2.2 RV reducer: high load, high stiffness, large volume

RV reducer, full name “Rotary VectorReducer”, is a precision planetary gear reducer, which uses a pendulum line pin wheel engagement mechanism as the core transmission component. RV reducer has the characteristics of high precision, high rigidity and strong load capacity, therefore, RV reducer is usually used in the joint drive of industrial robots, such as welding robots, assembly robots, moving robots and other fields with high requirements for motion control.

PXle-5122 In 1960, the concept and principle of RV reducer gradually formed, into the 1980s, the introduction of computers made RV speed reducer design accuracy and efficiency further improved, RV reducer began modular standardized production, so far, RV reducer has become a key component of high-end equipment such as robot arms, precision machine tools, and semiconductor manufacturing equipment.

The first RV reducer has compact structure, high precision and rigidity. The two-stage RV reducer has the characteristics of high efficiency, low noise and low vibration. The three-stage RV reducer has larger torque and transmission capacity and higher load capacity.

2.3 Harmonic reducer: small size, high transmission ratio, high precision

The harmonic reducer is mainly composed of three parts: flexwheel, wave generator and steel wheel, among which the harmonic generator is the drive shaft. The flexible wheel and the steel wheel are meshed to form the drive shaft. Compared with the general reducer, the harmonic reducer has the characteristics of large transmission ratio, small volume and small mass, and can be widely used in the robot forearm, wrist, hand and other positions.

Wave generator: composed of a flexible bearing and an elliptical CAM, the wave generator is usually installed at the input end of the reducer, the inner ring of the flexible bearing is fixed on the CAM, and the outer ring is formed by the elastic change of the ball. Flexwheel: Flexible thin-walled elastomer part with outer ring teeth, usually installed at the output end of the reducer. Rigid wheel: a rigid circular ring with an inner ring of teeth, generally two more gears than a flexible wheel, usually fixed to the reducer body.

PXle-5122 Harmonic transmission has the following characteristics: 1) high precision: gear tooth saw error and accumulated pitch error have an average effect on rotation accuracy, and position accuracy and rotation precision are high; 2) Large transmission ratio: the transmission ratio of single-stage harmonic gear transmission can reach i=30~500, and the structure is simple when only three core components are included; 3) High bearing capacity: the contact between teeth is surface contact, the number of meshing teeth is more, and the load per unit area is small, which can carry more weight; 4) Small size and light weight; 5) High transmission efficiency, long life; 6) Smooth transmission, no impact, low noise.

Compared with the RV reducer, the harmonic reducer has smaller back clearance and smaller volume, but the bearing capacity is weak. Therefore, RV reducer is more used in high load parts, its structure is more complex and difficult to achieve large-scale mass production, in the field of light load is dominated by harmonic reducer.

2.4 Precision planetary reducer: simple structure, good rigidity, high transmission efficiency

The precision planetary reducer is composed of planetary wheel, sun wheel and inner gear ring. The planetary gear transmission structure is the most efficient gear transmission structure. When the precision planetary reducer works, the original motor such as the servo motor drives the solar wheel to rotate, and then makes the planetary wheel rotate through the meshing with the planetary wheel, and then meshes the inner ring teeth inside the reducer shell through the planetary wheel, and finally the planetary wheel drives the planetary frame to rotate through the revolution, and the planetary frame and the output shaft necklace output torque.

The planetary reducer has three major characteristics: high torque impact resistance: the planetary reducer gear can achieve 360 degree load on the contact surface, compared with the traditional point contact extrusion drive, the planetary reducer can avoid the problem of high single point load and easy to break, and the planetary gear structure has the characteristics of high torque impact resistance. Small volume and light weight: the traditional gear reducer needs a certain distance between the size of the gear, the overall space volume is large, and the planetary reducer can achieve repeated connection of the number of segments, effectively improving the space and volume problems. High efficiency and low back backlash: the planetary gear can achieve multi-point uniform close, and the outer gear ring is closely combined with the planetary gear, which improves the efficiency of the reducer.