{"id":1906,"date":"2026-04-09T05:16:49","date_gmt":"2026-04-09T05:16:49","guid":{"rendered":"https:\/\/wormwheelgear.top\/?p=1906"},"modified":"2026-04-09T05:20:15","modified_gmt":"2026-04-09T05:20:15","slug":"worm-gear-drives-in-robotics-and-industrial-automation-precision-self-locking-and-the-backlash-specification","status":"publish","type":"post","link":"https:\/\/wormwheelgear.top\/cs\/worm-gear-drives-in-robotics-and-industrial-automation-precision-self-locking-and-the-backlash-specification\/","title":{"rendered":"\u0160nekov\u00e9 p\u0159evodovky v robotice a pr\u016fmyslov\u00e9 automatizaci \u2013 p\u0159esnost, samosvornost a specifikace v\u016fle"},"content":{"rendered":"
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Pr\u016fvodce aplika\u010dn\u00edm in\u017een\u00fdrstv\u00edm<\/p>\n

Worm Gear Drives in Robotics<\/span> and Industrial Automation \u2014 Precision, Self-Locking, and the Backlash Specification<\/h1>\n

Why automation engineers choose worm gear drives despite their efficiency penalty \u2014 and the backlash, repeatability, and dynamic load specifications that determine whether the robot performs to its rated accuracy over its design lifecycle.<\/p>\n

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\u00b10.03\u00b0<\/div>\n
Angular repeatability<\/div>\n<\/div>\n
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300:1<\/div>\n
Max single-stage ratio<\/div>\n<\/div>\n
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Self-lock<\/div>\n
Safety function<\/div>\n<\/div>\n
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DIN5<\/div>\n
T\u0159\u00edda p\u0159esnosti<\/div>\n<\/div>\n<\/div>\n
\u2699 Korea Ever-Power Worm Gear Co., Ltd\ud83d\udccd Ansan-si, Gyeonggi-do, Korea\ud83d\udce7 sales@wormwheelgear.top<\/div>\n<\/div>\n<\/section>\n
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The Precision Paradox: Why Robots Use Worm Gears Despite Their Efficiency Penalty<\/h2>\n

Any mechanical engineer evaluating drive options for a robot joint will encounter an apparent contradiction: worm gear drives have mechanical efficiency of 50\u201375%, while helical gear trains achieve 92\u201396%. In energy-conscious automation design, this difference looks damning. Yet worm gear joints appear throughout industrial and surgical robotics, collaborative robot arms, SCARA systems, and automated positioning equipment. The reason is not that automation engineers overlook the efficiency penalty \u2014 it is that they are solving for a set of requirements where worm gear drives provide three properties that no other compact, single-stage gear type simultaneously delivers.<\/p>\n

The first is self-locking behaviour.<\/strong> A robot joint that self-locks when the drive is de-energised does not require a brake to hold its position under gravity loading. This is a mechanical safety function that becomes critical in collaborative robot (cobot) applications under ISO\/TS 15066, in surgical robots under CE MDR, and in any robotic application where the robot arm must hold a position after an emergency stop without relying on active braking. A mechanical self-lock is fail-safe; an electromechanical brake is fail-soft and adds mechanical complexity.<\/p>\n

\"\u0161nek<\/p>\n

The second is high single-stage ratio.<\/strong> A servo motor running at 3,000 RPM driving a robot joint that moves at 15 RPM requires a 200:1 reduction. A single worm gear stage covers this entire range. Three stages of helical gearing would be required for the same ratio \u2014 tripling the mechanical component count in a space-constrained robot joint. The third property is right-angle compact layout,<\/strong> which resolves the geometric constraint of bringing motor torque into a joint axis from the lateral direction \u2014 a constraint that appears repeatedly in robot arm and positioner mechanical design.<\/p>\n

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The efficiency penalty in context:<\/strong> For a robot joint that moves for an average of 2 hours per 8-hour shift (25% duty cycle) at 500 W mechanical output, the worm gear’s 35% additional efficiency loss versus a helical gear train represents approximately 175 W extra heat generation during operation \u2014 or about 350 Wh per shift. At Korean industrial electricity rates (approximately \u20a990\/kWh), this is approximately \u20a932 per shift, or \u20a98,000 per year. Against the design and manufacturing cost of a more complex multi-stage helical joint, this energy cost rarely justifies the complexity increase for low-to-medium duty robotic applications.<\/p>\n<\/div>\n

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Repeatability, Accuracy, and Backlash \u2014 What the Specification Numbers Actually Mean<\/h2>\n
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\"Geometrie<\/p>\n

The tooth contact geometry at the worm-wheel mesh \u2014 where backlash is created and where it can be adjusted in a duplex worm configuration.<\/p>\n<\/div>\n

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Robot arm specification sheets list two closely related but technically distinct parameters that are frequently confused when selecting worm gear drives for automation.<\/strong> Repeatability<\/em> is the ability to return to the same position from the same direction after multiple cycles \u2014 measured by the scatter of repeated position commands. Accuracy<\/em> is the ability to reach a commanded position that is different from a previously taught position \u2014 affected by calibration, kinematics model errors, and gear geometry errors.<\/p>\n

Backlash affects both, but differently. It primarily affects bidirectional<\/em> repeatability \u2014 the scatter when approaching the same position from alternating directions (clockwise and counterclockwise). A standard worm gear with 0.05\u20130.10 mm backlash at the pitch cylinder introduces angular dead zone that directly translates to bidirectional repeatability error. For a 60 mm pitch radius worm wheel, 0.08 mm backlash = 4.6 arc-minutes = 0.077\u00b0 of angular dead zone.<\/p>\n

For pick-and-place automation where the robot always approaches from the same direction (unidirectional), this backlash creates no repeatability penalty. For welding robots, inspection systems, and any application requiring bidirectional accuracy, backlash must be controlled \u2014 either by specifying a duplex worm gear with adjustable backlash, or by implementing software backlash compensation in the robot controller.<\/p>\n<\/div>\n<\/div>\n

\n\n\n\n\n\n\n\n\n\n\n
Robot \/ System Type<\/th>\nBacklash Requirement<\/th>\nDirection Approach<\/th>\nGear Recommendation<\/th>\nRatio Typical<\/th>\n<\/tr>\n<\/thead>\n
Pick-and-place (palletising)<\/td>\n< 0.15 mm acceptable<\/td>\nUnidirectional<\/td>\nStandard worm gear, DIN8<\/td>\n20:1 \u2013 80:1<\/td>\n<\/tr>\n
Welding \/ assembly SCARA<\/td>\n< 0.05 mm<\/td>\nBidirectional<\/td>\nDuplex worm, DIN6\u2013DIN7<\/td>\n60:1 \u2013 120:1<\/td>\n<\/tr>\n
Vision-guided inspection<\/td>\n< 0.02 mm<\/td>\nBidirectional + stops<\/td>\nDuplex worm DIN5, software comp.<\/td>\n80:1 \u2013 200:1<\/td>\n<\/tr>\n
Collaborative robot (cobot)<\/td>\n< 0.08 mm<\/td>\nBidirectional<\/td>\nDuplex worm, DIN6<\/td>\n40:1 \u2013 100:1<\/td>\n<\/tr>\n
Solar \/ antenna tracking<\/td>\n< 0.10 mm<\/td>\nPrimarily unidirect.<\/td>\nStandard or duplex worm<\/td>\n80:1 \u2013 300:1<\/td>\n<\/tr>\n
Automated test positioner<\/td>\n< 0.01 mm<\/td>\nBidirectional<\/td>\nDuplex worm DIN5 + encoder feedback<\/td>\n100:1 \u2013 300:1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n
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Dynamic Loading in Automation \u2014 Acceleration Torques, Inertia, and Duty Cycle<\/h2>\n

The rated torque of a worm gear set is its continuous running torque capacity under steady-state conditions. In robotic and automation applications, the actual instantaneous torque during acceleration and deceleration phases is the critical specification \u2014 not the running torque. A robot joint that carries a 10 kg payload at constant velocity produces the torque required to support the payload against gravity. The same joint accelerating from rest to full speed in 0.2 seconds produces an acceleration torque that may be 3\u20135\u00d7 the running torque.<\/p>\n

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Peak Torque Estimation for Robot Joint Drive<\/div>\n
T_peak = T_gravity + T_inertia = (F_payload \u00d7 r_arm \u00d7 cos \u03b8) + (J_total \u00d7 \u03b1)<\/div>\n
T_gravity = payload gravitational torque at maximum arm extension and angle \u03b8 from horizontal<\/span>
\nJ_total = total rotational inertia at the joint (payload + arm structure + gear reflected inertia)<\/span>
\n\u03b1 = joint angular acceleration (rad\/s\u00b2) \u2014 determined by robot controller velocity profile<\/span>
\nExample: 5 kg payload at 0.5 m radius, 45\u00b0 angle, 300\u00b0\/s\u00b2 acceleration \u2192 T_peak \u2248 17.4 + 22.3 = 39.7 Nm peak vs 11.8 Nm gravity running torque \u2014 3.4\u00d7 dynamic amplification<\/span><\/div>\n<\/div>\n

For automation worm gear<\/strong> specifications, the service factor applied to the rated torque must account for this dynamic amplification. A general industrial service factor of 1.5 is inadequate for high-cycle robotic applications. The correct approach is to calculate the peak torque directly and select the gear module to ensure the peak torque is within the gear set’s overload capacity (typically 2\u00d7 the continuous rated torque for short-duration peaks).<\/p>\n

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Duty Cycle Calculation<\/h4>\n

Automation drives rarely run at constant load. The RMS torque over the complete motion cycle is the correct specification basis for thermal sizing, while the peak torque determines mechanical strength requirements. For a pick-and-place robot with 80% of cycle time at 30% of peak torque and 20% at 100% of peak torque, the RMS torque is approximately 47% of peak \u2014 significantly different from both the peak and the running values.<\/p>\n<\/div>\n

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Reflected Inertia<\/h4>\n

The motor shaft sees the load inertia reflected through the gear ratio squared (J_reflected = J_load \/ i\u00b2). A high gear ratio dramatically reduces the reflected inertia \u2014 a 100:1 worm gear reduces the load inertia seen by the motor by 10,000\u00d7. This is why high-ratio worm gears enable small servo motors to accelerate large payloads \u2014 the inertia matching is favorable even though the efficiency is moderate.<\/p>\n<\/div>\n

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Stiffness and Resonance<\/h4>\n

Torsional stiffness of the gear mesh affects the natural frequency of the robot arm under dynamic loading. A stiffer mesh (higher Hertz contact stiffness, which increases with module and contact pattern quality) raises the natural frequency, reducing the risk of resonance within the operating speed range. Korea Ever-Power’s documented contact pattern (\u226570% face width) directly contributes to predictable mesh stiffness.<\/p>\n<\/div>\n<\/div>\n

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Collaborative Robots and ISO\/TS 15066 \u2014 Self-Locking as a Safety Function<\/h2>\n

ISO\/TS 15066:2016 specifies requirements for collaborative robot applications where the robot operates in shared workspace with human workers. A key safety parameter is the behaviour of the robot when the safety system commands a stop \u2014 particularly in vertical-axis joints where gravity loading will cause the arm to drop if the drive does not hold its position.<\/p>\n

In collaborative robot designs using worm gear joints, the inherent self-locking behaviour of a single-start worm at ratio 20:1 and above provides a mechanical position-holding function that does not depend on power, motor holding torque, or electromechanical brakes. This simplifies the safety architecture: the worm gear’s self-locking is a passive, non-power-dependent safety function that can be included in the safety function analysis under IEC 62061 or ISO 13849. The self-locking worm gear joint contributes to achieving PLd (Performance Level d) safety function ratings for position holding in applicable configurations.<\/p>\n

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Critical specification requirement for cobot self-locking:<\/strong> The self-locking function must be verified at maximum operating temperature with the actual specified lubricant \u2014 not at ambient laboratory conditions. A cobot joint drive operating at 68\u00b0C housing temperature with low-viscosity synthetic oil may not satisfy the self-locking condition that the same drive satisfies at 25\u00b0C with standard mineral oil. Request self-locking calculation at specified operating temperature as part of the design verification documentation. Korea Ever-Power provides this calculation as standard for single-start worm gear sets ordered for safety-function applications.<\/p>\n<\/div>\n<\/div>\n

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Automation Engineering in Practice<\/p>\n

Four Robotic Worm Gear Specifications \u2014 Precision, Safety, and Custom Ratio Solutions<\/h2>\n<\/div>\n
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Ulsan, Korea \u00b7 Automotive Assembly Robot OEM<\/div>\n
SCARA Joint Drive \u2014 Custom Ratio for Servo Motor Speed Matching<\/div>\n

Challenge:<\/strong> A Korean manufacturer of SCARA robots for automotive body welding applications needed a worm gear ratio that matched their specific servo motor operating point. The optimal motor speed for their torque-speed curve was 2,800 RPM; the required joint output speed was 72 RPM. The required ratio was 38.9:1 \u2014 not available in any standard catalog. Ordering the nearest catalog ratio (40:1) would have required de-rating the servo motor operating point by 2.75% \u2014 acceptable for continuous operation but causing measurable accuracy degradation in high-cycle welding path trajectories.<\/p>\n

Solution:<\/strong> Korea Ever-Power manufactured a Level 3 semi-custom worm gear set: z2 = 39-tooth wheel on standard M5 hobbing tooling, matched to a single-start worm shaft ground to the precise 39:1 geometry. The non-standard ratio required no new tooling \u2014 only a different index gear setting on the hobbing machine. Lead time: 5 weeks for the first batch. The robot met its path accuracy specification (\u00b10.04 mm at joint) without servo motor re-sizing.<\/p>\n

\u2713 Custom ratio 39:1 \u00b7 No new tooling \u00b7 \u00b10.04 mm path accuracy achieved \u00b7 5-week lead time<\/div>\n<\/div>\n
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Ho Chi Minh City, Vietnam \u00b7 Electronics Pick-and-Place<\/div>\n
High-Cycle Wear Failure \u2014 Material Upgrade Prevents 6-Month Replacement Cycle<\/div>\n

Challenge:<\/strong> A Vietnamese electronics contract manufacturer operating 24\/7 pick-and-place assembly lines was replacing worm wheels every 5\u20137 months on their high-speed component placement robots. The cycle rate was 380 cycles per minute across 22-hour production days \u2014 approximately 500,000 tooth mesh contacts per 8-hour shift. CMM analysis of failed wheels showed progressive abrasive wear consistent with inadequate hardness differential: the shaft was C45 induction-hardened (surface hardness 48 HRC at inspection), and the bronze wheel had reached the clearance limit before visible scuffing occurred.<\/p>\n

Solution:<\/strong> Korea Ever-Power upgraded: C45 induction-hardened shaft \u2192 40Cr through-hardened at 54 HRC, same module and bore dimensions. The additional 6 HRC surface hardness approximately doubled the hardness differential against the tin bronze wheel, directly improving wear resistance proportional to the hardness differential squared. Same bore, same module, week-for-week drop-in replacement with documentation confirming material upgrade.<\/p>\n

\u2713 40Cr upgrade \u00b7 Drop-in replacement \u00b7 Wear life >18 months (verified) \u00b7 No modification required<\/div>\n<\/div>\n
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Singapore \u00b7 Semiconductor Wafer Handling Robot<\/div>\n
Precision Gantry Drive \u2014 Repeatability Requirement \u00b10.02 mm Over Temperature Range<\/div>\n

Challenge:<\/strong> A semiconductor equipment manufacturer designing a wafer handling gantry for a 200 mm fab required worm gear drives for the \u03b8-axis (rotational positioning) with bidirectional repeatability of \u00b10.02 mm at the wafer carrier (equivalent to \u00b10.019\u00b0 at the 60 mm pitch radius worm wheel). The challenge was maintaining this specification across the temperature range 20\u00b0C\u201340\u00b0C within the equipment enclosure \u2014 standard worm gear backlash increases with temperature as differential thermal expansion changes the mesh geometry.<\/p>\n

Solution:<\/strong> Korea Ever-Power supplied duplex worm gear sets (adjustable backlash) calibrated to zero backlash at 30\u00b0C median operating temperature. The duplex configuration allows backlash to be re-adjusted if thermal cycling causes drift \u2014 without removing the gear set from the robot. The equipment manufacturer’s qualification testing confirmed \u00b10.018\u00b0 bidirectional repeatability across the full temperature range, meeting the \u00b10.019\u00b0 specification with margin.<\/p>\n

\u2713 Duplex worm \u00b7 \u00b10.018\u00b0 bidirectional repeatability \u00b7 Temperature-stable \u00b7 Specification met with margin<\/div>\n<\/div>\n
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Gyeonggi-do, Korea \u00b7 Collaborative Robot Integrator<\/div>\n
Cobot Arm Joint \u2014 Self-Locking Safety Function Documentation for CE Certification<\/div>\n

Challenge:<\/strong> A Korean cobot integrator was preparing the CE technical file for a new 6-DoF collaborative robot under the Machinery Directive 2006\/42\/EC and ISO\/TS 15066. The safety function analysis for wrist joint position holding under ISO 13849 required a performance level (PL) assessment for the mechanical self-locking function of the worm gear drive. The integrator needed documented evidence that the worm gear’s self-locking behaviour satisfied the conditions required for a PLd contribution.<\/p>\n

Solution:<\/strong> Korea Ever-Power provided a formal self-locking verification document for the specific gear set: lead angle calculation at the specified pitch geometry; friction coefficient range at operating temperature (25\u00b0C\u201370\u00b0C) with the specified lubricant; self-locking safety margin at worst-case temperature (70\u00b0C, minimum friction scenario); and confirmation that the self-locking function is a passive, non-power-dependent mechanism. This document was accepted by the notified body as supporting evidence for the PLd safety function assignment.<\/p>\n

\u2713 PLd self-locking function documented \u00b7 CE technical file accepted \u00b7 Notified body query closed<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n
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Korejsk\u00e9 produkty Ever-Power<\/span><\/p>\n

Worm Gear Products for Robotics and Automation<\/h2>\n<\/div>\n
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\"Duplex<\/div>\n
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Precision \u00b7 Backlash Adjustable \u00b7 DIN5\u20137<\/div>\n
Duplex Worm Gear \u2014 Robotic Joint Drive<\/div>\n
The definitive specification for robot and automation applications requiring bidirectional positional accuracy across the system’s operating lifetime. The dual-lead worm shaft \u2014 where the left and right thread flanks have slightly different lead values \u2014 allows backlash to be controlled by adjusting the axial position of the worm shaft within its housing: sliding the shaft toward the wheel brings a thicker section of the worm thread into mesh, reducing the clearance between worm thread and wheel tooth to near-zero. In a 6-DoF robot operating 20 hours per day, the mechanical backlash of a standard worm gear joint will grow from its initial specification (typically 0.03\u20130.08 mm) to 0.20\u20130.35 mm over 12\u201318 months as the wheel tooth flanks wear during high-cycle operation. The duplex worm allows this backlash to be corrected in a 15-minute maintenance procedure \u2014 axial shaft shift \u2014 without removing the gear set from the robot or replacing any components. Readjustment is possible 4\u20136 times over the gear set’s service life. Self-locking behaviour is fully maintained through the adjustment range for single-start configurations, preserving the safety function. Precision class DIN5 to DIN7 depending on specification; contact pattern \u2265 70% documented. Available in SS316 for cleanroom and food-adjacent automation applications. Formal self-locking verification document available for CE Machinery Directive and cobot safety function submissions.<\/div>\n
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V\u016fle<\/span>Adjustable from near-zero \u2014 no part replacement<\/span><\/div>\n
T\u0159\u00edda p\u0159esnosti<\/span>DIN5, DIN6, or DIN7<\/span><\/div>\n
Samosvorn\u00e9<\/span>Preserved through adjustment range<\/span><\/div>\n
Readjustment<\/span>4\u20136 cykl\u016f b\u011bhem \u017eivotnosti<\/span><\/div>\n
CE support<\/span>Self-locking safety function document<\/span><\/div>\n<\/div>\n

Zobrazit specifikace \u2192<\/a><\/p>\n<\/div>\n<\/div>\n

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\"Alloy<\/div>\n
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Custom Ratio \u00b7 High Precision \u00b7 Multi-Start<\/div>\n
Alloy Steel Worm Set \u2014 Custom Automation Specification<\/div>\n
Standard catalog ratios (5, 7.5, 10, 15, 20, 25, 30, 40:1…) are defined by the most common industrial applications. Robotic and automation systems are frequently designed around servo motor operating points and kinematic requirements that fall between catalog ratios \u2014 37:1, 43:1, 67:1, 84:1. Korea Ever-Power manufactures any integer ratio from 5:1 to 300:1 at standard module sizes (M0.5 to M10) as a Level 3 semi-custom specification, without new tooling and with lead times comparable to catalog supply on reorder. Multi-start configurations (z1=2 or z1=4) are available where efficiency improvement is required alongside a specific ratio \u2014 for example, a 20:1 four-start set at 85% efficiency instead of a 20:1 single-start set at 68% efficiency. The alloy steel worm shaft (40Cr through-hardened to 50\u201356 HRC, or SCM415 carburized to 58\u201362 HRC for high-cycle precision applications) and ZCuSn10Pb1 tin bronze wheel are the standard material pair. Every set includes CMM dimensional inspection report, contact pattern photograph (\u226570% confirmed), and material certificates. For automation supply programs with recurring orders of the same specification, blanket order arrangements with fixed pricing and 2\u20133 week call-off lead times are available.<\/div>\n
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Rozsah pom\u011br\u016f<\/span>Any integer 5:1 \u2013 300:1<\/span><\/div>\n
Multi-start<\/span>z1=1, 2 nebo 4 k dispozici<\/span><\/div>\n
Modul<\/span>M0,5 \u2013 M10<\/span><\/div>\n
Dodac\u00ed lh\u016fta<\/span>Standardn\u011b 3\u20135 t\u00fddn\u016f, na dal\u0161\u00ed objedn\u00e1vku 2 t\u00fddny<\/span><\/div>\n
Dodac\u00ed program<\/span>Mo\u017enost objedn\u00e1n\u00ed deky<\/span><\/div>\n<\/div>\n

Zobrazit specifikace \u2192<\/a><\/p>\n<\/div>\n<\/div>\n

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\"Servo-mont\u00e1\u017e<\/div>\n
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Uzav\u0159en\u00e1 redukce \u00b7 Mont\u00e1\u017e servop\u0159\u00edruby<\/div>\n
Servo-mont\u00e1\u017e \u0161nekov\u00e9ho p\u0159evodu pro automatizaci<\/div>\n
Pro automatiza\u010dn\u00ed a robotick\u00e9 aplikace vy\u017eaduj\u00edc\u00ed kompletn\u00ed uzav\u0159enou sestavu pohonu \u2013 p\u0159\u00edrubov\u00e1 mont\u00e1\u017e motoru, kryt\u00ed IP54 nebo IP65, p\u0159edpln\u011bn\u00e9 mazivo, v\u00fdstupn\u00ed h\u0159\u00eddel nebo dut\u00fd otvor \u2013 \u0161nekov\u00e9 reduktory Korea Ever-Power kompatibiln\u00ed se servomotory poskytuj\u00ed p\u0159esn\u00e9 p\u0159evodov\u00e9 sady v konfigurac\u00edch krytu ur\u010den\u00fdch pro p\u0159\u00edmou mont\u00e1\u017e servomotoru. \u0160nekov\u00e9 p\u0159evodov\u00e9 kolo v reduktoru spl\u0148uje stejn\u00e9 standardy p\u0159esnosti (standardn\u011b DIN6\u2013DIN7, na vy\u017e\u00e1d\u00e1n\u00ed DIN5), materi\u00e1lov\u00e9 specifikace a po\u017eadavky na dokumentaci jako hol\u00e9 p\u0159evodov\u00e9 sady. Kryt je vyroben z hlin\u00edkov\u00e9 slitiny (lehk\u00e9 pro integraci robotick\u00e9ho ramene) s volitelnou eloxovanou nebo lakovanou povrchovou \u00fapravou pro kompatibilitu s \u010dist\u00fdmi prostory. Vstupn\u00ed spojka je kompatibiln\u00ed s velikostmi r\u00e1m\u016f servomotor\u016f IEC 56 a\u017e IEC 132. V\u00fdstupn\u00ed konfigurace: pln\u00e1 h\u0159\u00eddel, dut\u00fd otvor a p\u0159\u00edrubov\u00e1 mont\u00e1\u017e. U v\u00edceos\u00fdch robotick\u00fdch polohova\u010d\u016f a port\u00e1lov\u00fdch automatiza\u010dn\u00edch syst\u00e9m\u016f zjednodu\u0161uje identick\u00e9 p\u0159evodov\u00e9 kolo v konfiguraci sk\u0159\u00edn\u011b reduktoru mechanickou integraci a z\u00e1rove\u0148 zachov\u00e1v\u00e1 kvalitu specifikac\u00ed po\u017eadovanou pro p\u0159esnost robota. Specifikace integrovan\u00fdch \u0161nekov\u00fdch reduktor\u016f pro automatiza\u010dn\u00ed a polohovac\u00ed aplikace naleznete na na\u0161ich str\u00e1nk\u00e1ch: \u0161nekov\u00fd reduktor.top<\/a><\/div>\n
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Bydlen\u00ed<\/span>Hlin\u00edk, IP54 nebo IP65<\/span><\/div>\n
Dr\u017e\u00e1k motoru<\/span>IEC 56 \u2013 IEC 132<\/span><\/div>\n
V\u00fdstup<\/span>Pln\u00e1 h\u0159\u00eddel, dut\u00fd otvor, p\u0159\u00edruba<\/span><\/div>\n
P\u0159esnost<\/span>Standard DIN6\u2013DIN7, DIN5 na vy\u017e\u00e1d\u00e1n\u00ed<\/span><\/div>\n
Dokumentace<\/span>Stejn\u00e9 jako standardn\u00ed sada hol\u00fdch ozuben\u00fdch kol<\/span><\/div>\n<\/div>\n

Zobrazit specifikace \u2192<\/a><\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

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\u010casto kladen\u00e9 ot\u00e1zky k robotice a automatizaci<\/span><\/p>\n

\u0160nekov\u00e9 p\u0159evody v robotech a automatizaci \u2013 ot\u00e1zky od strojn\u00edch a \u0159\u00eddic\u00edch in\u017een\u00fdr\u016f<\/h2>\n<\/div>\n
\nJak se m\u011b\u0159\u00ed v\u016fle \u0161nekov\u00e9ho p\u0159evodu a jak\u00fd je vztah mezi \u010d\u00edslem v datov\u00e9m listu a chybou polohy, kterou uvid\u00edm u sv\u00e9ho robota?+<\/span><\/summary>\n
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V\u016fle v soukol\u00edch \u0161nekov\u00fdch p\u0159evod\u016f se obvykle m\u011b\u0159\u00ed jako \u00fahlov\u00fd pohyb v\u00fdstupn\u00edho h\u0159\u00eddele, kdy\u017e je vstupn\u00ed h\u0159\u00eddel dr\u017eena v klidu a v\u00fdstupn\u00ed h\u0159\u00eddel se st\u0159\u00eddav\u011b ot\u00e1\u010d\u00ed v obou sm\u011brech zn\u00e1m\u00fdm to\u010div\u00fdm momentem \u2013 \u00fahlov\u00fd rozd\u00edl mezi t\u011bmito dv\u011bma polohami je \u00fahel v\u016fle. Tento \u00fahel se pot\u00e9 ud\u00e1v\u00e1 jako line\u00e1rn\u00ed hodnota na rozte\u010dn\u00e9m v\u00e1lci (\u00fahel v\u016fle \u00d7 polom\u011br rozte\u010de). Vztah mezi touto hodnotou a chybou polohy robota z\u00e1vis\u00ed na tom, jak se robot p\u0159ibli\u017euje k c\u00edli: jednosm\u011brn\u00e9 p\u0159ibl\u00ed\u017een\u00ed (v\u017edy ze stejn\u00e9ho sm\u011bru) ukazuje v podstat\u011b nulovou penalizaci za v\u016fli; obousm\u011brn\u00e9 p\u0159ibl\u00ed\u017een\u00ed vid\u00ed plnou v\u016fli jako mrtvou z\u00f3nu. Pro \u0161nekov\u00e9 kolo s polom\u011brem rozte\u010de 60 mm je v\u016fle 0,08 mm = 4,6 obloukov\u00fdch minut = \u00fahlov\u00e1 mrtv\u00e1 z\u00f3na 0,077\u00b0. Ve st\u0159edov\u00e9m bod\u011b robotick\u00e9ho n\u00e1stroje 500 mm od kloubu se to prom\u00edt\u00e1 do chyby polohy TCP p\u0159ibli\u017en\u011b 0,67 mm \u2013 co\u017e je v\u00fdznamn\u00e9 pro p\u0159esnou mont\u00e1\u017e, ale p\u0159ijateln\u00e9 pro mnoho aplikac\u00ed manipulace s materi\u00e1lem.<\/p>\n<\/div>\n<\/details>\n

\nMohu implementovat kompenzaci v\u016fle softwarov\u011b m\u00edsto pou\u017eit\u00ed duplexn\u00edho \u0161nekov\u00e9ho p\u0159evodu?+<\/span><\/summary>\n
\n

Ano, softwarov\u00e1 kompenzace v\u016fle je efektivn\u00ed pro mnoho automatiza\u010dn\u00edch aplikac\u00ed. \u0158\u00eddic\u00ed jednotka robota ukl\u00e1d\u00e1 zn\u00e1mou hodnotu v\u016fle pro ka\u017ed\u00fd kloub a p\u0159ed jakoukoli zm\u011bnou sm\u011bru p\u0159id\u00e1 p\u0159edkompenza\u010dn\u00ed pohyb \u2013 pohyb za c\u00edl o vzd\u00e1lenost v\u016fle ve sm\u011bru p\u0159ibl\u00ed\u017een\u00ed a n\u00e1sledn\u00fd couv k c\u00edli. T\u00edm se eliminuje obousm\u011brn\u00e1 chyba opakovatelnosti pro kvazistatick\u00e9 polohov\u00e1n\u00ed. Omezen\u00ed: (1) Softwarov\u00e1 kompenzace funguje pro zn\u00e1mou konstantn\u00ed v\u016fli; pokud v\u016fle s opot\u0159eben\u00edm roste, mus\u00ed se hodnota kompenzace pravideln\u011b aktualizovat; (2) Dynamick\u00e1 kompenzace je slo\u017eit\u011bj\u0161\u00ed a m\u00e9n\u011b \u00fa\u010dinn\u00e1 p\u0159i vysok\u00fdch rychlostech; (3) Poddajnost v z\u00e1b\u011bru ozuben\u00fdch kol st\u00e1le existuje i p\u0159i kompenzaci pr\u016fm\u011brn\u00e9 chyby polohy \u2013 vibrace z rychl\u00fdch zm\u011bn sm\u011bru nejsou softwarovou kompenzac\u00ed eliminov\u00e1ny. Pro aplikace s vysok\u00fdm po\u010dtem cykl\u016f, kde je probl\u00e9mem n\u00e1r\u016fst v\u016fle po tis\u00edce hodin, je robustn\u011bj\u0161\u00edm dlouhodob\u00fdm \u0159e\u0161en\u00edm duplexn\u00ed \u0161nekov\u00fd p\u0159evod, kter\u00fd lze mechanicky znovu se\u0159\u00eddit.<\/p>\n<\/div>\n<\/details>\n

\nJak\u00fd p\u0159evodov\u00fd pom\u011br bych m\u011bl pou\u017e\u00edt pro servomotor b\u011b\u017e\u00edc\u00ed na 3 000 ot.\/min., kter\u00fd poh\u00e1n\u00ed kloub robota, jen\u017e se mus\u00ed pohybovat maxim\u00e1ln\u011b 90 ot.\/min.?+<\/span><\/summary>\n
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Po\u017eadovan\u00fd p\u0159evodov\u00fd pom\u011br: 3 000 \u00f7 90 = 33,3:1. Nejbli\u017e\u0161\u00ed standardn\u00ed katalogov\u00e9 p\u0159evodov\u00e9 pom\u011bry jsou 30:1 a 36:1. P\u0159i pom\u011bru 30:1 by maxim\u00e1ln\u00ed ot\u00e1\u010dky kloubu byly o 100 ot.\/min \u2013 o 11% rychlej\u0161\u00ed ne\u017e limit ot\u00e1\u010dek serva. P\u0159i pom\u011bru 36:1 by maxim\u00e1ln\u00ed ot\u00e1\u010dky kloubu byly o 83,3 ot.\/min \u2013 o 7,5% pomalej\u0161\u00ed ne\u017e je po\u017eadov\u00e1no. Ani jeden z nich nen\u00ed ide\u00e1ln\u00ed. Spole\u010dnost Korea Ever-Power dok\u00e1\u017ee vyrobit p\u0159evodov\u00fd pom\u011br 33:1 (z2 = 33 zub\u016f, jednochod\u00fd \u0161nek) jako polozak\u00e1zkovou specifikaci \u00farovn\u011b 3 bez nov\u00fdch n\u00e1stroj\u016f, kter\u00e1 p\u0159esn\u011b odpov\u00edd\u00e1 po\u017eadavk\u016fm na ot\u00e1\u010dky va\u0161eho servomotoru a kloubu. P\u0159i zad\u00e1v\u00e1n\u00ed objedn\u00e1vky uve\u010fte modul (nebo osovou vzd\u00e1lenost a pr\u016fm\u011bry h\u0159\u00eddel\u00ed) a my p\u0159ed pokra\u010dov\u00e1n\u00edm potvrd\u00edme geometrii na pom\u011bru 33:1.<\/p>\n<\/div>\n<\/details>\n

\nJak zohledn\u00edm \u00fa\u010dinnost \u0161nekov\u00e9ho p\u0159evodu ve v\u00fdpo\u010dtu rozpo\u010dtu to\u010div\u00e9ho momentu servomotoru?+<\/span><\/summary>\n
\n

\u00da\u010dinnost \u0161nekov\u00e9ho p\u0159evodu se v rozpo\u010dtu momentu objevuje na dvou m\u00edstech. Pro sm\u011br pohonu (motor poh\u00e1n\u00ed z\u00e1t\u011b\u017e) je v\u00fdstupn\u00ed moment dostupn\u00fd na kloubu T_v\u00fdstup = T_motor \u00d7 p\u0159evodov\u00fd_pom\u011br \u00d7 \u03b7, kde \u03b7 je \u00fa\u010dinnost vp\u0159ed. P\u0159evodovka 50:1 nastaven\u00e1 na \u00fa\u010dinnost 65% s motorem 1 Nm produkuje na kloubu 32,5 Nm (ne 50 Nm). Pro zm\u011bnu rychlosti plat\u00ed ot\u00e1\u010dky kloubu = ot\u00e1\u010dky motoru \u00f7 p\u0159evodov\u00fd pom\u011br. Pro rozpo\u010det v\u00fdkonu plat\u00ed: vstupn\u00ed v\u00fdkon = v\u00fdstupn\u00ed v\u00fdkon \u00f7 \u03b7, tak\u017ee motor mus\u00ed poskytovat v\u011bt\u0161\u00ed v\u00fdkon, ne\u017e vy\u017eaduje z\u00e1t\u011b\u017e. V softwaru pro dimenzov\u00e1n\u00ed servomotor\u016f, pokud software do sv\u00e9ho v\u00fdpo\u010dtu nezahrnuje \u00fa\u010dinnost \u0161nekov\u00e9ho p\u0159evodu, vyn\u00e1sobte po\u017eadovan\u00fd moment kloubu \u010d\u00edslem (1\/\u03b7), abyste zjistili po\u017eadovan\u00fd p\u0159\u00edsp\u011bvek momentu motoru, a vyn\u00e1sobte teplo generovan\u00e9 v p\u0159evodovce \u010d\u00edslem (1-\u03b7) \u00d7 P_vstup, abyste zjistili tepeln\u00e9 zat\u00ed\u017een\u00ed.<\/p>\n<\/div>\n<\/details>\n

\nPot\u0159ebujeme zm\u011bnit p\u0159evodov\u00fd pom\u011br na st\u00e1vaj\u00edc\u00edm robotick\u00e9m kloubu bez v\u00fdm\u011bny motoru nebo krytu. Je to mo\u017en\u00e9?+<\/span><\/summary>\n
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Ano, pokud nov\u00fd p\u0159evodov\u00fd pom\u011br pou\u017e\u00edv\u00e1 po\u010det zub\u016f kola, kter\u00fd se vejde do stejn\u00e9 osov\u00e9 vzd\u00e1lenosti sk\u0159\u00edn\u011b. U jednochod\u00e9ho \u0161neku (z1=1) vy\u017eaduje zm\u011bna p\u0159evodov\u00e9ho pom\u011bru ze 40:1 na 35:1 zm\u011bnu kola ze 40 zub\u016f na 35 zub\u016f. Pr\u016fm\u011br rozte\u010de kola se m\u011bn\u00ed proporcion\u00e1ln\u011b \u2013 kolo s 35 zuby u M5 m\u00e1 d2 = 35 \u00d7 5 = 175 mm oproti 200 mm pro kolo se 40 zuby. Osov\u00e1 vzd\u00e1lenost se m\u011bn\u00ed z (d1 + d2)\/2 = (50 + 200)\/2 = 125 mm na (50 + 175)\/2 = 112,5 mm \u2013 co\u017e vy\u017eaduje upravenou sk\u0159\u00ed\u0148 nebo uspo\u0159\u00e1d\u00e1n\u00ed podlo\u017eek. Pokud m\u00e1 sk\u0159\u00ed\u0148 mo\u017enost nastaven\u00ed (co\u017e mnoho konstrukc\u00ed polohova\u010d\u016f a robot\u016f m\u00e1), je zm\u011bna p\u0159evodov\u00e9ho pom\u011bru provediteln\u00e1 v r\u00e1mci stejn\u00e9 sk\u0159\u00edn\u011b. Uve\u010fte rozm\u011bry va\u0161eho st\u00e1vaj\u00edc\u00edho ozuben\u00e9ho kola (modul, aktu\u00e1ln\u00ed po\u010det zub\u016f, pr\u016fm\u011bry h\u0159\u00eddel\u00ed, osovou vzd\u00e1lenost), aktu\u00e1ln\u00ed a po\u017eadovan\u00e9 p\u0159evodov\u00e9 pom\u011bry a spole\u010dnost Korea Ever-Power p\u0159ed zah\u00e1jen\u00edm jak\u00fdchkoli konstruk\u010dn\u00edch \u00faprav potvrd\u00ed, zda je zm\u011bna p\u0159evodov\u00e9ho pom\u011bru ve st\u00e1vaj\u00edc\u00ed sk\u0159\u00edni provediteln\u00e1.<\/p>\n<\/div>\n<\/details>\n

\nJak\u00e1 je o\u010dek\u00e1van\u00e1 \u017eivotnost \u0161nekov\u00e9ho p\u0159evodov\u00e9ho spoje u vysokocyklov\u00e9ho mont\u00e1\u017en\u00edho robota?+<\/span><\/summary>\n
\n

\u017divotnost z\u00e1vis\u00ed p\u0159edev\u0161\u00edm na: materi\u00e1lu kola, kvalit\u011b kontaktn\u00edho vzoru, maz\u00e1n\u00ed a pom\u011bru skute\u010dn\u00e9ho to\u010div\u00e9ho momentu k jmenovit\u00e9mu to\u010div\u00e9mu momentu. U spr\u00e1vn\u011b specifikovan\u00e9ho sady kol z legovan\u00e9 oceli + bronzu ZCuSn10Pb1 pracuj\u00edc\u00ed p\u0159i jmenovit\u00e9m to\u010div\u00e9m momentu 60\u201370% v nep\u0159etr\u017eit\u00e9m provozu p\u0159i 400 cyklech\/minutu (p\u0159ibli\u017en\u011b 14 milion\u016f cykl\u016f za sm\u011bnu): opot\u0159eben\u00ed boku zubu kola by m\u011blo z\u016fstat v mez\u00edch specifikace po dobu 8 000\u201315 000 provozn\u00edch hodin, pokud je maz\u00e1n\u00ed spr\u00e1vn\u00e9 a je dokon\u010den z\u00e1b\u011bh. Kl\u00ed\u010dov\u00e9 faktory, kter\u00e9 tuto dobu zkracuj\u00ed: provoz nad jmenovit\u00fdm to\u010div\u00fdm momentem 80% (dramaticky urychluje \u00fanavu zp\u016fsobenou d\u016flkovou koroz\u00ed); mazivo s p\u0159\u00edsadami EP zp\u016fsobuj\u00edc\u00ed korozivn\u00ed napaden\u00ed; provozn\u00ed teplota nad 80 \u00b0C (urychluje degradaci maziva a zvy\u0161uje t\u0159en\u00ed); a r\u00e1zov\u00e9 zat\u00ed\u017een\u00ed z n\u00e1hl\u00fdch start\u016f motoru p\u0159i pln\u00e9m zat\u00ed\u017een\u00ed (pro automatizovan\u00e9 pohony s vysok\u00fdm po\u010dtem cykl\u016f pou\u017e\u00edvejte \u0159\u00edzen\u00ed motoru s m\u011bkk\u00fdm rozb\u011bhem). Doporu\u010dujeme odeb\u00edrat vzorky oleje ka\u017ed\u00fdch 2 000 hodin, aby se sledoval po\u010det \u010d\u00e1stic opot\u0159eben\u00ed, co\u017e je v\u010dasn\u00e9 varov\u00e1n\u00ed p\u0159ed zrychlen\u00edm rychlosti opot\u0159eben\u00ed.<\/p>\n<\/div>\n<\/details>\n

\nJak specifikuji \u0161nekov\u00fd p\u0159evod pro kolaborativn\u00ed robotickou aplikaci, kde je samosvorn\u00e9 chov\u00e1n\u00ed zdokumentovanou bezpe\u010dnostn\u00ed funkc\u00ed podle normy ISO 13849?+<\/span><\/summary>\n
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Specifikace mus\u00ed obsahovat: (1) p\u0159evodov\u00fd pom\u011br a po\u010det start\u016f, kter\u00e9 vytv\u00e1\u0159ej\u00ed \u00fahel stoup\u00e1n\u00ed pod \u00fahlem t\u0159en\u00ed p\u0159i nejhor\u0161\u00edch teplotn\u00edch a mazac\u00edch podm\u00ednk\u00e1ch \u2013 nejen p\u0159i okoln\u00edch; (2) specifikaci maziva (t\u0159\u00edda a typ ISO VG) pou\u017eitou p\u0159i v\u00fdpo\u010dtu samosvornosti; (3) maxim\u00e1ln\u00ed o\u010dek\u00e1vanou teplotu sk\u0159\u00edn\u011b za nejhor\u0161\u00edch tepeln\u00fdch podm\u00ednek; a (4) po\u017eadovanou bezpe\u010dnostn\u00ed rezervu samosvornosti (obvykle \u03c1' \u2013 \u03bb \u2265 1,5\u00b0). Spole\u010dnost Korea Ever-Power poskytuje form\u00e1ln\u00ed dokument o ov\u011b\u0159en\u00ed samosvornosti, kter\u00fd zahrnuje tyto parametry pro jednochod\u00e9 \u0161nekov\u00e9 p\u0159evodovky objednan\u00e9 pro aplikace s bezpe\u010dnostn\u00ed funkc\u00ed. Tento dokument obsahuje v\u00fdpo\u010det \u00fahlu stoup\u00e1n\u00ed, \u00fadaje o sou\u010diniteli t\u0159en\u00ed p\u0159i specifikovan\u00e9m teplotn\u00edm rozsahu, \u00fahel t\u0159en\u00ed p\u0159i nejhor\u0161\u00ed teplot\u011b a v\u00fdslednou bezpe\u010dnostn\u00ed rezervu. Dokument je form\u00e1tov\u00e1n pro p\u0159\u00edm\u00e9 zahrnut\u00ed do anal\u00fdzy bezpe\u010dnostn\u00ed funkce dle normy ISO 13849 jako podp\u016frn\u00fd d\u016fkaz.<\/p>\n<\/div>\n<\/details>\n

\nJak\u00e1 je hladina hluku \u0161nekov\u00e9ho p\u0159evodu v kolaborativn\u00edm robotu a jak ji lze minimalizovat?+<\/span><\/summary>\n
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\u0160nekov\u00e9 p\u0159evody jsou ze sv\u00e9 podstaty ti\u0161\u0161\u00ed ne\u017e \u0161ikm\u00e9 ozuben\u00e1 soukol\u00ed s ekvivalentn\u00edm p\u0159evodov\u00fdm pom\u011brem ve stejn\u00e9m modulu, proto\u017ee kontakt zub\u016f \u0161nekov\u00e9ho kola je kluzn\u00fd kontakt s postupn\u00fdm z\u00e1b\u011brem zub\u016f, nikoli z\u00e1b\u011br zub\u016f \u010deln\u00edch ozuben\u00fdch kol s dominantn\u00edm n\u00e1razem. Typick\u00e9 hladiny hluku pro spr\u00e1vn\u011b specifikovan\u00e9, dob\u0159e mazan\u00e9 \u0161nekov\u00e9 p\u0159evody p\u0159i st\u0159edn\u00edch provozn\u00edch rychlostech (\u0161nekov\u00e1 h\u0159\u00eddel 500\u20131500 ot.\/min) jsou 55\u201370 dB(A) na 1 metr, co\u017e je m\u00e9n\u011b ne\u017e u v\u011bt\u0161iny provozn\u00edch prost\u0159ed\u00ed kolaborativn\u00edch robot\u016f. Opat\u0159en\u00ed ke sn\u00ed\u017een\u00ed hluku: (1) M\u00edrn\u00e9 zv\u011bt\u0161en\u00ed velikosti modulu pro sn\u00ed\u017een\u00ed kontaktn\u00edho nap\u011bt\u00ed zub\u016f (ni\u017e\u0161\u00ed kontaktn\u00ed frekvence \u0161umu); (2) Zlep\u0161en\u00ed kvality kontaktn\u00edho vzoru \u2013 kontaktn\u00ed vzor \u226570%, jak je ov\u011b\u0159eno na fotografii kontaktn\u00edho vzoru spole\u010dnosti Korea Ever-Power, produkuje v\u00fdrazn\u011b m\u00e9n\u011b hluku v z\u00e1b\u011bru ne\u017e soukol\u00ed s bodov\u00fdm kontaktem; (3) Zaji\u0161t\u011bn\u00ed spr\u00e1vn\u00e9 viskozity maziva \u2013 olej s n\u00edzkou viskozitou p\u0159i vysok\u00e9 teplot\u011b produkuje v\u00edce hluku p\u0159i hrani\u010dn\u00edm kontaktu ne\u017e olej s dostate\u010dnou viskozitou; (4) Nylonov\u00e1 nebo plastov\u00e1 \u0161nekov\u00e1 kola z POM v\u00fdrazn\u011b sni\u017euj\u00ed hluk pro aplikace s velmi n\u00edzk\u00fdm zat\u00ed\u017een\u00edm na \u00fakor to\u010div\u00e9ho momentu.<\/p>\n<\/div>\n<\/details>\n<\/div>\n

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Specifikujte sv\u016fj robotick\u00fd \u0161nekov\u00fd p\u0159evodov\u00fd pohon<\/h2>\n

Uve\u010fte typ robota, osu kloubu, po\u017eadovan\u00fd p\u0159evodov\u00fd pom\u011br (nebo ot\u00e1\u010dky motoru + ot\u00e1\u010dky kloubu), po\u017eadavek na v\u016fli, specifikaci opakovatelnosti, pracovn\u00ed cyklus a ve\u0161ker\u00e9 po\u017eadavky na dokumentaci bezpe\u010dnostn\u00edch funkc\u00ed. Korea Ever-Power vr\u00e1t\u00ed kompletn\u00ed specifikaci s potvrzen\u00edm vlastn\u00edho p\u0159evodov\u00e9ho pom\u011bru a dodac\u00ed lh\u016ftou do jednoho pracovn\u00edho dne.<\/p>\n

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\u2699 Proch\u00e1zet produkty pro p\u0159esn\u00e9 \u0161nekov\u00e9 p\u0159evody<\/a><\/p>\n<\/div>\n<\/div>\n<\/div>\n

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

  Application Engineering Guide Worm Gear Drives in Robotics and Industrial Automation \u2014 Precision, Self-Locking, and the Backlash Specification Why automation engineers choose worm gear drives despite their efficiency penalty \u2014 and the backlash, repeatability, and dynamic load specifications that determine whether the robot performs to its rated accuracy over its design lifecycle. \u00b10.03\u00b0 Angular […]<\/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":[4774],"tags":[1394,1399],"class_list":["post-1906","post","type-post","status-publish","format-standard","hentry","category-worm-gear","tag-worm-gear","tag-worm-gear-worm"],"_links":{"self":[{"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/posts\/1906","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/comments?post=1906"}],"version-history":[{"count":4,"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/posts\/1906\/revisions"}],"predecessor-version":[{"id":1910,"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/posts\/1906\/revisions\/1910"}],"wp:attachment":[{"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/media?parent=1906"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/categories?post=1906"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/wormwheelgear.top\/cs\/wp-json\/wp\/v2\/tags?post=1906"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}