CN111993465A - Vibration testing device and robot - Google Patents
Vibration testing device and robot Download PDFInfo
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- CN111993465A CN111993465A CN202010851565.6A CN202010851565A CN111993465A CN 111993465 A CN111993465 A CN 111993465A CN 202010851565 A CN202010851565 A CN 202010851565A CN 111993465 A CN111993465 A CN 111993465A
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- mounting
- speed reducer
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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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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The present invention provides a vibration testing apparatus and a robot, wherein the vibration testing apparatus includes: the mounting seat is used for mounting the speed reducer to be detected; the driving motor is in driving connection with the speed reducer so as to drive the speed reducer to operate through the driving motor; and the detection component is arranged on the mounting seat to detect an acceleration signal or a displacement signal of the mounting seat and obtain the vibration displacement of the mounting seat according to the acceleration signal or the displacement signal. Through the arrangement, the problem that the vibration quantity of the harmonic speed reducer used by the industrial robot before installation cannot be rapidly tested in the prior art is solved.
Description
Technical Field
The invention relates to the field of detection of harmonic reducers, in particular to a vibration testing device and a robot.
Background
The structure of the harmonic speed reducer is divided into three parts, namely a rigid gear, a flexible gear and a wave generator, wherein the wave generator is used as a driving part (namely an input end), one of the rigid gear and the flexible gear is used as a fixing part, and the other one is used as a driven part (namely an output end).
At present, a harmonic speed reducer is mostly applied to a structure with a small space range, and has the advantages of large speed reduction ratio, high bearing capacity, high transmission precision, high transmission efficiency, simple structure, small volume, light weight, easiness in installation and the like, so that the harmonic speed reducer is widely applied, particularly in the field of robots.
However, the harmonic reducer in the prior art has the problems of vibration, noise and the like in a low-speed stage, and once the harmonic reducer is matched with the frequency of structural members such as a robot body and the like, the problems of resonance, excessive noise and the like are generated, and the working precision of the tail end of the robot is further influenced.
In prior art, the unable quick test of vibration volume of the harmonic speed reducer machine that industrial robot used, if directly install the harmonic speed reducer machine on robot joint spare and test, what the sensor of test vibration adopted is SMD, joint spare surface is the curved surface, the sensor is difficult for pasting on joint spare, can influence the test result, and the dismouting harmonic speed reducer machine of relapseing on joint spare also can cause the damage of joint spare or even speed reducer machine, and the dismouting process is loaded down with trivial details, consuming time, the power consumption.
Disclosure of Invention
The invention mainly aims to provide a vibration testing device and a robot, and aims to solve the problem that the vibration quantity of a harmonic speed reducer used by an industrial robot before installation cannot be tested quickly in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a vibration testing apparatus including: the mounting seat is used for mounting the speed reducer to be detected; the driving motor is in driving connection with the speed reducer so as to drive the speed reducer to operate through the driving motor; and the detection component is arranged on the mounting seat to detect an acceleration signal or a displacement signal of the mounting seat and obtain the vibration displacement of the mounting seat according to the acceleration signal or the displacement signal.
Further, the detection member is an acceleration sensor or a displacement sensor.
Furthermore, the detection parts are multiple, and the multiple detection parts are arranged on the mounting seat at intervals.
Furthermore, the speed reducer is a harmonic speed reducer, and a flexible gear of the harmonic speed reducer is arranged on the mounting seat; or a rigid wheel of the harmonic reducer is mounted on the mounting seat.
Further, the mount includes: the bottom plate is used for being connected with the robot body; the mounting panel, the mounting panel sets up on the bottom plate, and the speed reducer is installed on the mounting panel.
Further, the speed reducer is the harmonic speed reducer, and the mounting panel is two, and two mounting panels are first mounting panel and second mounting panel respectively, and first mounting panel has the first connecting portion of being connected with the flexbile gear of harmonic speed reducer, and the second mounting panel has the second connecting portion of being connected with the rigid wheel of harmonic speed reducer, and first mounting panel or second mounting panel are optionally installed on the bottom plate.
Further, the mount also includes: the backup pad, the backup pad all is connected with mounting panel and bottom plate to support the mounting panel through the backup pad.
Furthermore, the supporting plates are multiple and divided into two groups, and the two groups of supporting plates are respectively positioned on two opposite sides of the mounting plate.
Furthermore, the vertexes of the plurality of support plates in one group of support plates are positioned on a first straight line, and the vertexes of the plurality of support plates in the other group of support plates are positioned on a second straight line; the first straight line is positioned on one side of the second straight line close to the bottom plate.
Further, the bottom plate is provided with a mounting groove, and the bottom of the mounting plate is detachably mounted in the mounting groove.
Furthermore, the mounting groove comprises a groove bottom surface and two groove side surfaces which are parallel to each other, and the two groove side surfaces are perpendicular to the groove bottom surface; two faces of the mounting plate are respectively attached to the side faces of the two grooves, and the bottom face of the mounting plate is attached to the bottom face of the groove.
According to another aspect of the invention, a robot is provided, which comprises a robot body, a joint part and a vibration testing device, wherein the vibration testing device is the vibration testing device, and the joint part is connected with the robot body through the vibration testing device.
The vibration testing device provided by the invention comprises a mounting seat for mounting the speed reducer to be tested, a driving motor for driving the speed reducer to operate and a detecting component arranged on the mounting seat, so that the vibration displacement of the mounting seat can be obtained according to the measured acceleration signal or displacement signal of the mounting seat. The test is simpler and quicker, and the technical effect of better meeting the test result of the actual working condition is achieved. The speed reducer passes through the mount pad to be installed on the robot body, just can obtain the vibration volume of speed reducer under different rotational speeds before the speed reducer installation, and then can optimize each spare part and avoid the natural vibration frequency range of complete machine through this test result, avoids arousing the resonance and the noise of speed reducer and robot body, has solved the problem that the vibration volume of the harmonic speed reducer that industrial robot used can't test fast before the installation among the prior art. Meanwhile, the speed reducer is installed on the installation seat instead of being directly installed on the robot body, so that the loss of parts and the influence on the precision of the parts caused by the complicated process of repeatedly disassembling and assembling the speed reducer are avoided. The detection component is arranged on the mounting seat, and the problem that the vibration test sensor is not easy to adhere to a joint piece with a curved surface is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram illustrating a first mounting arrangement of a vibration testing apparatus according to an embodiment of the present invention;
FIG. 2 shows an enlarged partial view of the vibration testing apparatus shown in FIG. 1 at A;
FIG. 3 shows a cross-sectional view of the vibration testing apparatus shown in FIG. 1;
FIG. 4 is a schematic diagram showing the structure of the vibration testing apparatus shown in FIG. 1 with a robot joint mounted thereon;
FIG. 5 is a schematic diagram illustrating a second mounting arrangement for a vibration testing apparatus according to an embodiment of the present invention; .
FIG. 6 is an enlarged view of a portion of the vibration testing apparatus shown in FIG. 5 at B
FIG. 7 shows a cross-sectional view of the vibration testing apparatus shown in FIG. 5; and
fig. 8 is a schematic view showing a structure of the vibration testing apparatus shown in fig. 5 in which a robot joint is mounted.
Wherein the figures include the following reference numerals:
10. a mounting seat; 1. a base plate; 11. mounting grooves; 2. mounting a plate; 21. a first mounting plate; 22. a second mounting plate; 23. processing a side surface; 3. a support plate; 31. a first rib plate; 32. a second rib plate; 4. a motor; 5. a speed reducer; 51. a flexible gear; 52. a rigid wheel; 6. an articulating member.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 8, the present invention provides a vibration testing apparatus, including: the mounting seat 10 is used for mounting the speed reducer 5 to be detected; the driving motor 4 is in driving connection with the speed reducer 5, so that the speed reducer 5 is driven to run through the driving motor 4; and the detection part is arranged on the mounting seat 10 to detect an acceleration signal or a displacement signal of the mounting seat 10 so as to obtain the vibration displacement of the mounting seat 10 according to the acceleration signal or the displacement signal.
The vibration testing device provided by the invention comprises a mounting seat 10 for mounting the speed reducer 5 to be tested, a driving motor 4 for driving the speed reducer 5 to operate and a detection part arranged on the mounting seat 10, so as to obtain the vibration displacement of the mounting seat 10 according to the measured acceleration signal or displacement signal of the mounting seat 10. The vibration testing device provided by the invention realizes simpler and faster test on the speed reducer 5, and obtains the technical effect of better meeting the test result of the actual working condition. The speed reducer 5 is installed on the robot body through the installation seat 10, the vibration quantity of the speed reducer 5 at different rotating speeds can be obtained before the speed reducer 5 is installed, and then the natural vibration frequency range of the whole robot can be avoided by optimizing each part through the test result, so that the resonance and noise of the speed reducer 5 and the robot body are avoided, and the problem that the vibration quantity of a harmonic speed reducer used by an industrial robot in the prior art cannot be tested quickly before installation is solved. Meanwhile, the speed reducer 5 is installed on the installation seat 10 instead of being directly installed on the robot body, so that the loss of parts and the influence of the parts on the precision caused by the complicated process of repeatedly disassembling and assembling the speed reducer are avoided. The detection component is arranged on the mounting seat 10, so that the problem that the vibration test sensor is not easy to adhere to a joint part with a curved surface is solved.
Specifically, the detection member is an acceleration sensor or a displacement sensor.
Preferably, the detecting member is provided in plurality, and the plurality of detecting members are disposed on the mounting base 10 at intervals.
In the embodiment, the speed reducer 5 is a harmonic speed reducer, and a flexible gear of the harmonic speed reducer is mounted on the mounting base 10; alternatively, a rigid wheel of the harmonic reducer is mounted on the mounting base 10.
Specifically, the harmonic speed reducer is divided into a rigid gear, a flexible gear and a wave generator, wherein the wave generator is used as a driving part, namely an input end, one of the rigid gear and the flexible gear is used as a fixing part, and the other one of the rigid gear and the flexible gear is used as a driven part, namely an output end, and can be used for arranging speed increasing devices or speed reducing devices with different speed ratios so as to meet different equipment requirements.
In the present embodiment, as shown in fig. 1, the mount 10 includes: the robot comprises a bottom plate 1, wherein the bottom plate 1 is used for being connected with a robot body; the mounting panel 2, the mounting panel 2 sets up on bottom plate 1, and speed reducer 5 installs on mounting panel 2.
Preferably, the detection component is an acceleration sensor, the multiple acceleration sensors are respectively attached to positions of the mounting plate 2 in different directions, such as the top of the mounting plate 2, the side of the mounting plate 2 close to the motor, the side of the mounting plate 2 far away from the motor, and the like, vibration displacements in different directions can be obtained by analyzing the measured acceleration signals through an analysis software Labshop, and then a part with larger displacement deviation in the transmission mode can be obtained, and a reinforcing rib can be properly added to the part to enhance the rigidity.
As shown in fig. 1 to 8, the speed reducer 5 is a harmonic speed reducer, the number of the mounting plates 2 is two, the two mounting plates 2 are respectively a first mounting plate 21 and a second mounting plate 22, the first mounting plate 21 has a first connecting portion connected to a flexspline of the harmonic speed reducer, the second mounting plate 22 has a second connecting portion connected to a circular spline of the harmonic speed reducer, and the first mounting plate 21 or the second mounting plate 22 is selectively mounted on the base plate 1.
The vibration testing device provided by the invention is provided with the mounting plate 2 with two structures, and is a pertinence testing device made for matching with different mounting forms of the harmonic speed reducer. The two structural forms of the mounting plate 2 can respectively simulate two operation modes of a harmonic speed reducer of the robot, namely the rigid gear fixation of the speed reducer, the input of a wave generator and the output of a flexible gear; or the flexible gear is fixed, the wave generator is input, and the rigid gear is output. Through the arrangement, the influence of two installation modes of the harmonic reducer used by the robot on the noise and vibration of the robot can be verified respectively. In addition, by adding different adapter flanges, harmonic reducers of different models can be tested, and the harmonic reducers can also be tested with loads.
As shown in fig. 1 to 4, the wave generator of the harmonic reducer is connected to the output shaft of the driving motor 4 as an input end, the flexible gear 51 is connected to the first mounting plate 21, the rigid gear 52 is connected to the body of the driving motor 4, and the rigid gear 52 is used as an output end for connecting to a load. The reduction ratio at this time is the indicated reduction ratio R, and the motor moves with the load.
As shown in fig. 5 to 8, the wave generator of the harmonic reducer is connected to the output shaft of the driving motor 4 as an input end, the rigid gear 52 is connected to the second mounting plate 22, the main body of the driving motor 4 is also connected to the second mounting plate 22, and the flexible gear 51 is used as an output end for connecting to a load. The reduction ratio at this time is the indicated reduction ratio R, and the motor does not move with the load.
The mount 10 further includes: and the supporting plate 3, the supporting plate 3 and the mounting plate 2 are connected with the bottom plate 1 to support the mounting plate 2 through the supporting plate 3.
Specifically, the supporting plate 3 is a triangular rib plate, one side of the supporting plate 3 is connected with the bottom plate 1, and the other side is connected with the mounting plate 2, so as to support the mounting plate 2.
Preferably, the supporting plate 3 is plural, the plural supporting plates 3 are divided into two groups, and the two groups of supporting plates 3 are respectively located at two opposite sides of the mounting plate 2.
The vertexes of the plurality of support plates 3 in one group of support plates 3 are located on a first straight line, and the vertexes of the plurality of support plates 3 in the other group of support plates 3 are located on a second straight line; the first straight line is positioned on one side of the second straight line close to the bottom plate 1.
The top points of the supporting plates 3 are away from one end of the bottom plate 1, and the top points of the two groups of supporting plates 3 are located on two straight lines, namely, the heights of the two groups of supporting plates 3 at the ends away from the bottom plate 1 are different. The extending directions of the first straight line and the second straight line are both parallel to the bottom plate and the mounting plate 2, the first straight line and the second straight line are respectively positioned at two sides of the mounting plate 2, the first straight line is positioned at one side of the second straight line close to the bottom plate 1, namely the first straight line is closer to the bottom plate 1 than the second straight line, and the height of the group of supporting plates 3 positioned on the first straight line at the top point is smaller than the height of the group of supporting plates 3 positioned on the second straight line at the top point.
Utilize two sets of different and symmetrical arrangement's of height backup pad 3 to support, make mounting panel 2 can not produce big deformation at the operation in-process of each subassembly of speed reducer 5, realized promoting the technological effect of the rigidity of mounting panel 2, and be convenient for install different loads and can not produce the interference in the one side that is close to the speed reducer output, increased the verification scheme, can be through the different loads of output installation at speed reducer 5, verify the influence of load to vibration and noise.
Each group of support plates 3 comprises two support plates 3, wherein the first group of support plates 3 comprises two first rib plates 31, the two first rib plates 31 are positioned on one side of the mounting plate 2 close to the motor 4, and along the extension direction of the bottom of the mounting plate 2, the two first rib plates 31 are symmetrically arranged on two sides of the motor 4; the second group of support plates 3 comprises two second ribs 32, the two second ribs 32 are positioned on one side of the mounting plate 2 far away from the motor 4, and along the extending direction of the bottom of the mounting plate 2, the two second ribs 32 are symmetrically arranged on two sides of the motor 4.
As shown in fig. 2 and 6, the bottom plate 1 is provided with a mounting groove 11, and the bottom of the mounting plate 2 is detachably mounted in the mounting groove 11. One side that is close to mounting panel 2 on bottom plate 1 sets up mounting groove 11, and mounting panel 2's bottom is passed through the mounting screw and is installed in mounting groove 11, has guaranteed mounting panel 2's accurate positioning.
The mounting groove 11 includes: tank bottom surface and two groove side faces that are parallel to each other, two equal perpendicular to tank bottom surfaces of groove side faces, two faces of mounting panel 2 are laminated with two groove side faces respectively, and the bottom surface of mounting panel 2 is laminated with the tank bottom surface.
In the mounting groove 11 on bottom plate 1 was installed to the bottom of mounting panel 2, mounting groove 11 was the rectangular channel, and mounting panel 2's side structure adopted the notch cuttype, only need process out both matched with bottom surface and the part of both sides face can, processing side 23 is the part of the required processing of the both sides face of mounting panel 2, and the distance between two relative processing side 23 is less than the distance between the both sides face. Therefore, the processing area is simplified, the processing time is saved, the processing cost is reduced, and the transverse position of the mounting plate 2 can not deviate when being stressed.
The two sides of the mounting plate 2 are supported by the two groups of supporting plates 3 with different sizes, the mounting groove 11 is formed in the bottom plate 1 and used for positioning the mounting plate 2, and vibration and noise generated by the robot in an actual running state are simulated so as to verify the influence of factors such as vibration and noise on the rigidity of the joint part 6 of the robot and the motion precision of the tail end of the robot.
As shown in fig. 4 and 8, the present invention further provides a robot, which includes a robot body, a joint component 6 and a vibration testing apparatus, wherein the vibration testing apparatus is the vibration testing apparatus, and the joint component 6 is connected to the robot body through the vibration testing apparatus.
As shown in fig. 4, the rigid wheel 52 is connected as an output end to the load, i.e., the joint member 6, and the reduction ratio is designated as a reduction ratio R at this time, and the motor moves with the load.
As shown in fig. 8, the flexible gear 51 is connected as an output end to the load, i.e., the joint member 6, and the reduction ratio is the indicated reduction ratio R, and the motor does not move with the load.
The bottom plate 1 in the mounting seat of the vibration testing device is mounted on the robot body, and the joint part 6 of the robot is connected with the output end of the harmonic reducer so as to detect the vibration quantity generated by the vibration testing device provided with the joint part 6.
The joint member 6 is mounted at the output end of the speed reducer 5, the sensor is pasted at a proper position according to the actual transmission mode, and a group of data is measured at the same time and is used for comparing with the data measured by the sensor mounted on the mounting plate 2, so that the evaluation of the rigidity of the joint member 6 can be indirectly obtained.
The testing device can be used for verifying whether the rigidity of the joint part is enough or not, the mounting plate 2 is a plane, an acceleration sensor can be conveniently pasted, the vibration amplitude can be tested, the structure can be improved through the measured result, and the problems of vibration, abnormal sound and the like caused by the insufficient rigidity of the joint part 6 of the robot can be solved.
The vibration testing device provided by the invention comprises a mounting seat 10 for mounting the speed reducer 5 to be tested, a driving motor 4 for driving the speed reducer 5 to operate and a detection part arranged on the mounting seat 10, so as to obtain the vibration displacement of the mounting seat 10 according to the measured acceleration signal or displacement signal of the mounting seat 10. The test is simpler and quicker, and the technical effect of better meeting the test result of the actual working condition is achieved. The speed reducer 5 is installed on the robot body through the installation seat 10, the vibration quantity of the speed reducer 5 at different rotating speeds can be obtained before the speed reducer 5 is installed, and then the natural vibration frequency range of the whole robot can be avoided by optimizing each part through the test result, so that the resonance and noise of the speed reducer 5 and the robot body are avoided, and the problem that the vibration quantity of a harmonic speed reducer used by an industrial robot in the prior art cannot be tested quickly before installation is solved.
Meanwhile, the speed reducer 5 is installed on the installation seat 10 instead of being directly installed on the robot body, so that the loss of parts and the influence of the parts on the precision caused by the complicated process of repeatedly disassembling and assembling the speed reducer are avoided. The detection component is arranged on the mounting seat 10, so that the problem that the vibration test sensor is not easy to adhere to a joint part with a curved surface is solved.
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 will occur to 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 (12)
1. A vibration testing apparatus, comprising:
the mounting seat (10) is used for mounting the speed reducer (5) to be detected;
the driving motor (4), the driving motor (4) is in driving connection with the speed reducer (5) so as to drive the speed reducer (5) to operate through the driving motor (4);
the detection component is arranged on the mounting seat (10) and used for detecting an acceleration signal or a displacement signal of the mounting seat (10) so as to obtain the vibration displacement of the mounting seat (10) according to the acceleration signal or the displacement signal.
2. The vibration testing apparatus according to claim 1, wherein the detection member is an acceleration sensor or a displacement sensor.
3. The vibration testing apparatus according to claim 1, wherein the detecting member is provided in plurality, and the plurality of detecting members are provided on the mount (10) at intervals.
4. The vibration testing device according to claim 1, wherein the speed reducer (5) is a harmonic speed reducer, and a flexible gear of the harmonic speed reducer is mounted on the mounting base (10); or a rigid wheel of the harmonic reducer is mounted on the mounting seat (10).
5. The vibration testing apparatus according to claim 1, wherein the mounting seat (10) comprises:
the robot comprises a base plate (1), wherein the base plate (1) is used for being connected with a robot body;
mounting panel (2), mounting panel (2) set up in on bottom plate (1), speed reducer (5) are installed on mounting panel (2).
6. The vibration testing device according to claim 5, wherein the speed reducer (5) is a harmonic speed reducer, the number of the mounting plates (2) is two, the two mounting plates (2) are respectively a first mounting plate (21) and a second mounting plate (22), the first mounting plate (21) has a first connecting portion connected to a flexspline of the harmonic speed reducer, the second mounting plate (22) has a second connecting portion connected to a rigid spline of the harmonic speed reducer, and the first mounting plate (21) or the second mounting plate (22) is selectively mounted on the base plate (1).
7. The vibration testing apparatus according to claim 5, wherein the mounting seat (10) further comprises:
backup pad (3), backup pad (3) with mounting panel (2) with bottom plate (1) all is connected, in order to pass through backup pad (3) supports mounting panel (2).
8. The vibration testing apparatus according to claim 7, wherein the supporting plate (3) is plural, the plural supporting plates (3) are divided into two groups, and the two groups of supporting plates (3) are respectively located on opposite sides of the mounting plate (2).
9. The vibration testing apparatus according to claim 8, wherein the apexes of a plurality of the support plates (3) in one group of the support plates (3) are located on a first straight line, and the apexes of a plurality of the support plates (3) in another group of the support plates (3) are located on a second straight line; the first straight line is positioned on one side of the second straight line close to the bottom plate (1).
10. The vibration testing device according to claim 5, wherein a mounting groove (11) is provided on the base plate (1), and the bottom of the mounting plate (2) is detachably mounted in the mounting groove (11).
11. The vibration testing apparatus according to claim 10, wherein the mounting groove (11) comprises a groove bottom surface and two mutually parallel groove side surfaces, both of which are perpendicular to the groove bottom surface; two faces of the mounting plate (2) are respectively attached to the side faces of the groove, and the bottom face of the mounting plate (2) is attached to the bottom face of the groove.
12. A robot, characterized in that it comprises a robot body, a joint (6) and a vibration testing device, the vibration testing device being as claimed in any one of claims 1 to 11, the joint (6) being connected to the robot body by means of the vibration testing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010851565.6A CN111993465A (en) | 2020-08-21 | 2020-08-21 | Vibration testing device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010851565.6A CN111993465A (en) | 2020-08-21 | 2020-08-21 | Vibration testing device and robot |
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| CN111993465A true CN111993465A (en) | 2020-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010851565.6A Pending CN111993465A (en) | 2020-08-21 | 2020-08-21 | Vibration testing device and robot |
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| CN113733158A (en) * | 2021-09-18 | 2021-12-03 | 山东建筑大学 | Mechanical arm reducer performance testing method and system |
| CN113829390A (en) * | 2021-11-27 | 2021-12-24 | 陕西中科文鼎信息科技有限公司 | Multi-state test platform for artificial intelligent robot |
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Application publication date: 20201127 |
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