工業機器人的傳動結構
工(gong)業機器(qi)人的傳(chuan)動(dong)(dong)系統(tong)要(yao)求結構緊湊(cou)、 重(zhong)量(liang)輕、轉動(dong)(dong)慣(guan)量(liang)和(he)(he)體(ti)積(ji)小, 要(yao)求消除傳(chuan)動(dong)(dong)間(jian)隙, 提高其運動(dong)(dong)和(he)(he)位置精(jing)度。工(gong)業機器(qi)人的傳(chuan)動(dong)(dong)裝置除了(le)齒(chi)輪(lun)(lun)(lun)傳(chuan)動(dong)(dong)、蝸桿傳(chuan)動(dong)(dong)、 鏈傳(chuan)動(dong)(dong)和(he)(he)行星齒(chi)輪(lun)(lun)(lun)傳(chuan)動(dong)(dong)外, 還常用滾珠(zhu)絲(si)桿、 諧(xie)波(bo)齒(chi)輪(lun)(lun)(lun)、鋼帶、 同步齒(chi)形(xing)帶和(he)(he)繩輪(lun)(lun)(lun)傳(chuan)動(dong)(dong)。
齒輪傳動
齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)傳(chuan)動(dong)(dong)是(shi)(shi)(shi)最常(chang)見(jian)的(de)(de)(de)，常(chang)看(kan)到齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)介紹的(de)(de)(de)時候會說齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)的(de)(de)(de)模(mo)數(shu)(shu)是(shi)(shi)(shi)多少。簡(jian)單(dan)(dan)來說齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)的(de)(de)(de)模(mo)數(shu)(shu)使用用來表明齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)的(de)(de)(de)大(da)小(xiao)的(de)(de)(de)，齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)有一套專門的(de)(de)(de)機械標準，按照這(zhe)個(ge)標準不(bu)同(tong)的(de)(de)(de)模(mo)數(shu)(shu)對應不(bu)同(tong)大(da)小(xiao)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)形。模(mo)數(shu)(shu)大(da)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)就(jiu)大(da)一些，模(mo)數(shu)(shu)小(xiao)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)就(jiu)小(xiao)一些。模(mo)數(shu)(shu)是(shi)(shi)(shi)以毫米為(wei)單(dan)(dan)位的(de)(de)(de)。只有相(xiang)同(tong)模(mo)數(shu)(shu)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)才能嚙(nie)合在(zai)一起(qi)。另一個(ge)常(chang)用術語是(shi)(shi)(shi)齒(chi)(chi)(chi)(chi)(chi)(chi)數(shu)(shu)，就(jiu)是(shi)(shi)(shi)齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)上(shang)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)的(de)(de)(de)數(shu)(shu)量，不(bu)同(tong)齒(chi)(chi)(chi)(chi)(chi)(chi)數(shu)(shu)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)嚙(nie)合在(zai)一起(qi)可以得到一個(ge)傳(chuan)動(dong)(dong)比，比如(ru)齒(chi)(chi)(chi)(chi)(chi)(chi)數(shu)(shu)為(wei)10的(de)(de)(de)主(zhu)動(dong)(dong)齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)和齒(chi)(chi)(chi)(chi)(chi)(chi)數(shu)(shu)為(wei)20的(de)(de)(de)從(cong)動(dong)(dong)齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)相(xiang)嚙(nie)合，其傳(chuan)動(dong)(dong)比為(wei)10/20=1/2。即從(cong)動(dong)(dong)輪(lun)轉(zhuan)速是(shi)(shi)(shi)主(zhu)動(dong)(dong)輪(lun)轉(zhuan)速的(de)(de)(de)一半。齒(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)數(shu)(shu)和模(mo)數(shu)(shu)的(de)(de)(de)乘(cheng)積(ji)是(shi)(shi)(shi)分(fen)度圓的(de)(de)(de)直(zhi)徑。
齒(chi)輪齒(chi)條(tiao)傳動(dong)
齒輪(lun)齒條傳動用于將旋轉(zhuan)(zhuan)運動轉(zhuan)(zhuan)換(huan)為直線運動或者(zhe)反之。
渦輪蝸桿(gan)傳動
這種傳動(dong)(dong)的(de)特點是(shi)能夠獲得很(hen)(hen)大(da)的(de)減速比。即(ji)蝸桿(gan)(gan)旋(xuan)轉很(hen)(hen)多圈才能帶動(dong)(dong)蝸輪(lun)旋(xuan)轉一圈。并且只能單向(xiang)(xiang)傳動(dong)(dong)。即(ji)運動(dong)(dong)只能由蝸桿(gan)(gan)傳遞(di)到蝸輪(lun)而不(bu)能反過(guo)來，這種單向(xiang)(xiang)傳動(dong)(dong)的(de)特性(xing)一般也稱為自鎖，即(ji)當(dang)外力想驅使蝸輪(lun)轉動(dong)(dong)時會被蝸桿(gan)(gan)鎖住而無法轉動(dong)(dong)。
下表為工(gong)業(ye)機器人常用傳動(dong)方(fang)式的比(bi)較(jiao)與分析。
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