SHF and SHG - Harmonic Drive LLC

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ABOUT HARMONIC DRIVE GEARHEADSHG 25 100 2UHSPORDERING CODENAME OF MODEL SIZE RATIO VERSION OPTION14 30,50,80,100, 2A-GR:Component Set17 30,50,80,100,120 (Size 14 &17 are 2A-R) Our applicationSHF: Silk Hat Type 20 30,50,80,100,120,160 2UH:Unit engineers will be(SHF series are available 25 30,50,80,100,120,160 with hollow input shaft and pleased to assistfor size 14-58) 32 30,50,80,100,120,160 integrated output bearing. you with specialSHG: High-torque Type 40 50,80,100,120,160 2UJ:Unit options and their45 50,80,100,120,160 with solid input shaft and ordering code50 50,80,100,120,160 integrated output bearing58 50,80,100,120,160 250:Simple Unit: Flat type65 80,100,120,160 2SH:Simple Unit Flat Hollow Shaft typeEvolution of Harmonic Drive GearingHarmonic drive gearing continues to evolve by improving performance and functionality.SSeriesBy pursuing strengthand stiffness, a newtooth profile wasinvented. The "S"tooth doubled thetorque, life andstiffness.SHFTo minimize the space, fora total cost reductionthe axial length hasbeen reduced to aboutone half. Unit thatallows easy mountingwas also available atthe same time.SHGThe SHG achieved a 30% increase in torquecapacity. Life was increased from 7,000 hrsto 10,000 hrs.30:119881995The Ratio 30:1 was added for higheroutput speeds.Tooth ProfilesThe harmonic drive component sets and housed units presentedin this catalog incorporate the “S” gear tooth profile. This patentedtooth profile provides a significant improvement in gear operatingcharacteristics and performance.The new “S” tooth profile significantly increases the region oftooth engagement. For the traditional tooth profile 15% of thetotal number of teeth are in contact, while for the new profile up to30% of the teeth are in contact. The increased number of teeth inengagement results in a 100% increase in torsional stiffness in thelow & mid torque ranges.The new tooth profile also features an enlarged tooth root radius,which results in a higher allowable stress and a correspondingincrease in torque capacity. Furthermore, the enlarged regionof tooth engagement leads to a more even loading of the WaveGenerator bearing, resulting in more than double the life expectancyfor the gear.Initial EngagementFull Engagement4
PRINCIPLE AND STRUCTURESystem ComponentsThe FLEXSPLINE is a non-rigid, thin cylindrical steel cup with externalteeth on a slightly smaller pitch diameter than the Circular Spline.It fits over and is held in an elliptical shape by the Wave Generator.FlexsplineWave GeneratorThe WAVE GENERATOR is a thin raced ball bearing fitted onto an ellipticalplug serving as a high efficiency torque converter.The CIRCULAR SPLINE is a rigid ring with internal teeth, engaging theteeth of the Flexspline across the major axis of the Wave Generator.Circular Spline0 º90º 360ºCircular SplineWave GeneratorFlexsplineThe Flexspline is elliptically shaped by TheWave Generator and engaged with theCircular Spline at the major elliptical axis.The teeth completely disengage on theminor axis.When the Circular Spline is fixed andthe Wave generator rotates clockwise,the Flexspline is elastically deformedand rotates counterclockwise relative tothe Circular Spline.For each 360 degrees clockwise movementof the Wave Generator,the Flexsplinemoves counterclockwise by two teethrelative to the Circular Spline.Circular SplineCircular SplineInputInputCross Roller BearingWave GeneratorFlexsplineCross Roller BearingWave GeneratorFlexsplineHollow Shaft Type (2UH)The SHF harmonic drive housed unit offers the design engineerconvenience and simplicity. The gears are contained within acompact housing, where the output flange is supported by a largediameter cross roller bearing. This provides exceptional momentstiffness with high radial and axial load capacity.Input Shaft Type (2UJ)The SHF-2UJ housed units have a different design for theinput. This series is driven via a solid shaft. These units, like theSHF-2UH models, integrate high capacity cross roller output bearingto provide a high permissible tilting moment as well as hightilting stiffness.Simplicity Unit Type (Option not shown)Flat type (2 SO) and Hollow Shaft type (2 SH) have been simplified by eliminatingInput and Output Flanges to achieve design flexibility and cost reduction.Harmonic Drive LLC 800-921-33325
Page 2: 2SHF AND SHG HOUSED UNIT
Page 7 and 8: APPLICATION EXAMPLESSHF Series Appl
Page 9 and 10: APPLICATION EXAMPLESSHF Series Appl
Page 11 and 12: SHF SERIES RATING TABLETable 2Size
Page 13 and 14: TECHNICAL TERMSSHF Ratcheting Torqu
Page 15 and 16: SELECTION PROCEDUREValues of an eac
Page 17: EXTERNAL DIMENSIONSTable 7BGH 114 1
Page 20 and 21: LUBRICATIONGrease ChangeThe wear ch
Page 22 and 23: LUBRICATIONExample of Oil Channelin
Page 24 and 25: DIAMETERSHole Diameter of Wave gene
Page 26 and 27: INSTALLATION PROCEDUREInstallation
Page 28 and 29: UNIT 2UH EXTERNAL DIMENSIONSHollow
Page 30: UNIT 2SO DIMENSIONSSimple Unit Type
Page 33 and 34: EXTERNAL DIMENSIONSTable 26(mm)14 1
Page 35 and 36: OUTPUT BEARING RATINGHow to Calcula
Page 37 and 38: RECOMMENDED TOLERANCES FOR ASSEMBLY
Page 39 and 40: LUBRICATIONLubricationThe standard
Page 41 and 42: PERFORMANCE DATAPerformance Data fo
Page 43 and 44: EFFICIENCYEfficiency Compensation C
Page 45 and 46: EFFICIENCYUnit Type Hollow Shaft Ty
Page 47 and 48: ENGINEERING DATAEfficiency Compensa
Page 49 and 50: NO LOAD RUNNING TORQUECompensation
Page 51 and 52: PRINCIPLE AND STRUCTURECompensation
Page 53 and 54:
PRINCIPLE AND STRUCTURECompensation
Page 55 and 56:
POSITIONING ACCURACYPositioning Acc
Page 57 and 58:
TORSIONAL STIFFNESSTorsional Stiffn
Page 59:
Harmonic Drive LLCBoston247 Lynnfie
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SHF and SHG - Harmonic Drive LLC

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