Robot Joints Harmonic Drive
Harmonic Drive Reducer Ncej Hom qauv SHF-S-14 / SHF-S-17 / SHF-S-20 / SHF-S-25 / SHF-S-32. SHF-S hom yog hom ncej ntawm GIGAGER harmonic iav series. Txoj cai ntawm GIGAGER txo kev txo hwjchim txo yog siv cov lus tsa suab ntawm Flexspline, vas Spline thiab cov co tes generator, ...
Harmonic Drive Reducer Ncej Hom qauv SHF-S-14 / SHF-S-17 / SHF-S-20 / SHF-S-25 / SHF-S-32. SHF-S hom yog hom ncej ntawm GIGAGER harmonic iav series. Lub hauv paus ntawm GIGAGER txo kev txo hwjchim yog siv cov lus tsa suab ntawm Flexspline, vas Spline thiab lub tshuab hluav taws xob yoj, feem ntau ntawm qhov kev hloov ntawm cov flexspline kom pom tau qhov lus taw kev thiab lub zog xa mus.
1. Qhov Khoom Muag ntawm GIGAGER Harmonic Drive yog dab tsi?
• Muaj nuj nqi siab
• Ua haujlwm zoo
• Tsawg thim rov qab
• Rigidity siab
2. KHW Ncej Khoom Harmonic Drive
Series | Hom | Spec | Iav Piv Txwv | |||||
NPAJ | S (Ncej) | 14 | 30 | 50 | 80 | 100 | - | - |
| 17 | 30 | 50 | 80 | 100 | - | - | ||
| 20 | 30 | 50 | 80 | 100 | 120 | - | ||
| 25 | 30 | 50 | 80 | 100 | 120 | 160 | ||
| 32 | 50 | 80 | 100 | 120 | - | - | ||
Rau ntau ntu CSF, SHD, CSD, thov saib daim ntawv Catalog nrog. (download lub PDF hauv nplooj ntawv no)
Qauv: SHF-S-14
Cov khoom | Iav Piv Txwv | ||||
| 30K | 50K | 80K | 100K | ||
Rated Torque (tawm tswv yim 2000r / min) | Nm | 3.8 | 5.1 | 7.4 | 7.4 |
Permissible Maximum Torque (Pib • Tso) | Nm | 8.6 | 17 | 22 | 27 |
Permissible Maximum Value Qhov nruab nrab Load Torque | Nm | 7.8 | 6.6 | 10.5 | 10.5 |
Instantaneous Permissible Maximum Torque | Nm | 16 | 33 | 45 | 51 |
Permissible Ntau tshaj tawm tswv yim ceev ceev | r / min | 8000 | 8000 | 8000 | 8000 |
Permissible Average Input Rotating Speed | r / min | 3500 | 3500 | 3500 | 3500 |
Backlash | Arc sec | ≦ 20 | ≦ 20 | ≦ 10 | ≦ 10 |
Tsim Lifespan | teev | 10000 | 10000 | 15000 | 15000 |
Qauv: SHF-S-17
Cov khoom | Iav Piv Txwv | ||||
| 30K | 50K | 80K | 100K | ||
Rated Torque (tawm tswv yim 2000r / min) | Nm | 8.4 | 15.2 | 21 | 23 |
Permissible Maximum Torque (Pib • Tso) | Nm | 15.2 | 32 | 41 | 52 |
Permissible Maximum Value Qhov nruab nrab Load Torque | Nm | 11.5 | 25 | 26 | 38 |
Instantaneous Permissible Maximum Torque | Nm | 29 | 66 | 83 | 108 |
Permissible Ntau tshaj tawm tswv yim ceev ceev | r / min | 7000 | 7000 | 7000 | 7000 |
Permissible Average Input Rotating Speed | r / min | 3500 | 3500 | 3500 | 3500 |
Backlash | Arc sec | ≦ 20 | ≦ 20 | ≦ 10 | ≦ 10 |
Tsim Lifespan | teev | 10000 | 10000 | 15000 | 10000 |
Qauv: SHF-S-20
Cov khoom | Iav Piv Txwv | |||||
| 30K | 50K | 80K | 100K | 120K | ||
Rated Torque (tawm tswv yim 2000r / min) | Nm | 14 | 24 | 32 | 38 | 38 |
Permissible Maximum Torque (Pib • Tso) | Nm | 26 | 53 | 70 | 78 | 83 |
Permissible Maximum Value Qhov nruab nrab Load Torque | Nm | 19 | 32 | 45 | 47 | 47 |
Instantaneous Permissible Maximum Torque | Nm | 48 | 93 | 121 | 140 | 140 |
Permissible Ntau tshaj tawm tswv yim ceev ceev | r / min | 6000 | 6000 | 6000 | 6000 | 6000 |
Permissible Average Input Rotating Speed | r / min | 3500 | 3500 | 3500 | 3500 | 3500 |
Backlash | Arc sec | ≦ 20 | ≦ 20 | ≦ 10 | ≦ 10 | ≦ 10 |
Tsim Lifespan | teev | 10000 | 10000 | 15000 | 15000 | 15000 |
Qauv: SHF-S-25
Cov khoom | Iav Piv Txwv | ||||||
| 30K | 50K | 80K | 100K | 120K | 160K | ||
Rated Torque (tawm tswv yim 2000r / min) | Nm | 26 | 37 | 60 | 64 | 64 | 64 |
Permissible Maximum Torque (Pib • Tso) | Nm | 48 | 93 | 130 | 149 | 159 | 167 |
Permissible Maximum Value Qhov nruab nrab Load Torque | Nm | 36 | 52 | 83 | 103 | 103 | 103 |
Instantaneous Permissible Maximum Torque | Nm | 90 | 177 | 242 | 270 | 289 | 298 |
Permissible Ntau tshaj tawm tswv yim ceev ceev | r / min | 5500 | 5500 | 5500 | 5500 | 5500 | 5500 |
Permissible Average Input Rotating Speed | r / min | 3500 | 3500 | 3500 | 3500 | 3500 | 3500 |
Backlash | Arc sec | ≦ 20 | ≦ 20 | ≦ 10 | ≦ 10 | ≦ 10 | ≦ 10 |
Tsim Lifespan | teev | 10000 | 10000 | 15000 | 15000 | 15000 | 15000 |
Qauv: SHF-S-32
Cov khoom | Iav Piv Txwv | ||||
| 50K | 80K | 100K | 120K | ||
Rated Torque (tawm tswv yim 2000r / min) | Nm | 72 | 112 | 130 | 130 |
Permissible Maximum Torque (Pib • Tso) | Nm | 205 | 289 | 325 | 335 |
Permissible Maximum Value Qhov nruab nrab Load Torque | Nm | 103 | 159 | 208 | 205 |
Instantaneous Permissible Maximum Torque | Nm | 363 | 540 | 635 | 652 |
Permissible Ntau tshaj tawm tswv yim ceev ceev | r / min | 4500 | 4500 | 4500 | 4500 |
Permissible Average Input Rotating Speed | r / min | 3500 | 3500 | 3500 | 3500 |
Backlash | Arc sec | ≦ 20 | ≦ 10 | ≦ 10 | ≦ 10 |
Tsim Lifespan | teev | 10000 | 15000 | 15000 | 15000 |
3. Vim li cas thiaj xaiv GIGAGER?
4. Lwm Yam Kev Paub
Mechanic ntawm Harmonic Drive
Lub nrhav dej yoj lub zeem muag zais yog ua raws elastic dynamics thiab siv cov yooj yim ntawm cov hlau. Lub tswv yim muaj peb yam khoom: ib lub tshuab hluav taws xob yoj (2 / ntsuab), flex (3 / liab), thiab vas zoo (4 / xiav). Ntau txoj hauv kev muaj qhov sib tivthaiv plaub feem ntau siv los ua kom luv thij lossis nce lub iav kom qis qis dua, tabsis tseem ua raws li cov qauv tseem ceeb.
Lub tshuab pa hluav taws xob yog ua los ntawm ob qho chaw sib cais: ib qho elliptical disk hu ua ib qho hluav taws xob lub tshuab hluav taws xob thiab ib qho npas npog. Lub iav ntsaws yog ntxig rau hauv cov kabmob, muab cov kabmob ua tus qauv zoo ib yam nkaus.
Cov flex spline zoo li tus zoo li lub khob ntiav ntiav. Lub sab ntawm lub spline yog heev nyias, tab sis lub qab yog raug tsis yeem. Qhov no ua rau muaj qhov yooj yim ntawm cov phab ntsa ntawm qhov kawg ntawm lub thawv phab ntsa, thiab nyob rau sab nraud sab nrig heev thiab muaj peev xwm ua kom nruj ruaj ruaj (rau ib lub taub, piv txwv). Cov hniav yog qhov chaw nyob ib ncig ntawm sab nraum lub flex spline. Cov flex spline haum ua kom nruj nruj tshaj li lub tshuab pa hluav taws xob, thaum lub yig hluav taws xob txuas yog tig, lub flex spline deforms rau cov duab ntawm ib lub rotating ellipse thiab tsis plam tshaj lub sab nraud elliptical nplhaib ntawm lub npas kabmob. Lub npas kab npas cia tus flex spline tig ntawm nws tus kheej mus rau lub tshuab hluav taws xob.
Cov vas nplaum yog lub nplhaib nplhaib nrog cov kaus hniav sab hauv. Cov flex spline thiab yoj tshuab hluav taws xob tso rau hauv cov vas cais, meshing cov hniav ntawm cov flex spline thiab cov vas spline. Vim tias cov flex spline deformed rau hauv ib qho elliptical zoo, nws cov hniav tsuas ua tau mesh nrog cov hniav ntawm cov vas cais hauv ob cheeb tsam sab nraud sab ntawm cov flex spline (nyob rau ntawm lub axis loj ntawm lub ellipse).
Cia li hais tias lub tshuab hluav taws xob yoj hluav taws xob yog lub tswv yim hloov. Raws li cov hlua hluav taws xob ntsaws rotates, lub flex spline cov hniav uas yog meshed nrog cov neeg ntawm txoj kev nplua maj mam hloov txoj hauj lwm. Cov axis ntawm cov flex spline lub ellipse tig nrog nthwv generator, yog li cov ntsiab lus ntawm cov hniav mesh tig ncig nruab nrab ntawm qhov chaw nruab nrab ntawm tus nqi hluav taws xob ua tus ncej. Tus yuam sij rau qhov tsim ntawm cov kab xev iav yog tias muaj tsawg dua cov hniav (feem ntau piv txwv ob qho tsawg dua) ntawm cov flex spline dua li ntawm cov vas npliag. Qhov no txhais tau hais tias kom txhua txhua qhov kev sib hloov ntawm tus nthwv hluav taws xob, lub flex spline yuav tsum tau tig ib qho nyiaj me me (ob lub hniav hauv qhov ua piv txwv no) rov qab mus rau ntawm qhov kev nplua. Yog li txoj kev sib hloov ntawm qhov nthwv dej generator tau ua rau qeeb qeeb qeeb ntawm cov nplua npluas hauv kev tawm tsam.
Rau ib txoj hlab ntsha dhia dej hlais, txoj hlua khi yuav txo tau los ntawm cov xov tooj ntawm cov iav:
Piv txwv, yog tias muaj 202 cov hniav nyob ntawm qhov vas luj thiab 200 ntawm cov flex spline, txo qhov piv txwv yog (200 - 202) / 200 = -0.01
Yog li cov flex spline spins ntawm 1/100 cov zauv ntawm lub tshuab hluav taws xob txuas hluav taws xob thiab hauv kev tawm tsam. Cov kev sib txawv ntawm kev sib txawv yog teem los ntawm kev hloov cov nab npawb ntawm cov hniav. Qhov no tuaj yeem ua tiav los ntawm kev hloov lub tshuab txoj kab los yog los ntawm kev hloov qhov hnyav ntawm tus neeg cov hniav thiab li no khaws nws qhov loj thiab qhov hnyav. Qhov ntau ntawm cov vev thooj caum tau raug txwv los ntawm cov hniav me me rau ib qho kev tsim kho.
Cim npe nrov: neeg hlau ua pob zeb ua ke harmonic tsav, Tuam Tshoj, tuam ntxhab, lwm tus neeg, lub Hoobkas, zoo siab
Xa kev nug
Koj Tseem Yuav Zoo Li
