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FHA-E Industrial Robot Joint Speed Reducer

Application

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.

Technical Parameters
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
Features

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

Indicated of model numbers
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Information of FHA-E Industrial Robot Joint Speed Reducer
Parameters list of FHA-E Industrial Robot Joint Speed Reducer
Parameters list of FHA-E Industrial Robot Joint Speed Reducer

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