particularly. Suitable for applications requiring no backlash. -position rotary table MSZ Series 0, 0,, Low-speed rotary actuator CRQX Series 0,, 0,, Low-speed rotary table X Series 0, 0,, Can be controlled with a solenoid valve located in the position pressure center. No backlash. Stable operation possible at s/. Right and left rotation ends can be adjustable at 0 to 9 from the central position. Dimensions the same as CRQ series. Dimensions the same as series. Suitable for position stopping. Suitable for low-speed operation. Rotary cylinder MRQ Series, p. 4 to 6 A direct rotary unit in which a thin cylinder and a rotary actuator have been integrated in a compact package. Rotation angle/80 to, 70 to Linear stroke/, 0,, 0,,,,, 7, mm 8

4 Rack & Pinion Type/Rotary Actuators Series Variations Action Conditions: 0. MPa Rotating angle Effective torque (N m) Speed regulation range (s/ ) Allowable kinetic energy (J) Page Single rack pinion Single rack pinion Double rack pinion Double rack pinion Double rack pinion Double rack pinion Double rack pinion Remarks:. Effective torque: The values given in the table above, which are representative values, could vary according to usage conditions and thus they are not guaranteed.. Adjustable speed range: If the product is used at a speed lower than the adjustment range, it may cause the product to stick or stop.. Allowable energy: Symbol: The symbol in the allowable energy for the CRA series and the CRQ series indicates the value of an actuator that is equipped with an air cushion. For the series, the symbol indicates the value of an actuator that is equipped with a shock absorber. 4. Refer to page 79 for allowable energy of the external shock absorber type (L type, H type) for the series to to to 0. to 0. to 0. to 4 0. to 0. to to 0. to to 0. to ( ) With shock absorber: 0. to to. With shock absorber: ( 0. to ) 0. to With shock absorber: ( 0. to ) 0. to. With shock absorber: ( ) 0. to 0. to 0.7 to to to to 8 8 to to 60 6 to to 99 to 4 9 CRB CRB CRA CRQ MSZ CRQX X MRQ D-

5 Working Principle Rack & Pinion Type Series Working principle Piston flat face part Shaft Piston B A B A B Body A. It consists of the piston, which is integrated with rack which travels inside the main body of cylinder and the shaft.. If air is supplied from the A port, the right side of piston is pushed, it then generates the torque via rack and pinion.. The air in the exhaust chamber discharges via port B and rotates clockwise. 4. When a part of the shaft contacts the piston flat face part, the revolution stops.. Similarly, when air is supplied from port B, it rotates counterclockwise. B A Piston A Rack Shaft Piston B CRA Cover A Body B A B. It consists of pistons that slide in the cylinder body, a rack that is sandwiched between the pistons, and a shaft.. The air that is supplied from port A pushes piston A, and this force is transmitted via the shaft to generate torque in the shaft.. The air in the exhaust chamber discharges via port B and rotates clockwise. 4. The shaft stops when piston B comes in contact with the cover and stops.. Similarly, when air is supplied from port B, it rotates counterclockwise. Angle adjustment bolt Shaft Piston A B B End cover Cover CRQ A A Body Piston B. It consists of a rack that slides in parallel cylinders, pistons that are integrated with the rack, and a shaft.. The air that is supplied from port A pushes the right side of piston B; at the same time, it passes through the air passage of the body, pushing the left side of piston A, thus creating in the shaft a torque that is equivalent to pistons.. The air in the exhaust chamber discharges via port B and rotates clockwise. 4. The shaft stops when piston B comes in contact with the angle adjustment bolt and stops.. Similarly, when air is supplied from port B, it rotates counterclockwise. Adjustment bolt A Pinion Piston A A 0 B Body Piston B B. It consists of a rack that slides in parallel cylinders, pistons that are integrated with the rack, and a pinion.. The air that is supplied from port A pushes the left side of piston A; at the same time, it passes through the air passage of the body, pushing the right side of piston B, thus creating in the shaft an amount of torque that is equivalent to pistons.. The air in the exhaust chamber discharges via port B and rotates clockwise. 4. The pinion stops when piston B comes in contact with the adjustment bolt and stops.. Similarly, when air is supplied from port B, it rotates counterclockwise.

6 Working Principle: How to Mount Loads Vane Type Series Single vane (S) Double vane (D) Shaft Shaft CRB Vane Vane CRB CRB CRB CRBU Stopper Body. It consists of a shaft that is integrated with the vane that slides along the inner surface of the body, and a stopper.. The air that is supplied from port A pushes the vane, thus creating torque in the shaft.. The air in the exhaust chamber discharges via port B and rotates clockwise. 4. The vane stops as it comes in contact with the stopper.. Similarly, when air is supplied from port B, it rotates counterclockwise. Stopper Body. It consists of a shaft that is integrated with the vanes that slide along the inner surface and stoppers.. The air that is supplied from port A passes through the passage in the shaft in order to also supply air to the other chamber. Thus, the air pushes vanes and creates torque in the shaft.. Its movement consists of the same rotation as that of the single vane. CRA CRQ MSZ CRQX X MRQ How to Mount Loads How to connect a load directly to a single flat shaft To secure the load, select a bolt of an appropriate size from those listed in tables and by taking the shaft's single flat bearing stress strength into consideration. Model CRQ CRB CRBU Single flat Table () Directly Fixed with Bolts (Refer to Figure ().) Shaft bore size Screw M or larger M4 or larger M or larger M6 or larger M4 or larger M or larger M6 or larger M or larger Table () Fixed with a Holding Block (Refer to Figure ().) Model CRQ CRB CRBU Shaft bore size Screw M or larger M4 or larger M or larger M4 or larger M or larger M or larger M4 or larger M or larger M or larger M4 or larger Plate thickness (t). or wider.6 or wider or wider. or wider.6 or wider 4 or wider or wider. or wider.6 or wider 4 or wider. or wider.6 or wider The plate thickness (t) in the table above indicates a reference value when a carbon steel is used. Besides, we do not manufacture a holding block. Fig. () Fig. () Bolt fot fixing a load Hexagon socket head cap screw Holding block D-

7 Rotary Actuators Model Selection 4 6 Calculation of Moment of Inertia P.4 - Equation Table of Moment of Inertia P. - Calculation Example of Moment of Inertia P.6 - Graph for Calculating the Moment of Inertia P.8 Calculation of Required Torque P. - Load Type P. - Effective Torque P. - Effective Torque for Each Equipment P. Confirmation of Rotation Time Calculation of Kinetic Energy P. P Allowable Kinetic Energy and Rotation Time Adjustment Range P. 4 - Moment of Inertia and Rotation Time P.6 Confirmation of Allowable Load P.9 Calculation of Air Consumption and Required Air Flow Capacity P. 6 - Inner Volume and Air Consumption P Air Consumption Calculation Graph P.4

8 Refer to pages to 7 for the selection of low-speed rotary actuators CRQX/X series. Selection Procedures Note Selection Example Operating conditions are as follows: Operating conditions are as follows: Tentative models Mounting orientation Load type Static load Resistance load Inertial load Load dimensions (m) Load mass (kg) Rotation time (s) Rotation angle (rad) Calculation of Moment of Inertia Calculate the inertial moment of load. P.4 Calculation of Required Torque Calculate the required torque for each load type and confirm whether the values fall in the effective torque range. Static load (Ts) Required torque: T = Ts Resistance load (Tf) Required torque: T = Tf ( to ) Inertial load (Ta) Required torque: T = Ta x 0 P. Refer to page for the load type. The unit for the rotation angle is radian. 80 = πrad = π/rad Loads are generated from multiple parts. The inertial moment of each load is calculated, and then totaled. When the resistance load is rotated, the required torque calculated from the inertial load must be added. Required torque T = Tf x ( to ) + Ta x 0 Tentative model: BA Operating pressure: 0. MPa Mounting orientation: Vertical Load type: Inertial load Rotation time: t =.s Rotation angle: θ = πrad (80 ) Inertial moment of load Ι 0. Ι = 0.4 x x 0.0 = Inertial moment of load Ι 0.0 Ι = 0. x + 0. x 0. = Total inertial moment Ι Ι = Ι + Ι = [kg m ] Inertial load: Ta Ta = Ι ω θ ω = [rad/s ] t Required torque: T T = Ta x 0 x π = x x 0 = 0.09 [N m] Nm Effective torque OK r =, 0. kg 0.4 kg CRB CRB CRA CRQ MSZ CRQX X MRQ Confirmation of Rotation Time Confirm whether the time falls in the rotation time adjustment range. P. Consider the time after converted in the time per. (.0 s/80 is converted in 0. s/.) 0. t.0 t = 0.7s/ OK 4 6 Calculation of Kinetic Energy Calculate the kinetic energy of the load and confirm whether the energy is below the allowable range. Can confirm referring to the inertial moment and rotation time graph. (Pages 6 to 8) P.4 Confirmation of Allowable Load Confirm whether the load applied to the product is within the allowable range. P.9 If the energy exceeds the allowable range, a suitable cushioning mechanism such as a shock absorber must be externally installed. If the load exceeds the allowable range, a bearing or similar must be externally installed. Calculation of Air Consumption and Required Air Flow Capacity Air consumption and required air flow capacity are calculated when necessary. P. Kinetic energy: E E = Ι ω θ ω = t E = x ( x π) = [J] [J] Allowable energy OK Moment load: M M = 0.4 x 9.8 x x 9.8 x 0. = 0.9 [N m] 0.9 [N m] Allowable moment load OK D-

9 Calculation of Moment of Inertia The moment of inertia is a value indicating the inertia of a rotating body, and expresses the degree to which the body is difficult to rotate, or difficult to stop. It is necessary to know the moment of inertia of the load in order to determine the value of necessary torque or kinetic energy when selecting a rotary actuator. Moving the load with the actuator creates kinetic energy in the load. When stopping the moving load, it is necessary to absorb the kinetic energy of the load with a stopper or a shock absorber. The kinetic energy of the load can be calculated using the formulas shown in Figure (for linear motion) and Figure (for rotation motion). As the moment of inertia is proportional to the squares of the mass and the radius of rotation, even when the load mass is the same, the moment of inertia will be squared as the radius of rotation grows bigger. This will create greater kinetic energy, which may result in damage to the product. When there is rotation motion, product selection should be based not on the load mass of the load, but on the moment of inertia. Moment of Inertia Formula The basic formula for obtaining a moment of inertia is shown below. In the case of the kinetic energy for linear motion, the formula () shows that when the velocity v is constant, it is proportional to the mass m. In the case of rotation motion, the formula () shows that when the angular velocity is constant, it is proportional to the moment of inertia. Linear motion E = m V () E : Kinetic energy m : Load mass V : Speed Fig. () Linear motion Rotation motion = m r m : Mass r : Radius of rotation This formula represents the moment of inertia for the shaft with mass m, which is located at distance r from the shaft. For actual loads, the values of the moment of inertia are calculated depending on configurations, as shown on the following page. P. Equation table of moment of inertia P.6 and 7 Calculation example of moment of inertia P.8 and 9 Graph for calculating the moment of inertia E = ω = m r ω () E : Kinetic energy : Moment of inertia (= m r ) ω : Speed m : Mass r : Radius of rotation Fig. () Rotation motion 4

10 - Equation Table of Moment of Inertia. Thin shaft Position of rotational axis: Perpendicular to the shaft through the center of gravity a a b = m a.thin rectangular plate Position of rotational axis: Parallel to side b and through the center of gravity = m a r a r : Moment of inertia m: Load mass 6. Thin round plate Position of rotational axis: Through the center of diameter = m 7. Cylinder Position of rotational axis: Through the center of diameter and gravity. r 4 r + a = m CRB CRB CRA CRQ MSZ CRQX X MRQ. Thin rectangular plate (Including Rectangular parallelepiped) Position of rotational axis: Perpendicular to the plate through the center of gravity a b a + b = m 8. When the rotational axis and load center of gravity are not consistent L r = K + m L K: Moment of inertia around the load center of gravity 4. Round plate K = m r 4. Round plate (Including column) Position of rotational axis: Through the center axis 9. Gear transmission (A) No. of teeth = a (B) r = m. Solid sphere Position of rotational axis: Through the center of diameter r No. of teeth = b. Find the moment of inertia B for the rotation of shaft (B).. B is converted to the moment of inertia A for the rotation of the shaft (A). A = ( a b ) B D- r r = m

11 - Calculation Example of Moment of Inertia If the shaft is located at a desired point of the load: Center of gravity of the load Example: q If the load is the thin rectangular plate: Obtain the center of gravity of the load as, a provisional shaft. a + b = m w Obtain the actual moment of inertia around the shaft, with the premise that the mass of the load itself is concentrated in the load s center of gravity point. = m L e Obtain the actual moment of inertia. Calculation Example = + m: mass of the load L : distance from the shaft to the load s center of gravity a = 0. m, b = 0. m, L = 0.0 m, m =. kg =. x = 6. x 0 kg m =. x 0.0 =.7 x 0 kg m = (6. +.7) x 0 = 0.0 kg m If the load is divided into multiple loads: Load : Load : Example: q If the load is divided into the cylinders: The center of gravity of load matches the shaft The center of gravity of load differs from the shaft Obtain the moment of inertia of load : r = m w Obtain the moment of inertia of load : r + m L = m e Obtain the actual moment of inertia : = + m, m: mass of loads, and r, r: radius of loads, and L: distance from the shaft to the center of gravity of load Calculation Example m =. kg, m = 0. kg, r = 0. m, r = 0.0 m, L = 0.08 m 0. =. x 0 kg m =. x 0.0 = 0. x + 0. x 0.08 = 0. x 0 kg m = (. + 0.) x 0 =.8 x 0 kg m 6

12 If a lever is attached to the shaft and a cylinder and a gripper are mounted to the tip of the lever: Calculation Example Lever: Cylinder: ø Gripper: L = 0. m, ød = 0.06 m, a = 0.06 m, b = 0.0 m, m = 0. kg, m = 0.4 kg, m = 0. kg 0. = 0. x = 0.67 x 0 kg m (0.06/) = 0.4 x x 0. =.6 x 0 kg m 8 Example: q Obtain the lever s moment of inertia: L = m w Obtain the cylinder s moment of inertia: (D/) = m + m L e Obtain the gripper s moment of inertia: a +b = m + m L r Obtain the actual moment of inertia: = + + m: mass of lever m: mass of cylinder m: mass of gripper = 0. x + 0. x 0. = 0.8 x 0 kg m = ( ) x 0 =. x 0 kg m CRB CRB CRA CRQ MSZ CRQX X MRQ 4 If a load is rotated through the gears: Shaft B ø ø Shaft A Gear : Example: q Obtain the moment of inertia around shaft A: (d/) = m w Obtain moment of inertias,, and 4 around shaft B: (d/) (D/) = m = m a +b 4 = m4 B = e Replace the moment of inertia B around shaft B with the moment of inertia A around shaft A. A = (A/B) B [A/B: ratio of the number of teeth] Gear : r Obtain the actual moment of inertia: = + A m: mass of gear m: mass of gear m: mass of cylinder m4: mass of gripper ø Cylinder: Calculation Example d = 0. m, d = 0.0 m, D = 0.04 m, a = 0.04 m, b = 0.0 m m = kg, m = 0.4 kg, m = 0. kg, m4 = 0. kg, tooth count ratio = D- Gripper: 4 (0./) = x =. x 0 kg m 8 (0.0/) = 0.4 x = 0. x 0 kg m (0.04/) = 0. x = 0. x 0 - kg m = 0. x = 0.0 x 0 kg m B = ( ) x 0 = 0.6 x 0 kg m A = x 0.6 x 0 =.04 x 0 kg m = (. +.04) x 0 =.9 x 0 kg m 7

13 - Graph for Calculating the Moment of Inertia y u qr i wet q Graph () w e r Moment of inertia x 0 based on a kg load mass (kg m ) t y u i a or r (mm) How to read the graph: only when the dimension of the load is a or r [Example] When the load shape is, a = mm, and the load mass is 0. kg. In Graph (), the point at which the vertical line of a = mm and the line of the load shape intersect indicates that the moment of inertia of the kg mass is 0.8 x 0 kg m. Because the mass of the load is 0. kg, the actual moment of inertia is 0.8 x 0 x 0.= 0.08 x 0 kg m. (Note: If a is divided into a a, the moment of inertia can be obtained by calculating them separately.) 0.8 x 0 w 8

14 Graph () CRB CRB CRA CRQ MSZ CRQX X MRQ Moment of inertia x 0 - based on a kg load mass (kg m ) How to read the graph: when the dimension of the load contains both a and b. [Example] When the load shape is, a = mm, b = mm, and the load mass is 0. kg. In Graph (), obtain the point at which the vertical line of a = mm and the line of the load shape intersect. Move this intersection point to Graph (), and the point at which it intersects with the curve of b = mm indicates that the moment of inertia of the kg mass is.7 x 0 kg m. Since the load mass is 0. kg, the actual moment of inertia is.7 x 0 x 0. = 0.8 x 0 kg m. t D- 9

15 Calculation of Required Torque - Load Type The calculation method of required torque varies depending on the load type. Obtain the required torque referring to the table below. Static load: Ts When the pressing force is necessary (clamp, etc.) Load type Resistance load: Tf When friction force or gravity is applied to the rotation direction Inertial load: Ta When the load with inertia is rotated Gravity acts L The center of rotation and the center of gravity are corresponding ω mg L F L mg Friction force acts µ ω The rotational axis is vertical (up and down) Ts = F L Ts : Static load (N m) F : Clamp force (N) L : Distance from the center of rotation to clamp (m) When gravity acts to the rotation direction Tf = m g L When friction force acts to the rotation direction Tf = µ m g L Tf : Resistance load (N m) m : Mass of load (kg) g : Gravitational acceleration 9.8 (m/s ) L : Distance from the center of rotation to the gravity or friction force acting point (m) µ : Coefficient of friction θ Ta = Ι ω = Ι t Ta : Inertial load (N m) Ι : Moment of inertia (kg m ) ω : Angular acceleration (rad/s ) θ : Rotating angle (rad) t : Rotation time (s) Required torque T = Ts Required torque T = Tf x ( to ) Note ) Required torque T = Ta x 0 Note ) Resistance loads Gravity or friction applies in the rotation direction. Example ) The axis of rotation is in a horizontal (lateral) direction, and the center of rotation and center of gravity of the load are not the same. Example ) The load slips against the floor while rotating. *The necessary torque equals the total of the resistance load and inertial load. T = Tf x ( to ) + Ta x 0 Note ) In order to adjust the velocity, it is necessary to have a margin of adjustment for Tf and Ta. Non-resistance loads Gravity or friction does not apply in the rotation direction. Example ) The axis of rotation is in a perpendicular (vertical) direction. Example ) The axis of rotation is in a horizontal (lateral) direction, and the center of rotation and center of gravity of the load are the same. *The necessary torque equals the inertial load only. T = Ta x 0 P. Effective torque P. and Effective torque for each equipment

16 - Effective Torque Graph () CRB/CRBU/CRB/ Series 0 Graph (4) CRA/CRQ// Series 0 CRB Effective torque (N m) 0 0. CRB - D CRB 80- D CRB - S CRB 6- D CRB 80- S CRB - D CRB 6- S CRB - D CRB - S CRB - S CRB - D B 0- D CRB - S 0- S CRB 0- D B 7- D CRB 0- S 7- S CRB - D B - D CRB - S - S CRB 0- D B - D CRB 0- S - S Effective torque (N m) 0 0. CRA CRA CRA 6 CRA 70 CRQ CRQ CRA CRQ CRQ 7 CRQ 0 CRB CRA CRQ MSZ CRQX X MRQ Effective Torque for Each Equipment Vane Type: CRB/CRBU/CRB Series CRB Series CRBU Series CRB Series Vane type Single vane Double vane Single vane Double vane Single vane Double vane Single vane Double vane Single vane Double vane Single vane Double vane Single vane Double vane Single vane Double vane Single vane Double vane (N m) D-

17 - Effective Torque for Each Equipment Vane Type/Rotary Table: Series (N m) Vane type Single vane Double vane Single vane Double vane A Series B Series 7 0 Single vane Double vane Single vane Double vane Double vane type is B Series only. Rack & Pinion Type: Series (N m) Rack & Pinion Type: CRA Series (N m) Rack & Pinion Type: CRQ Series (N m) Rack & Pinion Type/Rotary Table: Series (N m)

18 Confirmation of Rotation Time Rotation time adjustment range is specified for each product for stable operation. Set the rotation time within the rotation time specified below. Model Rotation time adjustment range s / : 0,, 0 CRB : : CRB :, 6, 80, : 0,, 0 CRBU : : :,, 7, 0 : 0, : : : 6 CRA : 80 : :, 6, 80, (Air-hydro specification) : 0, CRQ : 0,, :,, : 0, 0,, (with internal shock absorber) : 7, 0, 0,, (with internal : 70,, 00 shock absorber) : 70 : : 00 : In case of basic type/with external shock absorber. If the product is used in a low speed range which is outside the adjustment range, it may cause the stick-slip phenomenon, or the product to stick or stop. For the CRA series air-hydro type, combine with an air-hydro unit (CC series) and set the rotation time. CRB CRB CRA CRQ MSZ CRQX X MRQ D- A

19 4 Calculation of Kinetic Energy Kinetic energy is generated when the load rotates. Kinetic energy applies on the product at the operating end as inertial force, and may cause the product to damage. In order to avoid this, the value of allowable kinetic energy is determined for each product. Find the kinetic energy of the load, and verify that it is within the allowable range for the product in use. Kinetic Energy Use the following formula to calculate the kinetic energy of the load. E = Ι ω E: Kinetic energy (J) Ι: Moment of inertia (kg m ) ω: Angle speed (rad/s) For the Series, add the values shown in the table below to the moment of inertia of the load when calculating. Model 7 0 Additional value of moment of inertia; Ι0. x x x 0.8 x 0 Kinetic energy formula for series E = (Ι + Ι0) ω Angle Speed θ ω = t ω: Angle speed (rad/s) θ: Rotation angle (rad) t: Rotation time (s) However, for the air-hydro type, when the rotation time for becomes longer than seconds, use the following formula. ω = θ t P. Allowable kinetic energy and rotation time adjustment range P.6 to 8 Moment of inertia and rotation time To find the rotation time when kinetic energy is within the allowable range for the product, use the following formula. When the rotation angle is ω = θ t When the rotation angle is ω = θ t t Ι θ E t Ι θ E t: Rotation time (s) Ι: Moment of inertia (kg m ) θ: Rotation angle (rad) E: Kinetic energy (J) 4

20 4 - Allowable Kinetic Energy and Rotation Time Adjustment Range Table (a) Allowable Kinetic Energy and Rotation Time Adjustment Range of the Single Vane Allowable kinetic energy (J) Adjustable range of Model Without With rotation time safe in operation rubber bumper rubber bumper ( S / ) CRB CRB to 0. CRB CRB to 0. CRB to 0. CRB 0.08 CRB CRB to CRB CRBU CRBU to 0. CRBU CRBU to 0. CRBU to 0. A A 0.07 A to 0. B B Table (b) Allowable Kinetic Energy and Rotation Time Adjustment Range of the Double Vane A B 0.00 B 0.0 Model CRB 0 CRB CRB 0 CRB CRB CRB CRB 6 CRB 80 CRB CRBU 0 CRBU CRBU 0 CRBU CRBU B B B 7 B 0 Calculation Example Allowable kinetic energy (J) Without With rubber bumper rubber bumper Load form: Round rod Length of a part: 0. m Rotation angle : Length of a part: 0.04 m Rotation time : 0.9 S / Mass of a part (= m): 0.09 kg Mass of a part (= m): 0.0 kg Adjustable range of rotation time safe in operation ( S / ) 0.0 to to to to 0.0 to to to to 0. Note) Not using rubber bumper means that the rotary actuator is stopped in the middle of its rotation through the use of an external stopper. Note) Using a rubber bumper means that the rotary actuator is stopped at the respective rotation ends by using an internal stopper. Ι = m + m (Step ) Find the angle speed ω. θ π ω = = t 0.9 ( ) =.489 rad/s a a (Step ) Find the moment of inertia Ι. m a m a Ι = x 0. = 0.0 x = 4.48 x 0 4 kg m (Step ) Find the kinetic energy E. E = I ω = x 4.48 x 0 4 x.489 = J Table () Allowable Kinetic Energy and Rotation Time Adjustment Range Model 0 CRA CRA CRA 6 CRA 80 CRA CRQ 0 CRQ CRQ 0 CRQ CRQ 7 Calculation Example Allowable kinetic energy (J) Without With rubber bumper rubber bumper Cushion angle to to to B 70 B B Represents external stopper. When the cushion needle with air cushion is adjusted optimally. Represents internal shock absorber. 4 Represents external and low energy type shock absorber. Represents external and high energy type shock absorber. (Step ) Find the moment of inertia. m a m r Ι = + m a + Adjustable range of rotation time safe in operation ( S / ) 0. to to 0. to 0. to 0. to 4 0. to 0. to to 0. to to 0. to to to to to 0. to. 0. to 0. to 0. to. If the model to be used has been determined, obtain the threshold rotation time in which the rotary actuator can be used in accordance with the allowable kinetic energy of that model. Model used : CRA (Without bumper) Allowable kinetic energy : 0.0 J (Refer to Table ()) Load form : Refer to the figure below Rotation angle : a Ι = m r + m a + m 0. x 0. = x x x = 4.6 x 0 kg m (Step ) Find the rotating time. Ι θ x 4.6 x 0 x (π/) t E = 0.0 = 0.67s It is therefore evident that there will be no problem if it is used with a rotation time of less than 0.67s. However, according to table, the maximum value of rotation time for stable operation is s. Thus, the rotation time should be within the range of 0.67 t. a a m m r : 0. m : 0. m : 0. kg : 0.8 kg : 0.0 m CRB CRB CRA CRQ MSZ CRQX X MRQ D-

21 4 - Moment of Inertia and Rotation Time How to read the graph Example ) When there are constraints for the moment of inertia of load and rotation time. From Graph (), to operate at the load moment of inertia x 0 4 kg m and at the rotation time setting of 0. s /, the models will be CRB S and CRB D. Example ) When there are constraints for the moment of inertia of load, but not for rotation time. From Graph (6), to operate at the load moment of inertia x 0 kg m : CRB S will be 0.8 to s / CRB 80 S will be 0. to s / CRB S will be 0.9 to s / [Remarks] As for the rotation times in Graphs () to (), the lines in the graph indicate the adjustable speed ranges. If the speed is adjusted towards the low-speed end beyond the range of the line, it could cause the actuator to stick, or, in the case of the vane type, it could stop its operation. <Vane type: CRB/CRBU/CRB/ Series> Graph () CRB, CRBU /: 0 to Moment of inertia (kg m ) CRBBW- S,D CRBBW- S,D CRBBW,CRBUW0- D CRBBW,CRBUW0- S CRBBW,CRBUW- D CRBBW,CRBUW- S CRBBW,CRBUW0- D CRBBW,CRBUW0- S Rotation time ( S / ) Graph (6) CRB /: to Graph (7) /: to 0 Moment of inertia (kg m ) CRBBW- D CRBBW- S CRBBW80- D CRBBW80- S CRBBW6- D CRBBW6- S CRBBW- D CRBBW- S Moment of inertia (kg m ) A 0- S B 0- A 7- S B 7- A - S B - A - S B Rotation time ( S / ) Rotation time ( S / ) 6

22 <Rack & pinion type: /CRA Series> Graph (8) /: 0, Moment of inertia (kg m ) Rotation time ( s / ) U U0 B B0 Graph (9) CRA/: to (Without cushion) Graph (0) CRA/: to (With cushion) CRA C 0 CRA 80C CRA 6C CRB CRB CRA CRQ MSZ CRQX X MRQ Moment of inertia (kg m ) Moment of inertia (kg m ) 0 0 CRA C CRA C 0 Rotation time ( s / ) 0. 4 Rotation time ( s / ) <Rack & pinion type: CRQ/ Series> Graph () CRQ/: 0 to (Without cushion) Graph () CRQ/: 0 to (With cushion) Moment of inertia (kg m ) Moment of inertia (kg m ) D- Rotation time ( s / ) Rotation time ( s / ) 7

23 4 - Moment of Inertia and Rotation Time Graph () /: 0 to 00 (Adjust bolt type) B00A BA 0. B70A Graph (4) /: 0 to 00 (Internal absorber type) B00R BR B 70R Moment of inertia (kg m ) A A 0A 0A 7A A A A Moment of inertia (kg m ) R 0R R 0R Rotation time ( s / ) Rotation time ( s / ) Graph () /: 0 to (External absorber type) Moment of inertia (kg m ) H L H 0H L 0L 0H 0L Rotation time ( s / ) 8

24 Confirmation of Allowable Load Provided that a dynamic load is not generated, a load in the axial direction can be applied up to the value that is indicated in the table below. However, applications in which the load is applied directly to the shaft should be avoided as much as possible. Long shaft side Short shaft side Short shaft side Long shaft side B Model A A A 7 A0 B B B 7 B0 Vane Type Vane Type (Single, Double) Series Model Load direction Fsa (N) Fsb (N) Fr (N) M (N m) CRB CRBU CRB 0 CRB CRB 0 CRB CRB CRB CRB 6 CRB 80 CRB CRBU 0 CRBU CRBU 0 CRBU CRBU Vane Type (Single, Double) Series A Load direction Fsa (N) Fsb (N) Fr (N) M (N m) Provided that a dynamic load is not generated, a load that is within the allowable radial/thrust load can be applied. However, applications in which the load is applied directly to the shaft should be avoided as much as possible. The methods such as those described below are recommended to prevent the load from being applied directly to the shaft in order to ensure a proper operating condition. Thrust bearing Load Flexible coupling Bearing Load Series A B A A A A 7 A 0 A 0 A A B B B B 7 B 0 B 0 B B B 70 B B00 Rack & Pinion Type Rack & Pinion Type (Single rack) Model 0 Fsa (N) 0 Rack & Pinion Type (Single rack) Series CRA Model CRA CRA CRA 6 CRA 80 CRA Fsa (N) Rack & Pinion Type (Double rack) Series CRQ Model CRQB 0 CRQB CRQB 0 CRQB CRQB Load direction Fsb (N) Fr (N) 0 Load direction Fsb (N) Fr (N) Load direction Fsa (N) Fsb (N) Fr (N) Rack & Pinion Type (Double rack) Series Model M (N m) M (N m) M (N m) Load direction Fsa (N) Fsb (N) Fr (N) M (N m) CRB CRB CRA CRQ MSZ CRQX X MRQ D-

25 6 Calculation of Air Consumption and Required Air Flow Capacity Air consumption is the volume of air which is expended by the rotary actuator s reciprocal operation inside the actuator and in the piping between the actuator and the switching valve, etc. This is necessary for selection of a compressor and for calculation of its running cost. Required air volume is the air volume necessary to make a rotary actuator operate at a required speed. It requires calculation when selecting the upstream piping diameter from the switching valve and air line equipment. To facilitate your calculation, Tables () to () provide the air consumption volume (QCR) that is required each time an individual rotary actuator makes a reciprocal movement.. Air consumption volume. Required air flow capacity Formula Regarding QCR: With vane type sizes 0 to, use formula () because the internal volume varies when ports A and B are pressurized. For vane type sizes to, as well as for the rack and pinion type, use formula (). P + 0. QCR = (VA + VB) x x 0 0. () P + 0. QCR = x VA x x 0 0. () QCP = x a x L x P x 0 6 () 0. QC = QCR + QCP (4) QCR = Amount of air consumption of rotary actuator [L(ANR)] QCP = Amount of air consumption of tube or piping [L(ANR)] VA = Inner volume of the rotary actuator (when pressurized from A port) [cm ] VB = Inner volume of the rotary actuator (when pressurized from B port) [cm ] P = Operating pressure [MPa] L = Length of piping [mm] a = Inner sectional area of piping [mm ] QC = Amount of air consumption required for one cycle of the rotary actuator [L(ANR)] To select a compressor, it is important to select one that has plenty of margin to accommodate the total air volume that is consumed by the pneumatic actuators that are located downstream. The total air consumption volume is affected by the leakage in the tube, the consumption in the drain valves and pilot valves, as well as by the reduction in air volume due to reduced temperature. Formula Qc = Qc x n x No. of actuators x Space rate () Qc = Amount of air from a compressor n = Actuator reciprocations per minute Safety factor: from. [L/min (ANR)] Formula Qr: Make use of (6)(7) formula for vane type, and (7) for rack and pinion type. P + 0. Qr = VB x x 0 P + a x L x x x (6) t P + 0. Qr = VA x x 0 P + a x L x x x (7) t Qr =Consumed air volume for rotary actuator [L/min(ANR)] VA = Inner volume of the rotary actuator (when pressurized from A port) [cm ] VB = Inner volume of the rotary actuator (when pressurized from B port) [cm ] P = Operating pressure [MPa] L = Length of piping [mm] a = Inner sectional area of piping [mm ] t =Total time for rotation [S] Internal Cross Section of Tubing and Steel Piping Nominal T 04 T 0604 TU 080 T 0806 /8B T 07 TU 08 T 09 /4B TS 6 /8B T 6 /B /4B B O.D. (mm) I.D. (mm) Internal cross section a (mm ) P.4 and 4 Inner volume and air consumption P.4 and 44 Air consumption calculation graph

26 6 Table () Vane Type: CRB/CRBU/CRB Series Table () Vane Type Rotary Table: Series Vane Press. VA port Press. VB port Rotation (degree) Inner volume (cm ) (L(ANR)) Single vane Double vane (B only) Inner Volume and Air Consumption Vane Press. VA port Press. VB port Rotation (degree) Inner volume (cm ) (L(ANR)) Single vane Double vane 4 CRB CRB CRA CRQ MSZ CRQX X MRQ D-

27 6 - Inner Volume and Air Consumption Table () Rack & Pinion Type: Series 0 Rotation (degree) Volume VA (cm ) (L(ANR)) Table (4) Rack & Pinion Type: CRA Series 6 80 Rotation (degree) Volume VA (cm ) (L(ANR)) Table () Rack & Pinion Type: CRQ Series 0 0 Rotation (degree) Volume VA (cm ) (L(ANR)) Table (6) Rack & Pinion Type/Rotary Table: Series Rotation (degree) Volume VA (cm ) (L(ANR))

28 6 - Air Consumption Calculation Graph Step Using Graph (6), air consumption volume of the rotary actuator is obtained. From the point of intersection between the internal volume and the operating pressure (slanted line) and then looking to the side (left side) direction, the air consumption volume for cycle operation of a rotary actuator is obtained. Step Using Graph (7), air consumption volume of tubing or steel piping is obtainted. () First determine the point of intersection between the operating pressure (slanted line) and the piping length, and then go up the vertical line perpendicularly from there. () From the point of intersection of an operating piping tube diameter (slanted line), then look to the side (left or right) to obtain the required air consumption volume for piping. Step Total air consumption volume per minute is obtained as follows: (Air consumption volume of a rotary actuator [unit: L (ANR)] + Tubing or steel piping's air consumption volume) x Cycle times per minute x Number of rotary actuators = Total air consumption volume Example) What is the air consumption volume for 0 units of a CRQBS- to actuate by operating pressure 0. MPa for one minute..? (Distance between actuator and switching valve is the internal diameter 6 mm tubing with m piping.). Operating pressure 0. MPa Internal volume of CRQBS- cm Air consumption volume 0. L (ANR). Operating pressure 0. MPa Piping length m Internal diameter 6 mm Air consumption volume 0.6 L (ANR). Total air consumption volume = ( ) x x 0 = 9. L/min (ANR) Inner Volume: Rack & Pinion Type cycle (cm ) Model 0 CRA CRA CRA 6 CRA 80 CRA CRQ 0 CRQ CRQ 0 CRQ CRQ B 70 B B 00 Rotation angle Inner Volume: Vane Type cycle (cm ) Model CRB 0- S CRB - S CRB 0- S CRB - S CRB - S CRB - S CRB 6- S CRB 80- S CRB - S - S - S 7- S 0- S CRB 0- D CRB - D CRB 0- D CRB - D CRB - D CRB - D CRB 6- D CRB 80- D CRB - D B - D B - D B 7- D B 0- D Rotation angle CRB CRB CRA CRQ MSZ CRQX X MRQ D- 4

29 6 - Air Consumption Calculation Graph Graph (6) Air Consumption Graph (7) Air Consumption of Tubing, Steel Tube ( cycle) Tubing I.D. (mm) Piping length (m) Air consumption QCR (L(ANR)) Air consumption QCP (L(ANR)) Air consumption QCP (L(ANR)) Inner volume V (cm ) Piping length indicates length of steel tube or tubing which connects rotary actuator and switching valves (solenoid valves, etc.). Refer to page for size of tubing and steel tube (inner dimension and outer dimension). 44