谐波齿轮减速器选型资料

General Catalog Harmonic Drive Gearing & Motion Control Total 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 fi eld of industrial and scientifi 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 GeneratorStructure 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 Generator 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 Flexspline Harmonic Drive Gearing Flexspline Wave Generator Circular Spline Product Group HarmonicDrive Precision Control Speed Reducers Harmonic Drive Gearing Planetary Gearing Speed Reducers Speed ReducersDrive System Component / Cup Type Series CSF-GH CSF-2XH HPG HP-F 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 Small and Medium-capacity Type Small-capacity Type Gear Head 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 TypePhase Adjustment Unit Product Lineup Cup Type Silk Hat Type Pancake Type ★★★ ★★★ ★★ ★ ★★ ★★★ ★★ ★★★ ★ ★★★ ★ ★★★ ★★★ ★★★ ★★ ★ ★★★ ★★ ★★ ★★ ★★ ★★ ★★★ ★★★ 22 19 23 24 ★★★ ★ ★★★ ★ 18~2600 0.5~28 23~850 2.5~5.2 1/50~1/160 1/30~1/100 1/5~1/45 1/5~1/25 30~5000 3~30 30~10000 5~30 ★ ★ ★ ★ ★★★ ★★ ★ 21★30~4000 1/50~1/320 Product Feature ★★★ ★★ ★★★ ★★★ ★★★ ★ ★ ★★★ ★★ ★★★ ★★★ ★★★ ★ ★ ★★ ★★★ ★★ ★★ ★★ ★★★ ★ ★★ ★★★ ★★ ★★ ★★ ★★★ ★ ★ ★★ ★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★ ★★ ★★★ ★★ ★ ★ 10 11 12 13 14 21 21 ★★★ ★★★ ★★ ★★★ ★★ ★ ★ 23~3400 12~820 1.8~9200 23~3400 9.0~800 7.8~330 9.8~4000 1/50~1/160 1/50~1/160 1/30~1/160 1/50~1/160 1/30~1/160 1/50~1/160 1/50~1/320 ★★ ★★ ★★★ ★★★ ★★★ ★★★ ★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★ ★★ ★ ★ ★ ★ ★★★ ★★ ★★ ★ ★ ★ ★ ★★★ ★ ★ ★★★ ★★★ — — — ★★ ★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★ ★★ ★★★ ★★ ★★★ ★★ ★★ 15 16 17 18 17 18 19 ★★★ ★★ ★★★ ★★ ★★★ ★★ ★★ 23~3400 9.0~2600 23~3400 9.0~1800 23~3400 9.0~1800 0.5~28 1/50~1/160 1/30~1/160 1/50~1/160 1/30~1/160 1/50~1/160 1/30~1/160 1/30~1/100 ★★★ ★★★ ★★★ ★★★ ★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★ ★★ ★★ ★★ ★★★ ★★ ★★ ★★ ★★ ★★★ ★★★ ★★★ — — ★★★ ★★ ★★ ★★ ★★ ★★ ★★★ ★★ ★★★ ★★ ★★ 18 17 18 17 20 ★★★ ★★ ★★★ ★★ ★★★ 23~3400 9.0~1800 23~3400 9.0~1800 12~450 1/50~1/160 1/30~1/160 1/50~1/160 1/30~1/160 1/50~1/160 Variation Moment Stiffness Positioning Accuracy Lightweight Compactness Backlash Page inCatalog Variation Torque-weight Ratio Torsional Stiffness Positioning Accuracy Lightweight Flat Shape Hollow Structure Life Page in CatalogCustomizingPeak Torque (Nm) Reduction Ratio Variation Torque-weight Ratio Moment Stiffness Positioning Accuracy Lightweight Flat Shape Hollow Structure Life Page in CatalogCustomizingPeak 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 CatalogCustomizingPeak Torque (Nm) Reduction Ratio Variation Torque-weight Ratio Torsional Stiffness Positioning Accuracy Lightweight Flat Shape Hollow Structure Life Page in CatalogCustomizingPeak Torque (Nm) Reduction Ratio Optical Galvano Scanners Servo DriversControlSystems Rotary Systems Direct Transmission Systems Actuators Sensors LSA RP-B RH FHA-Cmini FHA-C RSF•RKF LBC LA LAH-46 LNP 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 TypeStepping Motors Compact Cylinder TypeDC 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 ★★★ ★★★ ★★★ ★★★ ★★ ★★★ 31★★★1.8~8.5 0.0082~0.05 CE,UL CE,UL ★★★ ★★ ★★ ★★ ★★★ ★★★ ★★ ★★ 34 34 34 34 ★★★ ★★ ★★ ★ 29★★8.3~54 35~70 280.39~20 180~50 ★★★ ★★★ ★★ ★★★ ★★★ ★★ ★★ ★★ ★★ ★★★ ★★★ ★★★ ★★★ ★ ★★★ ★★★ ★★★ ★★ ★★ ★★★ 25 26 27 ★★★ ★★★ ★★ 1.8~28 39~690 1.5~330 200~60 96~35 30~60 Product Feature ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★ ★★ ★★ ★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ ★★★ 30 30 30 30 30 ★★ ★★ ★★ ★★ ★★ 6000~12000 49 392 10kg 3000 6000~12000 49 392 1.5 3000 10~20 0.9~10 0.9~10 13~15 0.9~10 ★★★ ★ ★★★ ★★ ★ ★★★ ★ ★★★ 32 33 ★★★ ★ ★★★ ★★ 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) 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 ServoPerformance Drift Characteristic Compactness Lightweight Moment of Inertia (g•cm) Torque Constant (N•m/A) Page in Catalog Robustness Super Long Life Resolution Compactness LightweightCompatibility to Host Computer Absolute Detection System Incremental System Page in Catalog Variation Page in CatalogRepeatability Resolution Moment Stiffness Servo Performance Hollow Structure Thinness LightweightCompactness Page in Catalog Interface to Absolute Interface toIncremental 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 CatalogRepeatability Resolution Moment Stiffness Servo Performance Hollow Structure Thinness LightweightCompactness 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) Infi 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) Product Lineup 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 Main Application Target Drawings (DXF) can be downloaded from our home page. URL: http://www.HarmonicDrive.net • Robots • Humanoid robots • Metal machine tools • Printing, bookbinding and paper processing machines • Wood, light metal and plastic working machines • Printed circuit board manufacturing machines Please contact Harmonic Drive LLC for a detailed catalog of this product. Comparison of Features. High Torque Harmonic Drive vs. CSF Series •CSG Series Ratings 50 178 18 523 53 92 91 80 268 27 675 69 1270 130 100 345 35 738 75 1400 143 120 382 39 802 82 1530 156 160 382 39 841 86 1530 156 50 229 23 650 66 1235 126 80 407 41 918 94 1651 168 100 459 47 982 100 2041 208 120 523 53 1070 109 2288 233 160 523 53 1147 117 2483 253 80 484 49 1223 125 2418 247 100 611 62 1274 130 2678 273 120 688 70 1404 143 2678 273 160 688 70 1534 156 3185 325 80 714 73 1924 196 3185 325 100 905 92 2067 211 4134 422 120 969 99 2236 228 4329 441 160 969 99 2392 244 4459 455 80 969 99 2743 280 4836 493 100 1236 126 2990 305 6175 630 120 1236 126 3263 333 6175 630 160 1236 126 3419 349 6175 630 kgf•m 14 17 50 58 65 20 25 32 40 45 N•m kgf•m N•m kgf•m N•m kgf•m 100 100 100 100 100 130 130 130 130 150 40 60 80 100 120 140 160 Permissible Maximum Momentary Torque Average Ratcheting Torque Permissible Peak Torque Rated Torque Life (Hours) (%) CSF N•m kgf•m N•m N•m kgf•m Rated Torque at 2000rpm Permissible Peak Torque at Start and Stop Permissible Maximum Momentary TorqueReduction Ratio Item Model No. Rated Torque at 2000rpm Permissible Peak Torque at Start and Stop Permissible Maximum Momentary TorqueReduction Ratio Item Model No. CSG [When CSF is set to 100] 50 7.0 0.7 23 2.3 6 4.7 80 10 1.0 30 3.1 61 6.2 100 10 1.0 36 3.7 70 7.2 50 21 2.1 44 4.5 91 9 80 29 2.9 56 5.7 113 12 100 31 3.2 70 7.2 143 15 120 31 3.2 70 7.2 112 11 50 33 3.3 73 7.4 127 13 80 44 4.5 96 9.8 165 17 100 52 5.3 107 10.9 191 20 120 52 5.3 113 11.5 191 20 160 52 5.3 120 12.2 191 20 50 51 5.2 127 13 242 25 80 82 8.4 178 18 332 34 100 87 8.9 204 21 369 38 120 87 8.9 217 22 395 40 160 87 8.9 229 23 408 42 50 99 10 281 29 497 51 80 153 16 395 40 738 75 100 178 18 433 44 841 86 120 178 18 459 47 892 91 160 178 18 484 49 892 91 CSG Series Component/Cup Type - High-torque Type Speed reducer Harmonic Drive LLC 10 w w w. H a r m o n i c D r i v e . n e t • 8 0 0 - 9 2 1 - 3 3 3 2 H ar m o ni c D ri ve G ea ri ng C S G S er ie s Administrator Pencil Administrator Pencil Administrator Pencil Administrator Pencil Administrator Pencil Administrator Pencil Administrator Pencil Administrator Pencil Edited by Foxit Reader Copyright(C) by Foxit Software Company,2005-2007 For Evaluation Only. Administrator Pencil Administrator Pencil Administrator Pencil Administrator Pencil Administrator Pencil • 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 ar m o ni c D ri ve G ea ri ng C S D S er ie s Drawings (DXF) can be downloaded from our home page. URL: http://www.HarmonicDrive.net • Robots • Humanoid robots • Aerospace Main Application Target Please contact Harmonic Drive LLC for a detailed catalog of this product. •CSD Series Ratings N•m kgf•m N•m kgf•m N•m kgf•m 14 17 20 25 32 40 50 50 100 50 100 50 100 160 3.7 5.4 11 16 17 28 28 27 47 47 53 96 96 96 185 206 172 329 370 0.38 0.55 1.1 1.6 1.7 2.9 2.9 2.8 4.8 4.8 5.4 10 10 10 19 21 18 34 38 12 19 23 37 39 57 64 69 110 123 151 233 261 281 398 453 500 686 823 1.2 1.9 2.3 3.8 4.0 5.8 6.5 7.0 11 13 15 24 27 29 41 46 51 70 84 24 31 48 55 69 76 76 127 152 152 268 359 359 480 694 694 1000 1440 1577 2.4 3.2 4.9 5.6 7.0 7.7 7.7 13 15 15 27 37 37 49 71 71 102 147 161 50 100 160 50 100 160 50 100 160 50 100 160 Rated Torque at 2000rpm Peak Torque at Start and Stop Permissible Maximum Momentary TorqueReduction Ratio Item Model No. CSD Series Component/Cup Type - Super Flat Type Speed reducer Harmonic Drive LLCw w w. H a r m o n i c D r i v e . n e t • 8 0 0 - 9 2 1 - 3 3 3 2 11 H ar m o ni c D ri ve G ea ri ng C S D S er ie s • 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 systems Please contact Harmonic Drive LLC for a detailed catalog of this product. •CSF Series Ratings N•m kgf•m N•m kgf•m N•m kgf•m 8 11 14 17 45 50 58 65 80 90 100 40 20 25 32 30 0. 9 0.09 1.8 0.18 3.3 0.34 50 1.8 0.18 3.3 0.34 6.6 0.67 100 2.4 0.25 4.8 0.49 9.0 0.92 30 2.2 0.22 4.5 0.46 8.5 0.87 50 3.5 0.36 8.3 0.85 17 1.7 100 5.0 0.51 11 1.1 25 2.6 30 4.0 0.41 9.0 0.92 17 1.7 50 5.4 0.55 18 1.8 35 3.6 80 7.8 0.80 23 2.4 47 4.8 100 7.8 0.80 28 2.9 54 5.5 30 8.8 0.90 16 1.6 30 3.1 50 16 1.6 34 3.5 70 7.1 80 22 2.2 43 4.4 87 8.9 100 24 2.4 54 5.5 108 11 120 24 2.4 54 5.5 86 8.8 30 15 1.5 27 2.8 50 5.1 50 25 2.5 56 5.7 98 10 80 34 3.5 74 7.5 127 13 100 40 4.1 82 8.4 147 15 120 40 4.1 87 8.9 147 15 160 40 4.1 92 9.4 147 15 30 27 2.8 50 5.1 95 9.7 50 39 4.0 98 10 186 19 80 63 6.4 137 14 255 26 100 67 6.8 157 16 284 29 120 67 6.8 167 17 304 31 160 67 6.8 176 18 314 32 30 54 5.5 100 10 200 20 50 76 7.8 216 22 382 39 80 118 12 304 31 568 58 100 137 14 333 34 647 66 120 137 14 353 36 686 70 160 137 14 372 38 686 70 50 137 14 402 41 686 70 80 206 21 519 53 980 100 100 265 27 568 58 1080 110 120 294 30 617 63 1180 120 160 294 30 647 66 1180 120 50 176 18 500 51 950 97 80 313 32 706 72 1270 130 100 353 36 755 77 1570 160 120 402 41 823 84 1760 180 160 402 41 882 90 1910 195 50 245 25 715 73 1430 146 80 372 38 941 96 1860 190 100 470 48 980 100 2060 210 120 529 54 1080 110 2060 210 160 529 54 1180 120 2450 250 50 353 36 1020 104 1960 200 80 549 56 1480 151 2450 250 100 696 71 1590 162 3180 325 120 745 76 1720 176 3330 340 160 745 76 1840 188 3430 350 50 490 50 1420 145 2830 289 80 745 76 2110 215 3720 380 100 951 97 2300 235 4750 485 120 951 97 2510 256 4750 485 160 951 97 2630 268 4750 485 50 872 89 2440 249 4870 497 80 1320 135 3430 350 6590 672 100 1700 173 4220 431 7910 807 120 1990 203 4590 468 7910 807 160 1990 203 4910 501 7910 807 50 1180 120 3530 360 6660 680 80 1550 158 3990 407 7250 740 100 2270 232 5680 580 9020 920 120 2570 262 6160 629 9800 1000 160 2700 276 6840 698 11300 1150 50 1580 161 4450 454 8900 908 80 2380 243 6060 618 11600 1180 100 2940 300 7350 750 14100 1440 120 3180 324 7960 812 15300 1560 160 3550 362 9180 937 15500 1580 N•m kgf•m N•m kgf•m N•m kgf•m Main Application Target • 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 Rated Torque at 2000rpm Permissible Peak Torque at Start and Stop Permissible Maximum Momentary TorqueReduction Ratio Item Model No. Rated Torque at 2000rpm Permissible Peak Torque at Start and Stop Permissible Maximum Momentary TorqueReduction Ratio Item Model No. Drawings (DXF) can be downloaded from our home page. URL: http://www.HarmonicDrive.net Speed reducer Harmonic Drive LLC 12 w w w. H a r m o n i c D r i v e . n e t • 8 0 0 - 9 2 1 - 3 3 3 2 H ar m o ni c D ri ve C S F G ea ri ng S er ie s Administrator Pencil Administrator Pencil Administrator Pencil Edited by Foxit Reader Copyright(C) by Foxit Software Company,2005-2007 For Evaluation Only. • Robots • Humanoid robots • Metal machine tools • Metal working machines • Printing, bookbinding and paper processing machines • Wood, light metal and plastic machine tools • Printed circuit board manufacturing machines Main Application Ta