Our servo actuator, gearhead, and gearing component products are high performance and are easy to use. Application notes provide an in-depth understanding of key areas.
In addition to the technical data on products found on our product pages we think it is important to communicate the technical information we have produced to help you better understand the strain wave gearing technology, as well as how to size and select the best gear for your application.
Below is some helpful information about our Component Sets and Gear Units.
Component Sets
The following information is directed toward technicians or personnel, who are involved in the assembly or installation of Harmonic Drive® gears.
Refer to recommended housing tolerances and component set drawing for proper installation specifications.
Lubrication
*It is extremely important to closely follow the lubrication requirements provided for your specific model. Most of our manuals can be downloaded here.
Use the recommended lubricants and proper quantity. Replace the lubricant at the recommended service interval.
There are four areas within the gear that require lubrication.
A) Wave Generator Bearing
B) Oldham Coupling (if one is included)
C) Gear Teeth
D) Inner diameter of Flexspline
Proper seals, gaskets, or sealants must be used to contain the small amount of oil that may separate from the grease.
The Component Set has been coated with a rust preventative oil for storage purposes, and must be thoroughly cleaned prior to use.
There are three types of component sets: Cup-Style, Pancake-Style and Silk Hat-Style.
The Cup-Style Gear has a Flexspline that is shaped like a cup.
The Pancake-Style Gear has a Flexspline that is a thin sleeve with gear teeth on the outside diameter. It is basically a cup without the bottom. The Pancake-Style has an additional item called a Dynamic Spline, which appears to be similar to the Circular Spline. The Dynamic Spline has larger chamfers than the Circular Spline. These two items are not interchangeable.
The Silk Hat style features a brim-like mounting surface and large through hole.
Assembly
*It is extremely important to closely follow the assembly instructions provided for your specific model. Most of our manuals can be downloaded here.
The relative perpendicularity and concentricity of the three basic Harmonic Drive® elements have an important influence on accuracy and service life. Misalignments will adversely affect performance and reliability. Compliance with recommended assembly tolerances is essential in order for the advantages of Harmonic Drive® gearing to be fully realized.
Proper lubrication is essential for high performance and reliability. Harmonic Drive® component sets are shipped with a rust- preventative oil. The characteristics of the lubricating grease and oil types approved by Harmonic Drive are not changed by mixing with the preservation oil. It is therefore not necessary to remove the preservation oil completely from the gear components. However, the mating surfaces must be degreased before the assembly.
The Wave Generator must be securely fastened to the input hub to prevent axial movement along the input shaft. The Wave Generator must be assembled concentrically with the Circular Spline to prevent an improper assembly. Refer to the "Dedoidal" section in our full Reducer Catalog.
The surface to which the Circular Spline is clamped, must be clean, flat, and free of debris or burrs. Tighten screws using a torque wrench and use no other locking hardware except the suitable grade LOCTITE sealant or equivalent.
Model Number
The part numbering method is as follows (space permitting).
SS XX JJJJJJ Q
SS: Size
XX: Ratio
JJJJJJ: Serial Number
Q: Set Number
In order to obtain the published performance specifications, it is essential that the component set remains as a matched set. Note: The three basic components of the gear - the Flexspline, Wave Generator and Circular Spline - are matched and serialized in the factory. Each component within the component set must have the same part number, including the set number. The above number may be required for ordering replacement drives.
Gear Units
The following information is directed toward technicians or personnel, who are involved in the assembly or installation of Harmonic Drive® gears.
Refer to recommended housing tolerances and drawings for proper installation specifications.
- Refer to the motor mounting tolerances and gearhead drawing for proper installation specifications.
- Wave Generator must be securely fastened to the input hub to prevent axial movement along the input shaft.
- Wave Generator must be assembled concentrically with the Circular Spline to prevent an improper assembly. Refer to the "Dedoidal" section in our catalog for more information.
- Proper seals, gaskets, or sealants must be used to contain the small amount of oil that may separate from the grease.
- Only the specific Wave Generator supplied with each gearhead may be used with that gearhead. These are shipped as a matched set.
For peak performance of the gear, it is essential that the following tolerances be observed when assembly is complete. Pay careful attention to the following points and maintain the recommended assembly tolerances to avoid grease leakage.
- Warping and deformation on the mounting surface
- Contamination due to foreign matter
- Burrs, raised surfaces and location around the tap area of the mounting holes
- Insufficient chamfering on the mounting pilot joint
- Insufficient radii on the mounting pilot joint
Modifications
Almost every product from Harmonic Drive is made to order. In fact, more than 70% of our manufactured products are specials.
Some of the most common mechanical modifications are made to the Wave Generator, the Circular Spline or the Flexspline. Our engineering and manufacturing teams also have extensive experience with a variety of materials.
Common performance customizations occur to the accuracy, starting torque and stiffness specifications. Let us know your parameters, and we will work with you to provide the best matched solution.
We encourage you to email us at sales@harmonicdrive.net or call us at 978-532-1800 if you have any questions or comments. We are open M-F from 8am - 5pm EST.
