{"id":760,"date":"2026-06-03T02:22:05","date_gmt":"2026-06-03T02:22:05","guid":{"rendered":"https:\/\/planetary-gearboxes.com\/?p=760"},"modified":"2026-06-03T02:22:05","modified_gmt":"2026-06-03T02:22:05","slug":"planetary-gearbox-backlash-explained-arcmin-linear-error","status":"publish","type":"post","link":"https:\/\/planetary-gearboxes.com\/sk\/planetary-gearbox-backlash-explained-arcmin-linear-error\/","title":{"rendered":"Vysvetlenie v\u00f4le plan\u00e9tovej prevodovky: Sprievodca line\u00e1rnymi chybami z arcmin na mm"},"content":{"rendered":"
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<\/div>\n
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K\u00f3rea Ever-Power<\/span>
\nTechnick\u00fd h\u013abkov\u00fd ponor<\/span><\/div>\n

Vysvetlenie v\u00f4le plan\u00e9tovej prevodovky: \u010co v skuto\u010dnosti znamenaj\u00fa obl\u00fakov\u00e9 min\u00faty pri va\u0161om polomere za\u0165a\u017eenia<\/h1>\n

\u0160pecifik\u00e1cie v\u00f4le pre presn\u00e9 plan\u00e9tov\u00e9 prevodovky a servoreduktory s\u00fa uveden\u00e9 v uhlov\u00fdch min\u00fatach. Strojn\u00ed in\u017einieri v\u0161ak nepo\u010d\u00edtaj\u00fa v uhlov\u00fdch min\u00fatach \u2013 po\u010d\u00edtaj\u00fa v milimetroch. Hodnota v\u00f4le 8 uhlov\u00fdch min\u00fat neznamen\u00e1 ni\u010d, pokia\u013e nepozn\u00e1te polomer za\u0165a\u017eenia. Pri 500 mm to predstavuje chybu polohovania 1,16 mm. Pri 100 mm je to iba 0,23 mm. T\u00e1to pr\u00edru\u010dka prepo\u010d\u00edtava \u010d\u00edsla, vysvet\u013euje, \u010do ich v skuto\u010dnosti sp\u00f4sobuje, a ukazuje, ako ur\u010di\u0165 spr\u00e1vny stupe\u0148 presnosti bez toho, aby ste platili za presnos\u0165, ktor\u00fa nem\u00f4\u017eete pou\u017ei\u0165.<\/p>\n

Vy\u017eiadajte si bezplatn\u00fa kontrolu \u0161pecifik\u00e1cie v\u00f4le \u2192<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>\n

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\u010co je vlastne sp\u00e4tn\u00e1 v\u00e4zba \u2013 a ako sa meria<\/h2>\n

V presnej plan\u00e9tovej prevodovke je v\u00f4\u013ea uhlov\u00e1 v\u00f4\u013ea merate\u013en\u00e1 na v\u00fdstupnom hriadeli, ke\u010f je vstupn\u00fd hriade\u013e dr\u017ean\u00fd v pokoji a v\u00fdstup je striedavo za\u0165a\u017eovan\u00fd v kladnom a z\u00e1pornom smere mal\u00fdm testovac\u00edm kr\u00fatiacim momentom. Je to celkov\u00e1 uhlov\u00e1 m\u0155tva z\u00f3na, ktorou sa v\u00fdstupn\u00fd hriade\u013e pohybuje pri zmene smeru za\u0165a\u017eenia \u2013 medzera medzi zubami ozuben\u00e9ho kolesa v z\u00e1bere, vyjadren\u00e1 ako uhlov\u00fd ekvivalent na v\u00fdstupnom hriadeli.<\/p>\n

\u0160tandardn\u00e1 sk\u00fa\u0161obn\u00e1 met\u00f3da (pod\u013ea normy ISO 9283 a v s\u00falade s normami DIN EN 61800 pre servopohony) aplikuje za\u0165a\u017eenie rovn\u00e9 \u00b13% povolen\u00e9ho v\u00fdstupn\u00e9ho kr\u00fatiaceho momentu prevodovky. T\u00e1to \u0161pecifick\u00e1 \u00farove\u0148 za\u0165a\u017eenia je zvolen\u00e1 z\u00e1merne: je dostato\u010dne ve\u013ek\u00e1 na to, aby \u00faplne vykryla ak\u00fako\u013evek geometrick\u00fa v\u00f4\u013eu v z\u00e1bere ozuben\u00fdch kolies, ale z\u00e1rove\u0148 dostato\u010dne mal\u00e1 na to, aby torzn\u00e1 elastick\u00e1 deform\u00e1cia komponentov prevodovky bola zanedbate\u013en\u00e1 \u2013 meria sa teda \u010dist\u00e1 geometrick\u00e1 v\u00f4\u013ea, nie kombin\u00e1cia v\u00f4le a tuhosti.<\/p>\n

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Pre\u010do uhlov\u00e9 min\u00faty \u2013 nie stupne alebo milimetre?<\/div>\n

Prevodovky s\u00fa rota\u010dn\u00e9 zariadenia. Ich inherentn\u00e1 \u0161pecifik\u00e1cia presnosti mus\u00ed by\u0165 uhlov\u00e1. Stupne s\u00fa pr\u00edli\u0161 hrub\u00e9 \u2013 presn\u00e1 prevodovka s v\u00f4\u013eou 0,133\u00b0 znie ako ve\u013ek\u00e1 hodnota, ale to je iba 8 arcmin, \u010do je ve\u013emi \u0161tandardn\u00e1 \u0161pecifik\u00e1cia. Arcmin\u00faty poskytuj\u00fa spr\u00e1vne rozl\u00ed\u0161enie: 1 arcmin = 1\/60 stup\u0148a = pribli\u017ene 0,0167\u00b0. Ekvivalentom metrick\u00e9ho syst\u00e9mu pre uhlov\u00fa chybu s\u00fa miliradi\u00e1ny (mrad), ale arcmin\u00faty dominuj\u00fa v priemysle plan\u00e9tov\u00fdch prevodoviek a v\u0161etky technick\u00e9 listy s\u00e9rie EP s\u00fa uveden\u00e9 v arcmin\u00fatach.<\/p>\n<\/div>\n

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Postup merania v praxi<\/div>\n

Pevne upevnite vstupn\u00fd hriade\u013e prevodovky. Na v\u00fdstupn\u00fd hriade\u013e v zn\u00e1mom polomere pripevnite presn\u00fa momentov\u00fa p\u00e1ku. Aplikujte kladn\u00fd testovac\u00ed kr\u00fatiaci moment rovn\u00fd menovit\u00e9mu kr\u00fatiacemu momentu 3% a od\u010d\u00edtajte uhlov\u00fa polohu (enkod\u00e9r alebo \u010d\u00edseln\u00edkov\u00fd mera\u010d). Aplikujte z\u00e1porn\u00fd testovac\u00ed kr\u00fatiaci moment rovnej ve\u013ekosti a znova od\u010d\u00edtajte hodnotu. Celkov\u00e9 uhlov\u00e9 posunutie medzi t\u00fdmito dvoma \u00fadajmi je hodnota v\u00f4le. Spolo\u010dnos\u0165 Korea Ever-Power meria a certifikuje v\u00f4\u013eu pre ka\u017ed\u00fa jednotku s\u00e9rie EP pred odoslan\u00edm, pri\u010dom meranie sa vykon\u00e1va pri \u0161tandardnom testovacom za\u0165a\u017een\u00ed \u00b13%.<\/p>\n<\/div>\n<\/div>\n

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Prevod jednotiek: arcmin \u2194 stupne \u2194 radi\u00e1ny<\/div>\n
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1 uhlov\u00e1 min\u00fata = 1\/60 stup\u0148a = 0,01667\u00b0 = 0,000291 radi\u00e1nov<\/div>\n
8 arcmin = 0,1333\u00b0 = 0,002327 radi\u00e1nov<\/div>\n
Line\u00e1rna chyba na polomere R: E_line\u00e1rne = R \u00d7 tan(\u03b8_rad)<\/div>\n
Pre mal\u00e9 uhly: E_linear \u2248 R \u00d7 \u03b8_rad (chyba <0,01% pre v\u00f4\u013eu <60 arcmin)<\/div>\n<\/div>\n<\/div>\n<\/section>\n

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\"V\u00fdkres<\/p>\n
Prierez presnej plan\u00e9tovej prevodovky s\u00e9rie EP zobrazuj\u00faci trojbodov\u00fd ozuben\u00fd z\u00e1ber, kde sa meria v\u00f4\u013ea. Zobrazi\u0165 \u0161pecifik\u00e1cie s\u00e9rie EP \u2192<\/a><\/div>\n<\/div>\n

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Tabu\u013eka, ktor\u00fa potrebuje ka\u017ed\u00fd in\u017einier servoprevodoviek \u2013 line\u00e1rna chyba od arcmin do milimetra pri piatich polomeroch za\u0165a\u017eenia<\/h2>\n

Nasleduj\u00faca tabu\u013eka prepo\u010d\u00edtava v\u0161etky \u0161tandardy servo prevodovka<\/strong> \u0161pecifik\u00e1cia v\u00f4le \u2013 od ultrapresnej pri 1 obl\u00fakovej min\u00fate a\u017e po \u0161tandardn\u00fa triedu pri 30 obl\u00fakov\u00fdch min\u00fatach \u2013 a\u017e po skuto\u010dn\u00fa chybu line\u00e1rneho polohovania pri piatich praktick\u00fdch polomeroch za\u0165a\u017eenia. V\u0161etky hodnoty sa vypo\u010d\u00edtavaj\u00fa pomocou presn\u00e9ho vzorca E = R \u00d7 tan(\u03b8), kde \u03b8 je uhol v\u00f4le v radi\u00e1noch. Pre typick\u00e9 hodnoty v\u00f4le presnej plan\u00e9tovej prevodovky pod 30 obl\u00fakov\u00fdch min\u00fat zav\u00e1dza aproxim\u00e1cia mal\u00e9ho uhla chybu men\u0161iu ako 0,01%.<\/p>\n

Polomer za\u0165a\u017eenia je vzdialenos\u0165 od osi v\u00fdstupn\u00e9ho hriade\u013ea prevodovky k bodu, kde sa meria alebo vy\u017eaduje presnos\u0165 polohovania \u2013 napr\u00edklad hrot robotick\u00e9ho ramena, rezn\u00fd n\u00e1stroj CNC vretena alebo kontaktn\u00fd bod hnacieho valca dopravn\u00edka.<\/p>\n

\n\n\n\n\n\n\n\n\n\n\n\n\n
Negat\u00edvna reakcia<\/th>\nUhol (\u00b0)<\/th>\nR = 50 mm<\/th>\nR = 100 mm<\/th>\nR = 200 mm<\/th>\nR = 500 mm<\/th>\nR = 1 000 mm<\/th>\nS\u00e9ria EP<\/th>\n<\/tr>\n<\/thead>\n
<1 uhlov\u00fa min\u00fatu<\/td>\n0,017\u00b0<\/td>\n0,015 mm<\/td>\n0,029 mm<\/td>\n0,058 mm<\/td>\n0,145 mm<\/td>\n0,291 mm<\/td>\nUltra presn\u00e9 z\u00e1kazkov\u00e9 spracovanie<\/td>\n<\/tr>\n
<3 uhlov\u00fdch min\u00fat<\/td>\n0,050\u00b0<\/td>\n0,044 mm<\/td>\n0,087 mm<\/td>\n0,175 mm<\/td>\n0,436 mm<\/td>\n0,873 mm<\/td>\nVysoko presn\u00e9 CNC \/ laserov\u00e9<\/td>\n<\/tr>\n
<5 obl\u00fakov\u00fdch min\u00fat<\/td>\n0,083\u00b0<\/td>\n0,073 mm<\/td>\n0,145 mm<\/td>\n0,291 mm<\/td>\n0,727 mm<\/td>\n1,454 mm<\/td>\nV\u0161eobecn\u00e9 polohovanie servopohonov<\/td>\n<\/tr>\n
<8 obl\u00fakov\u00fdch min\u00fat \u2605<\/td>\n0,133\u00b0<\/td>\n0,116 mm<\/td>\n0,233 mm<\/td>\n0,465 mm<\/td>\n1,164 mm<\/td>\n2,327 mm<\/td>\nEP-ZDE \/ EP-ZDF (r\u00e1m\u010deky 60\u2013160); EP-ZDS (v\u0161etky)<\/td>\n<\/tr>\n
<12 obl\u00fakov\u00fdch min\u00fat<\/td>\n0,200\u00b0<\/td>\n0,175 mm<\/td>\n0,349 mm<\/td>\n0,698 mm<\/td>\n1,745 mm<\/td>\n3,491 mm<\/td>\nEP-ZDE-40; EP-ZDE 2-stup\u0148ov\u00fd<\/td>\n<\/tr>\n
<15 obl\u00fakov\u00fdch min\u00fat<\/td>\n0,250\u00b0<\/td>\n0,218 mm<\/td>\n0,436 mm<\/td>\n0,873 mm<\/td>\n2,182 mm<\/td>\n4,363 mm<\/td>\nEP-ZDE 3-stup\u0148ov\u00e9; dopravn\u00edky<\/td>\n<\/tr>\n
<25 obl\u00fakov\u00fdch min\u00fat \u25b2<\/td>\n0,417\u00b0<\/td>\n0,364 mm<\/td>\n0,727 mm<\/td>\n1,454 mm<\/td>\n3,636 mm<\/td>\n7,272 mm<\/td>\nEP-ZDWE \/ EP-ZDWF (80\u2013160, 1-stup\u0148ov\u00fd)<\/td>\n<\/tr>\n
<30 obl\u00fakov\u00fdch min\u00fat \u25b2<\/td>\n0,500\u00b0<\/td>\n0,436 mm<\/td>\n0,873 mm<\/td>\n1,745 mm<\/td>\n4,363 mm<\/td>\n8,727 mm<\/td>\nEP-ZDWE-60 (1-stup\u0148ov\u00fd)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

\u2605 = \u0160tandardn\u00e1 trieda presnosti pre radov\u00e9 prevody EP-ZDE\/ZDF\/ZDS. \u25b2 = Rad s pravouhl\u00fdm vstupom (ZDWE\/ZDWF) \u2013 \u0161ir\u0161\u00ed kv\u00f4li pr\u00edspevku stup\u0148a ku\u017ee\u013eov\u00e9ho prevodu. Hodnoty vypo\u010d\u00edtan\u00e9 z E = R \u00d7 tan(\u03b8), kde \u03b8 = v\u00f4\u013ea v radi\u00e1noch.<\/p>\n

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\u010c\u00edtanie tejto tabu\u013eky pre skuto\u010dn\u00fa aplik\u00e1ciu<\/div>\n

Kolaborat\u00edvny robotick\u00fd z\u00e1p\u00e4stn\u00fd k\u013ab s polomerom ramena 400 mm, vyu\u017e\u00edvaj\u00faci EP-ZDWE-80 pri <25 obl\u00fakov\u00fdch min\u00fatach<\/a>, bude ma\u0165 maxim\u00e1lnu chybu polohovania vyvolan\u00fa v\u00f4\u013eou na koncovom efektore pribli\u017ene 400 mm \u00d7 tan(25\/60 \u00d7 \u03c0\/180) = 2,91 mm<\/strong>Pre robota riaden\u00e9ho servopohonom v re\u017eime polohy s uzavretou slu\u010dkou nie je t\u00e1to chyba 2,91 mm trvalou chybou \u2013 ide o p\u00e1smo necitlivosti pri zmene smeru. Servo regul\u00e1tor to kompenzuje sp\u00e4tnou v\u00e4zbou o polohe z enkod\u00e9ra motora. Ak\u00e9ko\u013evek vonkaj\u0161ie ru\u0161enie po\u010das zadr\u017eanej polohy (potom, \u010do enkod\u00e9r potvrd\u00ed polohu) v\u0161ak m\u00f4\u017ee sp\u00f4sobi\u0165 posun a\u017e 2,91 mm, ak z\u00e1\u0165a\u017eov\u00fd moment sp\u00f4sob\u00ed, \u017ee sa v\u00fdstupn\u00fd hriade\u013e pohybuje v p\u00e1sme necitlivosti v\u00f4le bez toho, aby to enkod\u00e9r motora detekoval.<\/p>\n<\/div>\n<\/section>\n

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\u0160tyri triedy presnosti v\u00f4le \u2013 prisp\u00f4sobenie triedy po\u017eiadavk\u00e1m aplik\u00e1cie<\/h2>\n

\u0160tandardn\u00e1 \u0161trukt\u00fara tried presnosti pre presn\u00e9 plan\u00e9tov\u00e9 prevodovky v priemysle mapuje rozsahy v\u00f4le pod\u013ea kateg\u00f3ri\u00ed aplik\u00e1ci\u00ed. V\u00fdber spr\u00e1vnej triedy je rovnako d\u00f4le\u017eit\u00fd ako nepreh\u00e1\u0148anie \u0161pecifik\u00e1ci\u00ed: ultrapresn\u00e1 jednotka s presnos\u0165ou < 1 arcmin stoj\u00ed 3 a\u017e 5-kr\u00e1t viac ako \u0161tandardn\u00e1 presn\u00e1 jednotka s presnos\u0165ou < 8 arcmin rovnakej ve\u013ekosti r\u00e1mu. Ak je po\u017eiadavka va\u0161ej aplik\u00e1cie na presnos\u0165 < 8 arcmin, invest\u00edcia do jednotky s presnos\u0165ou < 1 arcmin neprin\u00e1\u0161a \u017eiadny merate\u013en\u00fd v\u00fdkonnostn\u00fd benefit.<\/p>\n

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<1<\/div>\n
arcmin<\/div>\n<\/div>\n
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Ultrapresnos\u0165 \u2014 polovodi\u010d, optick\u00e9 zarovnanie, robotika s priamym pohonom<\/div>\n

Pri polomere 100 mm vytv\u00e1ra <1 arcmin iba 0,029 mm m\u0155tveho p\u00e1sma vyvolan\u00e9ho v\u00f4\u013eou. Vy\u017eaduje sa pre roboty na manipul\u00e1ciu s polovodi\u010dov\u00fdmi do\u0161ti\u010dkami (polohovanie krem\u00edkov\u00e9ho \u010dipu s presnos\u0165ou na \u00b10,01 mm), presn\u00e9 optick\u00e9 dr\u017eiaky a robotiku s priamym pohonom v\u00fdskumnej triedy, kde je ak\u00e9ko\u013evek m\u0155tve p\u00e1smo neprijate\u013en\u00e9. Zvy\u010dajne nie je dostupn\u00e9 ako \u0161tandardn\u00fd produkt s\u00e9rie EP \u2013 pre z\u00e1kazkov\u00fa \u0161pecifik\u00e1ciu je potrebn\u00fd kontakt s aplika\u010dn\u00fdm in\u017einieringom Korea Ever-Power.<\/p>\n<\/div>\n<\/div>\n

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1\u20133<\/div>\n
arcmin<\/div>\n<\/div>\n
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Vysok\u00e1 presnos\u0165 \u2014 CNC obr\u00e1bacie osi, laserov\u00e9 rezacie hlavy, presn\u00e9 polohovacie stoly<\/div>\n

Pri polomere 200 mm vytv\u00e1ra <3 arcmin maxim\u00e1lnu m\u0155tvu z\u00f3nu 0,175 mm. Vhodn\u00e9 pre CNC posuvn\u00e9 osi, kde je rozmerov\u00e1 tolerancia dielu \u00b10,01 \u2013 0,1 mm, polohovanie laserovej rezacej hlavy, kde je \u0161\u00edrka rezu 0,2 \u2013 0,5 mm, a viacosov\u00e9 servoriaden\u00e9 polohovacie stupne v k\u00f3rejsk\u00fdch mont\u00e1\u017enych zariadeniach elektroniky. Sp\u00e4tnov\u00e4zobn\u00e1 slu\u010dka polohy serva \u013eahko kompenzuje v\u00f4\u013eu na tejto \u00farovni v be\u017enej prev\u00e1dzke.<\/p>\n<\/div>\n<\/div>\n

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3\u20138<\/div>\n
arcmin<\/div>\n<\/div>\n
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\u0160tandardn\u00e1 presnos\u0165 \u2014 EP-ZDE\/ZDF\/ZDS: V\u0161eobecn\u00e1 priemyseln\u00e1 automatiz\u00e1cia, robotick\u00e9 k\u013aby, pohony AGV \u2605 Najbe\u017enej\u0161ie<\/div>\n

Toto je rozsah \u0161pecifik\u00e1ci\u00ed pre s\u00e9rie EP-ZDE, EP-ZDF a EP-ZDS (r\u00e1my 60 \u2013 190 v jednom stupni). Pri polomere 100 mm znamen\u00e1 < 8 arcmin maxim\u00e1lne m\u0155tve p\u00e1smo 0,233 mm \u2013 \u010do je \u00faplne posta\u010duj\u00face pre polohovanie priemyseln\u00fdch robotov, v\u0161eobecn\u00e9 indexovanie automatiz\u00e1cie a servopohony dopravn\u00edkov. \u0160tandardn\u00e1 trieda predstavuje najlep\u0161iu hodnotu pre preva\u017en\u00fa v\u00e4\u010d\u0161inu k\u00f3rejsk\u00fdch aplik\u00e1ci\u00ed servo automatiz\u00e1cie. Pre aplik\u00e1cie, kde s\u00fa d\u00f4le\u017eit\u00e9 n\u00e1klady a po\u017eiadavky na polohovanie s\u00fa mierne, t\u00e1to trieda poskytuje konzistentn\u00fd v\u00fdkon bez pr\u00edplatku za alternat\u00edvy s pr\u00edsnej\u0161\u00edmi toleranciami.<\/p>\n<\/div>\n<\/div>\n

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8\u201330<\/div>\n
arcmin<\/div>\n<\/div>\n
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Ekonomick\u00fd \/ pravouhl\u00fd vstup \u2014 EP-ZDWE\/ZDWF, EP-ZDE-40, viacstup\u0148ov\u00e9 jednotky<\/div>\n

S\u00e9rie pravouhl\u00fdch vstupov EP-ZDWE a EP-ZDWF patria do tohto rozsahu kv\u00f4li vstupn\u00e9mu stup\u0148u s ku\u017ee\u013eov\u00fdm ozuben\u00fdm kolesom, ktor\u00fd prid\u00e1va uhlov\u00fa v\u00f4\u013eu. \u0160pecifik\u00e1cia <25 \u2013 30 obl\u00fakov\u00fdch min\u00fat nie je nedostatkom kvality \u2013 je to inherentn\u00e1 charakteristika kon\u0161trukci\u00ed vstupov s ku\u017ee\u013eov\u00fdm ozuben\u00fdm kolesom u v\u0161etk\u00fdch v\u00fdrobcov. Pre servoriaden\u00e9 osi, kde polohovacia slu\u010dka kompenzuje v\u00f4\u013eu prevodovky, je tento rozsah plne funk\u010dn\u00fd. Kde to nie je vhodn\u00e9: syst\u00e9my krokov\u00fdch motorov s otvorenou slu\u010dkou, kde sa v\u00f4\u013ea priamo st\u00e1va chybou polohovania bez kompenz\u00e1cie sp\u00e4tnej v\u00e4zby.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

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\"Presn\u00e9<\/p>\n
S\u00e9ria EP pokr\u00fdva \u0161tandardn\u00fa presnos\u0165 (<8 obl\u00fakov\u00fdch min\u00fat, EP-ZDE\/ZDF), pravouhl\u00fd vstup (<25\u201330 obl\u00fakov\u00fdch min\u00fat, EP-ZDWE\/ZDWF) a vysok\u00fa tuhos\u0165 IP65 (<8 obl\u00fakov\u00fdch min\u00fat pri 1 800 N\u00b7m, EP-ZDS).<\/div>\n<\/div>\n

<\/p>\n

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V\u00f4\u013ea vs. torzn\u00e1 tuhos\u0165 \u2013 dve r\u00f4zne pr\u00ed\u010diny chyby polohovania, ktor\u00e9 si in\u017einieri \u010dasto m\u00fdlia<\/h2>\n

Jedn\u00fdm z najpretrv\u00e1vaj\u00facich nedorozumen\u00ed v \u0161pecifik\u00e1cii presn\u00fdch plan\u00e9tov\u00fdch prevodoviek je ch\u00e1panie v\u00f4le a torznej tuhosti ako toho ist\u00e9ho javu. Nie s\u00fa to tak. Ovplyv\u0148uj\u00fa presnos\u0165 polohovania prostredn\u00edctvom \u00faplne odli\u0161n\u00fdch fyzik\u00e1lnych mechanizmov, s\u00fa \u0161pecifikovan\u00e9 v rovnak\u00fdch jednotk\u00e1ch (uhlov\u00e9 min\u00faty na v\u00fdstupnom hriadeli) a ich zamie\u0148anie vedie k nespr\u00e1vnemu v\u00fdberu prevodovky. K\u00fapa prevodovky s men\u0161ou v\u00f4\u013eou nerie\u0161i probl\u00e9m torznej tuhosti a naopak.<\/p>\n

\n
\n
Negat\u00edvna reakcia<\/div>\n
Uhlov\u00e9 m\u0155tve p\u00e1smo pri nulov\u00e9 za\u0165a\u017eenie<\/strong>, meran\u00e9 pri zmene smeru za\u0165a\u017eenia. \u010cisto geometrick\u00e9 \u2013 sp\u00f4soben\u00e9 v\u00f4\u013eou medzi zubami ozuben\u00e9ho kolesa v z\u00e1bere. Pr\u00edtomn\u00e9 aj vtedy, ke\u010f sa nep\u00f4sob\u00ed \u017eiadnym kr\u00fatiacim momentom.<\/div>\n
Ke\u010f sa objav\u00ed: Pri zmene smeru, pred op\u00e4tovn\u00fdm za\u0165a\u017een\u00edm. V\u00fdstupn\u00fd hriade\u013e sa \u201evo\u013ene pohybuje\u201c o uhol v\u00f4le.<\/div>\n<\/div>\n
\n
Torzn\u00e1 tuhos\u0165<\/div>\n
Elastick\u00e9 priehyby komponentov prevodovky pri aplikovanom za\u0165a\u017een\u00ed<\/strong>Sp\u00f4soben\u00e9 elasticitou materi\u00e1lu zubov ozuben\u00fdch kolies, hriade\u013eov a puzdier. Zvy\u0161uje sa \u00famerne s aplikovan\u00fdm kr\u00fatiacim momentom \u2013 \u010d\u00edm vy\u0161\u0161\u00ed je kr\u00fatiaci moment, t\u00fdm v\u00e4\u010d\u0161ia je elastick\u00e1 uhlov\u00e1 chyba.<\/div>\n
Kedy sa objav\u00ed: Pri akomko\u013evek aplikovanom za\u0165a\u017een\u00ed, \u00famerne ve\u013ekosti kr\u00fatiaceho momentu. Zmizne po odstr\u00e1nen\u00ed za\u0165a\u017eenia (elastick\u00e9, nie trval\u00e9).<\/div>\n<\/div>\n
\n
Celkov\u00e1 uhlov\u00e1 chyba<\/div>\n
V re\u00e1lnych servo aplik\u00e1ci\u00e1ch je celkov\u00e1 chyba polohovania s\u00fa\u010dtom oboch pr\u00edspevkov plus pr\u00edspevkov enkod\u00e9ra a regul\u00e1tora. Pri dynamick\u00fdch osiach (r\u00fdchle sp\u00e4tn\u00e9 chody, premenliv\u00e9 za\u0165a\u017eenia) m\u00f4\u017ee pr\u00edspevok torznej tuhosti pri vysok\u00fdch \u00farovniach kr\u00fatiaceho momentu prekro\u010di\u0165 pr\u00edspevok v\u00f4le.<\/div>\n
\u03b8_celkov\u00e1 \u2248 \u03b8_v\u00f4\u013ea + \u03b8_elastick\u00e1 = \u03b8_v\u00f4\u013ea + T\/Ct, kde Ct = torzn\u00e1 tuhos\u0165 [N\u00b7m\/uhlov\u00fd min]<\/div>\n<\/div>\n<\/div>\n

Kvantifikovan\u00e9 porovnanie: Elastick\u00e9 priehyby EP-ZDE-160 vs. EP-ZDS-190 pri premennom za\u0165a\u017een\u00ed<\/h3>\n

Nasleduj\u00faca tabu\u013eka pou\u017e\u00edva vzorec \u03b8_elastic = T \/ Ct na zn\u00e1zornenie toho, ako rovnak\u00fd aplikovan\u00fd kr\u00fatiaci moment vytv\u00e1ra ve\u013emi odli\u0161n\u00e9 elastick\u00e9 uhlov\u00e9 chyby v \u0161tandardnej presnej s\u00e9rii oproti s\u00e9rii s vysokou tuhos\u0165ou. Toto s\u00fa skuto\u010dn\u00e9 \u00fadaje relevantn\u00e9 pre \u0161pecifik\u00e1cie oto\u010dn\u00e9ho stola CNC a k\u013abov \u0165a\u017ek\u00fdch robotov, kde maxim\u00e1lne kr\u00fatiace momenty pri rezan\u00ed alebo manipul\u00e1cii m\u00f4\u017eu dosiahnu\u0165 200 \u2013 800 N\u00b7m.<\/p>\n

\n\n\n\n\n\n\n\n\n\n
Pou\u017eit\u00fd kr\u00fatiaci moment<\/th>\nEP-ZDE-160<\/a>
\nCt = 38 N\u00b7m\/uhlov\u00fa min\u00fatu<\/span><\/th>\n		EP-ZDS-190<\/a>
\nCt = 130 N\u00b7m\/uhlov\u00fa min\u00fatu<\/span><\/th>\n		Pomer tuhosti<\/th>\nLine\u00e1rna chyba ZDE-160
\npri R=200 mm<\/span><\/th>\n		Line\u00e1rna chyba ZDS-190
\npri R=200 mm<\/span><\/th>\n<\/tr>\n<\/thead>\n
50 N\u00b7m<\/td>\n1,32 uhlovej min\u00faty<\/td>\n0,38 uhlovej min\u00faty<\/td>\n3,4\u00d7<\/td>\n0,077 mm<\/td>\n0,022 mm<\/td>\n<\/tr>\n
100 N\u00b7m<\/td>\n2,63 uhlov\u00fdch min\u00fat<\/td>\n0,77 uhlovej min\u00faty<\/td>\n3,4\u00d7<\/td>\n0,153 mm<\/td>\n0,045 mm<\/td>\n<\/tr>\n
200 N\u00b7m<\/td>\n5,26 uhlov\u00fdch min\u00fat<\/td>\n1,54 uhlovej min\u00faty<\/td>\n3,4\u00d7<\/td>\n0,306 mm<\/td>\n0,089 mm<\/td>\n<\/tr>\n
380 N\u00b7m
\n(\u0165a\u017ek\u00e9 CNC rezanie)<\/span><\/td>\n		10,00 obl\u00fakov\u00fdch min\u00fat<\/td>\n2,92 uhlov\u00fdch min\u00fat<\/td>\n3,4\u00d7<\/td>\n0,582 mm<\/td>\n0,170 mm<\/td>\n<\/tr>\n
800 N\u00b7m<\/td>\n21,05 uhlov\u00fdch min\u00fat<\/td>\n6,15 uhlov\u00fdch min\u00fat<\/td>\n3,4\u00d7<\/td>\n1,225 mm<\/td>\n0,358 mm<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n
\n
D\u00f4le\u017eit\u00fd poznatok: pri 380 N\u00b7m sa samotn\u00e1 elastick\u00e1 deform\u00e1cia EP-ZDE-160 rovn\u00e1 10 obl\u00fakov\u00fdm min\u00fatam.<\/div>\n

In\u017einier, ktor\u00fd \u0161pecifikuje EP-ZDE-160 s v\u00f4\u013eou <8 obl\u00fakov\u00fdch min\u00fat pre aplik\u00e1ciu s \u0165a\u017ek\u00fdm CNC oto\u010dn\u00fdm stolom, m\u00e1 spr\u00e1vnu \u0161pecifik\u00e1ciu v\u00f4le \u2013 ale pri \u0161pi\u010dkovom reznom kr\u00fatiacom momente 380 N\u00b7m prid\u00e1va torzn\u00e1 elastick\u00e1 v\u00fdchylka \u010fal\u0161\u00edch 10 obl\u00fakov\u00fdch min\u00fat. Celkov\u00e1 uhlov\u00e1 chyba na v\u00fdstupe pri za\u0165a\u017een\u00ed je 18 obl\u00fakov\u00fdch min\u00fat \u2013 viac ako dvojn\u00e1sobok \u0161pecifikovanej v\u00f4le. Preto aplik\u00e1cie s vysok\u00fdm za\u0165a\u017een\u00edm (ve\u013ek\u00e9 CNC oto\u010dn\u00e9 stoly, \u0165a\u017ek\u00e9 robotick\u00e9 k\u013aby, servopohony lisov) vy\u017eaduj\u00fa s\u00e9riu EP-ZDS s Ct = 130 N\u00b7m\/obl\u00fakov\u00e1 min\u00fata, nielen jednotku EP-ZDE s men\u0161ou v\u00f4\u013eou. EP-ZDS-190 pri rovnakom za\u0165a\u017een\u00ed 380 N\u00b7m vytv\u00e1ra elastick\u00fa v\u00fdchylku iba 2,92 obl\u00fakov\u00fdch min\u00fat \u2013 \u010do predstavuje 3,4-n\u00e1sobn\u00e9 zlep\u0161enie dynamickej presnosti.<\/p>\n<\/div>\n<\/section>\n

<\/p>\n

\n

Ako sa v\u00f4\u013ea zvy\u0161uje po\u010das \u017eivotnosti prevodovky \u2013 a \u010do ju ur\u00fdch\u013euje<\/h2>\n

Presn\u00e1 plan\u00e9tov\u00e1 prevodovka si neudr\u017e\u00ed svoju po\u010diato\u010dn\u00fa \u0161pecifik\u00e1ciu v\u00f4le donekone\u010dna. Uhlov\u00e9 p\u00e1smo necitlivosti sa \u010dasom zv\u00e4\u010d\u0161uje, preto\u017ee sa opotreb\u00favaj\u00fa boky zubov ozuben\u00e9ho kolesa a lo\u017eisk\u00e1 un\u00e1\u0161a\u010da plan\u00e9t hromadia v\u00f4\u013eu. R\u00fdchlos\u0165 n\u00e1rastu z\u00e1vis\u00ed vo ve\u013ekej miere od prev\u00e1dzkov\u00fdch podmienok \u2013 spr\u00e1vne za\u0165a\u017een\u00e1 a spr\u00e1vne mazan\u00e1 prevodovka be\u017eiaca v odpor\u00fa\u010dan\u00fdch pracovn\u00fdch cykloch vyk\u00e1\u017ee za 20 000 hod\u00edn iba mierne zv\u00fd\u0161enie v\u00f4le. Pre\u0165a\u017een\u00e1 alebo kontaminovan\u00e1 jednotka m\u00f4\u017ee svoju v\u00f4\u013eu zdvojn\u00e1sobi\u0165 za menej ako 5 000 hod\u00edn.<\/p>\n

\n\n\n\n\n\n\n\n\n\n\n
Prev\u00e1dzkov\u00e9 hodiny<\/th>\nPribli\u017en\u00e1 v\u00f4\u013ea
\nEP-ZDE-80, spr\u00e1vne nabit\u00fd<\/span><\/th>\n		Line\u00e1rna chyba pri R = 300 mm<\/th>\nPozn\u00e1mky<\/th>\n<\/tr>\n<\/thead>\n
0 h (nov\u00e9)<\/td>\n7,5 obl\u00fakov\u00fdch min\u00fat<\/td>\n0,654 mm<\/td>\nV\u00fdrobcom certifikovan\u00e9 pri teste menovit\u00e9ho kr\u00fatiaceho momentu \u00b131 TP3T<\/td>\n<\/tr>\n
2 000 hod\u00edn<\/td>\n8,0 uhlov\u00fdch min\u00fat<\/td>\n0,698 mm<\/td>\nNorm\u00e1lny z\u00e1beh dokon\u010den\u00fd; po\u010diato\u010dn\u00e1 \u00faprava povrchu<\/td>\n<\/tr>\n
5 000 hod\u00edn<\/td>\n8,8 obl\u00fakov\u00fdch min\u00fat<\/td>\n0,768 mm<\/td>\nUst\u00e1len\u00e1 miera opotrebenia; rekordn\u00e1 v\u00fdchodiskov\u00e1 hodnota pri kontrole po 5 000 hodin\u00e1ch<\/td>\n<\/tr>\n
10 000 hod\u00edn<\/td>\n10,2 uhlov\u00fdch min\u00fat<\/td>\n0,890 mm<\/td>\nSt\u00e1le v prijate\u013enom rozsahu pre v\u00e4\u010d\u0161inu \u0161tandardn\u00fdch aplik\u00e1ci\u00ed<\/td>\n<\/tr>\n
15 000 hod\u00edn<\/td>\n12,5 obl\u00fakov\u00fdch min\u00fat<\/td>\n1,091 mm<\/td>\nBl\u00ed\u017ei sa prah v\u00fdmeny pre vysoko presn\u00e9 aplik\u00e1cie<\/td>\n<\/tr>\n
20 000 hod\u00edn (L10)<\/td>\n15,1 uhlov\u00fdch min\u00fat<\/td>\n1,318 mm<\/td>\nMenovit\u00e1 \u017eivotnos\u0165 L10; napl\u00e1nujte si v\u00fdmenu prevodovky<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

Ilustrat\u00edvny priebeh zalo\u017een\u00fd na longitudin\u00e1lnych \u00fadajoch z odvetvia pre spr\u00e1vne \u0161pecifikovan\u00e9 a za\u0165a\u017een\u00e9 presn\u00e9 plan\u00e9tov\u00e9 reduktory. Skuto\u010dn\u00e9 hodnoty z\u00e1visia od \u0161pecifick\u00fdch podmienok za\u0165a\u017eenia, pracovn\u00e9ho cyklu a okolit\u00e9ho prostredia. Mazivo s\u00e9rie EP-ZDE\/ZDF po\u010das celej \u017eivotnosti v\u00fdrazne spoma\u013euje opotrebovanie bokov ozuben\u00fdch kolies v porovnan\u00ed s nespr\u00e1vne mazan\u00fdmi jednotkami.<\/p>\n

\u0160tyri podmienky, ktor\u00e9 ur\u00fdch\u013euj\u00fa rast sp\u00e4tnej reakcie<\/h3>\n
\n
\n
\u2460 Prev\u00e1dzka nad menovit\u00fdm kr\u00fatiacim momentom (bez servisn\u00e9ho faktora)<\/div>\n

Boky zubov plan\u00e9tov\u00fdch prevodov s\u00fa vystaven\u00e9 Hertzovmu kontaktn\u00e9mu nap\u00e4tiu presahuj\u00facemu ich navrhovan\u00fa medzu \u00fanavy povrchu. Doch\u00e1dza k jamkovej tvorbe, ktor\u00e1 sa zr\u00fdch\u013euje. V\u00f4\u013ea sa m\u00f4\u017ee zdvojn\u00e1sobi\u0165 v priebehu 3 000 \u2013 5 000 hod\u00edn namiesto 20 000. Toto je najbe\u017enej\u0161\u00ed ur\u00fdch\u013eova\u010d rastu v\u00f4le v k\u00f3rejsk\u00fdch aplik\u00e1ci\u00e1ch servopohonov.<\/p>\n<\/div>\n

\n
\u2461 Kontamin\u00e1cia alebo degrad\u00e1cia maziva<\/div>\n

Vniknutie vody (najm\u00e4 do jednotiek s kryt\u00edm IP54 vystaven\u00fdch priamomu um\u00fdvaniu) emulguje mazivo na dobu \u017eivotnosti, \u010d\u00edm zni\u017euje pevnos\u0165 jeho filmu. Kovov\u00e9 \u00falomky opotrebenia z pred\u010dasn\u00e9ho pre\u0165a\u017eenia vytv\u00e1raj\u00fa abraz\u00edvne podmienky. V\u00fdsledn\u00e9 trojzlo\u017ekov\u00e9 abraz\u00edvne opotrebenie p\u00f4sob\u00ed s\u00fa\u010dasne na v\u0161etky povrchy ozuben\u00e9ho kolesa, \u010d\u00edm sa zvy\u0161uje r\u00fdchlos\u0165 rastu v\u00f4le.<\/p>\n<\/div>\n

\n
\u2462 Nadmern\u00e1 vstupn\u00e1 r\u00fdchlos\u0165<\/div>\n

D\u00f4sledn\u00e1 prev\u00e1dzka nad odpor\u00fa\u010dan\u00fdmi vstupn\u00fdmi ot\u00e1\u010dkami (3 000 ot.\/min. pre v\u00e4\u010d\u0161inu s\u00e9ri\u00ed EP) zvy\u0161uje odstrediv\u00e9 nam\u00e1hanie plan\u00e9tov\u00e9ho prevodu a vytv\u00e1ra teplo, ktor\u00e9 ur\u00fdch\u013euje oxid\u00e1ciu maziva. Vy\u0161\u0161ia teplota zni\u017euje viskozitu a hr\u00fabku maziva, \u010d\u00edm sa zvy\u0161uje kontakt kovu s kovom na bokoch zubov ozuben\u00e9ho kolesa.<\/p>\n<\/div>\n

\n
\u2463 Vysokofrekven\u010dn\u00e9 r\u00e1zov\u00e9 za\u0165a\u017eenie<\/div>\n

Hlavn\u00e9 pohony servolisov a osi robotov s kol\u00edznym zastaven\u00edm vystavuj\u00fa lo\u017eisk\u00e1 un\u00e1\u0161a\u010da plan\u00e9t opakovan\u00e9mu r\u00e1zov\u00e9mu za\u0165a\u017eeniu, ktor\u00e9 presahuje kon\u0161trukciu pre ust\u00e1len\u00fd \u00fanavov\u00fd stav. V dr\u00e1\u017ekach lo\u017e\u00edsk un\u00e1\u0161a\u010da plan\u00e9t sa vytv\u00e1raj\u00fa mikro jamky, ktor\u00e9 prispievaj\u00fa k radi\u00e1lnej v\u00f4li v\u00fdstupn\u00e9ho hriade\u013ea \u2013 a nakoniec k merate\u013en\u00e9mu zv\u00fd\u0161eniu v\u00f4le za hranicami opotrebovania zubov ozuben\u00e9ho kolesa.<\/p>\n<\/div>\n<\/div>\n<\/section>\n

<\/p>\n

\"Vn\u00fatorn\u00e9<\/p>\n
V\u0161etky komponenty ozuben\u00fdch kolies s\u00e9rie EP s\u00fa vyroben\u00e9 z kalenej legovanej ocele s br\u00fasen\u00fdmi profilmi zubov \u2013 \u010do je hlavn\u00fdm faktorom presnosti a dlhodobej stability v\u00f4le. Korea Ever-Power \u2014 v\u00fdrobca presn\u00fdch plan\u00e9tov\u00fdch prevodoviek \u2192<\/a><\/div>\n<\/div>\n

<\/p>\n

\n

Kompletn\u00e9 \u0161pecifik\u00e1cie v\u00f4le s\u00e9rie EP \u2013 v\u0161etky ve\u013ekosti r\u00e1mov a stupne<\/h2>\n

Nasleduj\u00face \u0161pecifik\u00e1cie predstavuj\u00fa hodnoty v\u00f4le certifikovan\u00e9 v\u00fdrobcom pre v\u0161etky presn\u00e9 plan\u00e9tov\u00e9 prevodovky s\u00e9rie Korea Ever-Power EP, meran\u00e9 pri \u00b13% menovit\u00e9ho v\u00fdstupn\u00e9ho kr\u00fatiaceho momentu pod\u013ea \u0161tandardn\u00e9ho testovacieho protokolu. \u0160ir\u0161ia v\u00f4\u013ea s\u00e9rie ZDWE\/ZDWF je priamym d\u00f4sledkom vstupn\u00e9ho stup\u0148a s ku\u017ee\u013eov\u00fdm prevodom \u2013 to je konzistentn\u00e9 so v\u0161etk\u00fdmi pravouhl\u00fdmi vstupn\u00fdmi plan\u00e9tov\u00fdmi reduktormi bez oh\u013eadu na v\u00fdrobcu.<\/p>\n

\n\n\n\n\n\n\n\n\n\n\n\n
S\u00e9ria<\/th>\nVe\u013ekos\u0165 r\u00e1mu<\/th>\n1-stup\u0148ov\u00fd<\/th>\n2-stup\u0148ov\u00fd<\/th>\n3-stup\u0148ov\u00fd<\/th>\nKonfigur\u00e1cia<\/th>\n<\/tr>\n<\/thead>\n
EP-ZDE<\/strong><\/td>\n40 mm<\/td>\n<12 obl\u00fakov\u00fdch min\u00fat<\/td>\n<15 obl\u00fakov\u00fdch min\u00fat<\/td>\n<18 obl\u00fakov\u00fdch min\u00fat<\/td>\nPriama, okr\u00fahla pr\u00edruba<\/td>\n<\/tr>\n
EP-ZDE<\/strong><\/td>\n60\u2013160 mm<\/td>\n<8 obl\u00fakov\u00fdch min\u00fat<\/td>\n<12 obl\u00fakov\u00fdch min\u00fat<\/td>\n<15 obl\u00fakov\u00fdch min\u00fat<\/td>\nPriama, okr\u00fahla pr\u00edruba \u2013 \u0161tandardn\u00e1 presnos\u0165<\/td>\n<\/tr>\n
EP-ZDF<\/a><\/td>\n40\u2013160 mm<\/td>\n<8\u201312 obl\u00fakov\u00fdch min\u00fat<\/td>\n<12\u201315 obl\u00fakov\u00fdch min\u00fat<\/td>\n<15\u201318 obl\u00fakov\u00fdch min\u00fat<\/td>\nPriama, \u0161tvorcov\u00e1 pr\u00edruba \u2013 identick\u00e1 so ZDE r\u00e1mom<\/td>\n<\/tr>\n
EP-ZDS<\/strong><\/td>\n115 \u2013 190 mm<\/td>\n<8 obl\u00fakov\u00fdch min\u00fat<\/td>\n<12 obl\u00fakov\u00fdch min\u00fat<\/td>\nNeuveden\u00e9<\/td>\nPriamy, \u0161tvorcov\u00e1 pr\u00edruba, IP65 \u2013 rovnak\u00e1 v\u00f4\u013ea ako ZDE, vy\u0161\u0161\u00ed Ct<\/td>\n<\/tr>\n
EP-ZDWE<\/strong><\/td>\n60 mm<\/td>\n<30 obl\u00fakov\u00fdch min\u00fat<\/td>\n<35 obl\u00fakov\u00fdch min\u00fat<\/td>\n<40 obl\u00fakov\u00fdch min\u00fat<\/td>\nPravouhl\u00e1, okr\u00fahla pr\u00edruba \u2013 skosen\u00fd stol\u00edk zvy\u0161uje v\u00f4\u013eu<\/td>\n<\/tr>\n
EP-ZDWE<\/strong><\/td>\n80\u2013160 mm<\/td>\n<25 obl\u00fakov\u00fdch min\u00fat<\/td>\n<30 obl\u00fakov\u00fdch min\u00fat<\/td>\n<35 obl\u00fakov\u00fdch min\u00fat<\/td>\nPravouhl\u00e1, okr\u00fahla pr\u00edruba \u2013 \u0161ir\u0161ia, ale servokompenzovate\u013en\u00e1<\/td>\n<\/tr>\n
EP-ZDWF<\/a><\/td>\n60\u2013160 mm<\/td>\n<25\u201330<\/td>\n<30\u201335<\/td>\n<35 \u2013 40<\/td>\nPravouhl\u00e1, \u0161tvorcov\u00e1 pr\u00edruba \u2013 identick\u00e1 so ZDWE r\u00e1mom<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/section>\n

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Ke\u010f v\u00f4\u013ea neovplyv\u0148uje presnos\u0165 \u2013 jednosmern\u00e1 v\u00fdnimka<\/h2>\n

Uhlov\u00e9 m\u0155tve p\u00e1smo sp\u00f4sobuje chybu polohovania iba pri zmene smeru. Ak va\u0161a aplik\u00e1cia polohuje iba v jednom smere \u2013 z\u00e1\u0165a\u017e sa v\u017edy pribli\u017euje k cie\u013eu z rovnak\u00e9ho uhlov\u00e9ho smeru a pohon si po\u010das polohovania v\u017edy udr\u017eiava kladn\u00fd kr\u00fatiaci moment v tomto smere \u2013 v\u00f4\u013ea prispieva k nulovej chybe polohovania bez oh\u013eadu na jej ve\u013ekos\u0165.<\/p>\n

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Aplik\u00e1cie, kde v\u00f4\u013ea = nulov\u00fd vplyv na presnos\u0165<\/div>\n