Zhejiang Laifual Drive Co., Ltd
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The Core Part of Industrial Robots: Reducer

Reducer products are mainly used in more than 20 industries and fields such as wind power, nuclear power, artificial intelligence, automated production lines, aviation, precision machine tools, elevators, lifting, forklifts, high-speed rail, medical care, lawn mowers, and scooters. Among them, the reducers used for industrial robots are mainly harmonic speed reducers and RV reducers, which are one of the key core components of the robot industry, accounting for as much as 40% of the overall cost of industrial robots.


1. The origin of the harmonic speed reducer


Harmonic transmission was invented by American inventor C.W.Musser in 1955. It is a new type of transmission method that uses elastic deformation of flexible working components for motion or power transmission. It breaks through the rigid component structure of mechanical transmission. Mode, a flexible component is used to realize mechanical transmission, thus obtaining a series of special functions that other transmissions are difficult to achieve. Because the deformation process of the middle flexible member is basically a symmetrical harmonic, it gets its name.


2. The structure of the harmonic speed reducer


Rigid wheel: Rigid internal gear, usually with 2 more teeth than the flexible wheel, usually fixed on the casing.


Flexible spline; the thin cup-shaped metal elastic part on the outer ring of the opening, which deforms with the rotation of the wave generator, and is usually connected with the output shaft.


Wave generator: consists of an elliptical cam and a flexible bearing, usually coupled with the input shaft. The inner ring of the flexible bearing is fixed on the cam, and the outer ring can be elastically deformed into an ellipse through balls.


3. Working principle of harmonic speed reducer


The harmonic speed reducer uses the relative motion of the flex spline, rigid spline and wave generator, mainly the controllable elastic deformation of the flex spline to realize motion and power transmission. The elliptical cam in the wave generator rotates in the flexspline to deform the flexspline. When the flexible spline teeth at the two ends of the long axis of the wave generator and the rigid spline teeth are engaged, the flexible spline teeth at the two ends of the short axis are disengaged from the rigid spline teeth. For the teeth between the major axis and the short axis of the wave generator, they are in a semi-meshed state that gradually enters meshing in different sections along the circumference of the flexible spline and rigid spline, which is called meshing; in the semi-meshed state that gradually exits meshing, called gnawing. When the wave generator rotates continuously, the flexspline will continue to deform, so that the two gear teeth will change their original working states in the four movements of meshing, meshing, meshing and disengagement, resulting in staggered tooth movement and realizing active wave generation. The motion transmission from the device to the flexible spline.


With years of R&D experience, Laifual has made breakthroughs in many special performances. Our high-precision harmonic speed reducer has the characteristics of low temperature rise, small starting torque, high reliability, large torque, long life, large speed ratio, small size, etc., and can be widely used in industrial robots, service robots, medical equipment , high-precision automation equipment, etc. If necessary, welcome to consult.

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