Harmonic Reducer-Changing the World of Motion Control


Release time:

2018-10-23

Due to the outstanding advantages of harmonic gear transmission in practical use, in recent decades, this transmission has been applied in aerospace vehicles and aircraft, and has been rapidly promoted to energy, radar, communications, machine tools, instrumentation, shipbuilding, automobiles, Conventional weapons, textiles, metallurgy, lifting transporters, medical equipment and other related departments.

Due to the outstanding advantages of harmonic gear transmission in practical use, in recent decades, this transmission has been applied in aerospace vehicles and aircraft, and has been rapidly promoted to energy, radar, communications, machine tools, instrumentation, shipbuilding, automobiles, Conventional weapons, textiles, metallurgy, lifting transporters, medical equipment and other related departments. Through practice at home and abroad, it has been proved that this kind of transmission, whether as a high-precision transmission for data transmission (for example, transmission error is less than 10 "), or as a power transmission for transmitting large torque (for example, transmission torque up to 160kN · m or more), has achieved satisfactory results.

 

application in the field of space technology

 

The practice of test and operation shows that the operation performance of harmonic gear transmission working in rockets and satellites is very satisfactory, which promotes the expansion of the application range of this kind of transmission in the field of aerospace technology. It is often used as a low-power, high-precision, large-ratio transmission for space vehicles, remote control operators and space intelligent machinery servo mechanism, control mechanism and data transmission device.

 

The following figure shows the transmission mechanism used in the artificial satellite instrument. The flexspline 1 is fixed, the shape of which is a double bell, and the two ends are sealed with a sealing ring 3 with a circular cross-section. This structure ensures that the required radial deformation is obtained with a small axial dimension (60mm). The rigid wheel 2 is connected to an output shaft exposed under vacuum. The transmission adopts the fixed deformation wave generator 4 with external configuration, and the wave generator is equipped with two columns of balls, so the deformation of the flexible wheel is smooth.

 

Application in Aviation

 

In the foreign Bell-224 vertical take-off and landing aircraft, the harmonic gear transmission device with a transmission ratio of 300 is used as the driving mechanism to turn the propeller from the rising position to the horizontal position. In the last century, the digital electro-hydraulic actuator developed abroad for the rudder of F-16 aircraft was directly controlled by signals from a digital computer or microprocessor. In this kind of actuator, the harmonic reducer is used to drive the digital encoder and provide feedback reference signal for the step controller.

 

At present, harmonic gear transmission is also used in flight simulation turntables and ground simulation exercisers in China.

 

Application in radar and communication equipment

 

This transmission in the long-term use of practice, fully meet the requirements of the radar equipment for the transmission of the climate and mechanical test of the total technical conditions (such as shock, vibration, low temperature, high temperature, moisture, etc.). Since the harmonic gear drive makes the drive system greatly reduced in size and weight, the harmonic gear drive is used in the drive machinery of the X-Y bracket of the satellite communication ground station, and good results have been achieved. For example, the following figure is

 

Harmonic gear drive used in the antenna pitch mechanism of a gun aiming radar in China. Transmission ratio = 117, modulus m = 0.5mm. The driving power of the DC servo motor 1 is 0.25KW and the rotation speed is 3500rpm. Wave generator 2 uses a cam generator with flexible rolling bearings, flexible wheel 3 fixed, rigid wheel 4 connected to the output shaft, in addition, China's color TV, broadcast communication equipment industry began to use various types of harmonic transmission device.

 

Applications in optical instruments

 

Due to the advantages of small size of harmonic gear, foreign countries try to make plastic into harmonic gear transmission, which is used in the image clarity adjustment mechanism of optical microscope, and then it is widely used in the zoom lens of TV camera and other types of zoom lens. Through system control, full automatic operation such as focusing, zooming and grating adjustment is realized, such as harmonic gear transmission used in the automatic measurement servo system of digital photoelectric cardiometer in China. The alignment instrument is an instrument for measuring the eccentricity difference of optical parts.

 

1-Servo motor 2-Wave generator 3-Flexible wheel 4-Rigid wheel 5-Output shaft 6-Motor base

 

With the development of laser technology, integrated circuits and space optics, the requirements for the accuracy of optical parts are getting higher and higher, which urges the harmonic reducer to develop in the direction of higher accuracy.

 

Application in Medical Devices

 

At present, the development and growth of medical instruments are rapidly as shown in the following table. For example, DR and CR digital imaging systems and radiotherapy instruments cannot be separated from harmonic transmission. Harmonic gear transmission is more superior in its use. In the last century, Japan adopted large speed ratio harmonic gear transmission on cancer treatment instruments. The transmission device is used as the driving mechanism for the rotation and revolution of cancer treatment machines. The motor adopts a brake motor with a power of 100w, the transmission adopts double-stage transmission, the flexible wheel of the first-stage transmission is connected with the wave generator of the second-stage transmission, the first-stage rigid wheel is connected with the second-stage flexible wheel, and the motion is transmitted to the output shaft fixed with the flexible wheel, and the second-stage rigid wheel is fixed. From this, harmonic transmission began to develop in the transmission of medical equipment, however, it was later affected by the development of other types of reducers (such as RV reducers).

 

Table 12010-2017 Domestic Medical Device Market Size

 

 

Application in robot joints

 

At present, the potential for the future use of harmonic reducers in industrial robots is huge. It is understood that the harmonic reducer is mainly used in joint robots. In the past two years, the shipments of industrial joint robots have grown rapidly, which has promoted the surge in demand for related reducers. The specific demand analysis is shown in the following table. People engaged in the industrial robot industry will pay attention to one of the three core components of industrial robots-harmonic reducer, which may not be a big core component, because the core technology has long been monopolized by foreign brands (such as Japan's Hamernake). Domestic industrial robot manufacturers have long relied on purchasing such products from Germany, Japan and other countries. In recent years, China's industrial robot industry has entered a new period of historical opportunities and has seized market share. In China, such as mobile phone manufacturing, semiconductor, LCD production machinery and other industries, the need for small robots is also growing. The robot reducer, the upstream key component of these robots, has become an irreplaceable part of the robot arm, which has brought opportunities for many domestic reducer R & D enterprises to expand the market.

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