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Harmonic Drive Reducer

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Detail

■ SHF-2UH Series

The strain wave reducer of SHF-2UH Series have a hollow flanged flexspline, the cam of the wave generator is in the shape of a larger-diameter hollow shaft. The fully sealed reducer is designed with internal support bearings which is simple in installation and good in rigidity. It is very suitable for structures that need shaft threading from inside the reducer.

● Rated Parameters

Model	Reduction ratio	Rated torque @ 2000 r/min (N·m)	Permissible peak torque of starting/stopping (N·m)	Permissible max. value of ave. load torque (N·m)	Instantaneous permissible max. torque (N·m)	Permissible max. input rotational speed (r/min)	Permissible ave. input rotational speed (r/min)	Inertia moment (×10*kgm²)	Life in design (h)
14	50	5.4	18	6.9	35	8500	3500	0.033	10000
	80	7.8	23	11	47
	100	7.8	28	11	54
17	50	16	34	26	70	7300	3500	0.079	10000
	80	22	43	27	87
	100	24	54	39	108
20	50	25	56	34	98	6500	3500	0.193	10000
	80	34	74	47	127
	100	40	82	49	147
	120	40	87	49	147
25	50	39	98	55	186	5600	3500	0.413	10000
	80	63	137	87	255
	100	67	157	108	284
	120	67	167	108	304
32	50	76	216	108	382	4800	3500	1.690	10000
	80	118	304	167	568
	100	137	333	216	647
	120	137	353	216	686

● Transmission accuracy

Unit: arc-min

Reduction ratio	Model	14	17	20	25	32
50		1.8	1.8	1.5	1.5	1.5
80 or more		1.5	1.5	1.2	1.2	1.2

● Lost motion

Unit: arc-min

Reductionratio	Model	14	17	20	25	32
50		2.0	2.0	2.0	2.0	2.0
80以上80 or more		1.0	1.0	1.0	1.0	1.0

● Max. backlash

Unit: arc-sec

● Torsional rigidity

Symbol	Model	14	17	20	25	32
T₁	N-m	2.00	3.90	7.00	14.0	29.0
T₂	N-m	6.90	12.0	25.0	48.0	108
Reduction ratio 50	K,(×10⁴N-m/rad)	0.34	0.81	1.30	2.50	5.40
	K₂ (×10*N ·m/rad)	0.47	1.10	1.80	3.40	7.80
	K₃ (×10⁴N ·m/rad)	0.57	1.30	2.30	4.40	9.80
	θ,(arc min)	2.00	1.70	1.80	1.90	1.90
	θ₂ (arc min)	5.60	4.20	5.30	5.40	5.40
Reduction ratio 80 or more	K,(×10⁴N ·m/rad)	0.47	1.00	1.60	3.10	6.70
	K₂ (×10⁴N ·m/rad)	0.61	1.40	2.50	5.00	11.0
	K₃ (×10*N-m/rad)	0.71	1.60	2.90	5.70	12.0
	θ,(arc min)	1.40	1.30	1.50	1.50	1.50
	θ₂ (arc min)	4.20	3.30	3.90	3.80	4.00

■ Outline drawing

Note 1: It is recommended to have a housing undercut on the install concave. Please check the confirmation drawing or contact us for dimension tolerances which are not shown in the drawing.

■ Dimensions Table

Symbo	Model	14	17	20	25	32
φAH7		70	80	90	110	142
φB		54	64	75	90	115
ΦC h7		36	45	50	60	85
ΦD h7		74	84	95	115	147
OE h7		20	25	30	38	45
ΦF H7		14	19	21	29	36
G		52.5	56.5	51.5	55.5	65.5
H		12	12	5	6	7
1		20.5	23	25	26	32
J		20	21.5	21.5	23.5	26.5
K		6.5	6.5	-	-	-
L		9	10	10.5	10.5	12
M		8	8.5	9	8.5	9.5
N		7.5	8.5	7	6	5
0		21.7	23.9	25.5	29.6	36.4
ΦP(P)		2.5)	2.5)	25.5	33.5	40.5
Q		3	3	6	6	6
R		M3	M3	M3X6	M3X6	M3X6
ФS		64	74	84	102	132
T		8	12	12	12	12
ФU		3.5	3.5	3.5	4.5	5.5
ФV		44	54	62	77	100
W		12E.A.8	20 E.A.16	16	16	16
X		M3X5	M3X6	M3X6	M4X7	M5X8
X		Ф3.5X11.5	Ф3.5X12	Ф3.5X13.5	Ф4.5X15.5	Ф5.5X20.5
ФY		36	45	-	-	-
Z		5.5	5.5	-	-	-
a		6804ZZ	6805ZZ	6806ZZ	6808ZZ	6809ZZ
b		6804ZZ	6805ZZ	6806ZZ	6808ZZ	6809ZZ
C		D49585	D59685	D69785	D84945	D1101226
d		S20304.5	S25356	S30405	S38475	S48607
e		S20304.5	S25356	S30405	S38475	S45555
Mass(kg)		0.71	1.00	1.38	2.1	4.5
· The dimension tolerances are existing according to different manufacturing methods

■ SHF-2UJ Series

The strain wave reducer of SHF-2UJ Series have a hollow flanged flexspline, and a wave generator whose cam is fixed on the input shaft. The fully sealed reducer is designed with internal supported bearings which is easy to install and suitable for structures where bevel gear or timing belt drive are necessary to be installed at the input end.

● Rated Parameters

Model	Reduction ratio	Rated torque @ 2000 r/min (N·m)	Permissible peak torque of starting/stopping (N·m)	Permissible max. value of ave. load torque (N·m)	Instantaneous permissible max. torque (N·m)	Permissible max. input rotational speed (r/min)	Permissible ave. input rotational speed (r/min)	Inertia moment (×10-4kgm²)	Life in design (h)
14	50	5.4	18	6.9	35	8500	3500	0.033	10000
	80	7.8	23	11	47
	100	7.8	28	11	54
17	50	16	34	26	70	7300	3500	0.079	10000
	80	22	43	27	87
	100	24	54	39	108
20	50	25	56	34	98	6500	3500	0.193	10000
	80	34	74	47	127
	100	40	82	49	147
	120	40	87	49	147
25	50	39	98	55	186	5600	3500	0.413	10000
	80	63	137	87	255
	100	67	157	108	284
	120	67	167	108	304
32	50	76	216	108	382	4800	3500	1.690	10000
	80	118	304	167	568
	100	137	333	216	647
	120	137	353	216	686

● Transmission accuracy

Unit: arc-min

Reduction ratio	Model	14	17	20	25	32
50		1.8	1.8	1.5	1.5	1.5
80以上80 or more		1.5	1.5	1.2	1.2	1.2

● Lost motion

Unit: arc-min

Reduction ratio	Model	14	17	20	25	32
50		2.0	2.0	2.0	2.0	2.0
80 or more		1.0	1.0	1.0	1.0	1.0

● Max. backlash

Unit: arc-min

● Torsional rigidity

Symbol	Model	14	17	20	25	32
T₁	N·m	2.00	3.90	7.00	14.0	29.0
T₂	N·m	6.90	12.0	25.0	48.0	108
Reduction ratio 50	K₁(×10⁴Nm/rad)	0.34	0.81	1.30	2.50	5.40
	K₂ (×10⁴N ·m/rad)	0.47	1.10	1.80	3.40	7.80
	K₃ (×10⁴N ·m/rad)	0.57	1.30	2.30	4.40	9.80
	θ₁(arc min)	2.00	1.70	1.80	1.90	1.90
	θ₂ (arc min)	5.60	4.20	5.30	5.40	5.40
Reduction ratio 80 or more	K₁(×10⁴N ·m/rad)	0.47	1.00	1.60	3.10	6.70
	K₂ (×10⁴N ·m/rad)	0.61	1.40	2.50	5.00	11.0
	K₃ (×10⁴N ·m/rad)	0.71	1.60	2.90	5.70	12.0
	θ₁(arc min)	1.40	1.30	1.50	1.50	1.50
	θ₂ (arc min)	4.20	3.30	3.90	3.80	4.00

● Outline drawing

Note 1: It is recommended to have a housing undercut on the install concave.

■ Dimensions Table

Symbol	Model	14	17	20	25	32
ΦAH7		70	80	90	110	142
ФB		54	64	75	90	115
ФC h7		36	45	50	60	85
ФD h7		74	84	95	115	147
ΦE h7		6	8	10	14	14
F		50.5	56	63.5	72.5	84.5
G		15	17	21	26	26
H		20.5	23	25	26	32
I		15	16	17.5	20.5	26.5
J		14	16	20	25	25
K		9	10	10.5	10.5	12
L		8	8.5	9	8.5	9.5
M		2.5	3	3	3	5
N		21.7	23.9	25.5	29.6	36.4
O		11	12	16.5	22.5	22.5
P		-	-	8.2⁺⁰_-0.1	11⁺⁰_-0.1	11⁺⁰_-0.1
Q		0.5	0.5	3^-0_-0.025	5^-0_-0.03	5^-0_-0.03
R		-	-	3^-0_-0.025	5^-0_-0.03	5^-0_-0.03
S		-	-	M3X6	M5X10	M5X10
ФT		64	74	84	102	132
U		8	12	12	12	12
ФV		3.5	3.5	3.5	4.5	5.5
ФW		44	54	62	77	100
X		12 E.A.8	20 E.A.16	16	16	16
Y		M3X5	M3X6	M3X6	M4X7	M5X8
Y		Ф3.5X11.5	Ф3.5X12	Ф3.5X13.5	Ф4.5X15.5	Ф5.5X20.5
a		698ZZ	6900ZZ	6902ZZ	6903ZZ	6904ZZ
b		695ZZ	697ZZ	698ZZ	6900ZZ	6902ZZ
C		D49585	D59685	D69785	D84945	D1101226
d		G8184	D10205	D15255	D15255	D20355
Mass(kg)		0.66	0.94	1.38	2.1	4.4
· The dimension tolerances are existing according to different manufacturing methods.

OUTLINE DRAWING: SHF-2SO

■ Outline drawing

Notes 1: It is recommended to have a housing undercut on the install concave.
Notes 2: C0.5 for model 14 .

■ Dimensions Table

Symbol	Model	14	17	20	25	32
ΦA h6		50	60	70	85	110
ΦB1		14	18	21	26	26
ФC H7	Standard	6	8	9	11	14
ФC H7	Max	8	10	13	15	15
D*	SHF	28.5⁺⁰_-0.8	32.5⁺⁰_-0.9	33.5⁺⁰_-1.0	37⁺⁰_-1.1	44⁺⁰_-1.1
D*	SHG	28.5⁺⁰_-0.8	32.5⁺⁰_-0.9	33.5⁺⁰_-1.0	37⁺⁰_-1.1	44⁺⁰_-1.1
E		23.5	26.5	29	34	42
F*		5	6	4.5	3	2
G		2.4	3	3	3.3	3.6
H		14.1	16	17.5	18.7	23.4
1		7	7.5	8.5	12	15
J		6	6.5	7.5	10	14
	SHF	0.4	0.3	0.1	2.1	2.5
	SHG	1.4	1.6	1.5	3.5	4.2
	SHF	17.6⁺⁰_-0.1	19.5⁺⁰_-0.1	20.1⁺⁰_-0.1	20.2⁺⁰_-0.1	22⁺⁰_-0.1
	SHG	18.5⁺⁰_-0.1	20.7⁺⁰_-0.1	21.5⁺⁰_-0.1	21.6⁺⁰_-0.1	23.6⁺⁰_-0.1
ΦM1		70	80	90	110	142
ΦM2		48	60	70	88	114
0		8	12	12	12	12
ΦP		3.5	3.5	3.5	4.5	5.5
ΦQ		0.25	0.25	0.25	0.25	0.25
ΦR		64	74	84	102	132
S		2	4	4	4	4
T1		M3X6	M3X6	M3X8	M3X8	M4X8
T 2 ( 角度 )		22.5°	15°	15°	15°	15°
ΦU		44	54	62	77	100
V		-	-	10.4	12.8	16.3
W Js9		-	-	3	4	5
X1		12 E.A.8	20 E.A.16	16	16	16
X2		M3X5	M3X6	M3X6	M4X7	M5X8
Y1		Φ3.5X6	Φ3.5X6.5	Φ3.5X7.5	Φ4.5X10	Φ5.5X14
Y2		0.25	0.25	0.25	0.25	0.25
Z1		4	4	4	4	4
Z2		M3X6	M3X6	M3X8	M3X10	M4X16
Housing innerwall	Φa	38	45	53	66	86
	b	1	1	1.5	1.5	1.5
	Φc	31	38	45	56	73
d		1.7	2.1	2	2	2
e		D49585	D59685	D69785	D84945	D1101226
Weight(kg)		0.41	0.57	0.81	1.31	2.94
· Specfication with*mark:The D/FK indicate the mounting positions in the shaftdrection and alowance of the threeparts-wave generato,fexspline,circular spline. Strictly follow the requirement of thesespecifications asthey affect the performance and intensity.
· Please note thatin the circular spline there does not incorporate an O-ing grove ymbolf.Please provideaternate sealing arangements during the designingand instaling
· Due to the deformation of the Flexspline during operation,it is necessary to provide a minimum housing clearance,dimensions Φa,b,c.
· The wave generator is packed separately when the productisdelivered.
· The following dimensions can be modified to accommodate customer-specific requirements Wave Generator: C Flexspline:0 and P Circular Spline:X₁and X₂

OUTLINE DRAWING: SHF-2SH

■ Outline drawing

Note 1: It is recommended to have a housing undercut on the install concave.
Note 2: Refer to the confirmation drawing for detailed dimensions. Especially be certain to check the delivered specifications since the configuration of the wave generator varies depends on the size.

■ Dimension Table

Symbol	Model	14	17	20	25	32
ΦA h6		50	60	70	85	110
ΦB1		-	-	-	-	-
C		52.5⁺⁰_-0.1	56.5⁺⁰_-0.1	51.5⁺⁰_-0.1	55.5⁺⁰_-0.1	65.5⁺⁰_-0.1
D1*	SHF	16^+0.8₊₀	16^+0.9₊₀	9.5^+1.0₊₀	10^+1.1₊₀	12^+1.1₊₀
D1*	SHG	16^+0.4₊₀	16^+0.4₊₀	9.5^+0.4₊₀	10^+0.5₊₀	12^+0.6₊₀
D2		23.5	26.5	29	34	42
D3*		13	14	13	11.5	11.5
E1		2.4	3	3	3.3	3.6
E2		14.1	16	17.5	18.7	23.4
E3		7	7.5	8.5	12	15
F		6	6.5	7.5	10	14
ΦG H6		48	60	70	88	114
ΦH h6		70	80	90	110	142
Wave generator dimensions	l1	20±0.1	21.5±0.1	19±0.1	20±0.1	29±0.1
	I2	20±0.1	21.5±0.1	20±0.1	22.5±0.1	23.5±0.1
	(l3)	12.5	13.5	12.5	13	13
	J1	2.5	2.5	-	-	-
	J2	7	7	7	6.5	-
	J3	7	7	7	6.5	-
	J4	-	-	-	-	-
	K1	-	-	-	-	-
	K2	-	-	-	-	-
	ΦL1	22	27	32	42	47
	ΦL2 j6	20	25	30	40	45
	ΦL3h9	-	-	-	38	-
	ΦL4 H7	14	19	21	29	36
	ΦL5 f7	20	25	30	-	45
	ΦM1	22	27	32	42	49
	ΦM2 h7	20	25	30	38	45
	ΦM3					42.5
	ΦM4 H7	14	19	21	29	36
	ΦN1j6	20	25	30	40	45
	ΦN2	14.5	19.5	21.5	29.5	36.5
	01	10	10	10	10	10
	02	22.5	24.5	(19.5)	22.5	30.5)
	03	20	22	22	23	25
P1		3	3	6	6	6
P2		M3	M3	M3X6	M3X6	M3X6
ΦP3		-	-	0.25	0.25	0.25
Q1		8	12	12	12	12
ΦQ2		3.5	3.5	3.5	4.5	5.5
ΦQ3		0.25	0.25	0.25	0.25	0.25
ΦR		64	74	84	102	132
ΦS		二	二	25.5	33.5	40.5
T1		2	4	4	4	4
T2		M3X6	M3X6	M3X8	M3X8	M4X8
T3(angle)		22.5°	15°	15°	15°	15°
ΦU		44	54	62	77	100
V1		8 parts of 12 equally divided ones	16 parts of 20 equally divided ones	16	16	16
V2		M3X5	M3X6	M3X6	M4X7	M5X8
V3		Φ3.5X6	Φ3.5X6.5	Φ3.5X7.5	Φ4.5X10	Φ5.5X14
V4		0.25	0.25	0.25	0.25	0.25
W1		4	4	4	4	4
W2		M3X6	M3X6	M3X8	M3X10	M4X16
Minimum housing clearance	Φa	38	45	53	66	86
	b	1	1	1.5	1.5	1.5
	Φc	31	38	45	56	73
d		1.7	2.1	2	2	2
e		D49585	D59685	D69785	D84945	D1101226
Mass(kg)		0.45	0.63	0.89	1.44	3.1
· Specfication with*mark:The D/FK indicate the mounting positions in the shaft diection and alowance of the three parts-wave generato,flexspline,circular spline Strictly follow the requirement of these specifications asthey affect the performance and intensity.
· Pease not thatin the circular splne there does notincorporatean O-ring groove Symbolfl.Please provide alternate sealing arangements during the designing and instaling
· Due to the deformation of the Flexspline during operation,it is necessary to provide a minimum housing clearance,dimensions中a,b,c.
· The wave generator is packed separately when the product isdelivered.
· The following dimensions can be modified to accommodate customer-specific requirements Wave Generator: C Flexspline:0 and P Circular Spline: X,and X

Harmonic Drive Reducer

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