CN110441052A - A kind of RV speed reducer comprehensive performance parameter test special plane - Google Patents

A kind of RV speed reducer comprehensive performance parameter test special plane Download PDF

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Publication number
CN110441052A
CN110441052A CN201910664485.7A CN201910664485A CN110441052A CN 110441052 A CN110441052 A CN 110441052A CN 201910664485 A CN201910664485 A CN 201910664485A CN 110441052 A CN110441052 A CN 110441052A
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CN
China
Prior art keywords
servo motor
output
torque
speed reducer
testing stand
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Pending
Application number
CN201910664485.7A
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Chinese (zh)
Inventor
王彦文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingyuan Min Shi Beijing Great Automotive Components Co Ltd
Qingyuan Minth Automobile Parts Co Ltd
Original Assignee
Qingyuan Min Shi Beijing Great Automotive Components Co Ltd
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Application filed by Qingyuan Min Shi Beijing Great Automotive Components Co Ltd filed Critical Qingyuan Min Shi Beijing Great Automotive Components Co Ltd
Priority to CN201910664485.7A priority Critical patent/CN110441052A/en
Publication of CN110441052A publication Critical patent/CN110441052A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01HMEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01KMEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00Thermometers specially adapted for specific purposes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/24Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/28Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for testing brakes
    • 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

Abstract

The invention discloses a kind of RV speed reducer comprehensive performance parameters to test special plane, including rack, the rack is equipped with torque and loads servo motor, testing stand below torque load servo motor and the input servo motor below testing stand, the upper surface of the testing stand is equipped with the rest area for placing speed reducer to be measured, the output end of torque load servo motor is towards testing stand, output torque speed probe is installed on the output end of torque load servo motor, export shaft coupling, output angle encoder and output connecting flange, the output end of the input servo motor is towards testing stand, the output end of input servo motor is equipped with input torque speed probe, input shaft coupling and input angle encoder.Torque load servo motor, testing stand and input servo motor are arranged in a vertical direction, i.e., the present invention uses vertical platform, facilitates tester to work, and can guarantee the accuracy of installation, occupied area is small.

Description

A kind of RV speed reducer comprehensive performance parameter test special plane
Technical field
The present invention relates to one of electric machines test research field test equipment, especially a kind of RV speed reducer comprehensive performance Parameter testing special plane.
Background technique
German's Lorenz is suddenly bright creatively to propose a kind of little gear difference planetary driving mechanism in nineteen twenty-six, it is to use Epicycloid is as tooth curve, and here it is the Cycloid drives of earliest period, since one of two meshing gears use The form of pinwheel, this transmission is also by title cycloidal-pin wheel planetary gear drive.RV is driven a kind of completely new kind of drive, it is The shortcomings that developed on the basis of traditional Cycloid drive, not only overcoming general pin cycloid transmission, but also because tool There are the series of advantages such as small in size, light-weight, gear range is big, the service life is long, stable, the high-efficient, stable drive of precision holding.
RV speed reducer includes into RV-E series reduction and RV-C series reduction.RV-E series reduction is a kind of main shaft Hold a kind of flexible 2 grades of deceleration mechanisms of the built-in way of output;RV-C series reduction is the hollow knot built in a kind of base bearing 2 grades of deceleration mechanisms of one kind of structure.
With the development of industrial circle the degree of automation, each company is had become using industrial robot substitution human work and is held The important development direction of supervention exhibition.Machine Man's Demands are all presented every year and grow at top speed for the country, and as industrial robot Many enterprises also start to research and develop and carry out the production of certain batch the speed reducer of one of three big core components at home, in order to examine The each batch speed reducer of production can comply fully with various performance parameters, guarantee that factory is qualified, then need to carry out performance parameter Test.
In the prior art, domestic each producer's test output terminal is all made of magnetic powder brake at present, and magnetic powder brake can only The adjusting that braking moment is carried out by controller, i.e., can only passively load torque, can not carry out active load from output end.Tool Body are as follows: braking moment is provided using magnetic powder brake in the output end of speed reducer, and magnetic powder brake is bulky, it is also necessary to it is cold But water or increase cooling-water machine are cooled down, otherwise test inaccuracy.In the prior art, there is also with disadvantage: cannot be to deceleration Machine carries out simulation loading torque, i.e., cannot test this important performance parameter of torsional rigid, lose contact with reality working environment;It is general Property is poor, and input and output are necessary for coaxially, to test non-coaxial class speed reducer;Existing test equipment belongs to horizontal, accounts for Ground area is big, and replacement speed reducer, which test, every time needs to beat table correction, time-consuming more long.
Summary of the invention
The purpose of the present invention is to provide a kind of RV speed reducer comprehensive performance parameter test special plane, vertical structure, land occupation face Product is small.
The solution that the present invention solves its technical problem is: a kind of RV speed reducer comprehensive performance parameter test special plane, packet Including rack, the rack are equipped with torque load servo motor, the testing stand below torque load servo motor and are located at examination The input servo motor below platform is tested, the upper surface of the testing stand is equipped with the rest area for placing speed reducer to be measured, described Torque loads the output end of servo motor towards testing stand, is equipped with output torque on the output end of torque load servo motor and turns Fast sensor, output shaft coupling, output angle encoder and output connecting flange, the output end direction of the input servo motor Testing stand, the output end for inputting servo motor are equipped with input torque speed probe, input shaft coupling and input angle coding Device.
Above-mentioned test special plane at least has the advantages that torque load servo motor, testing stand and input servo electricity Machine is arranged in a vertical direction, i.e., the present invention uses vertical platform, facilitates tester to work, and can guarantee the accuracy of installation, Occupied area is small.In addition, the present invention, which loads servo motor realization by torque, can directly carry out test torsional rigid, it can Directly torque fictitious load is loaded from output end;And torque load servo motor can accurately be controlled in torque output mode it is defeated Torque out.
As a further improvement of the above technical scheme, the output end of the torque load servo motor and output torque turn It is equipped between fast sensor and increases torque mechanism.Torque loads servo motor and realizes that torque increases by increasing torque mechanism.
As a further improvement of the above technical scheme, the increase torque mechanism is speed reducer.Torque loads servo electricity Machine is slowed down by the reduction ratio of speed reducer, and torque loads servo motor and exported by the year-on-year increase torque of speed reducer.
As a further improvement of the above technical scheme, the torque loads the outer servo motion controller of servo motor and connects Braking resistor.Present invention omits magnetic powder brake and cooling water recirculation system, current domestic manufacturer is all made of magnetic powder brake Torque braking is carried out for speed reducer to be measured by D.C. regulated power supply, generated heat needs cooling water circulation to radiate Reduce temperature.And the present invention realizes this function using the external servo motion controller of torque load servo motor and braking resistor, Cost is far below magnetic powder brake and water cooling system.
It as a further improvement of the above technical scheme, further include temperature sensor and acceleration transducer.Temperature sensing Device and acceleration transducer can detecte the temperature and acceleration of speed reducer to be measured, can be with the multinomial key performance ginseng of disposable test Number.
As a further improvement of the above technical scheme, further include drive testing stand to move back and forth along the vertical direction vertical Regulating mechanism, the vertical regulating mechanism include vertically-mounted seat, two upright slide rails for being arranged in vertically-mounted seat side and The vertical screw rod being arranged between two upright slide rails, the side of the testing stand are mounted on two upright slide rails, testing stand Side the upright slide block engaged with vertical screw rod is installed, the upper end of vertical screw rod is equipped with vertical rolled round.Vertical regulating mechanism It realizes the adjusting of testing stand along the vertical direction, can guarantee concentricity by adjusting, installation error be eliminated, in favor of test process The middle installation and disassembly for facilitating testing staff.
It as a further improvement of the above technical scheme, further include that vertically-mounted seat is driven to move back and forth in the horizontal direction Level(l)ing mechanism, the level(l)ing mechanism include levelling lever, two horizontal slide rails that rack is arranged in and along level The side of the horizontal slider that sliding rail moves back and forth, the horizontal slider is equipped with horizontal gear, the levelling lever and vertical thread Bar is parallel, and one end of levelling lever is equipped with the driving gear engaged with horizontal gear, the other end installation of levelling lever There is horizontal rolled round.Level(l)ing mechanism realizes the movement of testing stand in the horizontal direction, and level(l)ing mechanism cooperation is vertical to adjust machine Structure, the position of adjustable testing stand vertically and horizontally can guarantee concentricity by adjusting, and eliminate installation and miss Difference, in favor of facilitating the installation and disassembly of testing staff in test process.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described.Obviously, described attached drawing is a part of the embodiments of the present invention, rather than is all implemented Example, those skilled in the art without creative efforts, can also be obtained according to these attached drawings other designs Scheme and attached drawing.
Fig. 1 is the structural schematic diagram one of the embodiment of the present invention;
Fig. 2 is the structural schematic diagram two of the embodiment of the present invention.
Specific embodiment
This part will be described in specific embodiments of the present invention, and the preferred embodiments of the invention is shown in the accompanying drawings, attached The effect of figure be with figure remark additionally book word segment description, enable a person to intuitively, visually understand of the invention Each technical characteristic and overall technical architecture, but it should not be understood as limiting the scope of the invention.
In the description of the present invention, it is to be understood that, be related to orientation description, for example, above and below, front, rear, left and right etc. The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and Operation, therefore be not considered as limiting the invention.
In the description of the present invention, several to be meant that one or more, it is multiple to be meant that two or more, be greater than, Be less than, more than etc. be interpreted as not including this number, it is above, following, within etc. be interpreted as including this number.If there is being described to first, Second is only intended to for the purpose of distinguishing technical characteristic, is not understood to indicate or imply relative importance or implicitly indicates institute The quantity of the technical characteristic of instruction or the precedence relationship for implicitly indicating indicated technical characteristic.
In description of the invention, unless otherwise restricted clearly, the words such as setting, installation, connection be shall be understood in a broad sense, institute Above-mentioned word in the present invention specific can rationally be determined with the particular content of combination technology scheme by belonging to technical field technical staff Meaning.
Referring to Fig.1~Fig. 2, a kind of RV speed reducer comprehensive performance parameter test special plane, including rack 10, the rack 10 are set Moment loads servo motor 11, positioned at the testing stand 16 of 11 lower section of torque load servo motor and positioned at 16 lower section of testing stand Servo motor 20 is inputted, the upper surface of the testing stand 16 is equipped with the rest area for placing speed reducer to be measured, and the torque adds The output end of servo motor 11 is carried towards testing stand 16, output torque is installed on the output end of torque load servo motor 11 and is turned Fast sensor 13, output shaft coupling 21, output angle encoder 14 and output connecting flange 15, the input servo motor 20 For output end towards testing stand 16, the output end for inputting servo motor 20 is equipped with input torque speed probe 18, input shaft coupling Device 30 and input angle encoder 17.
Torque load servo motor 11, testing stand 16 and input servo motor 20 are arranged in a vertical direction, i.e., the present invention adopts With vertical platform, tester is facilitated to work, and can guarantee the accuracy of installation, occupied area is small.In addition, the present invention passes through power The square load realization of servo motor 11 can directly carry out test torsional rigid, it can directly negative from output end load torque simulation It carries;And torque load servo motor 11 can accurately control output torque size in torque output mode.
It is equipped between the output end and output torque speed probe 13 of the torque load servo motor 11 and increases torque Mechanism 12.Torque loads servo motor 11 and realizes that torque increases by increasing torque mechanism 12.
The increase torque mechanism 12 is speed reducer.Torque loads servo motor 11 and is slowed down by the reduction ratio of speed reducer, Torque loads servo motor 11 and is exported by the year-on-year increase torque of speed reducer.Preferably, the reduction ratio selection 171 of speed reducer. The model RV320E of speed reducer.
The torque loads the outer servo motion controller of servo motor 11 and connects braking resistor.Present invention omits magnetic powder systems Dynamic device and cooling water recirculation system, current domestic manufacturer are all made of magnetic powder brake by D.C. regulated power supply for deceleration to be measured Machine carries out torque braking, and generated heat, which needs cooling water circulation to carry out heat dissipation, reduces temperature.And the present invention is added using torque It carries the external servo motion controller of servo motor 11 and braking resistor realizes that this function, cost are far below magnetic powder brake and water cooling But system.Wherein, braking resistor is also heating resistor, and the energy generated when for consuming braking can be such that servo motor carries out It can also be run even if under locked-rotor torque state for a long time.And the heat generated can consume energy by braking resistor, And it is unlikely to make servo motor and servo controller calorific value excessive and burn.Servo motion controller needs to select the way of output With torque mode control.Output torque size can be accurately controlled in torque output mode, it is known that being loaded into be measured Torque value on speed reducer.And this numerical value can export on a display screen, facilitate test record.And it is defeated to print torque Curve out.
It further include temperature sensor and acceleration transducer.Temperature sensor and acceleration transducer can detecte to be measured subtract The temperature and acceleration of fast machine, can be with the multinomial critical performance parameters of disposable test.
It further include the vertical regulating mechanism for driving testing stand 16 to move back and forth along the vertical direction, the vertical regulating mechanism packet Vertically-mounted seat 22 is included, two upright slide rails of vertically-mounted 22 side of seat is arranged in and is arranged between two upright slide rails Vertical screw rod 23, the side of the testing stand 16 are mounted on two upright slide rails, the side of testing stand 16 be equipped with vertically The upper end of the upright slide block that screw rod 23 engages, vertical screw rod 23 is equipped with vertical rolled round 24.Vertical regulating mechanism realizes testing stand 16 Adjusting along the vertical direction can guarantee concentricity by adjusting, installation error be eliminated, in favor of facilitating detection in test process The installation and disassembly of personnel.
It further include the level(l)ing mechanism for driving vertically-mounted seat 22 to move back and forth in the horizontal direction, the Level tune machine Structure includes levelling lever 26, two horizontal slide rails that rack 10 is arranged in and the horizontal slider moved back and forth along horizontal slide rail 25, the side of the horizontal slider 25 is equipped with horizontal gear 28, and the levelling lever 26 is parallel with vertical screw rod 23, and level is adjusted One end of pole 26 is equipped with the driving gear 27 engaged with horizontal gear 28, and the other end of levelling lever 26 is equipped with level Rolled round 29.Vertically-mounted seat 22 is fixed on horizontal slider 25.Level(l)ing mechanism realizes the shifting of testing stand 16 in the horizontal direction Dynamic, level(l)ing mechanism cooperates vertical regulating mechanism, and the position of adjustable testing stand 16 vertically and horizontally passes through Adjusting can guarantee concentricity, installation error be eliminated, in favor of facilitating the installation and disassembly of testing staff in test process.
Pass through the yielding coupling 19 and 18 phase of input torque speed probe of zero gyration aperture by input servo motor 20 Connection, the input shaft coupling 30 and input angle encoder 17 of zero gyration aperture are connected on the input gear of speed reducer to be measured. The temperature sensor of test temperature and the acceleration transducer of test vibration are connected on speed reducer to be measured.Export connecting flange 15 Both ends connect speed reducer to be measured and zero gyration aperture can carry the output shaft coupling 21 of large torque, and output shaft coupling 21 is diaphragm type Shaft coupling exports the output angle encoder for output end test rotation angle that hollow type is installed among connecting flange 15 14.Output torque speed probe 13 is connect with output shaft coupling 21, and rack 10 is connected with the torque load servo of torque load Motor 11.When carrying out each project (removing torsional rigid) test, when input terminal servo motor is run, pass through zero gyration aperture The rigid connection of shaft coupling and connecting flange drives other test equipments to run, and each relevant test data needs will lead to control Cabinet processed and by sensor values acquisition instrument and control software come above Real-time Feedback to platform panel.It should be noted that It needs first to start torque motor fictitious load above when re-test torsional rigid and loads torque.
Project contained by the performance test of speed reducer to be measured and mode:
1. the measurement of speed reducer input and output torque rotary speed to be measured: directly reading numerical value by sensor;
2. the measurement of speed reducer output power to be measured: according to following after the torque rotary speed value by testing input/output terminal The size of efficiency value is calculated in formula, measures the consistency of production retarder batch production with this;
Wherein: P unit is Kw, and (P1 is the power of input terminal, and P2 is the power of output end) T is Nm, n rpm;
3. the measurement of reduction box transmission efficiency to be measured: reduction box transmission efficiency: η=T (out)/[T (enters) * i (speed ratio)];
4. the measurement of speed reducer drive precision and backlass to be measured: when any rotation angle (α) is input angle, reason It is indicated by the difference of output angle and reality output angle (β), and with angle driving error (θ er).Then angle driving error passes through following Equation is found out:
θ er=α/I-β;Wherein I is the transmission ratio of speed reducer;
5. the measurement of speed reducer operating temperature rise to be measured: being directly read by temperature sensor;
6. the mechanical shock of speed reducer to be measured is tested: speed reducer does the torsion vibration of circumferencial direction under the driving of servo motor It is dynamic.Related data is acquired by acceleration transducer;
7. the test of speed reducer torsion stiffness to be measured: fixed speed reducer input shaft or input gear, then to speed reducer Output end apply torque, then speed reducer can be made to generate corresponding torsion, then draw out corresponding curve by software;
8. the test that speed reducer to be measured accelerates staring torque: speed reducer to be measured starts from output shaft side in the unloaded state Necessary torque is directly fed back on panel by the numerical value acquisition instrument of the torque sensor of output end;
9. the test of speed reducer idle running torque to be measured: refer to needed for tick-over speed reducer in input shaft or The torque loaded on input gear.Idle running torque can be obtained by the torque sensor of input terminal, be slowed down in rigid be packed into Machine and be not connected to test in the case of output flange;
10. the test of speed reducer work noise: noise measuring set is installed at 1 meter of speed reducer Ontology and is measured, Measurement speed reducer changes in unloaded and full load work noise respectively, determines that speed reducer work noise must not exceed 75db.
It is to be illustrated to better embodiment of the invention, but the invention is not limited to the reality above Example is applied, those skilled in the art can also make various equivalent modifications on the premise of without prejudice to spirit of the invention or replace It changes, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.

Claims (7)

1. a kind of RV speed reducer comprehensive performance parameter tests special plane, it is characterised in that: including rack, the rack adds equipped with torque Carry servo motor, the testing stand below torque load servo motor and the input servo motor below testing stand, institute The upper surface of testing stand is stated equipped with the rest area for placing speed reducer to be measured, the output end court of the torque load servo motor To testing stand, output torque speed probe, output shaft coupling, output angle are installed on the output end of torque load servo motor Encoder and output connecting flange are spent, the output end of the input servo motor inputs the output of servo motor towards testing stand End is equipped with input torque speed probe, input shaft coupling and input angle encoder.
2. RV speed reducer comprehensive performance parameter according to claim 1 tests special plane, it is characterised in that: the torque load It is equipped between the output end and output torque speed probe of servo motor and increases torque mechanism.
3. RV speed reducer comprehensive performance parameter according to claim 2 tests special plane, it is characterised in that: the increase torque Mechanism is speed reducer.
4. RV speed reducer comprehensive performance parameter according to claim 1 tests special plane, it is characterised in that: the torque load The external servo motion controller of servo motor and braking resistor.
5. RV speed reducer comprehensive performance parameter according to claim 1 tests special plane, it is characterised in that: further include that temperature passes Sensor and acceleration transducer.
6. described in any item RV speed reducer comprehensive performance parameters test special plane according to claim 1~5, it is characterised in that: also Including the vertical regulating mechanism for driving testing stand to move back and forth along the vertical direction, the vertical regulating mechanism includes vertically-mounted Seat, the vertical screw rod for being arranged in two upright slide rails of vertically-mounted seat side and being arranged between two upright slide rails, it is described The side of testing stand is mounted on two upright slide rails, and the side of testing stand is equipped with the upright slide block engaged with vertical screw rod, The upper end of vertical screw rod is equipped with vertical rolled round.
7. RV speed reducer comprehensive performance parameter according to claim 6 tests special plane, it is characterised in that: further include drive it is perpendicular The level(l)ing mechanism that straight mounting base moves back and forth in the horizontal direction, the level(l)ing mechanism include levelling lever, setting The side of two horizontal slide rails in rack and the horizontal slider along horizontal slide rail reciprocating movement, the horizontal slider is equipped with level Gear, the levelling lever is parallel with vertical screw rod, and one end of levelling lever is equipped with the driving engaged with horizontal gear Gear, the other end of levelling lever are equipped with horizontal rolled round.
CN201910664485.7A 2019-07-23 2019-07-23 A kind of RV speed reducer comprehensive performance parameter test special plane Pending CN110441052A (en)

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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111256983A (en) * 2020-03-03 2020-06-09 重庆华陵工业有限公司 Main and auxiliary shaft testing device for motorcycle engine overhaul
CN111795822A (en) * 2020-06-12 2020-10-20 上海大学 RV reduction gear system torsional frequency characteristic testing arrangement
CN112362206A (en) * 2020-09-30 2021-02-12 盛瑞传动股份有限公司 Starting torque detection equipment applied to planetary row meshing and detection method thereof
CN113237591A (en) * 2021-05-24 2021-08-10 浙江环动机器人关节科技有限公司 Internal friction force measuring device for mounting of rolling needles of cycloidal pin gear speed reducer for robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111256983A (en) * 2020-03-03 2020-06-09 重庆华陵工业有限公司 Main and auxiliary shaft testing device for motorcycle engine overhaul
CN111795822A (en) * 2020-06-12 2020-10-20 上海大学 RV reduction gear system torsional frequency characteristic testing arrangement
CN112362206A (en) * 2020-09-30 2021-02-12 盛瑞传动股份有限公司 Starting torque detection equipment applied to planetary row meshing and detection method thereof
CN113237591A (en) * 2021-05-24 2021-08-10 浙江环动机器人关节科技有限公司 Internal friction force measuring device for mounting of rolling needles of cycloidal pin gear speed reducer for robot
CN113237591B (en) * 2021-05-24 2022-04-19 浙江环动机器人关节科技有限公司 Internal friction force measuring device for mounting of rolling needles of cycloidal pin gear speed reducer for robot

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