CN101587015A - Experiment table for detecting dynamic characteristics of harmonic reducers - Google Patents
Experiment table for detecting dynamic characteristics of harmonic reducers Download PDFInfo
- Publication number
- CN101587015A CN101587015A CNA2009100230799A CN200910023079A CN101587015A CN 101587015 A CN101587015 A CN 101587015A CN A2009100230799 A CNA2009100230799 A CN A2009100230799A CN 200910023079 A CN200910023079 A CN 200910023079A CN 101587015 A CN101587015 A CN 101587015A
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Abstract
The invention discloses an experiment table for detecting dynamic characteristics of harmonic reducers, which comprises an X guide rail arranged on a bottom plate, as well as a first servo motor, wherein the first servo motor is fixed on the X guide rail and is axially connected with a follow-up harmonic reducer; the follow-up harmonic reducer is fixed on the X guide rail and is axially connected with a first torque sensor through a first torsion bar; the first torsion bar sensor is axially connected with a first angle measuring device; the first angle measuring device is connected with a first connecting shaft; and a detected harmonic reducer is arranged on the X guide rail through a mounting bracket and a positioning piece. The experiment table is characterized in that a Y guide rail perpendicular to the X guide rail is arranged on the bottom plate; when the detected harmonic reducer is a right-angled reducer, a second angle measuring device is arranged on the Y guide rail and is axially connected with a second torque sensor; and the second torque sensor is axially connected with a second servo motor. The experiment table has the advantages of good universality and capability of completing the task of testing the dynamic characteristics of a plurality of detected harmonic reducers on one experimental device.
Description
Technical field
The present invention relates to a kind of harmonic speed reducer performance test experiment table, particularly a kind of general (comprising perpendicular type) harmonic speed reducer performance test experiment table.
Background technology
Along with the continuous development of high-precision motion control technology, fields such as guided missile, satellite Pose Control, joint of robot transmission, lathe rotation more and more need the harmonic speed reducer of high reliability.The harmonic speed reducer of high reliability needs the relevant detection means it is carried out quality inspection.Traditional harmonic speed reducer device for detecting performance generally can only detect one or both dynamic perfromances of speed reduction unit, and versatility is poor.Adopt traditional means that all dynamic perfromances of speed reduction unit are detected, need repeatedly frock, waste time and energy, be difficult to guarantee installation accuracy.In addition, the traditional detection device needs the operator to operate in a large number in checkout procedure mostly, and automaticity is low.Just because of the problems referred to above make traditional checkout equipment be restricted in actual use.
Summary of the invention
Be to solve the above shortcoming that the traditional detection device exists, the invention provides a kind of efficient, high precision, harmonic speed reducer (linear pattern or square) dynamic perfromance test experience platform that applicability is strong.
For achieving the above object, the present invention takes following technical scheme to be achieved:
A kind of experiment table for detecting dynamic characteristics of harmonic reducers, comprise the X guide rail that is installed on the base, this X guide rail is provided with first servomotor, follow-up harmonic reducer, first torque sensor, first angle measurement unit, described first servomotor is fixed on the X guide rail by first electric machine support and keeper, axially links to each other with follow-up harmonic reducer; Follow-up harmonic reducer is fixed on the X guide rail by reducer stent and keeper, and axially links to each other with first torque sensor by a torsion bar; First torque sensor is installed on the X guide rail by first bearing, and axially links to each other with first angle measurement unit, and first angle measurement unit is fixed on the X guide rail by the first measurement of angle support and keeper, and links to each other with first coupling shaft; Detected harmonic reducer is installed on the X guide rail by mounting bracket and keeper, it is characterized in that, a Y guide rail vertical with the X guide rail is installed on the described base plate; When detected harmonic reducer was the linear pattern speed reduction unit, its output shaft was connected with first coupling shaft, and input shaft is connected with second coupling shaft; Second coupling shaft is provided with can be with second angle measurement unit of its rotation, and second angle measurement unit is installed on the X guide rail by the second measurement of angle support and keeper; And axially be connected with second torque sensor; Second torque sensor is installed on the X guide rail by second bearing, and axially is connected with second servomotor, and second servomotor is installed on the X guide rail by second electric machine support and keeper; When detected harmonic reducer was right-angled reducer, described second angle measurement unit was installed on the Y guide rail by the second measurement of angle support and keeper; And axially be connected with second torque sensor; Second torque sensor is installed on the Y guide rail by second base, and axially is connected with second servomotor, and second servomotor is installed on the Y guide rail by second electric machine support and keeper.
In the such scheme, described keeper comprises the locating piece that is connected installing plate one side on each support and each bearing, and this locating piece just is stuck in the outside of X guide rail or Y guide rail.It is to adopt a spring coupling to realize that described first servomotor axially links to each other with follow-up harmonic reducer.It is to adopt two positive couplings to realize that described follow-up harmonic reducer axially links to each other by a torsion bar and first torque sensor.It is to adopt a loading shaft coupling to realize that described first torque sensor axially is connected with first angle measurement unit.Detected harmonic reducer is thrown off first torque sensor and axially is connected with loading shaft coupling with first angle measurement unit under the service condition that does not need to load.Detected harmonic reducer is thrown off second coupling shaft and detected harmonic reducer input shaft when carrying out rigidity test, makes detected harmonic reducer input shaft stall with special-purpose harmonic speed reducer plug.Perhaps do not throw off connection, the shutdown auto-lock function by second servomotor carries out stall to the input shaft of detected harmonic reducer.
Characteristics of the present invention are that by guiding, the positioning action of guide rail, it is easy for installation that speed reduction unit is detected, and is easy to adjust, and guarantees installation accuracy; By selecting corresponding sensor, the above-mentioned dynamic perfromance of speed reduction unit is detected respectively, be implemented in the test assignment of finishing the multiple dynamic perfromance of detected harmonic reducer on the experimental provision.In addition, the Guide Rail Design of experiment table of the present invention is X, Y both direction, and X, Y direction are vertical mutually, by changing the installation site of drive motor on the guide rail etc., can realize the compatibility test to linear pattern and two kinds of reducer structures of perpendicular type.
Compared with prior art, versatility of the present invention is good, test model scope is wide, comprises perpendicular type structure speed reduction unit, automaticity height, measuring accuracy height.
Description of drawings
Fig. 1 is a harmonic speed reducer test board vertical view of the present invention.
Fig. 2 is the left side partial view of Fig. 1.
Stereographic map is installed in a kind of conversion of Fig. 3 during for detection of straight lines type harmonic speed reducer of the present invention.
Among Fig. 1 to Fig. 3: 1-long guideway (X guide rail); The 2-base plate; 3-X is to servomotor; 4-X is to the servomotor support; The 5-locating piece; The 6-shaft coupling; The 7-follow-up harmonic reducer; 8-follow-up harmonic reducer support; The 9-locating piece; The 10-bolt; The 11-positive coupling; The 12-torsion bar; The 13-positive coupling; The 14-torque sensor; 15-torque sensor bearing; The 16-shaft coupling; The 17-angle measurement unit; 18-angle measurement unit support; 19-measurement of angle coupling shaft; The 20-detected harmonic reducer; 21-detected harmonic reducer support; The 22-angle measurement unit; 23-angle measurement unit support; 24-measurement of angle coupling shaft; The 25-shaft coupling; 26-short lead rail (Y guide rail); The 27-torque sensor; 28-torque sensor bearing; The 29-shaft coupling; 30-Y is to the servomotor support; The 31-locating piece; 32-Y is to servomotor; 33, installing plate.
Embodiment
Below in conjunction with accompanying drawing concrete structure of the present invention and principle of work are described in further detail.
Referring to Fig. 1, a kind of general harmonic speed reducer performance test experiment table, comprise long and short guide rail 1,26 are installed on the base plate 2 mutual vertically, X is installed on the electric machine support 4 to servomotor 3 by seam, electric machine support 4 is located and is fixed on the long guideway 1 by locating piece 5 and bolt, and servomotor 3 links to each other with follow-up harmonic reducer 7 by spring coupling 6.Follow-up harmonic reducer 7 is by erecting frame 8, and locating piece 9 and bolt 10 are installed on the long guideway 1.Positive coupling 11,13 links to each other with follow-up harmonic reducer 7 torsion bar 12 with torque sensor 14.Torque sensor 14 is installed on the long guideway 1 by bearing 15.Shaft coupling 16 links to each other torque sensor 14 output shafts with measurement of angle coupling shaft 19, angle measurement unit 17 is installed on the axle 19, and is positioned on the long guideway 1 by erecting frame 18.Detected harmonic reducer 20 is installed on the long guideway 1 by mounting bracket 21, and the output shaft of detected harmonic reducer 20 is connected with measurement of angle coupling shaft 19, and input shaft is connected with measurement of angle coupling shaft 24.Angle measurement unit 22 is installed on the measurement of angle coupling shaft 24, and it measures grating can be with 24 rotations of measurement of angle coupling shaft, and the shell of angle measurement unit 22 is fixed on the support 23, and support 23 is installed in above the short lead rail 26.Torque sensor 27 output shafts are connected with measurement of angle coupling shaft 24 by shaft coupling 25, and input shaft is connected to servomotor 32 with Y by shaft coupling 29, and torque sensor 27 is installed in above the short lead rail 26 by bearing 28.Servomotor 32 by erecting frame 30 and locating piece 31 location and installation on short lead rail 26.
During test board work, by follow-up harmonic reducer 7, torsion bar 12 and torque sensor 14,19 pairs of detected harmonic reducer 20 of axle load X to servomotor 3.Y drives the motion of detected harmonic reducer 20 input shafts to servomotor 32 by torque sensor 27 and measurement of angle coupling shaft 24, forms complete driving-chain.The test board loading component is followed the operation of detected harmonic reducer 20 output shafts.Angle measurement unit 22 is used to measure detected harmonic reducer 20 input shafts and rotates angle information, angle measurement unit 17 is used to measure detected harmonic reducer 20 output shaft angle informations, and the measuring accuracy of angle measurement unit 22 is lower than the measuring accuracy of angle measurement unit 17.Torque sensor 27 is used to measure detected harmonic reducer 20 input torque values, and torque sensor 14 is used to measure detected harmonic reducer 20 output torque values.Obtain the detecting information of speed reduction unit according to needed information of test event such as harmonic speed reducer efficiency test, life test, transmission accuracy test, return difference test, rigidity tests, analyze by specialized equipment, can obtain the test result of above-mentioned test event, finish test function.
Below respectively be fixed on each support 4,8,18,21 on the long guideway 1, can be free to slide along the guide rail guide direction after unclamping set bolt.Under the request for utilization that needs load, the measurement of angle coupling shaft 19 of torque sensor 14 with angle measurement unit 17 (angular encoder) linked to each other, finish loading by controlling X to servomotor 3 to detected harmonic reducer; Under the service condition that does not need to load, only need to throw off and be connected usefulness shaft coupling 16 between torque sensor 14 and measurement of angle coupling shaft.When carrying out rigidity test, angle measurement unit 22 (rotary encoder) measurement of angle coupling shaft 24 and detected harmonic reducer input shaft can be thrown off, make detected harmonic reducer input end stall with special-purpose harmonic speed reducer plug.Also can not throw off connection, the shutdown auto-lock function by servomotor 32 carries out stall to the input end of detected harmonic reducer.
As shown in Figure 2, servomotor 3 is fixed on the guide rail 1 by the hole and the coupling bolt of support 4, and adopts the T type groove of guide rail below that installing component is led.By locating piece 5 being set in installing plate 33 1 sides, position with the locating surface in X guide rail 1 outside, other parts on the X guide rail: torque sensor 14, angle measurement unit 17 etc. all adopt with same mode and the X guide rail of servomotor 3 and fix and position, and guarantee the bearing accuracy of each installing component.Installing component on Fig. 1 Y guide rail 26: servomotor 32, torque sensor 27, angle measurement unit 22 etc. also adopt with upper type and fix and position.
The present invention can detect the dynamic characteristics of harmonic reducers of multiple model by changing detected harmonic reducer 20 and its mounting bracket 21 and charging assembly.The structural design of vertical guide rail 26 of the present invention can detect the perpendicular type dynamic characteristics of harmonic reducers, but also detection of straight lines type dynamic characteristics of harmonic reducers.
As shown in Figure 3, during detection of straight lines type harmonic speed reducer of the present invention, need be with AC servo motor 32 and support 30 thereof, torque sensor 27 and support 28 thereof, angle measurement unit 22 and support 23 thereof are fixed on the X guide rail, and other position component of adjustment X guide rail makes the axle center of detected harmonic reducer coaxial with the axle 19 of angle measurement unit 17.
The present invention is by select connecting different sensor combinations and charging assembly, can finish harmonic speed reducer standard verification " military harmonic drive variator general specification " (GJB2593-95) in the B of defined organize the detection of 8-12 item and the 14th Interventions Requested.
Claims (8)
1, a kind of experiment table for detecting dynamic characteristics of harmonic reducers, comprise the X guide rail that is installed on the base plate, this X guide rail is provided with first servomotor, follow-up harmonic reducer, first torque sensor, first angle measurement unit, described first servomotor is fixed on the X guide rail by first electric machine support and keeper, axially links to each other with follow-up harmonic reducer; Follow-up harmonic reducer is fixed on the X guide rail by reducer stent and keeper, and axially links to each other with first torque sensor by a torsion bar; First torque sensor is installed on the X guide rail by first bearing, and axially links to each other with first angle measurement unit, and first angle measurement unit is fixed on the X guide rail by the first measurement of angle support and keeper, and links to each other with first coupling shaft; Detected harmonic reducer is installed on the X guide rail by mounting bracket and keeper, it is characterized in that, a Y guide rail vertical with the X guide rail is installed on the described base plate; When detected harmonic reducer was the linear pattern speed reduction unit, its output shaft was connected with first coupling shaft, and input shaft is connected with second coupling shaft; Second coupling shaft is provided with can be with second angle measurement unit of its rotation, and second angle measurement unit is installed on the X guide rail by the second measurement of angle support and keeper; And axially be connected with second torque sensor; Second torque sensor is installed on the X guide rail by second bearing, and axially is connected with second servomotor, and second servomotor is installed on the X guide rail by second electric machine support and keeper; When detected harmonic reducer was the perpendicular type speed reduction unit, described second angle measurement unit was installed on the Y guide rail by the second measurement of angle support and keeper; And axially be connected with second torque sensor; Second torque sensor is installed on the Y guide rail by second base, and axially is connected with second servomotor, and second servomotor is installed on the Y guide rail by second electric machine support and keeper.
2, experiment table for detecting dynamic characteristics of harmonic reducers according to claim 1 is characterized in that, described keeper comprises the locating piece that is connected installing plate one side on each support and each bearing, and this locating piece just is stuck in the outside of X guide rail or Y guide rail.
3, experiment table for detecting dynamic characteristics of harmonic reducers according to claim 1 is characterized in that, it is to adopt a spring coupling to realize that described first servomotor axially links to each other with follow-up harmonic reducer.
4, experiment table for detecting dynamic characteristics of harmonic reducers according to claim 1 is characterized in that, it is to adopt two positive couplings to realize that described follow-up harmonic reducer axially links to each other by a torsion bar and first torque sensor.
5, experiment table for detecting dynamic characteristics of harmonic reducers according to claim 1 is characterized in that, it is to adopt a loading shaft coupling to realize that described first torque sensor axially is connected with first angle measurement unit.
6, experiment table for detecting dynamic characteristics of harmonic reducers according to claim 5 is characterized in that, detected harmonic reducer is thrown off first torque sensor and axially is connected with loading shaft coupling with first angle measurement unit under the service condition that does not need to load.
7, experiment table for detecting dynamic characteristics of harmonic reducers according to claim 1, it is characterized in that, detected harmonic reducer is when carrying out rigidity test, second coupling shaft and detected harmonic reducer input shaft are thrown off, make detected harmonic reducer input shaft stall with special-purpose harmonic speed reducer plug.
8, experiment table for detecting dynamic characteristics of harmonic reducers according to claim 1; it is characterized in that; detected harmonic reducer is not thrown off the loading shaft coupling when carrying out rigidity test, the shutdown auto-lock function by second servomotor carries out stall to the input shaft of detected harmonic reducer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100230799A CN101587015A (en) | 2009-06-26 | 2009-06-26 | Experiment table for detecting dynamic characteristics of harmonic reducers |
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| CNA2009100230799A CN101587015A (en) | 2009-06-26 | 2009-06-26 | Experiment table for detecting dynamic characteristics of harmonic reducers |
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Cited By (25)
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| CN102353539A (en) * | 2011-10-11 | 2012-02-15 | 廊坊开发区莱格光电仪器有限公司 | Photoelectric measuring machine for precision transmission chain |
| CN102494892A (en) * | 2011-12-13 | 2012-06-13 | 潍坊帅克机械有限责任公司 | Comprehensive experiment table for performance parameters of harmonic reducer of robot |
| CN102607844A (en) * | 2012-04-10 | 2012-07-25 | 重庆大学 | Vertical experiment table for precise performance test of small-tooth-difference planetary reducer |
| CN102980764A (en) * | 2012-11-29 | 2013-03-20 | 北京卫星环境工程研究所 | Automatic testing system and testing method of harmonic drive mechanism in space environment |
| CN103033363A (en) * | 2013-01-06 | 2013-04-10 | 杭州嘉诚机械有限公司 | Integrated parameter test device of speed reducer |
| CN103245501A (en) * | 2013-04-22 | 2013-08-14 | 兰州空间技术物理研究所 | Vacuum high-low temperature efficiency testing device for harmonic reducer |
| CN103245502A (en) * | 2013-04-22 | 2013-08-14 | 兰州空间技术物理研究所 | Accuracy testing device for harmonic reducers at high and lower temperatures in vacuum |
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| CN104075890A (en) * | 2014-06-23 | 2014-10-01 | 宁波韦尔德斯凯勒智能科技有限公司 | Comprehensive servo motor and harmonic speed reducer testing platform |
| CN104236900A (en) * | 2014-08-25 | 2014-12-24 | 浙江来福谐波传动股份有限公司 | Dynamic and static rotation precision detecting device for angular harmonic reducer |
| CN104236899A (en) * | 2014-08-25 | 2014-12-24 | 浙江来福谐波传动股份有限公司 | Dynamic and static rotation accuracy detection device for harmonic reducer |
| CN104568429A (en) * | 2014-12-19 | 2015-04-29 | 上海交通大学 | Hysteretic rigidity measurement device |
| CN105845016A (en) * | 2016-05-31 | 2016-08-10 | 南京康尼机电股份有限公司 | Transparent harmonic reducer device for teaching demonstration |
| CN105934662A (en) * | 2014-12-26 | 2016-09-07 | 深圳市配天智造装备股份有限公司 | Speed reducer testing apparatus |
| CN106197909A (en) * | 2016-06-28 | 2016-12-07 | 北京空间飞行器总体设计部 | A kind of harmonic speed reducer transmission stiffness method of testing |
| CN106370423A (en) * | 2016-11-18 | 2017-02-01 | 天津大学 | Precision reducer comprehensive performance detection method |
| CN106644463A (en) * | 2016-11-16 | 2017-05-10 | 南京工程学院 | Dynamic test device used for precise speed reducer |
| CN106679968A (en) * | 2016-11-18 | 2017-05-17 | 天津大学 | Vertical multiple-degrees-of-freedom high-precision detector for detecting comprehensive performance of precision reducers |
| CN107340132A (en) * | 2017-09-08 | 2017-11-10 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| CN107449533A (en) * | 2017-08-29 | 2017-12-08 | 华南理工大学 | A kind of harmonic speed reducer dynamic torsional rigidity analytical equipment and method |
| CN108398259A (en) * | 2018-01-08 | 2018-08-14 | 西安交通大学 | A kind of harmonic speed reducer step drop acceleration service life test method |
| WO2020181649A1 (en) * | 2019-03-08 | 2020-09-17 | 天津大学 | High-precision comprehensive performance test instrument for precise speed reducer for robot |
| CN113804435A (en) * | 2021-08-25 | 2021-12-17 | 广东赛尼智能装备科技有限公司 | Equipment and method for detecting repeated motion precision and fatigue life of harmonic reducer |
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2009
- 2009-06-26 CN CNA2009100230799A patent/CN101587015A/en active Pending
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| CN102353539A (en) * | 2011-10-11 | 2012-02-15 | 廊坊开发区莱格光电仪器有限公司 | Photoelectric measuring machine for precision transmission chain |
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| CN102607844B (en) * | 2012-04-10 | 2015-02-18 | 重庆大学 | Vertical experiment table for precise performance test of small-tooth-difference planetary reducer |
| CN102980764A (en) * | 2012-11-29 | 2013-03-20 | 北京卫星环境工程研究所 | Automatic testing system and testing method of harmonic drive mechanism in space environment |
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| CN103033363A (en) * | 2013-01-06 | 2013-04-10 | 杭州嘉诚机械有限公司 | Integrated parameter test device of speed reducer |
| CN103033363B (en) * | 2013-01-06 | 2015-06-03 | 杭州嘉诚机械有限公司 | Integrated parameter test device of speed reducer |
| CN103245501A (en) * | 2013-04-22 | 2013-08-14 | 兰州空间技术物理研究所 | Vacuum high-low temperature efficiency testing device for harmonic reducer |
| CN103245502A (en) * | 2013-04-22 | 2013-08-14 | 兰州空间技术物理研究所 | Accuracy testing device for harmonic reducers at high and lower temperatures in vacuum |
| CN103674517A (en) * | 2013-11-18 | 2014-03-26 | 武汉船用机械有限责任公司 | Box-type oil distribution device rotation test device |
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| CN104006964A (en) * | 2014-05-28 | 2014-08-27 | 清华大学 | Harmonic drive gear mesh and flexible gear deformation dynamic characteristic testing system |
| CN104075890A (en) * | 2014-06-23 | 2014-10-01 | 宁波韦尔德斯凯勒智能科技有限公司 | Comprehensive servo motor and harmonic speed reducer testing platform |
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| CN104236899A (en) * | 2014-08-25 | 2014-12-24 | 浙江来福谐波传动股份有限公司 | Dynamic and static rotation accuracy detection device for harmonic reducer |
| CN104236900A (en) * | 2014-08-25 | 2014-12-24 | 浙江来福谐波传动股份有限公司 | Dynamic and static rotation precision detecting device for angular harmonic reducer |
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| CN105934662A (en) * | 2014-12-26 | 2016-09-07 | 深圳市配天智造装备股份有限公司 | Speed reducer testing apparatus |
| CN105845016A (en) * | 2016-05-31 | 2016-08-10 | 南京康尼机电股份有限公司 | Transparent harmonic reducer device for teaching demonstration |
| CN106197909B (en) * | 2016-06-28 | 2018-07-31 | 北京空间飞行器总体设计部 | A kind of harmonic speed reducer transmission stiffness test method |
| CN106197909A (en) * | 2016-06-28 | 2016-12-07 | 北京空间飞行器总体设计部 | A kind of harmonic speed reducer transmission stiffness method of testing |
| CN106644463A (en) * | 2016-11-16 | 2017-05-10 | 南京工程学院 | Dynamic test device used for precise speed reducer |
| CN106679968A (en) * | 2016-11-18 | 2017-05-17 | 天津大学 | Vertical multiple-degrees-of-freedom high-precision detector for detecting comprehensive performance of precision reducers |
| CN106370423A (en) * | 2016-11-18 | 2017-02-01 | 天津大学 | Precision reducer comprehensive performance detection method |
| CN106679968B (en) * | 2016-11-18 | 2018-08-03 | 天津大学 | A kind of vertical multiple degrees of freedom high-precision detector of precision speed reduction device comprehensive performance |
| CN107449533B (en) * | 2017-08-29 | 2023-04-21 | 华南理工大学 | Harmonic reducer dynamic torsional rigidity analysis device and method |
| CN107449533A (en) * | 2017-08-29 | 2017-12-08 | 华南理工大学 | A kind of harmonic speed reducer dynamic torsional rigidity analytical equipment and method |
| CN107340132A (en) * | 2017-09-08 | 2017-11-10 | 沈阳航天新光集团有限公司 | Harmonic speed reducer comprehensive test system |
| CN108398259B (en) * | 2018-01-08 | 2019-09-27 | 西安交通大学 | A kind of harmonic speed reducer step drop acceleration service life test method |
| CN108398259A (en) * | 2018-01-08 | 2018-08-14 | 西安交通大学 | A kind of harmonic speed reducer step drop acceleration service life test method |
| WO2020181649A1 (en) * | 2019-03-08 | 2020-09-17 | 天津大学 | High-precision comprehensive performance test instrument for precise speed reducer for robot |
| CN113804435A (en) * | 2021-08-25 | 2021-12-17 | 广东赛尼智能装备科技有限公司 | Equipment and method for detecting repeated motion precision and fatigue life of harmonic reducer |
| CN113804435B (en) * | 2021-08-25 | 2022-05-17 | 广东赛尼智能装备科技有限公司 | Equipment and method for detecting repeated motion precision and fatigue life of harmonic reducer |
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