The common transmission organization methods in industrial robots can be divided into two types: linear transmission and rotary transmission organization, during which the linear transmission organization can convert the rotary motion into linear motion through transmission elements such as rack and pinion, lead screw nut, etc., and can also be driven by a linear drive motor, or directly generated by the piston of the cylinder or hydraulic cylinder. The rotating transmission organization of the robot is generally gear chains, timing belts, harmonic gears, etc.
In terms of application, the intention of using the rotary transmission structure is to convert the higher speed output of the motor's drive source into a lower speed and obtain a larger torque. The linear transmission mode is mostly used for the X, Y, and Z drive of Cartesian coordinate robots, the radial drive and straight lifting drive of cylindrical coordinate structure, and the radial telescopic drive of spherical coordinate structure.
1. Linear drive organization
The linear transmission organization is generally divided into: (1) rack and pinion equipment; (2) Ball screw;
(1) Rack and pinion equipment
Generally, the rack is fixed. The rotational motion of the gear is converted into the linear motion of the pallet.
Strengths: Brief structure.
Defects: Large return difference.
(2) Ball screws
The balls are embedded in the spiral grooves of the lead screw and nut, and pass through the guide grooves in the nut to enable the balls to circulate continuously.
Advantages: low friction, high transmission efficiency, no creeping, high precision
Defects: high production cost and complex structure.
Self-locking problem: Theoretically, the ball screw pair can also be self-locking, but the actual use of this self-locking is not used, the main reason is: the reliability is very poor, or the processing cost is very high; Because the ratio of diameter to lead is very large, it is generally added with a set of self-locking equipment such as worm gear and worm.
2. Rotational transmission organization
The rotary transmission organization is generally divided into: (1) gear chain; (2) Timing belt; (3) harmonic gears;
(1) Gear chain
(1) Speed connection
(2) Torque connection
(2) Timing belt
A timing belt is a belt with many teeth, which is meshed with a timing pulley with the same teeth. It is equivalent to a soft gear when working.
Advantages: no sliding, good flexibility, low price, high repeat positioning accuracy.
Defect: It has a certain elastic deformation.
(3) Harmonic gears
The harmonic gear is composed of three primary parts: rigid gear, harmonic generator and flexible gear, the general rigid gear is fixed, and the harmonic generator drives the flexible gear to rotate. Key features:
(1) The transmission ratio is large, and the single stage is 50-300.
(2) The transmission is stable and the bearing capacity is high.
(3) The transmission efficiency is high, up to 70%-90%.
(4) The transmission accuracy is high, 3-4 times higher than that of ordinary gear transmission.
(5) The return difference is small, which can be less than 3'.
(6) The center output cannot be obtained, and the stiffness of the flex wheel is low.
Harmonic transmission equipment has been widely used in countries with more advanced robot technology. In Japan alone, 60% of robot-driven equipment uses harmonic transmission.
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