Product Description
SHD Series Precision Harmonic Reducer
This ultra-compact horizontal harmonic reducer employs the core principle of harmonic gear transmission, achieving high reduction ratios through the meshing of a wave generator, flexible gear, and rigid gear. Designed specifically for precision equipment with extreme space and weight constraints, it delivers high-torque, high-precision power output within an exceptionally small footprint, making it the ideal choice for miniaturized, lightweight precision transmission applications.
Functional Features
5mm 12mm
Flexible Bearing Crossed Roller Bearing Actual Photo of
Ultra-Micro Flexible Bearing
Core Technologies
Rope Toughness Electroslag Remelting
Protection Testing Purification
Toughness Protection
Through specialized processes such as electroslag remelting purification and repeated pressure application, we enhance the stability of all performance metrics in rope materials. This ensures the rope body meets stringent fatigue strength requirements, enabling maximum structural protection under overload conditions by utilizing material toughness deformation to prevent damage.
ADI
Self-Developed Special Materials
Ultra-Fine Grain ADI Material
We employ a specialized ADI material that introduces an ideal ultra-fine grain structure within the material, achieving a synergistic combination of high hardness, high strength, and high toughness. This ensures an exceptionally long service life for harmonic reducers.
Ultra-Precision Heat Treatment Process
Our proprietary heat treatment techniques and specialized technology impart exceptional hardness and surface compressive stress to the material. This significantly enhances tooth surface resistance to pitting and wear, enabling the harmonic drive to maintain stable performance under prolonged high-load operation and effectively extending product lifespan.
Before
transformation
After
transformation
Before After Comparison
transformation transformation image
Innovative Tooth Profile Design
We have innovatively developed a specialized tooth profile design that enables more uniform load distribution during the meshing process between the flexible and rigid gears. This significantly reduces stress concentration and effectively minimizes wear, thereby greatly enhancing the harmonic reducer's load capacity and transmission efficiency.
In-House Tooling Design and Development
We independently design and develop high-precision cutting tools specifically for harmonic reducers, including hobbing cutters and broaching tools. These tools feature exceptional accuracy and durability, enabling the machining of tooth profiles that meet design specifications. This ensures reliable production for both small-batch and large-scale manufacturing.
Harmonic Testing Laboratory
We have established a specialized harmonic testing laboratory equipped with advanced inspection equipment and professional technical personnel. This facility enables comprehensive and precise testing and analysis of key performance metrics such as transmission accuracy, torsional stiffness, and fatigue life for harmonic reducers, providing a solid foundation for product quality control and continuous improvement.
Flexible Special Processes
We innovated a controlled atmosphere heat treatment method for flexible bearing processes. This ensures material hardness while minimizing deformation to guarantee high-precision dimensional accuracy.
Product parameters
ST-SHD-14 Type
Parameters | Reduction ratio 30 | Reduction ratio 50 | Reduction ratio 80 | Reduction ratio 100 |
Rated Torque at Input 2000 r/min [N·m] | 3.8 | 4.8 | 6.4 | 7.4 |
Allowable Peak Torque During Start/Stop [N·m] | 8.7 | 16 | 22 | 26 |
Maximum Allowable Average Load Torque [N·m] | 6.2 | 6.8 | 9.5 | 10.8 |
Instantaneous Maximum Allowable Torque [N·m] | 15 | 32 | 45 | 50 |
Backlash [Arcsec] | ≤20 | ≤20 | ≤10 | ≤10 |
Maximum Allowable Input Speed [r/min] | 8500 | 8500 | 8500 | 8500 |
Permissible Average Input Speed [r/min] | 3500 | 3500 | 3500 | 3500 |
Rotational Inertia (1/4GD) [kg·cm²] | 3.4×10⁻¹ 3.3×10⁻¹ | 3.4×10⁻¹ 3.3×10⁻¹ | 3.4×10⁻¹ 3.3×10⁻¹ | 3.4×10⁻¹ 3.3×10⁻¹ |
ST-SHD-17 Type
Parameters | Reduction ratio 30 | Reduction ratio 50 | Reduction ratio 80 | Reduction ratio 100 |
Rated Torque at Input 2000 r/min [N·m] | 6.6 | 11 | 12.8 | 16 |
Allowable Peak Torque During Start/Stop [N·m] | 13.8 | 23 | 29.6 | 37 |
Maximum Allowable Average Load Torque [N·m] | 10.8 | 18 | 21.6 | 27.8 |
Instantaneous Maximum Allowable Torque [N·m] | 28.8 | 48 | 56.8 | 71 |
Backlash [Arcsec] | ≤20 | ≤20 | ≤10 | ≤10 |
Maximum Allowable Input Speed [r/min] | 7000 | 7000 | 7000 | 7000 |
Permissible Average Input Speed [r/min] | 3500 | 3500 | 3500 | 3500 |
Rotational Inertia (1/4GD) [kg·cm²] | 0.054 (I×10⁻⁴kgm²) 0.055 (J×10⁻⁵kgfms²) | 0.054 (I×10⁻⁴kgm²) 0.055 (J×10⁻⁵kgfms²) | 0.054 (I×10⁻⁴kgm²) 0.055 (J×10⁻⁵kgfms²) | 0.054 (I×10⁻⁴kgm²) 0.055 (J×10⁻⁵kgfms²) |
ST-SHD-20 Type
Parameters | Reduction ratio 30 | Reduction ratio 50 | Reduction ratio 80 | Reduction ratio 100 | Reduction ratio 120 |
Rated Torque at Input 2000 r/min [N·m] | 10.2 | 17 | 22.4 | 28 | 28 |
Allowable Peak Torque During Start/Stop [N·m] | 23.4 | 39 | 45.6 | 57 | 61 |
Maximum Allowable Average Load Torque [N·m] | 14.4 | 24 | 27.2 | 34.8 | 34.8 |
Instantaneous Maximum Allowable Torque [N·m] | 41.4 | 69 | 76 | 95 | 95 |
Backlash [Arcsec] | ≤20 | ≤20 | ≤10 | ≤10 | ≤10 |
Maximum Allowable Input Speed [r/min] | 7000 | 7000 | 7000 | 7000 | 7000 |
Permissible Average Input Speed [r/min] | 3500 | 3500 | 3500 | 3500 | 3500 |
Rotational Inertia (1/4GD) [kg·cm²] | 0.09 (I×10⁻⁴kgm²) 0.092 (J×10⁻⁵kgfms²) | 0.09 (I×10⁻⁴kgm²) 0.092 (J×10⁻⁵kgfms²) | 0.09 (I×10⁻⁴kgm²) 0.092 (J×10⁻⁵kgfms²) | 0.09 (I×10⁻⁴kgm²) 0.092 (J×10⁻⁵kgfms²) | 0.09 (I×10⁻⁴kgm²) 0.092 (J×10⁻⁵kgfms²) |
ST-SHD-25 Type
Parameters | Reduction ratio 30 | Reduction ratio 50 | Reduction ratio 80 | Reduction ratio 100 | Reduction ratio 120 |
Rated Torque at Input 2000 r/min [N·m] | 16.2 | 27 | 76.8 | 96 | 115.66 |
Allowable Peak Torque During Start/Stop [N·m] | 41.4 | 69 | 88 | 110 | 132.53 |
Maximum Allowable Average Load Torque [N·m] | 22.8 | 38 | 60 | 75 | 90.36 |
Instantaneous Maximum Allowable Torque [N·m] | 76.2 | 127 | 147.2 | 184 | 221.68 |
Backlash [Arcsec] | ≤20 | ≤20 | ≤10 | ≤10 | ≤10 |
Maximum Allowable Input Speed [r/min] | 5600 | 5600 | 5600 | 5600 | 5600 |
Permissible Average Input Speed [r/min] | 3500 | 3500 | 3500 | 3500 | 3500 |
Rotational Inertia (1/4GD) [kg·cm²] | 0.282 (I×10⁻⁴kgm²) 0.288 (J×10⁻⁵kgfms²) | 0.282 (I×10⁻⁴kgm²) 0.288 (J×10⁻⁵kgfms²) | 0.282 (I×10⁻⁴kgm²) 0.288 (J×10⁻⁵kgfms²) | 0.282 (I×10⁻⁴kgm²) 0.288 (J×10⁻⁵kgfms²) | 0.282 (I×10⁻⁴kgm²) 0.288 (J×10⁻⁵kgfms²) |
Application
Minimally Invasive Surgical Robots
Within the end effectors of laparoscopic surgical robots, this harmonic reducer drives the precise movements of surgical instruments. Its miniature size allows complete concealment within robotic arms, while high transmission accuracy ensures millimeter-level control of forceps, scissors, and other tools. The high torque density enables stable execution of delicate procedures like tissue grasping and suturing, providing reliable power for complex surgeries.
Consumer Gimbal Stabilizers
Within professional handheld gimbals or smartphone stabilizers, this reducer provides core power for three-axis rotation modules. Its ultra-compact size and weight impose no additional burden on the device, while high transmission precision guarantees image stability during movement and vibration. It delivers smooth, shake-free footage even during rapid tracking shots.
Micro Industrial Collaborative Robotic Arms
Within the joints of micro collaborative robotic arms for 3C electronics assembly, this horizontal harmonic reducer achieves lightweight construction and high responsiveness. Its high torque density enables stable grasping of small electronic components, while minimal backlash ensures precise positioning during assembly, enhancing production line efficiency and yield rates.
Installation and Precautions
Installation and Precautions for the Reducer：
1. Inject grease into the inner wall cavity of the flexible pulley. Install the reducer onto the output end. Secure it with screws and spring washers using a cross-pattern tightening sequence, applying a preload torque of 0.5 N·m.
2. Apply grease evenly to the flexible bearing. Then install the wave generator into the bearings of the flexible pulley and output end. When installing the wave generator, pay special attention to minimizing the effects of center offset and skew to reduce the impact of misalignment. Avoid applying excessive force to the wave generator bearing area; instead, install it smoothly by rotating the wave generator into the flexible pulley. After installation, gently rotate the wave generator by hand. If it rotates with uniform force, it is considered normal. If significant unevenness occurs, indicating asymmetric engagement, disassemble and reinstall the wave generator.
3. Apply Loctite 638 adhesive to the keyway of the input shaft. Insert the shaft into the wave generator. Secure the input end to the reducer using screws with spring washers. Tighten in a cross-pattern sequence with a preload torque of 0.5 N·m. Set the motor speed to approximately 100 rpm, start the motor, and tighten the screws in a cross-pattern sequence. Increase the torque in four to five equal increments until the specified tightening force is reached for each screw (refer to the table for screw-specific tightening forces). All fastening screws must be grade 12.9 and coated with threadlocker to prevent failure or loosening during operation.
4. Keep the motor rotating. Tighten the output-end screws in a cross pattern, incrementing evenly four to five times to reach the specified tightening torque for each screw (refer to the table for screw-specific torque values). All connecting screws must be grade 12.9 and coated with threadlocker to prevent failure or loosening during operation. Recommended threadlocking compound: Loctite 243 threadlocker.
Screw Tightening Torque Chart
Nominal Thread Diameter (mm) | Torque (N·m) |
3 | 2 |
4 | 4 |
5 | 9 |
6 | 15 |
8 | 35 |
10 | 70 |
12 | 125 |
Note: Screw performance grade is 12.9.
Grease Usage Requirements
Model | Operating Temperature 0–+55°C | Operating Temperature -40–+55°C |
14 | Recommended Grease: XBZH-Yo Semi-Fluid Grease for Harmonic Drives O# or Harmonic Drive Grease SK-1A/SK-2 | |
17 | ||
20 | ||
25 | ||
32 | ||
Note: Use only the specified grease. Failure to do so may result in reduced gear reducer lifespan or damage.
Precautions：
1. If the output shaft remains horizontally downward during reducer operation, the grease injected into the flexible pulley's inner cavity must exceed the meshing tooth surface.
2. Static seals must be used between the mounting surfaces of rigid gear-to-rigid gear connectors and flexible gear-to-flexible gear connectors to prevent grease leakage during operation. This prevents damage from low or no lubrication.
3. During installation, avoid striking reducer components with hard objects or applying excessive pressure to prevent part damage.
4. Contact us immediately if any issues arise during installation.
