The most important thing in the human arm is the joints and ligaments, and the most important thing in the robot is in each joint: the reducer. This is a delicate power transmission organization that uses a gear speed converter to reduce the number of revolutions of the motor to the desired number of revolutions, and obtain a device with a large torque, thereby reducing the speed and adding torque.
The movement of robot joints was first driven by hydraulic tissues, and through a series of scientific and technological development and innovation, the reducer we see today has been formed.
Hydraulic organization
In 1959, the world's first industrial robotic arm was developed, using a lot of hydraulic tissue to drive the movement of robot joints. It was a feat in the history of industry, and there was finally a sensitive machine that could replace human-mechanical labor.
motor
In 1973, KUKA improved the structure of the industrial robot, and all six joints were controlled by electric motors, which made the structure of the robot more compact, the joints more sensitive, and the scale of work was greatly increased.
Electric motor + hydraulic organization
KUKA continued to innovate and improve on the road to manufacturing robots, and subsequently, KUKA modified the drive structure of the robot: 6 joints are driven by an electric motor, and a hydraulic organization is used to increase the load capacity, and the spindle nut drive in the No. 2 and No. 3 axes greatly improves the repeatability.
Harmonic reducer
In 1989, the world changed dramatically. There was a kind of reducer that came out of the high walls of the Cold War and was soon used in civilian industrial robots. With both load and precision, the structure of the robot has become very simple and the operation is very sensitive. This peculiar gear unit is the famous "Harmonic Drive".
The structure of the harmonic reducer is very simple, which is composed of three parts: wave generator, flexible wheel and rigid wheel. The principle is to use the difference in the number of teeth between the flexible wheel and the rigid wheel, as well as the controllable deformation of the flexible wheel during operation to achieve the intention of deceleration and power transmission.
Light weight, small size, high reduction ratio, large transmission torque, small reverse clearance, high precision, high operation slippery efficiency and many advantages make the harmonic reducer in the late 80s and early 90s of the last century widely used in robots.
RV reducer
Technology developed rapidly, and then another kind of gear unit came into the sight of robot R&D engineers - RV gear unit (Rotary Vector Drive). The RV reducer is a combination of a planetary reducer and a cycloidal reducer. The eccentric driving force of the planetary axle is used to make the cycloidal oscillate on the outer ring to achieve the intention of deceleration and power transmission. It not only has the characteristics of large scale of planetary reducer reduction ratio change, but also has the characteristics of small reverse clearance and large transmission torque of cycloidal wheel. And the size is relatively small, which is very suitable for installation on robots.
Highlights:
Harmonic reducers are lighter, so the current KUKA small robots (KR 6 Agilus, KR 10 Agilus, LBR iiwa) choose harmonic reducers.
RV gearboxes are more impact-resistant, so KUKA's larger robots use RV gearboxes. There are also individual robots that have both (KR 3 Agilus).
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