Anti-loosening and Anti-slip for Harmonic Reducer Output Flange: Diamond Friction Shims Improve the Precision of Robot Joints
## I. Root Cause of Precision Degradation in Robot Joints
Joint precision of industrial robots and collaborative robots serves as a core indicator determining the overall machine performance. As the transmission core of robot joints, harmonic reducers and RV reducers feature connection reliability between their output flanges and mating components, which directly affects positioning accuracy. Under working conditions of frequent start-stop, alternating impact and continuous temperature rise, accumulated micron-level micro-slip on flange mating surfaces results in preload attenuation, increased backlash and positioning drift.
Even if the reducer itself boasts high machining accuracy, the overall positioning accuracy will still be compromised if micro-slip occurs on flange mating surfaces. Conventional flat shims and spring lock washers can only prevent thread loosening and fail to restrain micro-creep on flange contact surfaces. After a period of operation, precision declines accompanied by abnormal noise and jitter, which forces frequent disassembly, calibration and maintenance.
## II. Critical Connection Positions of Robot Joints
1. **Harmonic Reducer Output Flange**
The harmonic reducer output flange connects to the robot arm and bears transmission torque and dynamic loads. Micro-slip on the flange surface directly causes angular deviation at the output end and impairs the end positioning accuracy of robots. Diamond friction shims increase the friction coefficient of flange surfaces, suppress micro-slip and stabilize output precision.
2. **Fixed End Face of RV Reducer**
The fixed end face of the RV reducer connects to the frame and bears the reaction torque and vibration of the reducer. Loose connection will aggravate reducer vibration and undermine transmission stability. High-friction shims improve connection stiffness and reduce vibration transmission.
3. **Preload Interface of Cross Roller Bearing**
Cross roller bearings are core supporting components of robot joints. The connection stability of their preload interfaces directly determines bearing rigidity and rotational accuracy. Friction shims stabilize bearing preload, restrain preload attenuation and extend bearing service life.
4. **Connecting Flange between Motor and Reducer**
The connecting flange between the motor and reducer withstands startup impact and transmission torque of the motor, requiring high centering accuracy. Ultra-thin friction shims improve connection reliability without modifying the mechanical structure.*DAOLER Diamond Friction Shims*
## III. Technical Advantages of Diamond Friction Shims
Adopting Diamond Claw® Occlusion Technology, DAOLER® diamond friction shims deliver the following advantages for robot joint applications:
1. **Suppress Positioning Drift**
The micro mechanical occlusion mechanism physically eliminates micro-slip on flange surfaces, greatly improves the robot’s repeat positioning accuracy and prevents joint positioning drift.
2. **Reduce Backlash Fluctuation**
Stable preload of flange connections reduces backlash fluctuation of the transmission chain and enhances transmission smoothness and trajectory accuracy.
3. **Resist Vibration and Alternating Loads**
With a static friction coefficient ≥0.6 and coating hardness ≥1000HV, stable performance is maintained under frequent start-stop and alternating impact working conditions.
4. **Ultra-thin Specification of 0.1 mm**
Precision reducers are subject to space constraints. Ultra-thin specifications starting from 0.1 mm can directly replace original shims without mechanical structure modification to quickly complete assembly upgrade.
5. **No Damage to Precision Mating Surfaces**
Precise control over diamond particle size and occlusion depth achieves high friction while protecting precision flange mating surfaces and safeguarding core reducer components.
6. **Stable Performance over Wide Temperature Range**
Stable performance within the wide temperature range of -40℃ ~ 150℃, adapting to temperature rise generated during continuous robot operation.
## IV. Application Effects
After applying diamond friction shims for flange connections of robot joint reducers, the following outcomes can be achieved:
- Improved repeat positioning accuracy, with positioning drift reduced by more than 50%
- Lower backlash fluctuation and enhanced transmission stability
- Reduced joint abnormal noise and jitter for smoother operation
- Slower preload attenuation rate; calibration and maintenance cycle extended by 2–3 times
- Prolonged service life of reducers and bearings
- No need to increase tightening torque or use thread locker for simpler assembly
## V. Application in Humanoid Robots and Collaborative Robots
With the rapid development of humanoid robots and collaborative robots, higher requirements are placed on joint precision and reliability. Humanoid robots feature a large number of joints, variable loads and complex movements, generating more urgent demand for anti-loosening and anti-slip connections.
The ultra-thin specifications and high friction performance of DAOLER® diamond friction shims are particularly suitable for lightweight and compact joint designs of humanoid robots. The 0.1 mm ultra-thin thickness barely adds joint weight or volume, yet significantly improves connection reliability, providing domestic and reliable precision connection solutions for humanoid robots.
## VI. Selection and Installation Guidelines
### Selection Guidelines
- Select corresponding specifications according to reducer flange dimensions
- Prioritize 0.1–0.2 mm ultra-thin specifications for precision reducers
- Confirm the material of mating surfaces; occlusion performance varies with different materials
- Choose models with higher friction coefficients for high-load joints
- Custom non-standard dimensions available
### Installation Guidelines
- Clean flange surfaces to remove oil contamination and burrs before installation
- Place the friction shim between two flange mating surfaces
- Tighten bolts following the torque specified by the reducer manufacturer
- No thread locker or increased preload torque required
- Inspect preload after the first 24 hours of operation
## VII. Conclusion
Anti-loosening and anti-slip design for flange connections of robot joint reducers is critical to improving the overall precision and reliability of equipment. Centered on Diamond Claw® Occlusion Technology, DAOLER® diamond friction shims feature a high friction coefficient ≥0.6 and ultra-thin 0.1 mm specifications, providing independently controllable precision connection solutions for industrial robots, collaborative robots and humanoid robots.
Joint precision of industrial robots and collaborative robots serves as a core indicator determining the overall machine performance. As the transmission core of robot joints, harmonic reducers and RV reducers feature connection reliability between their output flanges and mating components, which directly affects positioning accuracy. Under working conditions of frequent start-stop, alternating impact and continuous temperature rise, accumulated micron-level micro-slip on flange mating surfaces results in preload attenuation, increased backlash and positioning drift.
Even if the reducer itself boasts high machining accuracy, the overall positioning accuracy will still be compromised if micro-slip occurs on flange mating surfaces. Conventional flat shims and spring lock washers can only prevent thread loosening and fail to restrain micro-creep on flange contact surfaces. After a period of operation, precision declines accompanied by abnormal noise and jitter, which forces frequent disassembly, calibration and maintenance.
## II. Critical Connection Positions of Robot Joints
1. **Harmonic Reducer Output Flange**
The harmonic reducer output flange connects to the robot arm and bears transmission torque and dynamic loads. Micro-slip on the flange surface directly causes angular deviation at the output end and impairs the end positioning accuracy of robots. Diamond friction shims increase the friction coefficient of flange surfaces, suppress micro-slip and stabilize output precision.
2. **Fixed End Face of RV Reducer**
The fixed end face of the RV reducer connects to the frame and bears the reaction torque and vibration of the reducer. Loose connection will aggravate reducer vibration and undermine transmission stability. High-friction shims improve connection stiffness and reduce vibration transmission.
3. **Preload Interface of Cross Roller Bearing**
Cross roller bearings are core supporting components of robot joints. The connection stability of their preload interfaces directly determines bearing rigidity and rotational accuracy. Friction shims stabilize bearing preload, restrain preload attenuation and extend bearing service life.
4. **Connecting Flange between Motor and Reducer**
The connecting flange between the motor and reducer withstands startup impact and transmission torque of the motor, requiring high centering accuracy. Ultra-thin friction shims improve connection reliability without modifying the mechanical structure.*DAOLER Diamond Friction Shims*
## III. Technical Advantages of Diamond Friction Shims
Adopting Diamond Claw® Occlusion Technology, DAOLER® diamond friction shims deliver the following advantages for robot joint applications:
1. **Suppress Positioning Drift**
The micro mechanical occlusion mechanism physically eliminates micro-slip on flange surfaces, greatly improves the robot’s repeat positioning accuracy and prevents joint positioning drift.
2. **Reduce Backlash Fluctuation**
Stable preload of flange connections reduces backlash fluctuation of the transmission chain and enhances transmission smoothness and trajectory accuracy.
3. **Resist Vibration and Alternating Loads**
With a static friction coefficient ≥0.6 and coating hardness ≥1000HV, stable performance is maintained under frequent start-stop and alternating impact working conditions.
4. **Ultra-thin Specification of 0.1 mm**
Precision reducers are subject to space constraints. Ultra-thin specifications starting from 0.1 mm can directly replace original shims without mechanical structure modification to quickly complete assembly upgrade.
5. **No Damage to Precision Mating Surfaces**
Precise control over diamond particle size and occlusion depth achieves high friction while protecting precision flange mating surfaces and safeguarding core reducer components.
6. **Stable Performance over Wide Temperature Range**
Stable performance within the wide temperature range of -40℃ ~ 150℃, adapting to temperature rise generated during continuous robot operation.
## IV. Application Effects
After applying diamond friction shims for flange connections of robot joint reducers, the following outcomes can be achieved:
- Improved repeat positioning accuracy, with positioning drift reduced by more than 50%
- Lower backlash fluctuation and enhanced transmission stability
- Reduced joint abnormal noise and jitter for smoother operation
- Slower preload attenuation rate; calibration and maintenance cycle extended by 2–3 times
- Prolonged service life of reducers and bearings
- No need to increase tightening torque or use thread locker for simpler assembly
## V. Application in Humanoid Robots and Collaborative Robots
With the rapid development of humanoid robots and collaborative robots, higher requirements are placed on joint precision and reliability. Humanoid robots feature a large number of joints, variable loads and complex movements, generating more urgent demand for anti-loosening and anti-slip connections.
The ultra-thin specifications and high friction performance of DAOLER® diamond friction shims are particularly suitable for lightweight and compact joint designs of humanoid robots. The 0.1 mm ultra-thin thickness barely adds joint weight or volume, yet significantly improves connection reliability, providing domestic and reliable precision connection solutions for humanoid robots.
## VI. Selection and Installation Guidelines
### Selection Guidelines
- Select corresponding specifications according to reducer flange dimensions
- Prioritize 0.1–0.2 mm ultra-thin specifications for precision reducers
- Confirm the material of mating surfaces; occlusion performance varies with different materials
- Choose models with higher friction coefficients for high-load joints
- Custom non-standard dimensions available
### Installation Guidelines
- Clean flange surfaces to remove oil contamination and burrs before installation
- Place the friction shim between two flange mating surfaces
- Tighten bolts following the torque specified by the reducer manufacturer
- No thread locker or increased preload torque required
- Inspect preload after the first 24 hours of operation
## VII. Conclusion
Anti-loosening and anti-slip design for flange connections of robot joint reducers is critical to improving the overall precision and reliability of equipment. Centered on Diamond Claw® Occlusion Technology, DAOLER® diamond friction shims feature a high friction coefficient ≥0.6 and ultra-thin 0.1 mm specifications, providing independently controllable precision connection solutions for industrial robots, collaborative robots and humanoid robots.
