谐波减速机选型手册

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谐波减速器安装说明(Rev A-2)

Rev A/2
Tel : 0086-512-66576780 Fax : 0086-512-66362325
一． LCD/LCS 系列（刚轮固定，柔轮输出。减速比为标示减速比）
输入固定法兰输出端
此处配合间隙 0.1-0.15mm
此处需注意干涉详细避让尺寸见图纸
此处需密封
此处需密封
1. 在柔性轴承上均匀涂抹上润滑脂，A 处腔体内注 80%润滑脂（请使用指定的润滑油脂，勿随意更换油脂以免造成减速器的损坏。），将波发生器装在输入端电机轴或连接轴上，用螺钉加平垫连接固定。 2. 先在柔轮内壁上均匀涂抹一层润滑脂，后柔轮空间 B 处注入润滑脂，注入量大约为柔轮腔体的 80%（详见附表二，请使用指定的润滑油脂，勿随意更换油脂以免造成减速器的损坏。），将减速器按图示方向装入，装入时波发生器长轴对准减速器柔轮的长轴方向，到位后用对应的螺钉将减速器固定，螺钉稍微带紧。 3.将电机转速设定在 100 转/分左右，启动电机，螺钉以十字交叉的方式锁紧，以四至五次均等递增至螺钉对应的锁紧力。(螺钉对应锁紧力见附表一) 所有连接固定的螺钉需为 12.9 级并需涂上乐泰 243 螺纹胶，以防止螺钉失效或工作中松脱。 4.与减速器连接固定的安装平面加工要求：平面度 0.01mm 与轴线垂直度 0.01mm 螺纹孔或通孔与轴线同心度 0.1mm
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苏州绿的谐波传动科技有限公司
Leaderdrive Leader Harmonious Drive Systems Co.,Ltd Add : No.19 Muxu west Road, Mudu, Suzhou, P.R.China
Rev A/2
Tel : 0086-512-66576780 Fax : 0086-512-66362325

谐波传动减速器技术指标

谐波传动减速器技术指标说明：这里只介绍了XB1系列，其他机型可参考，详细说明请咨询我公司。

１．传动效率谐波传动减速器的输出功率与输入功率之比，或有用功与总功之比。

因输入转速、速比及使用情况(包括负载，润滑)不同，效率也不同。

通常情况下，XB1系列约为75%-90%，XB3系列、XBF系列约为50%-60%，XB2约为30%。

２．空回（运动损失）在空载情况下，改变输入轴转向时，输出轴转角的滞后量。

允许值：XB1系列为6分、3分、1分；XB3、XBF系列为6分、3分；XB2系列为6分。

３．传动误差当输入轴单向旋转时，输出轴的实际转角与理论转角之差。

允许值：XB1系列为6分、3分、1分；XB3、XBF系列为6分、3分；XB2系列为6分。

4．空载静态起动力矩、输入轴上组件的飞轮矩（GD2）和转动惯量（I）机型空载静态启动力矩飞轮矩GD2(kgf·m2)转动惯量I(kg·m2)5．平均寿命谐波传动减速器的寿命主要取决于波发生器轴承的寿命.在额定负载下,输入轴转速为1500转/分钟时，柔性轴承寿命不低于5000小时，平均工作寿命大于10000小时。

6．超载能力允许在启动、停止瞬间超载一倍，工作时允许瞬间超载不大于1.5倍。

7．扭转刚度输入轴固定，在输出轴上负载扭矩与相应扭转角之增量比值。

注：KA-含空回及在约20%额定扭矩时，输出轴弹性变形的扭转刚度系数KB-在此以后，当输出轴上的扭矩加到额定扭矩时，产生弹性变形的扭转刚度系数。

单位：kgf·cm/rad注：上表指减速器整机测试数据，三大件的扭转刚度比整机约高一倍以上。

谐波传动减速器工艺装配1、安装前全部零件清洗干净。

2、安装时先将波发生器装入柔轮，然后边转动波发生器，边将带有波发生器的柔轮，装入刚轮。

3、拆卸的程序与安装时相反。

但拆卸时，必须保证刚轮轮啮无偏斜地与柔轮啮脱开，它们的变形或啮面擦伤。

4、柔轮装入刚轮中时，检查轮啮啮合是否对称，短轴上间隙应相等，即A1=A2,如下图5、安装前，组件内所有零件表面都应涂敷00#半流体润滑脂或润滑油。

谐波齿轮减速器选型资料

FeaturesStructureOperating PrincipleTooth behavior and engagement360°One Turn of Wave Generator90°Wave GeneratorStructure of Harmonic Drive Unit (Component Type)Driven by a unique operating principle applying elastodynamics of metals and comprising of only threebasic parts (Wave generator, Flexspline and Circular spline),Harmonic Drive products reveal excellent features not found in other speed reducers.High positioning accuracy, High repeatability Compactness, Light weight, High reduction ratio,High torque capacity, Non-backlash, High efficiency, Quiet operationThe Wave Generator is a thin raced ball bearing fitted onto anelliptical hub serving as a high efficiency torque converter andgenerally mounted onto the input shaft.FlexsplineThe Flexspline is a non-rigid, thin cylindrical cup with external teeth on a slightly smaller pitch diameter than the Circular Spline.It fits over and is held in an elliptical shape by theWave Generator.Circular SplineThe Circular Spline is a rigid ring with internal teeth, engaging theteeth of the Flexspline across the major axis of the Wave Generator.The Circular Spline has two more teeth thanthe Flexspline and is generally mounted onto a housing.Unlike motions of ordinary gearing, the unique tooth behavior(operating principle) of harmonic drive gearing achieved non-backlashmotion, infinitesimal angular feeding (one-pulse feeding) and highpositioning repeatability. More than 30% of all teeth simultaneouslyengages in two locations in 180°symmetry, thereby allowing high torquecapabillity.0°Circular SplineWave Generato rFlexsplineThe Flexspline is slightly smaller in diameterthan the Circular Spline and usually has twofewer teeth than the Circular Spline. Theelliptical shape of the Wave Generator causesthe teeth of the Flexspline to engage theCircular Spline at two opposite regionsacross the major axis of the ellipse.As the Wave Generator rotates, the zone where the teeth of the Flexspline engages those of the Circular major elliptical axis. For each 180 clockwise movement of the Wave Generator, the Flexspline moves counterclockwise by one teeth relative to the Circular Splin.Each complete clockwise rotation of the Wave Generator results in the Flexspline moving counter-clockwise by two teeth from its original position relative to the Circulr Splineular.Circular SplineHarmonic Drive GearingFlexsplineWave Generator Circular SplineProduct GroupHarmonicDrive PrecisionControl Speed ReducersHarmonic Drive GearingSpeed ReducersDrive System Component / Cup TypeSeriesCSF-GHFDCSGCSDCSFSHGSHFHDUFHDURCSG-2UHCSG-2UHSHG-2UHSHF-2UHSHG-2UJSHG-2UJCSF-1USHG-2SHSHG-2SHSHG-2SOSHF-2SOSHD-2SHHigh-torque TypeSuper Flat TypeStandard TypeHigh-torque TypeStandard TypeStandard TypeStandard TypeSmall and Medium-capacity TypeSmall Capacity TypeGear Head TypeHigh-torque TypeStandard TypeHigh-Torque Hollow Shaft TypeHollow Shaft TypeHigh-Torque Shaft Input TypeShaft Input TypeCompact Double Shaft TypeUnit TypeHigh-torque Hollow Shaft TypeFlat Hollow Shaft TypeHigh-torque Flat TypeFlat TypeSuper Flat Hollow Shaft TypeSimple Unit TypeStandard TypePhase Adjustment UnitProduct LineupCup TypeSilk Hat TypePancake Type★★★★★★★★★★★★★★22★★★18~26001/50~1/16030~5000★★★★★★★★★ ★21★30~40001/50~1/320Product Feature★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★10111213142121★★★★★★★★★★★★★★★23~340012~8201.8~920023~34009.0~8007.8~3309.8~40001/50~1/1601/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/1601/50~1/320★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★———★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★15161718171819★★★★★★★★★★★★★★★★★23~34009.0~260023~34009.0~180023~34009.0~18000.5~281/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/1601/30~1/1601/30~1/100★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★——★★★★★★★★★★★★★★★★★★★★★★★★★1817181720★★★★★★★★★★★★★23~34009.0~180023~34009.0~180012~4501/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/160VariationMoment Stiffness Positioning Accuracy Lightweight Compactness Backlash Page inCatalogVariationTorque-weight Ratio Torsional Stiffness Positioning Accuracy Lightweight Flat Shape HollowStructure Life Page inCatalogCustomizing Peak Torque (Nm)Reduction Ratio Variation Torque-weightRatio Moment Stiffness Positioning Accuracy Lightweight Flat Shape HollowStructure Life Page inCatalog Customizing Peak Torque (Nm)Reduction RatioPeak Torque (Nm)Reduction Ratio Motor Capacity (W)Ease of Mounting Life Variation Torque-weightRatio Moment Stiffness Positioning Accuracy Lightweight Flat Shape HollowStructure Life Page inCatalog Customizing Peak Torque (Nm)Reduction RatioVariation Torque-weightRatio Torsional Stiffness Positioning Accuracy Lightweight Flat Shape HollowStructure Life Page in CatalogCustomizing Peak Torque (Nm)Reduction RatioOpticalGalvano Scanners Servo Drivers ControlSystems Rotary Systems Direct Transmission Systems Actuators Sensors LSARP-BRHFHA -Cmini FHA-C RSF•RKFLBC LA LAH -46LNPLAH -80High Accuracy, High Response Position and Speed ControlWith Shaft Control FunctionFor Position Control Only For Position Control OnlyFor AC Servomotors For DC Servomotors Compact Cylinder Type Stepping Motors Compact Cylinder Type DC Servomotors Compact Hollow Shaft Flat TypeHollow Shaft Flat TypeCompact Cylinder Type AC Servomotors AC ServomotorsDC Servomotors Stepping Motors High-thrust Positioning Type Low-thrust Positioning TypeMedium-thrust Positioning TypeLow-thrust Positioning Type High-thrust Positioning TypeHigh-Resolution Absolute Angle Detection Super-compact Encoders, Micro Encoders MIT SeriesMicro EncoderHA -655 Series HA -675 Series HA -520 SeriesHS -360 Series SeriesProduct Group★★★★★★★★★★★★★★★★★31★★★1.8~8.50.0082~0.05CE,ULCE,UL ★★★★★★★★★★★★★★★★★★★34343434★★★★★★★★29★★8.3~5435~70280.39~20180~50★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★252627★★★★★★★★1.8~2839~6901.5~330200~6096~3530~60 ★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★3030303030★★★★★★★★★★6000~120004939210kg30006000~12000493921.5300010~200.9~100.9~1013~150.9~10★★★★★★★★★★★★★★★★★3233★★★★★★★★★The combinations with actuator and driver may not fully be complied with foreign safety standards. Please contact our sales office.★★★★★★★★★★★★★Maximum Driving Force (N)Maximum Speed (mm/s)Stroke (mm)Peak Torque (Nm)Maximum Speed (rpm)Peak Torque (Nm)Maximum Speed (rpm)VariationRepeatability Resolution Moment Stiffness Servo Performance Hollow Structure Thinness Lightweight Page in CatalogVariationRepeatability Resolution Stiffness Compactness Lightweight Page in Catalog Repeatability Linearity Stiffness Servo Performance Drift Characteristic Compactness Lightweight Moment of Inertia (g •cm)Torque Constant (N •m/A)Page in CatalogRobustness Super Long Life Resolution Compactness Lightweight Compatibility toHost Computer Absolute Detection System Incremental System Page inCatalogVariationPage in Catalog Repeatability Resolution Moment Stiffness Servo Performance Hollow Structure ThinnessLightweight Compactness Page in CatalogInterface to Absolute Interface to Incremental International Safety Standard Functional Versatility Display Function Valve Position Command Analog Speed Command Mono-shaft Control (Command)Compactness Peak Torque (Nm)Maximum Speed (rpm)VariationPage in Catalog Repeatability Resolution Moment Stiffness Servo Performance Hollow Structure Thinness Lightweight CompactnessHarmonic Drive Gearing CSG (P10)CSD (P11)CSF (P12)SHF (P14)SHG (P13)HDUF (P21)HDUR (P21)CSG-2UH (P15)CSF-2UH (P16)SHF-2UH (P18)SHG-2UH (P17)CSF-1U (P19)SHD-2SH (P20)CSF-GH (P24)HPG (P25)Gear Head TypeHDB (P22)HDT (P23)Inﬁ nit-Indexer (P26)Rotary Servo ActuatorsFHA-C mini (P27)FHA-C (P28)RSF (P30)RHS-25 (P32)RFS-25 (P32)RH (P30)LBC (P36)LA (P36)LAH-46 (P36)LAH-80 (P36)LNP (P36)Optical Galvano Scanners SensorsLSA (P37)MIT (P38)Micro Encoder (P39)Servo DriversHA-655 HA-675 (P40)HA-520 (P40)HS-360 (P40)Powerhub (P29)HHA Chamberlink™ (P33)LPA (P34)• Compact and simple design • High torque capacity • High stiffness • Non-backlash • High positioning and rotational accuracies To realize a high load capacity and high reliability, the torque capacity has been increased by 30%. Units that allow easy mounting are also available. (See page 15.)Li f e : 10,000hPermissible Maximum Momentary T orque Average Ratcheting T orque Permissible Peak T orque Rated T orque Life (Hours)CSG Series Component/Cup Type - High-torque Type Speed reducer• Super thin• Hollow structure• High repeatabilityResponding to the market needs, seven models of the new Harmonic Drive CSDseries have been succeeded in downsizing.The CSD series is designed for applications requiring ultra compact size.L i f e : 7,000hH a r m o n i c D r i v e G e a r i n g C S D S e r i e s •CSD Series RatingsCSD SeriesComponent/Cup Type - Super Flat Type Speed reducer Ha r m o n i c D r i v e G e a r i n g C S D S e r i e s•CSF Series Ratings• Compact• High torque capacity• High stiffness• Non-backlash• High positioning and rotational accuracies• Coaxial input and outputFor downsizing purpose, the axial length has been reduced to aboutone half. Units that allow easy mounting are also available. (See page 16.)L i f e: 7,000hCSF SeriesComponent/Cup Type - Standard Type Speed reducer•Permissible Maximum Momentary Torque Average Ratcheting Torque Permissible Peak Torque Rated Torque Life (Hours)• Large bore with hollow hole, flat shape• Non-backlash• Excellent positioning and rotational accuracies• Coaxial input and output shaft• Compact and simple design• High torque capacity• High stiffnessTo realize a high load capacity and high reliability, the torquecapacity has been increasedL i f e : 10,000hSHG SeriesComponent/Silk Hat Type - High-torque Type Speed reducer Ha r m o n i c D r i v e S H G G e a r i n g S e r i e s•SHF Series RatingsPlease contact Harmonic Drive LLCfor a detailed catalog of this product.• Large bore with hollow hole, flat shape • Compact and simple design • Non-backlash • High torque capacity • High positioning and rotational accuracies • High stiffness • Coaxial input and output shaft To minimize the space of machines and systems and for a total cost reduction, the SHF series has achieved a large bore with hollow hole and flat shape. Units thatallow easy mounting are also available. (See page 18.)L i f e : 7,000hSHF SeriesComponent/Silk Hat Type - Standard Type Speed reducer•CSG Series Ratings• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load” is a static load that achieves a contact stress of a constant level (4kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.• The moment stiffnesses are mean values.•Cross Roller Bearing SpecificationPlease contact Harmonic Drive LLC for a detailed catalog of this product.• High torque capacity• High stiffness • Compact and simple design• Non-backlash• High positioning and rotational accuracies • Coaxial input and outputTo realize of a high load capacity and high reliability, the torque capacity hasbeen increased by 30%.L i f e : 10,000hCSG SeriesUnit/High-torque Type Speed reducer Ha r m o n i c D r i v e G e a r i n g C S F S e r i e s• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load”is a static load that achieves a contact stress of a constant level (4kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.• The moment stiffnesses are mean values.L i f e : 7,000hTo meet with minimum space requirement, the axial length has been reduced to about one half.• Compact and simple design • High torque capacity • High stiffness• Non-backlash• High positioning and rotational accuracies• Coaxial input and output CSF Series Unit/Standard Type Speed reducer• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load” is a static load that achieves a contact stress of a constant level (408kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.To realize a high load capacity and high reliability, the torque capacity has beenincreased by 30%.• Large bore with hollow hole, flat shape• Non-backlash• High positioning and rotational accuracies• Coaxial input and output• Compact and simple design• High torque capacity• High stiffnessL i f e : 10,000hSHG SeriesUnit/High-torque Hollow Shaft, High-torque Shaft Input Types Simple Unit/High-torque Flat, Hollow, High-torque Flat TypesSHG-2UH Speed reducer Ha r m o n i c D r i v e G e a r i n g C S F S e r i e s•SHF Series Ratings• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load” is a static load that achieves a contact stress of a constant level (408kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.•Cross Roller Bearing SpecificationTo minimize space for machines and systems and a total cost reduction,the SHF series has achieved a large bore with hollow hole and flat shape.• Large bore with hollow hole, flat shape • Non-backlash• High positioning and rotational accuracies• Coaxial input and output• Compact and simple design• High torque capacity • High stiffness L i f e : 7,000hSHF Series Unit/Hollow Shaft, Shaft Input Types Simple Unit/Flat-hollow, Flat Types Speed reducerTo realize a minimum space requirement, the axial length has been reduced to about one half.Four compact models are available in this mini series.• Non-backlash, high positioning and rotational accuracies• Compact, lightweight, high torque capacity• High load capacity• Compact 4-point contact ball bearing mounted in main shaft• Versatile reduction ratio range and shapes to meet with various applicationsL i f e : 7,000h CSF mini SeriesUnit/Compact Double Shaft Type Gear Head Type/Small Capacity TypeCSF-1U CSF-2XH Speed reducer Ha r m o n i c D r i v e G e a r i n g C S F m i n i S e r i e s•SHD Series Ratings• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load”is a static load that achieves a contact stress of a constant level (4kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.•Cross Roller Bearing SpecificationA simple unit type comprised of a cross roller bearing of high moment stiffness on the output side. Six models are available in the series.• Super flat shape • Hollow structure • High positioning accuracyL i f e : 7,000hSHD Series Simple Unit/Super Flat, Hollow Type Speed reducer•HUUF , HDUR Series RatingsHDUF HDUR Component/Pan Cake Standard Type • Unit/Phase Adjusting Unit Standard Type The HDUF and HDUR series are designed ﬂ at and thin as a component tobe installed in a customer-supplied assembly.L i f e :3,000hSpeed reducer Ha r m o n i c D r i v e G e a r i n g H D U F , H D U R S e r i e s HDUF and HDUR Series• The HDB series achieves a 1:1 gear ratio• Precise phasing between input and output is achieved• HDB Series RatingsHDB Series• Zero backlash• Precise positional accuracy• Large center through hole• High ratio• High torque• ± 5 arc second repeatability• HDT Series RatingsHDT SeriesHa r m o n i c D r i v e G e a r i n g H D TThis quick connect design allows easy installation and mounting of a wide variety of servo motors.• Easy mounting with servomotors manufactured by various manufacturers • Versatile variation • Excellent sealed structure • Non-backlash • High moment capacity L i f e : 7,000hCSF-GH Series High-performance Gear Head/Small- and Medium-capacity Motor Type for Servomotors The CSF-GH series is designed to mount to a range of servo motors with output powerranging from 30W to 5000W.Speed reducer• Highly accurate Planetary gearhead• Short delivery (Some models can be delivered in one week)• High torque capacity• High moment capacity• Easy mounting with servomotors manufactured by variousmanufacturers• Low backlash: Less than 3 arc min (less than 1 minute option)• High efficiency, 90% or higher. (85% only for Model 14)• Excellent sealed structure• Double shaft type as new modelL i f e: 20,000hHPG SeriesHigh-performance Gear Head Type/Small-and Medium-capacity Motors for ServomotorsThe HPG series is designed to mount to a range of servo motors with output power ranging from30W to 5000W.Speed reducerHarmonicPlanetaryHPGSeriesSpeed reducer •3 Models, 6 Bore Sizes Available From StockInputOutputTo operate, hand rotate the adjusting ring in eitherdirection to produce a 100:1 reduction between the ringand the output. Adjust the friction adjustment/lockingscrew to desired resistance. For some applications,one djustment will be sufﬁ cient for both shaft turningand phase adjusting modes. For more severe loading,such as hard stopping or higher torques, the frictionadjustment/locking screw may be used to lock theadjusting ring in place to maintain phase.• Fine tune rotational position of shafts and machine parts• Phase cams• Adjust roll registration• Take up backlash in spur and worm gears• Synchronize indexing devicesInﬁ nit-Indexers® are available from immediately from stock in the standard bore sizes shown,with keyways and set screws, and tapped holes for face mounting of either hub. It is possiblefor the user to modify these conﬁ gurations by disassembling the unit. The hub material islow carbon mild steel suitable for each size are shown in notes to the dimensional drawings.Additional sizes and conﬁ gurations are available by special order.IN-LINE SHAFT IN-LINE SHAFT CONCENTRIC SHAFTFlexible CouplingsAdapterInﬁ nit-Indexer® Phase AdjusterHDI Size L DIM-10 1.09-25 1.34-50 1.43•FHA-C mini Series Ratings• 1 The figures in the table are those at the output shaft.• 2 The figures are measured when combined with an HA-655 servo driver.• 3 The figures are typical values.• 4 The quad encoder resolution is obtained by the formula (motor encoder resolution) x4 x (reduction ratio)This series servo actuators are comprised of harmonic drive components for precise motioncontrol and super-flat AC servo motors. The body width is less than half of old models andhas a large through hole in the center of the shaft through which electric cables, air pipe,and even laser beam can be passed through this through hole to simplify the entirestructure of the machine and system.The FHA-mini series is designed to operate with a wide range of third-party drivers, as wellas Harmonic Drive LLC’s HA655 and HA675 drivers.FHA-C mini SeriesAC Servo Actuators Actuators AC S e r v o A c t u a t o r F H A -C m i n i S e r i e s•• 1 The figures in the table are those at the output shaft.• 2 The figures are measured when combined with an HA-655 servo driver.• 3 The figures are typical values.• 4 The quad encoder resolution is obtained by the formula (motor encoder resolution) x4 x (reduction ratio)This series servo actuators are comprised of Harmonic drive components for precise motion control and super-flat AC servo motors. The body width is less than half of old models and has a large through hole in the center of the shaft through which electric cables, air pipes, and even laser beam can be passed through this through hole to simplify the entire structure of the machine and system.The FHA-C series is designed to operate with a wide range of third party drivers as well as Harmonic Drive LLC’s HA655 and HA675 drivers.FHA-C Series AC Servo Actuators Actuatos•Speciﬁ cationsBeneﬁ ts of the PowerHub include:• High torque• Positional accuracy• Fast response• Smooth, repeatable performance• More compact than competitive products• Handles large thrust and moment loadsActuatorsPowerHub™Po w e r H u b ™ H a r m o n i c D r i v e S e r v o A c t u a t o rAC Servo Actuators The AC servo actuators in the RSF series are comprised of Harmonic drive component for precise motion control and an AC servomotor, featuring a high torque, high rotational accuracy in compact design. The RSF series AC servo actuators are best suited as positioning drive for machines and systems that require downsizing.•RSF Series RatingsNote 1: The table shows typical output values of actuators.Note 2: the values in the table above are obtained when it is combined with the combined driver (HA-680-4B-24).Note 3: All values are typical.Note 4: T he moment of inertia is the total value of the motor shaft and Harmonic Drive moment of inertia values converted to the output side.The values in parentheses are for equipment with a brake.Note 5: The encoder resolution is (motor shaft encoder resolution when multiplied by 4) x (gear ratio).RSF Series Actuatos•RH Series RatingsThe DC servo actuator RH series are comprised of Harmonic drive componentfor precision motion control and a DC servomotor, featuring a high torque,high rotational accuracy in compact design compactness. The RH series DCservo actuators are best suited as positioning drive sources for machines andsystems that require downsizing.RH SeriesDC Servo ActuatorsDrawings (DXF) can be downloaded from our home page. URL: DC S e r v o A c t u a t o r R H S e r i e sPlease Note:1) The values are for saturated actuator temperature. Other values are for actuator temperature of 20˚C.2) Maximum allowable values. Under no circumstances may these limits be exceeded.3) Cantilevered load applied at the midpoint of the shaft extension.•RHS/RFS Series DC Servo ActuatorsRHS-25RFS-25• Small, lightweight, and high-torque• Standard lineup of actuators with a brake • Superior positioning precision • Stable controllabilityRHS/RFS Series• Precise positional accuracy• No rotary seals required• Motor removable allowing bake out• Integral feedthrough to vacuum•SpeciﬁcationsHHA Chamberlink ®V ac u u m F e ed t h r o u g h Se r v o A c t u a t o r• Less than 1 arc minute positional accuracy• Compact design• Axial length of less than 2.6 inches• Integral high performance brushless servo motor• Double row angular contact output bearings• High axial and moment loads• Superior torque to weight ratio• Adaptable to most controllers• Low vibration• High overhung loadPlease contact factory with more information.•LPA• 1 Varies with the reduction ratio of the Harmonic Drive incorporated in the actuator.• Use the Suruga Seiki Co.,LTD. Micro Module PG Series product for the table.The adopting high precision screw have realized high positioning accuacy to the micron and sub-micron order required in measuring instruments, test and inspection systems, optical equipment, semiconductor and liquid crystal manufacturing equipment.LBC, LA•LAH and LNP Series Precision Linear Actuators LA LNPDrawings (DXF) can be downloaded from our home page. URL: ActuatosOptical Scanners•LSA Series Ratings• 1: All angles are mechanical angles.• 2: Values are at combination with a standard Harmonic driverThe Galvano optical scanner LSA series for high-response andhigh-accuracy optical scanning are comprised of an uniquecompact motor and optical sensor. The combination with adedicated driver allows continuous scanning, random access andother optimal scanning in accordance with command signals.Galvano Optical Scanners LSA SeriesGa l v a n o m e t e r S c a n n e r s L S A S e r i e s•MIT Series RatingsThe MIT series are robust angle detection systems of amagnetic-induction type that can detect an absolute angle. The sensor output signals can be easily connected to a personal computer by a signal conversion circuit of PCI- or ISA-bus compatible.MIT SeriesSignal Converter Circuit• 1: “Windows” is a registered trademark of Microsoft Corp. of the United States.Drawings (DXF) can be downloaded from our home page. URL: •Micro Encoder Series RatingsThe micro encoder series are incremental encoders with the world’s smallestresolution enabling a function for output of three short waves (wavelengths).Micro Encoder SeriesPlease contact Harmonic Drive LLCfor a detailed catalog of this product.Mi c r o E n c o d e r S e r i e sServo Drivers•Servo Driver SpecificationsHA-655 SeriesAC Servo Digital Drivers HA-655 SeriesHA-520 SeriesHA-675 SeriesHS-360 Series DC Servo Drivers HS-360 Series•Combinations with Actuator and DriverRotary ActuatorsGalvano Optical ScannerCombinations with DriverDriverHarmonic Drive LLCw w w.H a r m o n i c D r i v e.n e t • 800-921-333241S e r v o D r i v e rIndustrial robots Amusement robotsRobot peripheral equipmentIndirect drive Hand driveTraveling shaft drive Indexing table Peripheral equipmentIndirect drive Hand drive Vision sensor drive Torque sensing driveTool revolver drive Tool changer drive Tool magazine drive Work positioning equipment Rotary table driveTool positioning equipment driveDirect transmission shaft drive Shaft driveMachining centers Turning centers NC lathesWork transfer systems Grinders EDM systemsBending machines Rolling machines PressesWork transfer systemsBent work driveWork positioning machine driveWork reversing machinePrinting presses Folding machines Paper changing machines Paper positioning machines Paper machinesTension controllers Cutting blade positioning machinesPhase adjusting machines Paper surface/back controlling machineRoller position adjusting machinesRoller height adjustmentHumanoid RobotsRobotsHumanoid RobotsMetal Machine ToolsMetal Working MachinesPrinting, Bookbinding and Paper Processing MachinesApplicationsCSG CSD CSF SHG SHF SHD HPG HP-FCSG CSD CSF SHG SHF SHD HPGFHA-C RSF Micro EncoderCSG CSF SHG SHF HPG FHA-C RSF LAHSHG SHF HPG FHA-C RSF LSACSG CSF SHG SHF FB FR FD HPGFHA-C MITMicro Encoder。

《机器人用谐波齿轮减速器》标准年底实施

摘要：国家质量监督检验检疫总局、国家标准化管理委员会在《中华人民共和国国家标准公告》2014年第14号中发布，《机器人用谐波齿轮减速器》（GB/T30819-2014）将于2014年12月31日起正式实施。

图源于网络GB/T30819-2014《机器人用谐波齿轮减速器》国家标准由苏州绿的谐波传动科技有限公司、江苏省减速机产品质量监督检验中心、上海ABB工程有限公司和北京工商大学负责编制。

标准基本涵盖了机器人用谐波齿轮减速器分类原则、技术要求、性能指标、试验方法、检验规则和包装、运输、储存等方面的内容，对谐波减速器的产品型号、分类、外形尺寸、传动效率、扭转刚度、噪声、温升、使用寿命等技术指标以及相应的试验方法、试验设备和检验规则等主要技术内容进行了规范，对于我国的机器人行业，以及半导体制造业、光学器械、医疗器械、通讯设备、航空、航天、机床、能源等领域的精密谐波产品具有积极的指导意义。

2013年，中国已经成为世界上最大的机器人市场，销售了占全球总销量近五分之一的3.7万台机器人，销量同比增长60%，将排名第二和第三的机器人大国日本和美国抛开了一万台以上的距离。

同时，我们国产机器人的销量只占到国内市场份额的5%左右，困扰我国机器人行业健康发展的瓶颈就在于核心零部件无法自给自足。

【江苏包装】谐波减速器是机器人实现运动功能的核心部件，是轻型【江苏包装】工业机器人和机械臂可靠、精确运行不可或缺的零部件，谐波减速器与一般的齿轮传动相比较，具有运动精度高、传动比大、重量轻、体积小、承载能力大、效率高、容易实现零回差、并能在密闭空间和介质辐射的工况下正常工作等优点，现在约有90％的谐波减速器应用在机器人工业和精密定位系统中，谐波减速器已成为现代工业重要的基础部件。

由于国内谐波产品技术指标长期低于国外，造成目前国内以机器人行业为主的先进制造业所使用的谐波减速器严重依赖进口。

近年来，苏州绿的谐波传动科技有限公司已经逐步攻克谐波传动技术瓶颈，并具备了规模生产的技术与能力，产品迅速占领市场，打破了国外垄断。

减速机选型条件参考

减速机选型条件参考为了选到最合适的减速电机，有必要了解该减速电机所驱动机器的详尽技术特性，就必须确定一个使用系数fB。

使用系数fB。

减速电机的选用首先应确定以下技术参数：每天工作小时数；每小时起停次数；每小时运转周期；可靠度要求；工作机转矩T工作机；输出转速n出；载荷类型；环境温度；现场散热条件；减速机通常是根据恒转矩、起停不频繁及常温的情况设计的。

其许用输出转矩T由下式确定：T=T出X fB 使用系数T出————减速电机输出转矩fB————减速电机使用系数传动比i i=n入/ n出电机功率P(kw) P=T出* n出/ 9550 * η 输出转矩T出（N.m）T出=9550* P*η/n出式中：n入——输入转速η——减速机的传动效率在选用减速电机时，根据不同的工况，必须同时满足以下条件：1、T出≥T工作机2、T=fB总*T工作机式中：fB总——总的使用系数，fB总=fB*fB1*KR*KW fB——载荷特性系数，KR——可靠度系数fB1——环境温度系数；减速机扭矩计算公式:速比=电机输出转数÷减速机输出转数("速比"也称"传动比")1.知道电机功率和速比及使用系数，求减速机扭矩如下公式：减速机扭矩=9550×电机功率÷电机功率输入转数×速比×使用系数2.知道扭矩和减速机输出转数及使用系数，求减速机所需配电机功率如下公式：电机功率=扭矩÷9550×电机功率输入转数÷速比÷使用系数减速器是指原动机与工作机之间独立封闭式传动装置，用来降低转速并相应地增大转矩。

在某些场合，也有用作增速的装置，并称为增速器。

减速器主要由传动零件（齿轮或蜗杆）、轴、轴承、箱体及其附件所组成，其基本结构有三大部分：1）齿轮、轴及轴承组合；2）箱体；3）减速器附件。

其常用术语如下：减速比i：减速器输入转速与输出转速之比。

减速电机选型指南

选型指南为了选到最合适的减速电机，有必要了解该减速电机所驱动机器的详尽技术特性，就必须确定一个使用系数fB。

使用系数fB。

其许用输出转矩T由下式确定：T=T出X fB 使用系数T出————减速电机输出转矩fB————减速电机使用系数传动比i i=n入/ n出电机功率P(kw) P=T出* n出/ 9550 * η 输出转矩T出（N.m）T出=9550* P*η/n出式中：n入——输入转速η——减速机的传动效率在选用减速电机时，根据不同的工况，必须同时满足以下条件：1、T出≥T工作机2、T=fB总*T工作机式中：fB总——总的使用系数，fB总=fB*fB1*KR*KW fB——载荷特性系数，KR——可靠度系数fB1——环境温度系数；KW——运转周期系数首先确定要进口减速机还是国产减速机，，现在不管进口还是国产的大部分厂家都有自己的命名标准，所以最好找个减速机样本，根据样本来选型。

但是，一定要提供以下数据1.减速机用在什么设备上，以便确定安全系数SF（SF=减速机额定功率处以电机功率），安装形式（直交轴，平行轴，输出空心轴键，输出空心轴锁紧盘等）等2.提供电机功率，级数（是4P、6P还是8P电机）3.减速机周围的环境温度（决定减速机的热功率的校核）4.减速机输出轴的径向力和轴向力的校核。

需提供轴向力和径向力减速机扭矩计算公式:速比=电机输出转数÷减速机输出转数("速比"也称"传动比")1.知道电机功率和速比及使用系数，求减速机扭矩如下公式：减速机扭矩=9550×电机功率÷电机功率输入转数×速比×使用系数2.知道扭矩和减速机输出转数及使用系数，求减速机所需配电机功率如下公式：电机功率=扭矩÷9550×电机功率输入转数÷速比÷使用系数。

XB系列谐波传动减速机

XB系列谐波传动减速机类型、特点和适用范围谐波传动减速器是利用柔性元件可控制的弹性变形来传递运动和动力的机械传动装置。

它具有传动比大并且范围广、精度高、空回小、承载能力大、效率高、体积小、重量轻、传动平稳、噪声小、可向密封空间传递运动等特点。

由于谐波传动减速器具有许多优点，现已广泛应用于空间技术、能源、电子工业、石油化工、军事工业、机器人、假肢、机床、仪器仪表、纺织机械、印刷机械、包装机械、起重运输机械、医疗器械、食品加工机械等领域。

1)结构型式谐波传动减速器包括三个基本构件：波发生器、柔轮、刚轮(如图i所示)。

三个构件中可任意固定一个，其余两个一为主动，一为从动，可实现减速或增速(固定传动比)，也可变成两个输入，一个输出，组成差动传动。

刚轮谐波传动时速裁的三个金本附件图i(2)工作原理谐波传动减速器的工作原理如图2a、b、c、d所示，当刚轮固定，波发生器为主动，柔轮为从动时，柔轮在椭圆形的波发生器作用下产生变形，在波发生器长轴两端处的柔轮轮齿与刚轮轮齿完全啮合；在波发生器短轴两端处，柔轮轮齿与刚轮轮齿完全脱开；在椭圆长轴两侧，柔轮轮齿与刚轮轮齿处于不完全啮合状态。

在波发生器长轴旋转的正方向一侧，称为啮入区；在长轴旋转的反方向一侧，称为啮出区。

由于波发生器的连续转动，使得啮入、完全啮合、啮出、完全脱开这四种情况依次变化，循环不已。

由于柔轮比刚轮的齿数少2个，所以当波发生器转动一周时，柔轮向相反方向转过两个齿的角度，从而实现了大的减速比。

单) [ c) d)波发生爆转动一周乘轮向相反方向转过酒个宙的角度图2(1)产品的分类及结构特点1)XB1系列(GB/T14118-93) XBI系列是谐波传动减速器中是最常见，也是使用最广泛的一类，其主要结构特点是采用杯状柔轮，刚轮比柔轮多两个齿，见图3及图4所示。

2)XB3系列XB3系列为扁平式，采用齿环柔轮，和两个刚轮，其中输入刚轮比柔轮多两个齿，输出刚轮的齿数与柔轮的相同。

减速机的选型与使用

减速机的选型与使用一、选型指南为了选到合适的减速电机，有必要了解该减速电机所驱动机器的详尽技术特性，就必须确定一个使用系数Fb,使用系数Fb.减速电机的选用首先应确定一下技术参数：每天工作小时数；每小时启停次数；每小时运转周期；可靠度要求；工作机转矩T工作机；输出转速n出；载荷类型；环境温度；现场散热条件；减速机通常是根据恒转矩、启停不频繁及常温的情况设计的，其许用输出转矩T由下式确定：T=T出X FB使用系数T出----------减速电机输出扭矩，FB-------减速电机使用系数传动比i i=n 入/ n出电机功率P(KW) P=T出*n出/9550*η输出转矩T出（N.m）T出=9550*P*η/n 出式中：n入—输入转速η—减速机的传动效率在选用减速电机时，根据不同的工况，必须同时满足以下条件：1、T出≥T工作机 2、T=FB总*T工作机式中：FB总—总的使用系数，FB总=FB*FB1*KR*KW FB—载荷特性系数,KR—可靠度系数 FB1—环境问的系数；二、减速机安装注意事项安装减速机时，应重视传动中心轴线对中，其误差不得大于所用联轴器的使用补偿量。

对中良好能延长使用寿命，并获得理想的传动效率。

在输出轴上安装传动件时，不允许用锤子敲击，通常利用装配夹具和轴端的内螺纹，用螺栓将传动件压入，否则有可能造成减速机内部零件的损坏。

最好不采用钢性固定式联轴器，因该类联轴器安装不当，会引起不必要的外加载荷，以致造成轴承的早期损坏，严重是甚至造成输出轴的断裂。

减速机应牢固地安装在稳定水平的基础或底座上，排油槽的油应能排除，且冷却空气循环流畅，基础不可靠，运转时会引起振动及噪音，并促使轴承及齿轮受损，当传动联件有凸出物或采用齿轮、链条传动时，应考虑加装防护装置，输出轴上承受较大的径向载荷时，应选用加强型。

按规定的安装装置保证工作人员能方便地靠近油标，通气塞、排油塞。

安装就位后，应按次序全面检查安装位置的准确性，各紧固件压紧的可靠性，安装后应能灵活转动。

减速机选型减速机选型

减速机选型：首先确定你要进口减速机还是国产减速机，，现在不管进口还是国产的大部分厂家都有自己的命名标准，所以最好找个减速机样本，根据样本来选型。

需提供轴向力和径向力最好还是找个样本，打个电话给减速机厂家的人员，让他们帮你选型，结构特点：——采用模块化设计,传动比覆盖范围广,分配精细合理; ——从KC..37-KC..187共12种机座规格,传动功率范围0.12KW-200KW;——外形设计适合全方位的万能安装配置;——传动比较精确,范围覆盖5.31-179.86,可根据需要任意选取;——齿轮经高精度磨齿机磨削加工,传动平衡、噪音低、级间效率达98%;——为特殊低速场合专门设计的双联体减速机,将RC减速机的传动比拓展至32625.主要材料：——箱体：铸铁；——齿轮：20rMo钢，碳、氮共渗处理（精磨后保持齿面硬度HRC60，硬层厚度＞0.5mm）；——平键：45钢，表面硬度HRC50。

表面喷涂——铸铁：喷涂RAL7031灰蓝色油漆。

效率：齿轮传动的效率是所有传动式中效率最高的一种，其效率比蜗杆传动要高的多。

齿轮减速机的效率主要由齿轮及轴承的摩擦决定。

由于本公司齿轮是采用高精度磨齿机磨削加工，轴承采用NSK轴承，有效的降低了摩擦，使齿轮传动的级间效率达到98%。

需要特别指出的是，在某些安装方式时第一级的齿轮完全浸在油中，对于大机座号及高圆周速度的输入级，这会引发搅油损失并产生一个不容忽视的参数。

双联体齿轮减速机为达到特别低的输出转速，可以通过两个齿轮减速机相联的方法来实现。

当采用这种传动方案时，可配置电机的功率必须依赖于减速机的极限输出扭矩，而不能通过电机功率来计算减速机的输出扭矩。

谐波减速机选型手册谐波减速器样本

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精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福
精密莱福。