CN106769021A - A kind of industrial robot power unit reliability test bench - Google Patents
A kind of industrial robot power unit reliability test bench Download PDFInfo
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- CN106769021A CN106769021A CN201710027540.2A CN201710027540A CN106769021A CN 106769021 A CN106769021 A CN 106769021A CN 201710027540 A CN201710027540 A CN 201710027540A CN 106769021 A CN106769021 A CN 106769021A
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- 238000012360 testing method Methods 0.000 title claims abstract description 51
- 230000008878 coupling Effects 0.000 claims abstract description 19
- 238000010168 coupling process Methods 0.000 claims abstract description 19
- 238000005859 coupling reaction Methods 0.000 claims abstract description 19
- 239000000919 ceramic Substances 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 239000011888 foil Substances 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 239000006247 magnetic powder Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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Abstract
The present invention relates to a kind of industrial robot power unit reliability test bench, belong to a kind of reliability test.By three combined test chambers, power unit, radial load loading unit, gimbal coupling, moment of torsion loading unit is constituted, and wherein power unit and radial load loading unit is placed in inside three combined test chambers, and moment of torsion loading unit is connected by gimbal coupling with power unit.The present invention is capable of the actual condition of the power unit of simulating industry robot and carries out reliability test, power unit is located in three combined test chambers, the applying of the load such as temperature, humidity, vibration to power unit can be realized, so as to the actual environment operating mode of simulating industry robot power unit, with test efficiency higher, high degree of automation, driving error, return difference, the backlash detection of decelerator can be can be used for parameters such as Real-time Collection, the vibration of calculating power unit, temperature, transmission efficiency, power attenuations.
Description
Technical field
The invention belongs to a kind of reliability test, and in particular to one kind is applied to industrial robot power unit reliability
The experimental rig in property field.
Background technology
Industrial robot power unit is mainly made up of servomotor and decelerator, its cost account for the 65% of whole machine cost with
On, used as the core component of robot, its precision and reliability are most important.However, the power unit of domestic industrial robot
Import is relied primarily on, the industrial robot power unit of autonomous production is immature, and reliability is low.Industrial robot power unit
Servomotor has small inertia, fast response time, the low feature of care and maintenance requirement；The deceleration of industrial robot power unit
Device is one of key technology of industrial robot, with transmission stiffness it is high, gearratio is big, inertia is small, output torque is big and pass
The advantages of dynamic steady, small volume, strong anti-impact force.
Industrial robot power unit is installed in the small space inside industrial robot joint arm, and radiating is slow, Yi Zhen
Dynamic, work under bad environment, it is susceptible to failure.Industrial robot power unit reliability test bench can simulate its actual work
Condition, and reliability test is carried out, while real-time detection can also be carried out to relevant parameter.Tried by the reliability to power unit
Test, expose the failure of the industrial robot power unit of autonomous production, by the record to failure and analysis, improve product, carry
The reliability of power unit high, and then improve domestic industrial machine human reriability.
Currently, the servomotor and decelerator both at home and abroad for different industrial robot power units have been separately designed largely
Testing stand, but without for industrial robot power unit global design testing stand, the property overall to detect power unit
Energy and reliability.The existing decelerator performance detection testing bench for only existing some industrial robot power units, the testing stand is general
All over use " input motor, moment of torsion or speed probe, decelerator, moment of torsion or speed probe, magnetic powder brake " structure, this
Kind, it is only applicable to the performance parameter detection of decelerator, it is impossible to for reliability test.To the power unit entirety of industrial robot
Reliability test is carried out than being tested the decelerator and servomotor of power unit respectively more efficiently and can be more square
Just simulation actual condition, therefore, invention one kind can integrally carry out reliability test and property to industrial robot power unit
The experimental rig that can be detected is necessary.
The content of the invention
The present invention provides a kind of industrial robot power unit reliability test bench, dynamic to industrial robot at present to solve
Structure high energy consumption that power unit exist during reliability test, automaticity are low, adjustability is poor, its vibration, temperature etc.
Data acquisition effect is bad, there is larger error with True Data, and can not simulate the problem of actual condition.
The present invention is adopted the technical scheme that：By three combined test chambers, power unit, radial load loading unit, universal joint
Shaft coupling, moment of torsion loading unit composition, wherein power unit and radial load loading unit is placed in inside three combined test chambers, is turned round
Square loading unit is connected by gimbal coupling with power unit.
The structure of power unit of the present invention is：Motor support base, encoder support frame one, reducer stent, encoder
Support two is bolted and is fixed on base plate, and servomotor is fixedly connected with motor support base, and the axle of servomotor passes through
Shaft coupling and input shaft one end are connected, and foil gauge, acceleration transducer two, rotary encoder one and coding are provided with input shaft
Device support frame one is fixedly connected, and input shaft is fixedly connected with the inner ring of rotary encoder one, and the retainer ring end of bonnet passes through screw one
It is connected with encoder support frame one, bonnet planar ends are fixedly connected with decelerator end cap, the flange shell and decelerator of decelerator
Set is fixedly connected, and decelerator covers and deep groove ball bearing inner ring interference fit, the inwall of deep groove ball bearing outer ring and reducer stent
Interference fit, flange shaft is connected with decelerator set 211 by screw two, and flange shaft is connected with the output end of decelerator by screw three
Connect, decelerator set is connected with reducer stent by screw four, and the input shaft other end is connected through bonnet with the taper hole of decelerator,
Rotary encoder two is fixedly connected with encoder support two, and flange shaft is fixedly connected with the inner ring of rotary encoder two, TEMP
Device one is installed on inside decelerator, and acceleration transducer one is arranged in flange shaft, and temperature sensor two is arranged on servomotor
End face.
The structure of moment of torsion loading unit of the present invention is：Torque sensor support, electric dynamometer are installed in ball
Leading screw is driven on platform, and electric dynamometer is connected by gear coupling with torque sensor left end, and torque sensor right-hand member leads to
Cross gimbal coupling to be connected with power unit flange shaft, electronic Z axis high-precision regulation displacement platform top is driven with ball-screw
Moving platform bottom bolts are connected, and corner brace drives platform bolt connection with platform frame and ball-screw respectively.
Radial load loading unit of the present invention is bolted and is fixed on encoder support frame two, and flange shaft is passed through
Radial load loading unit, the structure of the radial load loading unit is：Deep groove ball bearing outer ring and bearing holder (housing, cover) interference fit, inner ring
With flange shaft interference fit, left end cap and right end cap are bolted and are fixed with bearing holder (housing, cover), top surface and bearing on piezoelectric ceramics
Set bottom surface contact, support bar top is connected by screw thread and piezoelectric ceramics lower end, is installed between support bar and piezoelectric ceramics
Upper adjusting nut, and upper adjusting nut and the contact of piezoelectric ceramics lower surface, support bar bottom and pressure sensor are threadedly coupled,
Adjusting nut under being installed between pressure sensor and support bar, lower adjusting nut lower surface and pressure sensor upper surface connect
Touch, pressure sensor is bolted on support frame, and support frame is fixedly connected by bolt with encoder support frame two, on
Adjusting nut and lower adjustment nut thread are oppositely oriented.
Three combined test chambers institute of the present invention structure is：Shake table is located at humiture test box lower inside, acceleration
Sensor three is fixedly connected with vibration countertop, and temperature sensor three and humidity sensor are respectively fixedly connected with Humidity Test
Case inner upper.
Four spiral support pole sockets, four spiral support bars are fixedly connected in power unit of the present invention on motor support base
Be threadedly coupled with four spiral support pole sockets respectively, four spiral support bar front ends respectively with Servomotor shells apical grafting.
The beneficial effects of the invention are as follows：
Power unit of the invention is located in three combined test chambers, can realize temperature, humidity, the vibration to power unit
Etc. the applying of load, so that the actual environment operating mode of simulating industry robot power unit；
The present invention carries out moment of torsion loading using electric dynamometer to power unit, can automatically adjust applying moment of torsion it is big
Radial load that is small, being born in startup or operation process using radial load loading unit simulating industry robot power unit, and
The size of the radial load of applying can be automatically adjusted；
The present invention connects servo motor output shaft and reducer input shaft using shaft coupling, can analog servomechanism motor and deceleration
The replacing of motor is easier to while device actual connection；
Motor support base of the present invention is designed with four chutes, and has had the mechanism of support and clamping action in back designs, fits
Servomotor for installing various different models, reducer stent is covered by decelerator to be fixed indirectly with decelerator, it is adaptable to
The decelerator of Multiple Type is installed；
The present invention can realize the reliability test to power unit under two kinds of different way of outputs of decelerator；Carry out
With Real-time Collection power unit correlation performance parameters and can be shown during experiment, judge power unit performance change trend.
The present invention is capable of the actual condition of the power unit of simulating industry robot and carries out reliability test, with higher
Test efficiency, high degree of automation, can with Real-time Collection, calculate power unit vibration, temperature, transmission efficiency, power attenuation
Etc. parameter, can be used for driving error, return difference, the backlash detection of decelerator.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of power unit of the present invention；
Fig. 3 a are the explosive views of power unit of the present invention；
Fig. 3 b are the structural representations that temperature sensor two is arranged on servomotor end face in power unit of the present invention；
Fig. 3 c are structural representation of the acceleration transducer one in flange shaft in power unit of the present invention；
Fig. 3 d are that temperature sensor one is installed on the structural representation inside decelerator in power unit of the present invention；
Fig. 3 e are the structural representations for being provided with foil gauge and acceleration transducer two in power unit of the present invention on input shaft
Figure；
Fig. 4 is the axonometric drawing of bonnet in power unit of the present invention；
Fig. 5 is the structural representation of moment of torsion loading unit of the present invention；
Fig. 6 is the axonometric drawing of moment of torsion loading unit of the present invention；
Fig. 7 is radial load loading unit schematic view of the mounting position of the present invention；
Fig. 8 is radial load loading unit structural representation of the present invention；
Fig. 9 is the explosive view of radial load loading unit of the present invention；
Figure 10 is the structural representation of three combined test chamber of the invention；
Figure 11 is control system schematic diagram of the invention.
Specific embodiment
By three combined test chambers 1, power unit 2, radial load loading unit 3, gimbal coupling 4, moment of torsion loading unit 5
Composition, wherein power unit 2 and radial load loading unit 3 are placed in inside three combined test chambers 1, and moment of torsion loading unit 5 passes through
Gimbal coupling 4 is connected with power unit 2.
The structure of power unit of the present invention is：Motor support base 202, encoder support frame 1, reducer stent
210, encoder support 2 213 is bolted and is fixed on base plate 215, and servomotor 201 is fixed with motor support base 202
Connection, the axle of servomotor 201 is connected by shaft coupling 203 and the one end of input shaft 204, and foil gauge is provided with input shaft 204
218th, acceleration transducer 2 219, measure the moment of torsion of input shaft 204 and detect its vibrational state, rotary encoder 1 respectively
It is fixedly connected with encoder support frame 1, the rotating speed or corner of input shaft 204 is measured by rotary encoder 205；Input shaft
204 are fixedly connected with the inner ring of rotary encoder 1, and the retainer ring end of bonnet 207 is by screw 1 and encoder support frame
One 206 connections, the planar ends of bonnet 207 are fixedly connected with the end cap of decelerator 208, flange shell and the decelerator set of decelerator 208
211 are fixedly connected, and decelerator covers 211 with the inner ring interference fit of deep groove ball bearing 209, the outer ring of deep groove ball bearing 209 and decelerator
The inwall interference fit of support 210, flange shaft 212 and decelerator set 211 be connected by screw 2 222, flange shaft 212 and deceleration
The output end of device 208 is connected by screw 3 223, and decelerator set 211 is connected with reducer stent 210 by screw 4 224, defeated
Enter the other end of axle 204 to be connected with the taper hole of decelerator 208 through bonnet 207, rotary encoder 2 214 and encoder support two
213 are fixedly connected, and flange shaft 212 is fixedly connected with the inner ring of rotary encoder 2 214, and the output for being used to measure decelerator 208 turns
Speed, temperature sensor 1 is installed on inside decelerator 208, measures decelerator temperature, and acceleration transducer 1 is arranged on
In flange shaft 212, the vibration of flange shaft is measured, temperature sensor 2 220 is arranged on servomotor end face, measures servomotor temperature
Degree change；
The structure of moment of torsion loading unit 5 of the present invention is：By torque sensor support 501, torque sensor 502, tooth
Formula shaft coupling 503, electric dynamometer 504, ball-screw drive platform 505, electronic Z axis high-precision regulation displacement platform 506, put down
Platform support frame 507, corner brace 508 are constituted, and wherein torque sensor support 501, electric dynamometer 504 are installed in ball-screw drive
On moving platform 505, can facilitate and be moved along ball-screw axis, electric dynamometer 504 passes through gear coupling 503 and torque sensing
The left end of device 502 is connected, and the right-hand member of torque sensor 502 is connected by gimbal coupling 4 with power unit flange shaft 212, thus
Load torque is applied to industrial robot power unit, while torque sensor 502 can also measure power unit flange shaft 212
Output torque, the top of electronic Z axis high-precision regulation displacement platform 506 is connected with the ball-screw driving bottom bolts of platform 505,
Corner brace 508 drives the bolt connection of platform 505 with platform frame 507 and ball-screw respectively.
Industrial robot power unit is outer also subject to by arm or clamping weight except moment of torsion effect is born in operation process
This radial load is simulated using radial load loading unit Deng the radial load of generation, in the present invention, specific details are as follows：
Radial load loading unit 3 of the present invention is bolted and is fixed on encoder support frame 2 213, flange shaft
212 pass through radial load loading unit 3, and as shown in Figure 8, Figure 9, the structure of the radial load loading unit 3 is：By left end cap 301,
Deep groove ball bearing 302, bearing holder (housing, cover) 303, right end cap 304, piezoelectric ceramics 305, upper adjusting nut 306, support bar 307, lower adjustment
Nut 308, pressure sensor 309, support frame 310 is constituted, wherein the outer ring of deep groove ball bearing 302 and the interference fit of bearing holder (housing, cover) 303,
Inner ring and the interference fit of flange shaft 212, left end cap 301 and right end cap 304 are bolted and are fixed with bearing holder (housing, cover) 303, so that
Bearing axial float is prevented, top surface and the bottom surface of bearing holder (housing, cover) 303 are contacted on piezoelectric ceramics 305, and the top of support bar 307 passes through screw thread
With the connection of the lower end of piezoelectric ceramics 305, adjusting nut 306 is installed between support bar 307 and piezoelectric ceramics 305, and raise
Whole nut 306 and the lower surface of piezoelectric ceramics 305 contact, and the bottom of support bar 307 and pressure sensor 309 are threadedly coupled, in pressure
Lower adjusting nut 308, the lower lower surface of adjusting nut 308 and pressure sensor 309 are installed between sensor 309 and support bar 307
Upper surface is contacted, and pressure sensor 309 is bolted on support frame 310, and support frame 310 passes through bolt and encoder branch
Support 2 213 is fixedly connected, upper adjusting nut 306 and the lower thread rotary orientation of adjusting nut 308 conversely, fixed lower adjusting nut 308,
Adjusting nut 306 can realize the rise and fall of piezoelectric ceramics 305 in rotation, be easily installed debugging, and piezoelectric ceramics 305 is by masterpiece
Use on axle sleeve 303, and then power is applied on bearing 302, and then be applied in flange shaft 212, so as to radial load be applied
To decelerator, change the input current of piezoelectric ceramics 305, you can change the size that radial load applies.
Three combined test chamber 1 of the present invention is by humiture test box 101, shake table 102, temperature sensor 103, humidity
Sensor 104, acceleration transducer 105 is constituted, and wherein shake table 102 is located at the lower inside of humiture test box 101, acceleration
Sensor 3 105 is fixedly connected with the top surface of shake table 102, and temperature sensor 3 103 and humidity sensor 104 are respectively fixedly connected with
In the inner upper of humiture test box 101.
Humiture test box 101 applies temperature and humidity load to power unit, and shake table 102 applies to shake to power unit
Dynamic loading.
Four spiral support pole sockets 225, four spiral shells are fixedly connected in power unit of the present invention 2 on motor support base 202
Circumflex branch strut 226 is threadedly coupled with four spiral support pole sockets respectively, four spiral support bar front ends respectively with servomotor 201
Housing apical grafting.
Operation principle：
Each sensor of the present invention, encoder is connected by wire with host computer, and the data that will be collected respectively are transmitted to upper
Machine, for the parameter acquisition to power unit of host computer, as the analytical calculation basis of related reliability result of the test, experiment
During beginning, according to requirement of experiment, servomotor, decelerator are installed, power unit is respectively adopted one of following manner：
(1) output flange of decelerator 208 is fixed, the flange shell output of decelerator 208：
Screw 3 223, screw 4 224 are removed, the output of servomotor 201 enters decelerator by input shaft, due to
The end cap of decelerator 208 is fixed, and causes output flange to be fixed, and power is exported by the flange shell of decelerator 208, decelerator set
211 rotate, and drive the rotary shaft of flange shaft 212 to go out；
(2) the flange shell of decelerator 208 is fixed, the output of the output flange of decelerator 208：
Screw 1, screw 2 222 are removed, the output of servomotor 201 enters decelerator by input shaft, due to
The end cap of decelerator 208 can be rotated, and input shaft drives output flange to rotate, and drive the rotary shaft of flange shaft 212 to go out；
After installing, rotate servomotor, radial load loading unit 3, moment of torsion loading unit is started working, and is installed on defeated
Entering the foil gauge 218 on axle 204 can in real time measure the output torque of power unit input shaft 204, be installed on input shaft 204
Rotary encoder 214 on rotary encoder 205 and flange shaft 212 can respectively measure the rotating speed and decelerator 208 of input shaft 204
Output speed, the temperature sensor 216 being installed in decelerator 208 can in real time measure the temperature of decelerator, be installed on flange
Acceleration transducer 217 on axle 212 can in real time measure the vibrational state of flange shaft 212, and then obtain the vibration shape of decelerator
State, the acceleration transducer 219 on power unit input shaft 204 can in real time measure the vibrational state of input shaft 204, peace
Temperature sensor 220 loaded on the end face of servomotor 201 can in real time measure the temperature change of servomotor, torque sensor 502
The output torque of decelerator 208 can in real time be measured.
Claims (6)
1. a kind of industrial robot power unit reliability test bench, it is characterised in that：By three combined test chambers, power unit,
Radial load loading unit, gimbal coupling, wherein moment of torsion loading unit composition, power unit and radial load loading unit are laid
Inside three combined test chambers, moment of torsion loading unit is connected by gimbal coupling with power unit.
2. a kind of industrial robot power unit reliability test bench according to claim 1, it is characterised in that：It is described dynamic
The structure of power unit is：Motor support base, encoder support frame one, reducer stent, encoder support two is bolted
It is fixed on base plate, servomotor is fixedly connected with motor support base, the axle of servomotor is connected by shaft coupling and input shaft one end
Connect, foil gauge, acceleration transducer two be installed on input shaft, rotary encoder one is fixedly connected with encoder support frame one,
Input shaft is fixedly connected with the inner ring of rotary encoder one, and the retainer ring end of bonnet is connected by screw one with encoder support frame one
Connect, bonnet planar ends are fixedly connected with decelerator end cap, the flange shell of decelerator is fixedly connected with decelerator set, decelerator set
With deep groove ball bearing inner ring interference fit, the inwall interference fit of deep groove ball bearing outer ring and reducer stent, flange shaft with subtract
Fast device set 211 is connected by screw two, and flange shaft is connected with the output end of decelerator by screw three, and decelerator covers and decelerator
Support is connected by screw four, and the input shaft other end is connected through bonnet with the taper hole of decelerator, rotary encoder two with coding
Device support two is fixedly connected, and flange shaft is fixedly connected with the inner ring of rotary encoder two, and temperature sensor one is installed in decelerator
Portion, acceleration transducer one is arranged in flange shaft, and temperature sensor two is arranged on servomotor end face.
3. a kind of industrial robot power unit reliability test bench according to claim 1, it is characterised in that：The torsion
The structure of square loading unit is：Torque sensor support, electric dynamometer are installed in ball-screw and drive on platform, and electric power is surveyed
Work(machine is connected by gear coupling with torque sensor left end, and torque sensor right-hand member is by gimbal coupling and power list
First flange shaft connection, electronic Z axis high-precision regulation displacement platform top drives mesa base bolt connection, corner brace with ball-screw
Respectively platform bolt connection is driven with platform frame and ball-screw.
4. a kind of industrial robot power unit reliability test bench according to claim 1, it is characterised in that：The footpath
It is bolted to power loading unit and is fixed on encoder support frame two, flange shaft passes through radial load loading unit, described
The structure of radial load loading unit is：Deep groove ball bearing outer ring and bearing holder (housing, cover) interference fit, inner ring and flange shaft interference fit, it is left
End cap and right end cap are bolted to be fixed with bearing holder (housing, cover), and top surface and bearing holder (housing, cover) bottom surface are contacted on piezoelectric ceramics, support bar
Top is connected by screw thread and piezoelectric ceramics lower end, adjusting nut is installed between support bar and piezoelectric ceramics, and raise
Whole nut and piezoelectric ceramics lower surface contact, and support bar bottom and pressure sensor are threadedly coupled, in pressure sensor and support
Lower adjusting nut is installed, lower adjusting nut lower surface and pressure sensor upper surface contact, and pressure sensor passes through spiral shell between bar
Bolt is fixed on support frame, and support frame is fixedly connected by bolt with encoder support frame two, upper adjusting nut and lower adjustment spiral shell
Box thread is oppositely oriented.
5. a kind of industrial robot power unit reliability test bench according to claim 1, it is characterised in that：Described three
Combined test chamber institute structure is：Shake table is located at humiture test box lower inside, acceleration transducer three and vibration countertop
It is fixedly connected, temperature sensor three and humidity sensor are respectively fixedly connected with humiture test box inner upper.
6. a kind of industrial robot power unit reliability test bench according to claim 2, it is characterised in that：It is described dynamic
Be fixedly connected four spiral support pole sockets in power unit on motor support base, four spiral support bars respectively with four spiral support bars
Seat threaded connection, four spiral support bar front ends respectively with Servomotor shells apical grafting.
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| CN201710027540.2A CN106769021A (en) | 2017-01-15 | 2017-01-15 | A kind of industrial robot power unit reliability test bench |
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| CN201710027540.2A CN106769021A (en) | 2017-01-15 | 2017-01-15 | A kind of industrial robot power unit reliability test bench |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107462414A (en) * | 2017-07-18 | 2017-12-12 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot reductor high-low-temperature environmental testing platform |
| CN107543699A (en) * | 2017-07-18 | 2018-01-05 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot reduction box transmission efficiency testing stand |
| CN107553526A (en) * | 2017-07-18 | 2018-01-09 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot speed reducer drive accuracy testing device |
| CN107765637A (en) * | 2017-09-08 | 2018-03-06 | 北京航空航天大学 | Torque-measuring apparatus and measuring method for machine tool high speed electro spindle |
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| CN110531186A (en) * | 2019-07-17 | 2019-12-03 | 广东科鉴检测工程技术有限公司 | A kind of reliability estimation method of instrument |
| CN110887642A (en) * | 2018-08-17 | 2020-03-17 | 中国飞机强度研究所 | Bionic mechanism motion debugging test bed |
| CN112659017A (en) * | 2020-12-17 | 2021-04-16 | 中国航空综合技术研究所 | Pipeline connecting piece axial error simulation assembly device and testing method thereof |
| CN113970441A (en) * | 2020-12-24 | 2022-01-25 | 航天智造（上海）科技有限责任公司 | Double-differential-speed wheel driving unit comprehensive performance detection system |
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