Introduction to the types of reducers used in articulated robots

As the core component of industrial robots, precision reducers are required to have short transmission chains, small size, high power, light weight and easy control compared with general-purpose reducers. There are two main types of reducers widely used in articulated robots: RV reducers and harmonic reducers.

RV reducer

The RV reducer has a large number of meshing gears at the same time, is small and lightweight, and has high rigidity and overload resistance. In addition, because there is no backlash, rotational vibration, and small inertia, it has good acceleration performance and can achieve smooth operation and gain Correct positional accuracy.

Compared with the harmonic reducer, the key to the RV reducer lies in the processing technology and assembly technology. RV reducer has higher fatigue strength, stiffness, life and high reliability. Its disadvantages are heavy weight and large dimensions.

Harmonic reducer

Used for industrial robots with small loads or the end axes of large robots, the harmonic reducer is a type of harmonic transmission device. The harmonic transmission device includes a harmonic accelerator and a harmonic reducer. The harmonic reducer mainly includes: rigid spline, flex spline, and harmonic generator, all of which are indispensable. Among them, the harmonic reducer used in small robots is characterized by small size, light weight, large load-bearing capacity, high movement accuracy, and large single-stage transmission ratio.

Harmonic reducer bearings include two types: rigid bearings and flexible bearings. Rigid bearings include four series, CSG (CSF) series, SHG (SHF) series, CSD series, and SHD series. The naming method adopts the name of the reducer; flexible bearings The bearing is named HYR.