FHA-E Industrial Robot Joint Speed Reducer
This industrial robot joint speed reducer is widely applied to robot palletizer, gantry loader, locators, selective compliance assembly robot, cylindrical coordinate robot, positioning turntable, rotating shaft, cover switch, AGV drive, medical instruments, and vertical multi-joint robot.
| Model | FHA-5E | FHE-7E | FHA-25E | FHA-45E | ||||||
| Rotation | Shaft Run | Case Run | Shaft Run | Case Run | Shaft Run | Case Run | Shaft Run | Case Run | ||
| Ratio | 40 | 41 | 40 | 41 | 40 | 41 | 35 | 36 | ||
| 50 | 51 | 50 | 51 | 50 | 51 | 40 | 41 | |||
| * | * | 59 | 60 | 60 | 61 | 50 | 51 | |||
| * | * | * | * | * | * | 59 | 60 | |||
| * | * | * | * | * | * | 79 | 80 | |||
| Rated ouput torque | Nm kgf-m | 60 (6.1) | 83 (8.46) | 245 (25) | 460 (46.8) | |||||
| Acceleration&braking torque | Nm kgf-m | 97.5 (9.9) | 136 (14) | 515 (52) | 1158 (118) | |||||
| Instant Max.allowable torque | Nm kgf-m | 245 (25) | 415 (42) | 1000 (102) | 2300 (234.4) | |||||
| Rated input speed | Nr (rpm) | 2000 | 2000 | 2000 | 2000 | |||||
| Rated lifetime | Hr | 6000 | 6000 | 6000 | 6000 | |||||
| Allowable Max.input speed | Nmax (rpm) | 3000 | 3000 | 3000 | 2500 | |||||
| Tilting stiffness | Nm/arcmin kgf-m/arcmin | 82 (8.3) | 117 (12) | 372 (38) | 931 (95) | |||||
| Torsional stiffness | Nm/arcmin kgf-m/arcmin | 18 (1.83) | 20 (2) | 49 (5) | 108 (11) | |||||
| Max.lost motion | (arcmin) | ＜3.0 | ＜3.0 | ＜3.0 | ＜3.0 | |||||
| Angle transmission error | ATE (arcsec) | 40 | 80 | 40 | 40 | |||||
| Backlash | Standard backlash | (arcmin) | ＜5.0 | ＜5.0 | ＜5.0 | ＜5.0 | ||||
| Precision backlash | ＜3.0 | ＜3.0 | ＜3.0 | ＜3.0 | ||||||
| High precision backlash | * | * | * | ＜1.0 | ||||||
| Max.tilting torque | Nm kgf-m | 282 （28.8） | 392 （40） | 1764 （180） | 3332 （340） | |||||
| Rated radial force | Nm | 118 | 196 | 882 | 1666 | |||||
| Max.axial force | N | 885 | 1470 | 3920 | 5194 | |||||
| (I=GD2/4) Input inertia Kg-m2 | 1.65x10-6 | 2.60x10-6 | 1.08x10-6 | 4.50x10-6 | ||||||
| 1.46x10-6 | 1.85x10-6 | 0.65x10-6 | 3.75x10-6 | |||||||
| * | 1.66x10-6 | 0.45x10-6 | 2.4x10-6 | |||||||
| * | * | * | 1.75x10-6 | |||||||
| * | * | * | 2.4x10-6 | |||||||
| Weight | KG | 4.5 | 8.5 | 12 | 32.5 | |||||
| Model | FHA-135E | FHE-165E | FHA-325E | FHA-450E | ||||||
| Rotation | Shaft Run | Case Run | Shaft Run | Case Run | Shaft Run | Case Run | Shaft Run | Case Run | ||
| Ratio | 50 | 51 | 50 | 51 | 59 | 60 | 59 | 60 | ||
| 60 | 61 | 60 | 61 | 79 | 80 | 79 | 80 | |||
| 79 | 80 | 79 | 80 | 99 | 100 | 99 | 100 | |||
| 99 | 100 | 99 | 100 | 119 | 120 | 119 | 120 | |||
| * | * | * | * | * | * | 139 | 140 | |||
| Rated ouput torque | Nm kgf-m | 1400 (136) | 1615 (165) | 3595 (366) | 5100 (520) | |||||
| Acceleration&braking torque | Nm kgf-m | 2083 (212) | 4043 (412) | 7963 (812) | 11025 (1125) | |||||
| Instant Max.allowable torque | Nm kgf-m | 4155 (423.5) | 8075 (823) | 17975 (1830) | 25500 (2600) | |||||
| Rated input speed | Nr (rpm) | 2000 | 1500 | 1500 | 1500 | |||||
| Rated lifetime | Hr | 6000 | 6000 | 6000 | 6000 | |||||
| Allowable Max.input speed | Nmax (rpm) | 2500 | 2500 | 2000 | 2000 | |||||
| Tilting stiffness | Nm/arcmin kgf-m/arcmin | 1176 (120) | 2940 (300) | 4900 (500) | 7448 (760) | |||||
| Torsional stiffness | Nm/arcmin kgf-m/arcmin | 196 (20) | 392 (40) | 980 (100) | 1176 (120) | |||||
| Max.lost motion | (arcmin) | ＜1.5 | ＜1.5 | ＜1.5 | ＜1.5 | |||||
| Angle transmission error | ATE (arcsec) | 40 | 40 | 40 | 40 | |||||
| Backlash | Standard backlash | (arcmin) | ＜4.0 | ＜4.0 | ＜4.0 | ＜4.0 | ||||
| Precision backlash | ＜2.0 | ＜2.0 | ＜2.0 | ＜2.0 | ||||||
| High precision backlash | ＜1.0 | ＜1.0 | ＜1.0 | ＜1.0 | ||||||
| Max.tilting torque | Nm kgf-m | 4312 (440) | 7840 (800) | 14112 (1440) | 17640 (1800) | |||||
| Rated radial force | Nm | 2156 | 3920 | 7056 | 8820 | |||||
| Max.axial force | N | 7840 | 14700 | 19600 | 24500 | |||||
| (I=GD2/4) Input inertia Kg-m2 | 5.65x10-5 | 1.9x10-4 | 6x10-4 | 9x10-4 | ||||||
| 4.40x10-5 | 1.8x10-4 | 5.4x10-4 | 7.3x10-4 | |||||||
| 3.53x10-5 | 1.78x10-4 | 4x10-4 | 6x10-4 | |||||||
| 2.63x10-5 | 1.51x10-4 | 2.8x10-4 | 4.8x10-4 | |||||||
| * | * | * | 4.2x10-4 | |||||||
| Weight | KG | 32.5 | 37 | 65 | 81 | |||||
1. Structure of built-in main bearing
(1)High reliability
(2)Low total cost
(3)High torque rigidity and permissible torque and having the ability of bearing external load by installing angular contact ball bearing.
(4)Reduce the number of parts
(5)Easy installation
2. Structure of 2-stage reduction mechanism
(1)Low vibration
(2)Low GD2
(3)Low vibration and slow revolution speed of RV wheel gear
(4)Low inertia
3. Structure of double column support
(1)High torsional rigidity
(2)Low vibration
(3)High impact resistance (500% of rated torque)
(4)The crank shaft is supported by double column in the reducer.
4. Structure of rolling contact
(1)Good start efficiency
(2)Low abrasion and long working life
(3)Small tooth space(1 arc, min)
(4)Using rolling bearing
5. Structure of pin gear
(1)Small tooth space(1arc.min)
(2)High impact resistance (500% of rated torque)
(3)Large number of meshing of RV gear and pin gear at the same time
