GB/T 14118-2026 谐波传动减速器

ICS29.160.99

CCSK20

中华人民共和国国家标准

GB/T14118—2026

代替GB/T14118—1993

谐波传动减速器

Harmonicdrivereducers

2026⁃09⁃28发布2027⁃04⁃01实施

国家市场监督管理总局

国家标准化管理委员会发布

GB/T14118—2026

目次

前言··························································································································Ⅲ

1范围·······················································································································1

2规范性引用文件········································································································1

3术语和定义··············································································································1

4产品分类、型号及基本参数··························································································4

4.1产品分类···········································································································4

4.2产品型式代号·····································································································4

4.3型号·················································································································4

4.4基本参数···········································································································7

4.5结构尺寸··········································································································14

5要求·····················································································································25

5.1主要零部件材料·································································································25

5.2空载················································································································26

5.3启动转矩··········································································································26

5.4负载················································································································28

5.5壳体允许最高温度······························································································28

5.6传动效率··········································································································28

5.7反向启动转矩····································································································30

5.8扭转刚度··········································································································32

5.9传动误差··········································································································35

5.10滞回损失········································································································35

5.11几何回差········································································································35

5.12背隙··············································································································35

5.13超载··············································································································35

5.14噪声··············································································································35

5.15密封··············································································································35

5.16润滑··············································································································35

5.17外观··············································································································36

5.18设计寿命········································································································36

5.19机械精度和组装精度·························································································36

6检验方法···············································································································36

6.1空载试验··········································································································36

6.2启动转矩··········································································································36

Ⅰ

GB/T14118—2026

6.3负载试验··········································································································36

6.4壳体允许最高温度······························································································37

6.5传动效率··········································································································37

6.6反向启动转矩····································································································37

6.7扭转刚度··········································································································37

6.8传动误差··········································································································37

6.9滞回损失··········································································································37

6.10几何回差········································································································37

6.11背隙··············································································································37

6.12超载··············································································································37

6.13噪声··············································································································37

6.14密封··············································································································37

6.15外观··············································································································37

6.16寿命试验········································································································37

7检验规则···············································································································38

7.1减速器检验类型·································································································38

7.2出厂检验··········································································································38

7.3型式检验··········································································································38

8标志、包装、运输和储存·····························································································40

8.1标志················································································································40

8.2包装················································································································40

8.3运输和储存·······································································································40

附录A（规范性）机械精度和组装精度············································································41

A.1概述···············································································································41

A.2机械精度·········································································································41

A.3组装精度·········································································································46

参考文献····················································································································51

Ⅱ

GB/T14118—2026

前言

本文件按照GB/T1.1—2020《标准化工作导则第1部分：标准化文件的结构和起草规则》的规定

起草。

本文件代替GB/T14118—1993《谐波传动减速器》，与GB/T14118—1993相比，除结构调整和编

辑性改动外，主要技术变化如下：

a）增加了“柔性轴承”（见3.6）、“柔轮长度”（见3.7）、“滞回曲线”（见3.9）、“回差”（见3.10）、“几

何回差”（见3.11）、“背隙”（见3.12）、“滞回损失”（见3.13）、“反向启动转矩”（见3.16）、“额定

转矩”（见3.17）、“传动效率”（见3.18）、“设计寿命”（见3.19）的术语和定义；更改了“谐波传

动”、“谐波传动减速器”、“柔性齿轮”、“刚性齿轮”、“波发生器”、“扭转刚度”、“传动误差”和

“启动转矩”的定义（见3.1~3.5、3.8、3.14、3.15，1993年版的3.1、3.2、3.3、3.6、3.7、3.9、3.10、

3.13）；删除了“椭圆凸轮波发生器”、“波数”、“柔性滚动轴承”、“空程”的术语和定义（见1993年

版的3.4、3.5、3.8、3.12）；

b）合并了符号、代号与产品分类章节；更改谐波传动减速器分类为系列一和系列二；统一了系列

一与系列二的型号规则（见4.3，1993年版的第4章、第5章）；更改了系列一减速器的基本参

数与结构尺寸，增加了对系列二减速器产品基本参数与结构尺寸的表述（见4.5，1993年版的

第5章）；

c）增加了“空载”（见5.2）、“启动转矩”（见5.3）、“壳体允许最高温度”（见5.5）、“反向启动转矩”

（见5.7）、“密封”（见5.15）的要求；

d）增加了“空载试验”（见6.1）、“启动转矩”（见6.2）、“壳体允许最高温度”（见6.4）、“反向启动转

矩”（见6.6）、“密封”（见6.14）的试验方法；

e）更改了检验规则内容（见第7章，1993年版的第7章）；

f）更改了标志、包装、运输和储存的内容（见第8章，1993年版的第8章）；

g）增加了“机械精度和组装精度”（见附录A）。

请注意本文件的某些内容可能涉及专利。本文件的发布机构不承担识别专利的责任。

本文件由中华人民共和国工业和信息化部提出并归口。

本文件起草单位：北京工业大学、中国电子技术标准化研究院、陕西渭河工模具有限公司、苏州绿

的谐波传动科技股份有限公司、北京中技克美谐波传动股份有限公司、宁波中大力德智能传动股份有

限公司、浙江环动机器人关节科技股份有限公司、无锡巨蟹智能驱动科技有限公司、江阴塞特精密工具

有限公司、大微元创智能科技（深圳）有限公司、浙江丰立智能科技股份有限公司、浙江夏厦精密制造股

份有限公司、湖北科峰智能传动股份有限公司、纽格尔智能传动（广东）有限公司、浙江三凯机电有限公

司、广东极亚精机科技有限公司、浙江来福谐波传动股份有限公司、湖南德晟智能科技有限公司、深圳

市杉川谐波传动科技有限公司、深圳市同川科技有限公司江门分公司、广东鑫拓谐波传动科技有限公

司、德美精密传动（淄博）有限公司、哈尔滨精达测量仪器有限公司、德世博尔（江苏）机器人技术有限公

司、广东金力智能传动技术股份有限公司、杭州杰牌传动科技有限公司、广州市昊志机器人有限公司、

珠海市钧兴机电有限公司、宁波爱立德智能科技有限公司、飞亚达精密科技股份有限公司、国华（青岛）

智能装备有限公司、广东海洋大学、天津工业大学、浙江省特种设备科学研究院。

本文件主要起草人：石照耀、于渤、丁宏钰、李剑敏、李谦、田晨燕、穆晓彪、张彦君、岑国建、谢发祥、

邱显东、朱源、曹保强、王友利、何元春、吴俊峰、姚云鹏、江建敏、王刚、张瀚、胡波、廖德林、黄振武、

邹赞成、陈伟南、刘丽雪、王道、董春秋、汤秀清、陆建江、黄泽鹏、王广、邢静忠、俞志勇、曹达。

Ⅲ

GB/T14118—2026

本文件及其所代替文件的历次版本发布情况为：

——1993年首次发布为GB/T14118—1993；

——本次为第一次修订。

Ⅳ

GB/T14118—2026

谐波传动减速器

1范围

本文件界定了谐波传动减速器（简称“减速器”）的术语，规定了产品分类、型号及基本参数、要求、

检验规则、标志、包装、运输和贮存，描述了检验方法。

本文件适用于基本构件由波发生器、柔性齿轮和刚性齿轮组成的谐波传动减速器，主要用于机器

人、智能装备、航空、航天、机床、电子、纺织、医疗、冶金及矿山等领域。

2规范性引用文件

下列文件中的内容通过文中的规范性引用而构成本文件必不可少的条款。其中，注日期的引用文

件，仅该日期对应的版本适用于本文件；不注日期的引用文件，其最新版本（包括所有的修改单）适用于

本文件。

GB/T191—2025包装储运图形符号标志

GB/T699—2015优质碳素结构钢

GB/T1348—2019球墨铸铁件

GB/T2829—2025周期检验计数抽样程序及表（适用于对过程稳定性的检验）

GB/T3077—2015合金结构钢

GB/T6404.1—2005齿轮装置的验收规范第1部分：空气传播噪声的试验规范

GB/T12601谐波齿轮传动基本术语

GB/T13306—2011标牌

GB/T13384—2008机电产品包装通用技术条件

GB/T30819—2024机器人用谐波齿轮减速器

GB/T35089—2018机器人用精密齿轮传动装置试验方法

GB/T40729—2021精密齿轮传动装置疲劳寿命试验方法

GB/T40731—2021精密减速器回差测试与评价方法

3术语和定义

GB/T12601界定的以及下列术语和定义适用于本文件。

3.1

谐波传动harmonicdrive

靠波发生器使柔性齿轮产生可控的弹性变形波实现运动和动力传递的传动。

3.2

谐波传动减速器harmonicdrivereducers

主要由波发生器、柔性齿轮和刚性齿轮三个基本构件组成，波发生器输入，刚性齿轮固定，柔性齿

轮输出，输入和输出转向相反，且输出轴转速小于输入轴转速的谐波传动装置。

3.3

柔性齿轮flexspline

柔轮

1