CN107121279A - A kind of two-sided engagement Automatic Check-out And Readiness Equipment of small modulus flexbile gear of harmonic speed reducer - Google Patents
A kind of two-sided engagement Automatic Check-out And Readiness Equipment of small modulus flexbile gear of harmonic speed reducer Download PDFInfo
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- CN107121279A CN107121279A CN201710337587.9A CN201710337587A CN107121279A CN 107121279 A CN107121279 A CN 107121279A CN 201710337587 A CN201710337587 A CN 201710337587A CN 107121279 A CN107121279 A CN 107121279A
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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
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Abstract
The invention discloses a kind of two-sided engagement Automatic Check-out And Readiness Equipment of the small modulus flexbile gear of harmonic speed reducer, it fixes bottom plate upper end side installing left side fixed mounting, right side active mount, the lifting activity riser that the fixed mounting riser right-hand member side installing of left side fixed mounting is driven by lifting driving servomotor, upper end sliding seat, intermediate active seat, lower end sliding seat that the right surface installing of lifting activity riser is arranged successively from top to bottom, lower end sliding seat installing lower end thimble, upper end sliding seat installing upper end thimble, intermediate active seat installing workpiece localization tool；Install movable installation board, movable installation board left part installing prototype gear and the push plate held by goring push spring in right side active mount upper end；The installing of right side active mount upper end checks controller, movable installation board installing displacement transducer.The present invention can automatically detect radial composite error of the harmonic speed reducer flexbile gear in different cross section, novel in design, simple in construction, easy to operate, using reliable.
Description
Technical field
The present invention relates to harmonic speed reducer technical field, more particularly to a kind of small modulus flexbile gear of harmonic speed reducer is two-sided nibbles
Close Automatic Check-out And Readiness Equipment.
Background technology
Harmonic reducer of robot is by its simple in construction, size is small, noise is small, gearratio is big, high transmission accuracy and effect
The advantages of rate is high, and widely used as the important component of joint of robot.Since nineteen fifty-five U.S. C.W. Mai Saier inventions
Since First harmonic speed reducer, whole world major industrial country has all carried out comprehensive research to it, and then prepare successively
Many series species harmonic speed reducer different with dimensions, wherein being made with involute fine module gear flank profil harmonic speed reducer
With the most extensive.Wherein, the rotation portion in the joint that harmonic speed reducer is widely used in robot by above-mentioned advantage, machine
Rotary table, manipulator rotating part, precision rotary table, Medical Instruments, measurement instrument, the IC manufacture dresses of tool machining center
Put, aerospace appts, national defence equipment（Such as guided missile, radar, rocket）Deng wide spectrum, especially in industrial robot field
Using very universal；For industrial robot, harmonic speed reducer can greatly reduce the size of industrial robot, reduction and make an uproar
Sound, raising efficiency and precision.
Wherein, for harmonic speed reducer, the precision of its flexbile gear is for ensureing the precision of whole harmonic speed reducer particularly
It is important；However, in the prior art and in the absence of the detection means dedicated for detection flexbile gear radial error.
The content of the invention
The purpose of the present invention is to solve the shortcomings of the prior art and providing a kind of harmonic speed reducer small modulus flexbile gear pair
Automatic Check-out And Readiness Equipment is engaged in face, the two-sided engagement Automatic Check-out And Readiness Equipment of the small modulus flexbile gear of the harmonic speed reducer is novel in design, simple in construction,
Automaticity is high, easy to operate, using reliable, and can automatically detect harmonic speed reducer flexbile gear in the footpath of different cross section
To composition error, and suitable for batch detection and the quality control of flexbile gear production scene and inspection center.
To reach above-mentioned purpose, the present invention is achieved through the following technical solutions.
A kind of two-sided engagement Automatic Check-out And Readiness Equipment of small modulus flexbile gear of harmonic speed reducer, includes in consolidating that horizontal cross is arranged
Determine bottom plate, the upper end side of fixed bottom plate is equiped with left side fixed mounting, lived positioned at the right side of left side fixed mounting right-hand member side
Dynamic mounting seat, left side fixed mounting, which includes, to be screwed on the fixed mounting transverse slat of fixed plate upper surface, is screwed on fixation
Mounting seat transverse slat upper surface and in the fixed mounting riser that is vertically arranged, the right-hand member side of fixed mounting riser can it is relative above and below
Actively it is equiped with the lifting activity riser being vertically arranged, the upper end of fixed mounting riser is equiped with lifting driving servo
Motor, the power output shaft of lifting driving servomotor is provided with the lifting drive screw being vertically arranged by shaft coupling, is risen
Drop activity riser is screwed with the lifting drive block that extension is protruded towards left side, and lifting drive block is screwed with linkage feed screw nut, lifting
Drive screw is engaged with linkage feed screw nut；
The upper end on the right surface of lifting activity riser is equiped with upper end sliding seat, the bottom installing on the right surface of lifting activity riser
There is the lower end sliding seat immediately below the sliding seat of upper end, it is in be vertically arranged down that lower end sliding seat, which is rotatably equiped with,
Thimble is held, lower end sliding seat is equiped with thimble driving servomotor in the side of lower end thimble, and thimble drives the dynamic of servomotor
Power output shaft by the bottom drive connection of taper gear pair and lower end thimble, upper end sliding seat be fitted with being vertically arranged and
The upper end thimble of arrangement is axially aligned with lower end thimble, upper end thimble is connected by screw thread pair with upper end sliding seat；Lifting activity
The right surface of riser is equiped with intermediate active seat between upper end sliding seat and lower end sliding seat, and intermediate active seat, which is equiped with workpiece, to be determined
Position tool；
The upper end of right side active mount can be actively equiped with along left and right directions horizontal-extending activity peace left and right relatively
Plate is filled, the left part of movable installation board is rotatably equiped with prototype gear, and the right part of movable installation board, which is equiped with, is in
The push plate being vertically arranged, the upper end of right side active mount is equiped with spring mounting seat, spring in the right-hand member side of push plate
Mounting seat includes the spring anchor block for being screwed on right side active mount, and spring anchor block, which is equiped with towards left side, protrudes extension
Spring retention posts, the periphery of spring retention posts is set with goring push spring, and the left part of goring push spring is abutted with push plate, pushing tow bullet
The right part of spring is abutted with spring anchor block；
The upper end of right side active mount is equiped with the inspection controller being electrically connected with computer, and movable installation board is equiped with
Displacement transducer, lifting driving servomotor, thimble driving servomotor, displacement transducer are respectively with checking that controller electrically connects
Connect.
Wherein, the right surface of the lifting activity riser is screwed with along the first horizontal-extending slide rail of fore-and-aft direction, institute
State intermediate active seat the first slide rail of correspondence and be equiped with the first sliding block, the first slide rail is engaged with the first sliding block.
Wherein, the upper surface of the fixed bottom plate is screwed with along the second horizontal-extending slide rail of fore-and-aft direction, the right side
Bottom the second slide rail of correspondence of side active mount is equiped with the second sliding block, and the second slide rail is engaged with the second sliding block.
Beneficial effects of the present invention are：The small two-sided engagement of modulus flexbile gear of a kind of harmonic speed reducer of the present invention is automatic
Somascope, it includes the fixation bottom plate arranged in horizontal cross, the upper end side of fixed bottom plate be equiped with left side fixed mounting,
Right side active mount positioned at left side fixed mounting right-hand member side, left side fixed mounting, which includes, to be screwed on fixed bottom plate
The fixed mounting transverse slat on surface, it is screwed on fixed mounting transverse slat upper surface and in the fixed mounting riser that is vertically arranged,
The right-hand member side of fixed mounting riser can be equiped with the lifting activity riser being vertically arranged relatively up and downly, be fixedly mounted
The upper end of seat riser is equiped with lifting driving servomotor, and the power output shaft of lifting driving servomotor is connected by shaft coupling
Provided with the lifting drive screw being vertically arranged, lifting activity riser is screwed with the lifting drive block that extension is protruded towards left side, rises
Drop drive block is screwed with linkage feed screw nut, and lifting drive screw is engaged with linkage feed screw nut；The right table of lifting activity riser
The upper end in face is equiped with upper end sliding seat, the bottom on the right surface of lifting activity riser be equiped with positioned at upper end sliding seat just under
The lower end sliding seat of side, lower end sliding seat is rotatably equiped with the lower end thimble that is vertically arranged, lower end sliding seat in
The side of lower end thimble is equiped with thimble driving servomotor, and the power output shaft of thimble driving servomotor passes through conical gear
The secondary bottom drive connection with lower end thimble, it is in be vertically arranged and axially align cloth with lower end thimble that upper end sliding seat, which is fitted with,
The upper end thimble put, upper end thimble is connected by screw thread pair with upper end sliding seat；The right surface of lifting activity riser is in upper end activity
Intermediate active seat is equiped between seat and lower end sliding seat, intermediate active seat is equiped with workpiece localization tool；Right side activity is installed
The upper end of seat can be actively equiped with along left and right directions horizontal-extending movable installation board left and right relatively, movable installation board
Left part is rotatably equiped with prototype gear, and the right part of movable installation board is equiped with the push plate being vertically arranged,
The upper end of right side active mount is equiped with spring mounting seat in the right-hand member side of push plate, and spring mounting seat, which includes, to be screwed on
The spring anchor block of right side active mount, spring anchor block is equiped with the spring retention posts that extension is protruded towards left side, and spring is fixed
The periphery of position post is set with goring push spring, and the left part of goring push spring is abutted with push plate, the right part of goring push spring and spring
Fixed block is abutted；The upper end of right side active mount is equiped with the inspection controller being electrically connected with computer, and activity is installed
Plate is equiped with displacement transducer, and lifting driving servomotor, thimble driving servomotor, displacement transducer are respectively with checking control
Device is electrically connected with.By said structure design, the present invention can automatically detect harmonic speed reducer flexbile gear in different cross section
Radial composite error, and suitable for batch detection and the quality control of flexbile gear production scene and inspection center, i.e. the present invention has
Novel in design, simple in construction, automaticity is high, easy to operate, service-strong advantage.
Brief description of the drawings
The present invention is further detailed below with accompanying drawing, but the embodiment in accompanying drawing is not constituted to this hair
Bright any limitation.
Fig. 1 is structural representation of the invention.
Include in Fig. 1：
1 --- fixed bottom plate 2 --- left side fixed mounting
21 --- fixed mounting transverse slat 22 --- fixed mounting risers
3 --- right side active mount 41 --- lifting activity risers
42 --- lifting driving servomotor 43 --- lifting drive blocks
511 --- upper end sliding seat 512 --- upper end thimbles
521 --- lower end sliding seat 522 --- lower end thimbles
523 --- thimble drives servomotor 531 --- intermediate active seats
532 --- workpiece localization tool 61 --- movable installation boards
62 --- prototype gear 63 --- push plate
64 --- spring anchor block 65 --- spring retention posts
66 --- goring push springs 7 --- check controller
81 --- the first slide rail 82 --- first sliding blocks
91 --- the second slide rail 92 --- second sliding blocks.
Embodiment
With reference to specific embodiment, the present invention will be described.
As shown in figure 1, a kind of two-sided engagement Automatic Check-out And Readiness Equipment of small modulus flexbile gear of harmonic speed reducer, includes horizontal in level
To the fixation bottom plate 1 of arrangement, the upper end side of fixed bottom plate 1 is equiped with left side fixed mounting 2, positioned at left side fixed mounting 2
The right side active mount 3 of right-hand member side, left side fixed mounting 2 includes the fixed installation for being screwed on the fixed upper surface of bottom plate 1
Seat transverse slat 21, it is screwed on the upper surface of fixed mounting transverse slat 21 and in the fixed mounting riser 22 that is vertically arranged, is fixedly mounted
The right-hand member side of seat riser 22 can be equiped with the lifting activity riser 41 being vertically arranged relatively up and downly, and fixed mounting is erected
The upper end of plate 22 is equiped with lifting driving servomotor 42, and the power output shaft of lifting driving servomotor 42 passes through shaft coupling
It is provided with the lifting drive screw being vertically arranged, lifting activity riser 41 is screwed with the lifting drive block that extension is protruded towards left side
43, lifting drive block 43 is screwed with linkage feed screw nut, and lifting drive screw is engaged with linkage feed screw nut.
Further, the upper end on the right surface of lifting activity riser 41 is equiped with upper end sliding seat 511, lifting activity riser
The bottom on 41 right surfaces is equiped with the lower end sliding seat 521 immediately below upper end sliding seat 511, and lower end sliding seat 521 can
It is equiped with relative rotation in the lower end thimble 522 being vertically arranged, lower end sliding seat 521 is installed in the side of lower end thimble 522
There is thimble to drive servomotor 523, the power output shaft of thimble driving servomotor 523 passes through taper gear pair and lower end thimble
522 bottom drive connection, it is in be vertically arranged and axially align arrangement with lower end thimble 522 that upper end sliding seat 511, which is fitted with,
Upper end thimble 512, upper end thimble 512 is connected by screw thread pair with upper end sliding seat 511；The right surface of lifting activity riser 41 in
Intermediate active seat 531 is equiped between upper end sliding seat 511 and lower end sliding seat 521, intermediate active seat 531, which is equiped with workpiece, to be determined
Position tool 532.
Further, the upper end of right side active mount 3 can be actively equiped with along left and right directions left and right relatively
Horizontal-extending movable installation board 61, the left part of movable installation board 61 is rotatably equiped with prototype gear 62, activity
The right part of installing plate 61 is equiped with the push plate 63 being vertically arranged, and the upper end of right side active mount 3 is in push plate 63
Right-hand member side be equiped with spring mounting seat, spring mounting seat includes the spring anchor block 64 for being screwed on right side active mount 3,
Spring anchor block 64 is equiped with the spring retention posts 65 that extension is protruded towards left side, and the periphery of spring retention posts 65 is set with pushing tow bullet
Spring 66, the left part of goring push spring 66 is abutted with push plate 63, and the right part of goring push spring 66 is abutted with spring anchor block 64.
In addition, the upper end of right side active mount 3 is equiped with the inspection controller 7 being electrically connected with computer, activity
Installing plate 61 is equiped with displacement transducer, lifting driving servomotor 42, thimble driving servomotor 523, displacement transducer point
Not with checking that controller 7 is electrically connected with.
During being detected using the present invention to harmonic speed reducer with flexbile gear, flexbile gear is positioned over intermediate active seat
531 workpiece localization tool 532, because upper end thimble 512 is connected by screw thread pair in upper end sliding seat 511, in upper end thimble
During 512 rotation, the opposite upper sliding seat 511 of upper end thimble 512 is moved up and down；After flexbile gear is placed and finished, upper end thimble is rotated
512 and cause the opposite upper sliding seat 511 of upper end thimble 512 move down, and finally cause workpiece localization tool 532 be clamped in upper end
Between thimble 512 and lower end thimble 522；After upper end thimble 512 is moved down in place, lifting driving servomotor 42 is by by lifting
The lead screw transmission mechanism driving lifting activity riser 41 that drive screw, linkage feed screw nut are constituted is moved up and down, lifting activity
Riser 41 drive upper end sliding seat 511, upper end thimble 512, lower end sliding seat 521, lower end thimble 522, intermediate active seat 531,
Workpiece localization tool 532 and flexbile gear are synchronously moved up and down, to cause the gear teeth horizontal alignment prototype gear 62 and flexbile gear of flexbile gear
The gear teeth be meshed with the gear teeth of prototype gear 62；After flexbile gear regulation is moved into place and is engaged with prototype gear 62, thimble turns
Dynamic servomotor drives lower end thimble 522 to rotate by taper gear pair, lower end thimble 522 drive workpiece localization tool 532 with
And flexbile gear is rotated, during flexbile gear is rotated, prototype gear 62 is also with flexbile gear synchronous axial system, when circular runout occurs in flexbile gear
When, prototype gear 62 is with the synchronous circular runout of flexbile gear, and the prototype gear 62 of circular runout drives the level of movable installation board 61
Mobile, the movable installation board 61 moved horizontally drives the movement of displacement transducer level of synchronization, and mobile displacement transducer is by displacement
Signal is sent to controller 7 is checked, checks that controller 7 sends the signal to computer again, computer is shown in real time by display screen
Show error curve.
It need to be explained further, in the course of work of the present invention, goring push spring 66 supports push plate 63 towards left side elasticity, entirely
Movable installation board 61 causes prototype gear 62 to stand tightly against in flexbile gear in the presence of goring push spring 66, and then can ensure flexbile gear
Reliablely and stablely engaged with prototype gear 62.
It should further be noted that being positioned over workpiece localization tool 532 for ease of flexbile gear, intermediate active seat 531 of the invention is adopted
With horizontal shifting formula structure, during flexbile gear is positioned over into workpiece localization tool 532, staff can be living by centre
Dynamic seat 531 removes immediately below upper end sliding seat 511 and causes workpiece localization tool 532 to deviate upper end thimble 512 and lower end thimble
522, to facilitate flexbile gear to place.Wherein, to ensure that intermediate active seat 531 is stably and reliably moved horizontally, the present invention is using following
Guide frame is designed, specifically：The right surface of lifting activity riser 41 is screwed with along the first horizontal-extending cunning of fore-and-aft direction
Rail 81, the first slide rail 81 of correspondence of intermediate active seat 531 is equiped with the first sliding block 82, and the first slide rail 81 matches with the first sliding block 82
Close.
In addition, the right side active mount 3 of the present invention also uses horizontal shifting formula structure, flexbile gear is being positioned over work
Part localization tool 532 and before being clamped between upper end thimble 512 and lower end thimble 522, the movable right side activity of staff
Mounting seat 3 simultaneously causes prototype gear 62 to deviate displacement；After flexbile gear positioning placement is finished, then mobile right side active mount 3 is simultaneously
So that prototype gear 62 is meshed with flexbile gear.Wherein, to ensure that right side active mount 3 is stably and reliably moved horizontally, this hair
It is bright to be designed using following guide frames, specifically：The upper surface of fixed bottom plate 1 be screwed with along fore-and-aft direction it is horizontal-extending the
Two slide rails 91, bottom the second slide rail 91 of correspondence of right side active mount 3 is equiped with the second sliding block 92, the second slide rail 91 and the
Two sliding blocks 92 are engaged.In addition, avoiding right side active mount 3 to shift in detection, fixation bottom plate 1 of the invention can be installed
Corresponding additional locking devices, utilize screw locking, snap lock etc..
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (3)
1. a kind of two-sided engagement Automatic Check-out And Readiness Equipment of small modulus flexbile gear of harmonic speed reducer, it is characterised in that：Include horizontal in level
To the fixation bottom plate of arrangement（1）, fixed bottom plate（1）Upper end side be equiped with left side fixed mounting（2）, positioned at left side fix pacify
Fill seat（2）The right side active mount of right-hand member side（3）, left side fixed mounting（2）Include and be screwed on fixed bottom plate（1）Upper table
The fixed mounting transverse slat in face（21）, be screwed on fixed mounting transverse slat（21）Upper surface and in the fixed mounting that is vertically arranged
Riser（22）, fixed mounting riser（22）Right-hand member side can be equiped with relatively up and downly in the lifting activity that is vertically arranged
Riser（41）, fixed mounting riser（22）Upper end be equiped with lifting driving servomotor（42）, lifting driving servo electricity
Machine（42）Power output shaft be provided with by shaft coupling in the lifting drive screw that is vertically arranged, lifting activity riser（41）Spiral shell
Equipped with the lifting drive block that extension is protruded towards left side（43）, lift drive block（43）It is screwed with linkage feed screw nut, lifting driving
Screw mandrel is engaged with linkage feed screw nut；
Lifting activity riser（41）The upper end on right surface is equiped with upper end sliding seat（511）, lifting activity riser（41）Right table
The bottom in face is equiped with positioned at upper end sliding seat（511）The lower end sliding seat of underface（521）, lower end sliding seat（521）Can
It is equiped with relative rotation in the lower end thimble being vertically arranged（522）, lower end sliding seat（521）In lower end thimble（522）Side
Side is equiped with thimble driving servomotor（523）, thimble driving servomotor（523）Power output shaft pass through taper gear pair
With lower end thimble（522）Bottom drive connection, upper end sliding seat（511）Be fitted be vertically arranged and with lower end thimble
（522）Axially align the upper end thimble of arrangement（512）, upper end thimble（512）Pass through screw thread pair and upper end sliding seat（511）Even
Connect；Lifting activity riser（41）Right surface is in upper end sliding seat（511）With lower end sliding seat（521）Between be equiped with intermediate active
Seat（531）, intermediate active seat（531）It is equiped with workpiece localization tool（532）；
Right side active mount（3）Upper end can relative left and right actively be equiped with along the horizontal-extending activity of left and right directions
Installing plate（61）, movable installation board（61）Left part be rotatably equiped with prototype gear（62）, movable installation board
（61）Right part be equiped with the push plate that is vertically arranged（63）, right side active mount（3）Upper end in push plate
（63）Right-hand member side be equiped with spring mounting seat, spring mounting seat, which includes, is screwed on right side active mount（3）Spring consolidate
Determine block（64）, spring anchor block（64）It is equiped with the spring retention posts that extension is protruded towards left side（65）, spring retention posts（65）'s
Periphery is set with goring push spring（66）, goring push spring（66）Left part and push plate（63）Abut, goring push spring（66）The right side
End and spring anchor block（64）Abut；
Right side active mount（3）Upper end be equiped with computer be electrically connected with inspection controller（7）, movable installation board
（61）It is equiped with displacement transducer, lifting driving servomotor（42）, thimble driving servomotor（523）, displacement transducer point
Not with checking controller（7）It is electrically connected with.
2. a kind of two-sided engagement Automatic Check-out And Readiness Equipment of the small modulus flexbile gear of harmonic speed reducer according to claim 1, its feature
It is：The lifting activity riser（41）Right surface be screwed with along the first horizontal-extending slide rail of fore-and-aft direction（81）, institute
State intermediate active seat（531）The first slide rail of correspondence（81）It is equiped with the first sliding block（82）, the first slide rail（81）With the first sliding block
（82）It is engaged.
3. a kind of two-sided engagement Automatic Check-out And Readiness Equipment of the small modulus flexbile gear of harmonic speed reducer according to claim 2, its feature
It is：The fixed bottom plate（1）Upper surface be screwed with along the second horizontal-extending slide rail of fore-and-aft direction（91）, the right side
Active mount（3）Bottom correspondence the second slide rail（91）It is equiped with the second sliding block（92）, the second slide rail（91）Slided with second
Block（92）It is engaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710337587.9A CN107121279B (en) | 2017-05-15 | 2017-05-15 | A kind of two-sided engagement Automatic Check-out And Readiness Equipment of small modulus flexbile gear of harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710337587.9A CN107121279B (en) | 2017-05-15 | 2017-05-15 | A kind of two-sided engagement Automatic Check-out And Readiness Equipment of small modulus flexbile gear of harmonic speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107121279A true CN107121279A (en) | 2017-09-01 |
| CN107121279B CN107121279B (en) | 2019-07-09 |
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|---|---|---|---|
| CN201710337587.9A Active CN107121279B (en) | 2017-05-15 | 2017-05-15 | A kind of two-sided engagement Automatic Check-out And Readiness Equipment of small modulus flexbile gear of harmonic speed reducer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907306A (en) * | 2017-12-21 | 2018-04-13 | 东莞理工学院 | A kind of camshaft optical detection apparatus |
| CN111189406A (en) * | 2020-02-14 | 2020-05-22 | 北京工业大学 | Method for detecting radial deformation of flexible gear of harmonic reducer in eccentric installation state |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107907306A (en) * | 2017-12-21 | 2018-04-13 | 东莞理工学院 | A kind of camshaft optical detection apparatus |
| CN107907306B (en) * | 2017-12-21 | 2023-10-31 | 东莞理工学院 | Camshaft optical detection device |
| CN111189406A (en) * | 2020-02-14 | 2020-05-22 | 北京工业大学 | Method for detecting radial deformation of flexible gear of harmonic reducer in eccentric installation state |
| WO2021159662A1 (en) * | 2020-02-14 | 2021-08-19 | 北京工业大学 | Method for measuring radial deformation of flexspline of harmonic reducer in eccentric installation state |
| CN111189406B (en) * | 2020-02-14 | 2021-09-14 | 北京工业大学 | Method for detecting radial deformation of flexible gear of harmonic reducer in eccentric installation state |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107121279B (en) | 2019-07-09 |
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