Catalog No.CHT-21-05

枫信fengxin Technology Co., Limited

Guangdong Saini Intelligent Equipment Technology Co., Ltd.

fengxinTechnology Co., LimitedHigh Precision Harmonic Drive

Add:Wai Gang Industrial Park,Jiading District Shanghai

www.fxjiansuji.com

CATALOGUE OF HARMOINIC DRIVE

精密諧波減速器

CtlNCHT2105枫信

Catalog No.CHT-21-05 fi ThlCLiitd HihPiiHiDiwww.fxjiansuj

fjiji

Features of Harmonic Drive P.01

Harmonic Drive Transmission Principle P.03

Order Code P.04

GHS Series P.05

GHC Series P.27

GHD Series P.49

GHT Series P.55

GHS Series Assembly Guidance P.61

GHC Series Assembly Guidance P.64

GHD Series Assembly Guidance P.67

GHT Series Assembly Guidance P.69

Wave Generator Common Connection Fixing Method P.71

LubricantUse P.72

Notes of Harmonic Drive Use P.76

Application of Harmonic Drive P.77

諧波減速器產品目錄

CATALOGUE OF HARMOINIC DRIVE 枫信机械 分類索引 Indexer

2021 New Products

Harmonic Drive

Breakthrough Technology Comply with the international standard of

leading-performance

High Precision / Large Ratio/ High load-carrying capacity/ Small&lightweight /

Transmission balance/ Long Life-span

■ High Precision：

Adopting advanced design technology, ANSYS software simulation technology, makes the design error less than 1

micron. Flexible bearings, cross bearings, flex spline, circular spline, were produced by the common precision

advanced equipment in the industry

■ Large Ratio：

The design complies with the relevant international standards. The transmission ratio of the single-stage harmonic

gear transmission can reach i=50 to 160. The simple structure of the three basic components on the coaxial line can

achieve a high reduction ratio.

■ High workload：

The flex spline and circular spline using circular-arc profile gear, the engagement between teeth are face contact. At

the same time, the more teeth engaged, the less load per unit area, and higher load capacity than other transmission

forms. The internal cross-bearing is used to increase the load-bearing capacity.

GHS Series-Integated GHS Series-Self-aligning GHS Series-Hollow GHS Series- Shaft Input

01

GIGA

GHC Series- Integrated GHC Series- Self-aligning GHD Series-Dwarf Cup GHT Series -Dwarf Cup

■ Small and Lightweight：

Integrated design, high-performance materials. The volume and weight significantly reduced when compared

with the common gear devices

■ Smooth Transmission:：

Adopt advanced 3D simulation design technology and high precision machining technology, allows for

increased accuracy of key components, low deformation, smooth transmissions. The use of high-performance

lubrication to reduce shock and noise

■ Long Lifespan：

High high-strength, high-performance materials, advanced surface heat treatment technology and surface

coating technology were adopted which increased more than 3 times the surface wear resistance of key

components and increased the service life of the products

02

GIGA Harmoinic Drive

NEW

PRODUCT

2021

03

■ Gear Transmission Principle

Harmonic gear transmission was invented by the American inventor C.W.Musser in 1955. It is a new type of transmission

that utilizes the elastic deformation of the flexible working member into the motion or power transmission. It breaks

through the mechanical transmission using rigid members. The mechanism's model uses a flexible member to achieve

mechanical transmission, resulting in a range of special features that are difficult to achieve with other transmissions. The

deformation process of the intermediate flexible member is basically a symmetrical harmonic.

■ Component of Harmonic Drive Reduce

■ Harmonic Gear Transmission Principle

The principle of GIGAGER harmonic gear reduction is to use the relative motion of the Flexspline, Circular Spline and the

wave generator, mainly the controllable elastic deformation of the flexspline to realize the motion and power

transmission. The elliptical cam in the wave generator rotates in the flexible wheel to deform the flexspline. When the

Flexspline teeth and the Circular Spline teeth enter and mesh with each other which are at the ends of the elliptical cam

long axis of the wave generator, the Flexspline teeth at short axis ends are disengaged from the steel wheel teeth. For

the teeth between the long axis and the short axis of the wave generator, the semi-engaged state which gradually enters

the engagement along different sections of the two stages of the Flexspline and the Circular Spline is called a biting. It is

in a state of gradual withdrawal from engagement, which is called disengaging. When the wave generator rotates

continuously, the flexspline is constantly deformed, so that the teeth of two wheels are constantly changing their original

working states during the four movements of meshing, biting, engaging and disengaging, generating a staggering tooth

movement and realizing the motion transmission from the wave generator to the flexspline.

Wave Generator：

The Wave Generator is a thin, raced-ball bearing fitted

onto an elliptical hub. This serves as a high-efficiency

torque converter and is generally mounted onto the

input or motor shaft.

Circular Spline

Flexspline:

Wave Generator：

柔輪波發生器彎曲成

橢圓狀 , 因此在長軸

部分剛輪和柔輪嚙

合 , 在短軸部分 , 則

完全脫開狀態。

固定剛輪 , 使波發生

器按順時針轉動後 ,

柔輪發生彈性變形 ,

與剛輪嚙合位置順次

移動。

For every 180 degree

clockwise movement of

the Wave Generator the

Flexspline rotates

counter-clockwise by

one tooth in relation to

the Circular Spline.

波發生器旋轉一周

(360 度 ) 後 , 由於柔

輪比剛輪少 2 齒 , 因

此柔輪向逆時針方向

移動 2 齒。

Harmonic Driver Transmission Principle

Circular Spline:

It has two more teeth than the Flexspline and is

generally mounted onto a housing.

Flexspline:

It is a non-rigid, thin cylindrical cup with external teeth

on the open end of the cup. It fits over the Wave

Generator and takes on its elliptical shape. The

Flexspline is generally used as the output of th gear.

04

GHS 25 - 100 - I - SP

Series No ①

Spec②

Ratio③

Type④ Special specifications

30 50 80 100 120

I：Integrated

A：Self-aligning

K：Hollow

S：Shaft

Blank: Standard

SP: Special Specification in

shape and performance

I/GI：Integrate.

Different in mount holes

A/GA：Self-aligning

Different in mount holes

I：Integrated

Note:

①Series No G is the first letter of our company name in English version (G+), H represent as harmonic driver。The type code

of the products decided by the flexspline(the shape, length , whether high torque or not) The shape of flexspline includes cup

type (C), hollow type (S), Dwarf flexspline( D. T)

Spec Code 14 17 20 25 32

Flexspline pitch diameter 35.6 43.2 50.8 63.5 81.3

③Ratio：30、50、80、100、120。

④Type：

Ⅰtype：Standard type. The input shaft is matched with the inner hole of the elliptical cam and connected by a flat key

A type：Cross slider coupling type. Input shaft and cam use the cross slider coupling to connect

K type : Hollow type. The parts in input end and hollow elliptical cam use the screw to connect

S type： Shaft input type. The high-speed end of the reducer has its own input shaft

⑤Special specifications：Blank=Standard，SP= Special Specification in shape and performance

Naming Rules of Harmonic Driver

Blank: Standard

S: Special Specification in

shape and performance

I：Integrated

Blank: Standard

SP: Special Specification in

shape and performance

Blank: Standard

SP: Special Specification in

shape and performance

GHS

14 ● ● ● ●

17 ● ● ● ●

20 ● ● ● ● ●

25 ● ● ● ●

32 ● ● ● ●

GHC

14 ● ● ● ●

17 ● ● ● ●

20 ● ● ● ● ●

25 ● ● ● ●

32 ● ● ● ●

GHD

14 ● ● ● ●

17 ● ● ● ●

20 ● ● ● ●

25 ● ● ●

32 ● ● ●

GHT

14 ● ● ● ●

17 ● ● ● ●

20 ● ● ● ●

25 ● ● ●

32 ● ● ●

05

I series- Integrated Type: The flex spline is a hollow flanging structure,

compact structure and the shaft input is connected to the inner hole of

the wave generator by Cross slider coupling

Features:

● Flat shape· Standard structure

● Compacted and simple design

● Zero Backlash

● Input and output coaxially

● Extremely high positioning and Repeatability

A Series-Self-aligning Type: The flex spline is a hollow flanging

structure, compact structure and the shaft input is connected to the inner

hole of the wave generator by Cross slider coupling

Features：

● Flat shape· Standard structure

● Compacted and simple design

● Zero Backlash

● Wave generator self-aligning

K Series-Hollow Type: The flex spline is a hollow flanging structure,

compact structure, large aperture hollow structure, easy to wiring and piping.

Features：

● Simple type， easy to install and use

● Zero Backlash

● Input and output coaxially

● Extremely high positioning and Repeatability

S series-Input Shaft Type: The flex spline is a hollow flanging structure,

compact structure, input shaft connection, available for variety of input

patterns

Features：

● Available for variety of input patterns

● Compacted and simple design

● Zero Backlash

● Input and output coaxially

● Extremely high positioning and Repeatability

GHS Series

06

GHS Series Parameter

14

30 3.8 8.5 6.5 16 8000 3500 ≤ 10 ≤ 20

0.75

11000

50 5.3 17.5 6.9 26 8000 3500 ≤ 9 ≤ 15 12000

80 7.6 22.5 10.5 35 8000 3500 ≤ 7 ≤ 10 15000

100 7.8 28 11 47 8000 3800 ≤ 7 ≤ 10 15000

17

30 8.8 16 12 24 7000 3500 ≤ 28 ≤ 15

1.1

11000

50 16 34 26 54 7000 3500 ≤ 26 ≤ 15 12000

80 22 43 28 59 7000 3500 ≤ 24 ≤ 10 15000

100 24 54 39 98 7000 3800 ≤ 24 ≤ 10 15000

20

30 15 27 20 50 6000 3000 ≤ 42 ≤ 15

1.4

11000

50 25 56 34 98 6000 3000 ≤ 38 ≤ 15 12000

80 34 74 47 127 6000 3000 ≤ 35 ≤ 10 15000

100 40 82 49 147 6000 3500 ≤ 34 ≤ 10 15000

120 40 87 49 147 6000 3500 ≤ 34 ≤ 10 15000

25

50 39 98 55 186 5500 3000 ≤ 60 ≤ 15

2.2

12000

80 63 137 87 255 5500 3000 ≤ 51 ≤ 10 15000

100 67 157 108 304 5500 3000 ≤ 51 ≤ 10 15000

120 67 167 108 289 5500 3500 ≤ 51 ≤ 10 15000

32

50 73 205 103 363 4500 3000 ≤ 90 ≤ 15

4.5

12000

80 112 289 159 540 4500 3000 ≤ 80 ≤ 10 15000

100 130 325 208 635 4500 3000 ≤ 78 ≤ 10 15000

120 130 335 208 652 4500 3500 ≤ 75 ≤ 10 15000

Items Backlash Weight Designed

Lifespan

Rated Torque

(Input 2000

rpm)

Start/stop

Allow peak

Torque

Permissible

Max Value of

Torque

Instantaneous

Permissible

Average Load Maximum

Starting

Torque

Permissible

Maximum Input

Rotating Speed

Permissible

Average Input

Rotating Speed

Model Ratio N.m N.m N.m N.m r/min r/min N.cm Arc sec KG H

07

枫信 ■ GHS14-I

08

■ GHS17-I

枫信

09

■ GHS20-I

10

■ GHS25-I

枫信

11

■ GHS32-I

12

■ GHS14-A

枫信

13

■ GHS17-A

14

■ GHS20-A

枫信

15

■ GHS25-A

16

■ GHS32-A

枫信

17

■ GHS14-K

18

■ GHS17-K

枫信

19

■ GHS20-K

20

■ GHS25-K

枫信

21

■ GHS32-K

22

■ GHS14-S

枫信

23

■ GHS17-S

24

■ GHS20-S

枫信

25

■ GHS25-S

26

■ GHS32-S

枫信

27

GHC Series -cup type

I /GI series- Integrated type：

The flex spline is a cup-shaped standard structure,

and the shaft input is connected to the inner hole

of the wave generator by Cross slider coupling

The circular spline fixed and flex spline end

output is commonly used connection method

Feature:

●Cup-shaped standard structure

●Compacted and simple design

●Gearless, input and output coaxially

●Extremely high positioning

●Excellent Repeatability

A /GA series -self-aligning type:

The flex spline is a cup-shaped standard

structure, and the shaft input is connected

to the inner hole of the wave generator

by Cross slider coupling. The circular

spline fixed and flex spline end output is

commonly used connection method.

Features：

●Cup-shaped standard structure

●Compacted and simple design

●Gearless, input and output coaxially

●Extremely high positioning

●Excellent Repeatability

28

GHC Series Parameter

14

30 3.8 9 6.8 17 8000 3500 ≤ 5.2 ≤ 15

0.54

11000

50 5.4 18 6.9 27 8000 3500 ≤ 4.3 ≤ 15 12000

80 7.8 23 11 35 8000 3500 ≤ 2.8 ≤ 10 15000

100 7.8 28 11 47 8000 3800 ≤ 2.6 ≤ 10 15000

17

30 8.8 16 12 24 7000 3500 ≤ 6 ≤ 15

0.68

11000

50 16 34 26 54 7000 3500 ≤ 4.2 ≤ 15 12000

80 22 43 28 59 7000 3500 ≤ 3.6 ≤ 10 15000

100 24 54 39 98 7000 3800 ≤ 3.3 ≤ 10 15000

20

30 15 27 20 50 6000 3000 ≤ 11 ≤ 15

0.98

11000

50 25 56 34 98 6000 3000 ≤ 8.1 ≤ 15 12000

80 34 74 47 127 6000 3000 ≤ 8 ≤ 10 15000

100 40 82 49 147 6000 3500 ≤ 7 ≤ 10 15000

120 40 87 49 147 6000 3500 ≤ 7 ≤ 10 15000

25

50 39 98 55 186 5500 3000 ≤ 30 ≤ 15

1.5

12000

80 63 137 87 255 5500 3000 ≤ 25 ≤ 10 15000

100 67 157 108 304 5500 3000 ≤ 21 ≤ 10 15000

120 67 167 108 289 5500 3500 ≤ 19 ≤ 10 15000

32

50 73 205 103 363 4500 3000 ≤ 55 ≤ 15

3.2

12000

80 112 289 159 540 4500 3000 ≤ 50 ≤ 10 15000

100 130 325 208 635 4500 3000 ≤ 47 ≤ 10 15000

120 130 335 208 652 4500 3500 ≤ 40 ≤ 10 15000

Starting

Backlash Backlash Weight Designed Designed

Items Torque Lifespan Lifespan

Rated Torque

(Input 2000

rpm)

Start/stop

Allow peak

Torque

Permissible

Max Value of

Average Load

Torque

Instantaneous

Permissible

Maximum

Permissible

Maximum Input

Rotating Speed

Permissible

Average Input

Rotating Speed

Model Ratio N.m N.m N.m N.m r/min r/min N.cm Arc sec KG H

29

■ GHC14-I

30

■ GHC17-I

枫信

31

■ GHC20-I

32

■ GHC25-I

枫信

33

■ GHC32-I

34

■ GHC14-GI

枫信

35

■ GHC17-GI

36

■ GHC20-GI

枫信

37

■ GHC25-GI

38

■ GHC32-GI

枫信

39

■ GHC14-A

40

■ GHC17-A

枫信

41

■ GHC20-A

42

■ GHC25-A

枫信

43

■ GHC32-A

44

■ GHC14-GA

枫信

45

■ GHC17-GA

46

■ GHC20-GA

枫信

47

■ GHC25-GA