Hansmotiondrive

The flexspline belongs to hollow flanging standard structure, compact design, zero backlashes, coaxial output and input, excellent positioning accuracy, and rotation accuracy.

HMHG Series Harmonic Drive Hat Type List

HMHG-Ⅰ Series Unit (Hollow Shaft) Harmonic Drive

With compact hollow shaft and a robust cross roller bearing which enables the output flange to mount the loads directly without additional supports, ensuring a simple and space-saving design. Light weight is very important for some applications, HMHG-I-LW is available for lightweight solution. HMHG-I is available in 6 size with ratios from 50:1 to 160:1.

HMHG-Ⅱ Simple Unit (Flat) Series Harmonic Drive

Input shaft connects with an inner hole of wave generator through Oldham coupling, flat shape, and standard structure

HMHG-Ⅱ-E Simple Unit (Flat & Integral Cam) Series Harmonic Drive

Compared with HMCG-II, wave generator with integrated cam for HMCG-II-E. The integrated output cross roller bearing with high titling capacity enables the output flange to mount the loads directly without additional supports, ensuring a simple and space-saving design. The absence of input and output flanges features a fabulous flexible design. HMHG-II is available in 6 size with ratios from 50:1 to 160:1.

HMHG-Ⅲ Simple Unit Flat Hollow Shaft Series Harmonic Drive

High torque simplicity series with a hollow input shaft, the absence of input and output flanges features a fabulous flexible design. HMHG-III is available in 6 size with ratios from 50:1 to 160:1.

HMHS-IV Unit (Shaft Input) Series Harmonic Drive

The integrated output cross roller bearing with high titling capacity enables the output flange to mount the loads directly without additional supports, ensuring a simple and space-saving design. Fully sealed and easy to mount to motor. Performs fantasy on bevel gears and synchronous belt device applications.

HMHG-V Unit (Hollow & Long Shaft) Series Harmonic Drive

With input shaft can mount to motor directly. Low speed hollow shaft through supply lines, shafts or cables. Encoder can be mounted to both input and output shaft. Especially for Cobots and the device with joint modular.

Design Guide Of HMCG Series Harmonic Drive Cup Type

In Order To Give Full Play To The Performance Of Harmonic Reducer, Please Pay Attention To The Follo

Make the input shaft, circular spline, output shaft, and shell concentric.

Wave generators can produce axial force. Please make the input shaft into some structure that can support the force.

Since the harmonic reducer is a small device that can transmit larger torque, please adopt suitable tightening torque to tighten the screw that connects the flex spline with the output shaft.

Flexspilne can have elastic deformation, so please adopt the recommended size to design the inner wall of the shell.

Input shaft and output shaft must adopt matched bearings (leave space for 2 - point support) and the structure that can bear radial load and axial load. Please do not exert too much force on the wave generator and flex spline.

Make sure the flange diameter of the flex spline does not exceed the wheel bore diameter of the flex spline and process fillet on the flange that connects the diaphragm. Please adopt the recommended size to design all parts.

HMHG-I series flex spline belongs to the hollow flanging standard structure and there is a large-caliber hollow shaft hole in the middle of the wave generator cam. And support bearing is also designed inside the reducer The reducer is fully sealed and easy to install, and especially suitable for the situation where there is a need to thread through the reducer center.

Features of HMHG-ⅠSeries Unit (Hollow Shaft) Harmonic Drive

Large diameter - Hollow structure

Compact design

Zero backlash

Input/output coaxial

Excellent positioning accuracy and rotation accuracy

30%higher torque capacity than HMHS series

43%longer lifetime than HMHS series.

HMHG-II series flex spline belongs to the hollow flanging standard structure and the whole structure is compact. Its input shaft connects with the inner hole of wave generator through Oldham coupling. The reducer can be used in two methods: rigid gear is fixed and flex spline does output, or flex spline is fixed and circular spline does output.

Features of HMHG-Ⅱ Simple Unit (Flat) Series Harmonic Drive

Flat shape • Standard structure

Compact design

Zero backlash

Input/output coaxial

Excellent positioning accuracy and rotation accuracy

30%higher torque capacity than the HMHS series

43%longer lifetime than the HMHS series.

HMHG-III series flex spline belongs to the hollow flanging standard structure and the whole structure is compact. The wave generator adopts large - caliber hollow shaft and crossed roller bearing to bear loads in radial and axial directions. The structure is simple, and convenient for user customization and installation.

Features of HMHG-Ⅲ Simple Unit (Flat Hollow Shaft) Series Harmonic Drive

Easy to install and use

Compact design

Zero backlash

Input/output coaxial

Excellent positioning accuracy and rotation accuracy

30%higher torque capacity than the HMHS series

43%longer lifetime than the HMHS series.

HMHG-II-E series flex spline is a hollow, hat-shaped standard structure, the whole structure is compact. The input shaft is connected to the wave generator's inner hole through an integral cam. It can adopt the connection mode with circular spline fixed and flex spline as the output end. And it also can adopt the connection mode with the flex spline fixed, the circular spline as the output end.

Features of HMHG-Ⅱ-E Simple Unit (Flat & Integral Cam) Series Harmonic Drive

Flat shape • Integral cam structure

Compact design

Zero backlash

Input/output coaxial

Excellent positioning accuracy and rotation accuracy

30%higher torque capacity than the HMHS series

43%longer lifetime than the HMHS series.

HMHD-III series is the type pursuing flat structure to the extreme. Its axial length is half of that of the HMHS series. The flex spline adopts an ultrathin hollow flanging structure and its output side is installed with a high rigid crossed roller bearing. Suitable for the application with the requirement on flat design.

Feratures of HMHD-Ⅲ Simple Unit (Super Flat & Hollow Shaft) Series Harmonic Drive

Ultra-thin and Hollow structure

High rigidity

High torque capacity

Input/output coaxial

Excellent positioning accuracy and rotation accuracy.

Simple combination type (super flat hollow shaft), pursuing flat structure to the extreme, suitable for the application with the requirement on flat design.

HMHD Series Harmonic Drive Hat Type List

HMHD-Ⅲ Simple Unit (Super Flat & Hollow Shaft) Series Harmonic Drive

Highly compact and Super flat, features with large hollow shaft and a robust cross roller bearing which enables the loads can be mounted directly without additional support, thus makes the simple and space saving design installations. HMCD-III consisting of the component set with shortened Flexspline and the high capacity output bearing. 5 sizes with 4 ratios are available.

Installation Of HMHD Series Harmonic Drive Hat Type Motor

Mounting Assembly Precision of Harmonic Drive

In the assembly design, if there are abnormalities and forced assembly such as mounting surface deformation, product performance will be reduced.

lb give full play to the excellent performance of the harmonic drive, please pay attention to the following matters and ensure the recommended accuracy of the assembly housing as shown in the following figure and the table below.

Mounting surface deflection and deformation.

The foreign substance occurs.

The surrounding rough edges, uplift, and abnormal position of screw holes on the mounting holes.

The chamfer of the recessed circle is insufficient.

The degree of roundness of the recessed circle is abnormal.

Harmonic reducer is widely used in robotics, communication equipment, medical equipment, testing and analysis equipment, and other fields.

Robotics & Automation

Harmonic drive designed and manufactured by Han's Motion can be used for industrial robotics & automation.

Industrial Laser Cutting

Precision harmonic drive designed and manufacturered by Han's Motion is ideal for industrial laser cutting.

Aerospace

Harmonic drive supplied by Han's Motion can be used for aerospace.

Medical Equipment

As a professional harmonic drive gearbox manufacturer, Han's Motion wants to make our future brighter by producing only reliable and cost-effective medical gearboxes.

Industrial Machinery

The robotic arm by Han's Motion is widely used for automated mechanical device in the field of industrial machinery.

Packaging Food Processing

Harmonic drive manufactured by Han's Motion is used for packaging food processing.

Robots are mainly divided into four categories: industrial robots, collaborative robots, service robots and special robots. The first two types of robots are mainly used in industrial production, and the third type of robots are generally not used in manufacturing, but are mainly used in the service industry. Collaborative robots cooperate with workers in industrial production, so they are independent of the industrial robot category. Harmonic reducers are widely used in industrial robots and collaborative robots.

Categories of Harmonic Gearbox for Robots

Reducers can be divided into general-purpose, special-purpose and precision reducers, among which precision reducers are mainly used in the robot industry. ①Universal reducer: generally refers to gear reducer, worm turbine reducer and planetary reducer, mainly small and medium-sized, which are widely used in various industries; ②Special reducer: generally large and extra large, mostly dedicated to the industry Reducer, such as automobile reducer, photovoltaic reducer, wind power reducer; ③Precision reducer: mainly micro and small, generally refers to RV reducer or harmonic reducer, widely used in industrial robots, machine tools, semiconductors, aviation High-precision scenarios such as aerospace are especially widely used in articulated robots.

Harmnic Reducer VS RV Reducer

Among the precision reducers, compared with the RV reducer, the harmonic reducer has a simpler structure, smaller mass and volume, higher single-stage transmission ratio and higher precision, and has an irreplaceable position in the field of robotics. RV reducer: It has a large transmission ratio range, relatively stable precision, high fatigue strength, and higher rigidity and torque bearing capacity. It has advantages in heavy-load parts such as robot arms and machine bases. Due to the characteristics of large external dimensions, it cannot be developed into the light and flexible light load field.

Harmonic reducer: It has the advantages of large single-stage transmission ratio, small volume, small mass, high motion precision, and can work normally in confined space and medium radiation conditions. Compared with the general reducer, when the output torque is the same, the volume of the harmonic reducer can be reduced by 2/3 and the weight can be reduced by 1/2, which makes it light and flexible in the robot forearm, wrist, hand, etc. Taller components have irreplaceable advantages.

The application field of harmonic reducer is currently dominated by various robots, in addition to CNC machine tools, semiconductor, photovoltaic, medical and other equipment fields.