CN107271178A - A kind of precision speed reduction device static properties test experimental bed - Google Patents
A kind of precision speed reduction device static properties test experimental bed Download PDFInfo
- Publication number
- CN107271178A CN107271178A CN201710303841.3A CN201710303841A CN107271178A CN 107271178 A CN107271178 A CN 107271178A CN 201710303841 A CN201710303841 A CN 201710303841A CN 107271178 A CN107271178 A CN 107271178A
- Authority
- CN
- China
- Prior art keywords
- decelerator
- precision
- tested
- reduction device
- speed reduction
- 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
Links
Classifications
-
- 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
Abstract
The invention discloses a kind of precision speed reduction device static properties test experimental bed, the accessory being connected by servomotor, torque rotary speed sensor, high-precision encoder, tested decelerator, the critical piece of magnetic powder cluth and pedestal, horizontal sliding table, shaft coupling, decelerator mounting seat etc. is constituted, using magnetic powder clutched offer input load, servomotor output end is loaded, centre addition angular metric, the test device of rotating speed amount, the static properties of precision speed reduction device is tested with this.Definition of the invention according to each static properties parameter of precision speed reduction device, the test of the static properties such as return difference, torsional rigidity can be completed on same experimental bench, the precision speed reduction device static properties of different model can be tested, and use programme controlled load mode, automaticity is high.The present invention has the advantages that simple in construction, measuring accuracy is high, require that low, automaticity is high to test environment, disclosure satisfy that industrial robot is required the test of precision speed reduction device static properties and detection.
Description
Technical field
The present invention relates to precision speed reduction device static properties technical field of measurement and test, more particularly to a kind of industrial robot joint is used
Precision speed reduction device static properties test experimental bed.
Background technology
With the quickening of process of industrialization, China has become the manufacturing powerhouse in the world.However as Chinese aged
Change the arrival of society, the continuous improvement of labor cost, conventional industriesization upgrading has become the task of top priority.Therefore, develop
The only way which must be passed is become with the intelligent Manufacturing Technology of the artificial core of industrial machine.It is used as the precision of industrial robot joint parts
Decelerator, its static properties has extremely important influence to the product quality of industrial robot.
Precision speed reduction device static properties mainly includes the indexs such as return difference, rigidity.When return difference refers to input shaft reversion, output shaft
The phenomenon of input shaft is lagged behind in motion, return difference can be calculated by torsional rigidity curve.In the real work of mechanical arm, need
Substantial amounts of high-precision reciprocating is wanted to move, therefore, the test and detection to precision speed reduction device return difference are most important.
At present, the domestic test device for having some on decelerator static properties parameter, but is all using fixation mostly
Decelerator output end, the mode of input loading defines the experimental bench of progress precision speed reduction device static test also very according to standard
It is few.Due to certainly existing the influence factors such as friction in transmission link, using fixed decelerator output end, the side of input loading
Formula will necessarily bring larger error to result.Patent No. CN105716862A patent discloses a kind of RV decelerators transmission and missed
Poor test device, including mechanical part and the electric control system such as servomotor, tested decelerator, encoder.According to patent
Description, the test device is loaded using servomotor to tested decelerator input, it is impossible to eliminate test error, test dress
Putting can not survey how no explanation test bracket in the torsional rigidity of some specified angle points, test device installs tested deceleration
Device, testing efficiency is low, and installing/dismounting is inconvenient.
The content of the invention
In order to make up deficiency of the prior art, the invention provides a kind of precision speed reduction device static properties test experiments
Platform, input is fixed using magnetic powder cluth, and angle, torque rotary speed test device are added in servomotor output end loading, centre,
The static properties of precision speed reduction device is tested with this, static properties mainly includes return difference precision and torsional properties.
The precision speed reduction device static properties test experimental bed that the present invention is provided, including servomotor, torque rotary speed sensor,
High-precision encoder, tested decelerator, the critical piece of magnetic powder cluth and pedestal, horizontal sliding table, shaft coupling, decelerator are installed
The accessory that seat etc. is connected, it is characterised in that：The servomotor passes through torque rotary speed sensor and tested decelerator
Output shaft couples, and the high-precision encoder is installed on tested reducer output shaft, and high-precision encoder is tested for reading
The angle information of decelerator output end, described magnetic powder cluth couples with tested decelerator input, and magnetic powder cluth is used for
Fixed tested decelerator input, described servomotor, torque rotary speed sensor, high-precision encoder, magnetic powder cluth are equal
It is connected with industrial control computer, described servomotor, torque rotary speed sensor, high-precision encoder and tested decelerator are same
Axle is connected and is fixedly installed on horizontal sliding table.
The precision speed reduction device static properties test experimental bed that the present invention is provided, it is characterised in that：Described high accuracy coding
Device is installed on tested decelerator output end, and magnetic powder cluth is installed on tested decelerator input, fixed by magnetic powder cluth
Tested decelerator input Difference angles, servomotor loading output end, high-precision encoder reading angular amount and output
Torque rotary speed sensor reads the mode of torque capacity, realizes the static characteristic of the tested decelerator Difference angles of test.
The precision speed reduction device static properties test experimental bed that the present invention is provided, it is characterised in that：Under described horizontal sliding table
Side is provided with pinion and rack, and rack is installed on horizontal sliding table side, and gear is connected and is installed on base with handwheel, passes through
Rotation hand wheel mobile and horizontal slide unit, realizes the flange that different inner diameters are installed in decelerator mounting seat.
The precision speed reduction device static properties test experimental bed that the present invention is provided, it is characterised in that：Tested decelerator is by subtracting
Fast device mounting seat is fixedly installed on horizontal sliding table, by installing the flange of different inner diameters additional in decelerator mounting seat, is realized not
The performance test of same model precision speed reduction device.
The precision speed reduction device static properties test experimental bed that the present invention is provided, static properties test job flow is：(1)、
Locking, rotates tested reducer output shaft by servomotor, makes input end in specified angle position, pass through programme-control magnetic
The tested decelerator input of powder clutch locking；(2), forward and reverse loading, is loaded onto by the first forward direction of programme-control servomotor
Output end predetermined torque+N, then Opposite side loading then rotate forward again to output end predetermined torque-N and return to initial position；
(3), test, while forward and reverse loading, data are read by encoder and torque rotary speed sensor, and industry control will be passed through
Computer processed comes out data display, and so far point transmission return difference is completed；(4) next test point, is locked, passes through program control
System unclamps magnetic powder cluth, and rotating servo motor makes input end in next specified angle position, and magnetic powder cluth locks quilt again
Survey decelerator input；(5), it is executed as described above it is forward and reverse load and the point is tested；(6), by that analogy, test output terminal
The torsional rigidity of other required points, and comprehensive analysis is carried out to test data.
The beneficial effects of the present invention are：Defined according to standard, using fixed input, the mode of output end loading, rule
The model static properties method of testing of precision speed reduction device.Output end is measured using torque rotary speed sensor and high-precision encoder
Amount of torque and angular metric, improve measuring accuracy and testing efficiency.By the method for installing different inner diameters additional in decelerator mounting seat
Orchid, can carry out performance test to the precision speed reduction device of different model.Line program loading is entered using servomotor, magnetic powder cluth is born
Carry, test scope is wide, automaticity is high.It is quiet that the present invention can carry out torsional rigidity, return difference etc. to different model precision speed reduction device
State property can be tested, with simple in construction, and measuring accuracy is high, and automaticity is high, and the advantages of measuring stability is good meets work
The high precision performance of precision speed reduction device is tested for industry robot and detection is required.
Brief description of the drawings
Fig. 1 is the principle sketch of the precision speed reduction device static properties test experimental bed of the present invention.
Fig. 2 is the general structure schematic diagram of the precision speed reduction device static properties test experimental bed of the present invention.
Fig. 3 is the front view of the precision speed reduction device static properties test experimental bed of the present invention.
Fig. 4 is horizontal sliding table structural representation in the precision speed reduction device static properties test experimental bed of the present invention.
Fig. 5 can install the decelerator seat structure of flange additional in the precision speed reduction device static properties test experimental bed for the present invention
Schematic diagram.
In Fig. 2,
1- servomotors；2- torque rotary speed sensors；3- high-precision encoders；4- is tested decelerator；5- magnetic powder cluths；
6- pedestals；7- horizontal sliding tables；8- shaft couplings；9- decelerator mounting seats.
In Fig. 3,
71- racks；72- gears；73- handwheels.
Embodiment
The specific implementation to the present invention is described further below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3 shows, the precision speed reduction device static properties test experimental bed that the present invention is provided, by servomotor
1st, torque rotary speed sensor 2, high-precision encoder 3, tested decelerator 4, the critical piece of magnetic powder cluth 5 and pedestal 6, level
The accessory that slide unit 7, shaft coupling 8, decelerator mounting seat 9 etc. are connected is constituted, it is characterised in that：The servomotor 1
Coupled by torque torque sensor 2 with the tested output shaft of decelerator 4, the high-precision encoder 3 is installed on tested decelerator 4
On output shaft, high-precision encoder 3 is used to reading the angle information of the tested output end of decelerator 4, described magnetic powder cluth 5 with
The tested input of decelerator 4 connection, magnetic powder cluth 5 is used for the fixed tested input of decelerator 4, described servomotor 1, turns
Square speed probe 2, high-precision encoder 3 and magnetic powder cluth 5 are connected with industrial control computer, described servomotor
1st, torque rotary speed sensor 2, high-precision encoder 3 and tested decelerator 4 are coaxially connected and are fixedly installed on horizontal sliding table 7.
As shown in Figure 1, Figure 2, Figure 3 shows, the precision speed reduction device static properties test experimental bed that the present invention is provided, its feature exists
In：High-precision encoder 3 is installed on the tested output end of decelerator 4, and magnetic powder cluth 5 is installed on the tested input of decelerator 4, leads to
Cross magnetic powder cluth 5 and fix the tested input diverse location of decelerator 4, the loading of servomotor 1 output end, high-precision encoder 3
Reading angular amount and torque rotary speed sensor 2 read torque capacity, realize that the static state of the tested Difference angles of decelerator 4 of test is special
Property.
As shown in Figure 2, Figure 4 shows, the precision speed reduction device static properties test experimental bed that the present invention is provided, it is characterised in that：Institute
The lower section of horizontal sliding table 7 stated is provided with pinion and rack, and rack 71 is installed on the side of horizontal sliding table 7, gear 72 and handwheel 73
Connect and be installed on base (6), by the mobile and horizontal slide unit 7 of rotation hand wheel 73, realization is installed not in decelerator mounting seat 4
With the flange of internal diameter.
As shown in Figure 4, Figure 5, the precision speed reduction device static properties test experimental bed that the present invention is provided, it is characterised in that：Institute
The tested decelerator 4 stated is fixedly installed on horizontal sliding table 7 by decelerator mounting seat 9, by adding in decelerator mounting seat 9
The flange of different inner diameters is filled, the performance test of different model precision speed reduction device is realized.
The precision speed reduction device static properties test experimental bed that the present invention is provided, static properties test job flow is：(1)、
Locking, rotates the tested output shaft of decelerator 4 by servomotor 1, makes input end in specified angle position, pass through programme-control
The tested input of decelerator 4 of the locking of magnetic powder cluth 5；(2), forward and reverse loading, revolves by the way that programme-control servomotor 1 is first positive
Turn to be loaded onto input predetermined torque+N, then reversely rotate and be loaded onto input predetermined torque-N, then rotate forward back again
To initial position；(3), test, while forward and reverse loading, data read by encoder 3 and torque rotary speed sensor 2,
And will be come out data display by industrial control computer, so far point transmission return difference is completed；(4) next survey, is locked
Pilot, magnetic powder cluth 5 is unclamped by programme-control, and rotating servo motor 1 makes input end in next specified angle position, magnetic
Powder clutch 5 is locked again；(5), it is executed as described above it is forward and reverse load and the point is tested；(6), by that analogy, test input
The torsional rigidity of other points needed for end, and comprehensive analysis is carried out to test data.
Claims (4)
1. a kind of precision speed reduction device static properties test experimental bed, by servomotor (1), torque rotary speed sensor (2), high accuracy
Encoder (3), tested decelerator (4), the critical piece of magnetic powder cluth (5) and pedestal (6), horizontal sliding table (7), shaft coupling
(8) accessory that, decelerator mounting seat (9) etc. is connected is constituted, it is characterised in that：Servomotor (1) is turned by torque
Fast sensor (2) couples with tested decelerator (4) output shaft, and high-precision encoder (3) is installed on tested decelerator (4) output shaft
On, high-precision encoder (3) is used for the angle information for reading tested decelerator (4) output end, and magnetic powder cluth (5) subtracts with tested
Fast device (4) input connection, magnetic powder cluth (5) is used for fixed tested decelerator (4) input, and servomotor (1), torque turn
Fast sensor (2), high-precision encoder (3) and tested decelerator (4) are coaxially connected and are fixedly installed on horizontal sliding table (7),
Servomotor (1), torque rotary speed sensor (2), high-precision encoder (3), magnetic powder cluth (5) are and industrial control computer
It is connected.
2. precision speed reduction device static properties test experimental bed according to claim 1, it is characterised in that：High-precision encoder
(3) tested decelerator (4) output end is installed on, magnetic powder cluth (5) is installed on tested decelerator (4) input, passes through magnetic
Fixed tested decelerator (4) the input diverse location of clutch (5), servomotor (1) loading output end, high-precision encoder
(3) reading angular amount and torque rotary speed sensor (2) read torque capacity, realize tested decelerator (4) Difference angles of test
Static characteristic.
3. precision speed reduction device static properties test experimental bed according to claim 1, it is characterised in that：Horizontal sliding table (7)
Lower section is provided with pinion and rack, and rack (71) is installed on horizontal sliding table (7) side, and gear (72) is connected simultaneously with handwheel (73)
It is installed on base (6), by rotation hand wheel (73) mobile and horizontal slide unit (7), realization is installed not in decelerator mounting seat (4)
With the flange of internal diameter.
4. precision speed reduction device static properties test experimental bed according to claim 1, it is characterised in that：Tested decelerator
(4) it is fixedly installed in by decelerator mounting seat (9) on horizontal sliding table (7), by installing difference additional in decelerator mounting seat (9)
The flange of internal diameter, realizes the performance test of different model precision speed reduction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710303841.3A CN107271178A (en) | 2017-05-03 | 2017-05-03 | A kind of precision speed reduction device static properties test experimental bed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710303841.3A CN107271178A (en) | 2017-05-03 | 2017-05-03 | A kind of precision speed reduction device static properties test experimental bed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107271178A true CN107271178A (en) | 2017-10-20 |
Family
ID=60073698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710303841.3A Pending CN107271178A (en) | 2017-05-03 | 2017-05-03 | A kind of precision speed reduction device static properties test experimental bed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107271178A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036938A (en) * | 2017-12-20 | 2018-05-15 | 成都育芽科技有限公司 | A kind of industrial robot gear reducer vibration mechine and test method |
| CN108225766A (en) * | 2018-03-16 | 2018-06-29 | 中机生产力促进中心 | Precision speed reduction device precision and performance comprehensive testing rack |
| CN109443757A (en) * | 2018-12-29 | 2019-03-08 | 浙江双环传动机械股份有限公司 | A kind of RV retarder life cycle management precision degradation testing device |
| CN109655260A (en) * | 2019-01-22 | 2019-04-19 | 天津理工大学 | A kind of restructural static properties experimental bench of high accurate speed reducer |
| CN110044609A (en) * | 2019-05-09 | 2019-07-23 | 盐城工学院 | A kind of service life experiment system of robot precision cycloid decelerator |
| CN110487544A (en) * | 2019-09-25 | 2019-11-22 | 北京工业大学 | A kind of movable-component formula precision speed reduction device is comprehensive performance test bed |
| CN111554171A (en) * | 2020-06-16 | 2020-08-18 | 中北大学 | Experiment table for relation between box structure size and speed reducer efficiency |
| CN111829775A (en) * | 2020-06-29 | 2020-10-27 | 浙江奇碟汽车零部件有限公司 | Special clutch disk assembly damping of engineering tipper twists reverse running-in equipment |
| CN112098079A (en) * | 2020-07-31 | 2020-12-18 | 盐城工学院 | RV reduction gear hysteresis curve testing arrangement |
| CN113267335A (en) * | 2021-05-21 | 2021-08-17 | 北京工业大学 | Precision speed reducer return difference testing device |
| CN113281036A (en) * | 2021-05-21 | 2021-08-20 | 北京工业大学 | Input end locking device and locking method for precision speed reducer |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203537106U (en) * | 2013-11-18 | 2014-04-09 | 天津市中环富士智能设备有限公司 | Left and right split type base installation seat with adapter and used for cylindrical gear motor |
| CN203745198U (en) * | 2013-12-26 | 2014-07-30 | 北京配天大富精密机械有限公司 | Speed reducer test equipment |
| CN105784351A (en) * | 2016-03-04 | 2016-07-20 | 中南大学 | RV speed reducer transmission return difference testing device |
| CN105890898A (en) * | 2016-06-27 | 2016-08-24 | 江苏兰菱机电科技有限公司 | Hysteresis curve measuring device |
| CN106124199A (en) * | 2016-06-14 | 2016-11-16 | 昆山格兰德机器人科技有限公司 | Precision speed reduction device static properties test device and method of testing thereof |
| CN205785813U (en) * | 2016-07-13 | 2016-12-07 | 银川威力减速器有限公司 | A kind of RV decelerator torsional rigidity and idle running error are test bed |
| CN106441883A (en) * | 2016-11-30 | 2017-02-22 | 中南大学 | Comprehensive performance resting experiment table for precision speed reduction device |
-
2017
- 2017-05-03 CN CN201710303841.3A patent/CN107271178A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203537106U (en) * | 2013-11-18 | 2014-04-09 | 天津市中环富士智能设备有限公司 | Left and right split type base installation seat with adapter and used for cylindrical gear motor |
| CN203745198U (en) * | 2013-12-26 | 2014-07-30 | 北京配天大富精密机械有限公司 | Speed reducer test equipment |
| CN105784351A (en) * | 2016-03-04 | 2016-07-20 | 中南大学 | RV speed reducer transmission return difference testing device |
| CN106124199A (en) * | 2016-06-14 | 2016-11-16 | 昆山格兰德机器人科技有限公司 | Precision speed reduction device static properties test device and method of testing thereof |
| CN105890898A (en) * | 2016-06-27 | 2016-08-24 | 江苏兰菱机电科技有限公司 | Hysteresis curve measuring device |
| CN205785813U (en) * | 2016-07-13 | 2016-12-07 | 银川威力减速器有限公司 | A kind of RV decelerator torsional rigidity and idle running error are test bed |
| CN106441883A (en) * | 2016-11-30 | 2017-02-22 | 中南大学 | Comprehensive performance resting experiment table for precision speed reduction device |
Non-Patent Citations (1)
| Title |
|---|
| 袁古兴: "特种机电传动机构综合性能实验台测控系统设计", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036938A (en) * | 2017-12-20 | 2018-05-15 | 成都育芽科技有限公司 | A kind of industrial robot gear reducer vibration mechine and test method |
| CN108225766A (en) * | 2018-03-16 | 2018-06-29 | 中机生产力促进中心 | Precision speed reduction device precision and performance comprehensive testing rack |
| CN109443757A (en) * | 2018-12-29 | 2019-03-08 | 浙江双环传动机械股份有限公司 | A kind of RV retarder life cycle management precision degradation testing device |
| CN109655260A (en) * | 2019-01-22 | 2019-04-19 | 天津理工大学 | A kind of restructural static properties experimental bench of high accurate speed reducer |
| CN110044609A (en) * | 2019-05-09 | 2019-07-23 | 盐城工学院 | A kind of service life experiment system of robot precision cycloid decelerator |
| CN110487544A (en) * | 2019-09-25 | 2019-11-22 | 北京工业大学 | A kind of movable-component formula precision speed reduction device is comprehensive performance test bed |
| CN111554171A (en) * | 2020-06-16 | 2020-08-18 | 中北大学 | Experiment table for relation between box structure size and speed reducer efficiency |
| CN111554171B (en) * | 2020-06-16 | 2021-08-27 | 中北大学 | Experiment table for relation between box structure size and speed reducer efficiency |
| CN111829775A (en) * | 2020-06-29 | 2020-10-27 | 浙江奇碟汽车零部件有限公司 | Special clutch disk assembly damping of engineering tipper twists reverse running-in equipment |
| CN111829775B (en) * | 2020-06-29 | 2022-09-13 | 浙江奇碟汽车零部件有限公司 | Special clutch disk assembly vibration damping torsion running-in equipment for engineering dump truck |
| CN112098079A (en) * | 2020-07-31 | 2020-12-18 | 盐城工学院 | RV reduction gear hysteresis curve testing arrangement |
| CN113267335A (en) * | 2021-05-21 | 2021-08-17 | 北京工业大学 | Precision speed reducer return difference testing device |
| CN113281036A (en) * | 2021-05-21 | 2021-08-20 | 北京工业大学 | Input end locking device and locking method for precision speed reducer |
| CN113267335B (en) * | 2021-05-21 | 2022-08-02 | 北京工业大学 | Precision speed reducer return difference testing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107271178A (en) | A kind of precision speed reduction device static properties test experimental bed | |
| CN106441883A (en) | Comprehensive performance resting experiment table for precision speed reduction device | |
| CN105181329B (en) | A kind of industrial robot joint decelerator comprehensive test platform | |
| CN104075890B (en) | A kind of servomotor and harmonic wave speed reducing machine comprehensive test platform | |
| CN105784351B (en) | A kind of RV retarders transmission return difference test device | |
| CN206593851U (en) | RV decelerator dynamic and static state performance test systems | |
| CN206919855U (en) | A kind of slewing parts automatic measuring equipment | |
| CN203981405U (en) | A kind of servomotor and harmonic wave speed reducing machine comprehensive test platform | |
| CN108225766A (en) | Precision speed reduction device precision and performance comprehensive testing rack | |
| CN103698127A (en) | Speed reducer testing equipment | |
| CN107238497B (en) | Horizontal reciprocating rotary speed reducer product comprehensive test testboard | |
| CN106841871A (en) | A kind of pure electric automobile assembly is test bed to dragging | |
| CN208476443U (en) | A kind of speed reducer efficiency test machine | |
| CN107238365A (en) | A kind of portable cylindrical workpiece measurement apparatus | |
| CN102937409A (en) | Polar coordinate gear measurement center and zero calibrating method thereof | |
| CN102175893B (en) | Sensor testing device | |
| CN205449494U (en) | RV reduction gear transmission return difference testing arrangement | |
| CN107036806B (en) | RV reducer hysteresis curve testing device and method | |
| CN203882533U (en) | Shaft work piece outer surface machining error detection teaching aid | |
| CN105910818A (en) | Efficiency curve testing device | |
| CN102192999A (en) | Probe-based automatic airflow pressure and velocity measurement device | |
| CN107228764A (en) | Precise planetary reducer torsional rigidity and return difference measuring system | |
| CN215218056U (en) | RV reduction gear capability test device based on arm | |
| CN106053058A (en) | Robot joint decelerator transmission performance testing device with mobile slide unit | |
| CN108106840A (en) | A kind of Novel industrial robot RV speed reducer method for testing performances |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171020 |