諧波齒輪減速器選型資料

Gen eral CatalogHarmonic Drive Geari ng & Moti on ControlTotal Motion ControlExcellent Technology Clusters in a Wide Range of IndustriesHarmonic drive products are unique precisi on speed reducers play ing importa nt roles in robots, semic on ductor manu facturi ng systems, factory automati on equipme ntand furthermore, in aerospaceequipme nt that may convey our huma n dreams.A variety of electromecha ni cal products required high precisi on moti on control in optical measuring equipment, medical equipment, printing machines and other systems offer many adva ntages in the ? eld of in dustrial and scie nti? c tech no logies.Harmonic Drive LLC is making every efforts to develop supportive tech no logies for the 21st cen tury, thereby con tributi ng to global tech no logical adva nee.Harmonic Drive Geari ngFeaturesHigh positioning accuracy, High repeatability Compactness, Light weight, High reduction ratio, High torque capacity, Non-backlash, High efficiency, Quiet operationStructureDriven 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.Wave Gen eratorOperating Prin cipleCircular Spli neWave Generato rFlexspli neOne Turn of Wave GeneratorIThe Wave Gen erator is a thi n raced ball beari ng fitted on to an elliptical hub serving as a high efficiency torque converter and gen erally moun ted onto the in put shaft.|Flexspli neThe Flexspli ne is a non-rigid, thi n cyli ndrical cup with exter nal teeth on a slightly smaller pitch diameter tha n the Circular Spli ne.It fits over and is held in an elliptical shape by the Wave Gen erator.Circular Spli neThe Circular Spli ne is a rigid ring with in ter nal teeth, en gagi ng the teeth of the Flexspli ne across the major axis of the Wave Gen erator. The Circular Spli ne has two more teeth tha nthe Flexspli ne and is gen erally moun ted onto a hous ing.0°The Flexspli ne is slightly smaller in diameter tha n the Circular Spli ne and usually has two fewer teeth tha n the Circular Spli ne. The elliptical shape of the Wave Gen erator causes the teeth of the Flexspli ne to en gage the Circular Spli ne at two opposite regions across the major axis of the ellipse.As the Wave Gen erator rotates, the zone where the teeth of the Flexspli ne en gages those of the Circular major elliptical axis. For each 180 clockwise moveme nt of the Wave Gen erator, the Flexspli ne moves coun terclockwise by one teeth relative to the Circular Spli n.Each complete clockwise rotati on of the Wave Gen erator results in the Flexspli ne moving coun ter-clockwise by two teeth from its origi nal positi on relative to the Circulr Spli neular.Tooth behavior and en gageme ntUn like moti ons of ordinary geari ng, the unique tooth behavior(operat ing prin ciple) of harm on ic drive geari ng achieved non-backlash moti on, infin itesimal an gular feedi ng (on e-pulse feedi ng) and high positi oning repeatability. More tha n 30% of all teeth simulta neously engages in two locations in 180° symmetry, thereby allowing high torqueCircular Spli neFlexspli necapabillity.Harm on ic Drive Geari ngHarm on icDrive Precisi on Con trol Speed ReducersComp onent / Cup TypeCSGCSDCSFSHGSHFHDUFHDURUn it TypeHigh-torque TypeCSG-2UHSta ndard TypeCSG-2UHHigh-Torque Hollow ShaftTypSHG-2UHHollow Shaft TypeSHF-2UHHigh-Torque Shaft In put TypeSHG-2UJShaft In put TypeSHG-2UJCompact Double Shaft Type CSF-1UHigh-torque Hollow ShaftTyp§HG-2SHFlat Hollow Shaft TypeSHG-2SHHigh-torque Flat TypeSHG-2SOFlat TypeSHF-2SOSuper Flat Hollow Shaft TypeSHD-2SHSimple Unit TypeSta ndard TypeFDPhase Adjustme nt Un itSmall a nd Medium-capacity TypCSF-GHGear Head TypeSmall Capacity TypeCSF-2XHSmall a nd Medium-capacity TypeHPGGear Head TypeSmall-capacity TypePla netary Geari ng Speed ReducersHP-FProduct FeatureVariati onTorque-weight RatioTors ional StiffnessPositi oningAccuracyLightweightFlat ShapeHollowStructureCustomiz ingLifePage in CatalogPeak Torque (Nm)Reducti on Ratio2334001/501/16010128201/501/160111.892001/301/160122334001/501/160139.08001/301/160147.83301/501/160219.840001/501/32021Variati onTorque-weight RatioMome nt StiffnessPositi oning AccuracyLightweightFlat ShapeHollowStructureCustomiz ingLifePage in CatalogPeak Torque (Nm)Reducti on Ratio2334001/501/160159.026001/301/160162334001/501/160179.018001/301/160182334001/501/160179.018001/301/160180.5281/301/10019Variati onTorque-weight RatioMome nt StiffnessPositi oningAccuracyLightweightFlat ShapeHollowStructureCustomiz ingLifePage in CatalogPeak Torque (Nm)Reducti on Ratio2334001/501/160189.018001/301/160172334001/501/160189.018001/301/16017124501/501/16020Variati onTorque-weightTors ionalPositi oningHollowPage inPeak Torque (Nm)Reducti on RatioRatioStiffnessAccuracyLightweightFlat ShapeStructureCustomiz ingLifeCatalog3040001/501/32021Variati onMoment StiffnessW)Positi oning Accuricy LightweightCompact nessBacklashEase of MountingLifePage in CatalogPeak Torque (NmReduction RatioMotor Capacity (1826001/501/160305000220.5281/301/10033019238501/51/453010000232.55.21/51/2553024SeriesActuatorsRotarySystemsAC ServomotorsDC ServomotorsStepp ing MotorsOpticalGalva no Sca nn e|.-Sen sorsDirectTran smissi onSystemsAC ServomotorsDC ServomotorsStepp ing MotorsCompact Hollow Shaft Flat TypHA -CminiHollow Shaft Flat Type |FHA-CCompact Cyli ndeTypeRSF?RKFCompact Cyli ndeTypeRHCompact Cyli ndeTypeRP-B-High-thrust Positioning T，peLBC-Low-thrust Positioning TypeLAMedium-thrust Positionin” Type_AH 46-Low-thrust Positioning TypeLNP-High-thrust Positioning T'pe LAH - 80High Accuracy, High Resp onse LSAHigh-Resoluti on AbsoluteAngjeDserieoi -Super-compact En coders, Micro EncdderProduct FeatureVariati onRepeatabilityResoluti onMome nt StiffnessServo Performa nceHollow Structure Thi nn essCompact nessLightweightPage in CatalogPeak Torque (Nm)Maximum Speed (rpm)1.8282006025396909635261.5330306027Variati onRepeatabilityResoluti onMome nt StiffnessServo Performa nceHollow StructureThi nn essCompact nessLightweightPage in CatalogPeak Torque (Nm)Maximum Speed (rpm)0.392018050-28Variati onRepeatabilityResoluti onMome nt StiffnessServo Performa nceHollow StructureThi nn essCompact nessLightweightPage in CatalogPeak Torque (Nm)Maximum Speed (rpm)8.3543570-_-29Variati onRepeatabilityResoluti onStiffnessCompact nessLightweightPage in CatalogMaximum Drivi ng Force (N)iviaximum Speed (mm/s)Stroke (mm)6000120(6000120()010203049490.910303923920.9103010kg1.5131530300030000.91030Mome nt of In ertia(g ?3m)Torque Con sta nt (N?m/A)RepeatabilityLin earityStiffnessServo Performa nceDriftCharacteristicCompact nessLightweightPage in Catalog1.88.50.00820.0531Compatibility to Host ComputerAbsolute Detecti on SystemIn creme ntal SystemRobust nessSuper Long LifeResoluti onCompact nessLightweightPage in Catalog032o33Valve Positi on Comma ndAn alog Speed Comma ndMon o-shaft Control (Comma nd)In terface to AbsoluteIn terface to In creme ntalIntern ati onal Safety Sta ndardFunctional VersatilityDisplay Fun cti onPage in Catalogooo0CE,UL340ooCE,UL340034o034The comb in ati ons with actuator and driver may not fully be complied with foreig n safety sta ndards. Please con tact our sales office.Harmonic Drive Geari ngCSG (P10)CSD (P11)CSF (P12)CSF-2UH (P16)CSF-1U (P19)*SHD-2SH (P20)HDUF (P21)HDT (P23)HDUR (P21)HDB (P22)Gear Head Typeln?nit-lndexer (P26)CSF-GH (P24)HPG (P25)SHF-2UH (P18)SHG-2UH (P17)SHF (P14)SHG (P13)CSG-2UH (P15)Product Lin eup，作Component/Cup Type - High-torque TypeCSG SeriesGsc aeG ey D pno E aH? Compact and simple design? High torque capacity? High stiffness? Non-backlash? High positioning and rotational accuraciesTo 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.)Life: 10,000hComparison of Features. High Torque Harmonic Drive vs. CSF Series CSF . CSGWhen CSF is set to 100(%)w w w. H a rm oni c Driv e. net ? 800-921-333215Harmonic Drive LLCw w w. H a rm oni c Driv e. net ? 800-921-3332#Harmonic Drive LLC?CSG Series Rati ngsw w w. H a rm oni c Driv e. net ? 800-921-3332#Harmonic Drive LLC ItemModel -No.Reducti onRatioRated Torque at2000rpmPermissible Peak Torque at Start and StopPermissible Maximum Mome ntary TorqueN?mkgf ?mN?mkgf ?mN?mkgf ?m14507.00.7232.364.780101.0303.1616.2100101.0363.7707.21750212.1444.591980292.9565.711312100313.2707.214315120313.2707.2112112050333.3737.41271380444.5969.816517100525.310710.919120120525.311311.519120160525.312012.2191202550515.2127132422580828.41781833234100878.92042136938120878.92172239540160878.9229234084232509910281294975180153163954073875100178184334484186120178184594789291160178184844989291、ItemModel No.Reducti on RatioRated Tor2000que atpmPermissibTorque a and Se Peak t Start topPermissiblMomTore Maximum en tary queN?mkgf ?mN?mkgf ?mN?mkgf ?m5017818523539291802682767569127013040100345357387514001431203823980282153015616038239841861530156455022923650661235126804074191894165116810045947982100204120812052353107010922882331605235311471172483253508048449122312524182471006116212741302678273120688701404143267827316068870153415631853255880714731924196318532510090592206721141344221209699922362284329441160969992392244445945565809699927432804836493100123612629903056175630120123612632633336175630160123612634193496175630w w w. H a rm oni c Driv e. net ? 800-921-3332#Harmonic Drive LLCw w w. H a rm oni c Driv e. net ? 800-921-3332#Harmonic Drive LLCMain Application Target? Robots? Humanoid robots? Metal machine tools? Printing, bookbinding and paper processing machines? Wood, light metal and plastic working machines ? Printed circuit board manufacturing machinesPlease con tactHarmonic Drive LLCfor a detailedcatalog of thisproduct.w w w. H a rm oni c Driv e. net ? 800-921-3332#Harmonic Drive LLCComponent/Cup Type - Super Flat TypeCSD Series? Super thin? Hollow structure? High repeatabilityResponding 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.Life: 7,000h?CSD Series RatingsModel No.ItemReducti on RatioRated Torque at 2000rpmPeak T orque at Start and StopPermissible Maximum Mome ntary TorqueN?mkgf ?mN?mkgf ?mN?mkgf ?m14503.70.38121.2242.41005.40.55191.9313.21750111.1232.3484.9100161.6373.8555.650171.7394.0697.020100282.9575.8767.7160282.9646.5767.750272.8697.01271325100474.81101115215160474.8123131521550535.415115268273210096102332435937160961026127359375096102812948049401001851939841694711602062145346694715017218500511000102501003293468670144014716037038823841577161Please con tactHarmonic Drive LLCfor a detailedcatalog of thisproduct.w w w. H a rm oni c Driv e. net ? 800-921-333217Harmonic Drive LLCSFCDCO aeGFSC eyD pno E aHComponent/Cup Type - Standard TypeCSF Series? 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 about one half. Units that allow easy mounting are also available. (See page 16.)?CSF Series Rati ngsLife: 7,000hw w w. H a rm oni c Driv e. net ? 800-921-333219Harmonic Drive LLC ItemModel No.Reducti onRatioRated Torque at2000rpmPermissible Peak Torque at Start and StopPermissible Maximum Mome ntary TorqueN?mkgf?mN?mkgf?mN?mkgf?m830 0.90.091.80.183.30.34501.80.183.3"0.346.60.671002.40.254.80.499.00.9211302.20.224.50.468.50.87503.50.368.30.85171.71005.00.51111.1252.6304.00.419.00.92171714505.40.55181.8353.6807.80.80232.4474.81007.80.80282.9545.517308.80.90161.6303.150161.6343.5707.180222.2434.4878.9100242.4545.510811120242.4545.5868.830151.5272.8505.12050252.5565.7981080343.5747.512713100404.1828.414715120404.1878.914715160404.1929.4147152530272.8505.1959.750394.098101861980636.41371425526100676.81571628429120676.81671730431160676.817618314323230545.5100102002050767.82162238239801181230431568581001371433334647661201371435336686701601371437238686704050137144024168670802062151953980100100265275685810801101202943061763118012016029430647661180120 ItemModel No. Reducti onRatioRated Torque at2000rpmPermissible PeakTorque at Start and StopPermissible MaximumMome ntary TorqueN?mkgf?mN?mkgf?mN?mkgf?m4550176185005195097803133270672127013010035336755771570160120402418238417601801604024188290191019550245257157314301468037238941961860190501004704898010020602101205295410801102060210160529541180120245025058503533610201041960200805495614801512450250100696711590162318032512074576172017633303401607457618401883430350504905014201452830289658074576211021537203801009519723002354750485120951972510256475048516095197263026847504858050872892440|24948704978013201353430350659067210017001734220431791080712019902034590468791080716019902034910501791080790501180120353036066606808015501583990407725074010022702325680580902092012025702626160629980010001602700276684069811300115010050158016144504548900908802380243606061811600118010029403007350750141001440120卜 3180324796081215300156016035503629180937155001580w w w. H a rm oni c Driv e. net ? 800-921-3332#Harmonic Drive LLCw w w. H a rm oni c Driv e. net ? 800-921-3332#Harmonic Drive LLCMain Application Target? Robots? Humanoid robots? Metal machine tools? Printing, bookbinding and paper processing machines? Semiconductor manufacturing systems? Measurement, analytical and test systems? Medical equipment? Optical machines? Telescopes? Wood, light metal and plastic working machines? Energy? Paper-making machines? Crating and packaging machines? Flat panel display manufacturing systems? Printed circuit board manufacturing machines? Space equipment? Aircraft? Glass and ceramic manufacturing systemsPlease con tactHarmonic Drive LLCfor a detailedcatalog of thisproduct.w w w. H a rm oni c Driv e. net ? 800-921-3332#Harmonic Drive LLCLife: 10,000hoxziaeG GHS eyD pno E_aHComponent/Silk Hat Type - High-torque TypeSHG Series? Large bore with hollow hole, flat shape? Non七 acklash? 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 torque capacity has been increased/Comparison of Features. High Torque Harmonic Drive vs. CSF SeriesDraw ings (DXF) can be dow nl oaded from our home page. URL: http:/www.Harm on icDrive. netw w w. H a rm oni c Driv