The advanced level of today's industrial robots is amazing, especially the smart 5-axis 6-axis robots, with so many joints, the ability to accurately transmit motion and commands, and the close cooperation of various parts to complete complex work. Curious about what their transmission system is, what is the structure of the joint?
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Japanese Yaskawa robot knives and cuts peas
Speaking of joints, it mainly refers to the most important basic components of industrial robots, and also the core component of sports: precision reducers. This is a sophisticated power transmission mechanism that uses a gear speed converter to decelerate the number of revolutions of the motor to the desired number of revolutions and obtain a device with a large torque to reduce the speed and increase the torque.
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You made it, the precision reducers used in the joints of the global industrial robots are almost all made in Japan: the Japanese say, there are few robots around the world that can stand. . .
At present, there are not many manufacturers of precision reducers that can provide large-scale and reliable performance in the world. Most of the global market share is occupied by Japanese companies. On the precision reducers on industrial robot joints, Nabtesco (Nabtesco) The global market share of the products is 60%, especially for medium/heavy load robots, and its RV reducer market share is as high as 90%. Harmonica's harmonic reducers account for about 15%, and Sumitomo Heavy Industries (SUMITOMO, no ratio found).
Let's take a look at these well-known robot reducer companies.
1. Nabtesco NabtescoNabtesco was founded in September 2003 and looks like a post-00 company. In fact, it was composed of two Japanese companies, Teijin Seiki (founded in 1944) and Nabco (Nabco, which produced the first automatic door in Japan in 1956). As a manufacturer of motion control systems and components, both companies have mastered high-end core technologies in their specific business areas and controlled a high market share, so Nabtesco was established in the same industry in Japan. Even the world's first, most robot manufacturers in the world benefit from Nabtesco's patented RV reducer and bring success.
As the world's largest manufacturer of precision cycloid reducers, Nabtesco manufactures high-performance reducers, hollow shaft reducers, and single-axis servo actuators and controllers. Its precision equipment is characterized by high torque, high rigidity and high overload load resistance. It combines high precision and very low backlash. It is widely used in industries such as satellite, radar antenna, industrial robot, semiconductor and welding technology. The field of automation.
Nabtesco has several small videos that make it intuitive to showcase its products on a variety of industrial robots. One of the 6-axis robots is shared with everyone.
Joint of a 6-axis robot
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In 1944, Teijin Seiki started its business in the aircraft manufacturing industry. In 1947, it entered the textile machinery manufacturing field. In 1955, it began to manufacture aircraft parts. In 1959, it expanded to the machine tool manufacturing industry. Nabtesco's RV reducer, formerly the mainstream of Teijin Seiki, was used as a core component of the excavator drive motor in the 1970s. In the early 1980s, at the request of the world's major robot manufacturers, Teijin Seiki improved the RV reducer to make it more accurate and reliable, in line with the strict requirements of the robot manufacturing industry. After obtaining the patent for the precision cycloidal pin RV reducer, it began mass production in 1986 and began to support the joint application of modern industrial robots.
Disassemble and view the internal structure
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The line can be easily passed through the hollow part of the reducer. Such a design not only has a higher torque, a higher compression ratio, is close to zero backlash, but also loads a larger set of inner corner support shafts that provide greater momentum and eliminates external support equipment. This further saves costs and simplifies the design work for end users.
Nabtesco: Hollow center Gear
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2. Harmonica Hamernaco
Japan's Harmonic Drive Systems Inc. (HDSI) is a leader in overall motion control. Its Harmonic Drive combined harmonic reducer is widely used in lightweight, small gearless, high torque capacity. Industrial robots, humanoid robots, semiconductor liquid crystal production equipment, photovoltaic equipment, optical instruments, precision machine tools and other cutting-edge fields. The wave gear in the electric drive wheel of the Apollo lunar rover is the product of Hamernaco~~
In order to cover the low reduction ratio field that harmonic reducers cannot achieve, HDSI products also involve Harmonic Planetary, a precision planetary gearbox type harmonic reducer. The unique inner ring gear deformation process can make the planetary gear mesh with it tighter and eliminate the backlash, which has reached the precision transmission error.
Harmonic gear drive is a gear transmission system that uses a wave generator to produce a controllable elastic deformation of a flexible gear and meshes with a rigid gear to transmit motion and power from the head. The harmonic drive reducer was patented by American Clarence Walton Musser (1909~ 1998-06-08) in 1957 (US Patent No. 2906143). In addition, the former worked in the US Department of Defense for 15 years. Longevity inventors have 250 major inventions in their lifetime, such as military recoilless rifles, aircraft catapults, underwater explosion test equipment and so on.
It sounds like a big industry category. In fact, the harmonic drive is a trademark of Harmonic Drive Systems Inc. In 1960, USM Company successfully put the harmonic drive reducer into operation for the first time. Later, Hasegawa Gear Works, Ltd. obtained the production license of USM. In October 1970, Hasegawa and USM each invested 50%, and Harmonic Drive Systems Inc., a Chinese-translated Hamernaco, was established in Tokyo.
Hamernaco is the leader in overall motion control. Its HarmonicDrive combined harmonic reducer is characterized by its light weight, small gearless clearance and high torque capacity. It is widely used in industrial robots and humanoid robots. Semiconductor liquid crystal production equipment, photovoltaic equipment, optical instruments, precision machine tools and other cutting-edge fields.
On January 1, 2006, Hamernaco and the US subsidiary of Nabtesco introduced above established a joint venture company, Harmonic Drive LLC, in Massachusetts.
In order to cover the low reduction ratio field that harmonic reducers cannot achieve, the product also involves the precision planetary gearbox type Harmonic Planetary. The unique inner ring gear deformation process can make the planetary gear mesh with it tighter and eliminate the backlash, which has reached the precision transmission error.
Harmonic reducer disassembled to view internal structure
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Harmonic Planetary Gears Harmonic Planetary Gears
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3. SUMITOMO SumitomoSumitomo SUMITOMO is a construction machinery manufacturer under the Sumitomo Group, one of the world's top 500 companies with a history of more than 400 years. It has a worldwide reputation. Sumitomo products developed the first hydraulic excavator in 1967 with its own technology. At present, Sumitomo hydraulic excavators are active everywhere in the world. Sumitomo Drive Technologies Sumitomo Heavy Industries Co., Ltd. Sumitomo Heavy Industries Co., Ltd. started its own manufacturing of electric motors and reducers in Japan.
Sumitomo reducer includes various types of reducer, such as Sumitomo large helical gear reducer, Sumitomo planetary gear reducer, Sumitomo helical gear reducer, Sumitomo worm gear reducer. The reduction ratio is large and the efficiency is high: the first-stage transmission reduction ratio is 9~87, the double-stage transmission reduction ratio is 121~5133, the multi-stage mixing can reach tens of thousands, and the pin gear meshes the sleeve type rolling friction, and the meshing surface has no relative sliding. Therefore, the first-stage deceleration efficiency is 94%.
In October 1995, Sumitomo Heavy Industries Co., Ltd. and Sumitomo Corporation Co., Ltd. jointly established Sumitomo Heavy Machinery Reducer (China) Co., Ltd. in Tianjin, China, and established Shanghai Branch in 2001 as the sales headquarters of its products in China. At the same time, there is a repair center in Songjiang, Shanghai.
On the other hand, China's research on precision reducers for industrial robots is relatively late compared to foreign countries, the technology is immature, and there is a big gap with foreign advanced technology, forming a situation in which precision reducers cannot be self-sufficient and rely heavily on imports. This seriously restricts the development of industrial robots in China. Especially in the period of industrialization of industrial robots in China, the key technological breakthroughs of industrial robot precision reducers are more urgent. The "Made in China 2025" issued by the State Council proposes to "break through the technical bottlenecks of key components such as robot bodies, reducers, servo motors, controllers, sensors and drives, and system integration design and manufacturing."
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