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| Harmonic Drive Gearing ---> Principles |
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Engineering Data |
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Ordering Informatiion |
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| XB1 |
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80 |
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100 |
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3 |
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3 |
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Max.trans.error less than 3' |
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Max. backlash less than 3' |
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1-Complete Reducer 2-Three Basic Components |
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Transmission ratio = 100:1 |
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Size = 80 |
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Model:XB1(Cup shaped Flexspline) |
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Assembly Tolerances |
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Dimensions: (mm) |
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Minimum Casing Clearance |
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In order to allow deflective
motion of the Flexspline, a certain amount of clearance must be provided between
the inner walls of the casing and the Flexspline, as illustrated. In the case
of oil lubrication, larger clearances are recommended to provide a sufficient
amount of lubricant. |
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Dimensions: (mm) |
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Flexspline Mounting |
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Care must be taken that the heads of clamping
bolts, nuts, washers, or clamp rings are kept within the diameter of the Flexspline
hub, otherwise local flexing of the Flexspline will be hampered and eventual
failure will result. The corner of the clamp ring must be rounded to allow
local flexing. |
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Dimensions: (mm) |
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The Flexspline is rotationally connected to
an output shaft by clamping bolts. The total clamping force required are shown
below. |
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Assembly Sequence |
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Two recommended sequences of assembly are illustrated |
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It is essential that the teeth of the Circular
Spline and the Flexspline mesh concentrically for proper function. An eccentric
toothmesh called dedoidal will result in noise, vibration, and early failure.
An incorrect assembly may be checked in one of four ways:
1) By visual observation, if the toothmesh is exposed.
2) By rotating the input shaft by hand, if it's a blind assembly. Uneven rotation
suggests dedoidal toothmesh.
3) By unusually high motor currency, If the Wave Generator is connected to
a motor.
4) By inserting a dial gauge from an access hole near the Circular Spline
on the side of the Flexspline, a quasi-sinusoidal curve
during one revolution of the Flexspline indicates a concentric
assembly. |
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Lubrication |
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Oil Change
The first oil change should be performed
after 100 hours of operation. The need to perform subsequent oil changes will
depend on operating conditions, but should take place at intervals of approximately
1000 running hours.
Grease Change
When operating at rated torque,
change grease after about 1000 running hours. Light-duty operation may permit
longer service intervals. To change grease, Completely disassemble and clean
units before regreasing. Apply grease generously inside the Flexspline, the
Wave Generator bearing, the input coupling, and the teeth of the Circular
Spline and the Flexspline.
Oil Temperature
The Max. permissible temperature
rise is 60°C, as oil loses its lubricating capability quickly above this
limit.
Service Instructions
1) Semi-fluid grease is used for XB25 to
XB60. They were pre-lubricated with the grease prior to packaging
in the factory.
2) For XB80 to XB250, oil lubrication is used. (For XB80 to XB120, if input
speed is less than 2000rpm, grease lubrication may be used
as well, but the requirement must be declared when ordering).
3) All oil-lubricated reducers are delivered with dry case. Before operating,
users have to fill in suitable oil themselves. For this
purpose, a plug and an air-vent are provided on the top of the case.
the oil used must be clean and free from impurities. Oil level needed is indicated
by the middle-line in the oil indicator, i.e. to keep the
oil surface 2 mm higher than the center of the ball lowest
in position in the flexible ball bearing.
4) The air-vent must always be on the vertical up position. |
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Minimum Oil Volume |
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Vertical
Installations
In vertical
installations with the input shaft down, the oil level is set at the centerline
of the Wave Generator bearing balls.
If the input shaft is on top, a "lift cone" should be provided.
This serves to pump oil onto the Wave generator, tooth mesh region, and
coupling. For the lift cone to be effective, a minimum input speed of 960
rpm must be maintained, as lower speeds do not generate enough liftforce.
For lower input speeds, either fill oil up to the middle of the Wave Generator
bearing or use grease lubrication. Note that lube holes are provided on
the boss of the Flexspline to facilitate the flow of oil inside the Flexspline
cup. The lube holes serve as breathers if the component set is used with
input down.
When the harmonic drive unit is to be used vertically with the Wave Generator
placed at the bottom, special consideration must be given. If the Wave Generator
assembly is completely submerged in oil, the heat generation caused by churning
would be substantial and a loss of efficiency would result. It is recommended
that the oil level be maintained in such a way that approximately one half
of the Wave Generator bearing is submerged.
To assure a sufficient amount of lubricant it may be necessary to extend
the bottom area of the housing or to provide an external oil reservoir.
A forced lubrication system may also be considered. |
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Contrast Model |
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