CN103063421A - Automatic comprehensive detection device and detection method for inclined ring spring property - Google Patents
Automatic comprehensive detection device and detection method for inclined ring spring property Download PDFInfo
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- CN103063421A CN103063421A CN2012105557722A CN201210555772A CN103063421A CN 103063421 A CN103063421 A CN 103063421A CN 2012105557722 A CN2012105557722 A CN 2012105557722A CN 201210555772 A CN201210555772 A CN 201210555772A CN 103063421 A CN103063421 A CN 103063421A
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- coil spring
- canted coil
- hole enlargement
- worktable
- conical surface
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Abstract
The invention discloses an automatic comprehensive detection device for inclined ring spring property. A servo motor is arranged on a fixed support on a base. The upper end of a precise ball screw is upward and is in transmitted connection with an output shaft of the servo motor. The lower end of the precise ball screw is arranged in a supporting seat on the base. A nut is sleeved on the precise ball screw. The nut is fixedly connected with a workbench. A grating scale is vertically arranged along an outer laterally upright face of the base. A number reading head of the grating scale is fixedly connected with the workbench through a connecting board. A spring clamp is fixedly connected with a suspension arm of the workbench. A diameter expanding block is arranged below the spring clamp. The lower end of the diameter expanding block is connected with a tension and pressure sensor. The invention further discloses an automatic comprehensive detection method for the inclined ring spring property. According to the automatic comprehensive detection device and the detection method for the inclined ring spring property, detection of the diameter of an inner ring, rigidity, minimum inner friction force and maximum inner friction force of an inclined ring spring can be achieved, work efficiency is high and accuracy is good.
Description
Technical field
The invention belongs to plant equipment detection technique field, relate to a kind of robotization comprehensive detection device for the canted coil spring performance, the invention still further relates to a kind of robotization method for comprehensive detection for the canted coil spring performance.
Background technology
Canted coil spring can provide the constant power that is similar in the working deformation scope of 5%-35%, just because of having this unique design feature, so that no matter canted coil spring is as obturator, shielding part, union piece or electric parts, all show than the more premium properties of ordinary straight coil spring.Canted coil spring is widely used in the various fields such as Aero-Space, electric system, sealing system.Therefore, the research for performances such as canted coil spring rigidity has very strong theory value and practical value.
The quality of canted coil spring performance can produce vital impact to its effect, and accurate detection method and device are the essential condition that guarantees product quality.The high-quality canted coil spring is the core part of primary cut-out, and the internal friction of canted coil spring fingertip is one of important parameter of pole circuit turn-on or disconnection.The size of canted coil spring internal friction affects divide-shut brake speed and tolerance ability, and is up to standard if the friction force size does not have, and the mechanical property of isolating switch can not be met the demands, and might cause loop circuit bigger than normal, affects the temperature rise of whole isolating switch.Therefore, be necessary that a canted coil spring inner ring friction force is limited in the rational scope.
At present, to the detection mode of canted coil spring rigidity, generally adopt lever spring Tensile or Compressive Loading testing machine or adopt the condenser type pull pressure sensor, cooperate suitable amplification to show that electronic device carries out load and detects, measure again the characteristic line of spring on the basis that load detects, then analyze.The deficiency such as these two kinds of detection mode ubiquity accuracy of detection are low, troublesome poeration, calculating are loaded down with trivial details especially is not suitable for the detection to some special shape springs such as canted coil springs.To the detection of canted coil spring internal friction, inner ring diameter, lack especially special checkout equipment, lack high-precision automatic detection device.
Summary of the invention
The purpose of this invention is to provide a kind of robotization comprehensive detection device for the canted coil spring performance, solved in the prior art in the comprehensive detection process to canted coil spring rigidity, internal friction, inner ring diameter, lacked the problem of high-precision automatic detection device.
Another object of the present invention provides a kind of robotization method for comprehensive detection for the canted coil spring performance, has solved in the prior art that the ubiquity accuracy of detection is low, troublesome poeration, the loaded down with trivial details problem of calculating
The technical solution adopted in the present invention is, a kind of robotization comprehensive detection device for the canted coil spring performance comprises servomotor, gear train, testing agency and worktable,
Servomotor is arranged in the fixed support on the base;
Gear train comprises precision ball screw and screw, precision ball screw upper end upwards is in transmission connection with the output shaft of servomotor, the precision ball screw lower end is arranged in the supporting seat on the base, be set with screw on the precision ball screw, be installed with worktable at screw, be fixedly connected with spring perch on the cantilever of worktable;
Testing agency comprises grating scale, hole enlargement piece and pull pressure sensor, and grating scale vertically arranges along the outer side elevation of base, and the read head of grating scale is fixedly connected with worktable by web joint; The below of spring perch is provided with the hole enlargement piece, and the axial line of spring perch overlaps with the axial line of the hole enlargement piece that the below arranges, and the lower end of hole enlargement piece is connected with pull pressure sensor by axis rod, and pull pressure sensor is arranged on the base.
Another technical scheme of the present invention is that a kind of robotization method for comprehensive detection for the canted coil spring performance utilizes above-mentioned device, operates according to following steps:
Step 1, canted coil spring to be detected is installed in spring perch, is set a default initial position to worktable in advance, carry out following setting according to the differing heights position on the hole enlargement piece cylindrical simultaneously:
H
0That default initial position is to the distance of the epimere 5% deformation plance starting point of hole enlargement piece;
H
1That default initial position is to the distance of 35% deformation plance starting point of hole enlargement piece;
H
2That default initial position is to the distance of the hypomere 5% deformation plance starting point of hole enlargement piece;
H
eThe length of 35% deformation plance of hole enlargement piece and the length of hole enlargement piece two sections 5% deformation plance;
h
1That default initial position is to the distance of canted coil spring and hole enlargement piece epimere First Transition conical surface contact point;
h
2That default initial position is to the distance of canted coil spring and hole enlargement piece hypomere the 4th transition conical surface dispersal point;
The inner ring diameter of step 2, detection canted coil spring
Pass into electric current to canted coil spring, start servomotor, the driven by servomotor worktable moves down,
Worktable begins to descend from default initial position, and read head begins to record displacement simultaneously, hole enlargement piece conduction when canted coil spring contacts with the hole enlargement piece First Transition conical surface, and the data that this moment, read head was recorded and the difference of default initial position height are h
1,
Worktable continues to descend, when canted coil spring and the disengaging of hole enlargement piece the 4th transition conical surface, and the outage of hole enlargement piece, the data that this moment, read head was recorded and the difference of default initial position height are h
2
When canted coil spring and the hole enlargement piece First Transition conical surface come in contact, because contact point is the point of contact of canted coil spring and the hole enlargement piece conical surface, can obtain h according to inner ring diameter and the calculating point of contact coordinate of tested canted coil spring
1The theoretical value h of value
1, therefore, by the detected h of reality
1Value and theoretical h
1Value compares, and can determine whether the inner ring diameter of canted coil spring is qualified;
Step 3, the rigidity that detects canted coil spring and minimum, maximum internal friction
The control worktable descends,
When canted coil spring passes through m1=H
0-h
1Section moves, and the output valve of read head and pull pressure sensor with recording respectively canted coil spring 5% displacement and the pressure parameter that is out of shape occurs;
At first H from top to bottom
eInternal friction when segment distance, pull pressure sensor can be measured canted coil spring 5% deformation state occurs;
When canted coil spring passes through m2=H
1-H
0-H
eSection moves, and the output valve of read head and pull pressure sensor will be recorded respectively displacement and the pressure parameter of canted coil spring generation from 5% to 35% deformation state;
At second H
eSegment distance, pull pressure sensor can be measured the internal friction of canted coil spring when 35% deformation state occurs;
When canted coil spring passes through m3=H
2-H
1-H
eSection moves, and the output valve of read head and pull pressure sensor will be recorded respectively displacement and the pressure parameter of canted coil spring generation from 35% to 5% deformation state;
At the 3rd H
eInternal friction when segment distance, pull pressure sensor can be measured spring 5% deformation state occurs;
When canted coil spring passes through m4=h
2-H
2-H
eSection moves, and the output valve of read head and pull pressure sensor will be recorded respectively canted coil spring and returned to by 5% deformation state displacement and the pressure parameter of original state;
In the whole decline process of worktable, getting time step is Δ t, records displacement and the pressure parameter of m1, m2 that canted coil spring passes through respectively the hole enlargement piece, m3, m4 segment distance, then can calculate the rigidity of canted coil spring and draw out stiffness curve, H
eThe displacement of section is measured the minimum in the canted coil spring working range, maximum internal friction by pull pressure sensor.
The invention has the beneficial effects as follows, by default worktable initial position, grating scale, pull pressure sensor and hole enlargement piece are effectively combined, realize simultaneously canted coil spring rigidity, inner ring diameter, minimum and maximum internal friction being detected.1) can detect accurately in real time displacement and the pressure Varying parameters value of canted coil spring, by just, the contrary two-way detection method of averaging reduces error, the displacement of canted coil spring--pressure curve is drawn accurately simple, can truly calculate easily the rigidity of canted coil spring.2) can accurately detect canted coil spring working range interior minimum, maximum internal friction.3) can detect quickly and easily the inner ring diameter of canted coil spring.Compact conformation, easy to operate, can detect the multifrequency nature of canted coil spring and have higher accuracy of detection and testing result intuitively by one-time detection, for research and the processing and manufacturing of estimating canted coil spring mechanical property and canted coil spring provide technical support.
Description of drawings
Fig. 1 is the structural representation that the present invention is used for the robotization comprehensive detection device of canted coil spring performance;
Fig. 2 is the principle of work schematic diagram that the present invention is used for the robotization method for comprehensive detection of canted coil spring performance.
Among the figure, 1. servomotor, 2. precision ball screw, 3. read head, 4. grating scale, 5. base, 6. screw, 7. worktable, 8. spring perch, 9. canted coil spring, 10. hole enlargement piece, 11. pull pressure sensor.
Embodiment
As shown in Figure 1, the robotization comprehensive detection device for the canted coil spring performance of the present invention, its structure is, comprises servomotor 1, gear train, testing agency and worktable 7,
Servomotor 1 is arranged in the fixed support on the base 5;
Gear train comprises precision ball screw 2 and screw 6, precision ball screw 2 upper ends upwards are in transmission connection with the output shaft of servomotor 1, precision ball screw 2 lower ends are arranged in the supporting seat on the base 5, be set with screw 6 on the precision ball screw 2, be installed with worktable 7 at screw 6, be fixedly connected with spring perch 8 on the cantilever of worktable 7;
Testing agency comprises grating scale 4, hole enlargement piece 10 and pull pressure sensor 11, and grating scale 4 vertically arranges along the outer side elevation of base 5, and the read head 3 of grating scale 4 is fixedly connected with worktable 7 by web joint; The below of spring perch 8 is provided with hole enlargement piece 10, the axial line of spring perch 8 overlaps with the axial line of the hole enlargement piece 10 that the below arranges, the lower end of hole enlargement piece 10 is connected with pull pressure sensor 11 by axis rod, pull pressure sensor 11 is arranged on the base 5, is used for fixing canted coil spring 9 to be detected in the spring perch 8.
The forward and backward of servomotor 1 is rising or the decline of corresponding control worktable 7 respectively, and namely servomotor 1 drives precision ball screw 2 rotations, the forward and backward of precision ball screw 2, and control screw 6 drives worktable 7 and rises or descending motion.
With reference to Fig. 2, the structure of described hole enlargement piece 10 is, on the outer circumference surface of hole enlargement piece 10, be disposed with from top to bottom the First Transition conical surface, 5% deformation plance, the second transition conical surface, 35% deformation plance, the 3rd transition conical surface, another 5% deformation plance, the 4th transition conical surface, the First Transition conical surface wherein is consistent and symmetrical up and down with the 4th transition conical degree of conical surface, and the second transition conical surface is consistent and symmetrical up and down with the 3rd transition conical degree of conical surface.
The course of work of pick-up unit of the present invention is, a default initial position is set as benchmark in advance worktable 7, gives canted coil spring 9 energisings, starts simultaneously servomotor 1 and drives worktable 7 and begin to descend.Hole enlargement piece 10 conductions when canted coil spring 9 contacts with the First Transition conical surface of hole enlargement piece 10 epimeres, read head 3 is recorded the initial position that canted coil spring 9 deforms.Because spring perch 8 defines the diameter of canted coil spring 9 outer rings, the tapering of the initial position that the canted coil spring 9 of recording by read head 3 deforms and the difference of default initial position and hole enlargement piece 10 can calculate the inner ring diameter of canted coil spring 9.Worktable 7 continues to descend, and hole enlargement piece 10 enters in the canted coil spring 9, and canted coil spring 9 deforms, read head 3 and pull pressure sensor 11 record detected parameters.Hole enlargement piece 10 outages when the 4th transition conical surface of canted coil spring 9 and hole enlargement piece 10 hypomeres breaks away from, the last position that the spring of read head 3 record canted coil springs 9 restPoses.
Robotization method for comprehensive detection for the canted coil spring performance of the present invention utilizes above-mentioned device, according to the following steps implementation:
Step 1, is as shown in Figure 2 installed canted coil spring 9 to be detected in spring perch 8, set default initial positions (as base plane) in advance worktable 7, carries out following setting according to the differing heights position on hole enlargement piece 10 cylindricals simultaneously:
H
0That default initial position is to the distance of the epimere 5% deformation plance starting point of hole enlargement piece 10;
H
1That default initial position is to the distance of 35% deformation plance starting point of hole enlargement piece 10;
H
2That default initial position is to the distance of the hypomere 5% deformation plance starting point of hole enlargement piece 10;
H
eThe length of 35% deformation plance of hole enlargement piece 10 and the length of hole enlargement piece 10 two sections 5% deformation plance;
h
1That default initial position is to the distance of canted coil spring 9 with hole enlargement piece 10 epimere First Transition conical surface contact points;
h
2That default initial position is to the distance of canted coil spring 9 with hole enlargement piece 10 hypomeres the 4th transition conical surface dispersal point;
The inner ring diameter of step 2, detection canted coil spring 9
Pass into electric current for canted coil spring 9, (this electric current belongs to Weak current, when contacting with the hole enlargement piece, can detect the hole enlargement piece and conduct electricity just, does not describe in detail at this), starting servomotor 1, servomotor 1 drives worktable 7 and moves down,
Worktable 7 begins to descend from default initial position, and read head 3 begins to record displacement simultaneously, hole enlargement piece 10 conductions when canted coil spring 9 contacts with the hole enlargement piece 10 First Transition conical surfaces, and the data that this moment, read head 3 was recorded and the difference of default initial position height are h
1,
Worktable 7 continues to descend, when canted coil spring 9 breaks away from hole enlargement piece 10 the 4th transition conical surface, and 10 outages of hole enlargement piece, the data that this moment, read head 3 was recorded and the difference of default initial position height are h
2
When canted coil spring 9 and the hole enlargement piece 10 First Transition conical surfaces come in contact, because contact point is the point of contact of canted coil spring 9 and hole enlargement piece 10 conical surfaces, can obtain h according to inner ring diameter and the calculating point of contact coordinate of tested canted coil spring 9
1The theoretical value h of value
1, therefore, by the detected h of reality
1Value and theoretical h
1Value compares, and can determine whether the inner ring diameter of canted coil spring 9 is qualified;
Step 3, the rigidity that detects canted coil spring 9 and minimum, maximum internal friction
Control worktable 7 descends,
When canted coil spring 9 passes through m1=H
0-h
1Section moves, 5% displacement and the pressure parameter that is out of shape occurs with recording respectively canted coil spring 9 in the output valve of read head 3 and pull pressure sensor 11, circular is 201110398609.5 with reference to the patent No., and denomination of invention is " a kind of measurement mechanism of canted coil spring rigidity and measuring method ";
At first H from top to bottom
eInternal friction when segment distance, pull pressure sensor 11 can be measured canted coil spring 9 generations 5% deformation state;
When canted coil spring 9 passes through m2=H
1-H
0-H
eSection moves, and the output valve of read head 3 and pull pressure sensor 11 will be recorded respectively displacement and the pressure parameter of canted coil spring 9 generations from 5% to 35% deformation state;
At second H
eSegment distance, pull pressure sensor 11 can be measured the internal friction of canted coil spring 9 when 35% deformation state occurs;
When canted coil spring 9 passes through m3=H
2-H
1-H
eSection moves, and the output valve of read head 3 and pull pressure sensor 11 will be recorded respectively displacement and the pressure parameter of canted coil spring 9 generations from 35% to 5% deformation state;
At the 3rd H
eInternal friction when segment distance, pull pressure sensor 11 can be measured spring 5% deformation state occurs;
When canted coil spring 9 passes through m4=h
2-H
2-H
eSection moves, and the output valve of read head 3 and pull pressure sensor 11 will be recorded respectively canted coil spring 9 and returned to by 5% deformation state displacement and the pressure parameter of original state;
In the worktable 7 whole decline processes, getting time step is Δ t, records displacement and the pressure parameter of m1, m2 that canted coil spring 9 passes through respectively hole enlargement piece 10, m3, m4 segment distance, then can calculate the rigidity of canted coil spring 9 and draw out stiffness curve, H
eThe displacement of section is measured the minimum in the canted coil spring working range, maximum internal friction by pull pressure sensor 11.
Step 4, worktable 7 drop to from default initial position and are lower than h
2Certain position be that forward detects, then again to rise to default initial position be reverse detection to worktable 7, once complete testing process comprises that a forward detects and once reverse detection;
According to step 2, order that step 3 is opposite, the worktable 7 that moves up obtains the parameter of each location status successively, just getting, the mean value of contrary two-way detected parameters is as final detection result, reaching the purpose that reduces as far as possible to detect error.
Devices and methods therefor of the present invention can be realized simultaneously the detection to canted coil spring inner ring diameter, rigidity, minimum and maximum internal friction, high efficiency, and accuracy is good.
Claims (4)
1. robotization comprehensive detection device that is used for the canted coil spring performance is characterized in that: comprise servomotor (1), gear train, testing agency and worktable (7),
Described servomotor (1) is arranged in the fixed support on the base (5);
Described gear train comprises precision ball screw (2) and screw (6), precision ball screw (2) upper end upwards is in transmission connection with the output shaft of servomotor (1), precision ball screw (2) lower end is arranged in the supporting seat on the base (5), be set with screw (6) on the precision ball screw (2), be installed with worktable (7) at screw (6), be fixedly connected with spring perch (8) on the cantilever of worktable (7);
Described testing agency comprises grating scale (4), hole enlargement piece (10) and pull pressure sensor (11), grating scale (4) vertically arranges along the outer side elevation of base (5), and the read head (3) of grating scale (4) is fixedly connected with worktable (7) by web joint; The below of spring perch (8) is provided with hole enlargement piece (10), the axial line of spring perch (8) overlaps with the axial line of the hole enlargement piece (10) that the below arranges, the lower end of hole enlargement piece (10) is connected with pull pressure sensor (11) by axis rod, and pull pressure sensor (11) is arranged on the base (5).
2. the robotization comprehensive detection device for the canted coil spring performance according to claim 1, it is characterized in that: the structure of described hole enlargement piece (10) is, on outer circumference surface, be disposed with from top to bottom the First Transition conical surface, 5% deformation plance, the second transition conical surface, 35% deformation plance, the 3rd transition conical surface, another 5% deformation plance, the 4th transition conical surface, the First Transition conical surface wherein is consistent and symmetrical up and down with the 4th transition conical degree of conical surface, and the second transition conical surface is consistent and symmetrical up and down with the 3rd transition conical degree of conical surface.
3. robotization method for comprehensive detection that is used for the canted coil spring performance is characterized in that: utilize device claimed in claim 2, operate according to following steps:
Step 1, canted coil spring (9) to be detected is installed in spring perch (8), is set a default initial position in advance worktable (7), carry out following setting according to the differing heights position on hole enlargement piece (10) cylindrical simultaneously:
H
0That default initial position is to the distance of the epimere 5% deformation plance starting point of hole enlargement piece (10);
H
1That default initial position is to the distance of 35% deformation plance starting point of hole enlargement piece (10);
H
2That default initial position is to the distance of the hypomere 5% deformation plance starting point of hole enlargement piece (10);
H
eThe length of 35% deformation plance of hole enlargement piece (10) and the length of hole enlargement piece (10) two sections 5% deformation plance;
h
1That default initial position is to the distance of canted coil spring (9) with hole enlargement piece (10) epimere First Transition conical surface contact point;
h
2That default initial position is to the distance of canted coil spring (9) with hole enlargement piece (10) hypomere the 4th transition conical surface dispersal point;
The inner ring diameter of step 2, detection canted coil spring (9)
Pass into electric current for canted coil spring (9), start servomotor (1), servomotor (1) drives worktable (7) and moves down,
Worktable (7) begins to descend from default initial position, read head (3) begins to record displacement simultaneously, hole enlargement piece (10) conduction when canted coil spring (9) contacts with hole enlargement piece (10) the First Transition conical surface, the data that read head this moment (3) is recorded and the difference of default initial position height are h
1,
Worktable (7) continues to descend, when canted coil spring (9) breaks away from hole enlargement piece (10) the 4th transition conical surface, and hole enlargement piece (10) outage, the data that read head this moment (3) is recorded and the difference of default initial position height are h
2
When canted coil spring (9) and hole enlargement piece (10) the First Transition conical surface come in contact, because contact point is the point of contact of canted coil spring (9) and hole enlargement piece (10) conical surface, can obtain h according to inner ring diameter and the calculating point of contact coordinate of tested canted coil spring (9)
1The theoretical value h of value
1, therefore, by the detected h of reality
1Value and theoretical h
1Value compares, and can determine whether the inner ring diameter of canted coil spring (9) is qualified;
Step 3, the rigidity that detects canted coil spring (9) and minimum, maximum internal friction
Control worktable (7) descends,
When canted coil spring (9) passes through m1=H
0-h
1Section moves, and the output valve of read head (3) and pull pressure sensor (11) with recording respectively canted coil spring (9) 5% displacement and the pressure parameter that is out of shape occurs;
At first H from top to bottom
eInternal friction when segment distance, pull pressure sensor (11) can be measured canted coil spring (9) generation 5% deformation state;
When canted coil spring (9) passes through m2=H
1-H
0-H
eSection moves, and the output valve of read head (3) and pull pressure sensor (11) will be recorded respectively displacement and the pressure parameter of canted coil spring (9) generation from 5% to 35% deformation state;
At second H
eSegment distance, pull pressure sensor (11) can be measured the internal friction of canted coil spring (9) when 35% deformation state occurs;
When canted coil spring (9) passes through m3=H
2-H
1-H
eSection moves, and the output valve of read head (3) and pull pressure sensor (11) will be recorded respectively displacement and the pressure parameter of canted coil spring (9) generation from 35% to 5% deformation state;
At the 3rd H
eInternal friction when segment distance, pull pressure sensor (11) can be measured spring 5% deformation state occurs;
When canted coil spring (9) passes through m4=h
2-H
2-H
eSection moves, and the output valve of read head (3) and pull pressure sensor (11) will be recorded respectively canted coil spring (9) and returned to by 5% deformation state displacement and the pressure parameter of original state;
In the whole decline process of worktable (7), getting time step is Δ t, record displacement and the pressure parameter of m1, m2 that canted coil spring (9) passes through respectively hole enlargement piece (10), m3, m4 segment distance, then can calculate the rigidity of canted coil spring (9) and draw out stiffness curve, H
eThe displacement of section is measured canted coil spring working range interior minimum, maximum internal friction by pull pressure sensor (11).
4. the robotization method for comprehensive detection for the canted coil spring performance according to claim 1 is characterized in that: also comprise step 4, worktable (7) drops to from default initial position and is lower than h
2Certain position be that forward detects, then again to rise to default initial position be reverse detection to worktable (7), once complete testing process comprises that a forward detects and once reverse detection;
According to step 2, order that step 3 is opposite, the worktable that moves up (7) obtains the parameter of each location status successively, just getting, the mean value of contrary two-way detected parameters is as final detection result.
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|---|---|---|---|
| CN201210555772.2A CN103063421B (en) | 2012-12-19 | 2012-12-19 | Automatic comprehensive detection device and detection method for inclined ring spring property |
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|---|---|---|---|
| CN201210555772.2A CN103063421B (en) | 2012-12-19 | 2012-12-19 | Automatic comprehensive detection device and detection method for inclined ring spring property |
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| CN106198268A (en) * | 2016-07-13 | 2016-12-07 | 河南平高电气股份有限公司 | A kind of spring touch finger life testing method and frock |
| CN106289079A (en) * | 2016-09-20 | 2017-01-04 | 江阴华新电器科技股份有限公司 | A kind of folded riveting rotor pressure testing device |
| CN107884147A (en) * | 2017-12-26 | 2018-04-06 | 瓦房店轴承集团有限责任公司 | Novel precise compression spring marking apparatus |
| CN108312178A (en) * | 2017-12-29 | 2018-07-24 | 深圳市越疆科技有限公司 | Elastic part test method, device and mechanical arm based on mechanical arm |
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