shd-2uh-lw · shd-2uh-lw ultra-flat, lightweight, hollow shaft gear unit 179 191 199 290 410 602...
Post on 02-Aug-2020
2 Views
Preview:
TRANSCRIPT
SHD-2UH-LWUltra-Flat, Lightweight, Hollow Shaft Gear Unit
179
191
199
290
410
602
20.0
19.5
17.5
21.0
26.0
33.5
16.5
18.0
15.5
16.5
19.5
20.5
2470
3150
3650
5550
6200
12100
4000
4500
4700
6350
6400
11900
BearingA
Fr
Fa
a b
BearingB
6804ZZ
6805ZZ
6806ZZ
6808ZZ
6810ZZ
6813ZZ
2470
3150
3650
5550
8500
12100
4000
4500
4700
6350
8800
11900
6804ZZ
6805ZZ
6806ZZ
6808ZZ
6811ZZ
6813ZZ
Bearing A
Basic DynamicRated Load
Basic DynamicRated Load
Cr(N)
BearingModel
BearingModel
C0r(N)
Basic DynamicRated Load
Basic DynamicRated Load
Cr(N) C0r(N)
Bearing B aOverhungDistance
bDistance between
Bearings
Max.Radial Load
(mm) (mm) Fr(N)14
17
20
25
32
40
Size
■ Input Shaft Load Limits
Bearing Specification for Input Side
SHD-2UH-LW Input Shaft Load Limit
Table 8-1
Graph 8-1
New Product Information Vol.11SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit
Using new lightweight materials and an optimized design, we have developed the SHD-2UH-LW Lightweight Series. These axially compact gear units feature a large hollow input shaft and a robust cross roller bearing so loads can be mounted directly to the unit without the need for additional support bearings.
The Hollow Shaft Unit type is supported by two deep groove single row ball bearings. To achieve peak performance, it is essential
to confirm that the actual load applied to input shaft does not exceed the limits specified below.
Figure 8-1 shows the points of application of forces, which determine the Maximum Allowable Radial and Axial Loads as indicated
in Graph 8-1. The maximum values, as given Graph 8-1 are valid for and average input speed of 2,000 r/min and a mean bearing
life of L10=7,000h. Example: If the hollow shaft of a SHD-40-2UH-LW unit is subjected to an axial load of 400 N, the maximum
allowable radial force will be 275 N.
700
600
500
400
300
200
100
01000 200 300 400 500 600 700
Rad
ial L
oad
Fr
(N)
Axial Load Fa (N)
14
17
20
25
32
40
Figure 8-1
Now offering a lightweight gear unit basedupon our SHD Series of Ultra-Flat Hollow Shaft Gears!
No.1212-0R-SHD2UHLW / news11*Registered Trademark in Japan
"HarmonicDrive" is a trademark of Harmonic Drive Systems Inc.The academic or general nomenclature of our products "HarmonicDrive" is "strain wave gearing."The trademark is registered in Japan, Korea and Taiwan.
* Please contact the sales office of Harmonic Drive Systems Inc. for more information. http://www.hds.co.jp/
Head Office:
Overseas Division:
Tokyo Office:
Kitakanto Office:
Koshin Office:
Chubu Office :
Believe Omori 7F, 6-25-3 Minami-Oi, Shinagawa-ku, Tokyo 140-0013 JAPAN
Phone: +81-3-5471-7800 / FAX: +81-3-5471-7811
1856-1 Hotakamaki, Azumino-shi, Nagano 399-8305 JAPAN
Phone: +81-263-83- 6935 / FAX: +81-263-83-6901
Believe Omori 7F, 6-25-3 Minami-Oi, Shinagawa-ku, Tokyo 140-0013 JAPAN
Phone: +81-3-5471-7830 / FAX: +81-3-5471-7836
Y.S.T. Building 3F, 4-263 Sakuragi-cho, Omiya-ku, Saitama-shi,Saitama 330-0854 JAPAN
Phone: +81-48-647-8891 / FAX: +81-48-647-8893
1856-1 Hotakamaki, Azumino-shi, Nagano 399-8305 JAPAN
Phone: +81-263-83-6910 / FAX: +81-263-83-6911
Nagoya Inter Building 6F, 2-173-4 Hongo, Meito-ku, Nagoya-shi, Aichi 465-0024 JAPAN
Phone: +81-52-773-7451 / FAX: +81-52-773-7462
Kansai Office :
Kyushu Office :
Hotaka Plant :
Harmonic Drive AG :
Harmonic Drive L.L.C. :
Harmonic Drive Systems
(Shanghai) Co.,Ltd. :
Shin-Osaka Ueno Toyo Building 3F, 7-4-17 Nishi-nakajima, Yodogawa-ku, Osaka-shi,
Osaka 532-0011 JAPAN Phone: +81-6-6885-5720 / FAX: +81-6-6885-5725
NOF Hakata-ekimae Building 7F, 1-15-20 Hakata-ekimae,Hakata-ku, Fukuoka-shi,
Fukuoka 812-0011 JAPAN Phone: +81-92-451-7208 / FAX: +81-92-481-2493
1856-1 Hotakamaki, Azumino-shi, Nagano 399-8305 JAPAN
Phone: +81-263-83-6800 / FAX: +81-263-83-6901
Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn GERMANY
Phone: +49-6431-5008-0 / FAX: +49-6431-5008-119
247 Lynnfield Street, Peabody, MA 01960 U.S.A.
Phone: +1-978-532-1800 / FAX: +1-978-532-9406
Rm206,1#,No.641,Tianshan Rd,Changning District,Shanghai, 200336, CHINA
Phone: +86-21-6237-5656 / FAX: +86-21-3250-7268
SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit
■ Ordering Code
■ Accuracy
■ Rating Table
■ Starting Torque
SHD - 25 - 100 - 2UH - LW - SP
SHDSeries 50:1~160:1 2UH (Unit Type) Lightweight
Model Size Gear Ratio Type specification 1 specification 2
14~40
(Note) 1. Moment of Inertia: I =1/4GD2
2. Please refer to the CSD / SHD Catalog for an explanation of terms and technical information.
Values shown below vary depending on the operating condition.Please use values as a reference.
Unit: Ncm
Table 2-1
Table 2-2
50
100
50
100
50
100
160
50
100
160
50
100
160
50
100
160
3.7
5.4
11
16
17
28
28
27
47
47
53
96
96
96
185
206
0.38
0.55
1.1
1.6
1.7
2.9
2.9
2.8
4.8
4.8
5.4
10
10
10
19
21
12
19
23
37
39
57
64
69
110
123
151
233
261
281
398
453
1.2
1.9
2.3
3.8
4.0
5.8
6.5
7.0
11
13
15
24
27
29
41
46
4.8
7.7
18
27
24
34
34
38
75
75
75
151
151
137
260
316
0.49
0.79
1.9
2.8
2.4
3.5
3.5
3.9
7.6
7.6
7.6
15
15
14
27
32
23
35
48
71
69
95
95
127
184
204
268
420
445
480
700
765
2.3
3.6
4.9
7.2
7.0
10
10
13
19
21
27
43
45
49
71
78
8500
7300
6500
5600
4800
4000
3500
3500
3500
3500
3500
3000
0.064
0.141
0.271
0.793
2.900
7.432
0.065
0.144
0.276
0.809
2.957
7.578
14
17
20
25
32
40
50
100
160
Ratio
11
8.7
ー
39
37
ー
53
49
48
79
73
72
114
101
97
177
157
151
14 17 20 25
Size
32 40Table 3-2
■ Hysteresis Loss Table 3-3
■ Backdriving TorqueValues shown below vary depending on the operating condition.Please use values as a reference.
Unit: NmTable 2-3
50
100
160
Ratio
6.0
9.7
ー
21
41
ー
29
54
84
44
80
126
63
111
171
98
173
266
14 17 20 25
Size
32 40
×10-4rad
arc min
4.4
1.5
4.4
1.5
2.9
1.0
2.9
1.0
2.9
1.0
2.9
1.0
14 17 20 25
Size
32 40
50
over 100
TransmissionError
Ratio
Ratio
7.3
2.5
5.8
2.0
5.8
2.0
2.9
1.0
5.8
2.0
2.9
1.0
5.8
2.0
2.9
1.0
5.8
2.0
2.9
1.0
5.8
2.0
2.9
1.0
14 17 20 25
Size
32 40
Nm kgfm Nm kgfm Nm kgfm Nm kgfm I×10-4kgm2
J×10-5kgfms2
Size GearRatio
Rated Torqueat 2000 r/min
Limit for RepeatedPeak Torque
Limit for AverageTorque
Limit for MomentaryTorque
Max. InputSpeed
Grease Grease
Max. AverageInput Speed
Moment ofInertia
SHD Series Gear UnitSHG/SHF Series Gear Unit
×10-4rad
arc min
×10-4rad
arc min
■ Weight Comparison Unit: NcmTable 3-1
SHG/SHF-2UHSeries
SHD-2UH-LWLightweight
Weight Ratio
0.71
0.49
69%
1
0.66
66%
1.38
0.84
61%
2.1
1.4
67%
4.5
2.7
60%
7.7
4.6
60%
14 17 20 25
Size
32 40
2 3
40
Special(Custom Specification)leave blank for standardproduct
About 15%Shorter
SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit
■ Ordering Code
■ Accuracy
■ Rating Table
■ Starting Torque
SHD - 25 - 100 - 2UH - LW - SP
SHDSeries 50:1~160:1 2UH (Unit Type) Lightweight
Model Size Gear Ratio Type specification 1 specification 2
14~40
(Note) 1. Moment of Inertia: I =1/4GD2
2. Please refer to the CSD / SHD Catalog for an explanation of terms and technical information.
Values shown below vary depending on the operating condition.Please use values as a reference.
Unit: Ncm
Table 2-1
Table 2-2
50
100
50
100
50
100
160
50
100
160
50
100
160
50
100
160
3.7
5.4
11
16
17
28
28
27
47
47
53
96
96
96
185
206
0.38
0.55
1.1
1.6
1.7
2.9
2.9
2.8
4.8
4.8
5.4
10
10
10
19
21
12
19
23
37
39
57
64
69
110
123
151
233
261
281
398
453
1.2
1.9
2.3
3.8
4.0
5.8
6.5
7.0
11
13
15
24
27
29
41
46
4.8
7.7
18
27
24
34
34
38
75
75
75
151
151
137
260
316
0.49
0.79
1.9
2.8
2.4
3.5
3.5
3.9
7.6
7.6
7.6
15
15
14
27
32
23
35
48
71
69
95
95
127
184
204
268
420
445
480
700
765
2.3
3.6
4.9
7.2
7.0
10
10
13
19
21
27
43
45
49
71
78
8500
7300
6500
5600
4800
4000
3500
3500
3500
3500
3500
3000
0.064
0.141
0.271
0.793
2.900
7.432
0.065
0.144
0.276
0.809
2.957
7.578
14
17
20
25
32
40
50
100
160
Ratio
11
8.7
ー
39
37
ー
53
49
48
79
73
72
114
101
97
177
157
151
14 17 20 25
Size
32 40Table 3-2
■ Hysteresis Loss Table 3-3
■ Backdriving TorqueValues shown below vary depending on the operating condition.Please use values as a reference.
Unit: NmTable 2-3
50
100
160
Ratio
6.0
9.7
ー
21
41
ー
29
54
84
44
80
126
63
111
171
98
173
266
14 17 20 25
Size
32 40
×10-4rad
arc min
4.4
1.5
4.4
1.5
2.9
1.0
2.9
1.0
2.9
1.0
2.9
1.0
14 17 20 25
Size
32 40
50
over 100
TransmissionError
Ratio
Ratio
7.3
2.5
5.8
2.0
5.8
2.0
2.9
1.0
5.8
2.0
2.9
1.0
5.8
2.0
2.9
1.0
5.8
2.0
2.9
1.0
5.8
2.0
2.9
1.0
14 17 20 25
Size
32 40
Nm kgfm Nm kgfm Nm kgfm Nm kgfm I×10-4kgm2
J×10-5kgfms2
Size GearRatio
Rated Torqueat 2000 r/min
Limit for RepeatedPeak Torque
Limit for AverageTorque
Limit for MomentaryTorque
Max. InputSpeed
Grease Grease
Max. AverageInput Speed
Moment ofInertia
SHD Series Gear UnitSHG/SHF Series Gear Unit
×10-4rad
arc min
×10-4rad
arc min
■ Weight Comparison Unit: NcmTable 3-1
SHG/SHF-2UHSeries
SHD-2UH-LWLightweight
Weight Ratio
0.71
0.49
69%
1
0.66
66%
1.38
0.84
61%
2.1
1.4
67%
4.5
2.7
60%
7.7
4.6
60%
14 17 20 25
Size
32 40
2 3
40
Special(Custom Specification)leave blank for standardproduct
About 15%Shorter
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit
■ No Load Running Torque ■ Efficiency
*The scale on the graph is off relative to the lines drawn on the graph
Note : Use the high temperature side in temperature rise 40 ℃ or less for ambient temperature.
Ratio:100
Lubricant GreaseName
Grease quantity
Torque value is measured after 2 hour run-in at 2000 rpm input.Please contact HDLLC if you are using oil lubricant.
Measurement condition
SizeRatio
50 160
Unit: Ncm
Unit Type No Load Running TorqueCompensation Value
Table 4-1
Lubricant
Installation
Load torque
Based on recommended tolerance
Rated torque
GreaseName
Grease quantity
Measurement condition Table 5-1
Table 4-2
Graph 4-1 Graph 4-2
Graph 4-3 Graph 4-4
Graph 5-4Ratio 50
Harmonic grease SK-1A
Harmonic grease SK-2
Recommended quantity
Table 4-3
14
17
20
25
32
40
50
Grease
+1.0
+1.6
+2.4
+4.0
+7.7
+13
—
SK-1A 0℃~+40℃SK-2 0℃~+40℃
—
—
-0.7
-1.2
-2.4
-3.9
ー
Input Speed 500r/min Input Speed 1000r/min
Input Speed 2000r/min Input Speed 3500r/min
10000
1000
100
10
1-10 0 10 20
Ambient Temperature (C°)
No
Lo
ad
Ru
nn
ing
Torq
ue
(cN
m)
30 40
10000
1000
100
10
1-10 0 10 20
Ambient Temperature (C°)
No
Lo
ad
Ru
nn
ing
Torq
ue
(cN
m)
30 40
10000
1000
100
10
1-10 0 10 20
Ambient Temperature (C°)
No
Lo
ad
Ru
nn
ing
Torq
ue
(cN
m)
30 40
10000
1000
100
10
1-10 0 10 20
Ambient Temperature (C°)
No
Lo
ad
Ru
nn
ing
Torq
ue
(cN
m)
30 40
403225201714
Size403225201714
Size
403225201714
Size403225201714
SizeGraph 5-5
Ratio 100
Graph 5-2Ratio 50
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
Graph 5-3Ratio 100
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
Graph 5-6Ratio 160
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
1.0
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.10.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
No Load Running Torque for Ratio 100Efficiency at Rated Torque (Size 14)
Efficiency at Rated Torque (Sizes 17, 20, 25, 32, 40)
The gear efficiency is affected by many factors. Efficiency depends on the gear rat io, input speed, load torque, temperature, quantity of lubricant and type of lubricant.Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used.
Load Torque ≥ Rated Torque : Efficiency = Efficiency from Graph5-2 thru 5-6. Load Torque < Rated Torque : Efficiency = Efficiency from Graph5-2 thru 5-6 x Compensation Coefficient from Graph 5-1.
No-load running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive® gear with no load applied to the output.
Compensation Value for Each RatioThe no load running torque of Harmonic Drive® gears varies with the gear ratio. The graphs below indicate a value for ratio 100. For other gear ratios, add the compensation value from table 4-2.
Graph 5-1
Harmonic grease SK-1A(Size:20~40)
Harmonic grease SK-2(Size:14,17)
Recommended quantity
Operating tempareture range
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
4 5
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit
■ No Load Running Torque ■ Efficiency
*The scale on the graph is off relative to the lines drawn on the graph
Note : Use the high temperature side in temperature rise 40 ℃ or less for ambient temperature.
Ratio:100
Lubricant GreaseName
Grease quantity
Torque value is measured after 2 hour run-in at 2000 rpm input.Please contact HDLLC if you are using oil lubricant.
Measurement condition
SizeRatio
50 160
Unit: Ncm
Unit Type No Load Running TorqueCompensation Value
Table 4-1
Lubricant
Installation
Load torque
Based on recommended tolerance
Rated torque
GreaseName
Grease quantity
Measurement condition Table 5-1
Table 4-2
Graph 4-1 Graph 4-2
Graph 4-3 Graph 4-4
Graph 5-4Ratio 50
Harmonic grease SK-1A
Harmonic grease SK-2
Recommended quantity
Table 4-3
14
17
20
25
32
40
50
Grease
+1.0
+1.6
+2.4
+4.0
+7.7
+13
—
SK-1A 0℃~+40℃SK-2 0℃~+40℃
—
—
-0.7
-1.2
-2.4
-3.9
ー
Input Speed 500r/min Input Speed 1000r/min
Input Speed 2000r/min Input Speed 3500r/min
10000
1000
100
10
1-10 0 10 20
Ambient Temperature (C°)
No
Lo
ad
Ru
nn
ing
Torq
ue
(cN
m)
30 40
10000
1000
100
10
1-10 0 10 20
Ambient Temperature (C°)
No
Lo
ad
Ru
nn
ing
Torq
ue
(cN
m)
30 40
10000
1000
100
10
1-10 0 10 20
Ambient Temperature (C°)
No
Lo
ad
Ru
nn
ing
Torq
ue
(cN
m)
30 40
10000
1000
100
10
1-10 0 10 20
Ambient Temperature (C°)
No
Lo
ad
Ru
nn
ing
Torq
ue
(cN
m)
30 40
403225201714
Size403225201714
Size
403225201714
Size403225201714
SizeGraph 5-5
Ratio 100
Graph 5-2Ratio 50
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
Graph 5-3Ratio 100
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
Graph 5-6Ratio 160
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
Eff
icie
ncy
(%
)
-10 0 10 20Ambient Temperature (C°)
30 40
1.0
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.10.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
No Load Running Torque for Ratio 100Efficiency at Rated Torque (Size 14)
Efficiency at Rated Torque (Sizes 17, 20, 25, 32, 40)
The gear efficiency is affected by many factors. Efficiency depends on the gear rat io, input speed, load torque, temperature, quantity of lubricant and type of lubricant.Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used.
Load Torque ≥ Rated Torque : Efficiency = Efficiency from Graph5-2 thru 5-6. Load Torque < Rated Torque : Efficiency = Efficiency from Graph5-2 thru 5-6 x Compensation Coefficient from Graph 5-1.
No-load running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive® gear with no load applied to the output.
Compensation Value for Each RatioThe no load running torque of Harmonic Drive® gears varies with the gear ratio. The graphs below indicate a value for ratio 100. For other gear ratios, add the compensation value from table 4-2.
Graph 5-1
Harmonic grease SK-1A(Size:20~40)
Harmonic grease SK-2(Size:14,17)
Recommended quantity
Operating tempareture range
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
500r/min1000r/min2000r/min3500r/min
4 5
G
T-φUb
e
c
da
Output Flange
N
JIH
L
M
φB
φA
h7
φF
H7
φE
h7
φD
h7
(O)
φF
H7
φC
h7
Q-R
φS φP
3-M3
W-X
φV
Size 14, 17 Input Configuration
P
K Z
φY
Input ShaftInput Shaft
SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit
■ External Dimensions
Installation and Transmission Torque
■ Dimension Table Table 6-1 Table 7-2
■ Specification for Cross Roller Bearing Table 7-1
Number of screws
Size of screws
Pitch Circle Diameter mm
8
M3
64
2.0
0.20
108
11
12
M3
74
2.0
0.20
186
19
12
M3
84
2.0
0.20
210
21
12
M4
102
4.5
0.46
431
44
12
M5
132
9.0
0.92
892
91
12
M6
158
15.3
1.56
1509
154
14 17 20 25
Size
32 40
14
17
20
25
32
40
Size
0.0503
0.061
0.070
0.086
0.112
0.133
0.0111
0.0115
0.011
0.0121
0.0173
0.0195
Pitch Circle
dp
m
Offset
R
m
29
52
73
109
191
216
296
530
744
1111
1948
2203
43
81
110
179
327
408
438
826
1122
1825
3334
4160
×102N kgf ×102N kgf
37
62
93
129
290
424
3.8
6.3
9.5
13.2
29.6
43.2
Nm kgfm
7.08
12.7
21
31
82.1
145
2.1
3.8
6.2
9.2
24.4
43.0
×104Nm/rad kgfm/arc min
Basic Static Rated Load
Co
Basic Dynamic Rated Load
C
Allowable Moment LoadMc
Moment StiffnessKm
Bolt connection to housing and resulting transmission torque A
Nm
kgfm
Nm
kgfm
Table 7-3
Number of screws
Size of screws
Pitch Circle Diameter mm
Effective Thread Depth
φA h7φBφC h7φD h7φE h7φF H7
GHIJKLMNO
φP(P)QRφSTφUφVW
X
φYZabcde
Weight (kg)
705236742014
45.512
19.5146.597
6.516.6(2.5)
3M3648
3.5438
M3×5φ3.5×5.5
365.5
6804ZZ6804ZZD49585
S20304.5 S20304.5
0.49
8062458425194812
20.515.56.51087
18(2.5)
3M374123.55212
M3×6φ3.5×6.5
455.5
6805ZZ6805ZZD59685S25356S25356
0.66
907350953021425
21.515.5ー
10.587
17.525.5
6M3×6
84123.561.412
M3×6φ3.5×6.5ーー
6806ZZ6806ZZD69785S30405S30405
0.84
11087601153829
46.5624
16.5ー
10.5106
20.633.5
6M3×6102124.57612
M4×7φ4.5×8.5ーー
6808ZZ6808ZZD84945S38475S38475
1.4
142114751475441557
28.619.4ー12117.524.9486
M3×6132125.59912
M5×8φ5.5×7.6ーー
6811ZZ6810ZZ
D1101226S54645S50605
2.7
1701371001756451658
3324ー14149
29.5576
M4×8158126.612016
M6×10φ6.6×10ーー
6813ZZ6813ZZ
D1321467S64745S64745
4.6
14 17 20 25
Size
32 40
8
M3
43
4.5
2.0
0.20
72
7.3
12
M3
52
4.5
2.0
0.20
130
13.3
12
M3
61.4
4.5
2.0
0.20
154
15.7
12
M4
76
6
4.5
0.46
321
32.7
12
M5
99
8
9.0
0.92
668
68.2
12
M6
120
9
15.3
1.56
1148
117
14 17 20 25
Size
32 40
Bolt connection to output flange and resulting transmission torque B
Nm
kgfm
Nm
kgfm
6 7
A B
ScrewTighteningTorqueTorqueTransmittingCapacity
ScrewTighteningTorqueTorqueTransmittingCapacity
Symbol
1. Under the premise that materials of the internal thread endure the bolt tightening torque.2. Recommended bolt : JIS B 1176 hexagon socket head cap screw strength range : JIS B 1051 over 12.93. Torque coefficient : K=0.24. Clamp coefficient : A=1.45. Coefficient of friction μ=0.15
* Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. Flat washers should be used for all screws in direct contact with the aluminum housing. (Please contact a Sales Engineer for more information.)
* The basic dynamic rated load means a certain static radial load so that the basic dynamic rated life of the roller bearing is a million rotations.The basic static rated load means a static load that gives a certain level of contact stress (4kN/mm2) in the center of the contact area between the rolling element receiving the maximum load and the orbit.
* The moment stiffnesses are mean values.
G
T-φUb
e
c
da
Output Flange
N
JIH
L
M
φB
φA
h7
φF
H7
φE
h7
φD
h7
(O)
φF
H7
φC
h7
Q-R
φS φP
3-M3
W-X
φV
Size 14, 17 Input Configuration
P
K Z
φY
Input ShaftInput Shaft
SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit
■ External Dimensions
Installation and Transmission Torque
■ Dimension Table Table 6-1 Table 7-2
■ Specification for Cross Roller Bearing Table 7-1
Number of screws
Size of screws
Pitch Circle Diameter mm
8
M3
64
2.0
0.20
108
11
12
M3
74
2.0
0.20
186
19
12
M3
84
2.0
0.20
210
21
12
M4
102
4.5
0.46
431
44
12
M5
132
9.0
0.92
892
91
12
M6
158
15.3
1.56
1509
154
14 17 20 25
Size
32 40
14
17
20
25
32
40
Size
0.0503
0.061
0.070
0.086
0.112
0.133
0.0111
0.0115
0.011
0.0121
0.0173
0.0195
Pitch Circle
dp
m
Offset
R
m
29
52
73
109
191
216
296
530
744
1111
1948
2203
43
81
110
179
327
408
438
826
1122
1825
3334
4160
×102N kgf ×102N kgf
37
62
93
129
290
424
3.8
6.3
9.5
13.2
29.6
43.2
Nm kgfm
7.08
12.7
21
31
82.1
145
2.1
3.8
6.2
9.2
24.4
43.0
×104Nm/rad kgfm/arc min
Basic Static Rated Load
Co
Basic Dynamic Rated Load
C
Allowable Moment LoadMc
Moment StiffnessKm
Bolt connection to housing and resulting transmission torque A
Nm
kgfm
Nm
kgfm
Table 7-3
Number of screws
Size of screws
Pitch Circle Diameter mm
Effective Thread Depth
φA h7φBφC h7φD h7φE h7φF H7
GHIJKLMNO
φP(P)QRφSTφUφVW
X
φYZabcde
Weight (kg)
705236742014
45.512
19.5146.597
6.516.6(2.5)
3M3648
3.5438
M3×5φ3.5×5.5
365.5
6804ZZ6804ZZD49585
S20304.5 S20304.5
0.49
8062458425194812
20.515.56.51087
18(2.5)
3M374123.55212
M3×6φ3.5×6.5
455.5
6805ZZ6805ZZD59685S25356S25356
0.66
907350953021425
21.515.5ー
10.587
17.525.5
6M3×6
84123.561.412
M3×6φ3.5×6.5ーー
6806ZZ6806ZZD69785S30405S30405
0.84
11087601153829
46.5624
16.5ー
10.5106
20.633.5
6M3×6102124.57612
M4×7φ4.5×8.5ーー
6808ZZ6808ZZD84945S38475S38475
1.4
142114751475441557
28.619.4ー12117.524.9486
M3×6132125.59912
M5×8φ5.5×7.6ーー
6811ZZ6810ZZ
D1101226S54645S50605
2.7
1701371001756451658
3324ー14149
29.5576
M4×8158126.612016
M6×10φ6.6×10ーー
6813ZZ6813ZZ
D1321467S64745S64745
4.6
14 17 20 25
Size
32 40
8
M3
43
4.5
2.0
0.20
72
7.3
12
M3
52
4.5
2.0
0.20
130
13.3
12
M3
61.4
4.5
2.0
0.20
154
15.7
12
M4
76
6
4.5
0.46
321
32.7
12
M5
99
8
9.0
0.92
668
68.2
12
M6
120
9
15.3
1.56
1148
117
14 17 20 25
Size
32 40
Bolt connection to output flange and resulting transmission torque B
Nm
kgfm
Nm
kgfm
6 7
A B
ScrewTighteningTorqueTorqueTransmittingCapacity
ScrewTighteningTorqueTorqueTransmittingCapacity
Symbol
1. Under the premise that materials of the internal thread endure the bolt tightening torque.2. Recommended bolt : JIS B 1176 hexagon socket head cap screw strength range : JIS B 1051 over 12.93. Torque coefficient : K=0.24. Clamp coefficient : A=1.45. Coefficient of friction μ=0.15
* Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. Flat washers should be used for all screws in direct contact with the aluminum housing. (Please contact a Sales Engineer for more information.)
* The basic dynamic rated load means a certain static radial load so that the basic dynamic rated life of the roller bearing is a million rotations.The basic static rated load means a static load that gives a certain level of contact stress (4kN/mm2) in the center of the contact area between the rolling element receiving the maximum load and the orbit.
* The moment stiffnesses are mean values.
SHD-2UH-LWUltra-Flat, Lightweight, Hollow Shaft Gear Unit
179
191
199
290
410
602
20.0
19.5
17.5
21.0
26.0
33.5
16.5
18.0
15.5
16.5
19.5
20.5
2470
3150
3650
5550
6200
12100
4000
4500
4700
6350
6400
11900
BearingA
Fr
Fa
a b
BearingB
6804ZZ
6805ZZ
6806ZZ
6808ZZ
6810ZZ
6813ZZ
2470
3150
3650
5550
8500
12100
4000
4500
4700
6350
8800
11900
6804ZZ
6805ZZ
6806ZZ
6808ZZ
6811ZZ
6813ZZ
Bearing A
Basic DynamicRated Load
Basic DynamicRated Load
Cr(N)
BearingModel
BearingModel
C0r(N)
Basic DynamicRated Load
Basic DynamicRated Load
Cr(N) C0r(N)
Bearing B aOverhungDistance
bDistance between
Bearings
Max.Radial Load
(mm) (mm) Fr(N)14
17
20
25
32
40
Size
■ Input Shaft Load Limits
Bearing Specification for Input Side
SHD-2UH-LW Input Shaft Load Limit
Table 8-1
Graph 8-1
New Product Information Vol.11SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit
Using new lightweight materials and an optimized design, we have developed the SHD-2UH-LW Lightweight Series. These axially compact gear units feature a large hollow input shaft and a robust cross roller bearing so loads can be mounted directly to the unit without the need for additional support bearings.
The Hollow Shaft Unit type is supported by two deep groove single row ball bearings. To achieve peak performance, it is essential
to confirm that the actual load applied to input shaft does not exceed the limits specified below.
Figure 8-1 shows the points of application of forces, which determine the Maximum Allowable Radial and Axial Loads as indicated
in Graph 8-1. The maximum values, as given Graph 8-1 are valid for and average input speed of 2,000 r/min and a mean bearing
life of L10=7,000h. Example: If the hollow shaft of a SHD-40-2UH-LW unit is subjected to an axial load of 400 N, the maximum
allowable radial force will be 275 N.
700
600
500
400
300
200
100
01000 200 300 400 500 600 700
Rad
ial L
oad
Fr
(N)
Axial Load Fa (N)
14
17
20
25
32
40
Figure 8-1
Now offering a lightweight gear unit basedupon our SHD Series of Ultra-Flat Hollow Shaft Gears!
No.1212-0R-SHD2UHLW / news11*Registered Trademark in Japan
"HarmonicDrive" is a trademark of Harmonic Drive Systems Inc.The academic or general nomenclature of our products "HarmonicDrive" is "strain wave gearing."The trademark is registered in Japan, Korea and Taiwan.
* Please contact the sales office of Harmonic Drive Systems Inc. for more information. http://www.hds.co.jp/
Head Office:
Overseas Division:
Tokyo Office:
Kitakanto Office:
Koshin Office:
Chubu Office :
Believe Omori 7F, 6-25-3 Minami-Oi, Shinagawa-ku, Tokyo 140-0013 JAPAN
Phone: +81-3-5471-7800 / FAX: +81-3-5471-7811
1856-1 Hotakamaki, Azumino-shi, Nagano 399-8305 JAPAN
Phone: +81-263-83- 6935 / FAX: +81-263-83-6901
Believe Omori 7F, 6-25-3 Minami-Oi, Shinagawa-ku, Tokyo 140-0013 JAPAN
Phone: +81-3-5471-7830 / FAX: +81-3-5471-7836
Y.S.T. Building 3F, 4-263 Sakuragi-cho, Omiya-ku, Saitama-shi,Saitama 330-0854 JAPAN
Phone: +81-48-647-8891 / FAX: +81-48-647-8893
1856-1 Hotakamaki, Azumino-shi, Nagano 399-8305 JAPAN
Phone: +81-263-83-6910 / FAX: +81-263-83-6911
Nagoya Inter Building 6F, 2-173-4 Hongo, Meito-ku, Nagoya-shi, Aichi 465-0024 JAPAN
Phone: +81-52-773-7451 / FAX: +81-52-773-7462
Kansai Office :
Kyushu Office :
Hotaka Plant :
Harmonic Drive AG :
Harmonic Drive L.L.C. :
Harmonic Drive Systems
(Shanghai) Co.,Ltd. :
Shin-Osaka Ueno Toyo Building 3F, 7-4-17 Nishi-nakajima, Yodogawa-ku, Osaka-shi,
Osaka 532-0011 JAPAN Phone: +81-6-6885-5720 / FAX: +81-6-6885-5725
NOF Hakata-ekimae Building 7F, 1-15-20 Hakata-ekimae,Hakata-ku, Fukuoka-shi,
Fukuoka 812-0011 JAPAN Phone: +81-92-451-7208 / FAX: +81-92-481-2493
1856-1 Hotakamaki, Azumino-shi, Nagano 399-8305 JAPAN
Phone: +81-263-83-6800 / FAX: +81-263-83-6901
Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn GERMANY
Phone: +49-6431-5008-0 / FAX: +49-6431-5008-119
247 Lynnfield Street, Peabody, MA 01960 U.S.A.
Phone: +1-978-532-1800 / FAX: +1-978-532-9406
Rm206,1#,No.641,Tianshan Rd,Changning District,Shanghai, 200336, CHINA
Phone: +86-21-6237-5656 / FAX: +86-21-3250-7268
top related