GB/T 36491-2018 English PDF (GB/T36491-2018)

GB/T 36491-2018: Precision cycloidal pin planetary gear transmission for robot - General technical requirements
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GB/T 36491-2018
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 21.200
J 17
Precision cycloidal pin planetary gear transmission
for robot - General technical requirements
ISSUED ON: JULY 13, 2018
IMPLEMENTED ON: FEBRUARY 01, 2019
Issued by: State Administration for Market Regulation;
Standardization Administration of the People's Republic of
China.
Table of Contents
Foreword ... 3 
1 Scope ... 4 
2 Normative references ... 4 
3 Terms and definitions ... 4 
4 Common structural forms ... 6 
5 Technical requirements ... 8 
6 Test methods ... 10 
7 Inspection rules ... 16 
8 Marks, packaging, transport and storage ... 18 
Annex A (informative) Product classification ... 19 
Annex B (normative) Performance reference values ... 29 
Precision cycloidal pin planetary gear transmission
for robot - General technical requirements
1 Scope
This Standard specifies terms and definitions, common structural forms,
technical requirements, test methods, inspection rules, marks, packaging,
transport and storage for precision cycloidal pin planetary gear transmission for
robot (hereinafter referred to as the transmission).
This Standard is mainly applicable to robotics field. It is also used in other
industrial fields where the transmission is required to be in a small size, light
weight, large speed ratio, large torque, high precision, high rigidity, and high
reliability.
2 Normative references
The following referenced documents are indispensable for the application of
this document. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any
amendments) applies.
GB/T 191, Packaging and storage marks
GB/T 2828.11, Sampling procedures for inspection by attributes Part 11:
Procedures for assessment of declared quality levels for small population
GB/T 6404.1, Acceptance code for gear units - Part1: Test code for airborne
sound
GB/T 13306, Plates
GB/T 13384, General specifications for packing of mechanical and electrical
product
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1 allowable torque during acceleration or deceleration
in the normal start or stop process, the maximum load (including inertia) torque
allowed at the output end
3.2 backdriving torque
increasing start torque
the torque required when there is no load at the input end, and slowly twist the
output end to the input end
3.3 no-load running torque
the input torque when there is no load at the output end, driving the input end,
under different stable speeds. It can also be converted to the output torque
according to the transmission ratio; and draw the speed-torque curve
3.4 momentary maximum allowable torque
the allowable value of the instantaneous maximum torque that the output end
bears when subjected to an unexpected shock
3.5 allowable bending moment
to ensure normal operation, the allowable value of bending moment on the
output end
3.6 momentary maximum allowable moment
the allowable value of the instantaneous maximum bending moment that the
output end bears when subjected to an unexpected shock
3.7 bending rigidity
the ratio of the bending moment on the output end to the elastic deflection angle
of the output end axis
3.8 torsional rigidity
when the input end is fixed, the ratio of the torque on the output end to the
elastic torsion angle of the output end
3.9 hysteresis curve
fix the input end; gradually load the output end to the rated torque and then
unload; reverse and gradually load to the rated torque and then unload; record
torque and rotation angle values of multiple output ends; draw the completed
closed torque-angle curve
As shown in Figure 1.
a) The connectors and fasteners are not loose;
b) All seals and joints have no oil leakage or exudation;
c) The operation is smooth, without impact.
5.3 Allowable torque during acceleration or deceleration
It shall comply with Table B.3.
5.4 Backdriving torque
It shall not exceed the one specified in Table B.3.
5.5 No-load running torque
At the rated speed, it shall not exceed the one specified in Table B.3.
5.6 No-load test
There must be no loose connection, impact, abnormal noise.
5.7 Load performance test
There must be no loose connection, impact, abnormal noise.
5.8 Overload test
Run at the allowable torque during acceleration or deceleration for 10min. Run
at the momentary maximum allowable torque for 3s. The transmission can still
operate normally.
5.9 Shell maximum temperature
Load to the rated torque at the rated speed. The maximum temperature of the
shell shall not be greater than 60°C after reaching thermal equilibrium.
5.10 Transmission efficiency
At the rated speed and the rated torque, it shall not be lower than 80%.
5.11 Noise
At the rated speed and the rated torque, it shall not be greater than the one
specified in Table B.4.
5.12 Momentary maximum allowable torque
It shall comply with Table B.5.
6.9 Shell maximum temperature
Run at the rated speed and the rated torque. Record the shell temperature
value every 10min. When the temperature difference within 30min is less than
1°C, record the maximum temperature of the shell.
6.10 Transmission efficiency
Run at different working speeds. After the speed stabilizes, load by steps to the
rated torque. Measure the torque and speed of the input and output ends under
at least 5 torque levels to obtain the torque-efficiency curve at different speeds.
6.11 Noise
At the rated speed and the rated torque, noise inspection is carried out
according to GB/T 6404.1.
6.12 Momentary maximum allowable torque
Complete verification in the overload test.
6.13 Allowable bending moment
At the rated speed and the rated torque, apply the allowable bending moment
specified in Table B.6 according to the loading method in Figure 5 to complete
the verification.
6.14 Momentary maximum allowable moment
At the rated speed and the rated torque, apply the momentary maximum
allowable moment specified in Table B.5 according to the loading method in
Figure 5. Duration does not exceed 5s.
6.15 Bending rigidity
The output end loads according to the method in Figure 5. Apply load force W1
and load force W2 that are perpendicular to each other. Gradually increase the
load forces W1, W2. Record the values of θ, W1, W2. According to formula (1),
calculate the bending rigidity Km.
8 Marks, packaging, transport and storage
8.1 Marks
The transmission shall have a product identification in an easily identifiable
position, in accordance with GB/T 13306. The content for identification includes:
a) Product name and model;
b) Nominal transmission ratio;
c) Name and address of the manufacturer;
d) Date of manufacture or batch number;
e) Implementation standard number or contract number;
f) Exit-factory number.
8.2 Packaging
The shaft extension and exposed installation datum surface of the transmission
before packaging shall be treated with anti-rust and anti-physical damage.
Transmission packaging and transportation shall meet the requirements of
GB/T 191 and GB/T 13384 or customer requirements. The following information
shall be attached when leaving the factory:
a) Product qualification certificate;
b) Product instruction manual;
c) Packing list;
d) Accessories and list of accessories;
e) Other documents required by the customer.
8.3 Transport and storage
Pay attention to waterproof, moisture-proof, anti-corrosion and anti-vibration
during transportation and storage. The transmission shall be stored in a dry
place. If the storage period exceeds 6 months, check the rust condition once.
Re-do anti-corrosion treatment if necessary.
Annex A
(informative)
Product classification
A.1 Product classification
According to the common product types of the transmission, the following
classifications are made.
A.1.1 According to input configuration type
It is divided into coaxial input series (series A) and bias input series (series B).
Further, according to the fastening form:
- series A is divided into: output flange bolt fastening type (L) and output
flange pin combined fastening type (X);
- series B is divided into: output flange bolted type (L) and output flange
through hole bolted type (T).
A.1.2 According to accuracy level
It is divided into level I, level II and level III. See Table B.7 for details.
A.2 Model
The transmission model is composed of specification code, rated output torque
code, input configuration series, transmission ratio, fastening form and
accuracy level, as shown in Figure A.1.
Figure A.1 -- The transmission model
Example: PCP-20A-121-L-I represents the precision cycloidal pin planetary
gear transmission for coaxial input series robot, of which its rated output torque
code is 20, the rated output torque is 177N·m, the transmission ratio is 121, the
Accuracy level
Fastening form
Transmission ratio
Input configuration series
Rated output torque code (rated output torque is divided by 10 and rounded)
Specification code PCP (acronym for Precision Cycloid Pin Planetary)
fastening form is the output flange bolt fastening and the accuracy level is level
I.
A.3 Transmission composition and output mode
As shown in Figure 2, it is mainly composed of input wheel, planetary gear,
output flange, housing, PCP gear, crankshaft and other accessories.
The output methods mainly include the following three:
a) Fixed housing, input by input wheel, output by output flange;
b) Fixed output flange, input by input wheel, output by housing;
c) Fixed input wheel, input by housing, output by output flange.
A.4 Basic parameters
The structure of planetary-cycloidal pin series A is shown in Figure A.2. Nominal
dimensions are shown in Table A.1 and Table A.2. Rated parameters are shown
in Table B.1.
The structure of planetary-cycloidal pin series B is shown in Figure A.3. Nominal
dimensions are shown in Table A.3 and Table A.4. Rated parameters are shown
in Table B.2.
GB/T 36491-2018
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 21.200
J 17
Precision cycloidal pin planetary gear transmission
for robot - General technical requirements
ISSUED ON: JULY 13, 2018
IMPLEMENTED ON: FEBRUARY 01, 2019
Issued by: State Administration for Market Regulation;
Standardization Administration of the People's Republic of
China.
Table of Contents
Foreword ... 3 
1 Scope ... 4 
2 Normative references ... 4 
3 Terms and definitions ... 4 
4 Common structural forms ... 6 
5 Technical requirements ... 8 
6 Test methods ... 10 
7 Inspection rules ... 16 
8 Marks, packaging, transport and storage ... 18 
Annex A (informative) Product classification ... 19 
Annex B (normative) Performance reference values ... 29 
Precision cycloidal pin planetary gear transmission
for robot - General technical requirements
1 Scope
This Standard specifies terms and definitions, common structural forms,
technical requirements, test methods, inspection rules, marks, packaging,
transport and storage for precision cycloidal pin planetary gear transmission for
robot (hereinafter referred to as the transmission).
This Standard is mainly applicable to robotics field. It is also used in other
industrial fields where the transmission is required to be in a small size, light
weight, large speed ratio, large torque, high precision, high rigidity, and high
reliability.
2 Normative references
The following referenced documents are indispensable for the application of
this document. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any
amendments) applies.
GB/T 191, Packaging and storage marks
GB/T 2828.11, Sampling procedures for inspection by attributes Part 11:
Procedures for assessment of declared quality levels for small population
GB/T 6404.1, Acceptance code for gear units - Part1: Test code for airborne
sound
GB/T 13306, Plates
GB/T 13384, General specifications for packing of mechanical and electrical
product
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1 allowable torque during acceleration or deceleration
in the normal start or stop process, the maximum load (including inertia) torque
allowed at the output end
3.2 backdriving torque
increasing start torque
the torque required when there is no load at the input end, and slowly twist the
output end to the input end
3.3 no-load running torque
the input torque when there is no load at the output end, driving the input end,
under different stable speeds. It can also be converted to the output torque
according to the transmission ratio; and draw the speed-torque curve
3.4 momentary maximum allowable torque
the allowable value of the instantaneous maximum torque that the output end
bears when subjected to an unexpected shock
3.5 allowable bending moment
to ensure normal operation, the allowable value of bending moment on the
output end
3.6 momentary maximum allowable moment
the allowable value of the instantaneous maximum bending moment that the
output end bears when subjected to an unexpected shock
3.7 bending rigidity
the ratio of the bending moment on the output end to the elastic deflection angle
of the output end axis
3.8 torsional rigidity
when the input end is fixed, the ratio of the torque on the output end to the
elastic torsion angle of the output end
3.9 hysteresis curve
fix the input end; gradually load the output end to the rated torque and then
unload; reverse and gradually load to the rated torque and then unload; record
torque and rotation angle values of multiple output ends; draw the completed
...