HYR-32 Harmonic reducer flexible bearing applied on robots

Harmonic reducer brief introduction

Harmonic reducer is mainly composed of harmonic generator, flexspline, rigid spline, and also rigid bearing(Crossed roller bearing) and flexible bearing(thin section deep groove ball bearing)

Flexible bearing's inner hole match with oval shaped cam outer ring; Outer ring which can do elasticdeformation

to match with flexspline's opening part inner ring. Flexspline's opening part outer ring engraved gear engaged with rigid spline teeth. Rigid spline teeth are more than flexspline. Flexspline and rigid spline engaged with each other on long shaft and separated on short shaft. Flexspline bottom is fixed on the output terminal. Rigid bearing is installed on the reducer output terminal and connected with outside.

Harmonic reducer is usually applied on robots, machine tool, and aerospace industries which have high

requirements on harmonic reducer precision, rigidity, and load capacity. So it has high requirements to

harmonic reducer parts machining precision and mounting precision and also to bearings. For rigid bearing,

the most important are the bearing rigidity, reliability, and rotation precision. Rigid bearing usually has

some preload before leaving the factory in order to guarantee bearing has enough rigidity. The maximum

radial deformation is very important to flexible bearing.

Harmonic reducer bearing structure type

Harmonic reducer bearing consists of rigid bearing and flexible bearing. Rigid bearing has four series:

CSG(CSF) Series, CSD Series, SHG(SHF) Series, SHD Series. Its model name same with the corresponding

according harmonic reducer name. Flexible bearing's name is HYR

Rigid bearing

Rigid bearing is a kind of crossed cylindrical roller bearing. According to the different application occasions, it

has two categories: Inner and outer ring integrated; inner ring integrated and outer ring split. Rolling element

is cylindrical roller, each roller in 90°angle vertical arrangements in the V-shape raceway. This kind of

bearing can bear axial load, radial load, tilting moment and all kinds of load in every direction. This kind of

bearing has characteristics of high precision, high rigidity, and combined load capacity.

Flexible bearing mainly bear alternating stress. It is easy to have a certain deformation when it matches with cams,

because its section is very thin. Inner ring, outer ring and rolling elements adopt High-carbon chromium bearing steel.

Cage adopts integrated nylon cage.(HONBbearing05)