GUANGZHOU HAOZHI INDUSTRIAL CO., LTD.

Got it | The key factor that affects the service life of harmonic reducer

2020-12-29

Substituting imported harmonic reducers has always been the pursuit and ideal of many domestic brands, but most of them were hindered by the obstacle of "service life".

Among the performance parameters of harmonic reducer, service life is a comprehensive parameter, and it is also the most difficult technical key point to break through. Generally speaking, in the process of evaluating the service life of harmonic reducer, its service life will vary depending on the performance requirements of the product.


In the case of severe service conditions, most users will measure the service life with the impact resistance ability, which requires high impact resistance of the flexible gear and the flexible bearing; users with high requirements for positioning accuracy will generally measure the service life with precision life; and users who are sensitive to the tooth space will measure the service life with the stiffness life.

Aiming at different measurement methods, after in-depth research, Haozhi has carried out a large number of horizontal evaluation tests for many brands of products, including impact resistance test, precision life test, and stiffness life test. Four mainstream brands of harmonic reducers in the market were selected for the horizontal evaluation tests. The models and test parameters were all in line with the SHG-20-50-2uh of the industry benchmark HarmonicDrive (hereinafter referred to as "HD").

1
Impact resistance life test

Test conditions: Apply the maximum momentary allowable torque to the harmonic reducer until the reducer is broken and cannot turn. At this time, consider the impact resistance times of the reducer, which is equal to the number of deformations of the wave generator.

The horizontal evaluation test results are as follows:

Impact resistance test (impact torque: 126N.m)

Brand

Number of impacts (unit: ten thousand times)

HD

>500

Haozhi

>500

Brand A

268

Brand B

>500

2
Precision life test

Test conditions: Apply continuous rated load torque to the output end of the harmonic reducer, and the input end operates continuously at 1000RPM, considering the transmission precision after different operating hours.

The horizontal evaluation test results are as follows:

精度寿命测试.jpg

Horizontal evaluation test of precision life

3
Stiffness life test

Test conditions: Apply continuous rated load torque to the output end of the harmonic reducer, and the input end operates continuously at 1000RPM, considering the torsional stiffness value K1 of the reducer after different operating hours.

The horizontal evaluation test results are as follows:

刚度寿命测试.jpg

Horizontal evaluation test of stiffness life

From the horizontal evaluation test results, Haozhi's harmonic reducer is in the forefront of the industry in terms of the impact life, precision life, stiffness life and other life performance, which are comparable to HD product standards.

寿命横评测试平台.jpg

Horizontal life evaluation test platform


What are the key factors that affect the service life of harmonic reducer?

The three core components of the harmonic reducer include: flexible gear, rigid gear and wave generator. Life is a comprehensive performance parameter, which is closely related to these three components. When the design is reasonable (especially the tooth profile design), the key factors affecting the life are mainly: the selection of steel, the heat treatment process of the material, the surface treatment process of the material, and the selection of grease. For the major components, their performance requirements are:

1.Flexible gear: The core of the material is flexible and impact-resistant, and the surface (especially the tooth surface) is wear-resistant. Self-lubrication on the surface of the material is preferred.

2.Rigid gear: The tooth surface is wear-resistant. Self-lubrication on the surface is preferred.

3.Flexible bearing: The material has high deformation fatigue strength and impact resistance, and the surface is wear-resistant. Self-lubrication on the surface of the material is preferred.

4.Grease: Extreme pressure resistance, friction resistance, easy penetration and winding.


How does Haozhi break through the life limit?

The excellent service life of Haozhi's harmonic reducer is the result of its long-term accumulation in technology and process. In 2014, Haozhi entered the field of robotics and officially started the research and development of harmonic reducer. After five years of theoretical research and practice exploration of robot's gear reducer, Haozhi first conquered the tooth profile, convex profile and other design difficulties, and then continued to break through the bottlenecks of material restrictions, heat treatment and material surface treatment, and lubrication technology.

图片
In terms of flexible gear

Haozhi carefully selects the raw materials and suppliers, and strictly controls the heat treatment process to ensure the structure and reasonable grain size of the material, thereby ensuring the ultimate flexibility and impact resistance of the material. Combined with the strength of scientific research institutes, it has successfully developed efficient material surface strengthening technology, which greatly improved the wear resistance of tooth surface.

图片
In terms of rigid gear

Haozhi specially customized the special high-performance cast iron with high strength and excellent lubrication performance, to ensure wear resistance and excellent self-lubrication performance while reducing the noise value of the product.

图片
In terms of flexible bearing

Haozhi has developed a full series of customized flexible bearings suitable for the characteristics of our harmonic reducers in accordance with the different tolerance requirements of the reducers' components jointly with KOYO, one of the three major bearing brands in Japan.

图片
In terms of grease

Based on lubrication theory and years of grease application experience, Haozhi has developed a special grease. The grease produces a winding oil film on the transmission parts, which reduces the wear of the transmission parts, improves the oil film strength and reduces the temperature rise at the same time.

In addition, because the uniquely formulated grease contains nanoscale spherical particles with a diameter of about one twentieth of the molecular diameter, it can penetrate into every corner between parts without causing viscosity changes. The nanoscale particles play the role of fine bearings, and make use of the bearing effect to change sliding friction into rolling friction, thus reducing the wear speed of transmission parts to the greatest extent.

润滑脂.jpg

At present, Haozhi has developed two series (double-wave and three-wave), 10 specifications (11, 14, 17, 20, 25, 32, 40, 45, 50, 58), 6 large reduction ratios (30, 50, 80, 100, 120, 160) and a full range of robot joint modules. The company's harmonic reducer product line continues to expand to meet different needs in different fields.

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