What are the precision reducers commonly used in industrial robots?The RV reducer is developed on the basis of a cycloidal pin wheel drive and has a secondary deceleration and center disc support structure. Since it was put into the market in 1986, it has become a “royal” reducer for robots due to its advantages such as large transmission ratio, high transmission efficiency, high movement accuracy, small backlash, low vibration, rigidity, and high reliability.
DC motor speed control method
One is to adjust the armature voltage and the other is to adjust the excitation current.
1. Common miniature DC motors whose magnetic fields are fixed, non-adjustable permanent magnets,
So you have to adjust the armature voltage.
Adjust the armature voltage method:
Using a single-chip microcomputer to control a high-power DC motor (200W), controlling the steering relay is acceptable, but it is difficult to control the speed. The motor supplies you with 12~24V, which means that the current is about 10A, and the original can not carry the original. How to control this kind of high-power DC motor? What information is worth learning from? (For low-power DC motors, it can be controlled by a triode bridge circuit or directly with a microcontroller PWM wave.)
The driver is the robot’s power system, which is equivalent to the human cardiovascular system. It is generally composed of a drive device and a transmission mechanism. Due to different driving methods, the driving device can be divided into three types: electric, hydraulic and pneumatic. The dc or ac motor, hydraulic cylinder, and cylinder in the drive device can be directly connected with the operating machine, and can also be connected with the actuator through the transmission mechanism. The transmission mechanism usually has several types such as gear transmission, chain transmission, harmonic gear transmission, screw transmission, and belt transmission.
The formula P = ω.T pushes out the formula T = 9.55P/n, among them P is the power (unit W), T is the torque (unit Nm), ω is the angular speed (unit rad/s), n is the rated speed (unit r/ Min).
Teach you a simple, easy-to-remember algorithm
Number of poles × kilowatts × 1.65 = torque
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