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https://www.laifualgroup.com/analysis-of-the-structure-and-working-principle-of-the-harmonic-reducer-of-the-core-component-of-the-robot.html

1.Harmonic reducer for industrial robots

Industrial robots are widely used in automobile manufacturing, electrical equipment production, food machinery processing and other industrial manufacturing. At present, the cost of global robots is mainly composed of: about 35% of the reducer, about 20% of the servo, about 15% of the control system, and the robot body The mechanical processing is only about 15%.

The precision reducer used in the robotics industry can be divided into three types: RV reducer, harmonic reducer and planetary reducer, the three of which account for approximately 40%, 40%, and 20% in the market.

The speed reduction of the reducer is realized by the simple principle that the speed is inversely proportional to the number of teeth and the transmission between the large and small gears. But to achieve a large transmission ratio, if we use cylindrical gears that we usually see, the volume of the entire gear reducer will be very large. If it is to be as small as possible, what should we do?

Harmonic reducer is to embed the gear inside.

2. Structure and harmonic drive working principle

The harmonic reducer is mainly composed of four basic components: wave generator, flexible gear, flexible bearing, and rigid gear.

Harmonic drive reducer is a gear transmission that relies on the wave generator to be assembled with flexible bearings to make the flexible gear produce controllable elastic deformation and mesh with the rigid gear to transmit movement and power.

When the wave generator continuously rotates, the deformation of the flexspline is constantly changing, so that the meshing state of the flexspline and the rigid wheel is also constantly changed, from engagement, engagement, engagement, disengagement, re-engaging. So as to realize the slow rotation of the flexible wheel relative to the rigid wheel in the opposite direction of the wave generator.

The technical difficulties of the harmonic reducer are mainly reflected in the service life and machining accuracy of the flexspline.