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Product details

Steel Bar for Harmonic Reducer Input Shaft

Harmonic reducer long input shaft (extended wave generator shaft) is the core transmission component of collaborative robots, 6-axis industrial robot wrists, humanoid robot elbows/wrists, and precision rotary stages. It transmits high-speed servo motor torque to the elliptical wave generator, requiring superior torsional fatigue resistance, high dimensional precision and wear resistance under continuous cyclic rotation. Our special alloy steel bars are tailor-made for machining long extended shafts of of standard robotic strain wave reducers fully complying with global universal material specifications for robot joint extended transmission shafts.

1. Standard Material Grade & Equivalent Steel Bar for Harmonic Reducer Long Input Shaft

1) Main Steel Grade for Harmonic Reducer Long Imput Shaft: Alloy Structurer Steel 42CrMo, 42CrMo4, AISI 4140, SAE 4140, ASTM 4140

--- Industry standard material for robot harmonic long shafts, balance of strength, toughness and machinability

2) Optional Upgrade Grade: 38CrMoAlA nitriding steel

--- For ultra-high precision medical & aerospace harmonic shafts, low deformation after nitriding

3) Economy Grade: 40Cr alloy steel

--- For light-load small-size harmonic long shafts (14#/17# miniature models)

4) Corrosion-resistant Special Grade: 17-4PH stainless steel

--- For semiconductor, cleanroom robotic harmonic drive shafts

2. Standard Harmonic Reducer Long Input Shaft Diameter & Extended Length Range (Matched Harmonic Sizes)

1) Shaft Base Diameter (Key mounting section)

Size 14: Φ7mm

Size 17: Φ11mm

Size 20: Φ14mm

Size 25 (6-axis wrist mainstream): Φ18mm

Size 32: Φ21mm

Size 40/45 heavy load: Φ26–32mm

2) Extended Long Shaft Length (out of reducer housing)

Standard stock extension length: 10mm, 15mm, 20mm, 25mm, 30mm, 35mm, 40mm

Custom extra-long extension: 50mm, 60mm, 80mm, 100mm

Total shaft length = built-in embedded section (fixed per model) + external extended segment

Most popular specification for robot 6th axis: 30mm extended long shaft

3 Harmonic Reducer Long Input Shaft Steel Bar Mechanical State & Complete Heat Treatment Process

Steel Grades for harmonic long shafts are supplied in pre-treated quenched & tempered state, supporting secondary precision machining. 42CrMo / 42CrMo4 / aisi 4140 for example:

1) Base overall quenching & tempering

Heating temperature: 850–880°C oil quenching + 580–650°C high-temperature tempering

Matrix hardness: HB 280–320, HRC 28-32

Mechanical performance: Tensile strength ≥1080MPa, yield strength ≥930MPa, excellent torsional toughness, anti-fatigue under frequent forward-reverse rotation

2) Secondary surface high-frequency induction hardening (after shaft CNC grinding)

Keyway, bearing fit surface hardness: HRC 52–58

Ultra-low friction, anti-scuffing, long service life for reciprocating torque transmission

3) Optional surface treatment

Self-color (as delivered): Mainstream for robot harmonic shafts, clean ground surface with anti-rust oil, no extra coating

Gas nitriding (38CrMoAlA only): Surface hardness HV1000–1200, tiny machining deformation ≤0.01mm

Black oxide / electroless nickel plating for special dust-proof & corrosion demand

4. Core Advantages of Our Harmonic Shaft Special Steel Bar:

1) Low impurity control: Strict S/P ≤0.035%, reduced internal micro-crack risk under long cyclic torsion

2) Uniform microstructure after tempering: No internal residual stress, finished long shaft maintains concentricity ≤±0.005mm after long-term operation

3) Perfect balance performance: Machined shafts reach dynamic balance grade G2.5, no vibration under max input speed 8500rpm
4) Stable grinding performance: The steel bar texture is uniform, easy to reach surface roughness Ra ≤0.2μm after precision cylindrical grinding
5) Long fatigue life: Chromium improves wear resistance, molybdenum eliminates temper brittleness, suitable for 24h continuous robot joint operation

5. Typical Application Scenarios for This Long Shaft Steel

1) 6-axis industrial robot 5th & 6th wrist harmonic reducers (most common long input shaft application)

2) Humanoid robot shoulder, elbow, wrist, neck joint harmonic drives

3) Side-mounted motor harmonic modules with timing belt transmission
4) SCARA robot Z-axis extended output harmonic shafts
5) Precision optical turntables, medical surgical robotic arm strain wave gears
6) Miniature hollow SHF/SHG series long hollow input shafts

6. Supply Specifications We Provide

1) Forms: Hot forged round bar, cold drawn bright bar, precision ground steel rod
2) Diameter range: Φ8mm – Φ35mm customized

3) Length: Cut-to-length according to customer long shaft drawing
4) Inspection reports: Chemical composition test, tensile strength, hardness, metallographic report, ultrasonic flaw detection for internal defects

7. Matching Harmonic Reducer Models

Compatible with standard short-cup, long-cup and hollow strain wave gear types for various robotic joint applications.

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SHANDONG LE REN SPECIAL STEEL CO., LTD.

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Main Product: Cold Drawn Steel Bar , Bright Steel Bar, Heat Treated Steel Bar and Tube, Threaded Rods, High Strength Steel Tie Rod, High Strength Steel Bolts

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