CN108858284B - Cooperative robot and rolling resistance testing device for rolling bearing of cooperative robot - Google Patents
Cooperative robot and rolling resistance testing device for rolling bearing of cooperative robot Download PDFInfo
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- CN108858284B CN108858284B CN201810780842.1A CN201810780842A CN108858284B CN 108858284 B CN108858284 B CN 108858284B CN 201810780842 A CN201810780842 A CN 201810780842A CN 108858284 B CN108858284 B CN 108858284B
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- 238000005096 rolling process Methods 0.000 title claims abstract description 99
- 238000012360 testing method Methods 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000003321 amplification Effects 0.000 claims description 14
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 244000309464 bull Species 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000001788 irregular Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
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- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The invention provides a cooperative robot and a rolling resistance testing device of a rolling bearing thereof, wherein the rolling resistance testing device of the rolling bearing comprises a torque amplifying mechanism and a torque collector; the torque amplifying mechanism comprises an input shaft, an amplifying assembly and an output shaft which are sequentially connected in a transmission manner; the torque collector and the input shaft are coaxially arranged; the output shaft is connected with a motor shaft of the cooperative robot.
Description
Technical Field
The invention relates to the technical field of intelligent machines, in particular to a cooperative robot and a rolling resistance testing device for a rolling bearing of the cooperative robot.
Background
In the prior art, a force control detection system of a mechanical arm of a cooperative robot realizes control of the output force of the mechanical arm by detecting the current of a servo motor, so that the purpose of precisely controlling the output force of the motor can be achieved by precisely controlling the current of the motor. For example, in the existing use case, when the cooperative robot polishes an irregular plane, only the magnitude of the force applied to the irregular plane needs to be input, so that the force applied to the irregular plane during polishing can be kept consistent, and the case is realized by means of accurate control of the output force of the mechanical arm.
Besides being mainly used for driving a motor shaft to rotate, the motor current also needs to overcome a part of resistance, and the part of resistance comprises magnetic resistance generated when the motor rotates and rolling resistance of a rolling bearing sleeved on the motor shaft.
The magnetic resistance generated when the motor rotates can be calculated through simulation, the rolling resistance of the rolling bearing cannot be tested, and for the condition, if the rolling resistance of the bearing can be detected, the value is input into software control, the force control of the robot can be more accurate.
Disclosure of Invention
The invention provides a rolling resistance testing device for a rolling bearing, and aims to solve the technical problems in the prior art.
The invention provides a rolling resistance testing device of a rolling bearing, which comprises a torque amplifying mechanism and a torque collector; wherein,
the torque amplifying mechanism comprises an input shaft, an amplifying assembly and an output shaft which are sequentially connected in a transmission manner;
the torque collector and the input shaft are coaxially arranged; the output shaft is connected with a motor shaft of the cooperative robot.
Further, the amplifying assembly includes two gear sets, and an intermediate shaft; wherein,
one of the gear sets is in driving connection between the input shaft and the intermediate shaft;
the other gear set is in transmission connection between the intermediate shaft and the output shaft.
Further, the gear set includes a large gear and a small gear engaged with the large gear;
the large gear in one of the gear sets is sleeved on the input shaft, and the small gear is sleeved on the intermediate shaft;
the bull gear in the other gear set is sleeved on the intermediate shaft, and the pinion is sleeved on the output shaft.
Further, a torque transmitting mechanism is also included;
the torque transmission mechanism is in transmission connection between the torque amplification mechanism and the motor shaft.
Further, the torque transmission mechanism comprises a first connecting disc and a second connecting disc which are coaxially arranged, and a torque transmission deflector rod connected between the first connecting disc and the second connecting disc;
the first connecting disc is coaxially connected with the output shaft;
the second connecting disc is used for being connected with the motor shaft in a coaxial mode and is simultaneously used for being connected with the bearing fixing seat.
Further, the torque transmission deflector rod comprises a first deflector rod and a second deflector rod;
the first driving lever and the second driving lever are vertically connected between the first connecting disc and the second connecting disc;
the first deflector rod and the second deflector rod are arranged along the radial direction of the first connecting disc or/and the second connecting disc at intervals.
Further, the device also comprises a bearing positioning mechanism;
the bearing positioning mechanism is used for fixing the outer ring of the motor shaft bearing relative to the inner ring.
Furthermore, the bearing positioning mechanism comprises a threaded shaft, and a compression nut, an inverted U-shaped pressing plate and a supporting seat which are sequentially pressed along the threaded shaft from top to bottom; wherein,
the first end of the inverted U-shaped pressing plate is in compression joint with the supporting seat, and the second end of the inverted U-shaped pressing plate is in indirect compression joint with the outer ring of the motor shaft bearing.
Further, two bearing positioning mechanisms are included:
the two bearing positioning mechanisms are sequentially arranged at intervals along the axial direction of the motor shaft;
one bearing positioning mechanism is in pressure connection with a flexible wheel cover of the cooperative robot and is used for positioning an outer ring of a bearing arranged on the flexible wheel cover;
and the other bearing positioning mechanism is in pressure joint with an output flange of the cooperative robot and is used for positioning the outer ring of the bearing arranged on the output flange.
The rolling resistance testing device of the rolling bearing provided by the invention comprises a torque amplifying mechanism and a torque collector; the torque amplification mechanism comprises an input shaft, an amplification component and an output shaft which are sequentially connected in a transmission manner; the torque collector is coaxially arranged with the input shaft; the output shaft is connected with a motor shaft of the cooperative robot.
When the torque amplifying mechanism is applied, an input shaft in the torque amplifying mechanism is driven to rotate manually or mechanically, the torque collector collects input torque of the input shaft, the input shaft drives an output shaft to rotate through the amplifying assembly, the output shaft drives a motor shaft to rotate, the amplifying assembly has a set torque amplifying multiple, the torque is set amplified torque when transmitted to the motor shaft, after reading the readings of the torque collector, the readings are multiplied by the same multiple, and finally obtained torque data is rolling resistance of a motor shaft bearing.
Another object of the present invention is also to provide a cooperative robot including a motor, and a rolling bearing rolling resistance test apparatus as described above;
and an output shaft of a torque amplifying mechanism of the rolling resistance testing device of the rolling bearing is connected with a motor shaft of the motor.
Compared with the beneficial effects of the prior art, the cooperative robot provided by the invention has the beneficial effects that the rolling resistance testing device of the rolling bearing provided by the invention has the beneficial effects of the prior art, and the detailed description is omitted here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a front view of a rolling resistance test apparatus for a rolling bearing according to an embodiment of the present invention;
FIG. 2 is a view A-A of FIG. 1;
FIG. 3 is a left side view of FIG. 1;
FIG. 4 is a rear view of FIG. 1;
fig. 5 is a first schematic view of a rolling resistance testing apparatus of a rolling bearing according to an embodiment of the present invention;
fig. 6 is a second schematic view of a rolling resistance testing device of a rolling bearing according to an embodiment of the present invention;
fig. 7 is a third schematic view of a rolling resistance testing apparatus for a rolling bearing according to an embodiment of the present invention.
Icon:
10-a torque amplification mechanism; 20-a torque-transmitting mechanism; 30-a bearing positioning mechanism; 40-a torque collector; 50-motor shaft; 60-an output flange; 70-a flexible wheel cover; 80-torque display; 90-a frame; 101-an input shaft; 102-an intermediate shaft; 103-an output shaft; 104-bull gear; 105-a pinion gear; 201-a first splice tray; 202-second connecting disc; 203-torque transmission shift lever; 301-a threaded shaft; 302-a compression nut; 303-an inverted U-shaped platen; 304-a support base; 901-a first riser; 902-a second riser; 903-the amplifying mechanism support frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
Fig. 1 is a front view of a rolling resistance test apparatus for a rolling bearing according to an embodiment of the present invention; FIG. 2 is a view A-A of FIG. 1; FIG. 3 is a left side view of FIG. 1; FIG. 4 is a rear view of FIG. 1; fig. 5 is a first schematic view of a rolling resistance testing apparatus of a rolling bearing according to an embodiment of the present invention; fig. 6 is a second schematic view of a rolling resistance testing device of a rolling bearing according to an embodiment of the present invention; fig. 7 is a third schematic view of a rolling resistance testing apparatus for a rolling bearing according to an embodiment of the present invention.
Referring to fig. 1 to 7, the rolling resistance testing device for a rolling bearing provided by the present embodiment includes a torque amplification mechanism 10, a torque transmission mechanism 20, a torque collector 40, a torque display 80, and a bearing positioning mechanism 30; the torque amplifying mechanism 10 is in transmission connection with the torque transmitting mechanism 20, the torque amplifying mechanism 10 is used for amplifying and transmitting torque by a set multiple, and the torque transmitting mechanism 20 is used for transmitting torque; the torque collector 40 is in signal connection with the torque display 80, and the torque display 80 is used for displaying the indication number of the torque collector.
The torque amplification mechanism 10 comprises an input shaft 101, an amplification component and an output shaft 103 which are sequentially connected in a transmission manner, wherein the amplification component is used for amplifying the torque of the input shaft 101 by a set multiple; the torque collector 40 is coaxially arranged with the input shaft 101 and is used for collecting the torque of the input shaft 101; the output shaft 103 is connected to the motor shaft 50 of the cooperating robot.
Preferably, the torque harvester 40 is a sensor.
Preferably, the amplifying assembly is a gear set, and the number of the specific gear sets is set according to actual requirements.
In this embodiment, the amplification assembly includes two gear sets, and a countershaft 102; wherein, the magnification of the two gear sets is the same; one of the gear sets is in transmission connection between the input shaft 101 and the intermediate shaft 102; the other gear set is drivingly connected between the intermediate shaft 102 and the output shaft 103.
In this embodiment, the gear set includes a bull gear 104 and a pinion gear meshed with the bull gear 105; a bull gear 104 in one of the gear sets is sleeved on the input shaft 101, and a pinion 105 is sleeved on the intermediate shaft 102; the bull gear 104 of the other gear set is sleeved on the intermediate shaft 102, and the pinion 105 is sleeved on the output shaft 101.
When the input shaft rotates, the input shaft drives the large gear, the small gear, the intermediate shaft, the large gear, the small gear and the output shaft to rotate in sequence. The gear ratio of the large gear to the small gear is set to 10, and the torque from the input shaft to the intermediate shaft is amplified by 10 times from the input shaft to the intermediate shaft, and similarly, the torque from the intermediate shaft to the output shaft is also amplified by 10 times from the intermediate shaft to the output shaft, and thus, the total amplification from the input shaft to the output shaft is 100 times.
The torque-transmitting mechanism 20 is drivingly connected between the torque-amplifying mechanism 10 and the motor shaft 50. In this embodiment, the torque transmission mechanism 20 includes a first connection plate 201 and a second connection plate that are coaxially disposed, and a torque transmission lever 202 connected between the first connection plate and the second connection plate; the first connecting disc 201 is coaxially connected with the output shaft 101; the second connecting plate 202 is used for coaxial connection with the motor shaft 50 and is also used for connection with the bearing fixing seat.
The torque transmission shift lever 203 comprises a first shift lever and a second shift lever; the first deflector rod and the second deflector rod are both vertically connected between the first connecting disc 201 and the second connecting disc 202; the first deflector rod and the second deflector rod are arranged along the radial direction of the first connecting disc 201 or/and the second connecting disc 202 at intervals. In the embodiment, the torque transmission adopts two driving levers without connection, so that eccentric resistance caused by non-concentricity in the torque transmission process is prevented, and the test precision is improved.
When the torque amplifying mechanism is applied, an output shaft of the torque amplifying mechanism drives the first connecting disc to rotate, the first connecting disc drives the torque transmission deflector rod to rotate, the torque transmission deflector rod drives the second connecting disc to rotate, the second connecting disc drives a motor shaft to rotate, and the motor shaft drives the output flange and the two rolling bearings on the flexible wheel cover to rotate.
The bearing positioning mechanism 30 is used to fix the outer race of the motor shaft bearing relative to the inner race. In this embodiment, the bearing positioning mechanism 30 includes a threaded shaft 301, and a gland nut 302, an inverted U-shaped pressing plate 303 and a supporting seat 304 that are sequentially crimped from top to bottom along the threaded shaft 301; the first end of the inverted U-shaped pressing plate 303 is in compression joint with the supporting seat 304, and the second end of the inverted U-shaped pressing plate 303 is in indirect compression joint with the outer ring of the motor shaft bearing.
In this embodiment, the testing apparatus includes two bearing positioning mechanisms 30: the two bearing positioning mechanisms 30 are sequentially arranged at intervals along the axial direction of the motor shaft 50; one of the bearing positioning mechanisms 30 is in pressure contact with the flexible wheel cover 70 of the cooperative robot, and is used for positioning the outer ring of the bearing mounted on the flexible wheel cover 70; the other bearing positioning mechanism 30 is in pressure contact with the output flange 60 of the cooperating robot for positioning the outer race of the bearing mounted on the output flange 60. In this embodiment, the two bearing positioning mechanisms 30 share a single threaded shaft.
When the rolling resistance of the rolling bearing on the output flange of the assistant robot is measured, the flexible wheel cover and the rolling bearing on the flexible wheel cover are in a disassembled state firstly, the output flange is pressed on the supporting plate by utilizing the second end of the inverted U-shaped pressing plate in one bearing positioning mechanism, and the rolling bearing is tightly fixed on the output flange in a matching manner, so that the output flange is positioned, namely the rolling bearing on the output flange is positioned, and the rolling resistance of the rolling bearing on the output flange can be measured.
Similarly, when the rolling resistance of the rolling bearing on the flexible wheel cover of the assistant robot is measured, the flexible wheel cover is pressed on the supporting plate by the second end of the inverted U-shaped pressing plate in the other bearing positioning mechanism, and the rolling bearing is fixed on the flexible wheel cover in a close fit manner, so that the flexible wheel cover is positioned, namely the rolling bearing on the flexible wheel cover is positioned, the rolling bearings on the output flange and the flexible wheel cover are positioned, the resultant force of the rolling resistances of the two rolling bearings can be measured simultaneously, and the rolling resistance value of the rolling bearing of the known output flange is subtracted, so that the rolling resistance of the rolling bearing of the flexible wheel cover can be obtained.
In the embodiment, the output flange and the rolling bearings on the flexible gear cover can be simultaneously measured, and the resultant force of the rolling resistance of the two rolling bearings is measured; or, the rolling resistance of the bearing positioned below, namely the rolling resistance of the bearing arranged on the output flange, is measured, and then the rolling resistance of the two bearings is measured, so that the rolling resistance of each bearing can be measured respectively. Before measurement, the resistance of the torque amplification mechanism is cleared.
In this embodiment, the testing apparatus further includes a frame 90, where the frame includes a first vertical plate 901 and a second vertical plate 902 that are arranged oppositely, and an amplifying mechanism support 903 that is erected on the first vertical plate 901 and the second vertical plate 902. Wherein, mechanism's support frame 903 of enlargeing includes first backup pad 901 and the second backup pad 902 that sets up along vertical direction relative interval, all installs three bearing in first backup pad and the second backup pad, and 3 bearings in the first backup pad and the second backup pad are two liang of relative 3 bearing groups that form. Wherein, input shaft, jackshaft and output shaft are connected with these 3 bearing groups one-to-one correspondence. Wherein, the lower extreme of first riser and second riser all is connected with the backup pad that is located the below.
The rolling resistance testing device for the rolling bearing provided by the embodiment of the invention has the following advantages:
firstly, the rolling resistance of the rolling bearing can be accurately measured through the device;
secondly, inputting the accurate rolling resistance value into a force control software system of the assisting robot, so that the force control accuracy can be improved;
thirdly, the safety of the assisting robot is improved.
Another object of an embodiment of the present invention is also to provide a cooperative robot, including a motor, and the rolling bearing rolling resistance testing device as above; an output shaft of a torque amplifying mechanism of the rolling resistance testing device of the rolling bearing is connected with a motor shaft of the motor.
Compared with the prior art, the cooperative robot provided by the embodiment of the invention has the beneficial effects that the rolling resistance testing device of the rolling bearing is not repeated.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A rolling resistance testing device of a rolling bearing is characterized by comprising a torque amplification mechanism and a torque collector; wherein,
the torque amplifying mechanism comprises an input shaft, an amplifying assembly and an output shaft which are sequentially connected in a transmission manner;
the torque collector and the input shaft are coaxially arranged; the output shaft is connected with a motor shaft of the cooperative robot;
including two bearing positioning mechanism:
the two bearing positioning mechanisms are sequentially arranged at intervals along the axial direction of the motor shaft;
one bearing positioning mechanism is in pressure connection with a flexible wheel cover of the cooperative robot and is used for positioning an outer ring of a bearing arranged on the flexible wheel cover;
the other bearing positioning mechanism is in pressure connection with an output flange of the cooperative robot and is used for positioning an outer ring of a bearing arranged on the output flange;
the bearing positioning mechanism is used for fixing the outer ring of the motor shaft bearing relative to the inner ring;
the bearing positioning mechanism comprises a threaded shaft, and a compression nut, an inverted U-shaped pressing plate and a supporting seat which are sequentially pressed and connected from top to bottom along the threaded shaft; wherein,
the first end of the inverted U-shaped pressing plate is in compression joint with the supporting seat, and the second end of the inverted U-shaped pressing plate is in indirect compression joint with the outer ring of the motor shaft bearing;
and the two bearing positioning mechanisms share one threaded shaft.
2. Rolling bearing rolling resistance test device according to claim 1, characterized in that the amplification assembly comprises two gear sets, and an intermediate shaft; wherein,
one of the gear sets is in driving connection between the input shaft and the intermediate shaft;
the other gear set is in transmission connection between the intermediate shaft and the output shaft.
3. The rolling bearing rolling resistance test device according to claim 2, wherein the gear set includes a large gear and a small gear meshed with the large gear;
the small gear in one of the gear sets is sleeved on the input shaft, and the large gear is sleeved on the intermediate shaft;
the small gear in the other gear set is sleeved on the intermediate shaft, and the large gear is sleeved on the output shaft.
4. The rolling bearing rolling resistance test device according to claim 1, further comprising a torque transmission mechanism;
the torque transmission mechanism is in transmission connection between the torque amplification mechanism and the motor shaft.
5. The rolling bearing rolling resistance test device according to claim 4, wherein the torque transmission mechanism includes a first connecting disc and a second connecting disc which are coaxially arranged, and a torque transmission lever connected between the first connecting disc and the second connecting disc;
the first connecting disc is coaxially connected with the output shaft;
the second connecting disc is used for being connected with the motor shaft in a coaxial mode and is simultaneously used for being connected with the bearing fixing seat.
6. The rolling bearing rolling resistance testing device of claim 5, wherein the torque transmission lever comprises a first lever and a second lever;
the first driving lever and the second driving lever are vertically connected between the first connecting disc and the second connecting disc;
the first deflector rod and the second deflector rod are arranged along the radial direction of the first connecting disc or/and the second connecting disc at intervals.
7. A cooperative robot characterized by comprising a motor, and a rolling bearing rolling resistance test device according to any one of claims 1 to 6;
and an output shaft of a torque amplifying mechanism of the rolling resistance testing device of the rolling bearing is connected with a motor shaft of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810780842.1A CN108858284B (en) | 2018-07-16 | 2018-07-16 | Cooperative robot and rolling resistance testing device for rolling bearing of cooperative robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810780842.1A CN108858284B (en) | 2018-07-16 | 2018-07-16 | Cooperative robot and rolling resistance testing device for rolling bearing of cooperative robot |
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| CN108858284A CN108858284A (en) | 2018-11-23 |
| CN108858284B true CN108858284B (en) | 2021-04-13 |
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| CN111152264B (en) * | 2020-01-03 | 2021-06-11 | 北京理工大学 | Precision measurement module for detecting collision force and power of cooperative robot |
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| CN2411169Y (en) * | 1999-12-27 | 2000-12-20 | 高荣戈 | Hand bolt driver for vehicle rim |
| CN2767604Y (en) * | 2005-01-27 | 2006-03-29 | 赵刚 | Power transmission device for electric door |
| CN101458136A (en) * | 2008-12-26 | 2009-06-17 | 洛阳轴研科技股份有限公司 | Thrust bearing friction torque measurement method and measurement apparatus |
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
-
2018
- 2018-07-16 CN CN201810780842.1A patent/CN108858284B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2411169Y (en) * | 1999-12-27 | 2000-12-20 | 高荣戈 | Hand bolt driver for vehicle rim |
| CN2767604Y (en) * | 2005-01-27 | 2006-03-29 | 赵刚 | Power transmission device for electric door |
| CN101458136A (en) * | 2008-12-26 | 2009-06-17 | 洛阳轴研科技股份有限公司 | Thrust bearing friction torque measurement method and measurement apparatus |
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
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