XB系列谐波传动减速机

1、XB 系列谐波传动减速机类型、特点和适用范围谐波传动减速器是利用柔性元件可控制的弹性变形来传递运动和动力的机械传动装置。它具有传动比大并且范围广、精度高、空回小、承载能力大、效率高、体积小、重量轻、传动平稳、噪声小、可向密封空间传递运动等特点。由于谐波传动减速器具有许多优点，现已广泛应用于空间技术、能源、电子工业、石油化工、军事工业、机器人、假肢、机床、仪器仪表、纺织机械、印刷机械、包装机械、起重运输机械、医疗器械、食品加工机械等领域。1) 结构型式谐波传动减速器包括三个基本构件：波发生器、柔轮、刚轮(如图 1 所示)。三个构件中可任意固定一个，其余两个一为主动，一为从动，可实现减速或增速(固

2、定传动比)，也可变成两个输入，一个输出，组成差动传动。图 1(2) 工作原理2a、b、c、d 所示，当刚轮固定，波发生器为主动，柔轮为从动时，柔轮在椭圆形的波发生器作用下2 个，所以当波发生器转动一周时，柔轮向相反方向转过两个齿的角度，从而实现了大的减速比。图 2(1) 产品的分类及结构特点XB1 系列(GB/T14118-93) XBI3 4 所示。XB3 XB3 567 所示。XBF XBF 系列中包括XBF2 和XBF3 XB3 89 所示。XB2 XB2 2000100000 排柔性轴承结构。R R 系列谐波传动减速器是高精度谐波传动产品，其外形及安装与XB1 (3)XB1 系列单级谐

3、波传动减速器的规格及额定数值表。用户可根据自身需要选择以上各系列产品，即可选用减速器整机也可根据需要选用减速器组件。XB1 单级谐波传动减速器的规格和额定数值见表 1。表 1 单级谐波传动减速器的规格和额定数值表输出转矩输出转速输出转矩输出转速输入功率输出转矩输出转速输入功率输出转矩输出转速输入功率比/(Nm)/(r/min)/kw/(Nm)/(r/min)/kw/(Nm)/(r/min)/kw632.047.60.0312.523.80.0082.515.90.005644.546.90.0254.523.40.0124.515.60.008805.037.50.0255.518.80.01

4、35.512.50.0098012.037.50.05912.018.80.02912.012.50.01910015.0300.05916.5150.03117.0100.021802537.50.1232518.80.0592512.50.039842535.70.1172517.90.0562511.90.03710030300.11833150.06233.6100.04112530240.09737.5120.05843.580.044804037.50.1974018.80.09440.012.50.06210050300.19755150.10456.0100.069120502

5、50.16962.512.50.10172.58.30.07415050200.14062.5100.08572.56.70.0621605018.80.13962.59.40.07872.56.30.0578010037.50.49310018.80.23510012.50.153100120300.473132150.248135100.16513512022.20.36315011.20.2151757.50.16316012018.80.3121509.40.1851756.30.140200120150.2641507.50.15617550.1188020037.50.986200

6、18.80.46920012.50.3058420035.70.93920017.90.44720011.90.291100240300.947265150.497270100.330125240240.777300120.46230080.30016024018.80.6243009.40.3703006.30.24016824017.90.5943008.90.3523005.950.228200240150.5273007.50.31230050.2028036037.51.77536018.80.84436012.50.549100450301.775495150.929505100.

7、617120450251.51855012.50.8816008.30.625150450201.25550100.7236006.670.51316045018.81.1695509.40.6786006.30.481200450150.9895507.50.57260050.4058080018.81.87680012.51.221100900151.6891015101.282134100011.21.43511507.51.07316010009.41.23311506.30.92120010007.51.040115050.77626710005.60.82311503.80.614

8、3000r/min1500r/min输入转速 1000r/min25324050608010012016080150018.83.518150012.52.2891001800153.3772000102.4421252000123.077230082.30116820008.92.348230061.75520020007.52.079230051.552250200061.758230041.31180250018.85.863250012.53.8161003500156.5673650104.457120350012.55.60940008.34.1691503500104.60240

9、006.73.41916035009.44.31540006.33.20520035007.53.638400052.699250350063.077400042.28031535004.82.51440003.171.920200250XB1 系列单级谐波传动减速器外形及安装尺寸见图 3 和表 2。200250图 3机型d(h7)d1机型d(h7)d1d2(js6)(h7)d3DD1(h7)D2D3LL1L2L3HH1AC25468M42530404385812224550键 11.44键 C2103261012M5324550551151216335560键 28键 C4144081215

10、M5405060661401622386572键 312键 C51850101418M6506070761701830437582键 315键 C62560141822M66068851001941835479098键 514键 C63280141830M108085115130243204462122144键 516键 C840100162435M12100100135155293245367145167键 520键 C1050120182445M14120120170195350286882185240键 624键 C1462160244060M2016014022024544338889

11、1235290键 832键 C1880200305080M2420018027030053848108115285340键 840键 C22100250356095M2724021533036066960128156345423键 1050键 C25120注：1. 25 机型 A 栏：键按 GB1109-96 选用。2. 其余的键按 GB1096-96 选用。XB1 单级谐波传动减速器组件外形及安装尺寸见图 4 和表 3图 4表 3 XB1 系列谐波传动减速器 (mm)机型ABCDEFGHIJK5070-0.01050-0.02950.93216+0.018041.512241650.0156

12、085-0.01255-0.034614025+0.02105214281860.01580115-0.012-0.07034825230+0.02105218282060.015100135-0.014-0.095391026532+0.025010224362480.018120170-0.014-0.0110391238040+0.025010228362880.018160220-0.015-0.01554416310456+0.0300152385640120.021200270-0.017-0.01854920413070+0.0300152467050140.021250330-

13、0.017-0.02304924516080+0.0350206.5558560180.021机型LMNOPQRSTUX5016.3+0.1014+0.018024624.5M44+0.1203+0.1204.5M3126020.8+0.1018+0.018032.5755.5M55+0.1204+0.1205.5M513.58020.8+0.1018+0.0180411006.5M66+0.1205+0.1206.5M61410027.3+0.2024+0.0210481209M88+0.1508+0.1509M816.512027.3+0.2024+0.02106015011M1010+0

14、.15010+0.15013M101916043.3+0.2040+0.02508019513M1212+0.18010+0.15013M102820053.8+0.2050+0.025010024018M1616+0.18012+0.18017M123525064.4+0.2060+0.025012029521M1812+0.18020+0.021021M2042扁平式谐波减速器的规格和额定数值见表 4。表 4 XB3 扁平式谐波传动减速器的规格和额定数值机型 XB3传动比最高输入转速/(r/min)半流体润滑脂油润滑输入功率/kw输入转速 3000r/min输出转速输出转矩/(Nm)256

15、4350080000.0946.881.2640.02346.883.03280350060000.02237.503.5660.06045.458.04080350060000.05137.508.01020.05129.4110800.09637.5015840.09235.711550100350050000.09230181200.08525201260.08123.8120800.16037.50251000.15430306012030005000013420361600.12618.7536800.35337.50551000.3593070801353

16、00045000.33222.22801600.29718.75852000.2381585800.64137.50100840.61035.711001000.61530120100125300045000.554241351600.52418.751501680.49917.86150801.15437.501801001.128302201201.06825250120150250035001.044202801600.97918.752802000.78315280801.42018.754801001.27815540*160135175025001.14811.196251601.

17、0419.386502000.8337.50650注：*160 机型为输入转速为 1500r/minj 时的数值。XB3 扁平式谐波传动减速器(2560 机型)外形及安装尺寸见图 5 和表 5。图 5机型d(h7)d1d2(js6)(h7)dDD机型d(h7)d1d2(js6)(h7)dDD13(h7)D2D3LL1L2L3HH1AC25468M4253040537181217.55059键 11.44键 C2103261012M53245506498.51216306069键 28键 C4144081215M54050607611414.520317082键 312键 C5185010141

18、8M5506070851341824398193键 315键 C62560141822M6606885/8710415018304298111键 514键 C632XB3 扁平式谐波传动减速器(80160 机型)外形及安装尺寸见图 6 和表 6。图 6机型d(h7)d1d2(js6)(h7)机型d(h7)d1d2(js6)(h7)d3DD1(h7)D2D3LL1L2L3HH1AC80141830M10808511514017419.53648130148键 516键 C840100162435M12100100135165229244562155182键 520键 C1050120182445

19、M1412012017020527427.55873190250键 624键 C1462160244060M2016014022026032237.56884245308键 832键 C1880XB3 扁平式谐波传动减速器组件外形及安装尺寸见图 7 和表 7。图 7表 7 XB3 扁平式谐波传动减速器组件外形及安装尺寸 (mm)84 100 126084 100 126010 120 1502860.01520.8+0.1080 1602860.01520.8+0.180 100 1350机型传动比A (G6)40DBCC1EFLHSH2564648066 8010280 12084 100

20、12610 120 15080 16080 100 135160 20084 100 125 16880 16080 160100 120 150 20080 135 200100 1604.50.59.57102.512325050.510.58112.516406060.512.59.5321507070.514.511.5325608587880.50.516.516.513133.53.5303080115100.520.516.544810013513127216581201701613325.57.5721602202214534.510.594641120.0127+0.1064

21、1530.01211.4+0.180066 802040.01513.8+0.1102080 1202450.01516.3+0.1LS机型LS机型传动比HHOPQRHLKLLLMLHSKSLSMS256+0.12010M34+0.010034M3 M33+0.01003210+0.018013M35+0.010043M3 M33+0.01004012+0.01801620.0127+0.106+0.012051M4 M44+0.01205014+0.01801930.01210.4+0.109+0.015062M4 M44+0.01206018+0.018018+0.018212140.01

22、540.01512.8+0.112.8+0.111+0.018011+0.01875077M5M5M50005+0.01205+0.0120802860.01520.8+0.1018+0.01802650.01516.3+0.1014+0.0180100M6 M66+0.0120100160 20084 100 125 16880 16080 160100 120 150 20080 135 200100 1603680.01827.3+0.2024+0.02102650.01516.3+0.1014+0.0180120M8 M88+0.01201203680.01827.3+0.2024+0

23、.02103560.01521.8+0.1019+0.0210150 M10 M10 10+0.018016056120.02143.3+0.2040+0.02504480.01827.3+0.1024+0.0210190 M12 M12 12+0.0180XBF 系列相位调节器用谐波传动减速器规格和额定数值可参考XB3 系统扁平式谐波传动减速器的规格和额定数值表。XBF2 8 8。图 8机型传动比AB机型传动比ABCDEFGHIJKNLOST5080 12070-0.010-0.02962200.006512+0.018024 25 12 1 38 8.2521.540.01513.8 M4

24、 M44+0.12085-0.01275-0.03477300.0065300.006520+0.02120+0.02105+0.01205+0.01287-0.012-0.0340080115-0.012-0.034100400.00830+0.0215+0.012100120160 20084 100 125 16880 16080 160 100120 150 20080 135 200100 160100 120 160200 250 315100 120 150160 200 250 31500135-0.014-0.039120500.00835+0.02508+0.0150170

25、-0.014-0.039150600.009540+0.0250160220-0.015-0.044195700.009550+0.02500200270-0.017-0.049240900.01165+0.030083 41 1 1061674180.02169.4 M16 M16 16+0.0180250330-0.017-0.0492951100.01180+0.0300101 50 1 1301992220.02685.4 M20 M20 20+0.020084 100 1266084 100 1266010 120 1506080 16080 100 135332914 1407.5

26、2560.01522.8M5M5362914 14072660.01522.8M5M5463718 150103080.01833.3M6M6564321 1681244100.01838.3M8M8685326 1781254120.02143.3 M10 M10 10+0.01807135 1871459140.02153.8 M12 M12 12+0.018XBF3 系列相位调节用谐波传动减速器外形及安装尺寸见图 9。图 9机型速比AB机型速比AB(h7)MN(h7) (js9)OPQ80 1205084 100 126100 120 1506080 6080 100 135160 20

27、084 100 125 16880 160 20080 160100 120 150 20080 135 200100 160100 120 160200 250 315100 120 150160 200 250 315104BB104BB106BB108BB110BB112BB114BB118122BB122204212305513804068151005080161206095181607011020200901402425011017028CDEFGHIJK8552207073117.5384412.5212413.8M49565308081120.5404516220622.8M51

28、25854010595122.5505518230833.3M614510050125113122.56865204351038.3M8185125601551321277880224401243.3M102351407019514713087117123501453.8M1229018090240178136106 129 21.5 3651869.4M12360210 110 290212141 130 155 25.5 3802285.4M14XB1 系列产品主要技术指标传动效率谐波传动减速器的传动效率是输出功率与输入功率之比，或有用功与总功之比。10ab 5%10%XB3 系列及XBF

29、 系列的效率较XB1 20%左右，而 XB2 系列的效率更低。图 10空回(运动损失)所谓空回是在空载情况下，改变输入轴转向时，输出 轴转角的滞后量。空回的允许值：6 以内。3 分以内。1 分以内。R系列空回值)XB3、XBF 系列的空回可参考XB1 系列的空回率之比，或有用与总功之比。10ab 5%10%XB3 系列及XBF 系列的效率较XB1 XB2 系列的效率更低。传动误差所谓传动误差是当输入轴单向旋转时，输出轴的实际转角与理论转角之差。传动误差的允许值：6 分以内。3 分以内。1 分以内。R系列传动误差值)。XB3、XBF 系列的传动误差可参考XB1 系列的传动误差值。10。表 10

30、XB1 系列静态载起动力矩序号机型空载静起动力矩/0.01N cm1XB1-2530802XB1-32451603XB1-40601204XB1-50803005XB1-601205006XB1-802008007XB1-10040012508XB1-12065018009XB1-1601000350010XB1-2002500700011XB1-250450015000XB3 系列及XBF 系列的静态空载起动力矩较XB1 系列要高。超载能力允许在起动、停止时瞬间超载一倍，工作时允许瞬间超载不大于 1.5 倍。扭转刚度所谓扭转刚度是当输入轴固定时，输出轴上负载转矩增量相应转角增量之比值。扭转刚

31、度分为A、B 两段，如图11 所示。K 20%额定转矩时，输出轴弹性变形的扭转刚度系数。AK 在此以后，当输出轴上的转矩加到额定转矩值时，产生弹性变形的扭转刚度系数。B图 11XB1 系列单级谐波传动减速器扭转刚度见表 11。KAKBKAKB序号机型/(Ncm/rad)/(Ncm/rad)平均值最佳值最佳值1XB1-252.841041.241052XB1-328.251043.431053XB1-402.061058.251054XB1-504.121051.651065XB1-607.691053.061066XB1-801.83106用R 0.57.231067XB1-1003.3010

32、61.321078XB1-1206.191072.481079XB1-1601.501076.1210710XB1-2003.061071.22108注：上表系指减速器整机测试数据，三大件的扭转刚度比整机约高一倍以上。输入轴上组件的飞轮矩(GD2)及转动惯量(I)XB1 系列单级谐波传动减速器输入轴组件的飞轮矩(GD2)及转动惯量(I)见表 12。表 12 XB1 系列输入轴组件的飞轮矩(GD2)及转动惯量(I)序号机型GD2/(N m2)I(kgm2)1XB1-251.9710-50.4910-62XB1-327.6010-51.9010-63XB1-402.3510-40.5910-54X

33、B1-507.1010-41.7710-55XB1-601.6610-40.4210-46XB1-804.9410-31.2310-47XB1-1001.4910-30.3710-38XB1-1203.6210-20.9010-39XB1-1601.6410-10.4110-210XB1-2004.8310-11.2110-2安装、使用与维护谐波传动减速器所承受的负载最好是纯转矩，减速器不能直接承受轴向力和弯矩。若必须承受弯矩时则应在减速器输出轴端增加相应的辅助支承。选用谐波传动组件的用户请参照图 12 及表 13、表 14 的要求确定与谐波传动组件的相关零件的位置度公差。图 12表 13 X

34、B1 系列谐波减速器组件安装时的位置公差要求 (mm)机型abcdefghi250.0100.0150.0120.0150.0150.0150.0120.0150.012320.0150.0200.0150.0150.0150.0150.0120.0150.012400.0150.0200.0200.0250.0250.0150.0150.0200.015500.0200.0250.0200.0250.0250.0200.0200.0200.015600.0200.0250.0250.0250.0250.0200.0200.020.015800.0250.0300.0250.0300.0300

35、.0250.0250.0250.0201000.0250.0300.0300.0300.0300.0250.0250.0250.0201200.0300.0350.0300.0350.0350.0300.0250.0250.0251600.0300.0350.0350.0350.0350.0300.0300.0300.0252000.0350.0400.0350.0400.0400.0350.0300.0300.0252500.0400.0450.0400.0400.0400.0350.0300.0300.025表 14 R 系列谐波减速器组件安装时的位置公差要求 (mm)机型abcdefgh

36、i250.0080.0100.0080.0120.0100.0100.0080.0080.008320.0080.0120.0100.0120.0120.0100.0100.0080.008400.0080.0120.0100.0150.0120.0120.0120.0120.010500.0100.0150.0120.0150.0150.0120.0120.0120.010600.0100.0150.0150.0150.0150.0150.0120.0120.010800.0120.0200.0150.0200.0200.0150.0120.0150.0121000.0120.0250.0200.0200.0200.0150.0150.0150.0121200.0150.0250.0200.0250.0250.0200.0150.0150.0121600.0250.0300.0250.0250.0250.0200.0200.0200.0152000.0300.0300.0250.0300.0350.0250.0200.0200.0152500.0300.0350.0250.0300.0350.0250.0250.0200.020XB25XB60 机型均用半流体润滑脂润滑，出厂时减速器已注入半流体润滑脂，使用时不必再加油。XB80XB250 机型均用油润滑(XB8