CN106769021A - A kind of industrial robot power unit reliability test bench - Google Patents

A kind of industrial robot power unit reliability test bench Download PDF

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Publication number
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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CN
China
Prior art keywords
power unit
decelerator
support
industrial robot
screw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710027540.2A
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Chinese (zh)
Inventor
李国发
周诗金
杨兆军
何佳龙
朱晓翠
张建成
王升旭
霍永超
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Jilin University
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Jilin University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Jilin University filed Critical Jilin University
Priority to CN201710027540.2A priority Critical patent/CN106769021A/en
Publication of CN106769021A publication Critical patent/CN106769021A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00Testing of machine parts
    • G01M13/02Gearings; Transmission mechanisms
    • G01M13/025Test-benches with rotational drive means and loading means; Load or drive simulation

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

A kind of industrial robot power unit reliability test bench
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.
CN201710027540.2A 2017-01-15 2017-01-15 A kind of industrial robot power unit reliability test bench Pending CN106769021A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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 (14)

* Cited by examiner, † Cited by third party
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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
CN107907326A (en) * 2017-11-07 2018-04-13 芜湖赛宝机器人产业技术研究院有限公司 A kind of high-low temperature tester for industrial robot gear reducer
CN108106839A (en) * 2017-12-11 2018-06-01 安徽双骏智能科技有限公司 A kind of industrial robot speed reducer reliability test bench
CN108132145A (en) * 2017-12-20 2018-06-08 成都育芽科技有限公司 A kind of industrial robot speed reducer fictitious load characteristic prevents true system
CN108983091A (en) * 2018-05-25 2018-12-11 东北大学 A kind of servo motor reliability test loading device and application method
CN109357867A (en) * 2018-12-21 2019-02-19 北京工业大学 A kind of RV retarder fatigue life test radial loading device
CN109506933A (en) * 2018-11-21 2019-03-22 沈阳工业大学 Transmission mechanism test platform for comprehensive performance
CN110531265A (en) * 2019-10-08 2019-12-03 苏州德能电机股份有限公司 A kind of master accompanies formula electric machine testing device
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

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
CN107765637B (en) * 2017-09-08 2019-12-17 北京航空航天大学 Torque measuring device and method for high-speed electric spindle of machine tool
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
CN107907326A (en) * 2017-11-07 2018-04-13 芜湖赛宝机器人产业技术研究院有限公司 A kind of high-low temperature tester for industrial robot gear reducer
CN108106839A (en) * 2017-12-11 2018-06-01 安徽双骏智能科技有限公司 A kind of industrial robot speed reducer reliability test bench
CN108132145A (en) * 2017-12-20 2018-06-08 成都育芽科技有限公司 A kind of industrial robot speed reducer fictitious load characteristic prevents true system
CN108983091A (en) * 2018-05-25 2018-12-11 东北大学 A kind of servo motor reliability test loading device and application method
CN108983091B (en) * 2018-05-25 2020-08-04 东北大学 Servo motor reliability test loading device and use method
CN110887642A (en) * 2018-08-17 2020-03-17 中国飞机强度研究所 Bionic mechanism motion debugging test bed
CN109506933A (en) * 2018-11-21 2019-03-22 沈阳工业大学 Transmission mechanism test platform for comprehensive performance
CN109357867A (en) * 2018-12-21 2019-02-19 北京工业大学 A kind of RV retarder fatigue life test radial loading device
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
CN110531265A (en) * 2019-10-08 2019-12-03 苏州德能电机股份有限公司 A kind of master accompanies formula electric machine testing device
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

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