{"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\/sk\/planetary-gearbox-vs-harmonic-drive-vs-cycloidal\/","title":{"rendered":"Plan\u00e9tov\u00e1 prevodovka vs. harmonick\u00fd pohon vs. cykloidn\u00fd reduktor"},"content":{"rendered":"
\n

<\/p>\n

\"Porovnanie<\/p>\n
\n
Technick\u00e9 porovnanie \u00b7 5-rozmern\u00e1 anal\u00fdza \u00b7 K\u00f3rejsk\u00e9 cenov\u00e9 p\u00e1sma \u00b7 Vhodnos\u0165 pre aplik\u00e1ciu<\/div>\n

Plan\u00e9tov\u00e1 prevodovka vs. harmonick\u00fd pohon
\nvs. cykloidn\u00e9 \u2013 ktor\u00e9 kedy \u0161pecifikova\u0165<\/h1>\n

Debata o plan\u00e9tovej prevodovke verzus harmonickom pohone verzus cykloidnom pohone zamestn\u00e1va k\u00f3rejsk\u00fdch v\u00fdrobcov strojov, ktor\u00ed si vyberaj\u00fa medzi t\u00fdmito tromi technol\u00f3giami, a nar\u00e1\u017eaj\u00fa na rovnak\u00fa medzeru v publikovanej dokument\u00e1cii: \u010d\u00edsla v\u00f4le a kr\u00fatiaceho momentu sa daj\u00fa \u013eahko n\u00e1js\u0165, ale p\u00e4\u0165 rozmerov, ktor\u00e9 skuto\u010dne ur\u010duj\u00fa, ktor\u00e1 technol\u00f3gia je pre konkr\u00e9tnu aplik\u00e1ciu v\u00ed\u0165azn\u00e1 \u2013 tolerancia r\u00e1zov\u00e9ho za\u0165a\u017eenia, \u00fa\u010dinnos\u0165 pri pracovn\u00fdch cykloch, \u00fanavov\u00e1 \u017eivotnos\u0165, jednotkov\u00e9 n\u00e1klady pri k\u00f3rejskom objeme a realita \u00fadr\u017eby<\/strong> \u2014 s\u00fa zriedka kvantifikovan\u00e9 v tom istom dokumente.<\/p>\n

Zobrazi\u0165 s\u00e9riu EP-AB Precision \u2192
\n<\/a><\/p>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Tri z\u00e1sadne odli\u0161n\u00e9 reduk\u010dn\u00e9 mechanizmy<\/h2>\n
\n
\n
PLANET\u00c1RNY<\/div>\n

Evolventn\u00e9 ozuben\u00e9 koles\u00e1 s valiv\u00fdm stykom<\/h3>\n

Centr\u00e1lne koleso poh\u00e1\u0148a viacero plan\u00e9tov\u00fdch ozuben\u00fdch kolies, ktor\u00e9 s\u00fa s\u00fa\u010dasne v z\u00e1bere s pevn\u00fdm korunov\u00fdm kolesom. Za\u0165a\u017eenie je rozlo\u017een\u00e9 medzi N kontaktov plan\u00e9t (N=3\u20135), \u010d\u00edm sa vytv\u00e1ra vysok\u00e1 hustota kr\u00fatiaceho momentu v kompaktnom valcovom obale. Zuby ozuben\u00e9ho kolesa sa v kontakte ot\u00e1\u010daj\u00fa a pos\u00favaj\u00fa \u2013 kontaktn\u00e9 nap\u00e4tie je Hertzovo, \u00famern\u00e9 aplikovan\u00e9mu za\u0165a\u017eeniu.<\/p>\n

Rozsah pomeru: i = 3 \u2013 10 000
\nV\u00f4\u013ea: \u22641\u20138 obl\u00fakov\u00fdch min\u00fat (P0\u2013AE)
\n\u00da\u010dinnos\u0165: \u226594\u201398% na stupe\u0148
\nOdolnos\u0165 vo\u010di n\u00e1razom: VYSOK\u00c1 (kovov\u00e9 zuby)
\n\u00dadr\u017eba: Utesnen\u00e9 mazivo, \u017eiadne<\/div>\n<\/div>\n
\n
HARMONICK\u00dd BUDI\u010c (DEFORMA\u010cN\u00c1 VLNA)<\/div>\n

Elastick\u00e1 deform\u00e1cia flexspline<\/h3>\n

Va\u010dka gener\u00e1tora eliptickej vlny elasticky deformuje tenkostenn\u00e9 flexibiln\u00e9 ozuben\u00e9 koleso (flexspline) tak, aby zapadlo do z\u00e1beru s tuh\u00fdm kruhov\u00fdm dr\u00e1\u017ekovan\u00edm v dvoch diametr\u00e1lne proti\u013eahl\u00fdch bodoch. Rozdiel v po\u010dte zubov medzi flexspline a kruhov\u00fdm dr\u00e1\u017ekovan\u00edm sp\u00f4sobuje zn\u00ed\u017eenie r\u00fdchlosti. V\u00f4\u013ea je v\u010faka mechanizmu takmer nulov\u00e1 \u2013 pre z\u00e1ber vyvolan\u00fd deform\u00e1ciou nie je potrebn\u00e1 \u017eiadna v\u00f4\u013ea.<\/p>\n

Rozsah pomeru: i = 30\u2013320 na stupe\u0148
\nV\u00f4\u013ea: \u22640,5 arcmin (typick\u00e1)
\n\u00da\u010dinnos\u0165: 75\u201385% (strata flexspline)
\nTolerancia n\u00e1razov: N\u00cdZKA (\u00fanava z ohybu)
\n\u00dadr\u017eba: Mazanie, pravideln\u00e1 kontrola<\/div>\n<\/div>\n
\n
CYKLOJIDN\u00dd (REDUKTOR RV)<\/div>\n

Excentrick\u00e1 va\u010dka + z\u00e1ber \u010dapu a ozuben\u00e9ho kolesa<\/h3>\n

Excentrick\u00fd vstupn\u00fd k\u013eukov\u00fd hriade\u013e poh\u00e1\u0148a cykloidn\u00fd kot\u00fa\u010d, ktor\u00fd sa ot\u00e1\u010da okolo vn\u00fatornej strany pevn\u00e9ho kr\u00fa\u017eku valcov\u00fdch \u010dapov. Excentrick\u00fd pohyb kot\u00fa\u010da m\u00ednus jeden rozstup \u010dapov na ot\u00e1\u010dku sp\u00f4sobuje zn\u00ed\u017eenie ot\u00e1\u010dok. Ve\u013ek\u00e1 kontaktn\u00e1 plocha (polovica \u010dapov je v z\u00e1bere s\u00fa\u010dasne) poskytuje ve\u013emi vysok\u00fa hustotu kr\u00fatiaceho momentu a vynikaj\u00facu toleranciu n\u00e1razov. V\u00fdstup je odoberan\u00fd cez v\u00fdstupn\u00e9 \u010dapy v kot\u00fa\u010di.<\/p>\n

Rozsah pomeru: i = 6\u201387 na stupe\u0148
\nV\u00f4\u013ea: \u22641 arcmin (typick\u00e1)
\n\u00da\u010dinnos\u0165: 85\u2013931 TP3T na stupe\u0148
\nOdolnos\u0165 vo\u010di n\u00e1razom: VE\u013dMI VYSOK\u00c1
\n\u00dadr\u017eba: Olejov\u00fd k\u00fape\u013e, pravideln\u00e1 v\u00fdmena<\/div>\n<\/div>\n<\/div>\n

V porovnan\u00ed plan\u00e9tovej prevodovky s harmonick\u00fdm pohonom a cykloidn\u00fdm pohonom nie s\u00fa tieto tri mechanizmy konkuren\u010dn\u00fdmi verziami tej istej kon\u0161trukcie \u2013 ide skuto\u010dne o odli\u0161n\u00e9 in\u017einierske pr\u00edstupy s neprekr\u00fdvaj\u00facimi sa pevnostn\u00fdmi profilmi. Ot\u00e1zkou v\u00fdberu nie je \u201ektor\u00fd je lep\u0161\u00ed\u201c, ale \u201ektor\u00fd profil zodpoved\u00e1 skuto\u010dn\u00fdm po\u017eiadavk\u00e1m aplik\u00e1cie v ka\u017edom z piatich k\u013e\u00fa\u010dov\u00fdch rozmerov\u201c.<\/p>\n<\/section>\n

<\/p>\n

\n

P\u00e4\u0165rozmern\u00e9 kvantifikovan\u00e9 porovnanie \u2013 \u00fadaje, ktor\u00e9 katal\u00f3gov\u00e9 \u0161pecifik\u00e1cie nezobrazuj\u00fa<\/h2>\n
\n\n\n\n\n\n\n\n\n\n\n
Rozmer<\/th>\nPlanet\u00e1rny<\/th>\nHarmonick\u00fd pohon<\/th>\nCykloidn\u00fd (RV)<\/th>\n<\/tr>\n<\/thead>\n
V\u00f4\u013ea \u2013 jednostup\u0148ov\u00e1<\/td>\n\u22641\u20135 obl\u00fakov\u00fdch min\u00fat (P0\u2013P2)
\nVolite\u013en\u00fd stupe\u0148<\/span><\/td>\n		\u22640,5 obl\u00fakovej min\u00faty
\nNajlep\u0161\u00ed vo svojej triede<\/span><\/td>\n		\u22641 uhlov\u00fa min\u00fatu
\nDobr\u00e9, konzistentn\u00e9<\/span><\/td>\n<\/tr>\n
Hustota kr\u00fatiaceho momentu (N\u00b7m\/kg)<\/td>\n30\u201380 N\u00b7m\/kg
\nDobr\u00e9 \u2013 zdie\u013eanie na viacer\u00fdch plan\u00e9tach<\/span><\/td>\n		60 \u2013 150 N\u00b7m\/kg
\nNajlep\u0161\u00ed vo svojej triede, ve\u013emi kompaktn\u00fd<\/span><\/td>\n		80 \u2013 200 N\u00b7m\/kg
\nNajvy\u0161\u0161ia (ve\u013ek\u00e1 kontaktn\u00e1 plocha)<\/span><\/td>\n<\/tr>\n
Tolerancia r\u00e1zov\u00e9ho za\u0165a\u017eenia<\/td>\nVysok\u00e1
\nKovov\u00e9 zuby, \u0161pi\u010dka T = 2\u20133\u00d7 menovit\u00fd<\/span><\/td>\n		N\u00edzka
\nRiziko \u00fanavov\u00fdch trhl\u00edn pri flexspline<\/span><\/td>\n		Ve\u013emi vysok\u00e1
\n\u0160pi\u010dkov\u00e1 T = 5\u00d7 menovit\u00e1 (typick\u00e1)<\/span><\/td>\n<\/tr>\n
\u00da\u010dinnos\u0165 \u2013 trval\u00e9 menovit\u00e9 za\u0165a\u017eenie<\/td>\n94\u201398%
\nNajlep\u0161ie pre vysokov\u00fdkonn\u00e9 pohony<\/span><\/td>\n		75\u201385%
\nStrata hyster\u00e9zie flexspline<\/span><\/td>\n		85\u201393%
\nStraty tren\u00edm \u010dapov<\/span><\/td>\n<\/tr>\n
K\u00f3rejsk\u00e9 jednotkov\u00e9 n\u00e1klady (rovnak\u00fd T v\u00fdstup)<\/td>\n1,0\u00d7 (z\u00e1kladn\u00e1 hodnota)
\nNajlep\u0161ia hodnota za v\u00e4\u010d\u0161inu aplik\u00e1ci\u00ed<\/span><\/td>\n		3\u20138\u00d7
\nPresn\u00e9 obr\u00e1banie Flexspline<\/span><\/td>\n		2\u20134\u00d7
\nKomplexn\u00e1 excentrick\u00e1 zostava + zostava \u010dapu<\/span><\/td>\n<\/tr>\n
Po\u017eiadavka na \u00fadr\u017ebu<\/td>\n\u017diadne (utesnen\u00e9 mazivo)
\nV\u00fdpl\u0148 z v\u00fdroby vydr\u017e\u00ed cel\u00fa dobu<\/span><\/td>\n		Kontrola maziva (pravideln\u00e1)
\nKontrola flexspline v intervaloch<\/span><\/td>\n		V\u00fdmena olejov\u00e9ho k\u00fape\u013ea (pravideln\u00e1)
\nRo\u010dn\u00e1 kontrola hladiny\/kvality oleja<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n
\u010c\u00edtanie tejto tabu\u013eky: <\/strong>
\n\u017diadna technol\u00f3gia nez\u00edskava jednotliv\u00fd \u00faspech vo v\u0161etk\u00fdch rozmeroch v porovnan\u00ed plan\u00e9tovej prevodovky s harmonick\u00fdm pohonom. Harmonick\u00fd pohon vyhr\u00e1va v oblasti v\u00f4le a hustoty kr\u00fatiaceho momentu; cykloidn\u00fd pohon vyhr\u00e1va v oblasti tolerancie n\u00e1razov a n\u00e1sobku \u0161pi\u010dkov\u00e9ho kr\u00fatiaceho momentu; plan\u00e9tov\u00fd pohon vyhr\u00e1va v oblasti \u00fa\u010dinnosti, n\u00e1kladov a bez\u00fadr\u017ebovej utesnenej kon\u0161trukcie. Pou\u017eitie ur\u010duje, ktor\u00e9 rozmery s\u00fa najd\u00f4le\u017eitej\u0161ie \u2013 a vo v\u00e4\u010d\u0161ine k\u00f3rejsk\u00fdch servo aplik\u00e1ci\u00ed je dominantn\u00e1 \u00fa\u010dinnos\u0165 a n\u00e1klady, a preto plan\u00e9tov\u00e9 prevodovky obsluhuj\u00fa pribli\u017ene 80% k\u00f3rejsk\u00e9ho trhu so servopohonmi, napriek tomu, \u017ee nie s\u00fa l\u00eddrami v oblasti v\u00f4le alebo hustoty kr\u00fatiaceho momentu.<\/span><\/div>\n<\/section>\n

<\/p>\n

\n

Ke\u010f harmonick\u00fd pohon prekon\u00e1 planet\u00e1rny \u2013 skuto\u010dn\u00e9 pr\u00edpady pou\u017eitia<\/h2>\n
\n
\n

Harmonick\u00fd pohon si zasl\u00fa\u017ei svoju cenov\u00fa prir\u00e1\u017eku v aplik\u00e1ci\u00e1ch, kde je v\u00f4\u013ea \u2264 0,5 arcmin skuto\u010dnou funk\u010dnou po\u017eiadavkou \u2013 nielen konzervat\u00edvne vybranou \u0161pecifik\u00e1ciou. Tri k\u00f3rejsk\u00e9 kateg\u00f3rie aplik\u00e1ci\u00ed od\u00f4vod\u0148uj\u00fa v\u00fdber harmonick\u00e9ho pohonu napriek 3\u20138-n\u00e1sobnej cenovej prir\u00e1\u017eke oproti ekvivalentn\u00fdm plan\u00e9tov\u00fdm jednotk\u00e1m.<\/p>\n

\n
\u2460 Z\u00e1p\u00e4stn\u00e9 k\u013aby kolaborat\u00edvneho robota (J4\u2013J6)<\/strong><\/p>\n

Z\u00e1p\u00e4stn\u00e9 k\u013aby 6-osov\u00e9ho kolaborat\u00edvneho robota musia umiestni\u0165 stredov\u00fd bod n\u00e1stroja (TCP) s presnos\u0165ou na \u00b10,05 mm. Pri typickom dosahu TCP ramien k\u00f3rejsk\u00fdch cobotov 400 \u2013 600 mm sp\u00f4sobuje v\u00f4\u013ea \u22640,5 arcmin (0,008\u00b0) chybu TCP 0,06 mm \u2013 tesne v r\u00e1mci tolerancie. Planet\u00e1rny P0 (\u22641 arcmin) sp\u00f4sobuje chybu TCP 0,12 mm pri dosahu 600 mm \u2013 \u010do prekra\u010duje cie\u013eov\u00fa hodnotu \u00b10,05 mm. Pre k\u00f3rejsk\u00fdch v\u00fdrobcov OEM cobotov, ktor\u00ed s\u00fa\u0165a\u017eia v presnosti polohovania, je \u0161pecifik\u00e1cia harmonick\u00e9ho pohonu \u22640,5 arcmin \u0161pecifik\u00e1ciou, ktor\u00e1 zabezpe\u010duje funk\u010dnos\u0165 ich produktu; planet\u00e1rny P0 je pre t\u00fato aplik\u00e1ciu skuto\u010dne nedostato\u010dn\u00fd.<\/p>\n<\/div>\n

\u2461 Osi ot\u00e1\u010dania manipul\u00e1tora s polovodi\u010dov\u00fdmi do\u0161ti\u010dkami<\/strong><\/p>\n

K\u00f3rejsk\u00e9 manipul\u00e1tory FOUP a kazetov\u00e9 manipul\u00e1tory s do\u0161ti\u010dkami polohuj\u00fa do\u0161ti\u010dky s presnos\u0165ou \u00b10,1 mm na rota\u010dnej osi s polomerom 300 mm \u2013 \u010do vy\u017eaduje v\u00f4\u013eu pod 0,6 obl\u00fakovej min\u00faty. Prostredie \u010dist\u00fdch priestorov tie\u017e podporuje harmonick\u00e9 pohony: ich utesnen\u00e1 kompaktn\u00e1 kon\u0161trukcia generuje menej \u010dast\u00edc ako plan\u00e9tov\u00e9 s\u00fakolesia s v\u00e4\u010d\u0161\u00edm priemerom pri ekvivalentnom pomere kr\u00fatiaceho momentu k hmotnosti. Dod\u00e1vatelia zariaden\u00ed Samsung a SK Hynix \u0161pecifikuj\u00fa harmonick\u00e9 pohony pre rota\u010dn\u00e9 osi manipul\u00e1torov do\u0161ti\u010diek ako pravidlo kateg\u00f3rie.<\/p>\n<\/div>\n

\u2462 Osi polohovania presn\u00fdch optick\u00fdch pr\u00edstrojov<\/strong><\/p>\n

Pohony k\u00f3rejsk\u00fdch astronomick\u00fdch \u010falekoh\u013eadov, ant\u00e9ny na sledovanie satelitov a nakl\u00e1pacie osi viacosov\u00fdch laserov\u00fdch rezac\u00edch strojov vy\u017eaduj\u00fa opakovate\u013enos\u0165 v sub-uhlovej min\u00fate, ktor\u00fa plan\u00e9tov\u00e9 prevodovky pri P0 (\u22641 uhlov\u00e1 min\u00fata) nedok\u00e1\u017eu konzistentne zabezpe\u010di\u0165 naprie\u010d teplotn\u00fdmi cyklami. Takmer nulov\u00e1 v\u00f4\u013ea harmonick\u00e9ho pohonu nie je len v\u00fdhodou v \u0161pecifik\u00e1cii \u2013 zjednodu\u0161uje model servoriadenia \u00fapln\u00fdm odstr\u00e1nen\u00edm m\u0155tvej z\u00f3ny pri reverz\u00e1cii z riadiacej slu\u010dky.<\/p>\n<\/div>\n<\/div>\n

Varovanie pred harmonick\u00fdm r\u00e1zov\u00fdm za\u0165a\u017een\u00edm pohonu: <\/strong>
\nFlexspline \u2013 tenkostenn\u00e9 elastick\u00e9 ozuben\u00e9 koleso, ktor\u00e9 umo\u017e\u0148uje takmer nulov\u00fa v\u00f4\u013eu \u2013 je tie\u017e najkritickej\u0161\u00edm bodom poruchy harmonick\u00e9ho pohonu. R\u00e1zov\u00e9 za\u0165a\u017eenia presahuj\u00face menovit\u00fd \u0161pi\u010dkov\u00fd kr\u00fatiaci moment (typicky 1,5 \u2013 2\u00d7 menovit\u00fd pre harmonick\u00e9 pohony oproti 2 \u2013 3\u00d7 pre plan\u00e9tov\u00e9) sp\u00f4sobuj\u00fa \u00fanavov\u00e9 trhliny vo flexspline, ktor\u00e9 sa r\u00fdchlo \u0161\u00edria. K\u00f3rejsk\u00e9 robotick\u00e9 aplik\u00e1cie, kde rameno m\u00f4\u017ee po\u010das programovac\u00edch ch\u00fdb narazi\u0165 na obrobky alebo up\u00ednacie pr\u00edpravky, opakovane viedli k poruch\u00e1m flexspline, ktor\u00e9 si vy\u017eaduj\u00fa \u00fapln\u00fa v\u00fdmenu harmonick\u00e9ho pohonu. EP-AB P0<\/a> planet\u00e1rny prevod pri \u22641 arcmin odol\u00e1va rovnak\u00fdm n\u00e1razom pri kontakte zubov kovov\u00e9ho ozuben\u00e9ho kolesa \u2013 po\u0161kodenie je sp\u00f4soben\u00e9 \u00fanavou povrchu zuba, ktor\u00e1 sa hromad\u00ed pomaly, nie jedinou katastrofickou trhlinou.<\/span><\/div>\n<\/div>\n
\"Porovnanie
\n<\/p>\n
\n

CHYBA TCP PRI DOSAHU 600 mm<\/p>\n

Harmonick\u00e1 \u22640,5\u2032: 600 \u00d7 0,000145 = 0,087 mm \u2713
\nEP-AFH \u22641,0\u2032: 600 \u00d7 0,000291 = 0,175 mm \u2713
\nEP-AB P0 \u22641,0\u2032: rovnak\u00e9 ako AFH = 0,175 mm \u2713
\nEP-AB P1 \u22643,0\u2032: 600\u00d70,000873 = 0,524 mm \u2717<\/p>\n

\u0160pecifik\u00e1cia kobota \u00b10,05 mm pri 600 mm:<\/span>
\nVy\u017eaduje sa v\u00f4\u013ea \u22640,48 arcmin
\n\u2192 Vy\u017eaduje sa harmonick\u00fd pohon
\n\u2192 EP-AFH margin\u00e1lne<\/p>\n

Pri dosahu 300 mm:<\/span>
\nVy\u017eaduje sa v\u00f4\u013ea \u22640,96 arcmin
\n\u2192 EP-AFH \u22641\u2032 primeran\u00e9 \u2713
\n\u2192 EP-AB P0 margin\u00e1lne \u2713<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Ke\u010f cykloidn\u00fd prevod (reduktor RV) prekon\u00e1va plan\u00e9tov\u00fd prevod \u2013 vysok\u00fd r\u00e1z, vysok\u00fd kr\u00fatiaci moment<\/h2>\n
\n
\n

Charakteristick\u00fdm znakom cykloidn\u00e9ho reduktora je jeho v\u00fdnimo\u010dn\u00e1 tolerancia vo\u010di r\u00e1zov\u00e9mu za\u0165a\u017eeniu \u2013 typick\u00e9 s\u00fa \u0161pi\u010dkov\u00e9 kr\u00fatiace momenty 4\u20136\u00d7 menovit\u00e9ho trval\u00e9ho kr\u00fatiaceho momentu, v porovnan\u00ed s 2\u20133\u00d7 pre plan\u00e9tov\u00e9 a 1,5\u20132\u00d7 pre harmonick\u00e9 pohony. T\u00e1to tolerancia poch\u00e1dza z ve\u013ekej kontaktnej plochy cykloidn\u00e9ho mechanizmu: pribli\u017ene polovica v\u00fdstupn\u00fdch kol\u00edkov sa zapoj\u00ed s\u00fa\u010dasne, \u010d\u00edm sa r\u00e1zov\u00e9 za\u0165a\u017eenie rozlo\u017e\u00ed na viacero kontaktov, namiesto toho, aby sa s\u00fastredilo na dva body z\u00e1beru akt\u00edvne v plan\u00e9tovom prevode.<\/p>\n

V k\u00f3rejskom priemysle dominuj\u00fa cykloidn\u00e9 reduktory v troch kateg\u00f3ri\u00e1ch pou\u017eitia, kde s\u00fa prvorad\u00fdmi po\u017eiadavkami odolnos\u0165 vo\u010di n\u00e1razom a tuhos\u0165:<\/p>\n

\n
\u2460 Z\u00e1kladn\u00e9 spoje \u0165a\u017ek\u00fdch priemyseln\u00fdch robotov (J1\u2013J3)<\/strong><\/p>\n

K\u00f3rejsk\u00e9 automobilov\u00e9 zv\u00e1racie roboty (nosnos\u0165 700 \u2013 1 500 kg, dosah 2 \u2013 4 m) pou\u017e\u00edvaj\u00fa cykloidn\u00e9 reduktory RV na z\u00e1kladn\u00fdch, ramenn\u00fdch a lak\u0165ov\u00fdch k\u013aboch \u200b\u200b\u2013 kde kombinovan\u00e1 zotrva\u010dnos\u0165 robotick\u00e9ho ramena a u\u017eito\u010dn\u00e9ho za\u0165a\u017eenia vytv\u00e1ra \u0161pi\u010dkov\u00e9 kr\u00fatiace momenty k\u013abov 3 000 \u2013 8 000 N\u00b7m po\u010das n\u00fadzov\u00e9ho zastavenia. 4 \u2013 6-n\u00e1sobn\u00fd n\u00e1sobok \u0161pi\u010dkov\u00e9ho kr\u00fatiaceho momentu cykloidn\u00e9ho robota absorbuje tieto udalosti; plan\u00e9tov\u00fd prevod s rovnak\u00fdm menovit\u00fdm kr\u00fatiacim momentom by vy\u017eadoval 2 \u2013 3-n\u00e1sobne v\u00e4\u010d\u0161ie ve\u013ekosti r\u00e1mu, aby sa zabezpe\u010dila ekvivalentn\u00e1 \u0161pi\u010dkov\u00e1 tolerancia.<\/p>\n<\/div>\n

\u2461 Hnacie hriadele lisov a razn\u00edc<\/strong><\/p>\n

K\u00f3rejsk\u00e9 lisovacie linky na automobilov\u00fd priemysel pre oce\u013e vytv\u00e1raj\u00fa po\u010das kontaktu s polotovarom maxim\u00e1lne kr\u00fatiace momenty na hnacom hriadeli, ktor\u00e9 m\u00f4\u017eu dosiahnu\u0165 8 \u2013 10-n\u00e1sobok priemern\u00e9ho kr\u00fatiaceho momentu. Mechanizmus s \u010dapmi a prevodovkou cykloidn\u00e9ho reduktora rozde\u013euje tento r\u00e1z po celej kontaktnej ploche bez rizika zlomenia zubov, ktor\u00e9 obmedzuje plan\u00e9tov\u00e9 prevodovky v aplik\u00e1ci\u00e1ch priameho lisu.<\/p>\n<\/div>\n

\u2462 Pohony navijakov pre n\u00e1morn\u00e9 a pobre\u017en\u00e9 vozidl\u00e1<\/strong><\/p>\n

K\u00f3rejsk\u00e9 lodiarstvo pou\u017e\u00edva reduktory pre morsk\u00e9 \u017eeriavy na oto\u010dn\u00e9 kr\u00fa\u017eky \u017eeriavov a pohony kotvov\u00fdch navijakov, kde s\u00fa r\u00e1zov\u00e9 za\u0165a\u017eenia vyvolan\u00e9 vlnami kontinu\u00e1lne a ich ve\u013ekos\u0165 je nepredv\u00eddate\u013en\u00e1. Nev\u00fdhodou je bez\u00fadr\u017ebov\u00fd olejov\u00fd k\u00fape\u013e (v porovnan\u00ed s utesnen\u00fdm mazivom v plan\u00e9tov\u00fdch prevodovk\u00e1ch), ale v\u00fdhoda v odolnosti vo\u010di n\u00e1razom ju v tejto aplik\u00e1cii preva\u017euje.<\/p>\n<\/div>\n<\/div>\n<\/div>\n

\n
\n
Viacn\u00e1sobn\u00e9 porovnanie maxim\u00e1lneho kr\u00fatiaceho momentu<\/div>\n
\n
\n
Cykloidn\u00fd (RV)<\/span>
\n4\u20136\u00d7 hodnoten\u00e9<\/span><\/div>\n
\n
5\u00d7<\/span><\/div>\n<\/div>\n<\/div>\n
\n
Plan\u00e9tov\u00fd (EP-AB)<\/span>
\n2\u20133\u00d7 hodnoten\u00e9<\/span><\/div>\n
\n
2,5\u00d7<\/span><\/div>\n<\/div>\n<\/div>\n
\n
Harmonick\u00fd pohon<\/span>
\n1,5\u20132\u00d7 menovit\u00fd<\/span><\/div>\n
\n
1,8\u00d7<\/span><\/div>\n<\/div>\n<\/div>\n<\/div>\n

N\u00e1sobky maxim\u00e1lneho kr\u00fatiaceho momentu s\u00fa typick\u00e9 hodnoty. Pre ka\u017ed\u00fa aplik\u00e1ciu si overte konkr\u00e9tne menovit\u00e9 hodnoty jednotky v \u0161pecifik\u00e1ci\u00e1ch v\u00fdrobcu.<\/p>\n<\/div>\n

\n
Pozn\u00e1mka k \u00fadr\u017ebe cykloidn\u00fdch zariaden\u00ed pre k\u00f3rejsk\u00fd priemysel:<\/div>\n

Cykloidn\u00e9 reduktory pou\u017e\u00edvaj\u00fa mazivo v olejovom k\u00fapeli, ktor\u00e9 vy\u017eaduje pravideln\u00e9 kontroly hladiny oleja a ro\u010dn\u00e9 hodnotenie kvality oleja. V k\u00f3rejskom prostred\u00ed spracovania potrav\u00edn to vytv\u00e1ra hygienick\u00e9 obavy KFDA \u2013 reduktor v olejovom k\u00fapeli v bl\u00edzkosti povrchov prich\u00e1dzaj\u00facich do styku s potravinami vy\u017eaduje dodato\u010dn\u00e9 opatrenia na ochranu pred \u0161kodcami. Pre aplik\u00e1cie v potravin\u00e1rstve a \u010dist\u00fdch priestoroch zost\u00e1vaj\u00fa utesnen\u00e9 plan\u00e9tov\u00e9 prevodovky hygienicky preferovanou vo\u013ebou, a to aj v pr\u00edpadoch, kde by bola v\u00fdhodn\u00e1 cykloidn\u00e1 hustota kr\u00fatiaceho momentu.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Ke\u010f plan\u00e9tov\u00e1 prevodovka vyhr\u00e1 \u2013 pre\u010do sl\u00fa\u017ei 80% k\u00f3rejsk\u00fdch servopohonov<\/h2>\n
\n
\n

\u010ci u\u017e je uveden\u00e9 ako EP-BPG \u00faspora energie<\/a> \u010ci u\u017e ide o n\u00e1hradu dopravn\u00edka alebo presnos\u0165 EP-AB pre servo osi, plan\u00e9tov\u00e1 prevodovka nezv\u00ed\u0165az\u00ed v \u017eiadnom jednotlivom rozmere \u0161pecifik\u00e1cie oproti svojim \u0161pecializovan\u00fdm konkurentom. Vyhr\u00e1va kombin\u00e1ciou primeran\u00e9ho v\u00fdkonu vo v\u0161etk\u00fdch rozmeroch s\u00fa\u010dasne v kombin\u00e1cii s cenou, dostupnos\u0165ou a bez\u00fadr\u017ebovou utesnenou kon\u0161trukciou, ktorej sa \u017eiadna konkuren\u010dn\u00e1 technol\u00f3gia nevyrovn\u00e1. V praxi pribli\u017ene 80% k\u00f3rejsk\u00fdch aplik\u00e1ci\u00ed servopohonov nevy\u017eaduje ani v\u00f4\u013eu harmonick\u00fdch pohonov pod 0,5 obl\u00fakovej min\u00faty, ani 5-n\u00e1sobn\u00fa toleranciu n\u00e1razov cykloidn\u00fdch reduktorov \u2013 a pre tieto 80% je plan\u00e9tov\u00e1 prevodovka objekt\u00edvne tou spr\u00e1vnou vo\u013ebou.<\/p>\n

V\u00fdhoda efekt\u00edvnosti kvantifikovan\u00e1:<\/strong> K\u00f3rejsk\u00e1 baliaca linka prev\u00e1dzkuje 200 strojov VFFS 21 hod\u00edn denne, ka\u017ed\u00fd so servopohonom s kr\u00ed\u017eov\u00fdm tesnen\u00edm a nomin\u00e1lnym vstupn\u00fdm v\u00fdkonom 750 W. Pri harmonickej \u00fa\u010dinnosti pohonu 80% syst\u00e9m odober\u00e1 937 W na servo. Pri planet\u00e1rnej \u00fa\u010dinnosti 97% odober\u00e1 to ist\u00e9 servo 773 W. Na stroj: rozdiel 164 W \u00d7 21 h \u00d7 330 dn\u00ed = 1 137 kWh\/rok. Pri k\u00f3rejsk\u00fdch priemyseln\u00fdch sadzb\u00e1ch elektriny (\u20a9150\/kWh): U\u0161etren\u00fdch 170 550 \u20a9 na stroj ro\u010dne<\/strong>Viac ako 200 strojov: ro\u010dn\u00e1 \u00faspora 34,1 mili\u00f3na \u20a9. Po\u010das 10-ro\u010dnej \u017eivotnosti stroja: 341 mili\u00f3nov \u20a9 \u2013 pri v\u00fdbere plan\u00e9tov\u00e9ho prevodu pred harmonick\u00fdm na osiach, kde v skuto\u010dnosti nie je potrebn\u00e1 v\u00f4\u013ea \u2264 0,5 arcmin.<\/p>\n

V\u00fdhoda nulov\u00e9 \u00fadr\u017eby:<\/strong> V k\u00f3rejsk\u00fdch trojzmenn\u00fdch prev\u00e1dzkach balenia a logistiky potrav\u00edn sa intervaly \u00fadr\u017eby meraj\u00fa v min\u00fatach na stroj za mesiac. Harmonick\u00fd pohon vy\u017eaduj\u00faci pravideln\u00fa kontrolu maziva a cykloidn\u00fd reduktor vy\u017eaduj\u00faci kontrolu hladiny oleja a ka\u017edoro\u010dn\u00fa v\u00fdmenu oleja si vy\u017eaduj\u00fa pr\u00e1cu \u00fadr\u017eby, ktor\u00fa utesnen\u00e1 plan\u00e9tov\u00e1 prevodovka nevy\u017eaduje. Bez\u00fadr\u017ebov\u00e1 utesnen\u00e1 kon\u0161trukcia radu Korea Ever-Power EP nie je nepodstatn\u00fdm prvkom pohodlia \u2013 pre zariadenia s viac ako 300 strojmi predstavuje v\u00fdznamn\u00fa v\u00fdhodu z h\u013eadiska prev\u00e1dzkov\u00fdch n\u00e1kladov.<\/p>\n<\/div>\n

\"Vysoko<\/p>\n
\n

N\u00c1KLADY NA EFEKT\u00cdVNOS\u0164 \u2013 200 STROJOV VFFS, 10 ROKOV<\/p>\n

Harmonick\u00e1 (\u03b7=80%): 937 W \u00d7 21 h \u00d7 330 d
\n= 6 493 kWh\/stroj\/rok
\nPlan\u00e9tov\u00fd (\u03b7=97%): 773 W \u00d7 rovnak\u00fd
\n= 5 356 kWh\/stroj\/rok
\n\u00daspora: 1 137 kWh \u00d7 150 \u20a9 = 170 550 \u20a9\/rok<\/p>\n

200 strojov \u00d7 10 rokov:
\nU\u0161etren\u00fdch 341 100 000 \u20a9<\/span>
\nv\u00fdberom planet\u00e1rneho pred harmonick\u00fdm
\nna osiach, kde sa nevy\u017eaduje \u22640,5\u2032<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Porovnanie cien na k\u00f3rejskom trhu \u2013 relat\u00edvne n\u00e1klady pri ekvivalentnom kr\u00fatiacom momente<\/h2>\n

Absol\u00fatne ceny sa l\u00ed\u0161ia v z\u00e1vislosti od dod\u00e1vate\u013ea, objemu a \u0161pecifik\u00e1cie. Nasleduj\u00faca anal\u00fdza relat\u00edvnych n\u00e1kladov pou\u017e\u00edva ako z\u00e1kladn\u00fa hodnotu 1,0\u00d7 korejsk\u00fd Ever-Power EP-AB a odr\u00e1\u017ea typick\u00e9 ceny na k\u00f3rejskom priemyselnom trhu pre ekvivalentn\u00fd trval\u00fd v\u00fdstupn\u00fd kr\u00fatiaci moment pri i=50:1 jednostup\u0148ovom motore, v\u00f4li P0\/\u22641 arcmin.<\/p>\n

\n\n\n\n\n\n\n\n
Technol\u00f3gia<\/th>\nRelat\u00edvne jednotkov\u00e9 n\u00e1klady<\/th>\n10-ro\u010dn\u00e9 n\u00e1klady na energiu<\/th>\nN\u00e1klady na \u00fadr\u017ebu<\/th>\nKedy sa oplat\u00ed pr\u00e9miov\u00fd produkt<\/th>\n<\/tr>\n<\/thead>\n
Plan\u00e9tov\u00fd (EP-AB P0)<\/td>\n1,0 \u00d7 z\u00e1kladn\u00e1 l\u00ednia<\/td>\nNajni\u017e\u0161ia (\u03b7\u226597%)<\/td>\nNula (zape\u010daten\u00e1)<\/td>\n80% k\u00f3rejsk\u00fdch servo aplik\u00e1ci\u00ed<\/td>\n<\/tr>\n
Cykloidn\u00fd (RV)<\/td>\n2\u20134\u00d7<\/td>\nStredn\u00e1 (\u03b785\u201393%)<\/td>\nV\u00fdmena oleja (ro\u010dne)<\/td>\n\u0164a\u017ek\u00fd priemyseln\u00fd robot J1\u2013J3; pohony lisu<\/td>\n<\/tr>\n
Harmonick\u00fd pohon<\/td>\n3\u20138\u00d7<\/td>\nNajvy\u0161\u0161ia (\u03b775\u201385%)<\/td>\nKontrola maziva<\/td>\nCobot J4\u2013J6; manipul\u00e1tor s do\u0161ti\u010dkami; optick\u00e9 polohovanie<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n
Vzor nadmernej \u0161pecifik\u00e1cie u k\u00f3rejsk\u00fdch v\u00fdrobcov origin\u00e1lnych dielov: <\/strong>
\nKonzistentn\u00fdm vzorom v k\u00f3rejskom n\u00e1vrhu strojov je \u0161pecifikovanie harmonick\u00fdch pohonov na v\u0161etk\u00fdch k\u013aboch \u200b\u200brobota, preto\u017ee ich vy\u017eaduj\u00fa J4\u2013J6 \u2013 a n\u00e1sledn\u00e9 \u0161pecifikovanie rovnak\u00fdch harmonick\u00fdch pohonov na J1\u2013J3 pre spolo\u010dn\u00e9 komponenty. To stoj\u00ed 3\u20135\u00d7 viac, ako je potrebn\u00e9 na z\u00e1kladn\u00fdch k\u013aboch, sp\u00f4sobuje straty \u00fa\u010dinnosti na osiach s najvy\u0161\u0161\u00edm kr\u00fatiacim momentom (kde je strata harmonickej \u00fa\u010dinnosti najv\u00e4\u010d\u0161ia v absol\u00fatnom vyjadren\u00ed vo wattoch) a nedosahuje \u017eiadny pr\u00ednos presnosti, preto\u017ee chyba polohovania J1\u2013J3 je dominantne ovplyvnen\u00e1 \u0161truktur\u00e1lnou poddajnos\u0165ou v dosahu robota, nie v\u00f4\u013eou prevodovky. Spr\u00e1vne zmie\u0161an\u00e9 \u0161pecifik\u00e1cie \u2013 harmonick\u00fd pohon na J4\u2013J6, plan\u00e9tov\u00fd na J1\u2013J3 \u2013 poskytuj\u00fa rovnak\u00fa presnos\u0165 TCP robota pri v\u00fdrazne ni\u017e\u0161\u00edch syst\u00e9mov\u00fdch n\u00e1kladoch a vy\u0161\u0161ej celkovej \u00fa\u010dinnosti.<\/span><\/div>\n<\/section>\n

<\/p>\n

\n

Sprievodca rozhodovan\u00edm o \u017eiadosti \u2013 Ktor\u00e1 technol\u00f3gia pre ktor\u00fa k\u00f3rejsk\u00fa \u017eiados\u0165<\/h2>\n
\n\n\n\n\n\n\n\n\n\n\n\n\n
K\u00f3rejsk\u00e1 prihl\u00e1\u0161ka<\/th>\nPo\u017eadovan\u00e1 v\u00f4\u013ea.<\/th>\nPotreba \u0161oku<\/th>\nOdpor\u00fa\u010dan\u00e9<\/th>\nK\u00f3rea Ever-Power<\/th>\n<\/tr>\n<\/thead>\n
Cobot J1\u2013J3 (rameno, lake\u0165)<\/td>\n\u22643 obl\u00fakov\u00e9 min\u00faty<\/td>\nStredn\u00e9<\/td>\nPlanet\u00e1rny<\/td>\nEP-AB P1<\/a><\/td>\n<\/tr>\n
Cobot J4\u2013J6 (z\u00e1p\u00e4stie)<\/td>\n\u22640,5 obl\u00fakovej min\u00faty<\/td>\nN\u00edzka a\u017e stredn\u00e1<\/td>\nHarmonick\u00e1<\/td>\nNie planet\u00e1rne<\/td>\n<\/tr>\n
CNC 5-os\u00fd oto\u010dn\u00fd st\u00f4l<\/td>\n\u22641 uhlov\u00fa min\u00fatu<\/td>\nN\u00edzka<\/td>\nPlanet\u00e1rny<\/td>\nEP-AFH<\/a><\/td>\n<\/tr>\n
Pohon k\u00f3rejsk\u00e9ho automobilov\u00e9ho lisu<\/td>\n\u22643 obl\u00fakov\u00e9 min\u00faty<\/td>\nVe\u013emi vysok\u00e1<\/td>\nCykloidn\u00fd<\/td>\nNie planet\u00e1rne<\/td>\n<\/tr>\n
Baliaca \u010de\u013eus\u0165 \/ dopravn\u00edk VFFS<\/td>\n\u22643\u20135 obl\u00fakov\u00fdch min\u00fat<\/td>\nN\u00edzka a\u017e stredn\u00e1<\/td>\nPlanet\u00e1rny<\/td>\nEP-AB P1\/P2<\/a><\/td>\n<\/tr>\n
Manipul\u00e1tor s polovodi\u010dov\u00fdmi do\u0161ti\u010dkami<\/td>\n\u22640,5 obl\u00fakovej min\u00faty<\/td>\nN\u00edzka<\/td>\nHarmonick\u00e1<\/td>\nNie planet\u00e1rne<\/td>\n<\/tr>\n
Sol\u00e1rny sledova\u010d \/ nat\u00e1\u010danie veternej turb\u00edny<\/td>\n\u22643\u20138 obl\u00fakov\u00fdch min\u00fat<\/td>\nStredn\u00e9<\/td>\nPlanet\u00e1rny<\/td>\nEP-AH Nov\u00e1 linka<\/a><\/td>\n<\/tr>\n
Pohonn\u00e9 koleso AGV \/ AMR<\/td>\nP1\u2013P2 (zhoda pomeru)<\/td>\nStredn\u00e9<\/td>\nPlanet\u00e1rny<\/td>\nEP-KF<\/a> alebo EP-AB<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/section>\n

\"aplik\u00e1cia-plan\u00e9tovej-prevodovky-1\"<\/p>\n

\n

\u00da\u010dinnos\u0165 pri re\u00e1lnych pracovn\u00fdch cykloch \u2013 katal\u00f3gy pohonov s harmonick\u00fdmi kmito\u010dtami nezv\u00fdraz\u0148uj\u00fa po\u010det<\/h2>\n
\n
\n

Katal\u00f3gy harmonick\u00fdch pohonov zvy\u010dajne \u0161pecifikuj\u00fa \u0161pi\u010dkov\u00fa \u00fa\u010dinnos\u0165 pri menovitom za\u0165a\u017een\u00ed a menovit\u00fdch ot\u00e1\u010dkach \u2013 podmienky, kde s\u00fa straty hyster\u00e9zie flexspline \u00famerne mal\u00e9 v porovnan\u00ed s pren\u00e1\u0161an\u00fdm v\u00fdkonom. K\u00f3rejsk\u00e9 servopohony v\u0161ak \u010dasto pracuj\u00fa pri \u010diasto\u010dnom za\u0165a\u017een\u00ed (30 \u2013 701 TP3T menovit\u00e9ho kr\u00fatiaceho momentu) a s premenliv\u00fdmi ot\u00e1\u010dkami \u2013 podmienky, kde \u00fa\u010dinnos\u0165 harmonick\u00e9ho pohonu v\u00fdrazne kles\u00e1 pod svoju \u0161pi\u010dkov\u00fa \u0161pecifik\u00e1ciu.<\/p>\n

Charakteristika \u00fa\u010dinnosti a za\u0165a\u017eenia t\u00fdchto troch technol\u00f3gi\u00ed sa najv\u00fdraznej\u0161ie l\u00ed\u0161i pri \u010diasto\u010dnom za\u0165a\u017een\u00ed. \u00da\u010dinnos\u0165 plan\u00e9tovej prevodovky je v celom rozsahu za\u0165a\u017eenia relat\u00edvne rovnomern\u00e1 \u2013 pri menovitom kr\u00fatiacom momente 30% zost\u00e1va \u00fa\u010dinnos\u0165 94 \u2013 96%. Harmonick\u00e1 \u00fa\u010dinnos\u0165 pohonu pri menovitom kr\u00fatiacom momente 30% kles\u00e1 na 65 \u2013 75% (hyster\u00e9zna strata flexspline je takmer kon\u0161tantn\u00e1 v absol\u00fatnych wattoch bez oh\u013eadu na za\u0165a\u017eenie). Cykloidn\u00e1 \u00fa\u010dinnos\u0165 pri \u010diasto\u010dnom za\u0165a\u017een\u00ed je mierna \u2013 80 \u2013 88%.<\/p>\n

Tento rozdiel v \u00fa\u010dinnosti pri \u010diasto\u010dnom za\u0165a\u017een\u00ed je obzvl\u00e1\u0161\u0165 v\u00fdznamn\u00fd pre servopohony k\u00f3rejsk\u00fdch baliacich a mont\u00e1\u017enych strojov, ktor\u00e9 tr\u00e1via zna\u010dn\u00fd \u010das pri \u010diasto\u010dnom za\u0165a\u017een\u00ed po\u010das zr\u00fdch\u013eovac\u00edch r\u00e1mp, f\u00e1z zotrvania a manipul\u00e1cie s \u013eahk\u00fdmi za\u0165a\u017eeniami. K\u00f3rejsk\u00e9 rameno kobota v re\u017eime uchopenia a umiestnenia m\u00f4\u017ee pracova\u0165 pri plnom menovitom kr\u00fatiacom momente iba 10 \u2013 201 TP3T svojho cyklu \u2013 zvy\u0161n\u00fdch 80 \u2013 901 TP3T str\u00e1vi pri \u010diasto\u010dnom za\u0165a\u017een\u00ed. Pri tomto pracovnom cykle je priemern\u00e1 \u00fa\u010dinnos\u0165 harmonick\u00e9ho pohonu v re\u00e1lnom svete bli\u017e\u0161ie k 70 \u2013 751 TP3T, nie k katal\u00f3govo uveden\u00fdm 80 \u2013 851 TP3T.<\/p>\n<\/div>\n

\n
\n

\u00da\u010dinnos\u0165 pri \u010diasto\u010dnom za\u0165a\u017een\u00ed (% menovit\u00e9ho kr\u00fatiaceho momentu)<\/p>\n

Za\u0165a\u017eenie % Planet\u00e1rny harmonick\u00fd cykloid\u00e1lny
\n100% 97% 82% 92%
\n70% 96% 78% 89%
\n50% 95% 73% 86%
\n30% 94% 68% 82%
\n10% 92% 58% 75% \u00da\u010dinnos\u0165 pri \u010diasto\u010dnom za\u0165a\u017een\u00ed je d\u00f4le\u017eit\u00e1:
\nV\u00e4\u010d\u0161ina k\u00f3rejsk\u00fdch servo os\u00ed pou\u017e\u00edva model 20\u201370%
\nmenovit\u00e9ho kr\u00fatiaceho momentu pre dobu cyklu >70%.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

\u010casto kladen\u00e9 ot\u00e1zky \u2013 plan\u00e9tov\u00fd vs. harmonick\u00fd pohon vs. cykloidn\u00fd<\/h2>\n
\n
\n

Ot\u00e1zka<\/span>
\nN\u00e1\u0161 k\u00f3rejsk\u00fd integr\u00e1tor robotov odpor\u00fa\u010da harmonick\u00e9 pohony na v\u0161etk\u00fdch \u0161iestich k\u013aboch. Je to potrebn\u00e9?<\/h3>\n

Pre k\u013aby J4\u2013J6 (z\u00e1p\u00e4stie), kde \u0161pecifik\u00e1cia vy\u017eaduje v\u00f4\u013eu \u22640,5 uhlovej min\u00faty a cie\u013eov\u00e1 presnos\u0165 stredov\u00e9ho bodu n\u00e1stroja je \u00b10,05 mm v dosahu, s\u00fa harmonick\u00e9 pohony technicky opodstatnen\u00e9. Pre k\u013aby J1\u2013J3 (z\u00e1klad\u0148a, rameno, koleno) je presnos\u0165 TCP dominantne ovplyvnen\u00e1 \u0161truktur\u00e1lnou poddajnos\u0165ou a tuhos\u0165ou k\u013abu pri t\u00fdchto ve\u013ek\u00fdch polomeroch, nie v\u00f4\u013eou prevodovky \u2013 plan\u00e9tov\u00e9 prevodovky P0 alebo P1 (\u22641\u20133 uhlovej min\u00faty) dosahuj\u00fa rovnak\u00fa presnos\u0165 TCP robota pri J1\u2013J3 pri v\u00fdrazne ni\u017e\u0161\u00edch n\u00e1kladoch a vy\u0161\u0161ej \u00fa\u010dinnosti. Spr\u00e1vne \u0161pecifikovan\u00fd 6-osov\u00fd k\u00f3rejsk\u00fd kobot pou\u017e\u00edva harmonick\u00e9 pohony pri J4\u2013J6 a plan\u00e9tov\u00e9 prevodovky pri J1\u2013J3. Ak v\u00e1\u0161 integr\u00e1tor \u0161pecifikuje harmonick\u00e9 pohony pri v\u0161etk\u00fdch \u0161iestich k\u013aboch, po\u017eiadajte ho o predlo\u017eenie v\u00fdpo\u010dtu sp\u00e1jaj\u00faceho v\u00f4\u013eu prevodovky J1\u2013J3 s presnos\u0165ou TCP \u2013 vo v\u00e4\u010d\u0161ine pr\u00edpadov v\u00fdpo\u010det uk\u00e1\u017ee, \u017ee plan\u00e9tov\u00e1 prevodovka P0 pri J1\u2013J3 dosahuje rovnak\u00fd v\u00fdsledok.<\/p>\n<\/div>\n

\n

Ot\u00e1zka<\/span>
\nDok\u00e1\u017ee plan\u00e9tov\u00e1 prevodovka Korea Ever-Power EP-AFH nahradi\u0165 harmonick\u00fd pohon na k\u00f3rejskom k\u013abe cobotov?<\/h3>\n

Ten\/T\u00e1\/To Ultrapresn\u00e1 s\u00e9ria EP-AFH<\/a> \u0160tandardne poskytuje v\u00f4\u013eu \u22641 arcmin \u2013 bl\u00ed\u017ei sa k hodnote \u22640,5 arcmin harmonick\u00e9ho pohonu, ale nezodpoved\u00e1 jej. Pre k\u013aby J1\u2013J3 na kobote s dosahom 400\u2013600 mm je spr\u00e1vnou n\u00e1hradou EP-AFH \u2013 presnos\u0165 TCP pri t\u00fdchto polomeroch nie je zn\u00ed\u017een\u00e1 rozdielom 0,5 arcmin. Pre z\u00e1p\u00e4stn\u00e9 k\u013aby J4\u2013J6, kde je hodnota ni\u017e\u0161ia ako 0,5 arcmin skuto\u010dnou funk\u010dnou po\u017eiadavkou, je EP-AFH pri \u22641 arcmin mierne mimo \u0161pecifik\u00e1cie. Spolo\u010dnos\u0165 Korea Ever-Power odpor\u00fa\u010da potvrdi\u0165 \u0161pecifick\u00fa po\u017eiadavku na presnos\u0165 na k\u013abe \u2013 ak je po\u017eiadavka \u22641 arcmin na k\u013abe (nie na TCP), EP-AFH je priamou n\u00e1kladovo efekt\u00edvnou n\u00e1hradou. Ak je \u0161pecifikovan\u00e1 hodnota \u22640,5 arcmin na k\u013abe, harmonick\u00fd pohon zost\u00e1va spr\u00e1vnou vo\u013ebou.<\/p>\n<\/div>\n

\n

Ot\u00e1zka<\/span>
\nPre\u010do k\u00f3rejsk\u00ed v\u00fdrobcovia CNC obr\u00e1bac\u00edch strojov pou\u017e\u00edvaj\u00fa pre oto\u010dn\u00e9 stoly plan\u00e9tov\u00e9 prevodovky namiesto harmonick\u00fdch pohonov?<\/h3>\n

K\u00f3rejsk\u00e9 5-osov\u00e9 oto\u010dn\u00e9 stoly obr\u00e1bac\u00edch centier vy\u017eaduj\u00fa presnos\u0165 polohovania \u22641 arcmin a pr\u00eddr\u017en\u00fd kr\u00fatiaci moment 2 000 \u2013 5 000 N\u00b7m proti obr\u00e1bac\u00edm sil\u00e1m. Harmonick\u00e9 pohony pri t\u00fdchto \u00farovniach kr\u00fatiaceho momentu sa st\u00e1vaj\u00fa ve\u013emi drah\u00fdmi (3 \u2013 8-n\u00e1sobok ceny ekvivalentn\u00e9ho plan\u00e9tov\u00e9ho prevodu) a ich n\u00e1sobok maxim\u00e1lneho kr\u00fatiaceho momentu 1,5 \u2013 2-n\u00e1sobok menovit\u00e9ho je nedostato\u010dn\u00fd pre preru\u0161ovan\u00e9 rezn\u00e9 r\u00e1zov\u00e9 za\u0165a\u017eenia z fr\u00e9zovania tit\u00e1nu a vysoko tvrd\u00fdch ocel\u00ed \u2013 maxim\u00e1lne rezn\u00e9 sily m\u00f4\u017eu prekro\u010di\u0165 2,5-n\u00e1sobok menovit\u00e9ho pr\u00eddr\u017en\u00e9ho kr\u00fatiaceho momentu po\u010das obr\u00e1tenia dr\u00e1hy n\u00e1stroja. Plan\u00e9tov\u00e1 prevodovka (P0 \u22641 arcmin, \u0161pi\u010dkov\u00fd kr\u00fatiaci moment 2 \u2013 3-n\u00e1sobok menovit\u00e9ho) sp\u013a\u0148a po\u017eiadavky na presnos\u0165 a odol\u00e1va r\u00e1zov\u00fdm za\u0165a\u017eeniam za cenu, ktor\u00e1 z nej rob\u00ed univerz\u00e1lnu vo\u013ebu pre k\u00f3rejsk\u00e9 pohony oto\u010dn\u00fdch stolov CNC.<\/p>\n<\/div>\n

\n

Ot\u00e1zka<\/span>
\nPre k\u00f3rejsk\u00fdch v\u00fdrobcov strojov, ktor\u00ed zva\u017euj\u00fa z\u00e1vitovkov\u00e9 reduktory ako cenov\u00fa alternat\u00edvu, ako sa toto porovnanie roz\u0161iruje?<\/h3>\n

\u0160nekov\u00e9 prevodovky<\/a> zauj\u00edmaj\u00fa in\u00fa cenov\u00fa triedu \u2013 zvy\u010dajne 0,3 \u2013 0,6 \u00d7 cena ekvivalentnej plan\u00e9tovej prevodovky \u2013 ale t\u00e1to cenov\u00e1 v\u00fdhoda prich\u00e1dza s v\u00fdznamn\u00fdmi kompromismi v oblasti v\u00fdkonu: \u00fa\u010dinnos\u0165 40 \u2013 701 TP3T (oproti plan\u00e9tovej \u2265 971 TP3T), v\u00f4\u013ea 10 \u2013 30 obl\u00fakov\u00fdch min\u00fat (oproti plan\u00e9tovej \u2264 1 \u2013 5 obl\u00fakov\u00fdch min\u00fat) a kr\u00fatiaci moment, ktor\u00fd sa v\u00fdrazne zni\u017euje pri teplote okolia nad 40 \u00b0C s poklesom viskozity maziva z\u00e1vitovky. Z\u00e1vitovkov\u00e9 reduktory s\u00fa vhodn\u00e9 pre pomal\u00e9 pohony dopravn\u00edkov a aplik\u00e1cie mie\u0161adiel, kde \u00fa\u010dinnos\u0165 a v\u00f4\u013ea s\u00fa druhorad\u00e9 v porovnan\u00ed s n\u00e1kladmi a samosvornou schopnos\u0165ou. Pre ak\u00fako\u013evek aplik\u00e1ciu vy\u017eaduj\u00facu riadenie polohy servopohonom s uzavretou slu\u010dkou, v\u00f4\u013ea z\u00e1vitovky 10 \u2013 30 obl\u00fakov\u00fdch min\u00fat \u00fa\u010dinne br\u00e1ni jej pou\u017eitiu na presn\u00fdch osiach \u2013 plan\u00e9tov\u00e1 prevodovka je minim\u00e1lnym \u0161tandardom presnosti pre polohovanie servopohonov.<\/p>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Overte si spr\u00e1vnu technol\u00f3giu s aplika\u010dnou podporou Korea Ever-Power<\/h2>\n

Aplika\u010dn\u00fd t\u00edm spolo\u010dnosti Korea Ever-Power vyhodnot\u00ed va\u0161e po\u017eiadavky na presnos\u0165, profil r\u00e1zov\u00e9ho za\u0165a\u017eenia a rozpo\u010det na \u00fa\u010dinnos\u0165, aby potvrdil, \u010di je plan\u00e9tov\u00e1 prevodovka tou spr\u00e1vnou technol\u00f3giou \u2013 alebo \u010di je potrebn\u00fd in\u00fd pr\u00edstup. \u00daprimn\u00e9 pos\u00fadenie, v ten ist\u00fd pracovn\u00fd de\u0148, v k\u00f3rej\u010dine.<\/p>\n

Prec\u00edzny rad EP-AB P0\/P1 \u2192
\n<\/a><\/div>\n<\/section>\n

Redaktor: 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\/sk\/wp-json\/wp\/v2\/posts\/672","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/comments?post=672"}],"version-history":[{"count":2,"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/posts\/672\/revisions"}],"predecessor-version":[{"id":674,"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/posts\/672\/revisions\/674"}],"wp:attachment":[{"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/media?parent=672"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/categories?post=672"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/planetary-gearboxes.com\/sk\/wp-json\/wp\/v2\/tags?post=672"}],"curies":[{"name":"pracovn\u00fd list","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}