{"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\/fr\/worm-gear-drives-in-robotics-and-industrial-automation-precision-self-locking-and-the-backlash-specification\/","title":{"rendered":"R\u00e9ducteurs \u00e0 vis sans fin en robotique et automatisation industrielle \u2014 Sp\u00e9cifications de pr\u00e9cision, d'autoblocage et de jeu"},"content":{"rendered":"
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Guide d'ing\u00e9nierie d'application<\/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
classe de pr\u00e9cision<\/div>\n<\/div>\n<\/div>\n
\u2699 Korea Ever-Power Worm Gear Co., Ltd\ud83d\udccd Ansan-si, Gyeonggi-do, Cor\u00e9e\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

\"vis<\/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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\"G\u00e9om\u00e9trie<\/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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Produits Ever-Power de Cor\u00e9e<\/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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Contrecoup<\/span>Adjustable from near-zero \u2014 no part replacement<\/span><\/div>\n
classe de pr\u00e9cision<\/span>DIN5, DIN6, or DIN7<\/span><\/div>\n
Autobloquant<\/span>Preserved through adjustment range<\/span><\/div>\n
Readjustment<\/span>4 \u00e0 6 cycles au cours de la dur\u00e9e de vie<\/span><\/div>\n
CE support<\/span>Self-locking safety function document<\/span><\/div>\n<\/div>\n

Voir les sp\u00e9cifications \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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Plage de ratios<\/span>Any integer 5:1 \u2013 300:1<\/span><\/div>\n
Multi-start<\/span>z1 = 1, 2 ou 4 disponibles<\/span><\/div>\n
Module<\/span>M0,5 \u2013 M10<\/span><\/div>\n
D\u00e9lai de mise en \u0153uvre<\/span>D\u00e9lai standard : 3 \u00e0 5 semaines, d\u00e9lai de r\u00e9approvisionnement : 2 semaines<\/span><\/div>\n
Programme d'approvisionnement<\/span>Commande group\u00e9e disponible<\/span><\/div>\n<\/div>\n

Voir les sp\u00e9cifications \u2192<\/a><\/p>\n<\/div>\n<\/div>\n

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\"R\u00e9ducteur<\/div>\n
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R\u00e9ducteur ferm\u00e9 \u00b7 Montage sur bride servo<\/div>\n
R\u00e9ducteur \u00e0 vis sans fin \u00e0 montage servo pour automatisation<\/div>\n
Pour les applications d'automatisation et de robotique n\u00e9cessitant un ensemble d'entra\u00eenement complet et ferm\u00e9 (montage \u00e0 bride moteur, bo\u00eetier IP54 ou IP65, lubrification pr\u00e9-remplie, arbre de sortie ou al\u00e9sage creux), les r\u00e9ducteurs \u00e0 vis sans fin compatibles servo de Korea Ever-Power offrent des engrenages de pr\u00e9cision dans des bo\u00eetiers con\u00e7us pour le montage direct de servomoteurs. L'engrenage \u00e0 vis sans fin int\u00e9gr\u00e9 au r\u00e9ducteur r\u00e9pond aux m\u00eames normes de pr\u00e9cision (DIN6-DIN7 en standard, DIN5 sur demande), aux m\u00eames sp\u00e9cifications de mat\u00e9riaux et aux m\u00eames exigences de documentation que les engrenages nus. Le bo\u00eetier est en alliage d'aluminium (l\u00e9ger pour l'int\u00e9gration dans les bras robotis\u00e9s) avec une finition anodis\u00e9e ou rev\u00eatue en option pour une compatibilit\u00e9 en salle blanche. L'accouplement d'entr\u00e9e accepte les servomoteurs de tailles IEC 56 \u00e0 IEC 132. Configurations de sortie\u00a0: arbre plein, al\u00e9sage creux et montage \u00e0 bride. Pour les positionneurs de robots multiaxes et les syst\u00e8mes d'automatisation de portiques, l'engrenage identique int\u00e9gr\u00e9 au bo\u00eetier du r\u00e9ducteur simplifie l'int\u00e9gration m\u00e9canique tout en maintenant la qualit\u00e9 de sp\u00e9cification requise pour la pr\u00e9cision du robot. Pour les sp\u00e9cifications des r\u00e9ducteurs \u00e0 vis sans fin int\u00e9gr\u00e9s pour les applications d'automatisation et de positionnement, consultez notre site\u00a0: wormgearreduer.top<\/a><\/div>\n
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Logement<\/span>Aluminium, IP54 ou IP65<\/span><\/div>\n
Support moteur<\/span>CEI 56 \u2013 CEI 132<\/span><\/div>\n
Sortir<\/span>Arbre plein, al\u00e9sage creux, bride<\/span><\/div>\n
Pr\u00e9cision<\/span>Norme DIN6\u2013DIN7, DIN5 sur demande<\/span><\/div>\n
Documentation<\/span>Identique au kit d'engrenages nus standard<\/span><\/div>\n<\/div>\n

Voir les sp\u00e9cifications \u2192<\/a><\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/section>\n

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FAQ sur la robotique et l'automatisation<\/span><\/p>\n

Engrenages \u00e0 vis sans fin en robotique et automatisation \u2014 Questions des ing\u00e9nieurs en m\u00e9canique et en contr\u00f4le<\/h2>\n<\/div>\n
\nComment mesure-t-on le jeu d'un engrenage \u00e0 vis sans fin, et quel est le lien entre la valeur indiqu\u00e9e sur la fiche technique et l'erreur de position que je constaterai sur mon robot\u00a0?+<\/span><\/summary>\n
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Le jeu dans les engrenages \u00e0 vis sans fin est g\u00e9n\u00e9ralement mesur\u00e9 par le d\u00e9placement angulaire de l'arbre de sortie lorsque l'arbre d'entr\u00e9e est maintenu immobile et que l'arbre de sortie est mis en rotation alternativement dans les deux sens par un couple connu. La diff\u00e9rence angulaire entre les deux positions correspond \u00e0 l'angle de jeu. Cet angle est ensuite exprim\u00e9 sous forme de valeur lin\u00e9aire au niveau du cylindre primitif (angle de jeu \u00d7 rayon primitif). La relation entre cette valeur et l'erreur de position du robot d\u00e9pend de la mani\u00e8re dont celui-ci s'approche de la cible\u00a0: les approches unidirectionnelles (toujours dans la m\u00eame direction) n'entra\u00eenent pratiquement aucune p\u00e9nalit\u00e9 de jeu\u00a0; les approches bidirectionnelles, quant \u00e0 elles, consid\u00e8rent le jeu total comme une zone morte. Pour une roue \u00e0 vis sans fin de rayon primitif de 60\u00a0mm, un jeu de 0,08\u00a0mm correspond \u00e0 4,6\u00a0minutes d'arc, soit une zone morte angulaire de 0,077\u00b0. Au niveau du centre de l'outil du robot, \u00e0 500\u00a0mm de l'articulation, cela se traduit par une erreur de position TCP d'environ 0,67\u00a0mm, significative pour un assemblage de pr\u00e9cision mais acceptable pour de nombreuses applications de manutention.<\/p>\n<\/div>\n<\/details>\n

\nPuis-je impl\u00e9menter la compensation du jeu dans un logiciel plut\u00f4t que d'utiliser un engrenage \u00e0 vis sans fin duplex\u00a0?+<\/span><\/summary>\n
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Oui, la compensation logicielle du jeu est efficace pour de nombreuses applications d'automatisation. Le contr\u00f4leur du robot m\u00e9morise la valeur de jeu connue pour chaque articulation et ajoute un mouvement de pr\u00e9compensation avant tout changement de direction\u00a0: le robot d\u00e9passe la cible de la distance de jeu dans le sens d'approche, puis revient \u00e0 la cible. Ceci \u00e9limine l'erreur de r\u00e9p\u00e9tabilit\u00e9 bidirectionnelle pour le positionnement quasi-statique. Limitations\u00a0: (1) La compensation logicielle fonctionne pour un jeu constant connu\u00a0; si le jeu augmente avec l'usure, la valeur de compensation doit \u00eatre mise \u00e0 jour r\u00e9guli\u00e8rement\u00a0; (2) La compensation dynamique est plus complexe et moins efficace \u00e0 haute vitesse\u00a0; (3) La souplesse de l'engr\u00e8nement persiste m\u00eame apr\u00e8s compensation de l'erreur de position moyenne\u00a0: les vibrations dues aux changements de direction rapides ne sont pas \u00e9limin\u00e9es par la compensation logicielle. Pour les applications \u00e0 cycles \u00e9lev\u00e9s o\u00f9 l'augmentation du jeu sur des milliers d'heures est un probl\u00e8me, un engrenage \u00e0 vis sans fin duplex, r\u00e9ajustable m\u00e9caniquement, constitue la solution la plus robuste \u00e0 long terme.<\/p>\n<\/div>\n<\/details>\n

\nQuel rapport de transmission dois-je utiliser pour un servomoteur tournant \u00e0 3\u00a0000 tr\/min et entra\u00eenant une articulation de robot qui doit se d\u00e9placer \u00e0 un maximum de 90 tr\/min\u00a0?+<\/span><\/summary>\n
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Rapport de r\u00e9duction requis\u00a0: 3\u00a0000 \u00f7 90 = 33,3:1. Les rapports de r\u00e9duction standard les plus proches sont 30:1 et 36:1. \u00c0 30:1, la vitesse maximale de l\u2019articulation serait de 100\u00a0tr\/min, soit 111\u00a0TP3T de plus que la limite de vitesse du servomoteur. \u00c0 36:1, la vitesse maximale de l\u2019articulation serait de 83,3\u00a0tr\/min, soit 7,51\u00a0TP3T de moins que la vitesse requise. Aucune de ces valeurs n\u2019est id\u00e9ale. Korea Ever-Power peut fabriquer un rapport de 33:1 (z2 = 33\u00a0dents, vis sans fin \u00e0 un seul pas) en tant que sp\u00e9cification semi-personnalis\u00e9e de niveau\u00a03, sans outillage suppl\u00e9mentaire, r\u00e9pondant pr\u00e9cis\u00e9ment \u00e0 vos exigences en mati\u00e8re de servomoteur et de vitesse d\u2019articulation. Lors de votre commande, veuillez indiquer le module (ou l\u2019entraxe et les diam\u00e8tres des arbres) et nous confirmerons la g\u00e9om\u00e9trie \u00e0 33:1 avant de proc\u00e9der \u00e0 la fabrication.<\/p>\n<\/div>\n<\/details>\n

\nComment puis-je prendre en compte le rendement de l'engrenage \u00e0 vis sans fin dans le calcul du budget de couple de mon servomoteur\u00a0?+<\/span><\/summary>\n
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Le rendement de l'engrenage \u00e0 vis sans fin intervient \u00e0 deux reprises dans le calcul du couple. Pour le sens d'entra\u00eenement (moteur entra\u00eenant la charge), le couple de sortie disponible \u00e0 l'articulation est T_output = T_motor \u00d7 gear_ratio \u00d7 \u03b7, o\u00f9 \u03b7 est le rendement direct. Un engrenage 50:1 avec un rendement de 65% et un moteur de 1 Nm produit 32,5 Nm \u00e0 l'articulation (et non 50 Nm). Pour la variation de vitesse, la vitesse de l'articulation est \u00e9gale \u00e0 la vitesse du moteur divis\u00e9e par le rapport d'engrenage. Pour le calcul de la puissance\u00a0: la puissance d'entr\u00e9e est \u00e9gale \u00e0 la puissance de sortie divis\u00e9e par \u03b7\u00a0; le moteur doit donc fournir plus de puissance que celle requise par la charge. Dans les logiciels de dimensionnement de servomoteurs, si le rendement de l'engrenage \u00e0 vis sans fin n'est pas pris en compte dans le calcul, il faut multiplier le couple requis \u00e0 l'articulation par (1\/\u03b7) pour obtenir la contribution du moteur au couple, et multiplier la chaleur g\u00e9n\u00e9r\u00e9e dans le r\u00e9ducteur par (1-\u03b7) \u00d7 P_input pour obtenir la charge thermique.<\/p>\n<\/div>\n<\/details>\n

\nNous devons modifier le rapport de transmission d'une articulation de robot existante sans changer le moteur ni le bo\u00eetier. Est-ce possible\u00a0?+<\/span><\/summary>\n
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Oui, si le nouveau rapport utilise un nombre de dents de roue compatible avec le m\u00eame entraxe. Pour une vis sans fin \u00e0 un seul filet (z1=1), passer d'un rapport de 40:1 \u00e0 35:1 implique de remplacer la roue de 40 dents par une roue de 35 dents. Le diam\u00e8tre primitif de la roue change proportionnellement\u00a0: une roue de 35 dents en M5 a un diam\u00e8tre primitif d2 = 35 \u00d7 5 = 175 mm, contre 200 mm pour une roue de 40 dents. L'entraxe passe de (d1 + d2)\/2 = (50 + 200)\/2 = 125 mm \u00e0 (50 + 175)\/2 = 112,5 mm, ce qui n\u00e9cessite une modification du carter ou un syst\u00e8me de cales. Si le carter est r\u00e9glable (ce qui est le cas pour de nombreux positionneurs et robots), la modification du rapport est possible sans changer le carter. Veuillez fournir les dimensions de votre train d'engrenages actuel (module, nombre de dents actuel, diam\u00e8tres d'arbre, entraxe), les rapports actuels et requis, et Korea Ever-Power confirmera si le changement de rapport est r\u00e9alisable dans le carter existant avant toute modification de conception.<\/p>\n<\/div>\n<\/details>\n

\nQuelle est la dur\u00e9e de vie pr\u00e9vue d'un engrenage \u00e0 vis sans fin dans un robot d'assemblage \u00e0 cycle \u00e9lev\u00e9\u00a0?+<\/span><\/summary>\n
\n

La dur\u00e9e de vie d\u00e9pend principalement du mat\u00e9riau de la roue, de la qualit\u00e9 du contact, de la lubrification et du rapport entre le couple r\u00e9el et le couple nominal. Pour un arbre en acier alli\u00e9 correctement sp\u00e9cifi\u00e9 et une roue en bronze ZCuSn10Pb1 fonctionnant \u00e0 un couple nominal de 60 \u00e0 70% en continu \u00e0 400 cycles\/minute (environ 14 millions de cycles par poste), l'usure des flancs de dents de la roue devrait rester conforme aux sp\u00e9cifications pendant 8\u00a0000 \u00e0 15\u00a0000 heures de fonctionnement si la lubrification est correcte et le rodage termin\u00e9. Les principaux facteurs qui r\u00e9duisent cette dur\u00e9e de vie sont\u00a0: un fonctionnement au-del\u00e0 de 80% du couple nominal (qui acc\u00e9l\u00e8re consid\u00e9rablement la fatigue par piq\u00fbres)\u00a0; un lubrifiant contenant des additifs EP provoquant une corrosion\u00a0; une temp\u00e9rature de fonctionnement sup\u00e9rieure \u00e0 80\u00a0\u00b0C (qui acc\u00e9l\u00e8re la d\u00e9gradation du lubrifiant et augmente le frottement)\u00a0; et les chocs dus aux d\u00e9marrages brusques du moteur \u00e0 pleine charge (utiliser un syst\u00e8me de d\u00e9marrage progressif pour les entra\u00eenements automatis\u00e9s \u00e0 cycles \u00e9lev\u00e9s). Nous recommandons d'effectuer une analyse d'huile toutes les 2\u00a0000 heures afin de contr\u00f4ler le nombre de particules d'usure et de d\u00e9tecter pr\u00e9cocement une acc\u00e9l\u00e9ration du taux d'usure.<\/p>\n<\/div>\n<\/details>\n

\nComment sp\u00e9cifier un ensemble d'engrenages \u00e0 vis sans fin pour une application de robot collaboratif o\u00f9 le comportement autobloquant est une fonction de s\u00e9curit\u00e9 document\u00e9e selon la norme ISO 13849\u00a0?+<\/span><\/summary>\n
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Le cahier des charges doit inclure\u00a0: (1) le rapport de r\u00e9duction et le nombre de filets permettant d\u2019obtenir un angle d\u2019h\u00e9lice inf\u00e9rieur \u00e0 l\u2019angle de frottement dans les conditions de temp\u00e9rature et de lubrification les plus d\u00e9favorables \u2013 et non pas seulement \u00e0 temp\u00e9rature ambiante\u00a0; (2) la sp\u00e9cification du lubrifiant (grade et type ISO VG) utilis\u00e9 pour le calcul de l\u2019autoblocage\u00a0; (3) la temp\u00e9rature maximale pr\u00e9vue du carter dans les conditions thermiques les plus d\u00e9favorables\u00a0; et (4) la marge de s\u00e9curit\u00e9 requise pour l\u2019autoblocage (g\u00e9n\u00e9ralement \u03c1\u2019 \u2013 \u03bb \u2265 1,5\u00b0). Korea Ever-Power fournit un document de v\u00e9rification de l\u2019autoblocage couvrant ces param\u00e8tres pour les engrenages \u00e0 vis sans fin \u00e0 un seul filet command\u00e9s pour les applications de s\u00e9curit\u00e9. Ce document inclut le calcul de l\u2019angle d\u2019h\u00e9lice, les donn\u00e9es du coefficient de frottement dans la plage de temp\u00e9ratures sp\u00e9cifi\u00e9e, l\u2019angle de frottement \u00e0 la temp\u00e9rature la plus d\u00e9favorable et la marge de s\u00e9curit\u00e9 qui en r\u00e9sulte. Il est format\u00e9 pour \u00eatre directement int\u00e9gr\u00e9 \u00e0 l\u2019analyse de s\u00e9curit\u00e9 selon la norme ISO 13849, \u00e0 titre de preuve justificative.<\/p>\n<\/div>\n<\/details>\n

\nQuel est le niveau sonore d'un entra\u00eenement par engrenage \u00e0 vis sans fin dans un robot collaboratif, et comment peut-on le minimiser\u00a0?+<\/span><\/summary>\n
\n

Les r\u00e9ducteurs \u00e0 vis sans fin sont intrins\u00e8quement plus silencieux que les trains d'engrenages h\u00e9lico\u00efdaux \u00e0 rapport \u00e9quivalent, \u00e0 module \u00e9gal, car le contact entre les dents de la vis sans fin et de la roue dent\u00e9e est un contact glissant avec un engr\u00e8nement progressif, contrairement \u00e0 l'engr\u00e8nement par impact des engrenages droits. Le niveau sonore typique des r\u00e9ducteurs \u00e0 vis sans fin correctement sp\u00e9cifi\u00e9s et bien lubrifi\u00e9s, \u00e0 des vitesses de fonctionnement mod\u00e9r\u00e9es (arbre de vis sans fin de 500 \u00e0 1\u00a0500 tr\/min), est de 55 \u00e0 70 dB(A) \u00e0 1 m\u00e8tre, inf\u00e9rieur \u00e0 celui de la plupart des environnements op\u00e9rationnels de robots collaboratifs. Mesures de r\u00e9duction du bruit\u00a0: (1) Augmenter l\u00e9g\u00e8rement la taille du module pour r\u00e9duire les contraintes de contact entre les dents (et donc le bruit de fr\u00e9quence de contact)\u00a0; (2) Am\u00e9liorer la qualit\u00e9 du profil de contact\u00a0: un profil de contact \u2265\u00a070%, v\u00e9rifi\u00e9 par la photographie du profil de contact d'Ever-Power en Cor\u00e9e, produit un bruit d'engr\u00e8nement nettement inf\u00e9rieur \u00e0 celui d'un engrenage \u00e0 contact ponctuel non appari\u00e9\u00a0; (3) Garantir une viscosit\u00e9 de lubrifiant appropri\u00e9e\u00a0: une huile \u00e0 faible viscosit\u00e9 \u00e0 haute temp\u00e9rature g\u00e9n\u00e8re davantage de bruit de contact limite qu'une huile \u00e0 viscosit\u00e9 ad\u00e9quate. (4) Les roues \u00e0 vis sans fin en nylon ou en plastique POM r\u00e9duisent consid\u00e9rablement le bruit pour les applications \u00e0 tr\u00e8s faible charge au prix de la capacit\u00e9 de couple.<\/p>\n<\/div>\n<\/details>\n<\/div>\n

\n
\n

Sp\u00e9cifiez votre entra\u00eenement par vis sans fin robotis\u00e9<\/h2>\n

Veuillez indiquer le type de robot, l'axe de l'articulation, le rapport de r\u00e9duction souhait\u00e9 (ou la somme des vitesses du moteur et de l'articulation), le jeu requis, les sp\u00e9cifications de r\u00e9p\u00e9tabilit\u00e9, le facteur de marche et toute documentation relative aux fonctions de s\u00e9curit\u00e9. Korea Ever-Power vous fournira un cahier des charges complet, la confirmation du rapport de r\u00e9duction personnalis\u00e9 et le d\u00e9lai de livraison sous 24 heures ouvrables.<\/p>\n

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\u2699 D\u00e9couvrez nos produits \u00e0 engrenages \u00e0 vis sans fin de pr\u00e9cision<\/a><\/p>\n<\/div>\n<\/div>\n<\/div>\n

\u00c9diteur : 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\/fr\/wp-json\/wp\/v2\/posts\/1906","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/comments?post=1906"}],"version-history":[{"count":4,"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/posts\/1906\/revisions"}],"predecessor-version":[{"id":1910,"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/posts\/1906\/revisions\/1910"}],"wp:attachment":[{"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/media?parent=1906"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/categories?post=1906"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/wormwheelgear.top\/fr\/wp-json\/wp\/v2\/tags?post=1906"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}