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GB/T 37718-2019 English PDF
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| GB/T 37718-2019 | English | 465 |
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GB/T 37718-2019: Precision planetary cycloidal reducers for robot
---This is an excerpt. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.), auto-downloaded/delivered in 9 seconds, can be purchased online: https://www.ChineseStandard.net/PDF.aspx/GBT37718-2019
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 21.120
J 19
Precision Planetary Cycloidal Reducers for Robot
Issued on: JUNE 4, 2019
Implemented on: JANUARY 1, 2020
Issued by. State Administration for Market Regulation;
Standardization Administration of the People’s Republic of China.
Table of Contents
Foreword... 4
1 Scope... 5
2 Normative References... 5
3 Terms and Definitions... 5
4 Schematic Diagrams, Product Classification, Models and Mounting Dimensions... 7
4.1 Schematic Diagrams... 7
4.2 Product Classification... 8
4.3 Product Models... 8
4.4 External Dimensions and Mounting Dimensions... 11
5 Requirements... 15
5.1 Main Components... 15
5.2 Assembly... 15
5.3 Performance Parameter Requirements for the Reducer... 15
5.4 No-load Operation... 17
5.5 Load Operation... 17
5.6 Acceleration Torque Load Operation... 17
5.7 Overload Operation... 17
5.8 Transmission Efficiency... 17
5.9 Backlash and Lost Motion... 17
5.10 Torsional Stiffness... 18
5.11 Transmission Error... 18
5.12 Moment Load... 18
5.13 Lubrication and Sealing... 18
5.14 Appearance... 18
5.15 Rated Life... 18
6 Test Methods... 18
6.1 Test Devices... 18
6.2 No-load Test... 20
6.3 Load Test... 20
6.4 Overload Test... 20
6.5 Transmission Efficiency... 20
6.6 Backlash, Lost Motion, and Torsional Stiffness... 21
6.7 Transmission Error... 21
6.8 Rated Life... 22
6.9 Allowable Moment Load Test... 23
6.10 Appearance Test... 24
7 Inspection Rules... 24
7.1 General... 24
7.2 Ex-factory Inspection... 24
7.3 Type Inspection... 25
8 Marking, Packaging, Transportation and Storage... 25
8.1 Marking... 25
Precision Planetary Cycloidal Reducers for Robot
1 Scope
This Standard specifies the terms and definitions, schematic diagrams, product classification,
models and mounting dimensions, requirements, test methods, inspection rules, marking,
packaging, transportation, and storage of precision planetary cycloidal reducers for robots
(hereinafter referred to as the “reducers”).
This Standard is applicable to reducers for robots.
2 Normative References
The following documents are indispensable for the application of this document. In terms of
references with a specified date, only the version with that specific date is 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 191 Packaging - Pictorial marking for handling of goods
GB/T 1348 Spheroidal graphite iron castings
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 attributes - Part 11.Procedures for
assessment of declared quality levels for small population
GB/T 3077 Alloy structure steels
GB/T 13306 Plates
GB/T 13384 General specifications for packing of mechanical and electrical product
GB/T 18254 High-carbon chromium bearing steel
3 Terms and Definitions
The following terms and definitions are applicable to this document.
3.1 Precision Planetary Cycloidal Reducers for Robot
A precision transmission device composed of an involute planetary gear reduction mechanism
and a cycloidal pin gear reduction mechanism, as shown in Figure 1.
The difference in the output shaft angle at 3% and -3% of the rated torque when the input shaft
is fixed, and the output shaft is rotated from forward to reverse.
3.11 Rated Life
The life of the reducer when operating at its rated output torque and rated output speed, meaning
that after testing, the reducer maintains normal operation and the increase in backlash and lost
motion is less than the nominal value.
3.12 Torsional Stiffness
The ratio of the difference between 1/2 and 1 time the rated output torque to the difference in
output shaft angle, when the input shaft is fixed, and a torsional moment is applied to the output
shaft.
3.13 Transmission Error
The difference between the actual and theoretical angles of the output shaft when the input shaft
rotates in one direction.
3.14 Allowable Moment Load
The maximum value of the vector sum of the radial load and the moment of the eccentric axial
load that the reducer can withstand.
3.15 Momentary Max Allowable Acceleration Torque
The maximum momentary torque value that the reducer is allowed to withstand.
4 Schematic Diagrams, Product Classification, Models and
Mounting Dimensions
4.1 Schematic Diagrams
The output configuration of the reducer can be divided into two types. housing-fixed flange
output and flange-fixed housing output. Schematic diagrams are shown in Figure 1a) and Figure
1b).
5 Requirements
5.1 Main Components
The main components of the reducer include the pin gear housing, planet carrier, planetary
gears, cycloidal gears, crank shaft, and pin gears. Their performance and heat treatment quality
shall comply with the provisions of Table 9, or other materials with equivalent or superior
mechanical properties may be used.
5.2 Assembly
The assembled reducer must comply with the following provisions.
--- Before assembly, all components shall be cleaned thoroughly, free from burrs, rolled
edges, rust, foreign matter, etc.;
--- Parts must not be bumped, scratched, or corroded during assembly;
--- All connecting and fastening parts must not be loose;
--- There shall be no oil leakage at the sealing surfaces of all joints;
--- Operation shall be smooth, without abnormal impact, vibration, or noise.
5.3 Performance Parameter Requirements for the Reducer
The performance parameters of the reducer shall comply with the provisions of Tables 10, 11,
and 12.
If the backlash is greater than that specified in Tables 10, 11, and 12, it shall be indicated in the
accuracy code according to 4.3.6.
5.10 Torsional Stiffness
The torsional stiffness value can be obtained from the hysteretic curve of the reducer, as shown
in Figure 6.In the hysteretic curve, the ratio of the load torque to the corresponding elastic
deformation angle, b/a, is the torsional stiffness. b = Rated torque/2.
The torsional stiffness value shall comply with the provisions of Tables 10, 11, and 12.
5.11 Transmission Error
The transmission error shall comply with the provisions of Tables 10, 11, and 12.
5.12 Moment Load
After applying the moment load conforming to Tables 10, 11, and 12, and operating for the
specified rated lifespan of the main bearing, the main bearing of the reducer shall show no
abnormalities.
5.13 Lubrication and Sealing
Before operation, the reducer shall be sealed and filled with the required lubricating grease
according to the product manual. No grease leakage shall occur during operation.
5.14 Appearance
The appearance shall be smooth, free of burrs, scratches, rust, and process defects; the joints
between the housing and other parts shall be flat.
5.15 Rated Life
The rated life shall be no less than 6 000 h.
6 Test Methods
6.1 Test Devices
The test devices are divided into rotary test devices and moment load test devices.
6.1.1 Rotary test device
The driving and loading methods of the test device are not restricted. During performance
testing, the loading torque and speed shall be stable, and loading and unloading shall be possible
during operation; during accuracy testing, all moving parts or components of the instrument
shall move smoothly, flexibly, and sensitively, without any jamming, and the measurement
accuracy, flange mounting surface flatness, and coaxiality of the test system shall be ensured.
Before installing the tested sample, lubricating grease conforming to the manual shall be added.
During installation, ensure that the tested sample is coaxial with the test device, and the installed
test system shall operate smoothly. A schematic diagram of the test bench is shown in Figure 7.
Description.
1 -- Motor;
2 -- Reducer;
3 -- Crossbeam;
4 -- Bearing;
5 -- Loader;
L -- Force arm of the radial load;
F -- Radial load provided by the loader.
Figure 8 -- Schematic Diagram of a Moment Load Test Bench
6.2 No-load Test
Operate in both forward and reverse directions for 30 min each at the rated output speed.
6.3 Load Test
Under operating conditions that ensure the housing temperature does not exceed 60°C
(preferably at the rated output speed), gradually apply 25%, 50%, 75%, and 100% of the rated
load. The first three stages of operation lasted 20 min, followed by 2 hours of operation at 100%
of the rated load. Repeat the same operation in the reverse direction.
6.4 Overload Test
The load is gradually applied to the output shaft to the momentary max allowable acceleration
torque within 5 s, maintained for 5 s, and then gradually unloaded within 5 s. This is performed
once in both the forward and reverse directions.
6.5 Transmission Efficiency
6.5.1 Test conditions
After the load test, the reducer is cooled to room temperature (23±5)°C and operated at the rated
output speed and rated output torque. Test data is collected and processed to obtain the measured
transmission efficiency.
6.5.2 Data acquisition
At the rated output speed and rated output torque, record the input/output shaft torque measured
by each sensor. At least 5 sets of data shall be collected uniformly within one revolution of the
output shaft.
......
Source: Above contents are excerpted from the full-copy PDF -- translated/reviewed by: www.ChineseStandard.net / Wayne Zheng et al.
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