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GB/T 30819-2024 English PDF

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GB/T 30819-2024: Harmonic drive gear reducers for robot
Status: Valid

GB/T 30819: Evolution and historical versions

Standard IDContents [version]USDSTEP2[PDF] delivered inStandard Title (Description)StatusPDF
GB/T 30819-2024English599 Add to Cart 5 days [Need to translate] Harmonic drive gear reducers for robot Valid GB/T 30819-2024
GB/T 30819-2014English305 Add to Cart 0--9 seconds. Auto-delivery Harmonic drive gear reducers for robots Valid GB/T 30819-2014

PDF similar to GB/T 30819-2024


Standard similar to GB/T 30819-2024

GB/T 14230   GB/T 36491   GB/T 35089   GB/T 19935   GB/T 19936.2   

Basic data

Standard ID GB/T 30819-2024 (GB/T30819-2024)
Description (Translated English) Harmonic drive gear reducers for robot
Sector / Industry National Standard (Recommended)
Classification of Chinese Standard J17
Classification of International Standard 21.200
Word Count Estimation 30,332
Date of Issue 2024-09-29
Date of Implementation 2025-04-01
Older Standard (superseded by this standard) GB/T 30819-2014
Issuing agency(ies) State Administration for Market Regulation, China National Standardization Administration

GB/T 30819-2024: Harmonic drive gear reducers for robot

---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
Harmonic drive gear reducers for robots Harmonic gear reducer for robots ICS 21.200 CCS J 17 National Standard of the People's Republic of China Replaces GB/T 30819-2014 Released on 2024-09-29 2025-04-01 Implementation State Administration for Market Regulation The National Standardization Administration issued

Table of Contents

Preface ... Ⅲ 1 Scope ... 1 2 Normative references ... 1 3 Terms and Definitions ... 1 4 Product models, basic parameters and structural dimensions ... 3 4.1 Model ... 3 4.2 Basic Parameters ... 5 4.3 Structural Dimensions ... 10 5 Requirements ... 16 5.1 Main parts materials ... 16 5.2 No Load ... 17 5.3 Load ... 17 5.4 Maximum allowable shell temperature 17 5.5 Transmission Efficiency ... 17 5.6 Torsional stiffness ... 18 5.7 Transmission Error ... 18 5.8 Hysteresis Loss and Backlash 19 5.9 Sealing ... 19 5.10 Overload 19 5.11 Appearance ... 19 5.12 Design life ... 19 6 Test methods 19 6.1 No Load ... 19 6.2 Load ... 19 6.3 Maximum allowable shell temperature 19 6.4 Transmission Efficiency ... 20 6.5 Torsional stiffness 20 6.6 Transmission Error ... 20 6.7 Hysteresis Loss and Backlash 20 6.8 Sealing 20 6.9 Overload 20 6.10 Appearance ... 20 6.11 Fatigue Life ... 20 7 Inspection Rules ... 21 7.1 General Principles 21 7.2 Factory Inspection 21 7.3 Type inspection 21 7.4 Sampling and Judgment 21 8 Marking, packaging, transportation and storage 22 8.1 Logo 22 8.2 Packaging ... 22 8.3 Transportation and storage 22 Appendix A (Informative) Correspondence between specification code and flexspline pitch circle diameter ... 23

Foreword

This document is in accordance with the provisions of GB/T 1.1-2020 "Guidelines for standardization work Part 1.Structure and drafting rules for standardization documents" Drafting is required. This document replaces GB/T 30819-2014 "Harmonic gear reducer for robots". Compared with GB/T 30819-2014, In addition to structural adjustments and editorial changes, the main technical changes are as follows. Added "Stiffness hysteresis curve" (see 3.6), "Hysteresis loss" (see 3.7), "No-load starting torque" (see 3.9), “rated speed” (see 3.13), “transmission efficiency” (see 3.15); a) Changed "harmonic gear reducer" (see 3.1, 3.1 of the.2014 edition), "flexible wheel" (see 3.3, 3.3 of the.2014 edition), "Rigid wheel" (see 3.4, 3.4 of the.2014 edition), "flexible bearing" (see 3.5, 3.5 of the.2014 edition), "torsionally rigid "degrees" (see 3.8, 3.6 of the.2014 edition), "no-load starting torque" (see 3.9, 3.7 of the.2014 edition), "transmission error" (see 3.10, 3.11 of the.2014 edition), “backlash” (see 3.11, 3.10 of the.2014 edition), “flexwheel length” (see 3.12, 3.12 of the.2014 edition), “Rated torque” (see 3.14, 3.13 of the.2014 edition), “Design life” (see 3.16, terms and definitions of 3.14 of the.2014 version; b) The terms and definitions of “transmission accuracy” (see 3.8 of the.2014 edition) and “lost motion” (see 3.9 of the.2014 edition) have been deleted; c) The expression of “Product Classification” (see 4.1 of the.2014 edition) has been deleted, and the expression of “Specification Code” (see 4.1.3 of the.2014 edition) has been changed. In the description of 4.2.2 of the.2014 edition) and Table A.1 (see Table A.1, 4.2.2 of the.2014 edition), change “reduction ratio” to “transmission ratio”. And the content description has been changed (see 4.1.4, 4.3.1 of the.2014 edition); d) The expression of “accuracy grade” has been changed (see 4.1.7, 4.2.5 of the.2014 edition); e) Added the number of connection types and diagrams (see 4.1.8); f) Added the description of structural size and structural type (see 4.3); g) The provisions for rigid and flexible pulley materials have been changed (see 5.1.1, 5.1.2, 5.1.1, 5.1.2 of the.2014 edition); h) Added the provisions of “no-load test” (see 5.2.1); i) The provisions of “no-load starting torque” have been changed (see 5.2.2, 5.7 of the.2014 edition); j) The provisions of load (see 5.3, 5.3 of the.2014 edition) and overload (see 5.10, 5.4 of the.2014 edition) have been changed; k) The provisions of "transmission efficiency" have been changed (see 5.5, 5.6 of the.2014 edition); l) Added the provisions of torsional stiffness for model 58 (see 5.6); m) Changed the provisions of "transmission error", "hysteresis loss and backlash" (see 5.7, 5.8, 5.9, 5.10 of the.2014 edition), changed The names of “hysteresis loss and backlash” are changed (see 5.8, 5.9 of the.2014 edition); n) Deleted the provisions of "environmental protection" (see 5.11 of the.2014 edition) and "lubrication" (see 5.12 of the.2014 edition); o) Added the provision of "sealing" (see 5.9); p) The provisions of “design life” have been changed (see 5.12, 5.14 of the.2014 edition); q) The “no-load test” method and the standard requirements have been changed (see 6.1.1, 6.1 of the.2014 edition); r) Changed the name of "no-load starting torque" and the test method (see 6.1.2, 6.6 of the.2014 edition); s) The provisions of "load" have been changed (see 6.2, 6.2 of the.2014 edition); t) The provisions of "maximum allowable shell temperature" have been changed (see 6.3, 6.4 of the.2014 edition); u) The provisions and standards for “transmission efficiency” have been changed (see 6.4, 6.5 of the.2014 edition); v) The provisions and standards for “torsional stiffness” have been changed (see 6.5, 6.7 of the.2014 edition); w) The provisions and standards for “transmission error” have been changed (see 6.6, 6.9 of the.2014 edition); x) The provisions and standards for "hysteresis loss and backlash" have been changed (see 6.7, 6.8 of the.2014 edition); y) Added the provisions of "sealing" (see 6.8); z) The provisions on "overloading" have been changed (see 6.9, 6.3 of the.2014 edition); aa) The provisions and reference standards for “fatigue life” have been changed (see 6.11, 6.12 of the.2014 edition); ab) The provisions of "factory inspection" and "type inspection" have been changed (see 7.1, 7.2, 7.3, 7.1, 7.2 of the.2014 edition); ac) Added the provisions of “sampling and determination” (see 7.4); ad) The provisions of "Transportation and Storage" have been modified (see 8.3, 8.3 of the.2014 edition). ae) Please note that some of the contents of this document may involve patents. The issuing organization of this document does not assume the responsibility for identifying patents. This document was proposed by the China Machinery Industry Federation. This document is under the jurisdiction of the National Technical Committee for Standardization of Speed Reducers (SAC/TC 357). This document was drafted by. Jiangsu Zhonggong High-end Equipment Research Institute Co., Ltd., Suzhou Green Harmonic Drive Technology Co., Ltd., Guohua (Qingdao) Intelligent Equipment Co., Ltd., China Automotive Testing Technology Co., Ltd., Guangdong Product Quality Supervision and Inspection Institute, Guangdong Tiantai Robotics Co., Ltd., Beijing Technology and Business University, Shanghai ABB Engineering Co., Ltd., Guangdong Midea Electric Co., Ltd., Chongqing University, Guangxi University, Changzhou Inspection and Testing Standards Certification Institute, Chongqing Kairui Robotics Technology Co., Ltd., Jiangsu Tailong Speed Reducer Co., Ltd., China Machinery Productivity Promotion Center Co., Ltd., Zhuhai Gree Electric Appliances Co., Ltd., Zhuhai Pegasus Transmission Machinery Co., Ltd., Shanghai Jiao Tong University, Beijing Zhongji Kemei Harmonic Drive Co., Ltd., Nantong Yuanchen Measurement and Control Equipment Co., Ltd., Xuchang University, Sichuan Fude Robot Co., Ltd. Co., Ltd., Anhui Zhihuan Technology Co., Ltd., Dongguan Desheng Intelligent Technology Co., Ltd., Guangzhou Xinhao Precision Technology Co., Ltd., Shenzhen Yuejiang Technology Co., Ltd., Zhongchu Hengke Internet of Things System Co., Ltd., Taixing Product Quality Comprehensive Inspection and Testing Center, Shenzhen Tongchuan Technology Co., Ltd., Hangzhou Yite Zhilian Co., Ltd., Zhejiang Beto Transmission Technology Co., Ltd., Zhejiang Laifu Harmonic Drive Co., Ltd. Company, Ningbo Bakewell Intelligent Technology Co., Ltd., Dongguan Zhuolan Automation Equipment Co., Ltd., Yinchuan Weili Transmission Technology Co., Ltd. Shenzhen Shanchuan Harmonic Drive Technology Co., Ltd., Qingdao Fengguang Precision Machinery Co., Ltd., Hengfengtai Precision Machinery Co., Ltd. Company, Jiangsu Wanji Transmission Technology Co., Ltd., and Magfa (Shanghai) Technology Co., Ltd. The main drafters of this document are. Tang Juan, Li Qian, Wang Guang, Wang Jiayi, Wang Haixia, Xin Hongbing, Zhang Hongliang, Zhao Sheng, Li Junyang, Mo Shuai, Yang Yuhua, Wu Zengping, Cai Yunlong, Yin Ping, Zhou Shicai, Guan Zhigang, Wang Zhirong, Wu Qingfeng, Yao Liangbo, Yu Hui, He Zhixiong, Zhong Chengbao, Cheng Zhongfu, Deng Yunqing, Zhao Yanzheng, Mu Xiaobiao, Xu Huazhi, Guo Xiaojun, Hu Tianlian, Qiu Chufeng, He Jun, Wang Siyuan, Liu Huihua, Cui Jiapeng, Zhai Zhongping, Shen Binghui, Wu Yan, Jiang Yu, Wu Yibo, Cao Yisha, Ding Jun, Shen Xiaolong, Huang Weizheng, Tu Kehui, Zhang Jie, Cai Zhanggen, Li Zhengyang, Zhang Liang, Yang Yong, Li Jun, Lin Suben, Wu Weiguo. This document was first published in.2014 and this is the first revision. Harmonic gear reducer for robots

1 Scope

This document specifies the product classification, model, basic parameters and structural dimensions, requirements, test methods, Inspection rules, marking, packaging, transportation and storage. This document applies to harmonic gear reducers for robots.

2 Normative references

The contents of the following documents constitute the essential clauses of this document through normative references in this document. For referenced documents without a date, only the version corresponding to that date applies to this document; for referenced documents without a date, the latest version (including all amendments) applies. in this document. GB/T 191 Pictorial markings for packaging, storage and transportation GB/T 699-2015 High-quality carbon structural steel GB/T 1348-2019 Ductile iron castings GB/T 2828.11 Sampling inspection procedures by attributes Part 11.Procedure for assessing the claimed quality level of a small population GB/T 3077-2015 Alloy structural steel GB/T 13306 Labels GB/T 13384 General technical requirements for packaging of electromechanical products GB/T 35089-2018 Test methods for precision gear transmission devices for robots GB/T 36491-2018 General technical requirements for cycloid pinwheel planetary gear transmission devices for robots GB/T 40729-2021 Fatigue life test method for precision gear transmission

3 Terms and definitions

The terms and definitions defined in GB/T 36491 and the following apply to this document. 3.1 Harmonic drive gear reducer The input end drives the wave generator to make the flexible wheel deform elastically and form a reduction transmission device with a small tooth difference motion with the rigid wheel. Note. referred to as “reducer”. 3.2 Wave generator A component that enables the flexible wheel to produce periodic elastic deformation waves according to a certain deformation law. 3.3 Flexspline Thin-walled external gears capable of controlled elastic deformation. Note. The structural forms of flexible pulleys include cup shape and top hat shape. 3.4 Circular spline An internal gear that retains its original shape during operation, as opposed to a flexspline.

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