XV9738a HEIE450617R robot spare parts PLC control ABB import module

Description

After comparing various aspects, the XV9738a decided to adopt the mechanical structure of planetary gear transmission. Planetary gears have assembly clearance and clearance caused by mechanical wear during transmission; To eliminate these mechanical clearances, the fit clearance of the gear pair must be small first, and the surface of the gear material must be wear-resistant after heat treatment. Therefore, the design calculation of the planetary gear pair cannot be calculated according to the design method of the conventional planetary gear. The wrist of the robot XV9738a is a very flexible joint, and it needs to rotate in both positive and negative directions. How to install the motor is a problem; The connection between planetary gear transmission mechanism and wrist pitch joint is a problem.

Also, the speed of wrist movement may be non-uniform; How to control the motor? How to collect feedback signals? Is there any external interference in the process of sending the control signal to the execution unit? Where does it come from?
Moreover, the XV9738a is the accuracy of the wrist in the movement process; How to achieve motion accuracy when wrist moves relative in space? What are the factors that affect the motion accuracy?
Before designing wrists, you must understand the factors and contents that affect wrists in all aspects. After the questions are answered, you can start to design wrists.
The technical parameters of the servo motor are given below:
Model: MSMD04ZS1V
Rated output power: 400W
Rated torque: 1.3N. m Maximum torque: 3.8N. m
Rated speed/maximum speed: 3000/5000rpm
Motor inertia (with brake): 1.7 × 10-4Kg.m2
Transformer capacity: 0.9KVA
Encoder: 17 bits (resolution: 131072). 7 wire incremental/absolute
Adaptive drive model: MBDDT2210
Since we have selected the planetary gear transmission, we will carry out the relevant calculation of the planetary gear.
First, select the module. Since the structure of the robot wrist is required to be as small as possible, the output torque is not large, but it may have high-speed reversing in both positive and negative directions, that is, the gear must overcome a large inertial force when reversing. Therefore, the module selection and calculation should be calculated according to the number of times of the output torque, that is, when calculating the module according to strength, the safety factor should be larger. At the same time, due to the limitation of structure, small modulus shall be selected as far as possible. For the calculation formula of gear, please refer to the Gear Design Manual. Here I choose the module: 1m. The module is selected, and the transmission ratio will be calculated. For the calculation of planetary gear transmission, you can refer to the Gear Transmission Section in the Gear Design Manual or Mechanical Design Manual, which contains detailed introduction and calculation examples. No introduction or reference is made here.
Planetary gear transmission must have a floating structure. Is it also applicable to the wrist of the robot? Which part lost? Which part is floating?
First of all, the robot wrist rotates 360 degrees, and the structure is relatively small. Moreover, its output part needs a flange to install and hold the executive parts.
If the planet carrier floats, the planet gear is distributed on the circumference of the sun gear. When it floats, it does not rotate around the fixed axis during operation, which means that it does not meet the rotation conditions of the output flange.
Now let’s consider turning the internal gear and fixing the flange on the internal gear to ensure the rotation condition of the flange.

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