Epson SCARA robot reducer function

As the most sophisticated robot product, SCARA robot has gradually become the "red ocean" of competition because of more and more entrants and lower and lower interest rate space. Now, companies are constantly improving the functionality of SCARA according to their different positioning, and new technologies are constantly emerging.

But recently, from the structural design, there is a problem: some enterprises use two harmonic reducers for SCARA robots; The SCARA robot of some enterprises uses three reducers, including three harmonic reducers, two harmonic reducers, and one planetary reducer.

What is the difference between a SCARA with two gearboxes and a SCARA with three gearboxes? How do companies choose?

Epson SCARA robot reducer function

Where is the third reducer used?

The structure of the 1st and 2nd axes of the robot shape is the same, and they are all driven by servo motor and harmonic reducer. In the internal structure of the head (also known as the Z-axis), in the position of the following red frame line, we found that different companies will have different designs, at present, Epson uses the method of gear and belt (synchronous belt) to decelerate, and some domestic enterprises such as Zhongweixing and Mestu also use this method.

However, there are also some companies that directly use reducers in this place, such as Turing Robot uses harmonic reducers, while Dongguan Zhiying, Kaibao Robots, and Huasheng Control use planetary reducers.

Why are there different approaches to structural design?

Although in some structural designs, Zhiying's SCARA is modeled after Epson's product design, but in the internal structure of the head, Zhiying has made some changes, one of which is to directly replace Epson's deceleration device with gears and belts (timing belts) to planetary reducers.

"Epson's method can reduce the cost, and the cost of using the planetary reducer method is about 300 yuan, but the installation is simple and can save labor." Liu Yangsheng said.

However, an industry insider also pointed out that the movement speed of the robot can be faster by using the structural method of the synchronous belt, because the synchronous belt is more suitable for high-speed and low-torque motion scenarios.

"The belt is characterized by a low reduction ratio, so it rotates fast, but the rigidity is not as good as that of a reducer." "In order to strengthen the habitual amount of the end shaft for large inertia loads, some companies may choose to use reducers. ”

For some domestic enterprises do not have the same method of using gears and belts as Epson, in addition to the difficulty of assembly, Zhang Zhiqiang has other views, he pointed out that some companies do not use belts and gears may be because of materials, such as not being able to buy belts with better functions.

Are there good or bad approaches to structural design?

"After the use of planetary reducer, the structure is naturally simplified, but the planetary reducer will greatly increase the weight and inertia of the second joint, and the backlash of the planetary reducer will generally be relatively large, and the planet with a backlash of less than 1 arc minute is very expensive." Some relevant people pointed out that "the design of synchronous belt deceleration will be relatively large in volume, so some companies will choose planetary reducers." ”

In fact, each model has its end of the inertia design value, and different companies choose different methods are actually a manifestation of product differentiation.

The above-mentioned industry insiders said that these three methods have their own advantages and disadvantages, and no method has more outstanding advantages, so it still depends on the consideration of the enterprise itself, in the case of seeking speed for small loads, seeking strength and stability for large loads, perhaps small loads use synchronous belts, and large loads use deceleration opportunities are a good choice. Yang Jipeng also pointed out that the stability of the robot is indeed better if the heavy-duty SCARA uses a reducer at the head.

Epson has been investing in the field of robotics for more than 30 years, and SCARA robots continue to adhere to the market share**, which is widely used in 3C, new energy, automotive electronics and other fields, during which the sales of G series, LS series and RS series are improving.

Epson SCARA robot reducer function

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