GB/T 45865-2025General technical specification for precision electric driven harmonic gear modules (English PDF)

3.1 precision electric drive harmonic gear module

An integrated drive unit with position feedback, consisting of an electric motor, a driver, harmonic gears, sensors, and other auxiliary components.

3.12 efficiency

The ratio of the module's output power to its electrical input power, expressed as a percentage.

4.1 Structural classification

The modules are divided into hollow type that allows cables to pass through and solid type that does not allow cables to pass through. The basic structural form is shown in Figure 4.

The module shape and installation dimensions are shown in Appendix A. The module performance parameters are shown in Appendix B.

5.1 Environmental conditions

Unless otherwise specified, the environmental conditions for the module shall meet the following requirements.

a) Operating environment. Temperature, -20 °C ~ 50 °C; relative humidity, 20% ~ 90% (non-condensing);

b) Storage environment. Temperature -40 °C ~ 70 °C; relative humidity, 20% ~ 90% (non-condensing).

5.2 Testing conditions

5.2.1 Test power supply

The test voltage and frequency refer to the rated voltage and frequency specified in the product's specific technical specifications. Unless otherwise specified, the voltage amplitude deviation of the module test power supply shall be ±1%, and the ripple shall not exceed 500 mV.

5.2.2 Electrical measuring instruments

The accuracy of electrical measuring instruments shall be no less than Class 1, and the accuracy of high-impedance instruments shall be no less than Class 0.5.

5.2.3 Other conditions

Other test conditions for the module must also meet the following requirements.

a) During the accuracy test, the casing of the module under test shall be effectively grounded, and the grounding resistance shall be less than 10 ohm;

b) Other methods that can ensure test accuracy can be used for the test;

c) When conducting relevant electrical performance tests, the module shall be installed on a dedicated bracket.

6.1 Appearance

The surface shall be free of rust, dents, scratches, and peeling coating. Fasteners shall be securely connected, and the colors of terminals and interfaces shall be accurate and the markings clear and correct.

6.2 Lead out type and marking

For modules using lead wires, terminals, or electrical connectors, the lead wires and markings shall comply with the provisions of GB/T 7346.

The strength of the lead wires shall comply with the requirements of 6.2.3.1.2 in GB/T 39633-2020, and the marking and strength of the terminals shall comply with the requirements of 6.2.3.1.3 in GB/T 39633-2020.

6.3 Efficiency

Shall be no less than 50%.

6.4 Absolute positioning accuracy

The absolute positioning accuracy of the output terminal shall not exceed 0.05°.

6.5 Repetitive positioning accuracy

The repetitive positioning accuracy of the output terminal shall not exceed 0.05°.

6.6 Torsional stiffness

Shall comply with the provisions of Table 7.

6.7 No-load

After the test, the module shall not exhibit any abnormalities such as stopping, unusual noises, or harmful deformation.

6.8 Load

After the test, the module shall be able to operate normally without abnormal vibration or noise.

6.9 Overload

After the test, the module shall not exhibit any abnormalities such as stopping, unusual noises, or harmful deformation.

6.10 Surface temperature

The surface temperature of the module housing shall not exceed 75 °C.

6.11 Low temperature

6.11.1 Low-temperature storage

After standing at (-40±5) °C for 4 hours, the module shall work normally when returned to normal temperature.

6.11.2 Low temperature operation

The module shall operate normally after a low-temperature test at -20 °C for 2 hours.

6.12 High temperature

6.12.1 High-temperature storage

The module shall operate normally after undergoing a 4-hour high-temperature storage test at 70 °C.

6.12.2 High temperature operation

The module shall operate normally after undergoing a 2-hour high-temperature operation test at 55 °C.

6.13 Damp heat

6.13.1 Damp heat, steady state

After conducting a test at 40 °C and 85% relative humidity for 4 days, the insulation resistance measured immediately shall not be less than 1 Mohm. The appearance shall be free from obvious deterioration, rust, or other phenomena that would affect normal operation. Plastic parts and coatings shall be free from deformation and cracks, and function properly.

6.13.2 Damp heat, cyclic

Shall be able to withstand the cyclic damp heat test specified in Table 8.After the test, there shall be no obvious cracks or rust on the outer surface of the module, and the plastic and coating shall be free from deformation and cracks, and the module shall function normally. ......