Installation precautions for hollow rotary actuators

 ‌‌1. Introduction to hollow rotary actuators

The hollow rotary actuator is a special rotary actuator with a hollow structure, which is convenient for installing air pipes and wires in the jig. Its working principle is to achieve the rotation effect through the meshing of the gears of the inner and outer rings. The gears on the inner and outer rings mesh with each other, and the rotation force is transmitted to the inner or outer ring through the transmission mechanism. This design is not only compact and comprehensive, but also has the characteristics of high repeatability, high rigidity and high rotation accuracy.

2. Components of hollow rotary actuators

1. Motor: Provides power source, usually a frameless torque motor with high torque output and high motion accuracy.

‌2. Reducer: Reduces the high-speed rotation of the motor and increases the output torque, so that the actuator can provide a large torque at a low speed. Common types of reducers include harmonic reducers and planetary gear reducers.

‌3. Sensor: Including torque sensors and encoders, which are used to monitor the motion state and position of the actuator to ensure precise control.

‌4. Bearings‌: Support and guide the rotational motion, reduce friction and wear, and improve the service life and precision of the actuator.

‌5. Hollow design‌: The hollow rotary actuator is characterized by its hollow structure inside, which can accommodate cables, water pipes or other pipelines that need to pass through, facilitating internal wiring and maintenance.

3. Main functions of hollow rotary actuators

1. Provide degrees of freedom‌: The hollow rotary actuator provides degrees of freedom for the robot, allowing the robot to move in multiple directions. The degree of freedom of a robot refers to the number of independent coordinate axis movements. The higher the degree of freedom, the more complex the tasks that the robot can perform.

‌2. Improve the load-bearing capacity and precision‌: The performance of the hollow rotary actuator directly affects the load-bearing capacity and precision of the robot. The load capacity of the robot and the precision of the end motion depend on the design and performance of the rotary actuator. High-precision rotary actuators can ensure the stability and accuracy of the robot when performing tasks.

‌3. Realize multi-dimensional precise motion control‌: The hollow rotary platform has high precision, stability and flexibility, and can achieve multi-dimensional precise motion control. This enables the robot to perform high-precision operations in various complex environments, such as high-precision welding, assembly, etc. ‌ .

‌4. Improve production efficiency and reduce costs ‌: By using a hollow rotating platform, the robot can rotate 360 ​​degrees without changing direction, which is very useful for robots that require visual monitoring and data collection, such as patrol robots or filming robots. In addition, in the manufacturing industry, the hollow rotating platform can help robots avoid collisions with conveyor belts and maintain effective operation, thereby improving production efficiency and reducing costs ‌.

4. Installation precautions for hollow rotary actuators ‌ 

1. Installation environment requirements ‌: The hollow rotating platform should be installed indoors to avoid direct sunlight and heat radiation. The working environment temperature should be between 0-50 degrees, and the temperature under the origin sensor should be between 0-42 degrees. The working environment humidity should be less than 85%, and flammable and explosive acidic gases and dust, oil stains, splashing water, etc. should be avoided ‌.

‌2. Installation location selection ‌: Choose a suitable location to install the hollow rotating platform to ensure that it will not be subjected to direct vibration and excessive impact. The installation surface of the equipment should be clean and can be wiped clean with anti-rust oil or gasoline, zinc-sodium water.

‌3. Installation and adjustment of the drive motor: Before installation, the motor input shaft, positioning boss and internal connection parts of the equipment should be cleaned, and avoid using tools such as hammers to prevent damage to bearings or gears. After installation, the drive motor needs to be carefully positioned and precision adjusted to ensure smooth and stable operation of the equipment.

‌4. Sealing inspection: Pay special attention to the sealing inside the equipment, especially the sealing of the rotating shaft of the servo hollow rotating platform. Ensure the sealing inside the equipment to prevent environmental pollution.

‌5. Installation of connecting parts: During the installation process, ensure that the concentricity of the motor input shaft and the output shaft of the hollow platform are consistent, and the outer flanges are parallel. When tightening with bolts, the bolts should be rotated diagonally first, and then tightened one by one to ensure the stability and precision of the equipment.

Source:https://plaza.rakuten.co.jp/yixing/diary/202503270000/

Working principle and maintenance method of permanent magnet stepper motor

1.A brief introduction to permanent magnet stepper motor

Permanent magnet stepper motor (PM stepper motor), also known as PM stepper motor, is a motor that uses the interaction between permanent magnet and electromagnetic coil to achieve stepping motion. Its core feature is that permanent magnet steel is used as the rotor material, and the stator is processed into claw-type tooth poles by stamping, usually using radial multi-pole magnetized permanent magnet steel. This design makes permanent magnet stepper motors have the advantages of low cost, simple structure and high reliability.

2.Working principle of permanent magnet stepper motor

The working principle of permanent magnet stepper motor is based on electromagnetic interaction. When the stepper motor driver receives the control pulse and direction signal, the internal logic circuit controls the winding to be energized in a certain sequence. For example, for a two-phase stepper motor, when both phase windings are energized and excited, the motor output shaft will be stationary and locked in position. If the current of one of the phase windings changes, the motor will rotate one step in a given direction. By changing the direction of the winding current in sequence, the motor can achieve continuous step rotation.

3.Performance advantages of permanent magnet stepper motors

1.High precision: The torque and position control accuracy of permanent magnet stepper motors are very high, and the rotation angle can be accurately controlled to achieve high-precision positioning and motion control. This makes it perform well in applications that require high-precision positioning, such as precision machining equipment, automated production lines, etc.

2.High reliability: Since the mechanical structure and control circuit of permanent magnet stepper motors are relatively simple, and there are no wearing parts such as brushes and commutation mechanisms, they have high reliability and stability and can operate stably for a long time. This is very important for equipment that requires long-term stable operation, such as industrial robots, automation equipment, etc.

3.No noise and pollution: Permanent magnet stepper motors do not generate noise or pollutants caused by friction and wear because they have no mechanical contact parts, so they are very suitable for applications with high environmental requirements. This is a significant advantage for equipment that requires a quiet operating environment, such as medical equipment, precision instruments, etc.

4.Controllable speed and acceleration: The speed and acceleration of permanent magnet stepper motors can be precisely controlled by the controller, and have broad application prospects. This is very useful for applications that require precise control of movement speed and acceleration, such as CNC machine tools, automated production lines, etc.

4.Maintenance methods for permanent magnet stepper motors

‌1.Keep the motor clean‌: Regularly remove dust from the surface of the stepper motor, use organic solvents that do not cause corrosion to clean it, ensure that the motor surface is clean, and avoid dust affecting the motor's aesthetics and heat dissipation effect‌.

‌2.Check the bearing wear‌: Regularly check the bearing wear and replace the severely worn bearings in time. Ensure that the bearings have an appropriate amount of lubricating oil to reduce friction and wear‌.

‌3.Check the wiring and screw looseness‌: Regularly check whether the motor wiring is loose, and tighten the loose screws in time. Ensure that the electrical and mechanical components inside the motor are firmly connected to avoid abnormalities caused by looseness‌.

‌4.Monitor the motor temperature‌: When the stepper motor is running, it is necessary to monitor whether its temperature is moderate. Avoid running the motor in a high temperature environment, ensure that the motor runs in a suitable application environment, and avoid the impact of high temperature on the motor‌.

‌5.Avoid overload operation‌: Reasonably control the power supply voltage and current to avoid damage to the motor caused by overload operation. Ensure that the motor runs under the specified load to avoid shortening the service life due to overload.

‌6.Check the insulation performance‌: Regularly check the insulation performance of the motor to prevent safety hazards such as leakage. Ensure the dryness of the motor windings to avoid the influence of humid environment on the motor insulation material.

‌7.Abnormal situation handling‌: If the stepper motor makes abnormal noise or other abnormal conditions during operation, it should be stopped and checked immediately. The inspection content may include whether the coupling, pulley, fastening screws, etc. are loose, and whether the slider, slide rail, positioning sensor and line connection are normal. If an abnormality is found, it should be handled in time and the equipment should be restored to normal operation.