{"id":2374,"date":"2026-06-25T05:55:27","date_gmt":"2026-06-25T05:55:27","guid":{"rendered":"https:\/\/helicalcutgears.top\/?p=2374"},"modified":"2026-06-25T05:55:27","modified_gmt":"2026-06-25T05:55:27","slug":"helical-gears-robot-joints-servo-automation","status":"publish","type":"post","link":"https:\/\/helicalcutgears.top\/cs\/helical-gears-robot-joints-servo-automation\/","title":{"rendered":"\u0160roubov\u00e1 ozuben\u00e1 kola pro robotick\u00e9 klouby a servo automatizaci \u2013 Pr\u016fvodce p\u0159esnost\u00ed, v\u016fl\u00ed a setrva\u010dnost\u00ed"},"content":{"rendered":"
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\u0160roubov\u00e1 ozuben\u00e1 kola pro robotick\u00e9 klouby a servo automatizaci \u2013 p\u0159esnost, v\u016fle a setrva\u010dnost<\/h1>\n

Robotick\u00e9 klouby a servopoh\u00e1n\u011bn\u00e1 automatizace p\u0159edstavuj\u00ed jedine\u010dn\u00e9 po\u017eadavky, kter\u00e9 je odli\u0161uj\u00ed od v\u0161ech ostatn\u00edch aplikac\u00ed spir\u00e1lov\u00fdch ozuben\u00fdch kol: v\u016fle m\u011b\u0159en\u00e1 v \u00fahlov\u00fdch minut\u00e1ch, nikoli v milimetrech, odra\u017een\u00e1 setrva\u010dnost, kter\u00e1 p\u0159\u00edmo ovliv\u0148uje \u0161\u00ed\u0159ku p\u00e1sma servosmy\u010dky, a \u2013 u kolaborativn\u00edch robot\u016f \u2013 zp\u011btn\u00fd pohon, kter\u00fd mus\u00ed b\u00fdt zachov\u00e1n i p\u0159i vysok\u00fdch reduk\u010dn\u00edch pom\u011brech. Tato p\u0159\u00edru\u010dka pokr\u00fdv\u00e1 ka\u017ed\u00fd po\u017eadavek spolu s hodnotami specifikac\u00ed a dodac\u00edmi mo\u017enostmi spole\u010dnosti Korea Ever-Power pro p\u0159esn\u00e1 spir\u00e1lov\u00e1 ozuben\u00e1 kola.<\/p>\n

Specifikujte sv\u016fj robot nebo servo spir\u00e1lov\u00e9 p\u0159evodovky \u2192<\/a><\/p>\n<\/div>\n<\/div>\n

Architektura pohonu robotick\u00e9ho kloubu \u2013 kde se pou\u017e\u00edvaj\u00ed \u0161ikm\u00e1 ozuben\u00e1 kola<\/h2>\n

Pr\u016fmyslov\u00e9 roboty pou\u017e\u00edvaj\u00ed ve sv\u00fdch kloubov\u00fdch reduktorech dva typy p\u0159evod\u016f: pohony s deforma\u010dn\u00ed vlnou (harmonick\u00e9) pro kompaktn\u00ed ramenn\u00ed a loketn\u00ed klouby s vysok\u00fdm p\u0159evodov\u00fdm pom\u011brem a kompaktn\u00ed spir\u00e1lov\u00e9 planetov\u00e9 p\u0159evodovky pro z\u00e1p\u011bstn\u00ed klouby a rota\u010dn\u00ed osu robot\u016f SCARA, kde po\u017eadavky na hustotu kroutic\u00edho momentu a zp\u011btn\u00fd pohon up\u0159ednost\u0148uj\u00ed spir\u00e1lov\u00e9 p\u0159evodovky p\u0159ed konstrukcemi s deforma\u010dn\u00ed vlnou. Kolaborativn\u00ed roboti (koboti) maj\u00ed tendenci pou\u017e\u00edvat v\u00fdhradn\u011b spir\u00e1lov\u00e9 planetov\u00e9 p\u0159evodovky \u2013 vy\u0161\u0161\u00ed zp\u011btn\u00fd pohon (ni\u017e\u0161\u00ed t\u0159en\u00ed) spir\u00e1lov\u00fdch p\u0159evod\u016f s kovov\u00fdmi zuby ve srovn\u00e1n\u00ed s pohony s deforma\u010dn\u00ed vlnou je d\u016fle\u017eit\u00e1 pro spln\u011bn\u00ed bezpe\u010dnostn\u00edch po\u017eadavk\u016f sn\u00edm\u00e1n\u00ed s\u00edly. Pohony kol AGV (automaticky nav\u00e1d\u011bn\u00e1 vozidla) pou\u017e\u00edvaj\u00ed jedno- nebo dvoustup\u0148ov\u00e9 p\u0159evodovky. spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> reduktory mezi motorem n\u00e1boje a kolem.<\/p>\n

Po\u017eadavky na v\u016fli pro robotick\u00e9 a servo spir\u00e1lov\u00e9 p\u0159evody<\/h2>\n

V robotick\u00fdch kloubech a servopoh\u00e1n\u011bn\u00fdch polohovac\u00edch os\u00e1ch se v\u016fle projevuje p\u0159\u00edmo jako chyba polohov\u00e1n\u00ed. Vztah:<\/p>\n

\u00dahlov\u00e1 chyba na v\u00fdstupu = v\u016fle j_t \/ (d_pastorku \u00d7 tan(1\/i))
\nLine\u00e1rn\u00ed chyba n\u00e1stroje = \u00fahlov\u00e1 chyba \u00d7 d\u00e9lka ramene n\u00e1stroje<\/p>\n

U p\u0159esn\u00e9ho robotick\u00e9ho z\u00e1p\u011bstn\u00edho kloubu s pastorkem o pr\u016fm\u011bru rozte\u010de 50 mm, v\u016fl\u00ed 1 mm (j_t = 1 mm na rozte\u010dn\u00e9 kru\u017enici) a p\u0159evodov\u00fdm pom\u011brem i = 20:1 je \u00fahlov\u00e1 chyba v\u00fdstupn\u00ed h\u0159\u00eddele p\u0159ibli\u017en\u011b 0,5\u00b0 \u2013 co\u017e odpov\u00edd\u00e1 poloze 4 mm p\u0159i dosahu n\u00e1stroje 500 mm. Z toho je po\u017eadavek na v\u016fli pro robotick\u00e9 klouby okam\u017eit\u011b jasn\u00fd: pro opakovatelnost na \u00farovni mm na koncov\u00e9m efektoru je na v\u00fdstupu kloubu nutn\u00e1 v\u016fle v \u0159\u00e1du sub-\u00fahlov\u00e9 minuty.<\/p>\n

\n\n\n\n\n\n\n\n\n\n
Aplikace<\/th>\nPo\u017eadovan\u00e1 v\u00fdstupn\u00ed v\u016fle<\/th>\nEkvivalent j_t na vstupu (\u00f7 p\u0159evodov\u00fd pom\u011br)<\/th>\nT\u0159\u00edda DIN 3967<\/th>\n<\/tr>\n<\/thead>\n
Osa CNC obr\u00e1b\u011bc\u00edho stroje (vysok\u00e1 p\u0159esnost)<\/td>\n< 5 obloukov\u00fdch sekund \u2248 0,0014\u00b0<\/td>\n0,002\u20130,010 mm<\/td>\nT\u0159\u00edda H<\/td>\n<\/tr>\n
Kloub pr\u016fmyslov\u00e9ho robota (standardn\u00ed)<\/td>\n< 1\u20133 obloukov\u00e9 minuty \u2248 0,02\u20130,05\u00b0<\/td>\n0,01\u20130,03 mm<\/td>\nT\u0159\u00edda g\u2013h<\/td>\n<\/tr>\n
Kloub kolaborativn\u00edho robota (kobota)<\/td>\n< 5\u201315 \u00fahlov\u00fdch minut<\/td>\n0,02\u20130,05 mm<\/td>\nT\u0159\u00edda g<\/td>\n<\/tr>\n
Pohon kol AGV<\/td>\n< 0,1\u20130,5 mm line\u00e1rn\u00ed<\/td>\n0,03\u20130,10 mm<\/td>\nT\u0159\u00edda f\u2013g<\/td>\n<\/tr>\n
Servo osa pro balen\u00ed \/ ozna\u010dov\u00e1n\u00ed<\/td>\n< 0,05\u20130,2 mm line\u00e1rn\u00ed<\/td>\n0,02\u20130,06 mm<\/td>\nT\u0159\u00edda g<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

\u0158e\u0161en\u00ed s nulovou v\u016fl\u00ed pro servo \u0161roubovicov\u00e9 p\u0159evody<\/h2>\n

Metoda 1 \u2013 Tolerance tlou\u0161\u0165ky zubu (DIN 3967 t\u0159\u00edda h)<\/h3>\n

Uve\u010fte spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> a protilehl\u00fd pastorek dle DIN 3967 t\u0159\u00eddy h (t\u011bsn\u00fd). U M2\u2013M4 d\u00e1v\u00e1 t\u0159\u00edda h jmenovitou v\u016fli 0\u20130,06 mm. V kombinaci s p\u0159esn\u011b vyrobenou osovou vzd\u00e1lenost\u00ed pouzdra udr\u017eovanou na \u00b10,01 mm je mont\u00e1\u017en\u00ed v\u016fle typicky 0,005\u20130,020 mm \u2013 dostate\u010dn\u00e1 pro polohovac\u00ed osy t\u0159\u00eddy g. Toto je nejlevn\u011bj\u0161\u00ed \u0159e\u0161en\u00ed bez dal\u0161\u00edch mechanick\u00fdch slo\u017eitost\u00ed. Nev\u00fdhoda: s opot\u0159eben\u00edm ozuben\u00fdch kol se v\u016fle zv\u011bt\u0161uje a nelze ji znovu se\u0159\u00eddit bez v\u00fdm\u011bny.<\/p>\n

Metoda 2 \u2013 Pru\u017einov\u00e9 d\u011blen\u00e9 ozuben\u00e9 kolo (n\u016f\u017ekov\u00e9 ozuben\u00e9 kolo)<\/h3>\n

N\u016f\u017ekov\u00e9 ozuben\u00e9 kolo se skl\u00e1d\u00e1 ze dvou identick\u00fdch spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> Kola ulo\u017een\u00e1 souose s torzn\u00ed pru\u017einou mezi nimi, p\u0159edem zkroucenou tak, aby ob\u011b poloviny sou\u010dasn\u011b p\u0159itla\u010dovala k protilehl\u00fdm bok\u016fm spojovac\u00edho pastorku \u2013 jedna polovina se dot\u00fdk\u00e1 prav\u00e9ho boku, druh\u00e1 lev\u00e9ho. P\u0159edp\u011bt\u00ed pru\u017einy eliminuje v\u016fli t\u00edm, \u017ee udr\u017euje konstantn\u00ed kontakt zub\u016f na obou stran\u00e1ch pastorku. Jak doch\u00e1z\u00ed k opot\u0159eben\u00ed, pru\u017eina toto opot\u0159eben\u00ed automaticky kompenzuje a udr\u017euje t\u00e9m\u011b\u0159 nulovou v\u016fli po celou dobu \u017eivotnosti ozuben\u00e9ho kola. Nev\u00fdhodou je, \u017ee p\u0159edp\u00ednac\u00ed moment (obvykle 5\u201315% jmenovit\u00e9ho momentu) zvy\u0161uje ztr\u00e1ty t\u0159en\u00edm pohonu a sni\u017euje maxim\u00e1ln\u00ed \u00fa\u010dinnost pohonu.<\/p>\n

\"typy<\/p>\n

Metoda 3 \u2013 P\u0159edp\u011bt\u00ed proti zp\u011btn\u00e9mu r\u00e1zu u dvou motor\u016f<\/h3>\n

Dva identick\u00e9 servomotory, z nich\u017e ka\u017ed\u00fd poh\u00e1n\u00ed pastorek, kter\u00fd zab\u00edr\u00e1 se stejn\u00fdm spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> Kolo (nebo ozuben\u00fd h\u0159eben) jsou poh\u00e1n\u011bny s \u0159\u00edzen\u00fdm p\u0159edp\u011bt\u00edm kroutic\u00edho momentu \u2013 jeden motor tla\u010d\u00ed ve sm\u011bru hodinov\u00fdch ru\u010di\u010dek, zat\u00edmco druh\u00fd klade odpor proti sm\u011bru hodinov\u00fdch ru\u010di\u010dek, \u010d\u00edm\u017e se boky obou pastork\u016f sou\u010dasn\u011b dot\u00fdkaj\u00ed kola. T\u00edm se eliminuje v\u016fle bez mechanick\u00e9ho p\u016fsoben\u00ed pru\u017einy a bez rota\u010dn\u00ed setrva\u010dnosti mechanismu s d\u011blen\u00fdm p\u0159evodem. Servo\u0159\u00edzen\u00ed aplikuje n\u00edzko\u00farov\u0148ov\u00fd diferenci\u00e1ln\u00ed kroutic\u00ed moment, kter\u00fd se na v\u00fdstupu ru\u0161\u00ed (oba motory p\u0159isp\u00edvaj\u00ed kroutic\u00edm momentem v po\u017eadovan\u00e9m sm\u011bru, ale jejich p\u0159edp\u011bt\u00ed se ru\u0161\u00ed). Toto je preferovan\u00e9 \u0159e\u0161en\u00ed pro vysokorychlostn\u00ed p\u0159esn\u00e9 CNC osy nad 30 m\/min a pro port\u00e1lov\u00e9 stroje vy\u017eaduj\u00edc\u00ed p\u0159esnou synchronizaci mezi dv\u011bma osami.<\/p>\n

Odra\u017een\u00e1 setrva\u010dnost \u2013 Pro\u010d p\u0159evodov\u00fd pom\u011br ovliv\u0148uje odezvu serva<\/h2>\n

Kdy\u017e servomotor poh\u00e1n\u00ed z\u00e1t\u011b\u017e skrz spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> U reduktoru s p\u0159evodem i, motor vn\u00edm\u00e1 nejen setrva\u010dnost z\u00e1t\u011b\u017ee J_load, ale tak\u00e9 odra\u017eenou setrva\u010dnost J_reflected = J_load \/ i\u00b2. U reduktoru s p\u0159evodem 10:1 p\u0159isp\u00edv\u00e1 setrva\u010dnost z\u00e1t\u011b\u017ee k efektivn\u00ed setrva\u010dnosti motoru pouze \u010d\u00e1stkou 1% \u2013 dominuje samotn\u00e9 ozuben\u00e9 kolo a rotor motoru. Toto je probl\u00e9m p\u0159izp\u016fsoben\u00ed setrva\u010dnosti servosyst\u00e9mu:<\/p>\n

J_celkem (u motoru) = J_motoru + J_pastorku + J_zat\u00ed\u017een\u00ed \/ i\u00b2<\/p>\n

Pro maxim\u00e1ln\u00ed \u0161\u00ed\u0159ku p\u00e1sma serva by m\u011bl b\u00fdt minimalizov\u00e1n pom\u011br J_total k J_motor. Vysok\u00e9 p\u0159evodov\u00e9 pom\u011bry sni\u017euj\u00ed J_reflected\/J_motor, ale samotn\u00e1 ozuben\u00e1 kola maj\u00ed setrva\u010dnost. Optim\u00e1ln\u00ed p\u0159evodov\u00fd pom\u011br pro maxim\u00e1ln\u00ed \u0161\u00ed\u0159ku p\u00e1sma nast\u00e1v\u00e1, kdy\u017e J_reflected (od zat\u00ed\u017een\u00ed) \u2248 J_motor \u2013 co\u017e d\u00e1v\u00e1 i_opt = \u221a(J_load \/ J_motor). Pro robotick\u00fd kloub s J_load = 0,05 kg\u00b7m\u00b2 a J_motor = 0,0005 kg\u00b7m\u00b2: i_opt = \u221a(0,05\/0,0005) = \u221a100 = 10:1. Minimalizace spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> Setrva\u010dnost t\u011blesa (pou\u017eit\u00edm dut\u00fdch ozuben\u00fdch kol pro aplikace robotick\u00fdch kloub\u016f) je proto stejn\u011b d\u016fle\u017eit\u00e1 jako minimalizace v\u016fle pro optimalizaci smy\u010dky serva.<\/p>\n

Zp\u011btn\u00fd pohon u kolaborativn\u00edch robot\u016f \u2013 pro\u010d jsou preferov\u00e1na \u0161roubovicov\u00e1 ozuben\u00e1 kola<\/h2>\n

Kolaborativn\u00ed robot (kobot) se mus\u00ed bezpe\u010dn\u011b p\u0159izp\u016fsobit, kdy\u017e na n\u011bj \u010dlov\u011bk zatla\u010d\u00ed \u2013 kloub mus\u00ed m\u00edt zp\u011btn\u00fd pohon (z\u00e1t\u011b\u017e m\u016f\u017ee poh\u00e1n\u011bt motor dozadu), aby sn\u00edma\u010d s\u00edly a momentu v kloubu mohl detekovat kontakt a bezpe\u010dnostn\u00ed syst\u00e9m mohl omezit aplikovanou s\u00edlu. T\u0159en\u00ed v reduktoru kloubu ur\u010duje, zda je dosa\u017eiteln\u00fd zp\u011btn\u00fd pohon:<\/p>\n

\n
\u0160roubov\u00e9 planetov\u00e9 p\u0159evody \u2013 s protib\u011b\u017en\u00fdm pohonem<\/strong><\/p>\n

A spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> Planet\u00e1rn\u00ed stupe\u0148 v p\u0159evodov\u00e9m pom\u011bru 5:1 a\u017e 20:1 m\u00e1 \u00fa\u010dinnost z\u00e1b\u011bru 97\u2013991 TP3T, co\u017e odpov\u00edd\u00e1 \u00fahlu t\u0159en\u00ed p\u0159ibli\u017en\u011b 1\u20133\u00b0. To je pod \u00fahlem t\u0159en\u00ed samosvorn\u00e9ho mechanismu \u2013 kloub se pohybuje zp\u011bt silou 1,05\u20131,10\u00d7 v\u011bt\u0161\u00ed ne\u017e s\u00edla dop\u0159edn\u00e9ho pohonu. D\u00edky integrovan\u00e9mu sn\u00edm\u00e1n\u00ed s\u00edly a momentu je mo\u017en\u00e9 dos\u00e1hnout shodn\u00e9ho bezpe\u010dnostn\u00edho chov\u00e1n\u00ed.<\/p>\n<\/div>\n

Pohony deforma\u010dn\u00edmi vlnami \u2013 margin\u00e1ln\u00ed zp\u011btn\u00e1 hnac\u00ed s\u00edla<\/strong><\/p>\n

Reduktory s deforma\u010dn\u00edmi vlnami (harmonick\u00e9 pohony) v pom\u011bru 50:1 a\u017e 160:1 obvykle nejsou zp\u011btn\u011b poh\u00e1n\u011bn\u00e9 \u2013 vysok\u00fd reduk\u010dn\u00ed pom\u011br a t\u0159en\u00ed gener\u00e1toru vln br\u00e1n\u00ed v\u00fdstupu v \u0159\u00edzen\u00ed vstupu. Konstrukce kobot\u016f vyu\u017e\u00edvaj\u00edc\u00ed pohony s deforma\u010dn\u00edmi vlnami vy\u017eaduj\u00ed aktivn\u00ed \u0159\u00edzen\u00ed poddajnosti (\u0159\u00edzen\u00ed impedance pomoc\u00ed sn\u00edma\u010d\u016f momentu) sp\u00ed\u0161e ne\u017e pasivn\u00ed mechanickou poddajnost.<\/p>\n<\/div>\n<\/div>\n

Korea Ever-Power \u2014 Dod\u00e1vka p\u0159esn\u00fdch servopohon\u016f a robotick\u00fdch spir\u00e1lov\u00fdch p\u0159evod\u016f<\/h2>\n

\"P\u0159esn\u011b<\/p>\n

P\u0159esn\u011b brou\u0161en\u00e9 H\u00d6FLER spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> pro aplikace v robotick\u00fdch kloubech a servo automatizaci \u2014 t\u0159\u00edda DIN 4\u20135, Ra \u2264 0,3 \u00b5m, tlou\u0161\u0165ka zubu dle DIN 3967 t\u0159\u00edda g\u2013h pro minim\u00e1ln\u00ed v\u016fli, s certifikac\u00ed analyz\u00e1toru ozuben\u00fdch kol pro t\u0159\u00eddu p\u0159esnosti a odchylku tlou\u0161\u0165ky zubu<\/p>\n

Korea Ever-Power vyr\u00e1b\u00ed precizn\u00ed ozuben\u00e1 kola se \u0161roubovicov\u00fdm \u0159ezem<\/strong> pro servo a robotick\u00e9 aplikace v proveden\u00ed M0,5\u2013M8, t\u0159\u00edda DIN 4\u20136, t\u0159\u00edda tlou\u0161\u0165ky zubu g\u2013h (t\u011bsn\u00e1 v\u016fle), z cementovan\u00e9 oceli 20CrMnTi HRC 58\u201362 pro maxim\u00e1ln\u00ed nosnost v kompaktn\u00ed velikosti. Pro n\u016f\u017ekov\u00e9 p\u0159evody (pru\u017einov\u00e9 d\u011blen\u00ed) vyr\u00e1b\u00ed Korea Ever-Power p\u00e1rovan\u00e9 p\u00e1ry s potvrzenou tlou\u0161\u0165kou zubu v rozmez\u00ed \u00b11 \u00b5m od jmenovit\u00e9 hodnoty \u2013 co\u017e zaji\u0161\u0165uje stejn\u00e9 p\u0159edp\u011bt\u00ed na obou polovin\u00e1ch p\u0159evodu. Jako p\u0159\u00edm\u00fd v\u00fdrobce \u0161ikm\u00fdch ozuben\u00fdch kol<\/a>Spole\u010dnost Korea Ever-Power poskytuje v\u00fdpo\u010det odra\u017een\u00e9 setrva\u010dnosti (J_gear = 0,5 \u00d7 m \u00d7 r\u00b2) pro ka\u017edou objedn\u00e1vku p\u0159esn\u00e9ho ozuben\u00e9ho kola \u2013 \u010d\u00edm\u017e poskytuje konstrukt\u00e9rovi servosyst\u00e9mu informace pot\u0159ebn\u00e9 pro slad\u011bn\u00ed setrva\u010dnosti p\u0159ed n\u00e1vrhem p\u0159evodovky. Prohl\u00e9dn\u011bte si sortiment \u0161ikm\u00fdch ozuben\u00fdch kol<\/a>.<\/p>\n

\u010casto kladen\u00e9 ot\u00e1zky<\/h2>\n
Jak\u00fd je rozd\u00edl mezi opakovatelnost\u00ed a p\u0159esnost\u00ed v robotick\u00e9m kloubu \u2013 a jak je ovliv\u0148uje v\u016fle?<\/strong><\/p>\n

Opakovatelnost je schopnost robota vr\u00e1tit se do d\u0159\u00edve nav\u0161t\u00edven\u00e9 pozice ze stejn\u00e9ho sm\u011bru p\u0159ibl\u00ed\u017een\u00ed \u2013 nen\u00ed ovlivn\u011bna v\u016fl\u00ed, pokud je sm\u011br p\u0159ibl\u00ed\u017een\u00ed v\u017edy stejn\u00fd. P\u0159esnost je schopnost dos\u00e1hnout absolutn\u00ed kart\u00e9zsk\u00e9 sou\u0159adnice bez p\u0159edchoz\u00ed kalibrace \u2013 je p\u0159\u00edmo ovlivn\u011bna v\u016fl\u00ed, proto\u017ee absolutn\u00ed poloha z\u00e1vis\u00ed na tom, zda kloub p\u0159i\u0161el ve sm\u011bru nebo proti sm\u011bru hodinov\u00fdch ru\u010di\u010dek. V\u011bt\u0161ina pr\u016fmyslov\u00fdch robot\u016f specifikuje opakovatelnost (\u00b10,01\u20130,05 mm), ale nikoli absolutn\u00ed p\u0159esnost, a proto ve sv\u00fdch \u0159\u00eddic\u00edch syst\u00e9mech pou\u017e\u00edvaj\u00ed kompenzaci v\u016fle, m\u00edsto aby specifikovali nulovou v\u016fli. \u0161ikm\u00e1 ozuben\u00e1 kola<\/strong>Koboti pou\u017e\u00edvan\u00ed pro mont\u00e1\u017en\u00ed \u00fakoly s \u0159\u00edzenou silou, kde je d\u016fle\u017eit\u00e1 absolutn\u00ed p\u0159esnost, vy\u017eaduj\u00ed p\u0159evody s pevnou v\u016fl\u00ed a plnou kinematickou kalibraci.<\/p>\n<\/div>\n

Lze pro robotick\u00fd kloub pou\u017e\u00edt standardn\u00ed pr\u016fmyslovou p\u0159evodovku se \u0161ikm\u00fdm ozuben\u00edm, pokud m\u00e1 dostate\u010dn\u011b n\u00edzkou v\u016fli?<\/strong><\/p>\n

Ne typicky \u2013 krom\u011b v\u016fle vy\u017eaduj\u00ed robotick\u00e9 klouby n\u00edzkou odra\u017eenou setrva\u010dnost (standardn\u00ed p\u0159evodovky maj\u00ed relativn\u011b t\u011b\u017ek\u00e1 t\u011blesa p\u0159evodovek), kompaktn\u00ed axi\u00e1ln\u00ed d\u00e9lku (standardn\u00ed p\u0159evodovky maj\u00ed pevn\u00e9 rozm\u011bry sk\u0159\u00edn\u011b, kter\u00e9 nemus\u00ed vyhovovat ob\u00e1lce kloubu) a torzn\u00ed tuhost (standardn\u00ed p\u0159evodovky mohou m\u00edt p\u0159i rychl\u00e9m zrychlen\u00ed tah, kter\u00fd omezuje \u0161\u00ed\u0159ku p\u00e1sma serva). P\u0159esn\u00fd planetov\u00fd p\u0159evod spir\u00e1lov\u00e9 ozuben\u00e9 kolo<\/strong> Vhodn\u00fdm produktem je platforma navr\u017een\u00e1 speci\u00e1ln\u011b pro servopohony \u2013 s dut\u00fdm v\u00fdstupn\u00edm h\u0159\u00eddelem pro veden\u00ed kabel\u016f, lehk\u00fdm hlin\u00edkov\u00fdm pouzdrem a p\u0159esnou v\u00fdstupn\u00ed p\u0159\u00edrubou. Spole\u010dnost Korea Ever-Power vyr\u00e1b\u00ed komponenty planetov\u00fdch p\u0159evod\u016f (centr\u00e1ln\u00ed a planetov\u00e9 p\u0159evody) pro tyto kompaktn\u00ed servopohony; sk\u0159\u00ed\u0148 a sestava jsou obvykle navr\u017eeny v\u00fdrobcem robota.<\/p>\n<\/div>\n

Jak\u00fd je typick\u00fd rozsah modul\u016f pro \u0161ikm\u00e9 p\u0159evody pohonu kol AGV?<\/strong><\/p>\n

Pohony kol AGV pro roboty pro vnit\u0159n\u00ed logistiku obvykle pou\u017e\u00edvaj\u00ed M2\u2013M4 \u0161ikm\u00e1 ozuben\u00e1 kola<\/strong> v jednostup\u0148ov\u00fdch nebo dvoustup\u0148ov\u00fdch p\u0159evodovk\u00e1ch, \u010d\u00edm\u017e se sni\u017euj\u00ed ot\u00e1\u010dky motoru (3000\u20136000 ot\/min) na ot\u00e1\u010dky kola (100\u2013400 ot\/min). Kompaktn\u00ed geometrie n\u00e1boje kola omezuje pr\u016fm\u011br ozuben\u00e9ho kola na vn\u011bj\u0161\u00ed pr\u016fm\u011br 30\u201380 mm, co\u017e u M2\u2013M4 d\u00e1v\u00e1 po\u010det zub\u016f 15\u201340 \u2013 dostate\u010dn\u00e9 pro po\u017eadovan\u00e9 p\u0159evody. Materi\u00e1l: cementovan\u00fd 20CrMnTi pro prodlou\u017eenou \u017eivotnost v 24hodinov\u00e9m denn\u00edm provozu typick\u00e9m pro logistick\u00e9 AGV. T\u0159\u00edda p\u0159esnosti: t\u0159\u00edda DIN 6\u20137 (prost\u0159ed\u00ed s ut\u011bsn\u011bn\u00fdm krytem IP67 a st\u0159edn\u00ed rychlosti AGV nevy\u017eaduj\u00ed p\u0159esnost dle DIN 5).<\/p>\n<\/div>\n

Jak ovliv\u0148uje \u00fahel stoup\u00e1n\u00ed \u0161roubovice spir\u00e1lov\u00e9ho ozuben\u00e9ho kola v\u00fdkon servopohonu?<\/strong><\/p>\n

Pro spojen\u00ed serv a robot\u016f \u0161ikm\u00e1 ozuben\u00e1 kola<\/strong>Standardn\u00ed je \u00fahel stoup\u00e1n\u00ed \u0161roubovice \u03b2 = 20\u201325\u00b0 \u2013 stejn\u00fd rozsah jako u p\u0159esn\u00fdch pr\u016fmyslov\u00fdch p\u0159evod\u016f. Vy\u0161\u0161\u00ed \u00fahel stoup\u00e1n\u00ed \u0161roubovice sni\u017euje chybu p\u0159enosu (ni\u017e\u0161\u00ed hluk), ale zvy\u0161uje axi\u00e1ln\u00ed s\u00edlu na h\u0159\u00eddeli servomotoru, kter\u00e1 nen\u00ed v\u017edy podep\u0159ena lo\u017eiskem h\u0159\u00eddele motoru pro axi\u00e1ln\u00ed zat\u00ed\u017een\u00ed. U servo aplikac\u00ed absorbuje koso\u00fahl\u00e9 lo\u017eisko p\u0159edem zabudovan\u00e9 do v\u00fdstupn\u00edho h\u0159\u00eddele servomotoru m\u00edrnou axi\u00e1ln\u00ed s\u00edlu; nad \u03b2 = 25\u00b0 m\u016f\u017ee axi\u00e1ln\u00ed zat\u00ed\u017een\u00ed p\u0159ekro\u010dit axi\u00e1ln\u00ed jmenovitou nosnost lo\u017eiska h\u0159\u00eddele motoru, co\u017e vy\u017eaduje extern\u00ed axi\u00e1ln\u00ed lo\u017eisko na vstupn\u00edm h\u0159\u00eddeli p\u0159evodovky. Spole\u010dnost Korea Ever-Power potvrzuje o\u010dek\u00e1vanou axi\u00e1ln\u00ed s\u00edlu (F_a = F_t \u00d7 tan \u03b2) vzhledem k axi\u00e1ln\u00ed \u00fanosnosti lo\u017eiska h\u0159\u00eddele motoru pro ka\u017edou objedn\u00e1vku servop\u0159evodovky.<\/p>\n<\/div>\n

\n

Popt\u00e1vka po p\u0159esn\u00fdch servopohonech a robotick\u00fdch spir\u00e1lov\u00fdch p\u0159evodovk\u00e1ch<\/h2>\n

Uve\u010fte po\u017eadavky na v\u016fli, p\u0159evodov\u00fd pom\u011br, v\u00fdstupn\u00ed to\u010div\u00fd moment a p\u0159\u00edpadn\u00e1 omezen\u00ed setrva\u010dnosti. Spole\u010dnost Korea Ever-Power potvrzuje modul, po\u010det zub\u016f, t\u0159\u00eddu DIN a t\u0159\u00eddu tlou\u0161\u0165ky zub\u016f \u2013 s v\u00fdpo\u010dtem odrazov\u00e9 setrva\u010dnosti a certifik\u00e1tem v\u016fle, kter\u00e9 jsou standardn\u011b sou\u010d\u00e1st\u00ed ka\u017ed\u00e9 objedn\u00e1vky servop\u0159evodovky.<\/p>\n

Vy\u017e\u00e1dejte si specifikaci servo p\u0159evodovky<\/a>
\nProduktov\u00e1 \u0159ada \u0161ikm\u00fdch ozuben\u00fdch kol<\/a><\/div>\n

M0,5\u2013M8 \u00b7 DIN t\u0159\u00edda 4\u20136 \u00b7 T\u0159\u00edda v\u016fle g\u2013h \u00b7 V\u00fdpo\u010det setrva\u010dnosti \u00b7 N\u016f\u017ekov\u00e9 ozuben\u00e9 kolo \u00b7 Minim\u00e1ln\u00ed objedn\u00e1vac\u00ed mno\u017estv\u00ed 1 kus<\/p>\n<\/div>\n

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

\u0160roubov\u00e1 ozuben\u00e1 kola pro robotick\u00e9 klouby a servo automatizaci \u2013 p\u0159esnost, v\u016fle a setrva\u010dnost Robotick\u00e9 klouby a servo automatizace p\u0159edstavuj\u00ed jedine\u010dn\u00e9 po\u017eadavky, kter\u00e9 je odli\u0161uj\u00ed od v\u0161ech ostatn\u00edch aplikac\u00ed spir\u00e1lov\u00fdch ozuben\u00fdch kol: v\u016fle m\u011b\u0159en\u00e1 v obloukov\u00fdch minut\u00e1ch sp\u00ed\u0161e ne\u017e v milimetrech, odra\u017een\u00e1 setrva\u010dnost, kter\u00e1 p\u0159\u00edmo ovliv\u0148uje \u0161\u00ed\u0159ku p\u00e1sma servosmy\u010dky, a \u2013 u kolaborativn\u00edch robot\u016f \u2013 zp\u011btn\u00fd pohon, kter\u00fd mus\u00ed b\u00fdt [\u2026]<\/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":[3082],"tags":[],"class_list":["post-2374","post","type-post","status-publish","format-standard","hentry","category-helical-gears"],"_links":{"self":[{"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/posts\/2374","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/comments?post=2374"}],"version-history":[{"count":2,"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/posts\/2374\/revisions"}],"predecessor-version":[{"id":2378,"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/posts\/2374\/revisions\/2378"}],"wp:attachment":[{"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/media?parent=2374"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/categories?post=2374"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/helicalcutgears.top\/cs\/wp-json\/wp\/v2\/tags?post=2374"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}