Schaeffler RT Series Leitfaden
Precision strain wave gears
Series RT
Mounting manual
Schaeffler Technologies
MON 106
1
Page
Contents
Precision strain wave gears
About the mounting manual
Availability........................................................................... 2
Legal guidelines................................................................... 2
Symbols............................................................................... 2
Images................................................................................. 2
General safety guidelines
Usage for the intended purpose............................................ 3
Usage not for the intended purpose ...................................... 3
Selection and qualification of personnel............................... 4
Personal protective equipment ............................................. 4
Safety regulations ................................................................ 4
Scope of delivery
Damage during transit .......................................................... 5
Defects ................................................................................ 5
Strain wave gear RT..-H-..-BHS
Preparation for mounting
Cleanliness .......................................................................... 6
Overview.............................................................................. 6
Mounting surfaces ............................................................... 7
Mounting.................................................................................. 8
Running-in process ................................................................... 12
Strain wave gear RT..-H-..-BMS
Preparation for mounting
Cleanliness .......................................................................... 14
Overview.............................................................................. 14
Mounting surfaces ............................................................... 15
Mounting.................................................................................. 16
Running-in process ................................................................... 20
Strain wave gear RT..-H-..-UHS
Preparation for mounting
Cleanliness .......................................................................... 22
Overview.............................................................................. 22
Mounting surfaces ............................................................... 23
Mounting.................................................................................. 23
Decommissioning and
disposal
................................................................................................ 25
2
MON 106
Schaeffler Technologies
Precision strain wave gears
About the mounting manual
This mounting manual serves as an aid in mounting strain wave
gears safely and correctly.
The manual contains important information on:
■
avoiding personal injury or damage to property
■
mounting the strain wave gear correctly to ensure functionality
The original language of the manual is German.
All other languages are translations from the German language.
Availability
A current electronic version (PDF) of this manual can be found at
https://www.schaeffler.de/std/1F3F
Legal guidelines
The information in this manual reflects the status as of July 2022.
Unauthorised modifications to or improper use of the product are
not permitted. Schaeffler does not assume any liability in this
respect.
The information and instructions contained in this document, in the
catalogue and in the customer delivery drawing must be observed.
Special and customer-specific designs may differ in technical
detail from the designs covered in this publication. It is strongly
recommended that you contact Schaeffler, quoting the type
designation and serial number, if any clarification is required.
Symbols
The warning and hazard symbols are defined in accordance with
ANSI Z535.6-2011.
NOTICE
In case of non-compliance, damage or malfunctions in the product
or the adjacent construction may occur.
Images
The images in this manual are examples and may differ from
the delivered product.
Further information
For any questions relating to mounting, please consult your local
contact at Schaeffler.
Schaeffler Technologies
MON 106
3
General safety guidelines
Usage for the intended
purpose
Strain wave gears of series RT are intended for industrial or
commercial applications.
Typical application areas include:
■
robots and handling
■
medical equipment
■
industrial machinery
■
machine tools
The strain wave gears may only be operated within the operating
ranges and environmental conditions specified in the documen-
tation.
Fundamental health and safety requirements were taken into
account during the development, design and production stages.
Under the terms of the EC Machinery Directive, strain wave gears of
series RT are classified as machine components, not incomplete
machines. Machine components do not fall within the scope of the
EC Machinery Directive.
Before commissioning equipment and machinery fitted with strain
wave gears of series RT, the conformity of the equipment or machine
with the EC Machinery Directive must be ensured.
Usage not for the intended
purpose
Use of the strain wave gears outside of the aforementioned
application areas or under operating ranges and environmental
conditions which deviate from those described in the documen-
tation is considered incorrect usage.
Use of the strain wave gears in the following application areas is
considered incorrect use:
■
aviation and aerospace
■
areas with an explosion risk
■
machinery specifically designed or used for nuclear applications,
the failure of which may result in the emission of radioactivity
■
vacuum
■
devices for domestic use
■
medical equipment that comes into direct contact with the
human body
■
machinery or equipment used to transport and lift people
■
special equipment for use in fairgrounds and amusement parks
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MON 106
Schaeffler Technologies
Precision strain wave gears
Selection and qualification
of personnel
Strain wave gears may only be fitted by qualified personnel.
Qualified personnel:
■
are authorised
■
have all the necessary knowledge
■
are familiar with the safety regulations
Personal protective equipment
Personal protective equipment protects against health hazards.
For your own safety, always use safety shoes and clean safety
gloves.
Depending on the mounting location and on the machine or equip-
ment, it may be necessary to use additional personal protective
equipment. Further information on this subject can be obtained from
your contact at Schaeffler.
Observe the applicable regulations relating to occupational safety
at the mounting location.
Safety specifications
In order to prevent the occurrence of personal injury or damage
to property, observe the following safety specifications.
Fundamental specifications
Keep the work area free of trip hazards.
Always carry out all mounting and maintenance work when the
machine or equipment is at a standstill. Do not reach into the work-
ing area of the gear unit while the shafts are still rotating.
Secure the machine or equipment against unintentional start-up
before carrying out mounting or maintenance work.
Observe the safety datasheet for the lubricant. Please address any
questions to your contact at Schaeffler.
Transport, storage, mounting
Do not open the strain wave gear packaging until immediately before
mounting.
Cleaning
Use volatile cleaning solvents, which allow residue-free cleaning,
to clean the surfaces of the gear unit. The solvents must be
compatible with the gear unit surfaces and with the corrosion
protection used, in order to avoid damage to the gear unit
surfaces.
Disposal
Dispose of any cloths soaked with grease or solvents, as well as
excess grease, packaging material and any other waste generated in
connection with mounting, by environmentally acceptable methods.
Observe the applicable legal regulations at the mounting location.
Schaeffler Technologies
MON 106
5
Environmental hazards
Pay attention to any safety risks that are not associated directly
with the strain wave gear, but are posed by the ambient conditions
at the mounting location. These may include dusts that are
hazardous to health or working at a considerable height.
Furthermore, the machine or equipment may also be a source
of hazards, for example, as a result of moving machine or equipment
parts.
Consult with a local safety engineer before starting mounting work
and observe all safety specifications that are applicable to the
mounting location, the machine or the equipment.
Scope of delivery
Please refer to the customer delivery drawing.
The scope of delivery comprises:
■
strain wave gear
■
accessories
–O-rings
– lubricant (for RT..-H-..-BHS and RT..-H-..-BMS)
Damage during transit
Check the delivery immediately upon arrival for any damage
during transit.
Report any damage during transit promptly as a complaint
to the carrier.
Defects
Check the strain wave gear immediately upon delivery for
externally visible defects.
Report any defects promptly as a complaint to the distributor
of the strain wave gear.
6
MON 106
Schaeffler Technologies
Strain wave gear RT..-H-..-BHS
Preparation for mounting
Cleanliness
NOTICE
No foreign bodies or mounting aids must be allowed to enter
the gear unit during mounting.
Contaminants and residues from cleaning agents can shorten
the operating life of the strain wave gear.
Only use volatile solvents and lint-free cloths for cleaning.
Measures for ensuring cleanliness are as follows:
Keep the mounting location, tools and clothing clean and free
from magnetic or magnetisable particles.
Clean the mounting surfaces on the gear parts.
Do not remove the strain wave gear from its packaging until
immediately before mounting.
Overview
An overview of the components used in the strain wave gear can
be found in the following illustration.
O1, O2 = O-rings
Flexspline
Double row angular contact
needle roller bearing
XZU-RTH
Circular spline
Wave generator bearing
Input shaft
Wave generator
Retaining screws
Figure 1
Components of RT..-H-..-BHS
3
2
5
4
1
7
6
O2O1
0019F0220019F022
Schaeffler Technologies
MON 106
7
Mounting surfaces
Observe the following instructions in relation to the mounting
surfaces.
NOTICE
Damage due to anti-corrosion oil.
The gear unit is supplied with anti-corrosion oil.
Remove the anti-corrosion oil prior to mounting.
NOTICE
Damage due to incompatible components.
The main components of the gear unit (flexspline, circular spline,
input shaft and wave generator bearing) are matched to each other.
Do not substitute the components for components from other gear
units.
Motor shaft
Adjacent construction
(on the circular spline side)
Adjacent construction
(on the flexspline side)
Figure 2
Strain wave gear RT..-H-..-BHS
with adjacent construction
1112
10
0019F0240019F024
8
MON 106
Schaeffler Technologies
Strain wave gear RT..-H-..-BHS
Mounting
Wear clean gloves when working on the gear unit to prevent
corrosion.
Do not remove the strain wave gear from its packaging until immedi-
ately before mounting.
The gear teeth, wave generator bearing and double row angular
contact needle roller bearing XZU-RTH are supplied ready lubricated.
NOTICE
Damage to property due to removal of individual parts.
Do not remove any screws from the circular spline.
Lubricate the flexspline and
adjacent construction
Lubricate the interior of the flexspline
using the lubricant
provided.
For the amount of lubricant required, please refer to the customer
delivery drawing.
Distribute the lubricant evenly.
Apply the lubricant provided to surface A of the adjacent
construction
.
For the amount of lubricant required, please refer to the customer
delivery drawing.
Figure 3
Lubricate the flexspline
1
0019F0260019F026
Figure 4
Lubricate the adjacent construction
A
11
0019F0280019F028
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