{"id":754,"date":"2026-06-03T02:05:14","date_gmt":"2026-06-03T02:05:14","guid":{"rendered":"https:\/\/planetary-gearboxes.com\/?p=754"},"modified":"2026-06-03T02:05:14","modified_gmt":"2026-06-03T02:05:14","slug":"planetary-gearbox-selection-industrial-robot-joint-j1-j6","status":"publish","type":"post","link":"https:\/\/planetary-gearboxes.com\/cs\/planetary-gearbox-selection-industrial-robot-joint-j1-j6\/","title":{"rendered":"V\u00fdb\u011br planetov\u00e9 p\u0159evodovky pro klouby pr\u016fmyslov\u00fdch robot\u016f J1 a\u017e J6"},"content":{"rendered":"
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Korea Ever-Power<\/span>
\nPr\u016fvodce aplikacemi robotiky<\/span><\/div>\n

V\u00fdb\u011br planetov\u00e9 p\u0159evodovky pro klouby pr\u016fmyslov\u00fdch robot\u016f J1 a\u017e J6 \u2013 Pro\u010d ka\u017ed\u00e1 osa pot\u0159ebuje jinou specifikaci<\/h1>\n

Vzhledem k tomu, \u017ee v roce 2024 bylo po cel\u00e9m sv\u011bt\u011b instalov\u00e1no 542 076 pr\u016fmyslov\u00fdch robot\u016f \u2013 co\u017e je druh\u00fd nejvy\u0161\u0161\u00ed ro\u010dn\u00ed po\u010det v historii \u2013 jsou korej\u0161t\u00ed v\u00fdrobci OEM pod siln\u00fdm tlakem, aby spr\u00e1vn\u011b specifikovali servo p\u0159evodovky hned napoprv\u00e9. Jedin\u00e1 nespr\u00e1vn\u00e1 specifikace kloubu u 6os\u00e9ho robota znamen\u00e1 bu\u010f p\u0159ed\u010dasn\u00e9 selh\u00e1n\u00ed lo\u017eiska u nedostate\u010dn\u011b specifikovan\u00e9 jednotky, nebo zbyte\u010dn\u00e9 n\u00e1klady a ztr\u00e1ty setrva\u010dnosti v d\u016fsledku nadm\u011brn\u011b specifikovan\u00e9 jednotky. Tato p\u0159\u00edru\u010dka poskytuje r\u00e1mec pro ka\u017edou osu.<\/p>\n

Z\u00edskejte podporu pro v\u00fdb\u011br spoj\u016f \u2192<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>\n

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Pro\u010d jedna \u0159ada planetov\u00fdch p\u0159evodovek nem\u016f\u017ee obslou\u017eit v\u0161ech \u0161est robotick\u00fdch kloub\u016f<\/h2>\n

\u0160est os standardn\u00edho pr\u016fmyslov\u00e9ho robota se li\u0161\u00ed nejen v po\u017eadavc\u00edch na to\u010div\u00fd moment \u2013 \u200b\u200bz\u00e1sadn\u011b se li\u0161\u00ed v tom, kter\u00e1 fyzik\u00e1ln\u00ed vlastnost p\u0159evodovky je nejd\u016fle\u017eit\u011bj\u0161\u00ed. J1 a J2 jsou dominantn\u011b ovlivn\u011bny po\u017eadavky na setrva\u010dnost a torzn\u00ed tuhost, kter\u00e9 standardn\u00ed p\u0159esn\u00e9 planetov\u00e9 p\u0159evodovky nemohou ve sv\u00e9 t\u0159\u00edd\u011b to\u010div\u00e9ho momentu adekv\u00e1tn\u011b splnit. J3 je probl\u00e9m rovnov\u00e1hy mezi to\u010div\u00fdm momentem a \u00fa\u010dinnost\u00ed. J4 a J5 jsou prim\u00e1rn\u011b probl\u00e9mem uspo\u0159\u00e1d\u00e1n\u00ed, kde axi\u00e1ln\u00ed hloubka ur\u010duje, zda z\u00e1p\u011bst\u00ed robota z\u016fstane v r\u00e1mci sv\u00e9 c\u00edlov\u00e9 ob\u00e1lky. J6 je probl\u00e9m minimalizace rychlosti a hmotnosti.<\/p>\n

Pou\u017eit\u00ed stejn\u00e9 \u0159ady p\u0159evodovek na v\u0161ech \u0161est kloub\u016f \u2013 b\u011b\u017en\u00e1 zkratka v ran\u00fdch f\u00e1z\u00edch n\u00e1vrhu robot\u016f \u2013 vede k tomu, \u017ee n\u011bkter\u00e9 klouby jsou nadm\u011brn\u011b specifikovan\u00e9 (t\u011b\u017ek\u00e9, drah\u00e9, s vysokou setrva\u010dnost\u00ed) a jin\u00e9 podm\u011brn\u011b specifikovan\u00e9 (nedostate\u010dn\u00e1 tuhost nebo axi\u00e1ln\u00ed \u00fanosnost). Spr\u00e1vn\u00fd p\u0159\u00edstup je zach\u00e1zet s ka\u017ed\u00fdm kloubem jako s nez\u00e1visl\u00fdm probl\u00e9mem v\u00fdb\u011bru, \u0159e\u0161en\u00fdm postupn\u011b od J1 sm\u011brem ven.<\/p>\n

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Spoj<\/th>\nPrim\u00e1rn\u00ed hnac\u00ed s\u00edla n\u00e1vrhu<\/th>\nTypick\u00fd rozsah to\u010div\u00e9ho momentu<\/th>\nTypick\u00fd pom\u011br<\/th>\nPo\u017eadavek na IP adresu<\/th>\nDoporu\u010den\u00e1 s\u00e9rie EP<\/th>\n<\/tr>\n<\/thead>\n
J1 \u2014 Pas<\/td>\nTorzn\u00ed tuhost
\nSetrva\u010dnost v\u017edy >5:1<\/span><\/td>\n		800\u20133 000+ N\u00b7m<\/td>\n20:1 \u2013 40:1<\/td>\nPreferov\u00e1no IP65<\/td>\nEP-ZDS-142\/190<\/a><\/td>\n<\/tr>\n
J2 \u2014 Velk\u00e9 rameno<\/td>\nTo\u010div\u00fd moment + tuhost
\nVrcholov\u00fd gravita\u010dn\u00ed to\u010div\u00fd moment<\/span><\/td>\n		600\u20132 000+ N\u00b7m<\/td>\n16:1 \u2013 25:1<\/td>\nPreferov\u00e1no IP65<\/td>\nEP-ZDS-115\/142<\/a><\/td>\n<\/tr>\n
J3 \u2013 Mal\u00e1 zbra\u0148<\/td>\nTo\u010div\u00fd moment + \u00fa\u010dinnost<\/td>\n250\u2013800 N\u00b7m<\/td>\n10:1 \u2013 20:1<\/td>\nIP54<\/td>\nEP-ZDS-115<\/strong> nebo EP-ZDE-160<\/a><\/td>\n<\/tr>\n
J4 \u2014 Rolov\u00e1n\u00ed z\u00e1p\u011bst\u00edm<\/td>\nAxi\u00e1ln\u00ed hloubka (kompaktn\u00ed)<\/td>\n20\u201380 N\u00b7m<\/td>\n8:1 \u2013 16:1<\/td>\nIP54<\/td>\nEP-ZDWE-80<\/a> nebo EP-ZDE-80<\/td>\n<\/tr>\n
J5 \u2014 Z\u00e1p\u011bstn\u00ed ohyb<\/td>\nAxi\u00e1ln\u00ed hloubka (kompaktn\u00ed)<\/td>\n15\u201360 N\u00b7m<\/td>\n8:1 \u2013 16:1<\/td>\nIP54<\/td>\nEP-ZDWE-60\/80<\/a><\/td>\n<\/tr>\n
J6 \u2014 Rotace n\u00e1stroje<\/td>\nMinimalizace hmotnosti<\/td>\n5\u201320 N\u00b7m<\/td>\n3:1 \u2013 8:1<\/td>\nIP54<\/td>\nEP-ZDE-60<\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/section>\n

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\"P\u0159esn\u00e9<\/p>\n
Klouby ramen pr\u016fmyslov\u00fdch robot\u016f vy\u017eaduj\u00ed v ka\u017ed\u00e9 ose odli\u0161n\u00e9 specifikace planetov\u00fdch p\u0159evod\u016f \u2013 od vysoce tuh\u00fdch jednotek s kryt\u00edm IP65 u J1\/J2 a\u017e po kompaktn\u00ed pravo\u00fahl\u00e9 vstupn\u00ed jednotky u J4\/J5. Zobrazit planetovou p\u0159evodovku \u0159ady EP \u2192<\/a><\/div>\n<\/div>\n

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J1 a J2 \u2013 Pro\u010d je torzn\u00ed tuhost d\u016fle\u017eit\u011bj\u0161\u00ed ne\u017e v\u016fle<\/h2>\n

Klouby J1 (rotace pasu) a J2 (velk\u00e9 rameno) jsou nejn\u00e1ro\u010dn\u011bj\u0161\u00edmi klouby u jak\u00e9hokoli 6os\u00e9ho robota. V kloubu J1 se cel\u00e9 t\u011blo robota plus maxim\u00e1ln\u00ed u\u017eite\u010dn\u00e9 zat\u00ed\u017een\u00ed ot\u00e1\u010d\u00ed kolem z\u00e1kladny. V kloubu J2 p\u016fsob\u00ed kombinovan\u00e1 hmotnost p\u0159edlokt\u00ed, z\u00e1p\u011bst\u00ed a u\u017eite\u010dn\u00e9ho zat\u00ed\u017een\u00ed na rameno maxim\u00e1ln\u00edho momentu, kdy\u017e je rameno pln\u011b nata\u017eeno vodorovn\u011b. Oba klouby maj\u00ed jednu ur\u010duj\u00edc\u00ed charakteristiku: jejich setrva\u010dnost zat\u00ed\u017een\u00ed konstruk\u010dn\u011b p\u0159evy\u0161uje setrva\u010dnost rotoru servomotoru o 10\u201335\u00d7, a to i p\u0159i p\u0159evodov\u00fdch pom\u011brech 20:1.<\/p>\n

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Pro\u010d J1\/J2 v\u017edy p\u0159ekra\u010duj\u00ed pom\u011br setrva\u010dnosti 3:1 \u2013 a co to znamen\u00e1<\/div>\n

Pro robota s u\u017eite\u010dn\u00fdm zat\u00ed\u017een\u00edm 100 kg je efektivn\u00ed setrva\u010dnost zat\u00ed\u017een\u00ed v bod\u011b J1 p\u0159ibli\u017en\u011b 540 kg\u00b7m\u00b2 \u2013 cel\u00e9 t\u011blo robota a u\u017eite\u010dn\u00e9 zat\u00ed\u017een\u00ed se ot\u00e1\u010d\u00ed kolem z\u00e1kladny. Velk\u00fd servomotor pro tuto t\u0159\u00eddu m\u00e1 setrva\u010dnost rotoru J_motor \u2248 0,15 kg\u00b7m\u00b2. P\u0159i p\u0159evodov\u00e9m pom\u011bru 20:1: J_reflected = 540\/20\u00b2 = 1,35 kg\u00b7m\u00b2<\/strong>, co\u017e d\u00e1v\u00e1 pom\u011br setrva\u010dnosti 1,35\/0,15 = 9:1<\/strong> \u2014 v\u00fdrazn\u011b nad \u201ebezpe\u010dn\u00fdm\u201c c\u00edlem 3:1. U J2 s pom\u011brem 20:1 se pom\u011br zlep\u0161uje p\u0159ibli\u017en\u011b na 2:1, \u010d\u00edm\u017e se 20:1 st\u00e1v\u00e1 preferovan\u00fdm pom\u011brem pro J2.<\/p>\n

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Pom\u011br setrva\u010dnosti J1 p\u0159i 20:1: 1,35 \/ 0,15 = 9,0:1 \u2190 v\u017edy vysok\u00fd pro osu pasu<\/div>\n
Pom\u011br setrva\u010dnosti J2 p\u0159i 16:1: 0,38 \/ 0,12 = 3,2:1 \u26a0\ufe0f mezn\u00ed \u2013 pou\u017eijte 20:1<\/div>\n
Pom\u011br setrva\u010dnosti J2 p\u0159i 20:1: 0,24 \/ 0,12 = 2,0:1 \u2705 ide\u00e1ln\u00ed<\/div>\n
Pom\u011br setrva\u010dnosti J3 p\u0159i 16:1: 0,09 \/ 0,05 = 1,7:1 \u2705 ide\u00e1ln\u00ed<\/div>\n<\/div>\n<\/div>\n

In\u017een\u00fdrsk\u00e9 \u0159e\u0161en\u00ed: Torzn\u00ed tuhost zvy\u0161uje rezonan\u010dn\u00ed frekvenci<\/h3>\n

Kdy\u017e pom\u011br setrva\u010dnosti p\u0159ekro\u010d\u00ed 3:1, standardn\u00ed p\u0159\u00edstup \u2013 zv\u00fd\u0161en\u00ed zes\u00edlen\u00ed serva Kv \u2013 vybud\u00ed mechanickou rezonan\u010dn\u00ed frekvenci hnac\u00edho \u00fastroj\u00ed. Pro J1 a J2 mus\u00ed b\u00fdt tato rezonan\u010dn\u00ed frekvence posunuta nad \u0161\u00ed\u0159ku p\u00e1sma \u0159\u00edzen\u00ed serva (obvykle 50\u2013100 Hz pro regul\u00e1tory kloub\u016f robot\u016f), aby se zabr\u00e1nilo kmit\u00e1n\u00ed. Rezonan\u010dn\u00ed frekvence syst\u00e9mu z\u00e1t\u011b\u017e-p\u0159evodovka je:<\/p>\n

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f_rezonance = (1\/2\u03c0) \u00d7 \u221a(Ct_v\u00fdstup \/ J_z\u00e1t\u011b\u017e_v\u00fdstup)<\/div>\n
kde Ct_output = torzn\u00ed tuhost na v\u00fdstupn\u00edm h\u0159\u00eddeli [N\u00b7m\/rad]; J_load_output = setrva\u010dnost zat\u00ed\u017een\u00ed [kg\u00b7m\u00b2]<\/div>\n
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EP-ZDE-160 (Ct=38 N\u00b7m\/arcmin \u2192 130 000 N\u00b7m\/rad): f_rezonan\u010dn\u00ed \u2248 2,5 Hz<\/strong> na J2 \u2014 pod \u0161\u00ed\u0159kou p\u00e1sma serva \u2192 riziko kmit\u00e1n\u00ed<\/div>\n
EP-ZDS-115 (Ct=20 N\u00b7m\/obloukov\u00e1 minuta \u2192 68 755 N\u00b7m\/rad): f_rezonan\u010dn\u00ed \u2248 4,2 Hz<\/strong> na J2<\/div>\n
EP-ZDS-142 (Ct=44 N\u00b7m\/obloukov\u00e1 minuta \u2192 151 260 N\u00b7m\/rad): f_rezonan\u010dn\u00ed \u2248 6,3 Hz<\/strong> na J2 \u2013 zvl\u00e1dnuteln\u00fd rozsah<\/div>\n<\/div>\n
1 arcmin = \u03c0\/(60\u00d7180) rad \u2248 0,000291 rad. Ct[N\u00b7m\/rad] = Ct[N\u00b7m\/arcmin] \/ 0,000291.<\/div>\n<\/div>\n

Tento v\u00fdpo\u010det vysv\u011btluje, pro\u010d v\u00fdrobci robot\u016f historicky pou\u017e\u00edvali pro spoje J1 a J2 p\u0159evodovky s deforma\u010dn\u00ed vlnou (nulov\u00e1 v\u016fle, extr\u00e9mn\u011b vysok\u00e1 tuhost) a pro\u010d je pro tyto spoje relevantn\u00ed \u0159ada EP-ZDS s vysokou tuhost\u00ed \u2013 s torzn\u00ed tuhost\u00ed a\u017e 130 N\u00b7m\/\u00fahlovou minutu a axi\u00e1ln\u00ed \u00fanosnost\u00ed 28 000 N \u2013 sp\u00ed\u0161e ne\u017e standardn\u00ed EP-ZDE. Specifikace v\u016fle (<8 \u00fahlov\u00fdch minut pro EP-ZDS) je druho\u0159ad\u00e1 vzhledem k hodnot\u011b Ct v t\u00e9to ose.<\/p>\n

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Kontroln\u00ed seznam specifikac\u00ed J1<\/div>\n