Harmonic Drive CSG-LW High Torque, Lightweight Gear Unit

Size: px

Start display at page:

Download "Harmonic Drive CSG-LW High Torque, Lightweight Gear Unit"

Justin Godwin Griffith
5 years ago
Views:

Harmonic Drive CSGLW High Torque, Lightweight Gear Unit Harmonic Drive now offers a NEW lightweight version of our CSGUH Gear Units! 3% lighter than our standard CSGUH!

Using new lightweight materials and an optimized design, a 3% reduction in weight has been achieved without reducing the torque rating of the gear unit or significant changes to the interface

1 Harmonic Drive CSGLW High Torque, Lightweight Gear Unit Harmonic Drive now offers a NEW lightweight version of our CSGUH Gear Units! 3% lighter than our standard CSGUH! 3% More Torque than the CSF Series! Using new lightweight materials and an optimized design, a 3% reduction in weight has been achieved without reducing the torque rating of the gear unit or significant changes to the interface dimensions. This weight reduction, combined with the CSG's high torque ratings, results in an exceptional Torque Density making it ideally suited for many applications including Industrial Robots allowing operation with higher acceleration rates and payload capacity Mobile Robots allowing lower weight designs which improves battery life without sacrificing performance Application Examples Robot Wrist SCARA Robot Arm Direct Connection to a Servo Motor th and th axis drive for the wrist of an Industrial Robot Drive for SCARA Robot

2 Ordering Code CSG SP Model Gear Ratio Type Lightweight CSG Series ~ :1~1:1 UH (Gearhead) Special (Custom Specification) leave blank for standard product Rating Table Table 1 Ratio Rated Torque at rpm Limit for Repeated Peak Torque Limit for Average Torque Limit for MomentoryTorque Maximum Input Speed Max. Average Input Speed lbin lbin lbin lbin Oil Grease Oil Grease Moment of Inertia 1. Moment of Inertia: I=1/GD. Please refer to the CSF/CSG Series catalog for an explanation of terms and technical information not included in this brochure.

3 No Load Running Torque Noload running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive gear with no load applied to the output. Measurement condition Lubricant Grease Name Grease quantity Ratio: 1 Harmonic Grease SK1A Harmonic Grease SK Recommended quantity Torque value is measured after hour runin at rpm input. Please contact HDLLC if you are using oil lubricant. 31 Compensation Value for Each Ratio The no load running torque of Harmonic Drive gears varies with the gear ratio. The graphs indicate a value for ratio 1. For other gear ratios, add the compensation value from table. Unit: Ncm Ratio No Load Running Torque for Ratio 1 Input Speed r/min Input Speed 1r/min No Load Running Torque (Ncm) Input Speed r/min No Load Running Torque (Ncm) Input Speed 3r/min No Load Running Torque (Ncm) No Load Running Torque (Ncm)

4 Efficiency The gear efficiency is affected by many factors. Efficiency depends on the gear ratio, input speed, load torque, temperature, quantity of lubricant and type of lubricant. Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used. Measurement condition Table 1 Installation Based on recommended tolerance Load torque Rated torque Harmonic Grease SK1A Name Lubricant Grease Harmonic Grease SK Recommended quantity Grease quantity Load Torque Rated Torque : Efficiency = Efficiency from Graph Load Torque < Rated Torque : Efficiency = Efficiency from Graph x Compensation Coefficient from Graph 1. Compensation Coefficient (ke) Efficiency at Rated Torque ( ) Ratio 3 Efficiency Compensation Coefficient Graph 1 ηr=efficiency at Rated Torque Torque = Load Torque Rated Torque Torque Ratio, Ratio 1

5 Efficiency at Rated Torque (s 17) Ratio 3 Ratio Ratio,1 Ratio Ratio 1

6 External Dimensions. (#) 3 (#17) (#) (#17) No key on WG hub for #, #17 Detailed drawing for input side Please contact Harmonic Drive LLC for installation drawings. * Please Note: The bolts must not extend beyond the length of the threaded hole. If the length of thread engagement exceeds dimension Z, damage to the flexspine may occur. Please refer to installation drawing.

7 Dimension Table Symbol A B C D E F G H L M1 M N.1 O h7 P Q R1 H7 R H7 S T h7 U H7 V W Js9 X Y Z a b c d e g h i k m r y Weight kg M 1. 3 M 9.. S Table 71 Unit: mm M M 3.. S M M. 1. S M M S M M S71 S M M AS S M M S1 S M M S1 S M M1 S S M M S13 S Note 1: Dimensions in parentheses indicates values for 3:1 gear ratio. Note : * Dimensions B, D and t indicate the location and tolerance of the wave generator flexspline and circular spline. Please strictly comply with these dimensions since it influences performance and strength of the gear. Weight Comparison Unit: kg CSG Series standard unit CSG Series LW unit Weight ratio. %. %. % 73 %. 9 % 3. 7 %.1 73 % % % 1. 7 %

8 Specification for Crossroller Bearing Pitch Circle dp m Offset R m Basic Dynamic Load Rating C Basic Static Load Rating Co Allowable Moment Load Mc Moment Stiffness Km x1 N lb x1 N lb Nm lbin x1 Nm/rad x1 lbin/rad ,7.7 1, , , ,99 9., ,1 11 3,39 1, ,37, 7, ,7 3, 39 3, ,171 9,77 3, , ,3 13,3, 1, , 9,3 3 7,17 1 1, ,99 1,3 3,1 1, 13,97 331,93 Installation and Transmission Torque Bolt connection to output flange and resulting transmission torque 17 Number of screws of screws Pitch circle diameter M 3 M 7 M M M1 M1 M M M1 1 M1 11 Screw Tightening Torque lbin ,33, , ,39 Torque transmitting capacity lbin ,1,133 1, 1,79 1,1 13,3, 3, 3,9,9,91,93,79,9 Bolt connection to housing and resulting transmission torque 17 Number of screws of screws Pitch circle diameter M M 71 M M 9 M M M M 17 M1 M 3 Screw Tightening Torque lbin Torque transmitting capacity lbin , 1,31 3,31 7, 1, 13,17,7,3 3,37,,3 7,31,9,9 1. Recommended bolt : JIS B 117 socket head cap screw strength range : JIS B 11 over.9. Torque coefficient : K=. 3. Clamp coefficient A=1.. Coefficient of friction:.1. Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. (Please contact a Sales Engineer for more information.) Harmonic Drive LLC Boston US Headquarters 7 Lynnfield Street Peabody, MA 19 New York Sales Office 1 Motor Parkway Suite 11 Hauppauge, NY 117 San Jose Sales Office 333 W. San Carlos Street Suite 17 San Jose, CA 911 Chicago Sales Office 137 N. Oak Park Avenue Suite 1 Oak Park, IL 3 T: T: F: Group Companies Harmonic Drive Systems, Inc. 3 MinamiOhi, Shinagawaku Tokyo 113, Japan Harmonic Drive AG Hoenbergstrasse,, D Limburg/Lahn Germany Harmonic Drive is a registered trademark of Harmonic Drive LLC.. Rev 1

The CSF-mini series now includes Ultra Flat models with High-Moment Stiffness

New Product News Vol. 22 Toll Free Speed Phone (877) SERVO98 Sensor Toll Reducer Free Fax (877) SERV99 Controller Motor Other System Elements Driver The CSF-mini series now includes Ultra Flat models with