Harmonic Drive Gearing & Motion Control
Excellent Technology Clusters
in a Wide Range of Industries
Harmonic drive products are unique precision speed reducers
playing important roles in robots, semiconductor manufacturing systems, factory automation equipment ....... and furthermore, in aerospace
equipment that may convey our human dreams.
A variety of electromechanical products required high precision motion control in optical measuring equipment, medical equipment, printing machines
and other systems offer many advantages in the ? eld of industrial and
scienti? c technologies.
Harmonic Drive LLC is making every efforts to develop
supportive technologies for the 21st century, thereby contributing
to global technological advance.
Features
Structure
Operating Principle
Tooth behavior and engagement
360°
One Turn of Wave Generator
90°
Wave Generator
Structure of Harmonic Drive Unit (Component Type)
Driven by a unique operating principle applying elastodynamics of metals and comprising of only three basic 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 operation
The Wave Generator is a thin raced ball bearing fitted onto an elliptical hub serving as a high efficiency torque converter and generally mounted onto the input shaft.
Flexspline
The 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 the Wave Generator.
Circular Spline
The Circular Spline is a rigid ring with internal teeth, engaging the teeth of the Flexspline across the major axis of the Wave Generator. The Circular Spline has two more teeth than
the 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-backlash motion, infinitesimal angular feeding (one-pulse feeding) and high positioning repeatability. More than 30% of all teeth simultaneously
engages in two locations in 180°symmetry, thereby allowing high torque capabillity.
0°
Circular Spline Wave Generato r
Flexspline
The Flexspline is slightly smaller in diameter than the Circular Spline and usually has two fewer teeth than the Circular Spline. The
elliptical shape of the Wave Generator causes the teeth of the Flexspline to engage the Circular Spline at two opposite regions across 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 Spline
Harmonic Drive Gearing
Flexspline
Wave Generator
Circular Spline
Product Group
HarmonicDrive Precision
Control Speed Reducers
Harmonic Drive Gearing
Speed Reducers
Drive System Component / Cup Type
Series
CSF-GH
FD
CSG
CSD
CSF
SHG
SHF
HDUF
HDUR
CSG-2UH
CSG-2UH
SHG-2UH
SHF-2UH
SHG-2UJ
SHG-2UJ
CSF-1U
SHG-2SH
SHG-2SH
SHG-2SO
SHF-2SO
SHD-2SH
High-torque Type
Super Flat Type
Standard Type
High-torque Type
Standard Type
Standard Type
Standard Type
Small and Medium-capacity Type
Small Capacity Type
Gear Head Type
High-torque Type
Standard Type
High-Torque Hollow Shaft Type
Hollow Shaft Type
High-Torque Shaft Input Type
Shaft Input Type
Compact Double Shaft Type
Unit Type
High-torque Hollow Shaft Type
Flat Hollow Shaft Type
High-torque Flat Type
Flat Type
Super Flat Hollow Shaft Type
Simple Unit Type
Standard Type
Phase Adjustment Unit
Product Lineup
Cup Type
Silk Hat Type
Pancake Type
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21
★30~40001/50~1/320
Product Feature
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23~340012~8201.8~920023~34009.0~8007.8~3309.8~4000
1/50~1/1601/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/1601/50~1/320
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15161718171819
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23~34009.0~260023~34009.0~180023~34009.0~18000.5~28
1/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/1601/30~1/1601/30~1/100
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23~34009.0~180023~34009.0~180012~450
1/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/160
Variation
Moment Stiffness Positioning Accuracy
Lightweight
Compactness
Backlash
Page in Catalog
Variation
Torque-weight
Ratio
Torsional Stiffness
Positioning Accuracy
Lightweight
Flat Shape
Hollow Structure
Life
Page in Catalog
Customizing
Peak Torque (Nm)
Reduction Ratio
Variation
Torque-weight
Ratio
Moment Stiffness
Positioning Accuracy
Lightweight
Flat Shape
Hollow Structure
Life
Page in Catalog
Customizing
Peak Torque (Nm)Reduction Ratio
Peak Torque (Nm)
Reduction Ratio Motor Capacity (W)
Ease of Mounting
Life
Variation
Torque-weight
Ratio
Moment Stiffness
Positioning Accuracy
Lightweight
Flat Shape
Hollow Structure
Life
Page in Catalog
Customizing
Peak Torque (Nm)Reduction Ratio
Variation
Torque-weight
Ratio
Torsional Stiffness
Positioning Accuracy
Lightweight
Flat Shape
Hollow Structure
Life
Page in Catalog
Customizing
Peak Torque (Nm)Reduction Ratio
Optical Galvano Scanners
Servo Drivers Control Systems
Rotary Systems
Direct
Transmission Systems
Actuators Sensors
LSA
RP-B
RH
FHA -Cmini FHA-C RSF?RKF
LBC LA LAH -46LNP LAH -80
High Accuracy, High Response
Position and Speed Control With Shaft Control Function For Position Control Only
For Position Control Only
For AC Servomotors
For DC Servomotors
Compact Cylinder Type
Stepping Motors Compact Cylinder Type
DC Servomotors
Compact Hollow Shaft Flat Type Hollow Shaft Flat Type Compact Cylinder Type
AC Servomotors AC Servomotors DC Servomotors
Stepping Motors High-thrust Positioning Type Low-thrust Positioning Type Medium-thrust Positioning Type Low-thrust Positioning Type
High-thrust Positioning Type
High-Resolution Absolute Angle Detection Super-compact Encoders, Micro Encoders MIT Series
Micro Encoder
HA -655 Series HA -675 Series HA -520 Series HS -360 Series
Series
Product Group
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CE,UL CE,UL
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29
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8.3~54
35~70
28
0.39~20
180~50
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252627
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1.8~2839~6901.5~330
200~6096~3530~60
Product Feature
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3030303030
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6000~120004939210kg 3000
6000~12000493921.53000
10~200.9~100.9~1013~150.9~10
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3233
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The combinations with actuator and driver may not fully be complied with foreign safety standards. Please contact our sales office.
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Maximum Driving Force (N)Maximum Speed
(mm/s)
Stroke (mm)
Peak Torque (Nm)
Maximum Speed (rpm)
Peak Torque (Nm)
Maximum Speed (rpm)
Variation
Repeatability Resolution
Moment Stiffness Servo Performance
Hollow Structure Thinness Lightweight
Page in Catalog
Variation
Repeatability
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 Catalog
Robustness Super Long Life Resolution Compactness Lightweight
Compatibility to Host Computer
Absolute Detection
System
Incremental System Page in Catalog
Variation
Page in Catalog
Repeatability
Resolution
Moment Stiffness
Servo Performance
Hollow Structure
Thinness
Lightweight
Compactness
Page in Catalog
Interface 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)
Variation
Page in Catalog
Repeatability
Resolution
Moment Stiffness
Servo Performance
Hollow Structure
Thinness
Lightweight
Compactness
Harmonic 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 Type
HDB (P22)HDT (P23)
In? nit-Indexer (P26)
Rotary Servo Actuators
FHA-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 Sensors
LSA (P37)
MIT (P38)
Micro Encoder (P39)
Servo Drivers
HA-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.)
L
i f e : 10,000h
Permissible 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
H a r m o n i c D r i v e G e a
r i n g C S G S e r i e s
? Super thin
? Hollow structure ? High repeatability
Responding to the market needs, seven models of the new Harmonic Drive CSD series have been succeeded in downsizing.
The CSD series is designed for applications requiring ultra compact size.
L i f e : 7,000h
H 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 Ratings
CSD Series
Component/Cup Type - Super Flat Type
Speed reducer
H 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
?
CSF Series Ratings
? Compact
? High torque capacity ? High stiffness ? Non-backlash
? High positioning and rotational accuracies ? Coaxial input and output
For downsizing purpose, the axial length has been reduced to about
one half. Units that allow easy mounting are also available. (See page 16.)
L i f e : 7,000h
CSF Series
Component/Cup Type - Standard Type
Speed reducer
H a r m o n i c D r i v e C S F G e a r i n g S e r i e s
?
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 stiffness
To realize a high load capacity and high reliability, the torque capacity has been increased
L i f e : 10,000h
SHG Series
Component/Silk Hat Type - High-torque Type
Speed reducer
H a 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 Ratings
Please contact
Harmonic Drive LLC
for 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 that allow easy mounting are also available. (See page 18.)
L i f e : 7,000h
SHF Series
Component/Silk Hat Type - Standard Type
Speed reducer
H a 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
?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 Specification
Please contact Harmonic Drive LLC
for a detailed catalog of this ? High torque capacity
? High stiffness
? Compact and simple design ? Non-backlash
? High positioning and rotational accuracies ? Coaxial input and output
To realize of a high load capacity and high reliability, the torque capacity has been increased by 30%.
L i f e : 10,000h
CSG Series
Unit/High-torque Type
Speed reducer
H a 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 : 7,000h
To 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
H a 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 (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 been increased 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 stiffness
L i f e : 10,000h
SHG Series
Unit/High-torque Hollow Shaft, High-torque Shaft Input Types Simple Unit/High-torque Flat, Hollow, High-torque Flat Types
SHG-2UH
Speed reducer
H a 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 Specification
To 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 : 7,000h
SHF Series
Unit/Hollow Shaft, Shaft Input Types Simple Unit/Flat-hollow, Flat Types
Speed reducer
H a r m o n i c D r i v e G e a r i n g S H F S e r i e s
To 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 applications
L i f e : 7,000h
CSF mini Series
Unit/Compact Double Shaft Type Gear Head Type/Small Capacity Type
CSF-1U
CSF-2XH
Speed reducer
H a 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 Specification
A 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 accuracy
L i f e : 7,000h
SHD Series
Simple Unit/Super Flat, Hollow Type
Speed reducer
H a r m o n i c D r i v e G e a r i n g S H D S e r i e s
P r e c i s i o n G e a r i n g&M o t i o n C o n t r o l
{ { { The Basic Component Set 1) T he Wave generator (WG) is a thin raced bearings assembly ? tted onto an elliptical plug, and normally is the rotating input member.2) T he Flexspline (FS) is a non-rigid ring with external teeth on a slightly smaller pitch diameter than the Circular Spline. It is ? tted over and is elastically de? ected by the Wave Generator.3) T he Circular Spline (CS) is a rigid ring with internal teeth, engaging the teeth of the Flexspline across the major axis of the Wave Generator.4) T he Dynamic Spline (DS) is a rigid ring having internal teeth of same number as the Flexspline. It rotates together with the Flexspline and serves as the output member. It is identi? ed by chamfered corners at its outside diameter. Contents Compact, High Ratio, In-Line Gearing .............................2The Basic Component Set ................................................2Con? guration .....................................................................3Typical Installation .............................................................3Ordering Information .........................................................3Dimensions ........................................................................4Performance Ratings ........................................................5Lubrication .........................................................................6Installation .........................................................................6Ef? ciency ...........................................................................7No-Load Running Torque, Starting Torque,and Back Driving Torque (7) Compact, High Ratio, In-Line Gearing Harmonic Drive HDUF “Pancake” type component set offers the designer high ratio, in-line mechanical power transmissions in extremely compact con? gurations. The component set consists of four elements: the Wave generator, an elliptical bearing assembly; the Flexspline, a non-rigid ring with external teeth; and the Circular Spline and the Dynamic Spline, rigid internal gears. Rotation of the Wave Generator imparts a rotating elliptical shape to the Flexspline causing progressive engagement of its external teeth with the internal teeth of the Circular Spline and the Dynamic Spline. The ? xed Circular Spline has two more teeth than the Flexspline, thereby imparting relative rotation to the Flexspline at a reduction ratio corresponding to the difference in the number of teeth. With the same number of teeth, the Dynamic Spline rotates with and at the same speed as the Flexspline.
谐波减速器原理及特点 1. 概述 1.1 产生及发展 谐波齿轮传动技术是20世纪50年代末随着航天技术发展而发明的一种具有重大突破的新型传动技术，由美国人C. W.马瑟砖1955年提出专利，1960年在纽约展出实物。谐波传动的发展是由军事和尖端技术开始的，以后逐渐扩展到民用和一般机械上。这种传动较一般的齿轮传动具有运动精度高，回差小，传动比大，重量轻，体积小，承载能力大，并能在密闭空间和辐射介质的工况下正常工作等优点，因此美，俄，日等技术先进国家，对这方面地研制工作一直都很重视。如美国就有国家航空管理局路易斯研究中心，空间技术试验室，USM公司，贝尔航空空间公司，麻省理工学院，通用电器公司等几十个大型公司和研究中心都从事过这方面的研究工作。前苏联从60年代初期开始，也大力开展这方面的研制工作，如苏联机械研究所，莫斯科褒曼工业大学，列宁格勒光学精密机械研究所，全苏联减速器研究所等都大力开展谐波传动的研究工作。他们对该领域进行了较系统，较深入的基础理论和试验研究，在谐波传动的类型，结构，应用等方面有较大的发展。日本长谷齿轮株式会社等有关企业在谐波齿轮传动的研制和标准化、系列化等方面作出了很大贡献。西欧一些国家除了在卫星，机器人，数控机床等领域采用谐波齿轮传动外，对谐波传动的基础理论也开始进行系统的研究。谐波齿轮传动技术1970年引入日本，随之诞生了日本第一家整体运动控制的领军企业-日本Harmonic Drive SystemsInc.(简称HDSI)。目前日本HDSI公司是国际领先的谐波减速器公司，其生产的Harmonic Drive谐波减速器，具有轻量、小型、传动效率高、减速范围广、精度高等特点，被广泛应用于各种传动系统中。 谐波传动技术于1961年由上海纺织科学研究院的孙伟工程师介绍入我国。此后，我国也积极引进并研究发展该项技术，1983年成立了谐波传动研究室，1984年“谐波减速器标准系列产品”在北京通过鉴定，1993年制定了 GB/T14118-1993谐波传动减速器标准，并在理论研究、试制和应用方面取得较
谐波减速器概述 阳泉华鑫采矿设备有限公司 2010.12.4
目录 1. 简述 (1) 1.1 谐波传动技术背景 (1) 2. 国内外研究现状 (1) 3．波减速器介绍 (2) 3.1谐波传动术语介绍 (2) 3.3 谐波减速器介绍 (2) 3.3.1 谐波减速器代号 (2) 3.3.2 谐波减速器的品种规格 (2) 3.3.3 谐波齿轮减速器的基本构造 (3) 3.3.4 谐波减速器的原理 (3) 3.3.5 谐波减速器主要零件常用材料: (5) 3.3.6 生产谐波减速器所需设备情况 (5) 4. 谐波减速器的特点 (7) 4.1 谐波减速器的主要优点 (7) 4.2 谐波减速器的主要缺点 (8) 4.3 谐波传动与其它传动性能的具体比较 (8) 5 国内外谐波减速器比较 (9) 6. 发展趋势和待解决的问题 (10) 附录谐波减速器生产厂家
1. 简述 1.1 谐波传动技术背景 谐波传动是上世纪五十年代后期随着航天技术的发展而出现的一种重要的 新型机械传动方式，被认为是机械传动的重大突破。谐波机械传动原理是苏联 工程师A.摩察尤唯金首先于1947年提出，1955年第一台用于火箭的谐波齿轮 传动是由美国人C.M .Musser发明的。此后，在航天飞行器和航天设备上的多 次使用，充分显示了这种传动的优越性。1959年取得了此项发明的专利后，于1960年正式公开发表了该项技术的详细资料，一九六一年开始介绍到我国。由 于谐波传动具有许多优点，因而获得了广泛的推广。到上世纪七、八十年代， 许多不同类型的谐波传动取得了专利。 2. 国内外研究现状 谐波传动自50年代中期出现后成功地用于火箭、卫星等多种传动系统中，使用证实这种传动较一般齿轮传动具有运动精度高、回差小、传动比大、重量轻、体积小、承载能力大，并能在密封空间和辐射介质的工况下正常工作等优点。因此美、日、俄等技术先进国家，对这方面的研制工作一直都很重视。如 美国就有国家航空管理局路易斯研究中心、空间技术实验室、贝尔航空空间公司、麻省理工学院、通用电气公司等几十个大型公司和研究中心都从事过这方 面的研究工作。 目前，美国将谐波齿轮传动应用于精密加工和测星装置的纳米级调整系统，并取得了专利。前苏联从60年代初开始，也大力开展这方而的研制工作。如苏 联机械研究所、莫斯科鲍曼工业大学、全苏联减速器研究所、基耶夫减速器厂 和莫斯科建筑工程学院等单位都大力开展谐波传动的研究工作。他们对该领域 进行了较系统、深入的基础理论和试验研究，在谐波传动的类型、结构、应用 等方而有较大发展。日木自70年代开始，从美国引进全套技术，目前不仅能大 批生产各种类型的谐波齿轮传动装置，还完成了通用谐波齿轮传动装置的标准化、系列化工作。 谐波齿轮传动技术于1961年由上海纺织科学研究院的孙伟工程师引入我国。此后，我国也积极引进并研究发展该项技术，1983年成立了谐波传动研究室，
工业机器人核心部件-谐波减速器
机器人驱动系统要求传动系统间隙小、刚度大、输出扭矩高以及减速比大，常用的减速机构有： 1）RV减速机构； 2）谐波减速机械； 3）摆线针轮减速机构； 4）行星齿轮减速机械； 5）无侧隙减速机构； 6）蜗轮减速机构； 7）滚珠丝杠机构； 8）金属带／齿形减速机构； 9）球减速机构。 其中谐波减速器广泛应用于小型的六轴搬运及装配机械手中，下面介绍其工作原理。
以下内容摘自百度百科（稍有修改）： 谐波齿轮减速器是利用行星齿轮传动原理发展起来的一种新型减速器。谐波齿轮传动（简称谐波传动），它是依靠柔性零件产生弹性机械波来传递动力和运动的一种行星齿轮传动。 （一）传动原理 它主要由三个基本构件组成： （1）带有内齿圈的刚性齿轮（刚轮）2，它相当于行星系中的中心轮； （2）带有外齿圈的柔性齿轮（柔轮）1，它相当于行星齿轮； （3）波发生器H，它相当于行星架。 作为减速器使用，通常采用波发生器主动、刚轮固定、柔轮输出形式。
波发生器H是一个杆状部件，其两端装有滚动轴承构成滚轮，与柔轮1的内壁相互压紧。柔轮为可产生较大弹性变形的薄壁齿轮，其内孔直径略小于波发生器的总长。波发生器是使柔轮产生可控弹性变形的构件。当波发生器装入柔轮后，迫使柔轮的剖面由原先的圆形变成椭圆形，其长轴两端附近的齿与刚轮的齿完全啮合，而短轴两端附近的齿则与刚轮完全脱开。周长上其他区段的齿处于啮合和脱离的过渡状态。当波发生器沿图示方向连续转动时，柔轮的变形不断改变，使柔轮与刚轮的啮合状态也不断改变，由啮入、啮合、啮出、脱开、再啮入……，周而复始地进行，从而实现柔轮相对刚轮沿波发生器H相反方向的缓慢旋转。 在传动过程中，波发生器转一周，柔轮上某点变形的循环次数称为波数，以 n 表示。常用的是双波和三波两种。双波传动的柔轮应力较小，结构比较简单，易于获得大的传动比。故为目前应用最广的一种。 谐波齿轮传动的柔轮和刚轮的周节相同，但齿数不等，通常采用刚轮与柔轮齿数差等于波数，即 z2－z1=n 式中 z2、z2--分别为刚轮与柔轮的齿数。 当刚轮固定、发生器主动、柔轮从动时，谐波齿轮传动的传动比为 i=-z1/(z2-z1) 双波传动中，z2－z1=2，柔轮齿数很多。上式负号表示柔轮的转向与波发生器的转向相反。由此可看出，谐波减速器可获得很大的传动比。 （二）特点 1．承载能力高谐波传动中，齿与齿的啮合是面接触，加上同时啮合齿数（重叠系数）比较多，因而单位面积载荷小，承载能力较其他传动形式高。 2．传动比大单级谐波齿轮传动的传动比，可达 i=70～500。 3．体积小、重量轻。 4．传动效率高、寿命长。 5．传动平稳、无冲击，无噪音，运动精度高。 6．由于柔轮承受较大的交变载荷，因而对柔轮材料的抗疲劳强度、加工和热处理要求较高，工艺复杂。 谐波减速器在国内于六七十年代才开始研制，到目前已有不少厂家专门生产，并形成系列化。广泛应用于电子、航天航空、机器人等行业，由于它的独特优点，在化工行业的应用也逐渐增多。
谐波齿轮减速器的设计与建模 作者:e （e） 指导老师：ee [摘要]：谐波齿轮传动是50年代中期，随着空间技术的发展，在薄壳弹性变形的理论基础上发展起来的一种新型的传动技术。我国从1961年开始谐波齿轮传动方面的研制工作，并且在研究、试制和使用方面取得了较大的成绩。但是在民用产品应用中，谐波减速器存在着传动“爬行”和“丢步的现象严重影响其谐波齿轮类产品的设计制造，也制约着其产品的不断推广，是该产品亟待解决的技术难题。本文主要介绍了谐波齿轮传动的原理，发展历史，应用领域，发展趋势及其优缺点。前半部分介绍了谐波齿轮减速器的设计计算，为了更好地分析谐波齿轮传动，后半部分用PRO/E建立了三维模型。写出了主要零件的绘制过程，并展示了各个零部件，最后给出了装配图。 [关键词]谐波齿轮，传动设计，三维模型，装配
The design and modeling of harmonic gear reducer Author:e (e) T utor:e [Abstract]Harmonic gear transmission is developed with the of space science and thchnology in mid 50s,on the basis of elastic thin shell theory developed a new type of drive technology.So far ,we have already had dozen of units engaged in the research ofthis aspect in our country ,and developed into a variety of types of harmonic gear transimission deviced.In this field it had research at different level on all issues, but many problems still has not yet been determined,and some regularity has not revealed .such as civilian products,There is “crawling”and”lost step”phenomen on in the harmonic gear reducer transmission .So it is impact on the design of harmonic gear product manufacturing,also restrict the further promotion of its products.and solove the problem that exist in the transmission ,it isan urgent need of a job in the current this kind of products.This artical main introducted the theory harmonic gear reducer ,and the development history of harmonic gear drive application filed,development trend,advantagesand disadvantages.The former introduce the design and calculate of harmonic gear reducer.In order to analyze the harmonic gear drive ，The later part with PRO/E to establish the three-dimensional model.Write the drawing process of the main parts .and showing all the parts .Finally ,given the assembly diagram. [ Key words]:Harmonic gear ,Transmission design,Three-disminsional model ,Assemble.
工业机器人核心部件-谐波减速器 晴星期二2009-03-24 00:18 csuzhm:作 者．
机器人驱动系统要求传动系统间隙小、刚度大、输出扭矩高以及减速比大，常用的减速机构有：1）RV减速机构； 2）谐波减速机械； 3）摆线针轮减速机构； 4）行星齿轮减速机械； 5）无侧隙减速机构； 6）蜗轮减速机构； 7）滚珠丝杠机构； 8）金属带／齿形减速机构； 9）球减速机构。 其中谐波减速器广泛应用于小型的六轴搬运及装配机械手中，下面介绍其工作原理。
以下内容摘自百度百科（稍有修改）： 谐波齿轮减速器是利用行星齿轮传动原理发展起来的一种新型减速器。谐波齿轮传动（简称谐波传动），它是依靠柔性零件产生弹性机械波来传递动力和运动的一种行星齿轮传动。 （一）传动原理 它主要由三个基本构件组成： （1）带有内齿圈的刚性齿轮（刚轮）2，它相当于行星系中的中心轮； （2）带有外齿圈的柔性齿轮（柔轮）1，它相当于行星齿轮； （3）波发生器H，它相当于行星架。 作为减速器使用，通常采用波发生器主动、刚轮固定、柔轮输出形式。 波发生器H是一个杆状部件，其两端装有滚动轴承构成滚轮，与柔轮1的内壁相互压紧。柔轮为可产生较大弹性变形的薄壁齿轮，其内孔直径略小于波发生器的总长。波发生器是使柔轮产生可控弹性变形的构件。当波发生器装入柔轮后，迫使柔轮的剖面由原先的圆形变成椭圆形，其长轴两端附近的齿与刚轮的齿完全啮合，而短轴两端附近的齿则与刚轮完全脱开。周长上其他区段的齿处于啮合和脱离的过渡状态。当波发生器沿图示方向连续转动时，柔轮的变形不断改变，使柔轮与刚轮的啮合状态也不断改变，由． 啮入、啮合、啮出、脱开、再啮入……，周而复始地进行，从而实现柔轮相对刚轮沿波发生器H相反方向的缓慢旋转。 在传动过程中，波发生器转一周，柔轮上某点变形的循环次数称为波数，以n 表示。常用的是双波和三波两种。双波传动的柔轮应力较小，结构比较简单，易于获得大的传动比。故为目前应用最广的一种。 谐波齿轮传动的柔轮和刚轮的周节相同，但齿数不等，通常采用刚轮与柔轮齿数差等于波数，即 z2－z1=n 式中z2、z2--分别为刚轮与柔轮的齿数。 当刚轮固定、发生器主动、柔轮从动时，谐波齿轮传动的传动比为
Evolution of Harmonic Drive Gearing Harmonic drive gearing continues to evolve by improving performance and functionality. Tooth Profiles The harmonic drive component sets and housed units presented in stics and performance. The new “S” tooth profile significantly increases the region of tooth The new tooth profile also features an enlarged tooth root radius, resulting in more than double the life expectancy for the gear.
Circular (ca Wave Generator (input) Output Flange System Components The 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 the Wave Generator. The WAVE GENERATOR is a thin raced ball bearing fitted onto an elliptical plug serving as a high efficiency torque converter. The CIRCULAR SPLINE is a rigid ring with internal teeth, engaging the teeth of the Flexspline across the major axis of the Wave Generator.
成绩东南大学成贤学院 课程设计报告 题目二级闭式圆柱齿轮减速器设计 课程名称机械设计课程设计 专业机械设计制造及其自动化 班级 13汽车2班 学生姓名仝思禹 学号 04112412 设计地点东南大学成贤学院 指导教师钱茹 设计起止时间：2015年9月7日至2015年9月25日
前言 减速器按传动和结构特点来划分有五类：齿轮减速器、蜗杆减速器、行星轮减速器、摆线针轮减速器和谐波齿轮减速器。这里我设计的是齿轮减速器。 齿轮减速器特点：1.结构简单，体积小，重量轻。2.传动比范围大。3.同时啮合的齿数多。4.承载能力大。5.运动精度高。6.运动平稳，无冲击，噪声小。7.齿侧间隙可以调整。8.传动效率高。9.同轴性好。10.可实现向密闭空间传递运动及动力。11.可实现高增速运动。12.方便的实现差速传动。 本文主要进行了电动机的选择计算、传动比计算、动力及动力参数计算、齿轮参数及寿命计算、轴承参数及寿命计算、最小轴径计算及轴的强度校核、键的选择及箱体尺寸计算。 本次设计综合运用机械设计及其他先修课的知识，进行机械设计训练，使已学知识得以巩固、加深和扩展；学习和掌握通用机械零件、部件、机械传动及一般机械的基本设计方法和步骤，培养学生工程设计能力和分析问题，解决问题的能力；提高我们在计算、制图、运用设计资料（手册、图册）进行经验估算及考虑技术决策等机械设计方面的基本技,同时给了我们练习电脑绘图的机会。 由于水平经验有限，本文有任何编写错误，敬请谅解。 仝思禹 2014.9.25
设计任务书 题目：二级圆柱齿轮减速器设计 一、传动方案图： 图 1 二、设计要求 1．设计用于带式运输机的传动装置。 2．连续单向运转，载荷较平稳，空载启动，运输带允许误差为5%。 3．使用期限为10年，小批量生产，两班制工作。 三、设计基本参数： 表1 设计参数表 数据组编号九（8） 工作机轴输入转矩T/（NM） 运输带卷筒工作转速n/(r/min) 1.20 卷筒直径D/mm 360 四、设计任务: 1、绘制一张设计草图。 2、完成减速器装配图1张（A1）；零件图2张（A3）。 3、编写一份设计计算说明书。
e 题目谐波齿轮减速器的设计与建模 学生姓名 e 学号 e 所在学院机械学院 专业班级机械制造及其自动化 指导教师 e __ __ 完成地点 ___ 2009 年 6 月 10 日
谐波齿轮减速器的设计与建模 作者：e （e） 指导老师：e [摘要]：谐波齿轮传动是50年代中期，随着空间技术的发展，在薄壳弹性变形的理论基础上发展起来的一种新型的传动技术。我国从1961年开始谐波齿轮传动方面的研制工作，并且在研究、试制和使用方面取得了较大的成绩。但是在民用产品应用中，谐波减速器存在着传动“爬行”和“丢步的现象严重影响其谐波齿轮类产品的设计制造，也制约着其产品的不断推广，是该产品亟待解决的技术难题。本文主要介绍了谐波齿轮传动的原理，发展历史，应用领域，发展趋势及其优缺点。前半部分介绍了谐波齿轮减速器的设计计算，为了更好地分析谐波齿轮传动，后半部分用PRO/E建立了三维模型。写出了主要零件的绘制过程，并展示了各个零部件，最后给出了装配图。 [关键词]：谐波齿轮，传动设计，三维模型，装配
The design and modeling of harmonic gear reducer Author：e (e) Tutor: e [Abstract]Harmonic gear transmission is developed with the of space science and thchnology in mid 50s,on the basis of elastic thin shell theory developed a new type of drive technology.So far ,we have already had dozen of units engaged in the research ofthis aspect in our country ,and developed into a variety of types of harmonic gear transimission deviced.In this field it had research at different level on all issues, but many problems still has not yet been determined,and some regularity has not revealed .such as civilian products,There is “crawling”and”lost step”phenomenon in the harmonic gear reducer transmission .So it is impact on the design of harmonic gear product manufacturing,also restrict the further promotion of its products.and solove the problem that exist in the transmission ,it isan urgent need of a job in the current this kind of products.This artical main introducted the theory harmonic gear reducer ,and the development history of harmonic gear drive application filed,development trend,advantagesand disadvantages.The former introduce the design and calculate of harmonic gear reducer.In order to analyze the harmonic gear drive ，The later part with PRO/E to establish the three-dimensional model.Write the drawing process of the main parts .and showing all the parts .Finally ,given the assembly diagram. [ Key words]:Harmonic gear ,Transmission design,Three-disminsional model ,Assemble.
毕业设计（论文） 题目谐波齿轮减速器设计及性能仿真 学院机械设计制造及其自动化专业 学生姓名学号 指导教师系主任 二级学院院长
摘要 谐波齿轮传动具有体积小、重量轻、结构紧凑、传动比大、效率高等优点。广泛应用于矿山、冶金、飞机、轮船、汽车、起重机、电工机械、仪表、化工业等许多领域谐波齿轮传动有着广泛的发展前景。 谐波齿轮减速器与普通减速器相比具有体积小、重量轻、传动平稳、效率高、传动比范围大等优点。但其设计计算较过程复杂，轴承的受力较大、寿命较短。所以对于我们在设计这类减速器时如何进行参数的选择，避免大量繁杂的计算，如何选择好轴承使其使用寿命增加具有一定的设计意义。 对谐波减速器国内外的发展现状、优缺点、结构型式和其传动原理进行了一定的阐述。在设计过程当中，对内啮合传动产生的各种干涉进行了详细验算； 从如何提高轴承的寿命为出发点，来计算选择减速器齿轮的模数，最终合理设计减速器的整体结构。 关键词：谐波传动；减速器；内齿轮副
Abstract Harmonic gear drive with small size, light weight, compact structure, transmission ratio, and high efficiency. Widely used in mining, metallurgy, aircraft, ships, cars, cranes, electrical machinery, instruments, chemical and many other fields of harmonic gear drive has a broad development prospects. Harmonic gear reducer reducer with ordinary compared with the small size, light weight, smooth transmission, high efficiency, transmission ratio range and so on. However, compared with its design and calculation process is complex, larger force bearing short-lived. Therefore, how we choose the parameters in the design of this type of reducer, to avoid a large number of complex calculations, how to choose to increase the service life of the bearings so that it has a certain design significance. Harmonic reducer development status at home and abroad, the advantages and disadvantages, structure type and its transmission principle, which must be explained. In the design process, various internal mesh transmission interference generated detailed checking; from how to improve bearing life as a starting point to calculate modulus choose Gear ultimately rational design of the overall structure of the gear unit. Keywords: harmonic drive; reducer; internal gear pair
分类号 密级 毕业设计(论文) 谐波齿轮减速器设计及性能仿真
毕业设计（论文）原创性声明和使用授权说明 原创性声明 本人郑重承诺：所呈交的毕业设计（论文），是我个人在指导教师的指导下进行的研究工作及取得的成果。尽我所知，除文中特别加以标注和致谢的地方外，不包含其他人或组织已经发表或公布过的研究成果，也不包含我为获得及其它教育机构的学位或学历而使用过的材料。对本研究提供过帮助和做出过贡献的个人或集体，均已在文中作了明确的说明并表示了谢意。 作者签名：日期： 指导教师签名：日期： 使用授权说明 本人完全了解大学关于收集、保存、使用毕业设计（论文）的规定，即：按照学校要求提交毕业设计（论文）的印刷本和电子版本；学校有权保存毕业设计（论文）的印刷本和电子版，并提供目录检索与阅览服务；学校可以采用影印、缩印、数字化或其它复制手段保存论文；在不以赢利为目的前提下，学校可以公布论文的部分或全部内容。 作者签名：日期：
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RV减速器与谐波减速器的调研报告 当我们在无限憧憬机器人时代的时候，我们却很少知道在机器人的所有零部件中，有两样东西一直是我们国人无法跨越过去的障碍，那就是伺服电机和精密减速器。随着自动化和电子电气理论的日趋成熟，国人在伺服电机方面已经迈出了坚实的一步，虽然在目前国内的伺服电机75%仍然依靠进口，但对于中小功率的伺服电机，中国不少企业，如深圳的英威腾、汇川科技，大连的安迪的产品已经可以在性能上基本满足中国企业的需求。可是对于精密减速器，特别是机器人关节上需要使用的RV减速器和谐波减速器，目前国内的研究仍然停留在论文和数据库当中，翻遍所有关于生产这两种减速器的国产厂家，我们仍然难以找出哪怕一家产品可以在性能上满足国内机器人产业的需求。 直到今天，中国仍然不具备设计和制造这两种减速器的能力。“十二五”时期，国家“863”计划将其列入重点攻克的技术瓶颈。国内顶尖大学和科研机构几年攻关也只有论文，没有实物。那么，我们与国外在精密减速器方面的差距到底在哪里？为什么在专利技术早已公开的今天，我们仍然难以跨过这道已经成型了近半个世纪的鸿沟？ 为什么机器人要用RV减速器和谐波减速器？ 我们常用的减速大致有下面几类；摆线减速器、硬齿面圆柱齿轮减速器、行星齿轮减速器、软齿面减速器、三环减速器、起重机减速器、蜗杆减速器、轴装式硬齿面减速器、无级变速器。而RV减速器和谐波减速器与上述几种减速的区别在于，RV减速器是行星减速器和摆线减速器的组成的一个二级减速器，谐波减速器则是一种靠波发生器使柔性齿轮产生可控弹性变形，并与刚性齿轮相啮合来传递运动和动力的齿轮传动。这两种减速器相对于其它减速器而言，具有以下的优势：(1)传动速比大，(2)承载能力高，(3)传动精度高，(4)传动效率高、运动平稳，(5)结构简单、零件数少、安装方便，(6)体积小、重量轻，。传统的齿轮减速器体积大，重量重，减速比小，传统效率低下，特别是在无法消除多级减速后的累积误差，对于机器人在控制末端精度要求甚高的工况下，目前只有RV和谐波减速器可以胜任。 RV减速器和谐波减速器的发展史 RV减速器的诞生 德国人劳伦兹·勃朗于1926年创造性地提出了一种少齿差行星传动机构，它是用外摆线作为齿廓曲线的，这就是最早期的针摆行星传动，由于两个啮合齿轮其中之一采用了针轮的形式，这种传动也被称做摆线针轮行星齿轮传动。 RV传动一种全新的传动方式，它是在传统针摆行星传动的基础上发展出来的，不仅克服了一般针摆传动的缺点，而且因为具有体积小、重量轻、传动比范围大、寿命长、精度保持稳定、效率高、传动平稳等一系列优点。 1、1926年德国人劳伦兹·勃朗于创造性地提出RV减速机原理 2、1931年劳伦兹·勃朗在德国慕尼黑创建了“赛古乐”股份有限公司，最先开始了摆线减速器的制造和销售 3、1939年，日本住友公司和“赛古乐”公司签定了技术合作协议，并生产销售；
Harmonic Drive Gearing & Motion Control
Excellent Technology Clusters in a Wide Range of Industries Harmonic drive products are unique precision speed reducers playing important roles in robots, semiconductor manufacturing systems, factory automation equipment ....... and furthermore, in aerospace equipment that may convey our human dreams. A variety of electromechanical products required high precision motion control in optical measuring equipment, medical equipment, printing machines and other systems offer many advantages in the ? eld of industrial and scienti? c technologies. Harmonic Drive LLC is making every efforts to develop supportive technologies for the 21st century, thereby contributing to global technological advance.
谐波齿轮减速器工作原理 谐波齿轮减速器是一种由固定的内齿刚轮、柔轮、和使柔轮发生径向变形的波发生器组成，谐波齿轮减速机是齿轮减速机中的一种新型传动结构，它是利用柔性齿轮产生可控制的弹性变形波，引起刚轮与柔轮的齿间相对错齿来传递动力和运动。这种传动与一般的齿轮传递具有本质上的差别，在啮合理论、集合计算和结构设计方面具有特殊性。谐波齿轮减速器具有高精度、高承载力等优点，和普通减速器相比，由于使用的材料要少50%，其体积及重量至少减少1/3。 图1.谐波齿轮减速器 组成与结构 谐波齿轮减速机由刚轮、柔轮、和波发生器三个主要构件组成。其中，波发生器是主动件，刚轮和柔轮之一为从动件。固定刚轮是一个刚性的内齿轮，柔轮是一个容易变形的薄壁圆筒外齿轮，它们一同具有三角形（或渐开线）的齿形，且两者的周节相等，但刚轮比柔轮多几个齿（通常为两齿）。波发生器由一个椭圆盘和一个柔性球轴承组成，或者由一个两端均带有滚子的转臂组成。通常波发生器为原动体，柔轮和刚轮之一为从动体，另一个为固定件。 图2.谐波齿轮减速器的结构组成 工作原理
在未装配前，柔轮及其内孔呈圆形，当波发生器装入柔轮的内孔后，由于波发生器的长度略大于柔轮的内孔直径，柔轮撑成椭圆形，迫使柔轮在椭圆的长轴方向与固定的刚轮完全啮合，在短轴方向完全分离，其余各处的齿视柔轮回转位置的不同，或者处于“啮入”状态，或者处于“啮出”状态。由于刚轮固定，波发生器逆时针转动时，柔轮作顺时针转动。当波发生器连续回转时，柔轮长轴和短轴及“啮入”、“啮出”的位置随之不断变化，柔轮齿由啮入转向啮出，又啮合转向啮出，由啮出转向脱开，如此，啮入、啮合、啮出、脱开、啮入、啮合……往复循环，迫使柔轮连续转动。 柔轮随着波发生器转动过程中，其中一个齿从与刚轮的一个齿啮合到再一次与刚轮上的这个齿相啮合时，柔轮恰好旋转一周，而此时波发生器旋转了很多圈，波发生器的旋转圈数与柔轮旋转圈数（1圈）之比，即为谐波齿轮减速器的减速比，故其减速比很大。在整个运动过程中，柔轮的变形在柔轮圆周的展开图上是连续的简谐波形，因此，这一传动称之为谐波齿轮传动。 谐波齿轮减速器按其机械波数目的多少可分为：单波、双波及三波，其中最常用的是双波传达。在谐波传动中，刚轮与柔轮的齿数差应等于机械波数的整数倍，通常取其等于波数。 图3.谐波齿轮减速器轮齿啮合状态示意图