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HanZhen Harmonic Drive

HanZhen Harmonic Drive


Content

Single-Circular Spline/Cuppy Flexspline Harmonic Drive Device… ……………………………………………… 3

Input shaft + Output shaft connection structure………………………………………………………………………………… 3

Direct Input + Flange Output connection structure……………………………………………………………………………… 4

Connection, being exposed… …………………………………………………………………………………………………… 6

The electromotor interface………………………………………………………………………………………………………… 7

Multi-Circular Spline/Tubby Flexspline Harmonic Drive Device… ………………………………………………… 8

Input shaft + Output shaft connection structure………………………………………………………………………………… 8

Direct Input + Flange Output connection structure……………………………………………………………………………… 9

Connection, being exposed… ………………………………………………………………………………………………… 11

The electromotor interface……………………………………………………………………………………………………… 12


HanZhen Harmonic Drive

The harmonic drive gearing is such a device as its performance is ascertained


or its various model numbers classified according to the character of the gear
component parts. (For particular performance and numbers, please refer to the
Component Gear Set Manual)

HanZhen’s products, besides a multitude of component sets belonging to their


several series, furnish customers with a whole-series of the harmonic drive
gearing devices designed for all the machine models, as well.
HanZhen Harmonic Drive
Single-Circular Spline/Cuppy Flexspline Harmonic Drive Device

The harmonic drive gearing device belonging to this model includes a Model XB1 gear box
Two standard structures are ascertained in the gearbox products of Model XB1 Harmonic Drive, as shown below:

1、Input shaft + Output shaft connection structure (Product Indentifier: SG)

The structure in which is framed the gear box of XB1 Harmonic Drive of this kind
utilizes such a style that are exposed the Input/Output shafts, which moreover have
themselves linked after the manner of key-type connection.
Please refer to Diagram (1)

Diagram (1)

Below is the table where are specified the exterior dimensions, texture and weight of
the various models encompassed in these serial products.
Table (1)

Item with * :Circular Shell Dimension in Sheet : Millimeter


Weight of
Material of
Model d d1 d2 D D1 D2 L L1 L2 L3 L4 L5 L6 H H1 A C Gearbox
Housing
(kg)
25 4 8 M4 55 30 43 86 8 12 22 41 2 1 45* 45* 3 X 10 Aluminum 0.3

32 6 12 M5 68 45 55 115 12 16 33 52 1 1 55* 55* 2X8 4 X 14 Aluminum 0.5

40 8 15 M5 80 50 66 140 16 22 38 62 1 1 65* 65* 3 X 12 5 X 18 Aluminum 1

50 10 18 M6 92 60 76 170 18 30 43 75 2 2 75* 75* 3 X 15 6 X 25 Aluminum 1.5


Aluminum/
60 14 22 M6 115 68 100 194 18 35 47 90 2 2 92 100 5 X 14 6 X 32 3~5
Cast Iron
80 14 30 M10 155 85 130 243 20 44 62 113 2 2 124 144 5 X 16 8 X 40 Cast Iron 10

100 16 35 M12 180 100 155 293 24 53 67 143 3 3 145 167 5 X 20 10 X 50 Cast Iron 16

120 18 45 M14 230 120 195 350 28 68 82 167 3 2 185 240 6 X 24 14 X 62 Cast Iron 31

160 24 60 M20 280 140 245 443 38 88 91 220 3 3 235 293 8 X 32 18 X 80 Cast Iron 52

200 30 80 M24 335 180 300 538 48 108 115 262 3 2 285 340 8 X 40 22 X 100 Cast Iron 98

250 35 95 M27 405 215 360 669 60 128 156 318 3 4 350 423 10 X 50 25 X 120 Cast Iron 160

Table (1)
HanZhen Harmonic Drive

2、Direct Input + Flange Output connection structure (Product Indentifier: FG)

The other standard structure as may be ascertained of the gear box of XB1
Harmonic Drive is such a one where the electromotor is linked directly to the
input and the flanged disc to the output, which structure procures the product so
much greater size in the axial direction that the design of customers’ systems
may be simplified and streamlined.

This Model employs the inlaid high-speed shaft. Our products, when leaving
the workshop, have already had the harmonic dirve gearbox so assembled that
the customers need to do none other than fit the output shaft of the electromotor
onto the high-speed shaft of the gearbox and then fix with a bolt the electromo-
tor with the gear box. In such a system, the gearbox and the electromotor still
work as two stand-alone systems, which circumstance not only helps facilitate
the installation and operation of the gearbox by customers, but also renders them
convenience in their afterwards maintenance and cleaning of the gearbox.

Please refer to Table(2) - Diagram (2) - Table(3)

Below is the table where are specified the exterior dimensions, texture and weight of
the various models encompassed in these serial products.
Table (2)

Dimension in Sheet : Millimeter


Weight of
Material of
Model B C D E F G H I J K L M N P R S T Gearbox
Housing
(kg)
h7
h7
H7

25 53 7 4 2 52 4 6 Ф3.5 Ф62 Ф50 Ф70 4 M3 Ф35 Ф28 Ф5 Steel 0.6

32 57 8 4 2 58 5 6 Ф3.5 Ф68 Ф55 Ф78 4 M3 Ф40 Ф30 Ф10 Steel 0.75

40 65 8 5 2 71 6 6 Ф3.5 Ф81 Ф68 Ф90 4 M4 Ф50 Ф35 Ф10 Steel 1.2

50 78 9 6 2 86 6 6 Ф3.5 Ф96 Ф84 Ф105 6 M4 Ф60 Ф40 Ф12 Steel 2.5

60 102 10 6 2 105 8 6 Ф4.5 Ф117 Ф100 Ф130 6 M5 Ф55 Ф40 Ф20 Steel 4.5

80 115 10 8 3 130 140 12 6 Ф5.5 Ф150 Ф110 Ф162 6 M6 Ф70 Ф55 Ф30 Steel 9

100 160 13 10 4 170 182 12 10 Ф7 Ф200 Ф152 Ф216 6 M8 Ф80 Ф65 Ф30 Steel 22

120 188 18 12 4 191 205 15 14 Ф9 Ф225 Ф160 Ф245 6 M12 Ф100 Ф75 Ф40 Steel 33

Steel +
160 238 22 15 4 240 280 15 14 Ф12 Ф305 Ф220 Ф330 6 M12 Ф120 Ф95 Ф60 79
Cast Iron
Steel +
200 268 22 15 5 280 340 15 16 Ф12 Ф365 Ф260 Ф390 10 M14 Ф160 Ф130 Ф70 100
Cast Iron
Steel +
250 334 22 15 5 340 390 20 20 Ф12 Ф415 Ф350 Ф440 12 M16 Ф190 Ф160 Ф80 190
Cast Iron

A: The dimensions shall be in the end determined by those of the electromotor connection adopted by the
customer. Please Send Us Your Request.

X: The dimensions shall be in the end determined by those of the electromotor connection adopted by the
customer. Please refer to Page 7 for the specifications.

Table (2)
HanZhen Harmonic Drive
Model (25 - 50)

Model (60 - 250) Diagram (2)

Shell Part
Gearbox Model
Number

25 32 40 50 60 80 100 120 160 200 250

1 Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel

2 Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel

3 Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel

4 Steel Steel Steel Steel Steel Steel Steel Steel Cast Iron Cast Iron Cast Iron

5 Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel

6 Steel Steel Steel Steel Steel Steel Steel

Table (3)
HanZhen Harmonic Drive

Connection, being exposed


In light of such a circumstance as when customers use an
electromotor of small power, the output shaft of the electromotor
commonly does not employ the key-type connection, where the
model of the harmonic drive gear box applied is less than Model
60 (including Model 60), the direct connection from the harmonic
drive gear box to the electromotor, besides the means of an in-
laid input shaft described above, provides for choice three follow-
ing ways of connection with the electromotor being exposed:

1)the connection by a set screw


Please refer to Diagram (3)

Diagram (3)
Applicable to the electromotor, on whose output shaft is formed a plane for a set screw. Where such way of connection is
employed, the product, when brought to the customer, has its main part kept apart from the wave generator, which circumstance
requires the customers to fix with a set screw the wave generator onto the output shaft of the electromotor by themselves so that
the electromotor forms a whole mass with the wave generator, and then put it into the main device.

2)By the interference fit


Please refer to Diagram (4)

Diagram (4)

Applicable to the electromotor, on whose output shaft is smooth, miniature motors. Where such way of connection is em-
ployed, the product, when brought to the customer, has its main part kept apart from the wave generator, which circumstance
requires the customers to fix by means of the interference fit (this needs to heat the wave generator to a certain temperature)
the wave generator onto the output shaft of the electromotor by themselves so that the electromotor forms a whole mass with
the wave generator, and then put it into the main device.

As this way of connection, if resorted to in the installation, involves great complexity, so in usual cases, the customers are ad-
vised to send the electromotor to our company, where our specialists in this respect are then to assemble the electromotor and
the wave generator into a whole piece.
HanZhen Harmonic Drive
3)The connection by means of friction
Besides the manner of connection utilizing the interference, as here in before recommended, the Taper Bush locking may also
be considered as a possible means of connection, which is specifically accommodated to the glossy output shaft applied in the
miniature electromotor. Customers may first fit together the electromotor and the wave generator with the Taper locking which is
customized to match the shaft of the electromotor, and then put the assembled parts into the Reducer, so as to form a complete
piece. This method of connection displays the following advantages: simple processing technique, and convenience in assem-
bling and disassembling.

The electromotor interface


The value X,as specified in the table 2 , is worked out in the below:
X = D + 3.5mm. The "D" as shown in Diagram 5/6
In the case the electromotor is directly connected to the harmonic drive gearbox, such parameters as the dimensions of the out-
put end of the electromotor shall become of crucial importance. There are currently two commonest types of electromotor. The
customers, before requesting their harmonic gear box to be customized, are advised to ascertain all the dimensions as specified
in the diagram below.

1. The connection by means of 4 holes.

Diagram (5)

2.The electromotor of great power commonly utilizes the manner of connection by


means of 6 holes as demonstrated in Diagram 6 below:

Diagram (6)
HanZhen Harmonic Drive

Multi-Circular Spline/Tubby Flexspline Harmonic Drive Device


The harmonic drive gearing device belonging to this model includes a Model XB3-B, XB2,XB6 gearbox
Two standard structures are ascertained in the finished products of Double-Circular Spline Harmonic Drive, as shown below:

1、Input shaft + Output shaft connection structure (Product Indentifier: SG)


The structure in which is framed the harmonic drive gear box of this kind utilizes such
a style as are exposed the Input/Output shafts, which moreover have themselves
linked after the manner of key-type connection.

Please refer to Diagram (7):

Diagram (7)

Below is the table where are specified the exterior dimensions, texture and weight
of the various models encompassed in these serial products.
Table (4)

Item with * :Circular Shell Dimension in Sheet: Millimeter


Weight of
Material of
Model d1 d2 D D1 D2 L L1 L2 L3 L4 L5 L6 H H1 A C Gearbox
Housing
(kg)
25 8 M4 55 30 43 86 8 12 22 41 2 1 45* 45* 3 X 10 Aluminum 0.5

32 12 M5 68 45 55 115 12 16 33 52 1 1 55* 55* 2X8 4 X 14 Aluminum 0.8

40 15 M5 80 50 66 140 16 22 38 62 1 1 65* 65* 3 X 12 5 X 18 Aluminum 1.5

50 18 M6 92 60 76 170 18 30 43 75 2 2 75* 75* 3 X 15 6 X 25 Aluminum 2


Aluminum/
60 22 M6 115 68 100 194 18 35 47 90 2 2 92 100 5 X 14 6 X 32 4~5.5
Cast Iron
80 30 M10 155 85 130 243 20 44 62 113 2 2 124 144 5 X 16 8 X 40 Cast Iron 12

100 35 M12 180 100 155 293 24 53 67 143 3 3 145 167 5 X 20 10 X 50 Cast Iron 19

120 45 M14 230 120 195 350 28 68 82 167 3 2 185 240 6 X 24 14 X 62 Cast Iron 35

160 60 M20 280 140 245 443 38 88 91 220 3 3 235 293 8 X 32 18 X 80 Cast Iron 60
22 X
200 80 M24 335 180 300 538 48 108 115 262 3 2 285 340 8 X 40 Cast Iron 115
100
25 X
250 95 M27 405 215 360 669 60 128 156 318 3 4 350 423 10 X 50 Cast Iron 180
120
Table (4)
HanZhen Harmonic Drive
2、Direct Input + Flange Output connection structure (Product Indentifier: FG)

The other standard structure as may be ascertained of the gear box of Double-Circular Spline Harmonic drive is such a one
where the electromotor is linked directly to the input and the flanged disc to the output, which structure procures the product
so much greater size in the axial direction that the design of customers’ systems may be simplified and streamlined.

This Model employs the inlaid high-speed shaft. Our products, when leaving the workshop, have already had the harmonic
drive gearbox so assembled that the customers need to do none other than fit the output shaft of the electromotor onto the
high-speed shaft of the gearbox and then fix with a bolt the electromotor with the gear box. In such a system, the gearbox
and the electromotor still work as two stand-alone systems, which circumstance not only helps facilitate the installation and
operation of the gearbox by customers, but also renders them convenience in their afterwards maintenance and cleaning of
the gearbox.

Below is the table where are specified the exterior dimensions, texture and weight of the various models encompassed in
these serial products.

Please refer to Table(5) - Diagram (8) - Table(6)

Dimension in Sheet : Millimeter

Weight of
Material of
Model B C D E F G H I J K L M N P R S T Gearbox
Housing
(kg)
h7
h7
H7

25 53 8 4 2 52 4 6 Ф3.5 Ф62 Ф50 Ф70 4 M3 Ф35 Ф28 Ф5 Steel 0.6

32 57 8 4 2 58 5 6 Ф3.5 Ф68 Ф55 Ф78 4 M3 Ф40 Ф30 Ф10 Steel 0.75

40 64 8 5 2 71 6 6 Ф3.5 Ф81 Ф68 Ф90 4 M4 Ф50 Ф35 Ф10 Steel 1.4

50 70 9 6 2 86 6 6 Ф3.5 Ф96 Ф82 Ф105 6 M4 Ф60 Ф40 Ф12 Steel 2.3

60 78 10 5 2 105 8 6 Ф4 Ф117 Ф100 Ф130 6 M5 Ф55 Ф40 Ф20 Steel 3.8

80 95 10 8 3 130 140 8 6 Ф5.5 Ф150 Ф110 Ф162 6 M6 Ф70 Ф55 Ф30 Steel 7

100 133 13 10 3 170 182 12 10 Ф7 Ф200 Ф152 Ф216 6 M8 Ф80 Ф65 Ф30 Steel 16

120 165 18 10 4 191 205 15 14 Ф9 Ф225 Ф160 Ф245 6 M12 Ф100 Ф75 Ф40 Steel 31

Steel +
160 204 22 15 4 240 280 15 14 Ф12 Ф305 Ф220 Ф330 6 M12 Ф120 Ф95 Ф60 75
Cast Iron
Steel +
200 235 22 15 5 280 340 15 16 Ф12 Ф365 Ф260 Ф390 10 M14 Ф160 Ф130 Ф70 105
Cast Iron
Steel +
250 266 22 15 5 340 390 20 20 Ф12 Ф415 Ф350 Ф440 12 M16 Ф190 Ф160 Ф80 165
Cast Iron

A: The dimensions shall be in the end determined by those of the electromotor connection adopted by the
customer. Please Send Us Your Request.
X: The dimensions shall be in the end determined by those of the electromotor connection adopted by the
customer. Please refer to Page 12 for the specifications.

Table (5)
HanZhen Harmonic Drive

XB3-B,XB2,XB6, please refer to Diagram (8)

Model (25 - 50)

Model (60 - 250) Diagram (8)

Shell Part
Gearbox Model
Number

25 32 40 50 60 80 100 120 160 200 250

1 Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel

2 Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel

3 Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel

4 Steel Steel Steel Steel Steel Steel Steel Steel Cast Iron Cast Iron Cast Iron

5 Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel Steel

6 Steel Steel Steel Steel Steel Steel Steel

Table (6)
HanZhen Harmonic Drive
Connection, being exposed
In light of such a circumstance as when customers use an electromotor of small power, the output shaft of the electromotor
commonly does not employ the key-type connection, where the model of the harmonic drive gear box applied is less than
Model 60 (including Model 60), the direct connection from the harmonic drive gear box to the electromotor, besides the
means of an in-laid input shaft described above, provides for choice two following ways of connection with the gearbox be-
ing exposed:

1)By the interference fit


Please refer to Diagram (9):

Diagram (9)

Applicable to the electromotor, on whose output shaft is smooth, mostly, miniature motors. Where such way of connection
is employed, the product, when brought to the customer, has its main part kept apart from the wave generator, which cir-
cumstance requires the customers to fix by means of the interference fit (this needs to heat the wave generator to a certain
temperature) the wave generator onto the output shaft of the electromotor by themselves so that the electromotor forms a
whole mass with the wave generator, and then put it into the main device.

As this way of connection, if resorted to in the installation, involves great complexity, so in usual cases, the customers are
advised to send the electromotor to our company, where our specialists in this respect are then to assemble the electromo-
tor and the wave generator into a whole piece.

2)The connection by means of friction


Besides the manner of connection utilizing the interference, as here in before recommend-
ed, the Taper Bush locking may also be considered as a possible means of connection,
which is specifically accommodated to the glossy output shaft applied in the miniature
electromotor. Customers may first fit together the electromotor and the wave generator
with the Taper locking which is customized to match the shaft of the electromotor, and
then put the assembled parts into the Reducer, so as to form a complete piece. This
method of connection displays the following advantages: simple processing technique,
and convenience in assembling and disassembling.
HanZhen Harmonic Drive

The electromotor interface


The value X,as specified in the table 5 , is worked out in the below:
X = D + 3.5mm. The "D" as shown in Diagram 10/11

In the case the electromotor is directly connected to the harmonic gearbox, such parameters as the dimensions of the out-
put end of the electromotor shall become of crucial importance. There are currently two commonest types of electromotor.
The customers, before requesting their harmonic gear box to be customized, are advised to ascertain all the dimensions as
specified in the diagram below.
-
1. The connection by means of a hole
Diagram (10)

Diagram (10)
2. The electromotor of great power commonly utilizes the manner of connection by
means of a hole as demonstrated in Diagram 6 below:
(Diagram 11)

Diagram (11)

The output by means of the outer gear teeth of the circular spline
As the harmonic drive gear box of the double circular spline employs the output manner of the gear teeth engage-
ment of the circular spline. So the outer gear teeth output of the circular spline has also become a possible style of
output. It should go without saying that when this way of output is adopted, the circular spline, as utilized to work for
the output, needs to have the outer teeth incised on the outer ring surface, the dimensions of the outer teeth being
established in accordance with those of load gear. This way of output is only applicable to the gear boxes of the ma-
chine models below Model 60 (including Model 60)

The various machine models, as hereinbefore de-


scribed, are built in accordance with the structures of our
company’s standard machine models. In the case of the
customers who need in their particular work environments
to customize certain dimensions and parameters, they
can inform the technical department of our company of
their special requests, and after they have been confirmed
by the department, the products may be customized ac-
cordingly. Besides the exterior dimensions, the customers
may, in view of their particular everyday working condi-
tions, designate certain special processing procedures
and techniques that they may come in need of.
HanZhen Harmonic Drive

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