What Are Differences Of Rv Reducer And Harmonic Reducer For Industrial Robot?
As an important component of core components, precision reducers are an indispensable part of reliable and accurate operation of industrial robots. There are two main types of reducers widely used in articulated robots: RV reducers and harmonic reducers. Generally, the RV reducer is placed on heavy loads such as the base, boom, shoulder, etc., that is, it is mainly used for robot joints over 20 kg; and the harmonic reducer is placed on the forearm, wrist or hand, that is, Robot joints under 20 kg. In addition, planetary reducers are generally used on Cartesian robots.
So, what are the principles, advantages and disadvantages of the two types of reducers?
The harmonic reducer is composed of four basic components: “flexible wheel, wave generator, rigid wheel, and bearing”. The outer diameter of the flexible wheel is slightly smaller than the inner diameter of the rigid wheel. Generally, the flexible wheel has 2 teeth less than the rigid wheel. The elliptical shape of the wave generator determines that the tooth contact points of the flexible wheel and the rigid wheel are distributed on two opposite surfaces between the center of the ellipse. During the rotation of the wave generator, the contact parts of the flexible gear and the rigid gear start to mesh. Every time the wave generator rotates 180° clockwise, the flexspline is equivalent to a counterclockwise rotation of the rigid wheel by 1 tooth number difference. In two places symmetrical at 180°, more than 30% of the total number of teeth are meshed at the same time, which also contributes to its high torque transmission.
Compared with the harmonic reducer, the RV drive is a new type of transmission. It is developed on the basis of the traditional pendulum planetary transmission. It not only overcomes the shortcomings of the general pin pendulum transmission, but also has the advantages of small size, light weight, A series of advantages such as large transmission ratio range, long life, stable accuracy, high efficiency and smooth transmission.
The key to the RV reducer is the processing technology and assembly technology. RV reducer has higher fatigue strength, stiffness and life. Unlike harmonic drive, as the use time increases, the movement accuracy will be significantly reduced. Its disadvantage is that it is heavy in weight and large in size.
The RV reducer is composed of a cycloidal pin wheel and a planetary support. It is widely used in industrial robots, machine tools, and medical applications due to its small size, strong impact resistance, large torque, high positioning accuracy, low vibration, and large reduction ratio. Fields such as testing equipment and satellite receiving systems have increasingly received widespread attention at home and abroad.
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