JPS6145946A - Measuring instrument for efficiency of force transmission mechanism - Google Patents
Measuring instrument for efficiency of force transmission mechanismInfo
- Publication number
- JPS6145946A JPS6145946A JP59166996A JP16699684A JPS6145946A JP S6145946 A JPS6145946 A JP S6145946A JP 59166996 A JP59166996 A JP 59166996A JP 16699684 A JP16699684 A JP 16699684A JP S6145946 A JPS6145946 A JP S6145946A
- Authority
- JP
- Japan
- Prior art keywords
- torque
- input
- load
- output
- efficiency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/26—Devices for measuring efficiency, i.e. the ratio of power output to power input
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は減速機等の力伝達機構の効率を測定する力伝達
機構の効率測定器に関し、特に実際の使用状態において
容易にしかも正確に効率測定可能な力伝達機構の効率測
定器に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an efficiency measuring device for a force transmission mechanism that measures the efficiency of a force transmission mechanism such as a reduction gear. This invention relates to an instrument for measuring the efficiency of a measurable force transmission mechanism.
一般に出力トルクを増加させるため又は位置精度を向上
させるための減速機構として歯車力伝達機構が広く用い
られている。例えば、ロボットのアーム等の駆動機構に
は駆動源であるモータの回転速度を減速機金倉してアー
ム等に伝えて駆動し。Generally, a gear force transmission mechanism is widely used as a reduction mechanism for increasing output torque or improving positional accuracy. For example, in a drive mechanism for a robot arm, etc., the rotational speed of a motor, which is a drive source, is transmitted to the arm, etc. using a reduction gear to drive it.
位置分解能の向上及び可搬重量の増加を計っている。The aim is to improve positional resolution and increase payload.
このように減速機構は力伝達機構であるから。In this way, the speed reduction mechanism is a force transmission mechanism.
伝達効率により、ロボット等の性能が左右される。The performance of robots, etc. is influenced by transmission efficiency.
従来、歯車機構の効率は、歯車機構のメーカーが設計上
定めた値をカタログ等に記載し、ユーザーはこれを信じ
て、必要な出力トルクを得るよう駆動源（アクチュエー
タ）全選択していた。Conventionally, the efficiency of a gear mechanism was determined by the manufacturer of the gear mechanism and listed in a catalog, etc., and the user believed this and selected all drive sources (actuators) to obtain the required output torque.
しかしながら、歯車機構の効率は、その潤滑の種類や取
付は状態、予圧の有無、使用状態によって大きく変化す
る。このため、一義的に定められたメーカーのカタログ
値から得られた効率を用いて設計全行なうと予想しない
低い出力しか得られないことが多いという問題があった
。However, the efficiency of a gear mechanism varies greatly depending on the type of lubrication, the state of its installation, the presence or absence of preload, and the conditions of use. For this reason, there is a problem in that if the entire design is carried out using the efficiency obtained from the uniquely determined manufacturer's catalog value, only an unexpectedly low output is often obtained.
本発明は、力伝達機構の効率を実際の使用状態で容易に
且つ正確に測定しつる力伝達機構の効率測定器を提供す
るにある。SUMMARY OF THE INVENTION The present invention provides an efficiency measuring device for a force transmitting mechanism that can easily and accurately measure the efficiency of a force transmitting mechanism under actual conditions of use.
このため１本発明は、力伝達機構を駆動する駆動源と、
該力伝達機構の入力軸のトルクを検出する入力トルク検
出手段と、該力伝達機構の出力軸のトルクを検出する出
力トルク検出手段と、該出力軸に負荷を付与する負荷手
段と、該駆動源及び負荷手段を制御する制御手段とを有
し、該制御手段が該駆動源及び負荷手段を制御し、該入
力トルク検出手段及び該出力トルク検出手段の検出トル
クに基いて該力伝達機構の効率を測定することを特徴と
している。For this reason, one aspect of the present invention is to provide a drive source for driving a force transmission mechanism;
An input torque detection means for detecting the torque of the input shaft of the force transmission mechanism, an output torque detection means for detecting the torque of the output shaft of the force transmission mechanism, a load means for applying a load to the output shaft, and the drive control means for controlling the drive source and the load means, the control means controlling the drive source and the load means, and controlling the force transmission mechanism based on the detected torque of the input torque detection means and the output torque detection means. It is characterized by measuring efficiency.
〔作用〕
本発明では、実際の使用状態における効率を測定するた
め、駆動源と負荷手段を設け、これらを力伝達機構に接
続し、力伝達機構の入出力軸に設けられたトルク検出器
の検出トルクによって効率を測定している。従って、力
伝達機構を駆動源で駆動し、実際に予想される負荷を負
荷手段で付与し念状態で入出力軸のトルクを同時に測定
し、効率を得るようにしているから使用状態における効
率が容易にしかも正確に測定できる。[Operation] In the present invention, in order to measure efficiency under actual usage conditions, a drive source and a load means are provided, these are connected to a force transmission mechanism, and a torque detector provided on the input/output shaft of the force transmission mechanism is used. Efficiency is measured by detected torque. Therefore, the efficiency is obtained by driving the force transmission mechanism with a drive source, applying the actual expected load with the load means, and simultaneously measuring the torque of the input and output shafts in a hypothetical state. Can be measured easily and accurately.
以下２本発明を実施例により詳細に説明する。 The present invention will be explained in detail below using two examples.
矛１図は本発明の一実施例構成図であり１図中。Figure 1 is a configuration diagram of an embodiment of the present invention.
１はモータであり、駆動源として力伝達機構である後述
する減速機を駆動するもの、２は入力トルク検出器であ
り、減速機の入力軸のトルクを検出する同軸型の一トル
ク検出器であり、モータ１が取付けられているもの、３
は減速機であり、歯車機構で構成され、その入力軸３ａ
は入力トルク検出器２に接続され、その出力軸３ｂは後
述する出力トルク検出器兼負荷用ブレーキに接続される
もの。Reference numeral 1 is a motor, which serves as a drive source to drive a reduction gear, which will be described later, and which is a force transmission mechanism. Reference numeral 2 is an input torque detector, which is a coaxial type torque detector that detects the torque of the input shaft of the reduction gear. Yes, with motor 1 installed, 3
is a speed reducer, which is composed of a gear mechanism, and its input shaft 3a
is connected to the input torque detector 2, and its output shaft 3b is connected to an output torque detector/load brake which will be described later.
４は出力軸支持部であり、減速機３の出力軸３ｂを支持
するもの、５は出力トルク検出器兼負荷用ブレーキであ
り、カップリング６を介し減速機３の出力軸３ｂと接続
され、出力軸３ｂのトルクを検出し且つ出力軸３ｂに負
荷を付与するもの、７はガイド部であり、基部７と出力
軸支持部４との間にガイドレール７ａを有するもの、８
け入力軸台であり、入力トルク検出器２を支持するとと
もにガイドレール７ａに沿ってスライド可能なもの。4 is an output shaft support part that supports the output shaft 3b of the reducer 3; 5 is an output torque detector and load brake, which is connected to the output shaft 3b of the reducer 3 via a coupling 6; A device that detects the torque of the output shaft 3b and applies a load to the output shaft 3b, 7 is a guide portion, and has a guide rail 7a between the base portion 7 and the output shaft support portion 4, 8
This is an input shaft stand that supports the input torque detector 2 and is slidable along the guide rail 7a.
９は減速機支持部であり、上部で減速機３を支持すると
ともに下部においてガイドレール７ａに沿ってスライド
可能なものである。岡、入力トルク検出器２は、入力軸
３ａ、即ちモータｌの発生するトルクを軸のねじれによ
って検出する手段を有しており、出力トルク検出器兼負
荷用ブレーキは。Reference numeral 9 denotes a reducer support part, which supports the reducer 3 at the upper part and is slidable along the guide rail 7a at the lower part. The input torque detector 2 has a means for detecting the torque generated by the input shaft 3a, that is, the motor 1, by the torsion of the shaft, and the output torque detector and load brake is.
出力軸３ｂのトルクを検出する検出手段と出方軸３ｂに
負荷を与えるヒステリシスブレーキとヲ有するものであ
る。It has a detection means for detecting the torque of the output shaft 3b and a hysteresis brake for applying a load to the output shaft 3b.
矛１図の実施例構成においては、被測定物である減速機
３を減速機支持部９の上部に取付け、その出力軸３ｂｉ
出力軸支持部４全介し、カップリング６によって出力ト
ルク検出器兼負荷用ブレーキ５に接続し、その入力軸を
入力トルク検出器２に接続する。この時、入力トルク検
出器２を支持する入力軸台８及び減速機支持部９はガイ
ドレール７ａに沿ってスライド可能ななめ、減速機３の
大きさに合わせてセットできる。更に、入力軸台８に対
し入力トルク検出器２は紙面の垂直方向に移動可能に支
持されているから、減速機３の入力軸３ａと出力軸３ｂ
が同軸でない場合でも接続でき、又減速機支持部９に減
速機３を取付ける際にじゃまにならず１円滑な取付は及
び接続を行なうことができる。In the embodiment configuration shown in Figure 1, the reducer 3 as the object to be measured is attached to the upper part of the reducer support 9,
The output shaft support portion 4 is connected to an output torque detector/load brake 5 through a coupling 6, and its input shaft is connected to an input torque detector 2. At this time, the input shaft stand 8 that supports the input torque detector 2 and the reducer support part 9 are slidable along the guide rail 7a, and can be set according to the size of the reducer 3. Furthermore, since the input torque detector 2 is supported movably in the direction perpendicular to the plane of the paper with respect to the input shaft stand 8, the input shaft 3a and output shaft 3b of the reducer 3 are
It can be connected even when the speed reducer 3 is not coaxial, and it does not get in the way when the speed reducer 3 is installed on the speed reducer support portion 9, allowing smooth installation and connection.
このようにして減速機３をセットした状態で。With the reducer 3 set in this way.
モータｌを駆動し、出力トルク検出器兼負荷用ブレーキ
５で負荷を与えて、入力トルク検出器２及び出力トルク
検出器兼負荷用ブレーキ５によって減速機３の入力軸３
ａ及び出力軸３ｂの各々のトルクを測定し、効率を求め
る。The motor l is driven, a load is applied by the output torque detector/load brake 5, and the input shaft 3 of the reducer 3 is controlled by the input torque detector 2 and the output torque detector/load brake 5.
The torque of each of the a and output shaft 3b is measured and the efficiency is determined.
矛２図は９本発明の一実施例ブロック図であり。Figure 2 is a block diagram of one embodiment of the present invention.
図中、矛１図で示したものと同一のものは同一の記号で
示してあり、１１はＤ／Ａ （デジタル／アナログ）コ
ンバータであり、モータ１へ与えるデジタルの電流指令
値をアナログの電流指令に変換するもの、１２はパワー
アンプであり、Ｄ／Ａコンバータ１１の電流指令を増幅
してモータ１に与えるもの、１３はカウンタであり、モ
ータｌに設けられた図示しない位置検出器からの回転パ
ルスを計数し、モータ１の速度を検出するためのもの。In the figure, the same parts as those shown in Figure 1 are indicated by the same symbols, and 11 is a D/A (digital/analog) converter, which converts the digital current command value given to the motor 1 into an analog current. 12 is a power amplifier that converts the current command from the D/A converter 11 to the motor 1, and 13 is a counter that converts the current command from the not-illustrated position detector provided on the motor 1. This is for counting rotational pulses and detecting the speed of motor 1.
１４．１５は各々トルクメータであり、各々入力トルク
検出器２及び出力トルク検出器兼負荷用ブレーキ５の検
出トルクを表示するもの、１６はヒステリシスコントロ
ーラであり、デジタルの負荷指令値を出力トルク検出器
兼負荷用ブレーキ５のブレーキ力に変換して与えるもの
、１８は制御部でアリ、オペレータによってセットされ
た回転数（速度）に対応する電流指令値及び負荷に対応
する負荷指令１［’に出力するとともにカウンタ１３の
出力からモータエの回転敷金検知するものである。Reference numerals 14 and 15 are torque meters, each of which displays the detected torque of the input torque detector 2 and the output torque detector/load brake 5. Reference numeral 16 is a hysteresis controller, which detects the output torque from the digital load command value. 18 is a control unit that converts and gives braking force to the load brake 5, and converts it into a current command value corresponding to the rotation speed (speed) set by the operator and a load command 1 [' corresponding to the load. At the same time, the rotation of the motor is detected from the output of the counter 13.
択に、第２図実施例構成の動作について第３図の測定操
作フロー図に基いて説叫する。Alternatively, the operation of the embodiment configuration shown in FIG. 2 will be explained based on the measurement operation flowchart shown in FIG.
先づ、前述の如く減速機３をセットした後、オペレータ
は制御部１８に減速機３の使用状態の回転数、負荷をセ
ットする。制御部１８はこの回転数に応じた電流指令値
を出力し、Ｄ／Ａコンノく一タ１１、パワーアンプ１２
ｔ−介しモータｌを駆動する。モータｌが駆動した後、
制御部１８は負荷に応じた負荷指令値を出力し、ヒステ
リシスコントローラ１６を介し出力トルク検出器兼負荷
用ブレーキ５のブレーキを駆動する。これによってモー
タｌによって駆動されている減速機３は負荷を受けた状
態で減速動作する。尚、制御部１８はカウンタ１３から
モータｌの回転数（速度）を検出し。First, after setting the reducer 3 as described above, the operator sets the rotation speed and load of the reducer 3 in the operating state in the control section 18. The control unit 18 outputs a current command value according to this rotation speed, and controls the D/A controller 11 and the power amplifier 12.
t-drives motor l through. After motor l is driven,
The control unit 18 outputs a load command value according to the load, and drives the brake of the output torque detector/load brake 5 via the hysteresis controller 16. As a result, the speed reducer 3 driven by the motor 1 decelerates while receiving a load. Note that the control unit 18 detects the number of rotations (speed) of the motor l from the counter 13.
指令した回転数となる様にフィードバック制御する。Feedback control is performed to achieve the commanded rotation speed.
このようにして動作している状態では、入力トルク検出
器２は減速機３の入力軸３ａのトルクを検出し、トルク
メータ１４がこれを表示し、出力トルク検出器兼負荷用
ブレーキ５は減速機３の出力軸３ｂのトルクを検出し、
トルクメータ１５がこれを表示しているので、オペレー
タは両トルクメータ１４，１５’ｔ＝見て入力トルク測
定値Ｔｌｌ出力トルク測定値Ｔ２ ｆ得る。周知の如く
効率ηは次式で与えられる。In this operating state, the input torque detector 2 detects the torque of the input shaft 3a of the reducer 3, the torque meter 14 displays this, and the output torque detector/load brake 5 decelerates. Detect the torque of the output shaft 3b of the machine 3,
Since the torque meter 15 is displaying this, the operator looks at both torque meters 14, 15't=to obtain the input torque measurement Tll and the output torque measurement T2f. As is well known, the efficiency η is given by the following equation.
但し、ω１は入力軸３ａの角速度、ω２は出力軸３ｂの
角速度である。However, ω1 is the angular velocity of the input shaft 3a, and ω2 is the angular velocity of the output shaft 3b.
ここで、減速比ｉｎとすると、ｎは次式で表わされる。Here, if the reduction ratio is in, then n is expressed by the following equation.
（２ン式を（１）式に代入すると。(Substituting the 2nd equation into equation (1).
となる。becomes.
従って、減速比ｎは既知であるのでトルク測定値Ｔｌ、
Ｔａ２得れば、効率ηを瞬時に求めることができる。ま
た、使用状態において負荷が変動する場合においても、
制御部１８に異なる負荷値をセットすることによって同
様にその負荷値における効率ηをえることができる。更
に、使用状態において減速機３の入力トルク及び回転数
が刻々変化する場合の効率ηも、制御部１８に回転数を
セットすることにより、同様にしてその回転数における
効率ηを得ることができる。しかも、潤滑状態や取付は
状態を使用状態のものと同一とすれば。Therefore, since the reduction ratio n is known, the torque measurement value Tl,
Once Ta2 is obtained, the efficiency η can be instantaneously determined. Also, even if the load fluctuates during use,
By setting a different load value in the control section 18, the efficiency η at that load value can be similarly obtained. Furthermore, the efficiency η when the input torque and rotational speed of the reducer 3 change every moment during use can be similarly obtained by setting the rotational speed in the control unit 18. . Furthermore, if the lubrication and installation conditions are the same as those in use.
使用状態の効率を正確に得ることができる。The efficiency of the usage state can be obtained accurately.
前述の実施例では、入力トルクの測定に入力トルク検出
器を用いているが、モータ１の特性が既知であれば、モ
ータｌに流れる電流から入力トルクを求めることができ
る。このため、モータ１の電流積ｔＢ器を設ければよい
。前述の出力トルク検出器兼負荷用ブレーキも−・体の
ものでなく、別々のものを用いてもよい。In the above embodiment, an input torque detector is used to measure the input torque, but if the characteristics of the motor 1 are known, the input torque can be determined from the current flowing through the motor 1. For this reason, a current product tB device for the motor 1 may be provided. The output torque detector/load brake described above is not a single unit, and separate units may be used.
また、減速機３を取除いて、トルク検出器２゜５を直接
結合しく即ち、効率Ｚｏｏ％、減速比１の減速機全接続
した場合と等価）、双方のトルクメータ１４，１５の出
力値を校正することができ。In addition, if the reducer 3 is removed and the torque detector 2.5 is directly connected, the output value of both torque meters 14 and 15 will be can be calibrated.
これによって常に正確な測定ができる。This ensures accurate measurements at all times.
更ニ、制御部１８ｔマイクロコンピュータ等テ構成し、
係る操作手順の測定プログラム全作成し。Furthermore, the control section is composed of an 18t microcomputer, etc.
Created all measurement programs for related operating procedures.
両トルクメータ１４，１５の測定（［’にマイクロコン
ピュータに入力すれば測定の自動化も実現できる。この
場合効率ηの計算はマイクロコンピュータで行なわれる
。Measurement of both torque meters 14 and 15 ([') can be input into a microcomputer to automate the measurement. In this case, the efficiency η is calculated by the microcomputer.
以上本発明を一実施例により説明したが１本発明は本発
明の主旨に従い種々の変形が可能であり。Although the present invention has been described above using one embodiment, the present invention can be modified in various ways according to the spirit of the present invention.
本発明からこれらを排除するものではない。These are not excluded from the present invention.
以上説明した様に９本発明によれば、力伝達機構を駆動
する駆動源と、該力伝達機構の入力軸のトルクを検出す
る入力トルク検出手段と、該力伝達機構の出力軸のトル
ク全検出する出力トルク検出手段と、該出力軸に負荷を
付与する負荷手段と。As explained above, according to the present invention, there is provided a drive source for driving a force transmission mechanism, an input torque detection means for detecting the torque of the input shaft of the force transmission mechanism, and a total torque of the output shaft of the force transmission mechanism. An output torque detection means for detecting the output torque, and a load means for applying a load to the output shaft.
該駆動源及び負荷手段を制御する制御手段とを有し、該
制御手段が該駆動源及び負荷手段を制御し。A control means for controlling the drive source and the load means, the control means controlling the drive source and the load means.
該入力トルク検出手段及び該出力トルク検出手段の検出
（ルクに基いて該力伝達機構の効率を測定することを特
徴としているので、実際の使用状態における効率が測定
できるという効果を奏し、係る力伝達機構を用いた駆動
機構の性能向上に寄与する。また、その測定も容易であ
り、しかも高精度に測定できるという効果も奏し、実用
上有用であり、特に高精度の駆動機構の設計を正確とす
るのに貢献するところが大きい。The detection of the input torque detection means and the output torque detection means is characterized by measuring the efficiency of the force transmission mechanism based on the torque, so it has the effect of being able to measure the efficiency in the actual usage state, and It contributes to improving the performance of drive mechanisms using transmission mechanisms.It also has the effect of being easy to measure and can be measured with high precision, making it useful in practice, especially for accurately designing high-precision drive mechanisms. It has a great contribution to make.
矛１図は本発明の一実施例構成図、矛２図は本発明の一
実施例ブロック図、矛３図は矛１図及び矛２図実施例の
操作手順フロー図である。
図中、ｌ・・・モータ（駆動源）、２・・・入力トルク
検出器、３・・・減速機（力伝達機構）、５・・・出力
トルク検出器兼負荷用ブレーキ、１８・・・制御部。Figure 1 is a block diagram of an embodiment of the present invention, Figure 2 is a block diagram of an embodiment of the present invention, and Figure 3 is a flowchart of the operating procedure of the embodiments of Figures 1 and 2. In the figure, l...Motor (drive source), 2...Input torque detector, 3...Reducer (force transmission mechanism), 5...Output torque detector and load brake, 18...・Control unit.
Claims (1)
のトルクを検出する入力トルク検出手段と、該力伝達機
構の出力軸のトルクを検出する出力トルク検出手段と、
該出力軸に負荷を付与する負荷手段と、該駆動源及び負
荷手段を制御する制御手段とを有し、該制御手段が該駆
動源及び負荷手段を制御し、該入力トルク検出手段及び
該出力トルク検出手段の検出トルクに基いて該力伝達機
構の効率を測定することを特徴とする力伝達機構の効率
測定器。a drive source that drives the force transmission mechanism; an input torque detection means that detects the torque of the input shaft of the force transmission mechanism; and an output torque detection means that detects the torque of the output shaft of the force transmission mechanism;
It has a load means for applying a load to the output shaft, a control means for controlling the drive source and the load means, the control means controls the drive source and the load means, the input torque detection means and the output An efficiency measuring device for a force transmission mechanism, characterized in that the efficiency of the force transmission mechanism is measured based on the torque detected by a torque detection means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59166996A JPS6145946A (en) | 1984-08-09 | 1984-08-09 | Measuring instrument for efficiency of force transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59166996A JPS6145946A (en) | 1984-08-09 | 1984-08-09 | Measuring instrument for efficiency of force transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6145946A true JPS6145946A (en) | 1986-03-06 |
Family
ID=15841444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59166996A Pending JPS6145946A (en) | 1984-08-09 | 1984-08-09 | Measuring instrument for efficiency of force transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6145946A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6270483B1 (en) | 1998-07-03 | 2001-08-07 | Daiken Iki Kabushiki Kaisha | Liquid discharge regulator and liquid feeder equipped with the same |
| JP2005291973A (en) * | 2004-03-31 | 2005-10-20 | Toin Gakuen | Efficiency measuring method of speed change gear, and device used therefor |
| EP1742333A1 (en) | 2005-07-06 | 2007-01-10 | Van der Graaf B.V. | Drive, and use of a drive |
| JP2012247310A (en) * | 2011-05-27 | 2012-12-13 | Daihatsu Motor Co Ltd | Output inspection device for transmission |
| CN103149028A (en) * | 2013-03-18 | 2013-06-12 | 索特传动设备有限公司 | Testing device of speed reducer |
| CN105934662A (en) * | 2014-12-26 | 2016-09-07 | 深圳市配天智造装备股份有限公司 | Speed reducer testing apparatus |
| CN107553526A (en) * | 2017-07-18 | 2018-01-09 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot speed reducer drive accuracy testing device |
-
1984
- 1984-08-09 JP JP59166996A patent/JPS6145946A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6270483B1 (en) | 1998-07-03 | 2001-08-07 | Daiken Iki Kabushiki Kaisha | Liquid discharge regulator and liquid feeder equipped with the same |
| JP2005291973A (en) * | 2004-03-31 | 2005-10-20 | Toin Gakuen | Efficiency measuring method of speed change gear, and device used therefor |
| EP1742333A1 (en) | 2005-07-06 | 2007-01-10 | Van der Graaf B.V. | Drive, and use of a drive |
| JP2012247310A (en) * | 2011-05-27 | 2012-12-13 | Daihatsu Motor Co Ltd | Output inspection device for transmission |
| CN103149028A (en) * | 2013-03-18 | 2013-06-12 | 索特传动设备有限公司 | Testing device of speed reducer |
| CN105934662A (en) * | 2014-12-26 | 2016-09-07 | 深圳市配天智造装备股份有限公司 | Speed reducer testing apparatus |
| CN107553526A (en) * | 2017-07-18 | 2018-01-09 | 芜湖赛宝机器人产业技术研究院有限公司 | A kind of industrial robot speed reducer drive accuracy testing device |
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