The robotic arm is the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. The manipulator is used to complete the manufacturing operation; the reducer in the manipulator is one of the important components. At present, the reducer, planetary reducer, harmonic reducer, and DC reducer have been successfully developed and applied, and the harmonic drive gear reducer has been applied.
Harmonic reducer and planetary reducer have the characteristics of high efficiency, high precision, high load capacity, anti-fatigue and high cost performance. In some industries, the precision gear reduction method of the mechanical arm reducer is used to increase the output torque, the gear precision level, and the flexible clearance adjustment mechanism, which controls the backlash by changing the center distance of the two gears, making the hollow rotating platform empty. The return is small, and the repeated positioning accuracy is high.
The harmonic reducer is a power transmission mechanism, which uses the speed converter of the harmonic gear box to reduce the number of revolutions of the motor to the required number of revolutions, and obtains a large torque mechanism. The china harmonic reducer can be used in mining, metallurgy, petroleum, chemical, rubber and plastic, construction, building materials, lifting and other industries.
Change the output speed of the power machine to suit the work needs of the working mechanism;
Change the torque output by the power machine to meet the requirements of the working mechanism;
Transform the movement form output by the power machine into the movement form required by the working mechanism.
Transfer the mechanical energy of one power machine to several working mechanisms, or transfer the mechanical energy of several power machines to one working mechanism.
Other special functions such as the use of mechanical reducer devices are beneficial to the assembly, installation, maintenance and safety of the machine.
Robotic arms are used in factory workshops, such as injection molding workshops, automobile manufacturing, electronic manufacturing production lines, logistics supply chains, etc. At present, robotic arm reducers have been in their infancy. With the popularization of intelligent robots and industrial robots, the performance of harmonic drive robot arm Getting better and better; a series of reducers such as harmonic reducers have become a development trend.
The reducer manufacturer of the metal machine tool is integrated and assembled and then supplied as a complete set. Geared motors are widely used in steel industry, machinery industry, etc. The advantage of using a geared motor is to simplify the design and save space. With the continuous development of the geared motor industry, more and more industries and enterprises have used the geared motor, and a number of companies have entered the geared motor industry, the harmonic drive company PICEA Motion is one of them.
In the stage of large-scale manufacturing, an industrial system with complete supporting facilities and increasing internationalization has been formed, including product development, large-scale production, key components, key materials, special manufacturing equipment, and testing instruments.
Decelerate the speed and increase the output torque at the same time. The torque output ratio is multiplied by the motor output multiplied by the reduction ratio, but be careful not to exceed the rated torque of the harmonic reducer.
Deceleration of the harmonic gear box reduces the inertia of the load at the same time, and the reduction of inertia is the square of the reduction ratio. You can see that the general motor has an inertia value.
Harmonic drive is the use of a controlled elastic deformation of a structure to achieve the transmission of mechanical motion. Harmonic drive usually consists of three basic components, including a rigid wheel with internal teeth, a flexible wheel with radial elastic deformation and external teeth that can be radially deformed during operation, and an elliptical, externally mounted flexible wheel. Ring wave generator with flexible rolling bearings.
The number of external teeth of the flexible wheel is less than the number of internal teeth of the rigid wheel. When the harmonic wave generator rotates, the outer teeth of the flexible wheel corresponding to the direction of the long axis are exactly meshed with the inner teeth of the rigid wheel; in the direction of the short axis, the outer teeth are completely separated from the inner teeth.
When the rigid wheel is fixed and the wave generator rotates, the outer teeth of the flex wheel will mesh into and out of the inner teeth of the rigid wheel in turn, and the radial displacement of any point on the flex wheel ring gear will change approximately to a sinusoidal waveform , so this kind of drive is called harmonic drive. Harmonic drive is the use of a controlled elastic deformation of a structure to achieve the transmission of mechanical motion.
In the printing and packaging equipment, there is a key component - the phase adjustment mechanism, which is directly related to the quality and production efficiency of the printing and packaging products. Harmonic drive gear reducer can be well applied in phase adjustment mechanism
Compared with the rigid transmission in the traditional printing and packaging machinery, the harmonic transmission is more widely used in the modern printing and packaging production, mainly because it has the following 8 advantages, which can be applied to the printing and packaging of the industrialized production, and realize high speed, precision and long time. effective operation.
First, the transmission ratio is large. The single-stage transmission ratio can be as high as 107 if the internal meshing complex wave transmission is used. The general single-stage transmission ratio can also hinder the internal change between 1.002 and 300, which can meet the general transmission requirements of printing machinery.
Second, the number of meshing teeth is large at the same time. There are eight combinations of harmonic transmission, so appropriate meshing parameters can be selected, and special tooth profiles and different radial coefficients of cross-sections can be used to form an involute three-maintenance tooth profile. Then the number of meshing teeth can be increased to 30% to 50%, effectively increasing the meshing area.
Third, the mechanism is simple and light in weight. Under the same working conditions, bearing capacity and reduction ratio, the number of parts and weight of the harmonic drive reducer is significantly lower than that of the traditional rigid drive reducer, and it can be installed and installed with the increase of the transmission ratio. operate.
Fourth, the bearing capacity is large and the efficiency is high. Different from other transmissions, the harmonic drive from PICEA MOTION, one of the professional harmonic drive distributors, uses multi-tooth meshing, and there are "staggered teeth", so its bearing capacity is larger, and the transmission energy generated by "misalignment" is also more stable and efficient.
Fifth, the transmission precision is high. The multi-regional and multi-tooth meshing characteristics of harmonic transmission can achieve higher transmission precision under the same manufacturing precision.
Sixth, the tooth side clearance is small, and the meshing parameters and structural parameters of the harmonic gear box can be freely selected, so as long as the reasonable parameters are selected, the gap can be matched and the gap can be avoided to have a great influence on the harmonic drive.
Seventh, the meshing is surface contact and multi-tooth meshing, so the sliding speed is small and the wear is less, so the transmission is more stable, the noise is less and there is no impact phenomenon.
Eighth, it can realize the transfer movement of the sealed space. The sealed space is an important environment for the automatic production of printing and packaging at this stage. The sealed space is to reduce the influence of air and other impurities on the coloring of printing and packaging and the effect of printing faceplates. Therefore, when automatic production is realized Turn the environment into a seal.
The harmonic drive can fix the flexible wheel in the two sealed media, so that the movement between the seals can be transmitted, and the valve of the high temperature and high pressure pipeline can also be manipulated. This is also the most unique advantage of the harmonic drive, which meets the needs of modern printing and packaging machinery. production requirements and job requirements.
