Isel DSH-S, Инструкция по сборке

Страница: 9 / 44

RDH-XS, RDH-S, RDH-M, DSH-S
9 / 44 April 2019
2 Installation instructions and overview of functions
Firstly, this section provides an overview of the mechanical structure, installation or assembly of the
rotary units and a description of their functions.
The instructions for commissioning/configuring the rotary unit and its programming by users depend on
the motors used and the relevant controllers with output stages; they can be found in their documenta-
tion.
2.1 Functions
The rotary units in the series RDH and RSH have a modular design.
These rotary units are based on extremely durable Harmonic Drive
® motors with their well-known high
degree of precision.
These are housed in sealed aluminum molded shell and linked to a drive directly (solid shaft) or via a
drive belt (hollow shaft).
Operating principle of the Harmonic Drive-Transmission
Harmonic Drive motors are comprised of only three concentric components:

The Circular Spline (CS), a rigid cylindrical ring with internal gearing

The Flexspline (FS), a malleable cylindrical steel bushing with external gearing

The Wave Generator (WG), an elliptical steel disk with a centric hub and thin section ball bear-
ings
The powered elliptical Wave Generator (WG) deflects the Flexspline (FS), which is engaged with the
internal gearing of the fixed Circular Spline (CS) across the ball bearings.
In turning, the WG shifts the major axis of the ellipse axis and hence the position of tooth engagement.
The FS has two teeth less than the CS, so after half a WG rotary, a relative movement the size of one
tooth occurs between FS and CS (after a complete rotary this is equal to two teeth).
Where the CS is fixed, the FS is the output element and rotates in the opposite direction.
The following advantages result from this operating principle:

Reduction ratios of 30:1 to 320:1 with a minimal construction space

Peak torque values of 0.5 to 15000 Nm

Efficiencies of over 90% under rated operating conditions

Total positioning accuracy to less than one minute of an angle

Repeatability is only a few minutes of an angle

Freedom of movement in the tooth system

Very low tooth abrasion thanks to low sliding speed between the teeth