CN113176028B - Micro gear starting torque measuring device and method based on optical lever method - Google Patents
Micro gear starting torque measuring device and method based on optical lever method Download PDFInfo
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- CN113176028B CN113176028B CN202110386190.5A CN202110386190A CN113176028B CN 113176028 B CN113176028 B CN 113176028B CN 202110386190 A CN202110386190 A CN 202110386190A CN 113176028 B CN113176028 B CN 113176028B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
Abstract
The invention discloses a device and a method for measuring the starting torque of a micro gear based on an optical lever method, wherein the device comprises an electric rotating table and a first electric displacement table which are arranged in parallel; the utility model discloses an electronic displacement platform, including electronic revolving stage, XY displacement platform, locating part and driven gear, electronic revolving stage top is provided with XY to displacement platform, and XY is to the fixed cylindrical mount table that is provided with in top of displacement platform, and the fixed locating part that has two hole sites and the transparent disk of lid at the locating part top that is provided with on the mount table, have the clearance between locating part and the transparent disk, install intermeshing's gear and driven gear in the locating part, the gear that awaits measuring is coaxial with electronic revolving stage, and the fixed rotating-structure who wears out the transparent disk in top that is provided with on the gear that awaits measuring, rotating-structure promotes rotatoryly through the cantilever beam of first electronic displacement platform to by the push rod stall of second electronic displacement platform. The invention aims to provide a method which is simple in principle, converts micro torque into micro deformation measurement, uses an optical lever for amplifying the micro deformation and finally measures and calculates gear torque through deformation.
Description
Technical Field
The invention relates to the technical field of micro gears, in particular to a micro gear starting torque measuring device and a micro gear starting torque measuring method based on an optical lever method.
Background
Torque is a moment that rotates a mechanical element, and torque measurement methods can be classified into a balance force method, an energy conversion method, and a transmission method. The balance force method is only suitable for measuring the torque under the condition of constant-speed work; the energy conversion method is used for measuring power and rotating speed, and when the energy consumed by rotation is small, the torque is difficult to measure; the transmission method is a method for measuring by using the corresponding relation between the change of a physical parameter of an elastic element and torque when the elastic element transmits the torque, and the application of the torque measuring instrument is the most extensive. The torque measuring method by the transmission method can be divided into three types, namely deformation type, stress type and strain type. The research method can be classified into a deformation type torque measuring method, the principle of the method is simple, the tiny torque is converted into tiny deformation measurement, the tiny deformation is amplified by using an optical lever, and finally the gear torque is measured and calculated through the deformation.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and aims to provide a method which is simple in principle, converts micro torque into micro deformation for measurement, uses an optical lever for amplifying the micro deformation and finally measures and calculates gear torque through deformation.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the micro gear starting torque measuring device based on the optical lever method comprises an electric rotating table and a first electric displacement table which are arranged in parallel; an XY-direction displacement table is arranged at the top end of the electric rotating table, a columnar installation table is fixedly arranged at the top end of the XY-direction displacement table, a limiting part with double hole positions and a transparent disc covering the top of the limiting part are fixedly arranged on the installation table, a gap is formed between the limiting part and the transparent disc, a gear to be detected and a driven gear which are meshed with each other are installed in the limiting part, the gear to be detected and the electric rotating table are coaxial, and a rotating structure with the top penetrating out of the transparent disc is fixedly arranged on the gear to be detected; a cantilever beam horizontally extending out of the table top is fixedly arranged on the table top of the first electric displacement table, the tail end of the cantilever beam is in a long strip shape and is used for stirring the rotating structure to rotate, and a reflecting mirror attached to the tail end is fixedly arranged on the cantilever beam; a laser irradiating the reflector and a position detector receiving reflected laser are arranged on the same side of the reflector, and a second electric displacement table is arranged on the back side of the reflector; a push rod is fixedly arranged at the top of the second electric displacement table, and the top end of the push rod extends towards the rotating structure and is used for abutting against the rotating structure; the rotating structure is T-shaped, and a top column perpendicular to the top cross rod is fixedly arranged at one end of the top cross rod of the rotating structure.
Further, the laser is arranged at an angle at which the reflector receives the emitted laser through the holder.
Furthermore, the position detector is erected through a lifting platform, a vertical fixing frame is fixedly arranged at the top of the lifting platform, and the position detector is fixedly arranged on one side of the fixing frame, which faces the reflector.
Furthermore, a positioning plate is fixedly arranged at the edge of the table board of the first electric displacement table, and the cantilever beam is fixed on the side wall of the relative rotating structure of the positioning plate.
Further, the length of the reflector is less than 5 mm.
The invention also provides a measuring method of the micro gear starting torque measuring device based on the optical lever method, which comprises the following steps:
(1) adjusting the XY-direction displacement table to enable the rotating structure to be located at the coaxial position of the electric rotating table, correspondingly adjusting the positions of the first electric displacement table and the second electric displacement table, enabling the cantilever beam and the push rod to be located at the same side of the rotating structure and at two ends of the rotating structure respectively, enabling the top column to be stirred to enable the rotating structure to rotate when the tail end of the cantilever beam moves, and enabling the push rod to abut against the rotating structure to stop rotating when the push rod moves;
(2) adjusting the angle of the holder to enable the reflector to receive laser emitted by the laser, adjusting the height of the lifting platform to enable the position detector to receive the laser reflected by the reflector, opening the laser to emit laser to the reflector, and enabling the position detector to continuously receive the laser;
(3) controlling the first electric displacement table to linearly move at a constant speed to enable the tail end of the cantilever beam to stir the rotating structure to generate a corner, enabling the cantilever beam to move to be separated from the rotating structure, then restoring the first electric displacement table to enable the cantilever beam to be located at an initial position, continuously receiving reflected laser by a position detector in the whole process, uploading data to an upper computer, generating a voltage-time curve image by using Labview software, and storing the data;
(4) controlling the electric rotating table to rotate 10 degrees clockwise, then controlling the second electric displacement table to push the push rod to linearly move towards the electric rotating table to push the rotating structure to be located at the initial position, and then restoring the second electric displacement table to the position where the push rod is located at the initial position;
(5) repeating the step (3) and the step (4) to rotate in the set clockwise direction to obtain voltage-time curve images on 36 observation positions of the gear to be measured in one circle, obtaining two node values in an abrupt change state according to voltage waveforms in the images, wherein the first node value is that the cantilever beam is in contact with the top column, the second node value is that the gear to be measured starts to rotate, and obtaining a time difference value t between the nodes according to the two node values;
(6) calculating the starting torque of the gear to be measured by using a torque formula, wherein the formula is as follows:
M＝F×L(1-1)
m is starting torque, F is starting force, and L is a moment arm;
the actuation force F is derived from the equation for the deflection line for the reaction force acting on the cantilever beam as follows:
e is the elastic modulus of the cantilever beam, l is the length of the cantilever beam, I is the inertia moment of the section of the cantilever beam, x is the distance from the fixed end point of the cantilever beam to the contact point of the cantilever beam and the rotating structure, namely the distance is the length of the cantilever beam, and y is the deflection of the cantilever beam;
when the cantilever beam reaches the maximum deflection, namely the gear to be measured rotates, the maximum deflection is | Δ |, and x ═ l can be obtained as:
the maximum deflection | Δ | is then obtained in proportion to the starting force F:
since the cantilever beam is driven by the first electric displacement table to move at a constant speed, the | Δ | can be obtained according to the time difference t in the step (5):
|Δ|＝v×t(1-5)
v is the moving speed of the first electric displacement table, and t is the time difference value between two node values;
substituting the equations (1-5) and (1-4) into equation (1-1) yields the following equation:
and calculating to obtain the starting torque M of each observation position of the gear to be measured.
Further, in the step (1), the cantilever beam is parallel to the initial position of the rotating structure, the top column has a projection position at the tail end of the cantilever beam, and the distance between the top column and the tail end of the cantilever beam is kept to be more than 2 mm.
Further, the moving speed of the first electric displacement table in the step (3) is lower than 5 mm/s.
Compared with the prior art, the invention has the following beneficial effects:
the invention uses the cantilever beam as the optical lever to convert the tiny displacement into the physical quantity which is convenient for metering, has good measuring effect and realizes the measurement of the starting torque of the tiny gear. The gear to be measured is limited at the axis position of the electric rotating table through the limiting part and the XY-direction displacement table, so that the position of the gear to be measured can be fixed, the motion process of the push rod and the cantilever beam is simplified, and the special experiment measurement requirement can be met.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic top view of the rotary structure of the present invention;
FIG. 4 is a diagram of a voltage-time curve image according to an embodiment of the present invention.
Reference numerals:
1-electric rotating table, 2-XY direction displacement table, 3-installation table, 4-rotating structure, 5-lifting table, 6-clamper, 7-position detector, 8-cantilever beam, 9-first electric displacement table, 10-push rod, 11-fixing frame, 12-laser, 13-reflector, 14-second electric displacement table, 15-positioning plate, 31-transparent disc, 32-gear to be measured, 33-driven gear, 34-position limiting piece and 41-top column.
Detailed Description
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 3, the micro-gear starting torque measuring device based on the optical lever method comprises an electric rotating table 1 and a first electric displacement table 9 which are arranged in parallel; an XY-direction displacement table 2 is arranged at the top end of the electric rotating table 1, a columnar installation table 3 is fixedly arranged at the top end of the XY-direction displacement table 2, a limiting piece 34 with double hole positions and a transparent disc 31 covering the top of the limiting piece 34 are fixedly arranged on the installation table 3, a gap is formed between the limiting piece 34 and the transparent disc 31, a gear to be tested 32 and a driven gear 33 which are meshed with each other are installed in the limiting piece 34, the gear to be tested 32 is coaxial with the electric rotating table 1, and a rotating structure 4 with the top penetrating out of the transparent disc 31 is fixedly arranged on the gear to be tested 32; a cantilever beam 8 horizontally extending out of the table top is fixedly arranged on the table top of the first electric displacement table 9, the cantilever beam 8 is in a long strip shape, the tail end of the cantilever beam 8 is used for stirring the rotating structure 4 to rotate, and a reflective mirror 13 attached to the tail end is fixedly arranged on the cantilever beam 8; a laser 12 irradiating the reflector 13 and a position detector 7 receiving reflected laser are arranged on the same side of the reflector 13, and a second electric displacement table 14 is arranged on the back side of the reflector 13; a push rod 10 is fixedly arranged at the top of the second electric displacement table 14, and the top end of the push rod 10 extends towards the rotating structure 4 to abut against the rotating structure 4; the rotating structure 4 is T-shaped, and a top column 41 vertical to the top cross bar is fixedly arranged at one end of the top cross bar of the rotating structure 4; the edge of the table top of the first electric displacement table 9 is fixedly provided with a positioning plate 15, and the cantilever beam 8 is fixed on the side wall of the positioning plate 15 relative to the rotating structure 4.
The laser 12 is arranged at a position with the same height as the reflecting mirror 13 through the clamper 6, and after the horizontal position of the laser 12 is adjusted at one time, the reflecting mirror 13 can reflect laser when being static and moving along with the cantilever beam 8. The position detector 7 is erected through the lifting platform 5, a vertical fixing frame 11 is fixedly arranged at the top of the lifting platform 5, the position detector 7 is fixedly arranged on one side, facing the reflector 13, of the fixing frame 11, and laser data are received through a photosensitive surface of the position detector 7.
Wherein the length of the reflector 13 is less than 5mm to reduce the position error of the reflected light spot.
The measuring method of the invention comprises the following steps:
(1) adjusting the XY-direction displacement table 2 to enable the rotating structure 4 to be located at the coaxial position of the electric rotating table 1, correspondingly adjusting the positions of the first electric displacement table 9 and the second electric displacement table 14, enabling the cantilever beam 8 and the push rod 10 to be located at the same side of the rotating structure 4 and respectively located at two ends of the rotating structure 4, and enabling the push rod 10 to abut against the rotating structure 4 to stop rotating when moving. Cantilever beam 8 parallels with the initial position of rotating-structure 4, and fore-set 41 has the projection position at cantilever beam 8 end, and fore-set 41 keeps the interval more than 2mm with cantilever beam 8 end, stirs fore-set 41 and lets rotating-structure 4 rotatory when making cantilever beam 8's end move towards rotating-structure 4 to provide the prerequisite for cantilever beam 8 with uniform motion state contact rotating-structure 4 through reserving the interval.
(2) The angle of the clamper 6 is adjusted to enable the reflector 13 to receive laser emitted by the laser 12, the horizontal position of the laser 12 is aligned to the reflector 13, the height of the lifting platform 5 is adjusted to enable the photosensitive surface of the position detector 7 to face the reflector 13 and to receive the laser reflected by the reflector 13, then the laser 12 is opened to emit the laser to the reflector 13, and the position detector 7 continuously receives the laser.
(3) The first electric displacement platform 9 is controlled to linearly move at a constant speed of less than 5mm/s, the tail end of the cantilever beam 8 is enabled to stir the rotating structure 4 to generate a corner, the cantilever beam 8 is enabled to move to be separated from the rotating structure 4, then the first electric displacement platform 9 is restored to the state that the cantilever beam 8 is located at the initial position, the position detector 7 continuously receives reflected laser and uploads data to an upper computer in the whole process, Labview software is used for generating a voltage-time curve image, and the data are stored. The cantilever beam 8 keeps rotating the rotating structure 4 at a low speed and rotates a certain angle, so that two abrupt change node values of voltage can be conveniently measured on the voltage-time curve image, and the accuracy of torque calculation is improved.
(4) And controlling the electric rotating platform 1 to rotate 10 degrees clockwise, then controlling the second electric displacement platform 14 to push the push rod 10 to linearly move towards the electric rotating platform 1 to push the rotating structure 4 to be located at the initial position, and then restoring the second electric displacement platform 14 to enable the push rod 10 to be located at the initial position.
(5) And (5) repeating the step (3) and the step (4) to rotate in the clockwise direction to obtain voltage-time curve images of the gear to be measured 32 at 36 observation positions in one circle. As shown in fig. 4, two node values in an abrupt change state are obtained according to a voltage waveform in an image, a first node value is that the cantilever 8 is in contact with the top pillar 41, a second node value is that the gear 32 to be measured starts to rotate, and a time difference value t between nodes is obtained according to the two node values.
(6) The starting torque of the gear 32 to be measured is calculated by using a torque formula as follows:
M＝F×L(1-1)
m is starting torque, F is starting force, and L is a moment arm;
the actuation force F is derived from the equation for the deflection line at which the reaction force acts on the cantilever beam 8, as follows:
e is the elastic modulus of the cantilever beam 8, l is the length of the cantilever beam 8, I is the inertia moment of the cross section of the cantilever beam 8, x is the distance from the fixed end point of the cantilever beam 8 to the contact point of the cantilever beam 8 and the rotating structure, namely the distance is the length of the cantilever beam 8, and y is the deflection of the cantilever beam 8;
when the cantilever beam 8 reaches the maximum deflection, that is, the gear 32 to be measured rotates, the maximum deflection is | Δ |, and x ═ l can be obtained as:
the maximum deflection | Δ | is then obtained in proportion to the starting force F:
since the cantilever beam 8 is driven by the first electric displacement table 9 to move at a constant speed, the | Δ | can be obtained according to the time difference t in the step (5):
|Δ|＝ν×t(1-5)
ν is a moving speed of the first electric displacement table 9, and t is a time difference value between two node values;
substituting the equations (1-5) and (1-4) into equation (1-1) yields the following equation:
thereby calculating the starting torque M of each observation position of the gear 32 to be measured.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. Tiny gear starts torque measurement device based on optical lever method, its characterized in that: comprises an electric rotating table (1) and a first electric displacement table (9) which are arranged in parallel; an XY-direction displacement table (2) is arranged at the top end of the electric rotating table (1), a columnar installation table (3) is fixedly arranged at the top end of the XY-direction displacement table (2), a limiting part (34) with double hole positions and a transparent disc (31) covering the top of the limiting part (34) are fixedly arranged on the installation table (3), a gap is formed between the limiting part (34) and the transparent disc (31), a gear to be tested (32) and a driven gear (33) which are meshed with each other are installed in the limiting part (34), the gear to be tested (32) is coaxial with the electric rotating table (1), and a rotating structure (4) with the top penetrating through the transparent disc (31) is fixedly arranged on the gear to be tested (32); a cantilever beam (8) horizontally extending out of the table top is fixedly arranged on the table top of the first electric displacement table (9), the tail end of the cantilever beam (8) is in a long strip shape and is used for stirring the rotating structure (4) to rotate, and a reflective mirror (13) attached to the tail end is fixedly arranged on the cantilever beam (8); a laser (12) irradiating the reflector (13) and a position detector (7) receiving reflected laser are arranged on the same side of the reflector (13), and a second electric displacement table (14) is arranged on the back side of the reflector (13); a push rod (10) is fixedly arranged at the top of the second electric displacement table (14), and the top end of the push rod (10) extends towards the rotating structure (4) and is used for abutting against the rotating structure (4); the rotating structure (4) is T-shaped, and a top column (41) perpendicular to the top cross rod is fixedly arranged at one end of the top cross rod of the rotating structure (4).
2. The micro-gear starting torque measuring device based on the optical lever method according to claim 1, wherein: the laser (12) is arranged at an angle through the clamper (6) so that the reflector (13) can receive the emitted laser.
3. The micro-gear starting torque measuring device based on the optical lever method according to claim 1, wherein: the position detector (7) is erected through the lifting platform (5), a vertical fixing frame (11) is fixedly arranged at the top of the lifting platform (5), and the position detector (7) is fixedly arranged on one side, facing the reflector (13), of the fixing frame (11).
4. The micro-gear starting torque measuring device based on the optical lever method according to claim 1, wherein: the table top edge of the first electric displacement table (9) is fixedly provided with a positioning plate (15), and the cantilever beam (8) is fixed on the side wall of the relative rotation structure (4) of the positioning plate (15).
5. The micro-gear starting torque measuring device based on the optical lever method according to claim 1, wherein: the length of the reflector (13) is less than 5 mm.
6. The measuring method of the micro gear starting torque measuring device based on the optical lever method is characterized in that: the method comprises the following steps:
(1) adjusting an XY-direction displacement table (2) to enable a rotating structure (4) to be located at the coaxial position of an electric rotating table (1), correspondingly adjusting the positions of a first electric displacement table (9) and a second electric displacement table (14), enabling a cantilever beam (8) and a push rod (10) to be located on the same side of the rotating structure (4) and to be respectively located at two ends of the rotating structure (4), enabling the tail end of the cantilever beam (8) to be moved, a jacking column (41) to enable the rotating structure (4) to rotate, and enabling the push rod (10) to abut against the rotating structure (4) to stop rotating when the push rod (10) moves;
(2) adjusting the angle of the holder (6) to enable the reflector (13) to receive laser emitted by the laser (12), adjusting the height of the lifting table (5) to enable the position detector (7) to receive the laser reflected by the reflector (13), then opening the laser (12) to emit the laser to the reflector (13), and continuously receiving the laser by the position detector (7);
(3) controlling a first electric displacement table (9) to linearly move at a constant speed to enable the tail end of a cantilever beam (8) to stir a rotating structure (4) to generate a corner, enabling the cantilever beam (8) to move to be separated from the rotating structure (4), then restoring the first electric displacement table (9) to enable the cantilever beam (8) to be located at an initial position, continuously receiving reflected laser by a position detector (7) in the whole process, uploading data to an upper computer, generating a voltage-time curve image by using Labview software, and storing the data;
(4) controlling the electric rotating platform (1) to rotate 10 degrees clockwise, then controlling the second electric displacement platform (14) to push the push rod (10) to linearly move towards the electric rotating platform (1) to push the rotating structure (4) to be located at the initial position, and then restoring the second electric displacement platform (14) to enable the push rod (10) to be located at the initial position;
(5) repeating the step (3) and the step (4) to rotate in the clockwise direction to obtain voltage-time curve images on 36 observation positions of the gear (32) to be measured in one circle, obtaining two node values in an abrupt change state according to voltage waveforms in the images, wherein the first node value is that the cantilever beam (8) is in contact with the top column (41), the second node value is that the gear (32) to be measured starts to rotate, and obtaining a time difference value t between nodes according to the two node values;
(6) calculating the starting torque of the gear (32) to be measured by using a torque formula, wherein the formula is as follows:
M＝F×L (1-1)
m is starting torque, F is starting force, and L is a moment arm;
the actuation force F is derived from the equation for the deflection line of the reaction force acting on the cantilever beam (8) as follows:
e is the elastic modulus of the cantilever beam (8), l is the length of the cantilever beam (8), I is the inertia moment of the section of the cantilever beam (8), x is the distance from the fixed end point of the cantilever beam (8) to the contact point of the cantilever beam (8) and the rotating structure, namely the distance is the length of the cantilever beam (8), and | y | is the deflection of the cantilever beam (8);
when the cantilever beam (8) reaches the maximum deflection, namely the gear (32) to be measured rotates, the maximum deflection is | delta |, and x ═ l can obtain:
the maximum deflection | Δ | is then obtained in proportion to the starting force F:
because the cantilever beam (8) is pushed by the first electric displacement table (9) to move at a constant speed, the | Δ | can be obtained according to the time difference t in the step (5):
|Δ|＝v×t (1-5)
v is the moving speed of the first electric displacement table (9), and t is the time difference value between two node values;
substituting the equations (1-5) and (1-4) into equation (1-1) yields the following equation:
thereby calculating the starting torque M of each observation position of the gear (32) to be measured.
7. The method for measuring a micro gear start torque measuring device based on the optical lever method according to claim 6, wherein: in the step (1), the cantilever beam (8) is parallel to the initial position of the rotating structure (4), the top column (41) has a projection position at the tail end of the cantilever beam (8), and the distance between the top column (41) and the tail end of the cantilever beam (8) is kept to be more than 2 mm.
8. The method for measuring a micro gear start torque measuring device based on the optical lever method according to claim 6, wherein: and (4) in the step (3), the moving speed of the first electric displacement table (9) is lower than 5 mm/s.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU637736A1 (en) * | 1977-06-13 | 1978-12-15 | Каунасский Политехнический Институт Им.А.Снечкуса | Device for measuring starting torque of electric motor |
| CN2480620Y (en) * | 2001-02-02 | 2002-03-06 | 孟儒林 | Inclined multi-gearing assembling transmission device |
| JP3784021B2 (en) * | 2003-05-06 | 2006-06-07 | 三鷹光器株式会社 | Autonomous heliostat |
| CN100470073C (en) * | 2004-12-07 | 2009-03-18 | 马燕翔 | Clutch with intertial jointing |
| CN101975950B (en) * | 2010-09-20 | 2012-10-10 | 江苏精湛光电仪器有限公司 | Laser ranging device |
| CN105466678B (en) * | 2015-11-30 | 2018-01-05 | 北京卫星制造厂 | Harmonic gear reducer staring torque and frictional resistance moment test system and method |
| CN207227543U (en) * | 2017-07-27 | 2018-04-13 | 大连维钛克科技股份有限公司 | Vacuum coating equipment axis of rotation pivoted frame |
| CN109238600B (en) * | 2018-08-22 | 2020-12-25 | 天津大学 | Non-contact micro-cantilever beam rigidity measurement method based on electrostatic force |
| CN110806283A (en) * | 2019-12-09 | 2020-02-18 | 天津光电久远科技有限公司 | Selenium drum starting torque tester and testing method |
| CN111721455A (en) * | 2020-07-24 | 2020-09-29 | 于振 | Static torque measuring device and method based on laser interferometry |
| CN112362206B (en) * | 2020-09-30 | 2022-06-07 | 盛瑞传动股份有限公司 | Starting torque detection equipment applied to planetary row meshing and detection method thereof |
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