谐波齿轮减速器 HDUF (FB)机器人工程师必备_图文.docVIP

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 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. 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. 2 Con?