The common transmission mechanism forms of industrial robots can be divided into two types: linear transmission and rotary transmission mechanism, in which the linear transmission mechanism can convert the rotary motion into linear motion through transmission elements such as rack and pinion, lead screw nut, etc., or it can be driven by a linear drive motor, or directly generated by the piston of the cylinder or hydraulic cylinder. The rotary transmission mechanism of the robot is generally a gear chain, a timing belt and a harmonic gear, etc.
In terms of use, the purpose of our use of the rotary transmission mechanism is to convert the high speed output of the motor's drive source into a low speed and obtain a large torque. The linear transmission mode is mostly used for the X, Y, and Z drive of Cartesian coordinate robots, the radial drive and vertical lifting drive of cylindrical coordinate structure, and the radial telescopic drive of spherical coordinate structure.
1. Linear transmission mechanism
The linear transmission mechanism is generally divided into: (1) rack and pinion device; (2) Ball screw;
(1) Rack and pinion device
Usually the rack is fixed. The rotational motion of the gear is converted into the linear motion of the pallet.
Advantages: simple structure.
Disadvantages: large return difference.
(2) Ball screws
The balls are embedded in the spiral grooves of the lead screw and nut, and the balls can be continuously circulated through the guide grooves in the nut.
Advantages: small friction, high transmission efficiency, no creeping, high precision
Disadvantages: high manufacturing cost and complex structure.
Self-locking problem: Theoretically, the ball screw pair can also be self-locking, but this self-locking is not used in practical application, mainly because 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 devices such as worm gears and worms.
2. Rotary transmission mechanism
The rotary transmission mechanism 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 that also has teeth. It is equivalent to a soft gear when working.
Advantages: no sliding, good flexibility, low price, high repeat positioning accuracy.
Disadvantages: It has a certain elastic deformation.
(3) Harmonic gears
The harmonic gear is composed of three main 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) The intermediate output cannot be obtained, and the stiffness of the flexible wheel is low.
Harmonic transmission devices have been widely used in robotics. In Japan alone, 60% of robot drives are driven by harmonics.
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