Two gears for the robot – OTC Odichi

Create Date: 2024-8-30 12:03:23|Source: OTC/Odichi

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: Simple 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.

                                  Two gears for the robot – OTC Odichi

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 relationship

(2) Moment relationship

(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) Smooth transmission and high bearing capacity.

(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) Intermediate output cannot be obtained, and the stiffness of the flexible pulley is low.

Harmonic transmission equipment has been widely used in countries with more advanced robot skills. In Japan alone, 60% of robot-driven equipment uses harmonic transmission.
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