Harmonic drive was invented by American inventor C.Walt Musser in the mid-1950s.
High precision: multiple teeth mesh at two 180-degree symmetrical positions at the same time, so the influence of gear pitch error and cumulative pitch error on the rotation accuracy is relatively average, and extremely high position accuracy and rotation accuracy can be obtained.
Large transmission ratio: The transmission ratio of single-stage harmonic gear transmission can reach 30-500, and the structure is simple.
Strong bearing capacity: In harmonic transmission, the meshing of teeth is in surface contact, and the number of teeth meshing at the same time is relatively large, so the load per unit area is small, and the bearing capacity is higher than other transmission forms.
Small size and light weight: Compared with ordinary gear devices, the volume and weight can be greatly reduced, realizing miniaturization and light weight.
High transmission efficiency and long life.
Smooth transmission, no impact, low noise.
T rated, rated torque:
The allowable continuous load torque when the input speed is 2000rpm. PS: In order to give full play to the harmonic performance, this item is generally not referred to in the selection and design.
Tmax, allowable peak torque when starting and stopping:
When starting and stopping, depending on the moment of inertia of the load, there will be a load greater than the normal torque. This value is the allowable value of the peak torque at this time. PS: When selecting the model, pay attention to the maximum load torque not to exceed this limit value.
Taverage, allowable maximum value of average load torque:
When the load torque and input speed change, it is necessary to calculate the average value of the load torque. This value indicates the allowable value of the average load torque at this time. This parameter is particularly important. The average torque applied to the output end of the harmonic reducer according to the working conditions corresponds to this value. When the average load torque exceeds the value of the rated table, it will cause early deterioration of the lubricant and abnormal gear wear due to heat. Requires full attention.
T instantaneous, instantaneous maximum allowable torque:
In addition to the normal load torque and the load torque when starting and stopping, there is also an unexpected impact torque from the outside. The values in the rating table indicate the allowable values at this time. In addition, a limit is set on the frequency of action of such torque. PS: In some working conditions with impact loads, such as humanoid robots. In order to meet the requirements of extreme working conditions, the value of T instantaneous will be used. The design and application of general robots should be avoided as far as possible, and the torque should be sufficiently limited. If necessary, an article can be made on the disc brake in the joint to limit the torque so as to avoid the impact of emergency stop and damage the harmonic reducer.
N, allowable maximum input speed, allowable average input speed
Do not make the input speed exceed the allowable value shown in the rating table.
J, moment of inertia
Indicates the moment of inertia on the axis of each type of wave generator. PS: This item will be used when calculating the motor inertia ratio.
Generally speaking, there is almost no state in which the servo system operates continuously with a certain load. The input speed and load torque will change, and there will be a large torque effect when starting and stopping. In addition, unexpected shock torques may occur. Model selection is performed by converting these fluctuating load torques into average load torques.
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