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1 ORDERING INFORMATION ■RV-E series ●Product identification for ordering purpose. RV 80 E 121 A B B Bolt-clamping output shaft ● P Bolt/pin clamping output shaft ● Type of input gear or input spline A Standard type A (Narrow type) B Standard type B (Big diameter type) Z Special (none) Type symbol● ● Frame No.● Frame number 6 20 40 80 110 160 320 450 Rated output torque In-lb(Nm) 514 （58） 1,479 （167） 3,649 （412） 6,944 （784） 9,547 （1078） 13,887 （1568） 27,774 （3136） 39,058 （4410） ● 1 Speed ratio (reduction ratio ＝ ― R) 〈Ex. RV-80E〉 shaft rotation R 57,81,101,121,153 Notes1. Refer to the Rating Table for other type. 2. Specify the shaft rotating speed ratio of your application. Model● E Main bearing built-in type ■RV-C series ●Product identification for ordering purpose. RV 100 C 36.75 A B Type symbol● ● ● B Bolt-clamping output shaft T Through-bolt clamping output shaft Frame No. ● Frame number 10 27 50 100 200 320 500 Rated output torque In-lb(Nm) 867 （98） 2,343 （265） 4,340 （490） 8,680 （980） 17,359（1,961） 27,775（3,136） 43,398（4,900） ● A Standard type Z None ● Model ● C Hollow shaft type 1 Profile of center gear 1 Speed ratio (reduction ratio ＝ ― R) Notes1. Here, 36.75 applies to the RV-100C. 2. See Ratings Table for speed ratios of other frame numbers. 3. Specify the shaft rotating speed ratio of your application. ■RV series ●Product identification for ordering purpose. RV 60 121 A T ● Type symbol● ● Frame No. ● Frame number 15 30 60 160 320 450 550 ● Rated output torque In-lb(Nm) 1,213 （137） 2,949 （333） 5,642 （637） 13,887 （1568） 27,774 （3136） 39,058 （4410） 47,737 （5390） ● Model● No mark Standard type B Bolt-clamping output shaft T Through-bolt clamping output shaft Type of input gear or input spline A Standard type A (Narrow type) B Standard type B (Big diameter type) Z Special (none) 1 Speed ratio (reduction ratio ＝ ― R) 〈Ex. RV-60〉 shaft rotation 57,81,101,121,153 R Notes1. Refer to the rating table for other type. 2. Specify the shaft rotating speed ratio of your application. 2 2 APPLICATION EXAMPLES Robot Swing Axis RV-C series ●Allows space-saving design ●Main bearing is not required on robot side. Robot arm RV-C series ●Greater internal resistance to adverse enovironments-allows safe throughput of cables. ●Wider operating angle. Indexing Table RV-C series 3 Robot arm RV-E series Robot Wrist Axis RV-E series As shown in the figure(right), the input gear can also be supported within the reduction gear mechanism. Please contact TS Corporation for more details. Robot Swing Axis RV series 4 Positioner RV-E series ATC Magazine RV-E series 5 RV-C series 1 FEATURES AND BENEFITS Hollow shaft structure ●Cables and other lines can pass through the reduction gear ●Allows space saving design INTEGRATED ANGULAR BALL BEARINGS Benefits: ●Increases reliabilty ●Reduces overall cost Fig.1 Attributed to: ●Built-in angular ball bearing construction improves ability to support external loads, increases moment rigidity and maximum allowable moment. ●Reduces the number of components required. ●Simplifies installation and maintenance. Benefits: ●Reduces vibration ●Reduces inertia (GD2) Attributed to: ●Low speed rotation of the RV gear reduces vibration. ●Reduced size of the motor coupling part (input gear) lowers intertia. RV-C series 2 STAGE REDUCTION ALL MAIN ELEMENTS ARE SUPPORTED FROM BOTH SIDES Benefits: ●Higher torsional stiffness ●Less vibration ●High shock load capability (5 times rated torque) Detail: ●Crankshafts are supported on both sides of the reduction gear as shown below. Shaft + hold flange Crankshaft bearing supports Crankshaft through hole Rigid supporting structure RV gear Clearance hole for rigid supporting structure ROLLING CONTACT ELEMENTS Benefits: ●Excellent starting efficiency ●Low wear and longer life ●Low backlash (Less than 1 arc. min.) Attributed to: ●Use of roller bearings throughout. PIN & GEAR STRUCTURE Benefits: ●Very low backlash (Less than 1 arc. min.) ●Higher shock load capability (5 times rated torque) Attributed to: ●Synchromeshing of many precision ground gear teeth and pins. 54 2 CONSTRUCTION and OPERATION PRINCIPLE ■Construction Case Pin RV gear Fig.2 Main bearing Shaft Hold flange Center gear Crankshaft Spur gear Input gear ■Principle of speed reduction The RV-C is a 2-stage reduction gear. 1st stage …Spur gear reduction ●An input gear engages with and rotates a center gear which then engages and rotates spur gears that are coupled to crankshafts. Several overall gear ratios can be provided by selecting various first stage ratios. 2nd stage …Epicyclic gear reduction ●Crankshafts driven by the spur gears cause an eccentric motion of two epicyclic gears called RV gears that are offset 180 degrees from one another to provide a balanced load. ●The eccentric motion of the RV gears causes engagement of the cycloidal shaped gear teeth with cylindrically shaped pins located around the inside edge of the case. ●In the course of one revolution of the crankshafts the teeth of the RV gear move the distance of one pin in the opposite direction of the rotating cranks. The motion of the RV gear is such that the teeth remain in close contact with the pins and many teeth share the load simultaneously. ●The output can be either the shaft or the case. If the case is fixed, the shaft is the output. If the shaft is fixed, the case is the output. Fig.3 Crankshaft (Connected to spur gear) Case Pin Shaft RV gear 55 Crankshaft rotating angle: 0 degree Rotating angle: 180 degrees Rotating angle: 360 degrees 3 ROTARY DIRECTION and SPEED RATIO The rotary direction and speed ratio of the RV-C reduction gear are shown below. Fig.4 qCase is fixed, shaft output wShaft fixed, case output RV-C series 1 i ＝− ― R 1 i ＝― R Mechanism block drawing Case Center gear Pin Fig.5 RV gear Output Shaft Crankshaft Spur gear 2nd reduction Input gear 1st reduction ■Speed Ratio The overall ratio can be determined from the following equation: Z2 ― With the shaft as output; R＝R1× ― Z1 R : Overall speed ratio R1 : Speed ratio of a discrete reduction gear −1 i＝ ―R― Z1 : Number of teeth on input gear Z2 : Number of teeth on large center gear Z4 Z3 : Number of teeth on small center gear ― （R1＝1＋ ― ・ Z 6） Z3 Z4 : Number of teeth on spur gear Z5 : Number of teeth on RV gear Z6 : Number of pins i : Reduction ratio 56 4 RATING TABLE Table 1 Output speed (r/min) 5 10 15 20 25 30 40 50 Speed Output Input Output Input Output Input Output Input Output Input Output Input Output Input Output Input ratio of a torque capacity torque capacity torque capacity torque capacity torque capacity torque capacity torque capacity torque capacity discrete reduction In-lb kW In-lb kW In-lb kW In-lb kW In-lb kW In-lb kW In-lb kW In-lb kW （Nm） （Nm） （Nm） （Nm） （Nm） （Nm） （Nm） gear (R1) （Nm） Model 1,204 RV-10C 27 36.57 983 0.09 0.16 0.29 0.34 602 0.41 0.47 （84） （80） （73） （68） 3,259 2,648 2,347 2,152 2,010 1,904 1,745 1,630 6,031 0.42 （1,985/61）（681） 12,063 36.75 0.55 0.68 0.79 0.90 （243） （227） （215） （197） （184） 4,907 4,340 3,985 3,720 3,525 3,242 3,020 0.77 1.03 1.26 1.47 1.67 （490） （450） （420） （398） （366） 9,804 8,679 7,962 7,448 7,050 6,465 1.55 2.05 2.51 2.94 3.33 （1107） （980） （899） （841） （796） 24,125 19,617 17,368 15,968 14,932 14,144 1.90 38,624 RV-320C 3.09 60,322 37.34 5.04 5.88 （1,961） （1,803） （1,686） 31,335 27,774 25,516 23,824 4.94 6.57 8.05 （3,538） （3,136） （2,881） 49,039 43,397 39,837 4.75 （6,811） 4.11 （2,215） 3.04 （2,778/78） （4,361） 2.04 （554） （1362） （1,499/43） （2,724） 1.29 （265） 0.95 RV-200C 1.10 （299） 0.48 RV-500C 0.25 647 （90） RV-50C 35.61 0.21 709 （98） （1,390/38）（368） 34.86 744 （111） 0.26 RV-100C 797 （136） RV-27C 32.54 868 7.73 （5,537） 10.26 （4,900） 2.38 （341） 4.08 （730） 6.69 （1,597） 9.41 (2,690) 12.56 （4,498） Notes: 1. The overall speed ration is calculated with the formula in page 56. 2. Set maximum input shaft speed to a value equal to or lower than the value of maximum allowable output speed multiplied by the overall speed ratio for each type. 3. The input capacity (KW) in the above table is determined by the efficiency of these reduction gears. 10 4. The output torque (In-lb) is so determined that the service life may be maintained constant for any output revolutions. (N・T ―3 = Constant) 5. The rated torque is a torque at an output speed of 15 r/min, which is used as a basis for service life calculations. (Refer to the rated service life, page 61.) 57