GB/T 30819-2024機器人用諧波齒輪減速器

ICS

21.200

CCS

J17

中華人民共和國國家標準

GB/T30819—2024

代替GB/T30819—2014

機器人用諧波齒輪減速器

Harmonicdrivegearreducersforrobot

2024-09-29發(fā)布2025-04-01實施

國家市場監(jiān)督管理總局發(fā)布

國家標準化管理委員會

GB/T30819—2024

目次

前言

·····································································································

Ⅲ

1

范圍

··································································································

1

2

規(guī)范性引用文件

······················································································

1

3

術語和定義

···························································································

1

4

產品型號、基本參數(shù)與結構尺寸

·····································································

3

4.1

型號

······························································································

3

4.2

基本參數(shù)

·························································································

5

4.3

結構尺寸

························································································

10

5

要求

·································································································

16

5.1

主要零件材料

···················································································

16

5.2

空載

·····························································································

17

5.3

負載

·····························································································

17

5.4

殼體允許最高溫度

··············································································

17

5.5

傳動效率

························································································

17

5.6

扭轉剛度

························································································

18

5.7

傳動誤差

························································································

18

5.8

滯回損失和背隙

················································································

19

5.9

密封

·····························································································

19

5.10

超載

···························································································

19

5.11

外觀

···························································································

19

5.12

設計壽命

······················································································

19

6

試驗方法

····························································································

19

6.1

空載

·····························································································

19

6.2

負載

·····························································································

19

6.3

殼體允許最高溫度

··············································································

19

6.4

傳動效率

························································································

20

6.5

扭轉剛度

························································································

20

6.6

傳動誤差

························································································

20

6.7

滯回損失和背隙

················································································

20

6.8

密封

·····························································································

20

6.9

超載

·····························································································

20

6.10

外觀

···························································································

20

6.11

疲勞壽命

······················································································

20

7

檢驗規(guī)則

····························································································

21

Ⅰ

GB/T30819—2024

7.1

通則

·····························································································

21

7.2

出廠檢驗

························································································

21

7.3

型式檢驗

························································································

21

7.4

抽樣與判定

·····················································································

21

8

標志、包裝、運輸和貯存

···········································································

22

8.1

標志

····························································································

22

8.2

包裝

····························································································

22

8.3

運輸和貯存

·····················································································

22

附錄A（資料性）

規(guī)格代號與柔輪分度圓直徑的對應關系

··········································

23

Ⅱ

GB/T30819—2024

前言

本文件按照GB/T1.1—2020《標準化工作導則第1部分：標準化文件的結構和起草規(guī)則》的規(guī)

定起草。

本文件代替GB/T30819—2014《機器人用諧波齒輪減速器》，與GB/T30819—2014相比，除結

構調整和編輯性改動外，主要技術變化如下：

a）增加了“剛度滯回曲線”（見3.6）、“滯回損失”（見3.7）、“空載啟動轉矩”（見

3.9）、“額定轉速”（見3.13）、“傳動效率”（見3.15）的術語和定義；

b）更改了“諧波齒輪減速器”（見3.1，2014年版的3.1）、“柔輪”（見3.3，2014年版的3.3）、

“剛輪”（見3.4，2014年版的3.4）、“柔性軸承”（見3.5，2014年版的3.5）、“扭轉剛

度”（見3.8，2014年版的3.6）、“空載啟動轉矩”（見3.9，2014年版的3.7）、“傳動誤差”

（見3.10，2014年版的3.11）、“背隙”（見3.11，2014年版的3.10）、“柔輪長度”（見

3.12，2014年版的3.12）、“額定轉矩”（見3.14，2014年版的3.13）、“設計壽命”（見

3.16，2014年版的3.14）的術語和定義；

c）刪除了“傳動精度”（見2014年版的3.8）、“空程”（見2014年版的3.9）的術語和定義；

d）刪除了“產品分類”（見2014年版的4.1）的表述，更改了“規(guī)格代號”（見4.1.3，2014年版

的4.2.2）和表A.1的（見表A.1，2014年版的4.2.2）的表述，更改“減速比”為“傳動比”，

并更改了內容表述（見4.1.4，2014年版的4.3.1）；

e）更改了“精度等級”的表述（見4.1.7，2014年版的4.2.5）；

f）增加了連接方式的類型數(shù)量及圖示的表述（見4.1.8）；

g）增加了結構尺寸和結構型式的表述（見4.3）；

h）更改了剛輪和柔輪材料的規(guī)定（見5.1.1、5.1.2，2014年版的5.1.1、5.1.2）；

i）增加了“空載試驗”（見5.2.1）的規(guī)定；

j）更改了“空載啟動轉矩”的規(guī)定（見5.2.2，2014年版的5.7）；

k）更改了負載（見5.3，2014年版的5.3）、超載（見5.10，2014年版的5.4）的規(guī)定；

l）更改了“傳動效率”的規(guī)定（見5.5，2014年版的5.6）；

m）增加了扭轉剛度的規(guī)格型號58的規(guī)定（見5.6）；

n）更改了“傳動誤差”“滯回損失和背隙”的規(guī)定（見5.7、5.8，2014年版的5.9、5.10），更改

了“滯回損失和背隙”的名稱（見5.8，2014年版的5.9）；

o）刪除了“環(huán)境保護”（見2014年版的5.11）、“潤滑”的規(guī)定（見2014年版的5.12）；

p）增加了“密封”的規(guī)定（見5.9）；

q）更改了“設計壽命”的規(guī)定（見5.12，2014年版的5.14）；

r）更改了“空載試驗”方法及依據(jù)標準的規(guī)定（見6.1.1，2014年版的6.1）；

s）更改了“空載啟動轉矩”的名稱和試驗方法的規(guī)定（見6.1.2，2014年版的6.6）；

t）更改了“負載”的規(guī)定（見6.2，2014年版的6.2）；

u）更改了“殼體允許最高溫度”的規(guī)定（見6.3，2014年版的6.4）；

v）更改了“傳動效率”的規(guī)定及依據(jù)標準（見6.4，2014年版的6.5）；

w）更改了“扭轉剛度”的規(guī)定及依據(jù)標準（見6.5，2014年版的6.7）；

x）更改了“傳動誤差”的規(guī)定及依據(jù)標準（見6.6，2014年版的6.9）；

y）更改了“滯回損失和背隙”的規(guī)定及依據(jù)標準（見6.7，2014年版的6.8）；

z）增加了“密封”的規(guī)定（見6.8）；

aa）更改了“超載”的規(guī)定（見6.9，2014年版的6.3）；

Ⅲ

GB/T30819—2024

ab）更改了“疲勞壽命”的規(guī)定及依據(jù)標準（見6.11，2014年版的6.12）；

ac）更改了“出廠檢驗”和“型式檢驗”的規(guī)定（見7.1、7.2、7.3，2014年版的7.1、7.2）；

ad）增加了“抽樣與判定”的規(guī)定（見7.4）；

ae）更改了“運輸和貯存”的規(guī)定（見8.3，2014年版的8.3）。

請注意本文件的某些內容可能涉及專利。本文件的發(fā)布機構不承擔識別專利的責任。

本文件由中國機械工業(yè)聯(lián)合會提出。

本文件由全國減速機標準化技術委員會(SAC/TC357)歸口。

本文件起草單位：江蘇中工高端裝備研究院有限公司、蘇州綠的諧波傳動科技股份有限公司、國華

（青島）智能裝備有限公司、中汽檢測技術有限公司、廣東產品質量監(jiān)督檢驗研究院、廣東天太機器人

有限公司、北京工商大學、上海ABB工程有限公司、廣東美的電氣有限公司、重慶大學、廣西大學、

常州檢驗檢測標準認證研究院、重慶凱瑞機器人技術有限公司、江蘇泰隆減速機股份有限公司、中機生

產力促進中心有限公司、珠海格力電器股份有限公司、珠海飛馬傳動機械有限公司、上海交通大學、

北京中技克美諧波傳動股份有限公司、南通遠辰測控設備有限公司、許昌學院、四川福德機器人股份有

限公司、安徽智寰科技有限公司、東莞市德晟智能科技有限公司、廣州市新豪精密科技有限公司、深圳

市越疆科技股份有限公司、中儲恒科物聯(lián)網系統(tǒng)有限公司、泰興市產品質量綜合檢驗檢測中心、深圳市

同川科技有限公司、杭州以特智聯(lián)有限公司、浙江貝托傳動科技有限公司、浙江來福諧波傳動股份有限

公司、寧波貝克韋爾智能科技有限公司、東莞市卓藍自動化設備有限公司、銀川威力傳動技術股份有限

公司、深圳市杉川諧波傳動科技有限公司、青島豐光精密機械股份有限公司、恒豐泰精密機械股份有限

公司、江蘇萬基傳動科技有限公司、邁格發(fā)（上海）科技股份有限公司。

本文件主要起草人：唐娟、李謙、王廣、王佳藝、王海霞、辛洪兵、張宏亮、趙盛、李俊陽、

莫帥、楊宇華、吳曾萍、蔡云龍、殷平、周世才、管志鋼、王直榮、吳清鋒、姚良博、余暉、何志雄、

鐘成堡、程中甫、鄧云慶、趙言正、穆曉彪、許華智、郭曉軍、胡天鏈、邱楚鋒、何君、王思遠、

劉輝華、崔佳鵬、翟中平、申炳慧、吳艷、姜宇、吳藝波、曹懿莎、丁軍、沈曉龍、黃偉政、屠科慧、

張杰、蔡章根、李正陽、張亮、楊勇、李軍、林蘇奔、吳衛(wèi)國。

本文件于2014年首次發(fā)布，本次為第一次修訂。

Ⅳ

GB/T30819—2024