CF/CG-U1 Series Harmonic Drive (Strain Wave Gear Reducer)

CF/CG-U1 Series Harmonic Drive (Strain Wave Gear Reducer)

The CF-CG series harmonic drive reducer is a type of precision gearbox that utilizes a unique gear mechanism known as a harmonic drive. Harmonic drives are widely used in various industries, including robotics, aerospace, and automation, where high precision and compact size are crucial.

The CF-CG series harmonic drive reducers consist of three main components:

1. Wave Generator: This component is responsible for generating the motion in the system. It consists of an elliptical wave generator, which is connected to the input shaft of the reducer. The wave generator produces a wave motion that is transmitted to the flexspline.

2. Flexspline: The flexspline is the output component of the harmonic drive. It is a thin, flexible ring with internal teeth that meshes with the wave generator. The wave motion generated by the wave generator causes the flexspline to deform and rotate, resulting in the output motion.

3. Circular Spline: The circular spline is the fixed component of the harmonic drive. It has external teeth that mesh with the internal teeth of the flexspline. The circular spline constrains the motion of the flexspline, allowing it to transmit the desired output motion with high precision.

The CF-CG series harmonic drive reducers are available in various sizes and configurations to accommodate different torque, speed, and mounting requirements. They can be integrated into various mechanical systems, such as robotic arms, machine tools, and positioning systems, to provide accurate and reliable motion control.

CF/CG Series Harmonic Drive Reducer Features:

1. Simple design
2. High torque capacity
3. High rigidity
4. No backlash
5. Excellent positioning and rotational accuracy
6. Input and output coaxial

CF/CG Series Harmonic Drive Reducer Structure:

CF-U1 Series Harmonic Drive Reducer Specifications:

CG-U1 Series Harmonic Drive Reducer Specifications:

CF-U1 Series Harmonic Drive Reducer Starting Torque Table:

reduction ratio/models	14	17	20	25	32	40	45	50
030	6.4	9.3	15	25	54	-	-	-
050	4.1	6.1	7.8	15	31	55	77	llO
080	2.8	4	4.9	9.2	19	35	49	66
100	2.5	3.4	4.3	8	18	31	43	58
120	-	3.1	3.8	7.3	15	28	39	52
160	-	-	3.3	6.3	14	24	33	45

CG-U1 Series Harmonic Drive Reducer Starting Torque Table:

reduction ratio/models	14	17	20	25	32	40	45	50
050	4.5	6.7	8.6	17	34	61	85	-
080	3.1	4.4	5.4	10	21	39	54	73
100	2.8	3.7	4.7	8.8	20	34	47	64
120	-	3.4	4.2	8.0	17	31	43	57
160	-	-	3.6	6.9	15	26	36	50

CF-CG Series Harmonic Drive Reducer Crossed Bearing Performance:

Models	Roller pitch circle diameter	offset	Basic load rating		Allowable Moment Load Mc	Torque rigidity Km
	dp	R	Basic dynamic rated load cr	Basic static load rating	Nm	Nm/rad
	m	m	N	N
14	0.035	0.0095	47 X 10^2	60.7 X 10^2	41	4.38 X 10^4
17	0.0425	0.0095	52.9 X10^2	75.S X10^2	64	7.75 X 10^4
20	0.050	0.0095	57.8 X10^2	90 X 10^2	91	1 2.8 X 10^4
25	0.062	0.0115	96 X10^2	151  X 10^2	156	24.2 X 10^4
32	0.080	0.013	150 X10^2	250X 10^2	313	53.9 X 10^4
40	0.096	0.0145	213 X10^2	365 X 10^2	450	91 X 10^4
45	0.111	0.0155	230 X10^2	426 X 10^2	686	141X 10^4
50	0.119	0.018	348 X10^2	602 X10^2	759	171X 10^4

CF/CG-U1 Series Harmonic Drive Reducer Dimensions:

CF/CG-U1 Series Harmonic Drive Reducer Size Chart:

Harmonic Drive Reducer Working Principle:

The working principle of a harmonic drive reducer involves the interaction between three main components: the wave generator, the flexspline, and the circular spline.

Wave Generator: The wave generator is connected to the input shaft of the harmonic drive reducer. It consists of an elliptical or cam-shaped disk with a set of external teeth. As the input shaft rotates, it causes the wave generator to rotate as well. This rotation generates a wave-like motion in the shape of the elliptical disk.

Flexspline: The flexspline is a thin, flexible ring with internal teeth that meshes with the external teeth of the wave generator. The flexspline is made of a high-strength, flexible material, such as steel or titanium. When the wave generator rotates, the flexspline deforms due to the wave motion of the external teeth. This deformation causes the flexspline to twist and rotate.

Circular Spline: The circular spline is the fixed component of the harmonic drive reducer. It has external teeth that mesh with the internal teeth of the flexspline. The circular spline is rigidly connected to the output shaft. As the flexspline rotates, the meshing between the internal and external teeth of the flexspline and circular spline causes the circular spline and the output shaft to rotate.

The interaction between the wave generator, flexspline, and circular spline creates a unique gearing effect that allows the harmonic drive reducer to achieve high gear reduction ratios and precise motion control.

The gear reduction ratio is determined by the number of teeth on the wave generator, flexspline, and circular spline. The flexspline typically has fewer teeth than the wave generator and circular spline, resulting in a gear reduction. The specific design of the teeth profiles and the deformation characteristics of the flexspline ensure smooth and precise motion transmission.

One of the key advantages of a harmonic drive reducer is its ability to achieve high torque multiplication. Since the flexspline twists under the wave motion, it effectively amplifies the torque from the input shaft to the output shaft. This feature makes harmonic drives suitable for applications that require high torque in a compact design.

Additionally, harmonic drives offer low backlash, which is the amount of play or lost motion between the input and output shafts. The flexspline's deformation ensures a tight meshing between the teeth of the flexspline and circular spline, resulting in minimal backlash.

Applications of CF-CG Series Harmonic Drive Reducer:

The CF-CG series harmonic drive reducer finds applications in various industries and fields where precise motion control, high torque, and compact size are essential. Some of the common applications of the CF-CG series harmonic drive reducer include:

(1) Robotics: Harmonic drive reducers are widely used in robotic systems, including industrial robots, collaborative robots (cobots), and humanoid robots. They provide precise and smooth motion control for robot joints, enabling accurate positioning, high repeatability, and dexterity in robot movements.

(2) Aerospace: The CF-CG series harmonic drive reducers are employed in aerospace applications such as satellite positioning systems, antenna positioning, and aircraft control surfaces. Their compact size, light weight, and high torque density make them suitable for space-constrained and weight-sensitive applications.

(3) Automation and Factory Automation: Harmonic drives are utilized in various automation systems, including pick-and-place machines, packaging equipment, and assembly line systems. They enable accurate and efficient motion control for precise positioning, sorting, and handling of objects.

(4) Machine Tools: Harmonic drives are integrated into machine tools such as CNC milling machines, lathes, and grinding machines. They provide high precision and backlash-free motion control, contributing to the accuracy and surface finish quality of machined parts.

(5) Medical Equipment: The CF-CG series harmonic drive reducers are employed in medical devices and equipment, including surgical robots, imaging systems, and rehabilitation devices. They offer precise and controlled motion for applications requiring delicate and accurate movements.

(6) Semiconductor Manufacturing: Harmonic drives are used in semiconductor manufacturing equipment for wafer handling, positioning, and alignment. Their high precision and repeatability are crucial for the fabrication processes in the semiconductor industry.

Why Choose  HZPT's Harmonic Drive Reducer?

HZPT Technology Co., Ltd. is a gearbox manufacturer with a core supply system, and has more than 8,000 cooperating customers. Since its establishment, HZPT has joined hands with partners in the industry to build factories all over the country, introduced advanced production equipment and precision monitoring equipment, and continuously innovated, researched and developed, and perfected its products. HZPT provides domestic and foreign customers with a comprehensive range of gearmotors and a diversified range of gearboxes to meet the different needs of customers in various fields.

Our main products include: planetary gearboxes, RV gearboxes, hollow rotary platforms, miniature gearboxes and matching speed controllers, miniature gearmotors, worm gearboxes, DC brushless gearmotors, three-phase asynchronous motors, vertical and horizontal gearmotors, torque reducers, cross steering gearboxes, harmonic reducers, and other series of gearmotors and their matching products. Many of them are of modularized design. Adopting new equipment and new technology, the products have better internal quality, smaller volume, lighter weight and more beautiful appearance. The products are widely used in: lithium equipment, laser equipment, engineering equipment, CNC machine tools, machinery production, non-standard automation, automobile manufacturing, aviation field, printing machinery, paper making, robotics, packaging machinery, filling, solar energy equipment, medical and pharmaceutical, testing instruments and many other industries.