{"id":672,"date":"2026-05-29T05:41:03","date_gmt":"2026-05-29T05:41:03","guid":{"rendered":"https:\/\/planetary-gearboxes.com\/?p=672"},"modified":"2026-05-29T05:41:49","modified_gmt":"2026-05-29T05:41:49","slug":"planetary-gearbox-vs-harmonic-drive-vs-cycloidal","status":"publish","type":"post","link":"https:\/\/planetary-gearboxes.com\/cs\/planetary-gearbox-vs-harmonic-drive-vs-cycloidal\/","title":{"rendered":"Planetov\u00e1 p\u0159evodovka vs. harmonick\u00fd pohon vs. cykloidn\u00ed reduktor"},"content":{"rendered":"
\n

<\/p>\n

\"Porovn\u00e1n\u00ed<\/p>\n
\n
Technick\u00e9 srovn\u00e1n\u00ed \u00b7 5rozm\u011brn\u00e1 anal\u00fdza \u00b7 Korejsk\u00e1 cenov\u00e1 p\u00e1sma \u00b7 Vhodnost pro aplikaci<\/div>\n

Planetov\u00e1 p\u0159evodovka vs. harmonick\u00fd pohon
\nvs. cykloidn\u00ed \u2013 kter\u00fd kdy specifikovat<\/h1>\n

Debata o planetov\u00e9 p\u0159evodovce vs. harmonick\u00e9m pohonu vs. cykloidn\u00edm pohonu zam\u011bstn\u00e1v\u00e1 korejsk\u00e9 v\u00fdrobce stroj\u016f, kte\u0159\u00ed se p\u0159i v\u00fdb\u011bru mezi t\u011bmito t\u0159emi technologiemi setk\u00e1vaj\u00ed se stejnou mezerou v publikovan\u00e9 dokumentaci: hodnoty v\u016fle a jmenovit\u00e9 kroutic\u00ed momenty se snadno nach\u00e1zej\u00ed, ale p\u011bt rozm\u011br\u016f, kter\u00e9 skute\u010dn\u011b ur\u010duj\u00ed, kter\u00e1 technologie je pro konkr\u00e9tn\u00ed aplikaci v\u00edt\u011bzn\u00e1 \u2013 tolerance r\u00e1zov\u00e9ho zat\u00ed\u017een\u00ed, \u00fa\u010dinnost p\u0159i pracovn\u00edch cyklech, \u00fanavov\u00e1 \u017eivotnost, jednotkov\u00e9 n\u00e1klady p\u0159i korejsk\u00e9m objemu a realita \u00fadr\u017eby<\/strong> \u2014 jsou z\u0159\u00eddka kvantifikov\u00e1ny ve stejn\u00e9m dokumentu.<\/p>\n

Zobrazit \u0159adu EP-AB Precision \u2192
\n<\/a><\/p>\n<\/div>\n<\/section>\n

<\/p>\n

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T\u0159i z\u00e1sadn\u011b odli\u0161n\u00e9 reduk\u010dn\u00ed mechanismy<\/h2>\n
\n
\n
PLANET\u00c1RN\u00cd<\/div>\n

Evolventn\u00ed ozuben\u00e1 kola s valiv\u00fdm stykem<\/h3>\n

Centr\u00e1ln\u00ed kolo poh\u00e1n\u00ed n\u011bkolik planetov\u00fdch kol, kter\u00e1 jsou sou\u010dasn\u011b v z\u00e1b\u011bru s pevn\u00fdm v\u011bncov\u00fdm kolem. Zat\u00ed\u017een\u00ed je rozlo\u017eeno mezi N kontakt\u016f planetov\u00fdch kol (N=3\u20135), co\u017e vytv\u00e1\u0159\u00ed vysokou hustotu kroutic\u00edho momentu v kompaktn\u00edm v\u00e1lcov\u00e9m obalu. Zuby ozuben\u00e9ho kola se v kontaktu odvaluj\u00ed a klou\u017eou \u2013 kontaktn\u00ed nap\u011bt\u00ed je Hertzovo, \u00fam\u011brn\u00e9 aplikovan\u00e9mu zat\u00ed\u017een\u00ed.<\/p>\n

Rozsah pom\u011bru: i = 3\u201310 000
\nV\u016fle: \u22641\u20138 \u00fahlov\u00fdch minut (P0\u2013AE)
\n\u00da\u010dinnost: \u226594\u201398% na stupe\u0148
\nOdolnost proti n\u00e1raz\u016fm: VYSOK\u00c1 (kovov\u00e9 zuby)
\n\u00dadr\u017eba: Ut\u011bsn\u011bn\u00e9 mazivo, \u017e\u00e1dn\u00e9<\/div>\n<\/div>\n
\n
HARMONICK\u00dd BUZEN\u00cd (DEFORMA\u010cN\u00cd VLNA)<\/div>\n

Elastick\u00e1 deformace flexspline<\/h3>\n

Va\u010dka gener\u00e1toru eliptick\u00fdch vln elasticky deformuje tenkost\u011bnn\u00e9 flexibiln\u00ed ozuben\u00e9 kolo (flexspline) tak, aby se dostalo do z\u00e1b\u011bru s tuh\u00fdm kruhov\u00fdm dr\u00e1\u017ekov\u00e1n\u00edm ve dvou diametr\u00e1ln\u011b protilehl\u00fdch bodech. Rozd\u00edl v po\u010dtu zub\u016f mezi flexspline a kruhov\u00fdm dr\u00e1\u017ekov\u00e1n\u00edm zp\u016fsobuje sn\u00ed\u017een\u00ed rychlosti. V\u016fle je d\u00edky mechanismu t\u00e9m\u011b\u0159 nulov\u00e1 \u2013 pro z\u00e1b\u011br vyvolan\u00fd deformac\u00ed nen\u00ed nutn\u00e1 \u017e\u00e1dn\u00e1 v\u016fle.<\/p>\n

Rozsah p\u0159evodov\u00fdch pom\u011br\u016f: i = 30\u2013320 na stupe\u0148
\nV\u016fle: \u22640,5 \u00fahlov\u00fdch minut (typick\u00e1)
\n\u00da\u010dinnost: 75\u2013851 TP3T (ztr\u00e1ta flexspline)
\nTolerance n\u00e1raz\u016f: N\u00cdZK\u00c1 (\u00fanava z ohybu)
\n\u00dadr\u017eba: Maz\u00e1n\u00ed, pravideln\u00e1 kontrola<\/div>\n<\/div>\n
\n
CYKLoidn\u00ed (redukce RV)<\/div>\n

Excentrick\u00e1 va\u010dka + z\u00e1b\u011br \u010depu a ozuben\u00e9ho kola<\/h3>\n

Excentrick\u00fd vstupn\u00ed klikov\u00fd h\u0159\u00eddel poh\u00e1n\u00ed cykloidn\u00ed kotou\u010d, kter\u00fd se odvaluje uvnit\u0159 pevn\u00e9ho v\u011bnce v\u00e1lcov\u00fdch \u010dep\u016f. Excentrick\u00fd pohyb kotou\u010de m\u00ednus jedna rozte\u010d \u010dep\u016f na ot\u00e1\u010dku zp\u016fsobuje sn\u00ed\u017een\u00ed ot\u00e1\u010dek. Velk\u00e1 kontaktn\u00ed plocha (polovina \u010dep\u016f je v z\u00e1b\u011bru sou\u010dasn\u011b) poskytuje velmi vysokou hustotu to\u010div\u00e9ho momentu a vynikaj\u00edc\u00ed toleranci r\u00e1z\u016f. V\u00fdstup je odeb\u00edr\u00e1n v\u00fdstupn\u00edmi \u010depy v kotou\u010di.<\/p>\n

Rozsah p\u0159evodov\u00e9ho pom\u011bru: i = 6\u201387 na stupe\u0148
\nV\u016fle: \u22641 \u00fahlov\u00e1 minuta (typick\u00e1)
\n\u00da\u010dinnost: 85\u2013931 TP3T na stupe\u0148
\nOdolnost v\u016f\u010di n\u00e1raz\u016fm: VELMI VYSOK\u00c1
\n\u00dadr\u017eba: Olejov\u00e1 l\u00e1ze\u0148, pravideln\u00e1 v\u00fdm\u011bna<\/div>\n<\/div>\n<\/div>\n

V porovn\u00e1n\u00ed planetov\u00e9 p\u0159evodovky s harmonick\u00fdm pohonem a cykloidn\u00edm pohonem nejsou tyto t\u0159i mechanismy konkuren\u010dn\u00edmi verzemi stejn\u00e9 konstrukce \u2013 jedn\u00e1 se skute\u010dn\u011b o odli\u0161n\u00e9 in\u017een\u00fdrsk\u00e9 p\u0159\u00edstupy s nep\u0159ekr\u00fdvaj\u00edc\u00edmi se pevnostn\u00edmi profily. Ot\u00e1zkou v\u00fdb\u011bru nen\u00ed \u201ekter\u00fd je lep\u0161\u00ed\u201c, ale \u201ekter\u00fd profil odpov\u00edd\u00e1 skute\u010dn\u00fdm po\u017eadavk\u016fm aplikace v ka\u017ed\u00e9m z p\u011bti kl\u00ed\u010dov\u00fdch rozm\u011br\u016f\u201c.<\/p>\n<\/section>\n

<\/p>\n

\n

P\u011btirozm\u011brn\u00e9 kvantifikovan\u00e9 srovn\u00e1n\u00ed \u2013 data, kter\u00e1 katalogov\u00e9 specifikace neukazuj\u00ed<\/h2>\n
\n\n\n\n\n\n\n\n\n\n\n
Dimenze<\/th>\nPlanet\u00e1rn\u00ed<\/th>\nHarmonick\u00fd pohon<\/th>\nCykloidn\u00ed (RV)<\/th>\n<\/tr>\n<\/thead>\n
V\u016fle \u2013 jednostup\u0148ov\u00e1<\/td>\n\u22641\u20135 \u00fahlov\u00fdch minut (P0\u2013P2)
\nVoliteln\u00fd stupe\u0148<\/span><\/td>\n		\u22640,5 \u00fahlov\u00fdch minut
\nNejlep\u0161\u00ed ve sv\u00e9 t\u0159\u00edd\u011b<\/span><\/td>\n		\u22641 \u00fahlov\u00e1 minuta
\nDobr\u00e9, konzistentn\u00ed<\/span><\/td>\n<\/tr>\n
Hustota to\u010div\u00e9ho momentu (N\u00b7m\/kg)<\/td>\n30\u201380 N\u00b7m\/kg
\nDobr\u00e9 \u2013 sd\u00edlen\u00ed na v\u00edce planet\u00e1ch<\/span><\/td>\n		60\u2013150 N\u00b7m\/kg
\nNejlep\u0161\u00ed ve sv\u00e9 t\u0159\u00edd\u011b, velmi kompaktn\u00ed<\/span><\/td>\n		80\u2013200 N\u00b7m\/kg
\nNejvy\u0161\u0161\u00ed (velk\u00e1 kontaktn\u00ed plocha)<\/span><\/td>\n<\/tr>\n
Tolerance r\u00e1zov\u00e9ho zat\u00ed\u017een\u00ed<\/td>\nVysok\u00fd
\nKovov\u00e9 zuby, \u0161pi\u010dkov\u00e9 T = 2\u20133\u00d7 jmenovit\u00fd<\/span><\/td>\n		N\u00edzk\u00fd
\nRiziko \u00fanavov\u00fdch trhlin p\u0159i flexspline<\/span><\/td>\n		Velmi vysok\u00e1
\n\u0160pi\u010dkov\u00e1 T = 5\u00d7 jmenovit\u00e1 (typick\u00e1)<\/span><\/td>\n<\/tr>\n
\u00da\u010dinnost \u2013 trval\u00e9 jmenovit\u00e9 zat\u00ed\u017een\u00ed<\/td>\n94\u201398%
\nNejlep\u0161\u00ed pro vysoce v\u00fdkonn\u00e9 pohony<\/span><\/td>\n		75\u201385%
\nZtr\u00e1ta hystereze flexspline<\/span><\/td>\n		85\u201393%
\nZtr\u00e1ty t\u0159en\u00edm \u010dep\u016f<\/span><\/td>\n<\/tr>\n
Korejsk\u00e9 jednotkov\u00e9 n\u00e1klady (stejn\u00fd T v\u00fdstup)<\/td>\n1,0\u00d7 (v\u00fdchoz\u00ed hodnota)
\nNejlep\u0161\u00ed hodnota za v\u011bt\u0161inu aplikac\u00ed<\/span><\/td>\n		3\u20138\u00d7
\nP\u0159esn\u00e9 obr\u00e1b\u011bn\u00ed Flexspline<\/span><\/td>\n		2\u20134\u00d7
\nKomplexn\u00ed excentrick\u00e1 sestava s \u010depem<\/span><\/td>\n<\/tr>\n
Po\u017eadavek na \u00fadr\u017ebu<\/td>\n\u017d\u00e1dn\u00e9 (ut\u011bsn\u011bn\u00e9 mazivo)
\nTov\u00e1rn\u00ed n\u00e1pl\u0148 vydr\u017e\u00ed dlouho<\/span><\/td>\n		Kontrola maziva (pravideln\u00e1)
\nKontrola flexspline v pravideln\u00fdch intervalech<\/span><\/td>\n		V\u00fdm\u011bna olejov\u00e9 l\u00e1zn\u011b (pravideln\u00e1)
\nRo\u010dn\u00ed kontrola hladiny\/kvality oleje<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n
\u010cten\u00ed t\u00e9to tabulky: <\/strong>
\n\u017d\u00e1dn\u00e1 technologie jednotliv\u011b nevyhr\u00e1v\u00e1 ve v\u0161ech rozm\u011brech v porovn\u00e1n\u00ed planetov\u00fdch p\u0159evodovek s harmonick\u00fdmi pohony. Harmonick\u00fd pohon v\u00edt\u011bz\u00ed v oblasti v\u016fle a hustoty to\u010div\u00e9ho momentu; cykloidn\u00ed pohon v\u00edt\u011bz\u00ed v toleranci r\u00e1z\u016f a n\u00e1sobku \u0161pi\u010dkov\u00e9ho to\u010div\u00e9ho momentu; planet\u00e1rn\u00ed pohon v\u00edt\u011bz\u00ed v \u00fa\u010dinnosti, n\u00e1kladech a bez\u00fadr\u017ebov\u00e9 ut\u011bsn\u011bn\u00e9 konstrukci. Pou\u017eit\u00ed ur\u010duje, kter\u00e9 rozm\u011bry jsou nejd\u016fle\u017eit\u011bj\u0161\u00ed \u2013 a ve v\u011bt\u0161in\u011b korejsk\u00fdch servopohon\u016f jsou dominantn\u00ed \u00fa\u010dinnost a n\u00e1klady, a proto planetov\u00e9 p\u0159evodovky obsluhuj\u00ed p\u0159ibli\u017en\u011b 80% korejsk\u00e9ho trhu se servopohony, p\u0159esto\u017ee nevedou v oblasti v\u016fle nebo hustoty to\u010div\u00e9ho momentu.<\/span><\/div>\n<\/section>\n

<\/p>\n

\n

Kdy\u017e harmonick\u00fd pohon p\u0159ekon\u00e1v\u00e1 planet\u00e1rn\u00ed \u2013 skute\u010dn\u00e9 p\u0159\u00edpady pou\u017eit\u00ed<\/h2>\n
\n
\n

Harmonick\u00fd pohon si vydobyje cenovou p\u0159ir\u00e1\u017eku v aplikac\u00edch, kde je v\u016fle \u22640,5 arcmin skute\u010dn\u00fdm funk\u010dn\u00edm po\u017eadavkem \u2013 nikoli pouze konzervativn\u011b vybranou specifikac\u00ed. T\u0159i korejsk\u00e9 kategorie aplikac\u00ed ospravedl\u0148uj\u00ed v\u00fdb\u011br harmonick\u00e9ho pohonu i p\u0159es 3\u20138n\u00e1sobnou cenovou p\u0159ir\u00e1\u017eku oproti ekvivalentn\u00edm planetov\u00fdm jednotk\u00e1m.<\/p>\n

\n
\u2460 Z\u00e1p\u011bstn\u00ed klouby kolaborativn\u00edho robota (J4\u2013J6)<\/strong><\/p>\n

Z\u00e1p\u011bstn\u00ed klouby 6os\u00e9ho kolaborativn\u00edho robota mus\u00ed polohovat st\u0159edov\u00fd bod n\u00e1stroje (TCP) s p\u0159esnost\u00ed na \u00b10,05 mm. P\u0159i typick\u00e9m dosahu TCP 400\u2013600 mm u korejsk\u00fdch ramen cobot\u016f zp\u016fsobuje v\u016fle \u22640,5 arcmin (0,008\u00b0) chybu TCP 0,06 mm \u2013 t\u011bsn\u011b v r\u00e1mci tolerance. Planet\u00e1rn\u00ed P0 (\u22641 arcmin) zp\u016fsobuje chybu TCP 0,12 mm p\u0159i dosahu 600 mm \u2013 co\u017e p\u0159ekra\u010duje c\u00edlovou hodnotu \u00b10,05 mm. Pro korejsk\u00e9 v\u00fdrobce OEM cobot\u016f, kte\u0159\u00ed sout\u011b\u017e\u00ed v p\u0159esnosti polohov\u00e1n\u00ed, je specifikace \u22640,5 arcmin harmonick\u00e9ho pohonu nezbytn\u00e1 pro fungov\u00e1n\u00ed jejich produktu; planet\u00e1rn\u00ed P0 je pro tuto aplikaci skute\u010dn\u011b nedostate\u010dn\u00fd.<\/p>\n<\/div>\n

\u2461 Osy ot\u00e1\u010den\u00ed manipul\u00e1toru s polovodi\u010dov\u00fdmi desti\u010dkami<\/strong><\/p>\n

Korejsk\u00e9 manipul\u00e1tory FOUP a kazetov\u00e9 manipul\u00e1tory s wafery polohuj\u00ed wafery s p\u0159esnost\u00ed \u00b10,1 mm na rota\u010dn\u00ed ose o polom\u011bru 300 mm \u2013 co\u017e vy\u017eaduje v\u016fli pod 0,6 \u00fahlov\u00fdch minut. Prost\u0159ed\u00ed \u010dist\u00fdch prostor tak\u00e9 podporuje harmonick\u00e9 pohony: jejich ut\u011bsn\u011bn\u00e1 kompaktn\u00ed konstrukce generuje m\u00e9n\u011b \u010d\u00e1stic ne\u017e planetov\u00e1 soukol\u00ed s v\u011bt\u0161\u00edm pr\u016fm\u011brem p\u0159i ekvivalentn\u00edm pom\u011bru to\u010div\u00e9ho momentu k hmotnosti. Dodavatel\u00e9 za\u0159\u00edzen\u00ed Samsung a SK Hynix specifikuj\u00ed harmonick\u00e9 pohony pro rota\u010dn\u00ed osy manipul\u00e1tor\u016f wafer\u016f jako pravidlo kategorie.<\/p>\n<\/div>\n

\u2462 P\u0159esn\u00e9 optick\u00e9 p\u0159\u00edstrojov\u00e9 polohovac\u00ed osy<\/strong><\/p>\n

Pohony korejsk\u00fdch astronomick\u00fdch dalekohled\u016f, ant\u00e9ny pro sledov\u00e1n\u00ed satelit\u016f a nakl\u00e1p\u011bc\u00ed osy v\u00edceos\u00fdch laserov\u00fdch \u0159ezac\u00edch stroj\u016f vy\u017eaduj\u00ed opakovatelnou p\u0159esnost v sub-\u00fahlov\u00fdch minut\u00e1ch, kterou planetov\u00e9 p\u0159evodovky p\u0159i P0 (\u22641 \u00fahlov\u00e1 minuta) nemohou konzistentn\u011b dosahovat nap\u0159\u00ed\u010d teplotn\u00edmi cykly. T\u00e9m\u011b\u0159 nulov\u00e1 v\u016fle harmonick\u00e9ho pohonu zde nen\u00ed jen v\u00fdhodou specifikace \u2013 zjednodu\u0161uje model servo\u0159\u00edzen\u00ed t\u00edm, \u017ee zcela eliminuje reverzn\u00ed mrtvou z\u00f3nu z regula\u010dn\u00ed smy\u010dky.<\/p>\n<\/div>\n<\/div>\n

Varov\u00e1n\u00ed p\u0159ed r\u00e1zov\u00fdm zat\u00ed\u017een\u00edm harmonick\u00e9ho m\u011bni\u010de: <\/strong>
\nFlexspline \u2013 tenkost\u011bnn\u00e9 elastick\u00e9 ozuben\u00e9 kolo, kter\u00e9 umo\u017e\u0148uje t\u00e9m\u011b\u0159 nulovou v\u016fli \u2013 je tak\u00e9 nejkriti\u010dt\u011bj\u0161\u00edm bodem selh\u00e1n\u00ed harmonick\u00e9ho pohonu. R\u00e1zov\u00e1 zat\u00ed\u017een\u00ed nad jmenovit\u00fd \u0161pi\u010dkov\u00fd to\u010div\u00fd moment (obvykle 1,5\u20132\u00d7 jmenovit\u00fd pro harmonick\u00e9 pohony oproti 2\u20133\u00d7 pro planetov\u00e9) zp\u016fsobuj\u00ed \u00fanavov\u00e9 trhliny ve flexspline, kter\u00e9 se rychle \u0161\u00ed\u0159\u00ed. Korejsk\u00e9 robotick\u00e9 aplikace, kde rameno m\u016f\u017ee b\u011bhem programovac\u00edch chyb nar\u00e1\u017eet na obrobky nebo up\u00ednac\u00ed p\u0159\u00edpravky, opakovan\u011b vedly k selh\u00e1n\u00ed flexspline, kter\u00e1 vy\u017eaduj\u00ed kompletn\u00ed v\u00fdm\u011bnu harmonick\u00e9ho pohonu. EP-AB P0<\/a> Planetov\u00fd p\u0159evod p\u0159i \u22641 arcmin odol\u00e1v\u00e1 stejn\u00fdm r\u00e1zov\u00fdm ud\u00e1lostem p\u0159i kontaktu zub\u016f kovov\u00e9ho ozuben\u00e9ho kola \u2013 po\u0161kozen\u00ed spo\u010d\u00edv\u00e1 v pomal\u00e9 \u00fanav\u011b povrchu zubu, nikoli v jedin\u00e9 katastrofick\u00e9 trhlin\u011b.<\/span><\/div>\n<\/div>\n
\"Porovn\u00e1n\u00ed
\n<\/p>\n
\n

CHYBA TCP P\u0158I DOSAHU 600 mm<\/p>\n

Harmonick\u00e1 \u22640,5\u2032: 600\u00d70,000145 = 0,087 mm \u2713
\nEP-AFH \u22641,0\u2032: 600\u00d70,000291 = 0,175 mm \u2713
\nEP-AB P0 \u22641,0\u2032: stejn\u00e9 jako AFH = 0,175 mm \u2713
\nEP-AB P1 \u22643,0\u2032: 600\u00d70,000873 = 0,524 mm \u2717<\/p>\n

Specifikace kobota \u00b10,05 mm p\u0159i 600 mm:<\/span>
\nVy\u017eaduje v\u016fli \u22640,48 \u00fahlov\u00fdch minut
\n\u2192 Vy\u017eadov\u00e1n harmonick\u00fd pohon
\n\u2192 EP-AFH margin\u00e1ln\u00ed<\/p>\n

P\u0159i dosahu 300 mm:<\/span>
\nVy\u017eaduje v\u016fli \u22640,96 \u00fahlov\u00fdch minut
\n\u2192 EP-AFH \u22641\u2032 adekv\u00e1tn\u00ed \u2713
\n\u2192 EP-AB P0 margin\u00e1ln\u00ed \u2713<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Kdy\u017e cykloidn\u00ed (redukce RV) p\u0159ekon\u00e1v\u00e1 planetovou p\u0159evodovku \u2013 vysok\u00fd r\u00e1z, vysok\u00fd to\u010div\u00fd moment<\/h2>\n
\n
\n

Charakteristick\u00fdm znakem cykloidn\u00edho reduktoru je jeho v\u00fdjime\u010dn\u00e1 tolerance r\u00e1zov\u00e9ho zat\u00ed\u017een\u00ed \u2013 typick\u00e9 jsou \u0161pi\u010dkov\u00e9 kroutic\u00ed momenty 4\u20136\u00d7 jmenovit\u00e9ho trval\u00e9ho kroutic\u00edho momentu, ve srovn\u00e1n\u00ed s 2\u20133\u00d7 u planetov\u00fdch a 1,5\u20132\u00d7 u harmonick\u00fdch pohon\u016f. Tato tolerance je d\u00e1na velkou kontaktn\u00ed plochou cykloidn\u00edho mechanismu: p\u0159ibli\u017en\u011b polovina v\u00fdstupn\u00edch kol\u00edk\u016f se zapojuje sou\u010dasn\u011b, \u010d\u00edm\u017e se r\u00e1zov\u00e9 zat\u00ed\u017een\u00ed rozkl\u00e1d\u00e1 na v\u00edce kontakt\u016f, sp\u00ed\u0161e ne\u017e aby se soust\u0159edilo na dva body z\u00e1b\u011bru aktivn\u00ed v planetov\u00e9m p\u0159evodu.<\/p>\n

V korejsk\u00e9m pr\u016fmyslu dominuj\u00ed cykloidn\u00ed reduktory ve t\u0159ech kategori\u00edch pou\u017eit\u00ed, kde jsou prvo\u0159ad\u00fdmi po\u017eadavky odolnost v\u016f\u010di r\u00e1z\u016fm a tuhost:<\/p>\n

\n
\u2460 Z\u00e1kladn\u00ed spoje t\u011b\u017ek\u00fdch pr\u016fmyslov\u00fdch robot\u016f (J1\u2013J3)<\/strong><\/p>\n

Korejsk\u00e9 automobilov\u00e9 sv\u00e1\u0159ec\u00ed roboty (nosnost 700\u20131 500 kg, dosah 2\u20134 m) pou\u017e\u00edvaj\u00ed cykloidn\u00ed reduktory RV na z\u00e1kladn\u011b, ramenn\u00edch a loketn\u00edch kloubech \u2013 kde kombinovan\u00e1 setrva\u010dnost robotick\u00e9ho ramene a u\u017eite\u010dn\u00e9ho zat\u00ed\u017een\u00ed vytv\u00e1\u0159\u00ed \u0161pi\u010dkov\u00e9 kroutic\u00ed momenty v kloubech 3 000\u20138 000 N\u00b7m b\u011bhem nouzov\u00e9ho zastaven\u00ed. 4\u20136n\u00e1sobn\u00fd n\u00e1sobek \u0161pi\u010dkov\u00e9ho kroutic\u00edho momentu cykloidn\u00ed p\u0159evodovky tyto ud\u00e1losti absorbuje; planetov\u00e1 p\u0159evodovka se stejn\u00fdm jmenovit\u00fdm kroutic\u00edm momentem by pro zaji\u0161t\u011bn\u00ed ekvivalentn\u00ed \u0161pi\u010dkov\u00e9 tolerance vy\u017eadovala 2\u20133\u00d7 v\u011bt\u0161\u00ed velikosti r\u00e1mu.<\/p>\n<\/div>\n

\u2461 Hnac\u00ed h\u0159\u00eddele lis\u016f a razic\u00edch stroj\u016f<\/strong><\/p>\n

Korejsk\u00e9 lisovac\u00ed linky na automobilovou ocel produkuj\u00ed b\u011bhem kontaktu s polotovarem \u0161pi\u010dkov\u00e9 kroutic\u00ed momenty na hnac\u00edm h\u0159\u00eddeli, kter\u00e9 mohou dos\u00e1hnout 8\u201310n\u00e1sobku pr\u016fm\u011brn\u00e9ho kroutic\u00edho momentu. \u010cepov\u00fd mechanismus cykloidn\u00edho reduktoru rozkl\u00e1d\u00e1 tento r\u00e1z po cel\u00e9 kontaktn\u00ed plo\u0161e bez rizika zlomen\u00ed zubu, kter\u00e9 omezuje planetov\u00e9 p\u0159evodovky v aplikac\u00edch p\u0159\u00edm\u00e9ho lisu.<\/p>\n<\/div>\n

\u2462 Pohony navij\u00e1k\u016f pro n\u00e1mo\u0159n\u00ed a pob\u0159e\u017en\u00ed pou\u017eit\u00ed<\/strong><\/p>\n

Korejsk\u00e9 stavby lod\u00ed pou\u017e\u00edvaj\u00ed reduktory pro rekrea\u010dn\u00ed vozidla (RV) na oto\u010dn\u00fdch v\u011bnc\u00edch je\u0159\u00e1b\u016f pro offshore aplikace a pohonech kotevn\u00edch navij\u00e1k\u016f, kde jsou r\u00e1zov\u00e1 zat\u00ed\u017een\u00ed vyvolan\u00e1 vlnami nep\u0159etr\u017eit\u00e1 a jejich velikost je nep\u0159edv\u00eddateln\u00e1. Nev\u00fdhodou je bez\u00fadr\u017ebov\u00e1 olejov\u00e1 l\u00e1ze\u0148 (ve srovn\u00e1n\u00ed s ut\u011bsn\u011bn\u00fdm plastick\u00fdm mazivem u planetov\u00fdch p\u0159evodovek), ale v t\u00e9to aplikaci ji p\u0159eva\u017euje v\u00fdhoda v toleranci r\u00e1z\u016f.<\/p>\n<\/div>\n<\/div>\n<\/div>\n

\n
\n
V\u00edcen\u00e1sobn\u00e9 porovn\u00e1n\u00ed maxim\u00e1ln\u00edho to\u010div\u00e9ho momentu<\/div>\n
\n
\n
Cykloidn\u00ed (RV)<\/span>
\n4\u20136\u00d7 jmenovit\u00fd<\/span><\/div>\n
\n
5\u00d7<\/span><\/div>\n<\/div>\n<\/div>\n
\n
Planet\u00e1rn\u00ed (EP-AB)<\/span>
\n2\u20133\u00d7 jmenovit\u00fd<\/span><\/div>\n
\n
2,5\u00d7<\/span><\/div>\n<\/div>\n<\/div>\n
\n
Harmonick\u00fd pohon<\/span>
\n1,5\u20132\u00d7 jmenovit\u00fd v\u00fdkon<\/span><\/div>\n
\n
1,8\u00d7<\/span><\/div>\n<\/div>\n<\/div>\n<\/div>\n

N\u00e1sobky maxim\u00e1ln\u00edho to\u010div\u00e9ho momentu jsou typick\u00e9 hodnoty. Konkr\u00e9tn\u00ed jmenovit\u00e9 hodnoty jednotky si ov\u011b\u0159te ve specifikac\u00edch v\u00fdrobce pro ka\u017edou aplikaci.<\/p>\n<\/div>\n

\n
Pozn\u00e1mka k \u00fadr\u017eb\u011b cykloidn\u00edch za\u0159\u00edzen\u00ed pro korejsk\u00fd pr\u016fmysl:<\/div>\n

Cykloidn\u00ed reduktory pou\u017e\u00edvaj\u00ed mazivo v olejov\u00e9 l\u00e1zni, kter\u00e9 vy\u017eaduje pravideln\u00e9 kontroly hladiny oleje a ka\u017edoro\u010dn\u00ed hodnocen\u00ed kvality oleje. V korejsk\u00e9m prost\u0159ed\u00ed zpracov\u00e1n\u00ed potravin to vytv\u00e1\u0159\u00ed hygienick\u00e9 obavy KFDA \u2013 reduktor v olejov\u00e9 l\u00e1zni v bl\u00edzkosti povrch\u016f p\u0159ich\u00e1zej\u00edc\u00edch do styku s potravinami vy\u017eaduje dodate\u010dn\u00e1 opat\u0159en\u00ed k ochran\u011b. Pro aplikace v potravin\u00e1\u0159stv\u00ed a \u010dist\u00fdch prostor\u00e1ch z\u016fst\u00e1vaj\u00ed ut\u011bsn\u011bn\u00e9 planetov\u00e9 p\u0159evodovky hygienicky preferovanou volbou, a to i v p\u0159\u00edpadech, kdy by cykloidn\u00ed hustota kroutic\u00edho momentu byla v\u00fdhodn\u00e1.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Kdy\u017e planetov\u00e1 p\u0159evodovka v\u00edt\u011bz\u00ed \u2013 pro\u010d slou\u017e\u00ed 80% korejsk\u00fdm servopohon\u016fm<\/h2>\n
\n
\n

Zda je specifikov\u00e1no jako EP-BPG \u00fasporn\u00e9<\/a> A\u0165 u\u017e jde o n\u00e1hradu dopravn\u00edku nebo p\u0159esnost EP-AB pro servoosy, planetov\u00e1 p\u0159evodovka nez\u00edsk\u00e1v\u00e1 v \u017e\u00e1dn\u00e9m jednotliv\u00e9m rozm\u011bru oproti sv\u00fdm specializovan\u00fdm konkurent\u016fm. Vyhr\u00e1v\u00e1 kombinac\u00ed odpov\u00eddaj\u00edc\u00edho v\u00fdkonu nap\u0159\u00ed\u010d v\u0161emi rozm\u011bry sou\u010dasn\u011b v kombinaci s cenou, dostupnost\u00ed a bez\u00fadr\u017ebovou ut\u011bsn\u011bnou konstrukc\u00ed, kter\u00e9 \u017e\u00e1dn\u00e1 konkuren\u010dn\u00ed technologie nedosahuje. V praxi p\u0159ibli\u017en\u011b 80% korejsk\u00fdch aplikac\u00ed servopohon\u016f nevy\u017eaduje ani v\u016fli pod 0,5 \u00fahlov\u00e9 minuty harmonick\u00fdch pohon\u016f, ani 5\u00d7 toleranci r\u00e1z\u016f cykloidn\u00edch reduktor\u016f \u2013 a pro tyto 80% je planetov\u00e1 p\u0159evodovka objektivn\u011b spr\u00e1vnou volbou.<\/p>\n

Kvantifikace v\u00fdhody efektivity:<\/strong> Korejsk\u00e1 balic\u00ed linka s 200 automatick\u00fdmi spojkami (VFFS) provozovan\u00fdmi 21 hodin denn\u011b, ka\u017ed\u00fd s \u010delistn\u00edm servopohonem s k\u0159\u00ed\u017eov\u00fdm t\u011bsn\u011bn\u00edm a nomin\u00e1ln\u00edm p\u0159\u00edkonem 750 W. P\u0159i harmonick\u00e9 \u00fa\u010dinnosti pohonu 80% syst\u00e9m odeb\u00edr\u00e1 937 W na servo. P\u0159i planet\u00e1rn\u00ed \u00fa\u010dinnosti 97% odeb\u00edr\u00e1 stejn\u00e9 servo 773 W. Na stroj: rozd\u00edl 164 W \u00d7 21 h \u00d7 330 dn\u00ed = 1 137 kWh\/rok. P\u0159i korejsk\u00fdch pr\u016fmyslov\u00fdch sazb\u00e1ch elekt\u0159iny (\u20a9150\/kWh): \u00daspora 170 550 \u20a9 na stroj za rok<\/strong>V\u00edce ne\u017e 200 stroj\u016f: ro\u010dn\u00ed \u00faspora 34,1 milionu \u20a9. Za 10 let \u017eivotnosti stroje: 341 milion\u016f \u20a9 \u2013 p\u0159i volb\u011b planetov\u00e9ho p\u0159evodu p\u0159ed harmonick\u00fdm na os\u00e1ch, kde nen\u00ed ve skute\u010dnosti vy\u017eadov\u00e1na v\u016fle \u22640,5 \u00fahlov\u00fdch minut.<\/p>\n

V\u00fdhoda nulov\u00e9 \u00fadr\u017eby:<\/strong> V korejsk\u00fdch t\u0159\u00edsm\u011bnn\u00fdch provozech balen\u00ed a logistiky potravin se intervaly \u00fadr\u017eby m\u011b\u0159\u00ed v minut\u00e1ch na stroj za m\u011bs\u00edc. Harmonick\u00fd pohon vy\u017eaduj\u00edc\u00ed pravidelnou kontrolu maziva a cykloidn\u00ed reduktor vy\u017eaduj\u00edc\u00ed kontrolu hladiny oleje a ka\u017edoro\u010dn\u00ed v\u00fdm\u011bnu oleje spot\u0159ebov\u00e1vaj\u00ed pr\u00e1ci \u00fadr\u017eby, kterou ut\u011bsn\u011bn\u00e1 planetov\u00e1 p\u0159evodovka nepot\u0159ebuje. Bez\u00fadr\u017ebov\u00e1 ut\u011bsn\u011bn\u00e1 konstrukce \u0159ady Korea Ever-Power EP nen\u00ed nepodstatnou v\u00fdhodou \u2013 pro za\u0159\u00edzen\u00ed s v\u00edce ne\u017e 300 stroji se jedn\u00e1 o v\u00fdznamnou v\u00fdhodu z hlediska provozn\u00edch n\u00e1klad\u016f.<\/p>\n<\/div>\n

\"Vysoce<\/p>\n
\n

N\u00c1KLADY NA EFEKTIVITIVU \u2013 200 STROJ\u016e VFFS, 10 LET<\/p>\n

Harmonick\u00e1 (\u03b7=80%): 937 W \u00d7 21 h \u00d7 330 d
\n= 6 493 kWh\/stroj\/rok
\nPlanet\u00e1rn\u00ed (\u03b7=97%): 773 W \u00d7 stejn\u00fd
\n= 5 356 kWh\/stroj\/rok
\n\u00daspora: 1 137 kWh \u00d7 150 \u20a9 = 170 550 \u20a9\/rok<\/p>\n

200 stroj\u016f \u00d7 10 let:
\nU\u0161et\u0159eno 341 100 000 \u20a9<\/span>
\nv\u00fdb\u011brem planet\u00e1rn\u00edho p\u0159ed harmonick\u00fdm
\nna os\u00e1ch, kde nen\u00ed vy\u017eadov\u00e1no \u22640,5\u2032<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Srovn\u00e1n\u00ed cen na korejsk\u00e9m trhu \u2013 relativn\u00ed n\u00e1klady p\u0159i ekvivalentn\u00edm to\u010div\u00e9m momentu<\/h2>\n

Absolutn\u00ed ceny se li\u0161\u00ed podle dodavatele, objemu a specifikace. N\u00e1sleduj\u00edc\u00ed anal\u00fdza relativn\u00edch n\u00e1klad\u016f pou\u017e\u00edv\u00e1 jako z\u00e1kladn\u00ed hodnotu 1,0\u00d7 Korea Ever-Power EP-AB a odr\u00e1\u017e\u00ed typick\u00e9 ceny na korejsk\u00e9m pr\u016fmyslov\u00e9m trhu pro ekvivalentn\u00ed trval\u00fd v\u00fdstupn\u00ed moment p\u0159i i=50:1 v jednostup\u0148ov\u00e9m proveden\u00ed s v\u016fl\u00ed P0\/\u22641 arcmin.<\/p>\n

\n\n\n\n\n\n\n\n
Technologie<\/th>\nRelativn\u00ed jednotkov\u00e9 n\u00e1klady<\/th>\n10let\u00e9 n\u00e1klady na energii<\/th>\nN\u00e1klady na \u00fadr\u017ebu<\/th>\nKdy se vyplat\u00ed pr\u00e9miov\u00e9<\/th>\n<\/tr>\n<\/thead>\n
Planet\u00e1rn\u00ed (EP-AB P0)<\/td>\n1,0\u00d7 z\u00e1kladn\u00ed hodnota<\/td>\nNejni\u017e\u0161\u00ed (\u03b7\u226597%)<\/td>\nNula (zape\u010det\u011bn\u00e1)<\/td>\n80% korejsk\u00fdch servopohon\u016f<\/td>\n<\/tr>\n
Cykloidn\u00ed (RV)<\/td>\n2\u20134\u00d7<\/td>\nSt\u0159edn\u00ed (\u03b785\u201393%)<\/td>\nV\u00fdm\u011bna oleje (ro\u010dn\u00ed)<\/td>\nT\u011b\u017ek\u00fd pr\u016fmyslov\u00fd robot J1\u2013J3; pohony lis\u016f<\/td>\n<\/tr>\n
Harmonick\u00fd pohon<\/td>\n3\u20138\u00d7<\/td>\nNejvy\u0161\u0161\u00ed (\u03b775\u201385%)<\/td>\nKontrola maziva<\/td>\nCobot J4\u2013J6; manipul\u00e1tor s wafery; optick\u00e9 zam\u011b\u0159ov\u00e1n\u00ed<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n
Vzorec nadm\u011brn\u00e9 specifikace u korejsk\u00fdch v\u00fdrobc\u016f origin\u00e1ln\u00edho vybaven\u00ed: <\/strong>
\nKonzistentn\u00edm vzorem v korejsk\u00e9 konstrukci stroj\u016f je specifikace harmonick\u00fdch pohon\u016f na v\u0161ech kloubech robota, proto\u017ee je vy\u017eaduj\u00ed J4\u2013J6 \u2013 a n\u00e1sledn\u00e1 specifikace stejn\u00fdch harmonick\u00fdch pohon\u016f na J1\u2013J3 pro shodu komponent. To stoj\u00ed 3\u20135\u00d7 v\u00edce, ne\u017e je nutn\u00e9 na z\u00e1kladn\u00edch kloubech, vede ke ztr\u00e1t\u00e1m \u00fa\u010dinnosti na os\u00e1ch s nejvy\u0161\u0161\u00edm kroutic\u00edm momentem (kde je ztr\u00e1ta harmonick\u00e9 \u00fa\u010dinnosti nejv\u011bt\u0161\u00ed v absolutn\u00edch wattech) a nedosahuje \u017e\u00e1dn\u00e9ho zlep\u0161en\u00ed p\u0159esnosti, proto\u017ee chyba polohov\u00e1n\u00ed J1\u2013J3 je dominantn\u011b ovlivn\u011bna struktur\u00e1ln\u00ed poddajnost\u00ed v dosahu robota, nikoli v\u016fl\u00ed p\u0159evodovky. Spr\u00e1vn\u011b zkombinovan\u00e9 specifikace \u2013 harmonick\u00fd pohon na J4\u2013J6, planetov\u00fd na J1\u2013J3 \u2013 poskytuj\u00ed stejnou p\u0159esnost TCP robota p\u0159i v\u00fdrazn\u011b ni\u017e\u0161\u00edch syst\u00e9mov\u00fdch n\u00e1kladech a vy\u0161\u0161\u00ed celkov\u00e9 \u00fa\u010dinnosti.<\/span><\/div>\n<\/section>\n

<\/p>\n

\n

Pr\u016fvodce rozhodov\u00e1n\u00edm o aplikaci \u2013 Kter\u00e1 technologie pro kterou korejskou aplikaci<\/h2>\n
\n\n\n\n\n\n\n\n\n\n\n\n\n
Korejsk\u00e1 aplikace<\/th>\nPo\u017eadovan\u00e1 v\u016fle<\/th>\nPot\u0159eba \u0161oku<\/th>\nDoporu\u010deno<\/th>\nKorea Ever-Power<\/th>\n<\/tr>\n<\/thead>\n
Kobot J1\u2013J3 (rameno, loket)<\/td>\n\u22643 \u00fahlov\u00fdch minut<\/td>\nSt\u0159edn\u00ed<\/td>\nPlanet\u00e1rn\u00ed<\/td>\nEP-AB P1<\/a><\/td>\n<\/tr>\n
Cobot J4\u2013J6 (z\u00e1p\u011bst\u00ed)<\/td>\n\u22640,5 \u00fahlov\u00fdch minut<\/td>\nN\u00edzk\u00e1\u2013St\u0159edn\u00ed<\/td>\nHarmonick\u00fd<\/td>\nNe planet\u00e1rn\u00ed<\/td>\n<\/tr>\n
CNC 5os\u00fd oto\u010dn\u00fd st\u016fl<\/td>\n\u22641 \u00fahlov\u00e1 minuta<\/td>\nN\u00edzk\u00fd<\/td>\nPlanet\u00e1rn\u00ed<\/td>\nEP-AFH<\/a><\/td>\n<\/tr>\n
Pohon korejsk\u00e9ho automobilov\u00e9ho lisu<\/td>\n\u22643 \u00fahlov\u00fdch minut<\/td>\nVelmi vysok\u00e1<\/td>\nCykloidn\u00ed<\/td>\nNe planet\u00e1rn\u00ed<\/td>\n<\/tr>\n
Balic\u00ed \u010delist \/ dopravn\u00edk VFFS<\/td>\n\u22643\u20135 \u00fahlov\u00fdch minut<\/td>\nN\u00edzk\u00e1\u2013St\u0159edn\u00ed<\/td>\nPlanet\u00e1rn\u00ed<\/td>\nEP-AB P1\/P2<\/a><\/td>\n<\/tr>\n
Manipul\u00e1tor s polovodi\u010dov\u00fdmi desti\u010dkami<\/td>\n\u22640,5 \u00fahlov\u00fdch minut<\/td>\nN\u00edzk\u00fd<\/td>\nHarmonick\u00fd<\/td>\nNe planet\u00e1rn\u00ed<\/td>\n<\/tr>\n
Sol\u00e1rn\u00ed sledova\u010d \/ st\u00e1\u010den\u00ed v\u011btrn\u00e9 turb\u00edny<\/td>\n\u22643\u20138 \u00fahlov\u00fdch minut<\/td>\nSt\u0159edn\u00ed<\/td>\nPlanet\u00e1rn\u00ed<\/td>\nNov\u00e1 linka EP-AH<\/a><\/td>\n<\/tr>\n
Pohonn\u00e9 kolo AGV \/ AMR<\/td>\nP1\u2013P2 (shoda pom\u011bru)<\/td>\nSt\u0159edn\u00ed<\/td>\nPlanet\u00e1rn\u00ed<\/td>\nEP-KF<\/a> nebo EP-AB<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/section>\n

\"aplikace-planet\u00e1rn\u00ed-p\u0159evodovky-1\"<\/p>\n

\n

\u00da\u010dinnost za re\u00e1ln\u00fdch pracovn\u00edch cykl\u016f \u2013 po\u010det harmonick\u00fdch, kter\u00e9 katalogy m\u011bni\u010d\u016f nezv\u00fdraz\u0148uj\u00ed<\/h2>\n
\n
\n

Katalogy harmonick\u00fdch pohon\u016f obvykle uv\u00e1d\u011bj\u00ed \u0161pi\u010dkovou \u00fa\u010dinnost p\u0159i jmenovit\u00e9m zat\u00ed\u017een\u00ed a jmenovit\u00fdch ot\u00e1\u010dk\u00e1ch \u2013 tedy v podm\u00ednk\u00e1ch, kdy jsou ztr\u00e1ty hystereze flexspline proporcion\u00e1ln\u011b mal\u00e9 vzhledem k p\u0159en\u00e1\u0161en\u00e9mu v\u00fdkonu. Korejsk\u00e9 servopohony v\u0161ak \u010dasto pracuj\u00ed p\u0159i \u010d\u00e1ste\u010dn\u00e9m zat\u00ed\u017een\u00ed (30\u201370% jmenovit\u00e9ho momentu) a s prom\u011bnn\u00fdmi ot\u00e1\u010dkami \u2013 v podm\u00ednk\u00e1ch, kdy \u00fa\u010dinnost harmonick\u00e9ho pohonu v\u00fdrazn\u011b kles\u00e1 pod svou \u0161pi\u010dkovou specifikaci.<\/p>\n

Charakteristika \u00fa\u010dinnosti a zat\u00ed\u017een\u00ed u t\u011bchto t\u0159\u00ed technologi\u00ed se nejv\u00edce li\u0161\u00ed p\u0159i \u010d\u00e1ste\u010dn\u00e9m zat\u00ed\u017een\u00ed. \u00da\u010dinnost planetov\u00e9 p\u0159evodovky je v cel\u00e9m rozsahu zat\u00ed\u017een\u00ed relativn\u011b ploch\u00e1 \u2013 p\u0159i jmenovit\u00e9m momentu 30% z\u016fst\u00e1v\u00e1 \u00fa\u010dinnost 94\u201396%. Harmonick\u00e1 \u00fa\u010dinnost pohonu p\u0159i jmenovit\u00e9m momentu 30% kles\u00e1 na 65\u201375% (hysterezn\u00ed ztr\u00e1ta flexspline je t\u00e9m\u011b\u0159 konstantn\u00ed v absolutn\u00edch wattech bez ohledu na zat\u00ed\u017een\u00ed). Cykloidn\u00ed \u00fa\u010dinnost p\u0159i \u010d\u00e1ste\u010dn\u00e9m zat\u00ed\u017een\u00ed je st\u0159edn\u00ed \u2013 80\u201388%.<\/p>\n

Tato mezera v \u00fa\u010dinnosti p\u0159i \u010d\u00e1ste\u010dn\u00e9m zat\u00ed\u017een\u00ed je obzvl\u00e1\u0161t\u011b v\u00fdznamn\u00e1 u korejsk\u00fdch servopohon\u016f balic\u00edch a mont\u00e1\u017en\u00edch stroj\u016f, kter\u00e9 tr\u00e1v\u00ed zna\u010dnou dobu p\u0159i \u010d\u00e1ste\u010dn\u00e9m zat\u00ed\u017een\u00ed b\u011bhem zrychlovac\u00edch ramp, f\u00e1z\u00ed prodlevy a manipulace s lehk\u00fdm zat\u00ed\u017een\u00edm. Korejsk\u00e9 kobotov\u00e9 rameno v re\u017eimu uchopen\u00ed a um\u00edst\u011bn\u00ed m\u016f\u017ee pracovat s pln\u00fdm jmenovit\u00fdm momentem pouze po dobu 10\u2013201 TP3T sv\u00e9ho cyklu \u2013 zb\u00fdvaj\u00edc\u00edch 80\u2013901 TP3T str\u00e1v\u00ed p\u0159i \u010d\u00e1ste\u010dn\u00e9m zat\u00ed\u017een\u00ed. P\u0159i tomto pracovn\u00edm cyklu se re\u00e1ln\u00e1 pr\u016fm\u011brn\u00e1 \u00fa\u010dinnost harmonick\u00e9ho pohonu bl\u00ed\u017e\u00ed 70\u2013751 TP3T, nikoli katalogov\u011b uv\u00e1d\u011bn\u00fdm 80\u2013851 TP3T.<\/p>\n<\/div>\n

\n
\n

\u00da\u010dinnost p\u0159i \u010d\u00e1ste\u010dn\u00e9m zat\u00ed\u017een\u00ed (% jmenovit\u00e9ho to\u010div\u00e9ho momentu)<\/p>\n

Zat\u00ed\u017een\u00ed % Planet\u00e1rn\u00ed harmonick\u00fd cykloidn\u00ed
\n100% 97% 82% 92%
\n70% 96% 78% 89%
\n50% 95% 73% 86%
\n30% 94% 68% 82%
\n10% 92% 58% 75% \u00da\u010dinnost p\u0159i \u010d\u00e1ste\u010dn\u00e9m zat\u00ed\u017een\u00ed je d\u016fle\u017eit\u00e1:
\nV\u011bt\u0161ina korejsk\u00fdch servoos pou\u017e\u00edv\u00e1 20\u201370%
\njmenovit\u00e9ho momentu pro dobu cyklu >70%.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

\u010casto kladen\u00e9 ot\u00e1zky \u2013 Planet\u00e1rn\u00ed vs. harmonick\u00fd pohon vs. cykloidn\u00ed<\/h2>\n
\n
\n

Ot\u00e1zka<\/span>
\nN\u00e1\u0161 korejsk\u00fd integr\u00e1tor robot\u016f doporu\u010duje harmonick\u00e9 pohony na v\u0161ech \u0161esti kloubech. Je to nutn\u00e9?<\/h3>\n

U kloub\u016f J4\u2013J6 (z\u00e1p\u011bst\u00ed), kde specifikace vy\u017eaduje v\u016fli \u22640,5 \u00fahlov\u00fdch minut a c\u00edlov\u00e1 p\u0159esnost st\u0159edov\u00e9ho bodu n\u00e1stroje v dosahu je \u00b10,05 mm, jsou harmonick\u00e9 pohony technicky opodstatn\u011bn\u00e9. U kloub\u016f J1\u2013J3 (z\u00e1kladna, rameno, koleno) je p\u0159esnost TCP dominantn\u011b ovlivn\u011bna struktur\u00e1ln\u00ed poddajnost\u00ed a tuhost\u00ed kloub\u016f na t\u011bchto velk\u00fdch polom\u011brech, nikoli v\u016fl\u00ed p\u0159evodovky \u2013 planetov\u00e9 p\u0159evodovky P0 nebo P1 (\u22641\u20133 \u00fahlov\u00fdch minut) dosahuj\u00ed stejn\u00e9 p\u0159esnosti TCP robota v J1\u2013J3 p\u0159i v\u00fdrazn\u011b ni\u017e\u0161\u00edch n\u00e1kladech a vy\u0161\u0161\u00ed \u00fa\u010dinnosti. Spr\u00e1vn\u011b specifikovan\u00fd 6os\u00fd korejsk\u00fd kobot pou\u017e\u00edv\u00e1 harmonick\u00e9 pohony v J4\u2013J6 a planetov\u00e9 p\u0159evodovky v J1\u2013J3. Pokud v\u00e1\u0161 integr\u00e1tor specifikuje harmonick\u00e9 pohony ve v\u0161ech \u0161esti kloubech, po\u017e\u00e1dejte ho o p\u0159edlo\u017een\u00ed v\u00fdpo\u010dtu spojuj\u00edc\u00edho v\u016fli p\u0159evodovky J1\u2013J3 s p\u0159esnost\u00ed TCP \u2013 ve v\u011bt\u0161in\u011b p\u0159\u00edpad\u016f v\u00fdpo\u010det uk\u00e1\u017ee, \u017ee planet\u00e1rn\u00ed p\u0159evodovka P0 v J1\u2013J3 dosahuje stejn\u00e9ho v\u00fdsledku.<\/p>\n<\/div>\n

\n

Ot\u00e1zka<\/span>
\nM\u016f\u017ee planetov\u00e1 p\u0159evodovka Korea Ever-Power EP-AFH nahradit harmonick\u00fd pohon na korejsk\u00e9m kloubu kobot\u016f?<\/h3>\n

Ten\/Ta\/To Ultrap\u0159esn\u00e1 \u0159ada EP-AFH<\/a> Standardn\u011b poskytuje v\u016fli \u22641 arcmin \u2013 bl\u00ed\u017e\u00ed se hodnot\u011b \u22640,5 arcmin u harmonick\u00e9ho pohonu, ale neodpov\u00edd\u00e1 j\u00ed. Pro klouby J1\u2013J3 u kobota s dosahem 400\u2013600 mm je spr\u00e1vnou n\u00e1hradou EP-AFH \u2013 p\u0159esnost TCP u t\u011bchto polom\u011br\u016f nen\u00ed sn\u00ed\u017eena rozd\u00edlem 0,5 arcmin. U z\u00e1p\u011bstn\u00edch kloub\u016f J4\u2013J6, kde je skute\u010dn\u00fdm funk\u010dn\u00edm po\u017eadavkem m\u00e9n\u011b ne\u017e 0,5 arcmin, je EP-AFH p\u0159i \u22641 arcmin m\u00edrn\u011b mimo specifikaci. Spole\u010dnost Korea Ever-Power doporu\u010duje ov\u011b\u0159it specifick\u00fd po\u017eadavek na p\u0159esnost u kloubu \u2013 pokud je po\u017eadavek \u22641 arcmin u kloubu (ne u TCP), je EP-AFH p\u0159\u00edmou n\u00e1kladov\u011b efektivn\u00ed n\u00e1hradou. Pokud je specifikov\u00e1na hodnota \u22640,5 arcmin u kloubu, z\u016fst\u00e1v\u00e1 spr\u00e1vnou volbou harmonick\u00fd pohon.<\/p>\n<\/div>\n

\n

Ot\u00e1zka<\/span>
\nPro\u010d korej\u0161t\u00ed v\u00fdrobci CNC obr\u00e1b\u011bc\u00edch stroj\u016f pou\u017e\u00edvaj\u00ed pro oto\u010dn\u00e9 stoly planetov\u00e9 p\u0159evodovky m\u00edsto harmonick\u00fdch pohon\u016f?<\/h3>\n

Korejsk\u00e9 oto\u010dn\u00e9 stoly pro 5os\u00e9 obr\u00e1b\u011bc\u00ed centra vy\u017eaduj\u00ed p\u0159esnost polohov\u00e1n\u00ed \u22641 arcmin a p\u0159\u00eddr\u017en\u00fd moment 2 000\u20135 000 N\u00b7m proti obr\u00e1b\u011bc\u00edm sil\u00e1m. Harmonick\u00e9 pohony s t\u011bmito \u00farovn\u011bmi to\u010div\u00e9ho momentu se st\u00e1vaj\u00ed velmi drah\u00fdmi (3\u20138\u00d7 n\u00e1klady na ekvivalentn\u00ed planetov\u00e9 p\u0159evodovky) a jejich n\u00e1sobek \u0161pi\u010dkov\u00e9ho to\u010div\u00e9ho momentu 1,5\u20132\u00d7 jmenovit\u00fd je nedostate\u010dn\u00fd pro r\u00e1zov\u00e9 zat\u00ed\u017een\u00ed p\u0159i p\u0159eru\u0161ovan\u00e9m \u0159ez\u00e1n\u00ed p\u0159i fr\u00e9zov\u00e1n\u00ed titanu a vysoce tvrd\u00fdch ocel\u00ed \u2013 \u0161pi\u010dkov\u00e9 \u0159ezn\u00e9 s\u00edly mohou b\u011bhem obr\u00e1cen\u00ed dr\u00e1hy n\u00e1stroje p\u0159ekro\u010dit 2,5\u00d7 jmenovit\u00fd p\u0159\u00eddr\u017en\u00fd moment. Planetov\u00e1 p\u0159evodovka (P0 \u22641 arcmin, \u0161pi\u010dkov\u00fd to\u010div\u00fd moment 2\u20133\u00d7 jmenovit\u00fd) spl\u0148uje po\u017eadavek na p\u0159esnost a odol\u00e1v\u00e1 r\u00e1zov\u00e9mu zat\u00ed\u017een\u00ed za cenu, kter\u00e1 z n\u00ed \u010din\u00ed univerz\u00e1ln\u00ed volbu pro korejsk\u00e9 pohony oto\u010dn\u00fdch stol\u016f CNC.<\/p>\n<\/div>\n

\n

Ot\u00e1zka<\/span>
\nPro korejsk\u00e9 v\u00fdrobce stroj\u016f, kte\u0159\u00ed zva\u017euj\u00ed \u0161nekov\u00e9 reduktory jako cenov\u011b dostupnou alternativu, jak se toto srovn\u00e1n\u00ed roz\u0161i\u0159uje?<\/h3>\n

\u0160nekov\u00e9 p\u0159evodovky<\/a> zauj\u00edmaj\u00ed jinou cenovou \u00farove\u0148 \u2013 obvykle 0,3\u20130,6\u00d7 cenu ekvivalentn\u00edho planetov\u00e9ho p\u0159evodovky \u2013 ale tato cenov\u00e1 v\u00fdhoda p\u0159ich\u00e1z\u00ed s v\u00fdznamn\u00fdmi kompromisy ve v\u00fdkonu: \u00fa\u010dinnost 40\u201370% (oproti planetov\u00e9mu p\u0159evodovce \u226597%), v\u016fle 10\u201330 \u00fahlov\u00fdch minut (oproti planetov\u00e9mu p\u0159evodovce \u22641\u20135 \u00fahlov\u00fdch minut) a to\u010div\u00fd moment, kter\u00fd se v\u00fdrazn\u011b sni\u017euje p\u0159i okoln\u00ed teplot\u011b nad 40 \u00b0C s klesaj\u00edc\u00ed viskozitou maziva \u0161neku. \u0160nekov\u00e9 reduktory jsou vhodn\u00e9 pro pomal\u00e9 pohony dopravn\u00edk\u016f a aplikace s m\u00edchadly, kde je \u00fa\u010dinnost a v\u016fle druho\u0159ad\u00e1 v\u016f\u010di n\u00e1klad\u016fm a samosvornosti. Pro jakoukoli aplikaci vy\u017eaduj\u00edc\u00ed servo\u0159\u00edzen\u00ed polohy s uzav\u0159enou smy\u010dkou \u00fa\u010dinn\u011b br\u00e1n\u00ed v\u016fle \u0161neku 10\u201330 \u00fahlov\u00fdch minut jeho pou\u017eit\u00ed na p\u0159esn\u00fdch os\u00e1ch \u2013 planetov\u00e1 p\u0159evodovka je minim\u00e1ln\u00edm standardem p\u0159esnosti pro servo polohov\u00e1n\u00ed.<\/p>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Ov\u011b\u0159te si spr\u00e1vnou technologii s podporou aplikac\u00ed Korea Ever-Power<\/h2>\n

Aplika\u010dn\u00ed t\u00fdm spole\u010dnosti Korea Ever-Power vyhodnot\u00ed va\u0161e po\u017eadavky na p\u0159esnost, profil r\u00e1zov\u00e9ho zat\u00ed\u017een\u00ed a rozpo\u010det na \u00fa\u010dinnost, aby potvrdil, zda je planetov\u00e1 p\u0159evodovka spr\u00e1vnou technologi\u00ed \u2013 nebo zda je opodstatn\u011bn\u00fd jin\u00fd p\u0159\u00edstup. Poctiv\u00e9 posouzen\u00ed, tent\u00fd\u017e pracovn\u00ed den, v korej\u0161tin\u011b.<\/p>\n

\u0158ada Precision EP-AB P0\/P1 \u2192
\n<\/a><\/div>\n<\/section>\n

St\u0159iha\u010d: Cxm<\/p>\n<\/div>","protected":false},"excerpt":{"rendered":"

Technical Comparison \u00b7 5-Dimension Analysis \u00b7 Korean Price Bands \u00b7 Application Fit Planetary Gearbox vs Harmonic Drive vs Cycloidal \u2014 Which to Specify When The planetary gearbox vs harmonic drive vs cycloidal debate occupies Korean machine builders choosing between these three technologies encounter the same gap in published documentation: backlash numbers and torque ratings are […]<\/p>","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_et_pb_use_builder":"","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"categories":[965],"tags":[],"class_list":["post-672","post","type-post","status-publish","format-standard","hentry","category-application-and-technical-guid"],"_links":{"self":[{"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/posts\/672","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/comments?post=672"}],"version-history":[{"count":2,"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/posts\/672\/revisions"}],"predecessor-version":[{"id":674,"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/posts\/672\/revisions\/674"}],"wp:attachment":[{"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/media?parent=672"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/categories?post=672"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/planetary-gearboxes.com\/cs\/wp-json\/wp\/v2\/tags?post=672"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}