GB/T 35089-2018 PDF in English
GB/T 35089-2018 (GB/T35089-2018, GBT 35089-2018, GBT35089-2018)
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Precision gear transmission for robot -- Test method
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Standards related to (historical): GB/T 35089-2018
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GB/T 35089-2018: PDF in English (GBT 35089-2018) GB/T 35089-2018
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 21.200
J 17
Precision Gear Transmission for Robot - Test Method
ISSUED ON: MAY 14, 2018
IMPLEMENTED ON: DECEMBER 1, 2018
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 Test Pieces ... 5
5 Test Equipment ... 6
6 Installation and Debugging ... 10
7 Torque and Efficiency Test and Data Processing ... 10
8 Transmission Precision Test and Data Processing ... 13
9 Service Life Test and Data Processing... 15
10 Bending Moment Rigidity Test and Data Processing ... 17
Precision Gear Transmission for Robot - Test Method
1 Scope
This Standard specifies the basic requirements for test pieces, test equipment,
installation and debugging, torque efficiency test, transmission precision test, service
life test, bending moment rigidity test and data processing of bench test of precision
gear transmission for robot.
This Standard is applicable to bench test of precision gear transmissions (such as:
harmonic gear reducers, planetary cycloid reducers and cycloid pin gear reducers) for
robots in general industrial environment.
2 Normative References
The following documents are indispensable to the application of this document. In
terms of references with a specified date, only versions with a specified date are
applicable to this document. In terms of references without a specified date, the latest
version (including all the modifications) is applicable to this document.
GB/T 2828.1 Sampling Procedures for Inspection by Attribute - Part 1: Sampling
Schemes Indexed by Acceptance Quality Limit (AQL) for Lot-by-lot Inspection
GB/T 2828.11 Sampling Procedures for Inspection By Attribute - Part 11: Procedures
for Assessment of Declared Quality Levels for Small Population
GB/T 6404.1 Acceptance Code for Gear Units - Part 1: Test Code for Airborne Sound
3 Terms and Definitions
The following terms and definitions are applicable to this document.
3.1 No-load Running Torque
No-load running torque refers to the input torque at different stable speeds at the no-
load output end, while starting the input end.
NOTE: no-load running torque may also be applied to the expression of speed - torque
curve.
3.2 Starting Torque
Starting torque refers to the torque required at the moment when there is no load on
the output end, and the input end is slowly reversed, to the start of the output end.
comply with the product design requirements and be accompanied by inspection
records.
5 Test Equipment
5.1 Test Equipment of Torque and Speed
5.1.1 It is used for test items, such as: no-load, loaded, overloaded, no-load running
torque, starting torque and mechanical efficiency; the basic composition is shown in
Figure 1 (the angle sensor may not be installed).
5.1.2 The mode of driving and loading is not restricted and shall be able to maintain
stable operation. Under the rated speed, the fluctuation of the driving speed shall not
exceed ± 1 r/min; the fluctuation of the load torque shall not exceed ± 1.5% FS.
5.1.3 It shall be able to start in forward, reverse and with load; the position adjustment
component shall be able to be deadlocked.
5.1.4 The specifications, measuring range and precision of the instruments and meters
shall be compatible with the test requirements; the system errors shall be obtained
through calibration and theoretical calculation. During the test, data shall be
automatically recorded.
5.2 Test Equipment of Transmission Precision
5.2.1 It is used for test items, such as: torsional rigidity, lost motion and transmission
error; the basic composition is shown in Figure 1. On the input and output ends of the
test piece, respectively install a set of angle sensors and speed torque sensors to
directly measure the input and output torsional angles, torque and speed of the test
piece. It shall be ensured that the connection between the test piece and the angle
sensors is synchronized.
5.2.2 The mode of driving and loading is not restricted and shall be able to maintain
stable operation. Under the rated speed, the fluctuation of the driving speed shall not
exceed ± 1 r/min; the fluctuation of the load torque shall not exceed ± 1.5% FS. The
torsional angle measurement error shall not be greater than 1/3 of the transmission
error of the test piece.
5.2.3 It shall be able to start in forward, reverse and with load; the position adjustment
component shall be able to be deadlocked. The torsional brake component shall
reliably function (in other words, there shall be no looseness in the braking state, and
no friction in the loosened state).
5.2.4 The specifications, measuring range and precision of the instruments and meters
shall be compatible with the test requirements; the system errors shall be obtained
through calibration and theoretical calculation. During the test, data shall be
2---installation supporting system;
3---work platform.
Figure 4 -- Schematic Diagram of Test Equipment of Bending Moment Rigidity
5.4.2 The specifications, measuring range and precision of the instruments and meters
shall be compatible with the test requirements; the system errors shall be obtained
through calibration and theoretical calculation. Test parameters include axial and radial
load force, and output axis deflection angle. Use a force sensor to respectively
measure the axial and radial load; use an angle measuring instrument to directly
measure the deflection angle of the output axis, or, use a displacement sensor to
measure the deflection displacement, then, calculate the deflection angle.
5.5 Test Equipment of Temperature and Noise
5.5.1 The temperature measurement of the shell of the test piece shall preferentially
adopt a patch-type temperature sensor.
5.5.2 The noise test instrument and test method shall comply with the stipulations of
GB/T 6404.1.
6 Installation and Debugging
After the installation of a test piece is completed, it shall comply with the following
requirements:
---The connection between the test piece and the various parts of the test
equipment shall be reliable; the rigidity shall be ensured; the adjustment links
shall be reduced; the system errors shall be cut down.
---The coaxiality between the input and output axes of the test piece and the
adjacent equipment shall be not greater than 0.02 mm; it shall be ensured that
the system is flexibly operated.
7 Torque and Efficiency Test and Data Processing
7.1 No-load Test
Under the rated speed, respectively operate in the forward and reverse directions for
no less than 30 min. During the test process, observe and record:
---Whether the various connectors and fasteners are loosened;
---Whether the various seals and joints manifest oil leakage and penetration;
After the load test is completed, DO NOT unload; continue to operate at 2.5 times the
rated torque for 10 min; at 4 times the rated torque, operate for 2 s ~ 5 s.
8 Transmission Precision Test and Data Processing
8.1 Torsional Rigidity
8.1.1 Fix the input end; gradually load the output end to the rated torque, then, unload
it, and then, in the reverse direction, gradually load to the rated torque, then, unload it.
Record the torque and torsional angle value corresponding to the output end. In the
meanwhile, draw the hysteresis curve, as it is shown in Figure 6. During the test, it
shall be ensured that there is no backlash in each connection part. If there is a backlash,
then, before the test, it needs to be accurately measured; in the final result, the
backlash of the connection parts shall be corrected as a system error.
8.1.2 From zero, load to the rated load, then, from the rated load, drop to zero. The
sampling quantity of output torque and torsional angle shall respectively be not less
than 100 points; the same for reverse loading. The test data shall be recorded based
on the positive and negative increases of angular displacement.
8.1.3 The torsional rigidity value is calculated from the hysteresis curve. The torsional
rigidity value shall be fitted in sections in accordance with the hysteresis curve.
Generally speaking, in accordance with different slopes, the unidirectional loading and
unloading curve may be divided into 2 to 3 sections, or, it may be divided in accordance
with the test demands of the test piece. Perform the least squares linear fitting on each
section of loading and unloading data set; obtain the slope of the section k = a/b; the
reciprocal of the value k is the torsional rigidity within the torque range of the section.
8.2 Lost Motion
8.2.1 The test procedure and method of lost motion are the same as torsional rigidity.
The result shall be calculated in accordance with the hysteresis curve and the definition
of lost motion.
8.2.2 On the hysteresis curve, when the x-coordinate is +3% rated torque, the average
value of the two torsional angle values in the corresponding forward curve is 1; when
the x-coordinate is -3% rated torque, the average value of the two torsional angle
values in the corresponding reverse curve is 2; the difference between 1 and 2 is the
lost motion of the test piece.
......
Source: Above contents are excerpted from the PDF -- translated/reviewed by: www.chinesestandard.net / Wayne Zheng et al.
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