In industrial automation, manipulators will become an important substitute for manual labor. The manipulators can imitate human arm movements and use fixed programs to grab, transport, and operate some things for operations. It can replace manual work in mechanization and automation, or work in some working environments that have a greater impact on the human body, so it is widely used in machinery manufacturing, logistics, assembly lines and other industries. But on the one hand, there is also this problem. The accuracy and range of motion of the product will be affected. Here we will talk about a very important accessory, which is the reducer used by the manipulator.

Why do the work requirements of the manipulator use the reducer? Here is a knowledge point that needs to be understood. First, the joints of the manipulator must support the torque generated by gravity; in addition, the joint speed of the manipulator is not high, and the motor is unstable at low speed, so a medium is required at this time. Let the motor roll at a relatively reasonable speed, and insist on working smoothly.

Looking at it now, there are two reasons why the manipulator uses the planetary reducer, torque and control resolution and closed-loop accuracy.

The advantages of using planetary reducer for manipulator are:

1. Obtain large torque at low price, with better running characteristics and smoother control

2. Advance closed-loop accuracy, better control control loop. Due to the large reduction ratio of 50:1, the output shaft of the manipulator reducer is disturbed and transmitted to the motor end, which is reduced by 37dB compared with the direct drive, which makes the closed-loop accuracy appear higher at the output shaft of the reducer. At the same time, the equivalent rolling inertia of the rotor has advanced to 2500 times, so that the lagging link of the control loop is dominated by the rotor inertia, and the rotor is directly driven by electromagnetic force and has no torque lag due to stiffness, which is better than direct drive.

3. The reducer has the function of protecting the motor during driving. The reducer bears a large torque during operation. When overloaded, only the value of the overload divided by the reduction ratio is transmitted to the motor. If it is directly undertaken by the motor, it may cause damage to the motor. When the overload is very large, the deceleration time is damaged first, and the reducer can be restored and used only by replacing spare parts, and the cost is relatively low. If the motor is directly damaged, the repair is relatively slow and the cost is high.

The design of the manipulator generally requires small size, high torque, flexibility, good stability, high safety and other requirements. The planetary reducer can advance precision and better control the loop. Due to the large reduction ratio of 50:1, the output shaft of the manipulator reducer is disturbed and transmitted to the motor end, which is reduced by 37dB compared with the direct drive, which makes the closed-loop accuracy appear higher at the output shaft of the reducer. At the same time, the equivalent rolling inertia of the rotor has advanced to 2500 times, so that the lagging link of the control loop is dominated by the rotor inertia, and the rotor is directly driven by electromagnetic force and has no torque lag due to stiffness, which is better than direct drive.

The manipulator can choose planetary reducer, DC brush reducer, DC brushless reducer, stepping reducer, hollow cup reducer, RV reducer, harmonic reducer as the driving gear motor, and the technical parameters, functional characteristics and other requirements can be It depends on the usage scenario.