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GB/T 30819-2014 English PDF (GBT30819-2014)

GB/T 30819-2014 English PDF (GBT30819-2014)

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GB/T 30819-2014: Harmonic drive gear reducers for robots

This standard specifies the terms and definitions, product classification, model and basic parameters, requirements, test methods, inspection rules, markings, packaging, transportation and storage of harmonic drive gear reducers for robots. This standard applies to harmonic drive gear reducers for robots.
GB/T 30819-2014
GB
NATIONAL STANDARD OF THE
PEOPLE REPUBLIC OF CHINA
ICS 21.120
J 19
Harmonic drive gear reducers for robots
ISSUED ON: JUNE 24, 2014
IMPLEMENTED ON: DECEMBER 31, 2014
Issued by: General Administration of Quality Supervision, Inspection and Quarantine;
Standardization Administration of PRC.
Table of Contents
Foreword ... 3
1 Scope ... 4
2 Normative references ... 4
3 Terms and definitions ... 5
4 Product classification, model and basic parameters ... 7
5 Requirements ... 19
6 Test method ... 23
7 Inspection rules ... 25
8 Marking, packaging, transportation and storage ... 26
Harmonic drive gear reducers for robots
1 Scope
This standard specifies the terms and definitions, product classification, model and basic parameters, requirements, test methods, inspection rules, markings, packaging, transportation and storage of harmonic drive gear reducers for robots.
This standard applies to harmonic drive gear reducers for robots (hereinafter referred to as reducers).
2 Normative references
The following documents are essential to the application of this document. For the dated documents, only the versions with the dates indicated are applicable to this document; for the undated documents, only the latest version (including all the amendments) is applicable to this standard.
GB/T 191 Packaging - Pictorial marking for handling of goods
GB/T 699-1999 Quality carbon structural steels
GB/T 1348-2009 Spheroidal graphite iron castings
GB/T 2828.11 Sampling procedures for inspection by attributes - Part 11: Procedures for assessment of declared quality levels for small population GB/T 3077-1999 Alloy structure steels
GB/T 6404.1 Acceptance code for gear units - Part 1: Test code for airborne sound
GB/T 13306 Plates
GB/T 13384 General specifications for packing of mechanical and electrical product
GB/T 14118-1993 Harmonic drive reducer
JB/T 9050.3-1999 Load test method of reduction cylindrical gear units
Under the action of torsional moment, the ability of the component to resist torsional deformation, or the ratio of the rated load torque to the tangential elastic deformation angle.
3.7
Starting torque
The torque to be applied when starting at no load.
3.8
Transmission accuracy
In the working state, when the input shaft rotates in one direction, the degree of closeness of the actual rotation angle of the output shaft to the relative theoretical rotation angle.
Note: The level of transmission accuracy is measured by the size of the transmission error. The smaller the transmission error, the larger the
accuracy; the larger the transmission error, the smaller the accuracy.
3.9
Lost motion
In the working state, when the input shaft changes from forward to reverse rotation, the lag of the output shaft on the angle of rotation.
3.10
Backlash
When the output end and the reducer housing are both fixed, a ??2% rated torque is applied to the input end to rotate clockwise and counterclockwise, a slight angular displacement as generated at the input end of the reducer. 3.11
Transmission error
In the working state, when the input shaft rotates in one direction, the difference between the actual rotation angle and the theoretical rotation angle of the output shaft.
3.12
Length of flexspline
the load is evenly increased to 4 times the rated load within 30 s and then run for 2 minutes.
6.4 Maximum allowable temperature of housing
Use a verified/calibrated thermocouple or other temperature sensor and other primary instruments and their matching secondary instruments for testing. Fix the primary instrument close to the surface of the prototype. After starting up and running, collect and record the temperature value at the time interval required by the test.
6.5 Transmission efficiency
The test of transmission efficiency is carried out according to JB/T 9050.3-1999. 6.6 Starting torque
The starting torque test shall be carried out after the no-load test.
The load measuring device with constant torque loading function is connected to the output end of the reducer. The torque is applied slowly and evenly until the input shaft of the reducer has an angular displacement. Collect and record the instantaneous torque value. Carry out 5 tests with different phase intervals in the forward and reverse directions. Take the maximum value of 10 tests as the starting torque.
6.7 Torsional stiffness
The torsional stiffness test is carried out according to 6.2.5 of GB/T 14118-1993. 6.8 Lost motion and backlash
6.8.1 Lost motion
The lost motion test is carried out according to the dynamic measurement method in 6.2.6.1 of GB/T 14118-1993.
6.8.2 Backlash
The backlash test shall be performed after the lost motion test. The
measurement adopts optical indexing head, collimating light tube, optical polygonal prism, etc. When measuring, the optical indexing head is installed on the input shaft of the reducer. The polyhedral prism is fixed on the output shaft. One surface of the collimating light tube is adjusted to be perpendicular to the polyhedral prism. Fix the output end. Rotate the input end clockwise and counterclockwise, to make the input end produce a torque of ??4% of the rated torque. Measure the angular displacement value of the reducer input end, which is the backlash. The measurement sampling points are not less than 72 points. c) The maximum allowable temperature of housing;
d) Noise.
7.2 Type inspection
7.2.1 Inspection scope
Type inspection shall be carried out in any of the following situations: a) In case of type finalization of new product's trial production and the trial production of old product after trans-plant;
b) When the product has major changes in design, technology, materials, etc., which are sufficient to affect product performance;
c) When production is resumed after 2 years of suspension;
d) For mass-produced products, it is carried out every 3 years; the sampling method shall be carried out according to GB/T 2828.11;
e) When relevant departments request type inspection.
7.2.2 Inspection items
The inspection items are:
a) No-load, load and overload capacity;
b) Transmission efficiency;
c) Life test;
d) Starting torque;
e) Torsional stiffness;
f) Transmission accuracy;
g) Noise;
h) The maximum allowable temperature of housing.
8 Marking, packaging, transportation and storage
8.1 Marking
The reducer shall have a product label in an easily identifiable position. Its requirements shall comply with the provisions of GB/T 13306. The label content

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