What is the difference between RV reducer and harmonic reducer

As a precision reducer, which is the core component of industrial robots, compared with general-purpose reducers, robot reducers are required to have the characteristics of short transmission chain, small size, high power, light weight and easy control.

It is understood that there are two main types of reducers currently used in articulated robots: RV reducers and harmonic reducers

Principle of RV reducer and harmonic reducer

RV reducer:

It is used for the three joints of the waist and elbow of the leg of the robot with large torque, and the industrial robot with large load uses RV for one, two and three axes. Compared with the harmonic reducer, the key to the RV reducer lies in the processing technology and assembly process. RV reducer has higher fatigue strength, stiffness and life. Unlike harmonic drive, as the use time increases, the movement accuracy will be significantly reduced. Its disadvantage is that it is heavy in weight and large in size.

Harmonic reducer:

For industrial robots with small loads or several axes at the end of large robots, the harmonic reducer is a kind of harmonic transmission device. The harmonic transmission device includes a harmonic accelerator and a harmonic reducer. Harmonic reducer mainly includes: rigid wheel, flexible wheel, bearing and wave generator, all of which are indispensable. Among them, the number of teeth of the rigid wheel is slightly larger than the number of teeth of the flexible wheel. The harmonic reducer used in small robots is characterized by small size, light weight, large carrying capacity, high motion accuracy, and large single-stage transmission ratio.

Both are meshes with small tooth difference. The difference is that one of the key gears in the harmonics is flexible, and it needs repeated high-speed deformation, so it is relatively fragile and has limited bearing capacity and life. RV usually uses a cycloidal pin wheel. Harmonics used to use an involute tooth profile. Now some manufacturers use a double arc tooth profile, which is much more advanced than the involute profile.

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