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Harmonic reducer information

减速器是工业机器人关键部件     工业机器人的研发、制造与应用是衡量一个国家科技创新和高端制造实力与水平的重要标志。工业机器人主要由减速器、伺服电机及控制系统三大核心部件组成，精密减速器是工业机器人中最关键的功能部件，也是目前制约我国机器人产业发展的瓶颈之一。 “打个比方，如果把工业机器人当成人的手臂，减速器就是手臂的关节。”王家序说，减速器是连接动力源和执行机构的中间机构，具有匹配转速和传递转矩的作用。工业机器人需要高强度重复运动，关节的好坏就决定了工业机器人动力传动与运动变换的精度、可靠性和使用寿命。在机器人的总成本中，减速器的成本占到了三成以上。   工业机器人关节主要有RV减速器和谐波减速器两种。长期以来RV减速器一度被日本的纳博特斯克公司垄断，谐波减速器一度被日本的哈默那科公司垄断，严重制约了国产工业机器人的产业发展。   与机械传动打了一辈子交道的王家序，一直以敢闯敢拼闻名。面对国产机器人发展急需的精密减速器，一直从事减速器研究的他，2005年带领团队开始了科研攻关，瞄准的是高可靠精密谐波减速器。   王家序说，谐波减速器具有体积小、质量轻、传动比高、精密度高等优势，在轻负载精密减速器领域占有主导地位，不过谐波减速器技术壁垒高，要实现谐波减速器的自主研发和国产化，就要突破齿形设计、材料、加工技术、测试评价等方面的关键技术瓶颈。 提升我国机器人核心竞争力    在机械传动国家重点实验室，记者看到应用了重庆大学自主研发的谐波减速器的机器人。“它已经在这里运转了6000小时，精准度和使用寿命达到日本同类机器人水平。”王家序解释说，谐波传动通过薄壁柔轮变形使齿轮分度圆变成椭圆实现多齿啮合，从而提高传动高精度、刚度与承载能力。    谐波减速器柔轮的高弹性变形特性使得啮合齿形的精确设计与修形十分困难，齿面易产生磨损，精度保持性差。另外柔轮加工工艺性差，在周期交变应力左右下容易发生疲劳断裂，也使高精度与高刚度、高可靠之间的调控成为突出矛盾。因此，谐波传动实现多齿啮合的原理对设计及加工制造工艺提出了非常苛刻的技术要求，这也是制约国产谐波减速器性能提升的主要原因。    针对上述问题，王家序带领团队根据国家重大需求，瞄准学科发展前沿，在长期坚实的研究基础上，通过啮合原理、界面力学、传动摩擦学、系统动力学和材料科学等多学科创新优化设计研究，系统攻克了精密谐波减速器设计、制造、测试、试验评价技术，建立了共轭参数驱动的圆弧齿廓谐波传动设计、分析与测试评价体系，成功研制出短杯、超短杯和礼帽型的全系列高可靠精密谐波减速器。   形成了3万台套以上的谐波减速器年生产规模，完成了近1万台套的谐波减速器销售规模。高可靠精密谐波减速器产品已推广应用于工业机器人，卫星指向机构、扫描机构、展开机构、控制力矩陀螺等空间机构，以及无人机等装备。   经过专家组验收认定，该项目攻克了谐波减速器这一工业机器人核心基础部件的设计、制造、测试、试验评价以及批量生产、装配过程中产品可靠性和一致性等关键共性技术，形成了具有自主知识产权并达到国际先进水平的高精度、高刚度、高可靠、长寿命、高效率、低噪声、高功率密度的机器人谐波减速器。   为提高我国企业自主创新能力，大跨度地提高国产工业机器人技术水平，提升我国工业机器人核心竞争力，满足我国先进制造和战略新兴产业等工程领域对国产机器人产业化发展的重大需求提供了关键技术条件支撑。

Application field of harmonic reducer

Harmonic drive is a kind of transmission that relies on the wave ultrasonic generator to make the soft transmission gear cause the controllable ductile deformation wave to maintain the driving force transmission of fitness exercise. The harmonic reducer came out in the US-Soviet market testing period in the last century. The key is to deal with the urgent requirements of the aerospace engineering fitness sports organization for compact structure, light quality, light weight, large transmission ratio, fast transmission speed, and high transmission precision reducer. The basic principle of harmonic gear transmission was first clearly put forward by former Soviet technical engineer A. Mocha Youwekin in 1947, while British C.WaltonMusser invented harmonic reducer in 1953 according to the requirements of indoor space utilization, obtained a U.S. patent in 1955, and exhibited harmonic reducer products in new york City in 1960. Harmonic reducer three pieces In 1961, harmonic speed reduction was introduced into China, and China has just begun to carry out scientific research on the design, manufacturing and application of harmonic reducer. The composition of the harmonic reducer is shown in Figure 1, including the rigid wheel, flexible wheel and wave ultrasonic generator and other three components. Status of scientific research on indoor space harmonic reducer At this stage, the United Kingdom, Japan, France and other major aerospace industry countries have research laboratories and enterprises mainly engaged in indoor space harmonic production and scientific research. More well-known is the HD enterprise, in order to solve the aerospace engineering four-axis aircraft on the use of indoor space harmonic reducer requirements, set up a scientific research unit mainly engaged in indoor space harmonic reducer, and developed and designed a universal aerospace engineering with harmonic reducer. At this stage, HD enterprise has become the most famous manufacturer of harmonic gear transmission in the world, and has carried out the standardization and generalization of harmonic gear transmission. At this stage, the slightly shorter cup model specifications CSD and SHD in the double arc tooth profile products developed by harmonic transmission co., ltd. have a flexspline length of only 1/3 of that of the basic harmonic transmission flexspline, which not only improves the bending stiffness of transmission, but also greatly alleviates the quality of harmonic reducer. Since the 1990 s in the new century, the United States, the Netherlands, France, France, Germany and other European countries have not only applied harmonic transmission in many industries such as intelligent robots and CNC lathes, but also have just begun to carry out scientific research on the design and application of harmonic transmission in indoor space organizations such as communication satellites. Therefore, the United States in the harmonic reducer design, manufacturing, application and indoor space, such as the level of the accumulation of rich and colorful work experience and basic theory of basic The development trend of harmonic drive technology in China can be traced back to the beginning of the 20th century and the beginning of the 60th century. In 1961, the Shanghai Academy of Textile Sciences introduced this technology into our country. At first, it was only used for national defense and aerospace engineering. It was not until the 1980 s in the new century that it slowly began to be civilian. At this stage, the key to the harmonic reducer used in China's aerospace engineering comes from Beijing Zhongji Kemei Enterprise. The harmonic reducer developed and manufactured by this enterprise has long been used in the Shenzhou spacecraft and its "Yutu" lunar rover. Wait for a multi-model specification indoor space quadcopter. The company is at the leading level in China in the development and application of indoor space harmonic reducer. Yutu lunar rover With the rapid development trend of space robots, aerospace engineering, airline four-axis aircraft, and its medical robots and nuclear power plant manufacturing industry, more stringent regulations have been clearly put forward for the application of harmonic reducers, especially in the volume, quality and transmission precision of harmonic reducers. Therefore, the small displacement coefficient of high precision short flexible wheel harmonic reducer is the development trend of harmonic drive.

What is the difference between planetary reducer, RV reducer and harmonic reducer?

What is the difference between planetary reducer, RV reducer and harmonic reducer? 1. planetary reducer is an industrial product. Planetary reducer is a transmission mechanism. Its structure is closely combined with an internal gear ring on the gear box housing. The center of the ring gear has a sun gear driven by external power. Between the two, there is a group of planetary gear sets composed of three gears on the tray, this group of planetary gears relies on the output shaft, internal gear ring and sun gear support to float during the period. When the power on the input side drives the sun gear, it can drive the planetary gear to rotate and follow the trajectory of the internal gear ring to revolve along the center. The rotation of the planet drives the output shaft connected to the tray to output power. A mechanism that uses a gear speed converter to reduce the number of revolutions of the motor (motor) to the desired number of revolutions and obtain a larger torque. In the reducer mechanism used to transmit power and motion, the planetary reducer is a precision reducer, such as PGM planetary reducer of Shenzhen Dongma Electromechanical, Hubei planetary reducer, etc. The reduction ratio can be accurate to 0.1 rpm -0.5 r/min minutes. 2. RV transmission is a new type of transmission. It is developed on the basis of traditional needle pendulum planetary transmission. It not only overcomes the shortcomings of general needle pendulum transmission, but also has a series of advantages such as small size, light weight, large transmission ratio range, long service life, stable precision, high efficiency, stable transmission and so on. increasingly widespread concern at home and abroad. RV reducer is composed of cycloid pin wheel and planetary bracket with its small size, strong impact resistance, large torque, high positioning accuracy, small vibration, large reduction ratio and many other advantages are widely used in industrial robots, machine tools, medical testing equipment, satellite receiving systems and other fields. Compared with the harmonic drive commonly used in robots, it has much higher fatigue strength, stiffness and life, and the return difference accuracy is stable. Unlike harmonic drive, the movement accuracy will be significantly reduced with the increase of use time. Therefore, RV reducer is mostly used in high-precision robot drive in many countries in the world. Therefore, this kind of RV reducer has the development trend of gradually replacing harmonic reducer in advanced robot drive. 3. harmonic reducer is mainly composed of three basic components: wave generator, flexible gear and rigid gear. Harmonic transmission reducer is a kind of controllable elastic deformation of flexible gear by wave generator and meshing with rigid gear to transmit motion and power. Planetary reducer, RV reducer, and harmonic reducer have different working principles, different transmission methods, and different application industries

Harmonic reducer model meaning

HCS-14-100-U/C-I HCS ⇒ Harmonic Reducer Model 14 ⇒ Harmonic Reducer Model 100 ⇒ Harmonic Reducer Reduction Ratio U/C ⇒ Harmonic Reducer Structure Code ♦HCS series harmonic reducer Easy-to-operate combined products, each model has cross-roller bearings with high performance for supporting external loads, which can be directly connected to the motor and fixed by screws ♦HCN series harmonic reducer Lightweight products, without changing the performance of the case, the weight is reduced by 30% compared to the standard

Factors Affecting the Life of Harmonic Reducer

There are many factors that affect the life of the reducer, and the gear in the harmonic reducer is the key. First of all, the choice of gear material of harmonic reducer: the gear should be selected according to the working conditions of use. The choice of gear material has a direct impact on the processing performance and service life of the gear. General gear selection of carbon steel (such as 45 steel) and low and medium carbon alloy steel, such as 20Cr, 40Cr, 20CrMnTi and so on. 38CrMoAlA nitrided steel can be used for important gears with higher requirements, and materials such as cast iron, bakelite or nylon can also be used for non-transmission gears. Secondly, the heat treatment of gears, gear processing according to different purposes, arrange two heat treatment processes: 1) Blank heat treatment: in the tooth blank processing before and after the arrangement of pre-heat treatment normalizing or quenching and tempering, the main purpose is to eliminate. In addition to the residual stress caused by forging and rough machining, the machinability of the material is improved and the comprehensive mechanical properties are improved. 2) tooth surface heat treatment: after tooth profile processing, in order to improve the hardness and wear resistance of the tooth surface, often carburizing quenching, High-frequency induction heating quenching, carbon-nitrogen co-penetration and nitrogen seepage and other heat treatment processes. Third, the gear blank: the gear blank form is mainly bar, forgings and castings. Bar stock for small size, A gear with a simple structure and low requirements for strength. When the gear requires high strength, wear resistance and impact resistance, multi-use forging Parts, the diameter is greater than 400~600mm gear, commonly used casting blank. In order to reduce the amount of mechanical processing, the large Size, low precision gear, can be directly cast out of the gear teeth; for small size, complex shape of the gear, available fine New processes such as dense casting, pressure casting, precision forging, powder metallurgy, hot rolling and cold extrusion to manufacture wheels. The tooth blanks of the teeth are used to improve labor productivity and save raw materials.

Shenzhen Honghui Technology Hollow Harmonic Reducer Structure Theory

With the development of intelligent equipment manufacturing industry, China has become the world's largest industrial robot market for four consecutive years. As the core components of the robot precision reducer market demand is huge. The hollow harmonic gear reducer has the advantages of compact structure, high transmission accuracy and convenient for the internal threading of the robot, so it is widely used in the field of robot, but the design and research of its performance parameters are relatively scarce. To this end, the paper takes the hollow top hat type harmonic gear reducer as the research object, studies and analyzes the parameter design and optimization method of this type of harmonic drive. Firstly, according to the design criteria and empirical formula of harmonic drive, referring to the existing top hat type harmonic drive structure, the paper preliminarily designs the structural parameters of the hollow top hat type harmonic drive, and determines the value range of the main structural parameters of the flexible wheel, the rigid wheel involute tooth profile that meets the requirements of meshing accuracy is obtained by solving the simplified fitting approximation optimization algorithm, and the rigid-flexible wheel meshing motion is simulated by matlab to analyze the meshing performance of the rigid-flexible wheel. Then, the causes of the deflection of the flexible wheel teeth under the action of the wave generator and its influence on the meshing of the rigid-flexible wheel teeth are discussed, using ABAQUSE software to analyze the stress distribution of the top-hat flexspline under no-load and load conditions, to determine the position of the maximum stress, to study the degree of influence of the main structural parameters of the top-hat flexspline on the maximum stress of the flexspline through orthogonal test, and to optimize the structural parameters of the top-hat flexspline using ISIGHT software to obtain the structural parameters with the minimum maximum stress under no-load and load conditions.