정밀하고강한차동감속기구를내장한초박형감속기Ultrathin speed reducer with a built-in elaborate, strong differential reduction mechanism

KAMO SEIKO CORP.

P a n c a k e S p e e d R e d u c e r

은 What Is the PSR?

특징 Features

구조 Structure

■ 초편평콤팩트 　Ultra-flat and compact

■ 낮은백래시 　Small backlash

■ 유지보수프리 　Maintenance-free

■ 고강성　High rigidity

■ 고정밀　High precision

■ 간단한모터설치　 Easy-to-mount motor

■ 고효율　High efficiency

부시

미끄럼마찰로인한에너지손실을줄인다

Bush：Reduces energy loss due to slide friction.

원통롤러베어링

높은강성과부하능력을확보하기위해사용

Cylindrical roller bearing：Adopted to ensure high rigidity and load capability.

입력축

옵션으로여러종류의입력형태를선택가능

Input axis：Various input modes can be selected on option.

트로코이드기어트로코이드기어

하중과무게중심의균형을얻기위해개를마주보게배치

Trochoid gear：Two gears are placed oppositely to balance load and gravity center.

롤러

롤러가회전함으로써마찰을줄이고원활한동작이가능

Roller：The rotation of the roller enables friction reduction and smooth operation.

박형크로스롤러베어링

출력축강성과공간절약을모두만족

Thin cross-roller bearing：The rigidity of the output axis coexists with space saving.

출력축Output axis

오일실오일실Oil seal

캐리어핀 Carrier pin

케이스　Case

PSR series

- 2 -

은세련된디자인의팬케이크형초박형차동감속기이다원주위에배치한롤러안쪽에높은신뢰성을

자랑하는트로코이드기어개를마주보게배치하고또한절묘한핀홀방식과크로스롤러베어링지지에의해출력한다

The PSR (Pancake Speed Reducer) is a sophisticatedly designed pancake type ultrathin differential speed reducer. Two high-relia bility trochoid

gears are placed oppositely inside a roller placed on the circumference to form a robust, elaborate ultrathin reducer. Power is outputted by

means of an artful pin-and-hole mechanism and a cross-roller bearing support.

차동식감속기구와박형크로스롤러베어링을사용해초편평형을가능케했습니다장치단축과콤팩트화에공헌합니다The adoption of a differential reduction mechanism and a thin cross-roller bearing has enabled an ultra-flat form. This contributes to the realization of contraction and compactification of equipment.

정밀트로코이드기어와고정밀롤러의복수맞물림에의해높은전달정밀도를실현했습니다Plural meshing of precision trochoid gears and high-precision rollers has realized high-precision transmission.

물림률이높아부하가분산되기때문에강성이매우높습니다High contact ratio and load dispersion have realized extremely high rigidity.

적절한압력각설정으로동작이부드럽고효율이높습니다Appropriate pressure angle setting has made operation smooth and highly efficient.

각부위의클리어런스최적화에의해백래시이하의고정밀위치결정이가능합니다The optimization of each part clearance enables high-precision positioning with the backlash of 3 arcmin or less.

그리스를봉입해유지보수가필요없습니다급유할필요가없고설치자세의제한도없습니다Grease inclusion has eliminated the need of maintenance. There is no need of greasing, and there is no limiting to mounting posture.

각사의서보모터용모터부속품이있어구입후바로모터를설치할수있습니다Motor attachments designed for servo motors of various manufacturers are available to enable the immediate motor mounting after purchase.

은 What Is the PSR?

특징 Features

구조 Structure

■ 초편평콤팩트 　Ultra-flat and compact

■ 낮은백래시 　Small backlash

■ 유지보수프리 　Maintenance-free

■ 고강성　High rigidity

■ 고정밀　High precision

■ 간단한모터설치　 Easy-to-mount motor

■ 고효율　High efficiency

부시

미끄럼마찰로인한에너지손실을줄인다

Bush：Reduces energy loss due to slide friction.

원통롤러베어링

높은강성과부하능력을확보하기위해사용

Cylindrical roller bearing：Adopted to ensure high rigidity and load capability.

입력축

옵션으로여러종류의입력형태를선택가능

Input axis：Various input modes can be selected on option.

트로코이드기어트로코이드기어

하중과무게중심의균형을얻기위해개를마주보게배치

Trochoid gear：Two gears are placed oppositely to balance load and gravity center.

롤러

롤러가회전함으로써마찰을줄이고원활한동작이가능

Roller：The rotation of the roller enables friction reduction and smooth operation.

박형크로스롤러베어링

출력축강성과공간절약을모두만족

Thin cross-roller bearing：The rigidity of the output axis coexists with space saving.

출력축Output axis

오일실오일실Oil seal

캐리어핀 Carrier pin

케이스　Case

PSR series

- 2 -

은세련된디자인의팬케이크형초박형차동감속기이다원주위에배치한롤러안쪽에높은신뢰성을

자랑하는트로코이드기어개를마주보게배치하고또한절묘한핀홀방식과크로스롤러베어링지지에의해출력한다

The PSR (Pancake Speed Reducer) is a sophisticatedly designed pancake type ultrathin differential speed reducer. Two high-relia bility trochoid

gears are placed oppositely inside a roller placed on the circumference to form a robust, elaborate ultrathin reducer. Power is outputted by

means of an artful pin-and-hole mechanism and a cross-roller bearing support.

차동식감속기구와박형크로스롤러베어링을사용해초편평형을가능케했습니다장치단축과콤팩트화에공헌합니다The adoption of a differential reduction mechanism and a thin cross-roller bearing has enabled an ultra-flat form. This contributes to the realization of contraction and compactification of equipment.

정밀트로코이드기어와고정밀롤러의복수맞물림에의해높은전달정밀도를실현했습니다Plural meshing of precision trochoid gears and high-precision rollers has realized high-precision transmission.

물림률이높아부하가분산되기때문에강성이매우높습니다High contact ratio and load dispersion have realized extremely high rigidity.

적절한압력각설정으로동작이부드럽고효율이높습니다Appropriate pressure angle setting has made operation smooth and highly efficient.

각부위의클리어런스최적화에의해백래시이하의고정밀위치결정이가능합니다The optimization of each part clearance enables high-precision positioning with the backlash of 3 arcmin or less.

그리스를봉입해유지보수가필요없습니다급유할필요가없고설치자세의제한도없습니다Grease inclusion has eliminated the need of maintenance. There is no need of greasing, and there is no limiting to mounting posture.

각사의서보모터용모터부속품이있어구입후바로모터를설치할수있습니다Motor attachments designed for servo motors of various manufacturers are available to enable the immediate motor mounting after purchase.

작동원리 Operating Principle

차동감속기구부 Differential reduction mechanism

편심등속기구부 Eccentric constant speed mechanism

시리즈의내부기구 Inner mechanism of PSR Series

속도비

Speed ratio：R1＝１－

Z₁Z₂

Z₁：트로코이드기어의톱니수 Number of trochoid gear teeth Z₂：롤러개수 Number of rollers

입력축회전Input axis : 0 rotation

입력축회전Input axis : 1/2 rotation

입력축회전Input axis : 1 rotation

입력축회전Input axis : 0 rotation

입력축회전Input axis : 1/2 rotation

입력축회전Input axis : 1 rotation

입력축회전Input axis : 0 rotation

입력축회전Input axis : 1/2 rotation

입력축회전Input axis : 1 rotation

- 3 -

케이스에꽉끼어서회전하는롤러로구성하는속기어와입력축의편심부에베어링을통해지지되는트로코이드기어로이루어진차동

감속기구입니다입력축을회전시키면트로코이드기어가공전하는동시에반대방향으로톱니개만큼자전합니다이입력축과

트로코이드기어의회전량비가속도비가됩니다

This differential reduction mechanism consists of an internal gear, which is composed of rollers and rotates while being fitted into the case and rotates, and a trochoid gear

supported to the eccentric part of the input axis via a bearing. When the input axis rotates once, the trochoid gear revolves and, at the same time, reversely rotates by as much

as one tooth. The ratio of the input axis rotation to the trochoid gear revolution is the speed ratio.

차동감속기구에서발생하는트로코이드기어의공전과자전중자전만을출력축에전달하는것이편심등속기구입니다출력축에고정된개수의캐리어핀에부시가꽉끼어있으며트로코이드기어에설치된작은홀이부시에접촉하면서공전함으로써자전만을등속으로출력축에전달할수있습니다The eccentric speed mechanism transmits only the rotation, not the revolution, of the trochoid gear generated by the differential reduction

mechanism to the output axis. The bushes fit in several carrier pins fixed to the output axis. When the small holes made in the trochoid gear

revolve in contact with the bushes, only the rotation is transmitted to the output axis at a constant speed.

차동감속기구와편심등속기구에의해입력축의회전을정확하고원활하게감속하여출력축에전달할수있습니다The differential reduction mechanism and the eccentric constant speed mechanism reduces the rotation of the input axis precisely and

smoothly and transmits the rotation to the output axis.

용도예 Use Examples

모빌리티　 Mobility 탐사기 Probe vehicle

다관절로봇 Articulated robot 스카라로봇 SCARA robot

휴머노이드로봇 Humanoid robot 어시스트수트 Assist suit

간병·복지기기　Care and welfare equipment 시리즈와의조합 Combination with TCG Series

PSR series

- 4 -

용도예 Use Examples

모빌리티　 Mobility 탐사기 Probe vehicle

다관절로봇 Articulated robot 스카라로봇 SCARA robot

휴머노이드로봇 Humanoid robot 어시스트수트 Assist suit

간병·복지기기　Care and welfare equipment 시리즈와의조합 Combination with TCG Series

PSR series

- 4 -

－ －모터설치기호※모터부속품없음은□□의자리숫자를입력

입력축홀지름：※모터·감속기대응표를참조※입력축옵션의경우에는기호가없음※ □□

※※

출력축옵션―플랜지표준샤프트※참조 ―※

프레임넘버――

사양·모델·외형도 Specifications, Models and Outline Drawings

차동감속기구부 Differential reduction mechanism

차동감속기구부 Differential reduction mechanism

모델Model

PSR70 PSR110 PSR135

감속비Reduction ratio

19 39 49 19 39 59 19 39 59

입력축에대한출력축의회전방향

Rotational direction of output axis to input axis역방향

Reverse direction역방향

Reverse direction역방향

Reverse direction

허용정격토크Allowable rated torque

N・m 16 30 32 32 65 65 65 130 130

가속시피크토크Accelerating peak torque

N・m 32 60 65 65 130 130 130 260 260

순간최대토크Maximum instantaneous torque

N・m 48 90 96 96 195 195 195 390 390

허용평균입력회전수Allowable average rotational speed

rpm 3000 3000 3000

최고입력회전수Maximum rotational speed

rpm 4500 4500 4500

백래시Backlash

arcmin 4 3 3

권장모터용량Recommended motor capacity

W 100 200 ・ 400 750

입력축환산관성모멘트Input axis equivalent inertia moment

－4kg・m2 0.03710 0.036 0.036 0.310 0.298 0.295 1.337 1.295 1.287

입력축홀지름Input axis hole diameter

mm 8 8 ・ 11 ・ 14 14 ・ 16 ・ 19

질량모터부속품제외Mass (without motor attachment)

kg 0.6 2.1 4.1

모델　Model PSR

감속비―···※는만는이외

―※

입력축옵션―키홀표준클램프※참조샤프트※참조―※

- 5 -

사양·모델·외형도 Specifications, Models, Outline Drawings

□□□□

□□□□

φ

φ

φ

φ

φ

φ（회전부　）

φ（회전부　）

（）

（）

（）

φ

×깊이××깊이

×

φ

φ

φ

φ

φ

φ회

전부

　

φ회전부

φ

×깊이×

×깊이×

치수표　Dimensional table

치수표　Dimensional table

모델

PSR110FHA-□□ -00008

PSR110FHA-□□ -00011

PSR110FHA-□□ -00014

모델

PSR135FHA-□□ -00014

PSR135FHA-□□ -00016

PSR135FHA-□□ -00019

외형치수도 Outline dimensional drawings

□□

φ

φ

φ

φ

φ

φ

φ（회전부　）

φ（

회전부

　 ）

×깊이×

×깊이×

PSR series

- 6 -

사양·모델·외형도 Specifications, Models, Outline Drawings

□□□□

□□□□

φ

φ

φ

φ

φ

φ（회전부　）

φ（회전부　）

（）

（）

（）

φ

×깊이××깊이

×

φ

φ

φ

φ

φ

φ회

전부

　

φ회전부

φ

×깊이×

×깊이×

치수표　Dimensional table

치수표　Dimensional table

모델

PSR110FHA-□□ -00008

PSR110FHA-□□ -00011

PSR110FHA-□□ -00014

모델

PSR135FHA-□□ -00014

PSR135FHA-□□ -00016

PSR135FHA-□□ -00019

외형치수도 Outline dimensional drawings

□□

φ

φ

φ

φ

φ

φ

φ（회전부　）

φ（

회전부

　 ）

×깊이×

×깊이×

PSR series

- 6 -

옵션입력과출력의형태에설계자유도가있습니다　

Option　

출력축옵션샤프트 Output axis option S (shaft)

입력축옵션클램프　Input axis option C (clamp)

입력축옵션샤프트　Input axis option S (shaft)

R0.4

D

E

F

φC

φA h

7

φB

H

G P

9

I

φ

φ

φ

φ

치수표　 Dimension table

치수표입력축옵션클램프 Dimension table [Input axis option C (clamp)]

치수표입력축옵션샤프트 Dimension table [Input axis option S (shaft)]

모델

PSR70S□A-□□ -□□□□□ ＋　

깊이

PSR110S□A-□□ -□□□□□ ＋　

깊이

PSR135S□A-□□ -□□□□□ ＋　

깊이

모델

PSR70□CA-□□ -□□□ 08

PSR110□CA-□□ -□□□ 08

-□□□ 11

-□□□ 14

PSR135□CA-□□ -□□□ 14

-□□□ 16

-□□□ 19

모델 O P Q R S T U V

허용레이디얼하중A

PSR70□SA-□□ 12 15 20 25 9 4 2.5 ＋0.1　0깊이

150

PSR110□SA-□□ 16 25 25 28 9.5 5 3 ＋0.1　0깊이

250

PSR135□SA-□□ 25 30 36 42 14.5 8 4 ＋0.2　0깊이

500

- 7 -

모터부속품　 Motor attachment

φD E

7

IK

A

B h

7

φCφE

FG

(H)

4×φL

4×J

치수표　 Dimensional table

치수표　 Dimensional table

모터설치기호 Motor mounting code：A□□□□・C□□□□・E□□□□

모터설치기호 Motor mounting code：B□□□□・D□□□□・F□□□□・G□□□□

모델

모터설치기호

PSR70A01□□

A02□□

A03□□

PSR110

C01□□

C02□□

C03□□

C04□□

C05□□

PSR135

E01□□

E02□□

E03□□

E04□□

모델

모터설치기호

PSR70B01□□

B02□□

PSR110D01□□

D02□□

D03□□

PSR135F01□□

F02□□

G01□□

IK

A

B h

7

φC

FG

φD E

7φE

(H)

4×φL

4×J

옵션차동모터를설치하기위한모터부속품입니다모터메이커및모델에맞춰선택하세요　Option　These options are motor attachments for mounting drive motors. Select one according to the motor manufacturer and model.

PSR series

- 8 -

모터부속품　 Motor attachment

φD E

7

IK

A

B h

7

φCφE

FG

(H)

4×φL

4×J

치수표　 Dimensional table

치수표　 Dimensional table

모터설치기호 Motor mounting code：A□□□□・C□□□□・E□□□□

모터설치기호 Motor mounting code：B□□□□・D□□□□・F□□□□・G□□□□

모델

모터설치기호

PSR70A01□□

A02□□

A03□□

PSR110

C01□□

C02□□

C03□□

C04□□

C05□□

PSR135

E01□□

E02□□

E03□□

E04□□

모델

모터설치기호

PSR70B01□□

B02□□

PSR110D01□□

D02□□

D03□□

PSR135F01□□

F02□□

G01□□

IK

A

B h

7

φC

FG

φD E

7φE

(H)

4×φL

4×J

옵션차동모터를설치하기위한모터부속품입니다모터메이커및모델에맞춰선택하세요　Option　These options are motor attachments for mounting drive motors. Select one according to the motor manufacturer and model.

PSR series

- 8 -

I

N

K

A

φB

h7

FG (H)

φC

φD

E7

φE

M O 4×φL

4×J

치수표

치수표

모터설치기호 Motor mounting code：L□□□□·N□□□□·P□□□□

모터설치기호 Motor mounting code：M□□□□·O□□□□·Q□□□□·R□□□□

모델

모터설치기호

PSR70L01□□

L02□□

L03□□

PSR110

N01□□

N02□□

N03□□

N04□□

N05□□

PSR135

P01□□

P02□□

P03□□

P04□□

모델

모터설치기호

PSR70M01□□

M02□□

PSR110O01□□

O02□□

O03□□

PSR135Q01□□

Q02□□

R01□□

φD E

7

M

N

IK

φCφEA

φB h

7

FG (H)

O 4×φL

4×J

- 9 -

Dimensional table

Dimensional table

모터·감속기대응표 Motor/Reducer Corresponding Table

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

Panasonic 　 　

PSR series

- 10 -

모터·감속기대응표는간이표입니다모델선정계산을반드시하세요모터의순간최대토크×감속비×효율값이가속시피크토크참조를웃도는경우에는모터의회전력을제한하고사용하세요게재되지않은모터형식에대해서는당사로문의하세요fi

모터·감속기대응표 Motor/Reducer Corresponding Table

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

Panasonic 　 　

PSR series

- 10 -

모터·감속기대응표는간이표입니다모델선정계산을반드시하세요모터의순간최대토크×감속비×효율값이가속시피크토크참조를웃도는경우에는모터의회전력을제한하고사용하세요게재되지않은모터형식에대해서는당사로문의하세요fi

Σ

Ｑ

Σ

야스카와전기 Yaskawa Electric 　 　

- 11 -

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

미쓰비시전기　Mitsubishi Electric 　 　

후지전기 Fuji Electric

모터·감속기대응표 Motor/Reducer Corresponding Table

PSR series

- 12 -

　 　

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

미쓰비시전기　Mitsubishi Electric 　 　

후지전기 Fuji Electric

모터·감속기대응표 Motor/Reducer Corresponding Table

PSR series

- 12 -

　 　

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

모델

모터용량

정격토크

모터정격회전수

입력축：키홀표준

입력축클램프

감속비

감속비

・

모델선정흐름도 Model Selection Flow Chart

사용조건에따라형식을선정합니다

：최고입력회전수

Ｔ：허용정격토크·

Ｔ：가속시피크토크·

Ｔ：순간최대토크·

표１　하중계수

운전조건

충격이없는원활한운전일때

보통운전일때

충격진동을동반하는운전일때

〈참고계산식　 〉

표２　운전조건　

항목

기동시

정상시

정지시

부하토크

·Ｔ Ｔ Ｔ

회전수

ｎ

（＝ｎ）ｎ

ｎ

（＝ｎ）

시간

ｔ ｔ ｔ

평균입력회전수　

평균부하토크　

〈속도패턴〉

〈부하패턴〉

　

입력회전속도

＋

－

부하토크

＋

－

시간

시간

감속비사용회전수결정

최고입력회전수

충격시의토크

· ＜

기동·정지시의피크토크

·

평균부하토크

＝① · ＜

평균입력회전수

＝②

허용평균입력회전수와하중계수의선택

요구사양값

fi

＝③ ＝④ （표１）（）

모델업또는부하저감

수명시간　

＝⑤

모델결정

·（

·）·

·（① ·④ ）·

③

②

· · ⑤

수명시간계산

- 13 -

크로스롤러베어링계산 Calculation of Cross-Roller Bearing

：최대레이디얼하중 （）　

：최대축방향하중 　 （）

：레이디얼하중위치　 （）

：축방향하중위치　（）

최대부하모멘트하중이허용모멘트하중이하임을확인합니다

（허용모멘트하중은아래의표를참조）

레이디얼하중　

축방향하중　

최대부하모멘트하중의계산 Calculation of maximum load moment load (Mmax)

평균하중계산식　 Calculation formulas of average load

모델

감속비

오프셋양

허용모멘트하중

허용레이디얼하중

허용축방향하중

）（ ）·（ （） （）

PSR70

PSR110

PSR135

허용레이디얼하중허용축방향하중은크로스롤러베어링에순수한레이디얼하중또는축방향하중중어느한쪽만걸리는경우에감속기수명시간을만족하는값입니다）＝：축방향하중　＝：레이디얼하중（

평균레이디얼하중　

평균모멘트하중　・）

ｎｎ

ｎ

Ｆａ

Ｆａ

Ｆａ

ｔ ｔ ｔ

Ｆｒ

Ｆｒ

Ｆｒ

레이디얼하중

축방향하중

시간

시간

시간

출력회전수

평균축방향하중　

√‾‾‾‾‾‾‾‾‾　 ） ） ）

√‾‾‾‾‾‾‾‾‾　 ） ） ）

평균출력회전수　

PSR series

- 14 -

크로스롤러베어링계산 Calculation of Cross-Roller Bearing

：최대레이디얼하중 （）　

：최대축방향하중 　 （）

：레이디얼하중위치　 （）

：축방향하중위치　（）

최대부하모멘트하중이허용모멘트하중이하임을확인합니다

（허용모멘트하중은아래의표를참조）

레이디얼하중　

축방향하중　

최대부하모멘트하중의계산 Calculation of maximum load moment load (Mmax)

평균하중계산식　 Calculation formulas of average load

모델

감속비

오프셋양

허용모멘트하중

허용레이디얼하중

허용축방향하중

）（ ）·（ （） （）

PSR70

PSR110

PSR135

허용레이디얼하중허용축방향하중은크로스롤러베어링에순수한레이디얼하중또는축방향하중중어느한쪽만걸리는경우에감속기수명시간을만족하는값입니다）＝：축방향하중　＝：레이디얼하중（

평균레이디얼하중　

평균모멘트하중　・）

ｎｎ

ｎ

Ｆａ

Ｆａ

Ｆａ

ｔ ｔ ｔ

Ｆｒ

Ｆｒ

Ｆｒ

레이디얼하중

축방향하중

시간

시간

시간

출력회전수

평균축방향하중　

√‾‾‾‾‾‾‾‾‾　 ） ） ）

√‾‾‾‾‾‾‾‾‾　 ） ） ）

평균출력회전수　

PSR series

- 14 -

레이디얼계수·축방향계수의계산식 Calculation formulas of radial coefficient and axial coefficient

하중계수　Load coefficient　（fw）

수명계산 Life Calculation　（Lh） 동등가레이디얼하중　Kinetic Equivalent Radial Load　（Pc）

구분fi

레이디얼계수fi

축방향계수fi

＋／

≦

＋／

＞

모델

기본동정격하중

롤러의피치원지름

）（Ｃ ）（

하중상태

충격이없는원활한운전일때

보통운전일때

충격·진동을동반하는운전일때

크로스롤러베어링의수명은다음식에의해구합니다

＝（

・）·（

・）

＝ ・（＋ ）＋・

- 15 -

기술데이터 Technical Data

각도전달정도 Angular transmission precision

강성 Rigidity

효율　Efficiency

（：감속비　）

모델

각도전달정도

PSR70 5

PSR110 4

PSR135 3각도전

달오

차

회전각도 　

－

－

·fi · 3% of the rated torque.

각모델의부하율정격토크에대한부하의비율에대한효율값을나타냅니다측정조건주위온도℃회전수

fi℃

정격토크

정격토크

토크

－ ％

비틀림각

＋ ％

로스트모션

±３％정격토크±

00 0.2 0.4 0.6

부하율 Load rate

효율Efficiency

％　

0.8 1 1.2

20

40

60

80

100

1/19

1/49

00 0.2 0.4 0.6 0.8 1 1.2

20

40

60

80

100

1/19

1/59

부하율 Load rate

효율 Efficiency

％　

00 0.2 0.4 0.6 0.8 1 1.2

20

40

60

80

100

1/19

1/59

부하율 Load rate

효율 Efficiency

％　

주효율값은제품샘플의평균값을나타냅니다 fi

주스프링상수값은제품샘플의평균값을나타냅니다

모델

속도비

로스트모션

스프링정수

× ・

PSR7019

40.4

49 0.8

PSR11019

31.3

59 1.7

PSR13519

31.8

59 2.1

PSR series

- 16 -

각도전달정도는입력축측에임의의회전각θ을부여했을때의출력축의이론상회전하는회전각도θ와실제로회전한각도θ의차이를말하며출력축회전으로생기는최대차를각도전달정도θ로나타냅니다The angular transmission accuracy generally refers to the difference between the angle of theoretical rotation(θ2) of the output shaft when any angle of rotation(θ1) is applied to the input shaft side and the angle of the actual rotation(θ’2), and particularly refers to the maximum difference caused when the output shaft makes a 360-degree roll(θer)

입력축을고정하고출력축에토크를가하면출력축은토크에거의비례한비틀림이발생하고히스테리시스곡선을그립니다이것을정량적으로표현하기위해정격토크의인점과인점을연결하는꺾은선그래프를고려해

·스프링정수／　　·로스트모션정격토크±에서의히스테리시스곡선의중간점비틀림각으로정의합니다

fifi

기술데이터 Technical Data

각도전달정도 Angular transmission precision

강성 Rigidity

효율　Efficiency

（：감속비　）

모델

각도전달정도

PSR70 5

PSR110 4

PSR135 3

각도전

달오

차

회전각도 　

－

－

·fi · 3% of the rated torque.

각모델의부하율정격토크에대한부하의비율에대한효율값을나타냅니다측정조건주위온도℃회전수

fi℃

정격토크

정격토크

토크

－ ％

비틀림각

＋ ％

로스트모션

±３％정격토크±

00 0.2 0.4 0.6

부하율 Load rate

효율Efficiency

％　

0.8 1 1.2

20

40

60

80

100

1/19

1/49

00 0.2 0.4 0.6 0.8 1 1.2

20

40

60

80

100

1/19

1/59

부하율 Load rate

효율 Efficiency

％　

00 0.2 0.4 0.6 0.8 1 1.2

20

40

60

80

100

1/19

1/59

부하율 Load rate

효율 Efficiency

％　

주효율값은제품샘플의평균값을나타냅니다 fi

주스프링상수값은제품샘플의평균값을나타냅니다

모델

속도비

로스트모션

스프링정수

× ・

PSR7019

40.4

49 0.8

PSR11019

31.3

59 1.7

PSR13519

31.8

59 2.1

PSR series

- 16 -

각도전달정도는입력축측에임의의회전각θ을부여했을때의출력축의이론상회전하는회전각도θ와실제로회전한각도θ의차이를말하며출력축회전으로생기는최대차를각도전달정도θ로나타냅니다The angular transmission accuracy generally refers to the difference between the angle of theoretical rotation(θ2) of the output shaft when any angle of rotation(θ1) is applied to the input shaft side and the angle of the actual rotation(θ’2), and particularly refers to the maximum difference caused when the output shaft makes a 360-degree roll(θer)

입력축을고정하고출력축에토크를가하면출력축은토크에거의비례한비틀림이발생하고히스테리시스곡선을그립니다이것을정량적으로표현하기위해정격토크의인점과인점을연결하는꺾은선그래프를고려해

·스프링정수／　　·로스트모션정격토크±에서의히스테리시스곡선의중간점비틀림각으로정의합니다

fifi

●본제품의최종사용자가군사관계이거나용도가무기등의제조용인경우에는‘외국환관리법’이정하는수출

규제대상이될수있으므로수출할때에는충분한심사및필요한수출절차를거치세요●본제품은인명과

관련이있는상황에서사용되는기기등에사용할목적으로설계제조된것이아닙니다●이제품을특수용도

항공우주용원자력관련승용이동용의료기기등에사용할것을검토할때에는당사로연락주세요●본

제품은엄격한품질관리하에제조되고있지만만에하나제품이고장날경우인명과관련되는중요한설비

중대한손실의발생이예상되는설비에적용할때에는중대사고로연결되지않도록안정장치를설치하세요●본

제품을특수환경클린룸식품등에서사용할경우에는미리당사대리점또는가장가까운영업점으로연락

주세요●오일누설에대비했지만완전히밀폐되어있는것은아닙니다용도운전조건에따라서는미세하게

누설이발생할수있습니다문제가있는경우외부에서밀폐성을확인하세요

■이카탈로그에기재된내용은년월시점의것입니다■이카탈로그에기재된사양·치수등은개량을위해예고없이

변경되는경우가있습니다■제품의색상은인쇄때문에실물과다르게보일수있습니다■제품의무상수리기간은당사가

규정하고있는사양조건내의사용을전제로출하후년또는실제가동시간중빠른쪽으로합니다■만일보증기간

내에명확하게제품의품질로인한고장미비가발생한경우에는무상으로실시합니다단실제기기의탈착과관련한공정수

관련제반경비등은당사가부담하지않습니다■분해개조한경우에는무상수리가어렵습니다■당사에서는해외에서의보수

및지원은하고있지않습니다■불량·수리와관련된의뢰는구매판매점또는영업부에문의하세요

PSR series 적용시 주의사항 Precautions for using PSR Series

세계개국특허취득

정밀공학회상수상

발명대상고안공로상수상

과학기술청성권장상수상

제조일본대상우수상수상

인덱스시리즈 Index Series

·

복합동작을유닛화심플한구조로사용하기쉬운에어액추에이터 미니테이블시리즈

미니덱스시리즈

펄덱스시리즈 Pearldex Series

·

고정밀이면서도저렴한가격을실현한인덱스

펄덱스시리즈

펄덱스시리즈

논백래시·시리즈 Non-backlash TCG·SFP Series

·

볼스크류·랙피니언을넘어선직선·곡선구동시스템을제안

캠랙롤러피니언

캠링롤러피니언

시리즈

■The contents in the catalog is as of May 2016. ■Specifications and dimensions are subject to change without notice. ■Product colors may look different from the catalog due to print. ■Q-Ten series ball reducers are warranted to be free from defects in material and workmanship for the shorter period of either 12 months after the date of the shipment or 2,500 hours of operation on condition that the Q-Ten ball reducers are installed properly and operated under conditions specified by Kamo Seiko. ■Defects in material and/or workmanship will result in replacement of defective unit by Kamo Seiko. The unit should be returned with freight prepaid to Kamo Seiko Corporation. ■Any cost in removing and/or installing the unit from/on the machine or facility should be owned by customer side. ■Kamo Seiko will not accept the free repair in case the unit is disassembled or modified. ■Kamo Seiko does not offer the services for maintenance and installation abroad. ■Please contact with Kamo Seiko or the local distributor for nonconformity or repair.

●●affect people's lives. ●●

●● Seiko or local distributor. ●

한국서울특별시금천구가산디지털로동호가산동아파트형공장캐슬

중국연락사무소장쑤성난징시친하이구창푸가호창푸펭화이완건물호

아이치현도요타시미츠쿠리쵸카메와리번지본사영업부

중국

카모정공주식회사