1、H-1 H.H-2 H-2 H-18 H-28.H-29AC.H-33.H-40.H-46AC.H-55.H-58.H-66.H-68.H-77 AC AC H-2/H-3 H-4 AC AC/H-5 AC http:/I-24 I-33 http:/H-3CAD 400-820-6516 400-821-3009 9 AC AC TL Nm=+Nm TLF PB 1i 0 F0 PB2=FA+m g sin+cos N F 2 m FFAm FA=TL Di FA+m g2=Nm FA+m g D2 i m FA D=Nm TLF=F D Di=FA+m g sin+cos N F 2 2
2、i mFA DFm FA DF=Nm TLFB D2FB D F N F 0 N 1/3F 0 0.10.3 0.850.95 i P B m/rev F A N F B N FB=kg g m/s2 m kg D m g m/s2 9.807 H-4/J kgm2=kgm2 Jx m D1281=L D1432=+kgm2 Jy m414D123L2D1Lxy=kgm2 Jx m D12+D22=81 L D14 D24 32=+kgm2 Jy m414D12+D223L2LD1D2xy=Jx0+m l2=kgm2 Jx m A2+B2+12 l2 121l x x0 m CABxx0=kg
3、m2 Jx m A2+B2=121 A B C A2+B2 121=kgm2 Jy m B2+C2=121 A B C B2+C2 121ABCxy kgm2 J=m22AA m/rev=JmJ Li21 J GD2=JG D241 SUS304=8.0103 kg/m3=7.9103 kg/m3=2.8103 kg/m3=8.5103 kg/m3=1.1103 kg/m3 Jx x kgm2 Jy y kgm2 Jx0 x0 kgm2 m kg D1 m D2 m kg/m3 L m Jm JL iH-5CAD 400-820-6516 400-821-3009 9 AC AC AC t0
4、t0t1 t1f1A Af2f2f1 Hz f2 Hz A t0 s t1 s A A B llrev360s=Al lrev s A B m m/rev f2 Hz 25%t1=t0 0.25 f2=A f1 t1t0 t1 At0f2=TR ms/kHz t1TRTR=f2 f1t1f1f2 kHz ms kHz ms f2 Hz NM r/min 60 NM=f2 360s H-3 Ta Nm t1t0t19.55 J0 i2+JL t1NMTa=NM r/min J0JLNMt1i kgm2 kgm2 r/min s Ta=J0 i2+JL f2 f1t1 180 s=J0 i2+JL
5、 f22180 nn 3.6/()Ta s s i TM Nm=TL+Ta Sf TMTMTLTaSf Nm Nm Nm Trms Nm AC/BX=Trms Ta+TL 2 t1+TL2 t2+Td TL 2 t3tfTaTLTdt1 t2 t3 t4tf r/min Nm T NM H-6/AC AC AC AC AC A-15 BX NM f2 TM Sf 2 5 21.52TMf2NM 130 B 50%50%100+=NM TM EMP TRS ms/kHz 5 20 28 42 60 20 85(90)30 2 20 28(30)35 42 50 56.4 6050 85(90)7
6、5 28(30)42 60 85(90)0.5 EMP TRSs BiTRS S B i ms/kHz B5 0.722 1.80.36=JLJ0 JLJ0 i2i=2 5 20 28 35 5 42 50 56.4 60 85 10 28 42 60 85 30 H-7CAD 400-820-6516 400-821-3009 9 AC AC AC AC AC NX 50 50 100 TL AC 1.52 1.52 AC Sf 1.52 NX 0.5 3 AC 1.52=AC NX 6070ms AC 1 mvFA m=45 kg V=122 mm/s FA=0 N=90 LB=800 m
7、m DB=20 mm PB=5 mm 1 A=5 mm=0.9=7.9103 kg/m3 0=0.3=0.05 220V50Hz 1 5 2=V 60A 12 2 605=144 24 r/min NG 4 50Hz 12001300 r/min=7.110.812001300NG=12001300144 24 i i=9 3 TM Nm=FA+m g sin+cos=0+45 9.807 sin 90+0.05 cos 90=441 N=F PB+0 F0 PB2=F3=147 N=0.426 Nm 441 5 1032 0.9+0.3 147 5 1032 2 T L F0 F Sf=2
8、TL=T L Sf=0.426 2=0.86 Nm H-8/i=9 TL=0.86 Nm A-105 4RK25GN-CW2ML1 4GN9KF TM=TMTLi G=0.118 Nm=118 mNm 0.869 0.81 4GN9KF G=0.81 4RK25GN-CW2ML1 160 mNm 118 mNm TM=T MTLi=0.0956 Nm=95.6 mNm 0.869 4RK25GN-CW2ML1 100 mNm 95.6 mNm 4 J kgm2=JB32 LB DB4=0.993 104 kgm2 32 7.9 103 800 103 20 103 4=m2A2=452=0.2
9、86 104 kgm2 5 1032 Jm J J=JB+Jm=0.993+0.286=1.28 104 kgm2 9 4GN9KF JG A-15 JG=0.31 104 92=25.1 104 kgm2 JJG 1470r/min=VNM PB60 i1470 560 9=13.6 mm/s=NM 4RK25GN-CW2ML1 4GN9KF 1 PBDBm m=40 kg=0.05=0.9 0=0.3 DB=15 mm LB=600 mm=7.9103 kg/m3 PB=15 mm l=0.03 mm/step 1 l=180 mm t0=0.8=0 2 S=360 l PB=0.7236
10、0 0.0315s AR 0.72/3 H-5 A=AlPB360=180153600.72s=6000 t1 s 25%t1=0.8 0.25=0.2 s f2 Hz=f2A f1 t1t0 t1=6000 00.8 0.2=10000 Hz t1 t10.810000t1=0.26000 Hz sH-9CAD 400-820-6516 400-821-3009 9 AC AC NM r/min=f2 60 NM360=10000 600.72360=1200 r/min s 4 TM Nm H-5 TL Nm=FA+m g sin+cos=0+40 9.807 sin 0+0.05 cos
11、 0=19.6 N=F PB+0 F0 PB2=F3=6.53 N=19.63=0.0567 Nm 19.6 15 1032 0.9+0.3 6.53 15 1032 2 F0 TL F Ta Nm-1 JL kgm2 H-4=32 LB DB4=0.236 104 kgm2 32 7.9 103 600 103 15 103 4=m=40 2=JB+JT=0.236 104+2.28 104=2.52 104 kgm2 PB2=2.28 104 kgm2 2 15 1032JB JL JT-2 Ta Nm=Ta9.55 J0+JL t1NM9.55628 J0+0.158 Nm J0+2.5
12、2 104 0.21200=J0+JL Ta f2 f1t1 180=J0+2.52 104=628 J0+0.158 Nm 10000 00.2 0.72180s TM Nm Sf=2 TM=TL+Ta Sf=0.0567+628 J0+0.158 2=1256 J0+0.429 Nm 5 kgm2 Nm AR66AC-38010-70.48 AR66AC-0 20 10 40 30 50 60 700 1000 2000 4000 30002.01.51.00.50 kHz 1000P/R r/min Nm 6 H-6 380 1072.52 1046.6J0JL=AR66AC-30 6.
13、6 H-10/AC 1 AC m FA VL=0.2 m/s l=0.02 mm 220V m=100 kg FA=29.4 N=0.04=0.9 0=0.3 DB=25 mm LB=1000 mm PB=10 mm=7.9103 kg/m3 2.1 0.4 t1=t3=0.1 s 2=360 PB=0.72360 0.0210lNX M=0.36/3 NM=NM60 VLPB=1200 r/min 60 0.210 103 NM 2.1(1.9)0.4t1=t3=0.1(2.5)1200t1 t3 r/min s 4 TL Nm F=FA+m g sin+cos=29.4+100 9.807
14、 sin 0+0.04 cos 0=68.6 N=TLF PB+0 F0 PB2=0.13 Nm 68.6 10 1032 0.9+0.3 22.9 10 10322=F0 F13 5 JL kgm2=32 LB DB4=3.03 104 kgm2 32 7.9 103 1000 103 25 103 4JB=m2 PB2=100 2 10 10322.53 104 kgm2 Jm JL=JB+Jm=3.03 104+2.53 104=5.56 104 kgm2 6 AC Sf=1.5 T L=Sf TL=1.5 0.13=0.195 Nm JL=5.56 104 kgm2 1200 r/mi
15、n 0.195 Nm 5.56104 kgm2 AC NX620AC-N=3000 r/min TM=0.637 Nm J0=0.162 104 kgm2 J=8.1 104 kgm2 TMAX=1.91 Nm 7 Ta Nm Td Nm=Td Ta JL+J0 NM9.55 t1=0.72 Nm 5.56 104+0.162 104 12009.55 0.1 8 T Nm T=Ta+TL=0.72+0.13=0.85 Nm NX620AC-1.91 Nm NX620AC-9 t1 t30.720.130.720.4(2.5)(1.9)t1=t3=0.1 Nm r/min s sH-11CAD
16、 400-820-6516 400-821-3009 9 AC AC 10 Trms Nm Trms=Trms Ta+TL 2 t1+TL2 t2+Td TL 2 t3tf=0.24 Nm 0.72+0.13 2 0.1+0.132 1.9+0.72 0.13 2 0.12.5 t 1+t 2+t 3=2.1 s t1=t3=0.1 t2=2.10.12=1.9 s Trms AC TM=2.650.6370.24TMTrms 1.52 AC 1 DV m1=25 kg FA=0 N=0.3 D=90 mm m2=1 kg=0.9 V=180 mm/s 10%220V50Hz 1 8 2=V
17、60 D 180 18 60 90=38.2 3.8 r/min NG 4 50Hz 12001300 r/min=28.637.812001300NG=1200130038.2 3.8 i i=36 3 TM Nm=3.68 Nm F D2 73.6 90 1032 0.9=FA+m g sin+cos=0+25 9.807 sin 0+0.3 cos 0=73.6 N T L F Sf=2 TL=T L Sf=3.68 2=7.36 Nm i=36 TL=7.36 Nm A-41 5IK40GN-CW2L2 5GN36KF TM=TMTL=0.280 Nm=280 mNm 7.3636 0
18、.73 i G 5GN36KF G=0.73 H-12/5IK40GN-CW2L2 200 mNm 5IK60GE-CW2L2 5GE36KBF=TMTL=0.31 Nm=310 mNm 7.3636 0.66 i G 5GE36KBF G=0.66 5IK60GE-CW2L2 320 mNm 310 mNm 4 J kgm2=18 m2 D2=10.2 104 kgm2 18 1 90 103 2=m1 2 D2=25 2 90 1032=507 104 kgm2 Jm1 Jm2 J Jm2 J=Jm1+2Jm2=507 104+10.2 104 2=528 104 kgm2 36 5GE3
19、6KBF JG A-15 JG=1.1 104 362=1425 104 kgm2 JJG 490 mNm 1470r/min=VNM D60 i=1470 9060 36=192 mm/s NM 5IK60GE-CW2L2 5GE36KBF SMK 1 1 2 SMK5100C-A mFV 1 2 1 m1=1.5 kg D=30 mm m2=0.1 kg=0.04=0.9 50Hz 60r/min 6051 015 sec 60 r/min 2 2 2 V mm/s V=D N60 30 6060=94 mm/s 3 TL Nm F=FA+m1 g sin+cos=0+1.5 9.807
20、sin 0+0.04 cos 0=0.589 N F D=9.82 103 Nm 0.589 30 1032 0.9 2 TL=4 JL kgm2 m1 D2 2=1.5 2 2 30 103=3.38 104 kgm2 Jm1=18m2 D2=18 0.1 30 103 2=0.113 104 kgm2 Jm2=JL Jm2 JL=Jm1+2Jm2=3.38 104+0.113 104 2=3.5 104 kgm2 5 Ta Nm Ta=180 n 7.2180 0.5 f2 502 s J0+JL=628 J0+0.22 Nm=J0+3.5 104 s=7.2 f=50Hz n=3.6/s
21、=0.5 J0 H-13CAD 400-820-6516 400-821-3009 9 AC AC 6 TM Nm Sf=2 TM=TL+Ta Sf=9.82 103+628 J0+0.22 2=1256 J0+0.46 Nm 7 kgm2 kgm2 Nm SMK5100C-A 1.410-4710-41.12 TM=0.636 Nm 4 SMK5100C-A 1 VD VL=0.051 m/s 220V D=0.1 m m2=1 kg m1=7 kg FA=0 N=0.3=0.9 2=NG60 VL DNG 0.05 m/s 60 0.05 0.11 m/s 60 1 0.1=191 r/m
22、in=9.55 r/min B-34 6.7200 15 3 JG kgm2=m1 D2 2 0.12=7 2=175 104 kgm2 Jm1=18 m2 D2=18 1 0.12=12.5 104 kgm2 Jm2 JG Jm2 JG=Jm1+2Jm2=175 104+12.5 104 2=200 104 kgm2 B-35 BLE512C15S 225 104 kgm2 4 TL Nm=1.15 Nm F D=20.6 0.12 0.9 2=FA+m g sin+cos=0+7 9.807 sin 0+0.3 cos 0=20.6 N F TL B-34 BLE512C15S 5.4 N
23、m TM/TL=5.4/1.15 4.6 1.52 H-14/1 DT=300mm=120mm DT=300 mm LT=5 mm=2.8103 kg/m3 DW=40 mm LW=30 mm 10 36=2.8103 kg/m3 l=120 mm=36 t0=0.25 RK PS 10/=0.072 PS i=10/s=0.072 2 H-5 A=A360.072=s=500 t1 s 25%t1=0.1 s f2 Hz=f2At0 t15000.25 0.13334 Hz NM r/min=NM f2 6036040 r/min=S 3334 60 3600.072PS 10 0300 r
24、/min t1 t1t1=0.1t0=0.253334 Hz s 3 TM Nm H-5 TL Nm 0 TL=0 Nm Ta Nm-1 JL kgm2 H-4=32 LT DT4=1.11 102 kgm2 32 2.8 103 5 103 300 103 4 JT=32 LW DW4=32 2.8 103 30 103 40 103 4=0.211 104 kgm2 JW1=4 LW DW2=0.106 kg 4 2.8 103 30 103 40 103 2 mW JW kgm2 l mm mW kg JW1 kgm2 n=10=n JW1+mW l2 10 0.211 104+0.10
25、6 120 103 2=1.55 102 kgm2 JW JL=JT+JW=1.11+1.55 102=2.66 102 kgm2H-15CAD 400-820-6516 400-821-3009 9 AC AC-2 Ta Nm=Ta9.55 J0 i2+JL t1NM9.554.19 103 J0+1.11 Nm J0 102+2.66 102 0.140=J0 i2+JL Taf2 f1t1 s180=J0 102+2.66 102=4.19 103J0+1.11 Nm 3334 00.1 0.072180 TM Nm Sf=2 TM=TL+Ta Sf=0+4.19 103 J0+1.11
26、 2=8.38 103 J0+2.22 Nm 4 kgm2 Nm RK566ACE-PS10 28010-72.45 RK566ACE-PS100151050 100 300 2000(0)5(50)10(100)25(250)15(150)20(200)r/min 1 10 kHz Nm PS/5 H-6 RK566ACE-PS10 10 280 107 1022.66 1029.5J0 i2JL=RK566ACE-PS10 RK566ACE 10 9.5 6 H-5 TR ms/kHz=TR3334 Hz 0 Hz 0.1 s 30 ms/kHz f2 f1t1=3.334 kHz 0 k
27、Hz 100 ms RK566ACE-PS10 RK566ACE 20 ms/kHz 30 ms/kHz H-16/DVFD3 1 D D1=15 mm=0.015 m D2=30 mm=0.03 m D3=20 mm=0.02 m V=47 m/min F=4 N 220V 50Hz 2 N1 N1=V=47=997.9 r/min 1000 r/min D1 0.015 N2 N2=V=47=498.9 r/min 500 r/min D2 0.03 T1 T1=F D1=4 0.015=0.03 Nm 22 T2 T2=F D2=4 0.03=0.06 Nm 22 N1=1000 r/m
28、in T1=0.03 Nm N2=500 r/min T2=0.06 Nm TM TM410C-AE DC1.6V TM410C-AE 220V 50Hz 1000 500 1800 1500 00.300.350.250.200.150.0500.10DC4.0VDC2.0VDC3.0VDC1.0VDC5.0VDC1.6V r/min Nm TM410C-AE DC5.0V 5 DC1.6V DC1.6V H-17CAD 400-820-6516 400-821-3009 9 AC AC 3 H-16 N3 N3=V=47=748.4 r/min 750 r/min D3 0.02 T3 T3=F D3=4 0.02=0.04 Nm 22 TM TM410C-AE DC1.0V TM410C-AE 220V 50Hz DC5.0VDC1.0V 0.050.150.100.250.200.350.30500 1000 1500DC2.0V00DC1.6VDC3.0VDC4.0V Nm r/min 90C TM410C-AE
