CN106769021A - A kind of industrial robot power unit reliability test bench - Google Patents

Abstract

The invention relates to a reliability test bench for a power unit of an industrial robot, which belongs to a reliability test device. It consists of three comprehensive test chambers, a power unit, a radial force loading unit, a universal joint coupling, and a torque loading unit. The power unit and the radial force loading unit are placed inside the three comprehensive test chambers, and the torque loading unit passes through the universal The joint coupling is connected with the power unit. The present invention can simulate the actual working conditions of the power unit of the industrial robot and carry out the reliability test. The power unit is located in the three-comprehensive test box, and can realize the application of loads such as temperature, humidity, vibration and the like on the power unit, thereby simulating the power unit of the industrial robot It has higher test efficiency and high degree of automation. It can collect and calculate power unit vibration, temperature, transmission efficiency, power loss and other parameters in real time. It can be used for transmission error, hysteresis and backlash detection of reducers. .

Description

An Industrial Robot Power Unit Reliability Test Bench

technical field

The invention belongs to a reliability test device, in particular to a test device applied in the field of reliability of industrial robot power units.

Background technique

The power unit of an industrial robot is mainly composed of a servo motor and a reducer, and its cost accounts for more than 65% of the cost of the whole machine. As the core component of the robot, its accuracy and reliability are crucial. However, the power units of domestic industrial robots mainly rely on imports, and the power units of self-produced industrial robots are immature and have low reliability. The servo motor of the industrial robot power unit has the characteristics of small inertia, fast response speed, and low maintenance and maintenance requirements; the reducer of the industrial robot power unit is one of the key technologies of industrial robots, with high transmission stiffness, large transmission ratio, and small inertia. , large output torque, stable transmission, small size, strong impact resistance, etc.

The power unit of the industrial robot is installed in the narrow space inside the joint arm of the industrial robot, which has slow heat dissipation, easy vibration, harsh working environment, and prone to failure. The industrial robot power unit reliability test bench can simulate its actual working conditions and conduct reliability tests, and can also perform real-time detection of relevant parameters. Through the reliability test of the power unit, the failure of the power unit of the self-produced industrial robot is exposed. Through the recording and analysis of the failure, the product is improved, the reliability of the power unit is improved, and the reliability of the domestic industrial robot is improved.

At present, a large number of test benches have been designed for servo motors and reducers of different industrial robot power units at home and abroad, but no test bench has been designed for the overall power unit of industrial robots to test the overall performance and reliability of the power unit. At present, there are only some reducer performance testing test benches for industrial robot power units. The test bench generally adopts the structure of "input motor, torque or speed sensor, reducer, torque or speed sensor, and magnetic powder brake". This type is only suitable for The performance parameter detection of the reducer cannot be used for the reliability test. It is more efficient to test the reliability of the power unit of the industrial robot as a whole than to test the reducer and servo motor of the power unit separately, and it can simulate the actual working conditions more conveniently. The test device for reliability test and performance test is very necessary.

Contents of the invention

The invention provides a reliability test bench for power units of industrial robots to solve the problems of high structural energy consumption, low degree of automation, poor adjustability and data collection of vibration and temperature existing in the current reliability test of power units of industrial robots. The effect is not good, there is a large error with the real data, and the actual working conditions cannot be simulated.

The technical scheme adopted by the present invention is: composed of three comprehensive test chambers, a power unit, a radial force loading unit, a universal joint coupling, and a torque loading unit, wherein the power unit and the radial force loading unit are placed in the three comprehensive test chambers Internally, the torque-loading unit is connected to the power unit via a universal joint coupling.

The structure of the power unit of the present invention is: a motor support, an encoder support frame one, a reducer support, and an encoder support two are all fixed on the base plate through bolt connections, the servo motor is fixedly connected with the motor support, and the shaft of the servo motor It is connected with one end of the input shaft through a coupling. The input shaft is equipped with a strain gauge and an acceleration sensor two. The rotary encoder one is fixedly connected with the encoder support frame one. The input shaft is fixedly connected with the inner ring of the rotary encoder one. The back cover The end of the fixing ring is connected to the support frame of the encoder through screw one, the flat end of the back cover is fixedly connected to the end cover of the reducer, the flange shell of the reducer is fixedly connected to the reducer sleeve, and the reducer sleeve is connected to the inner ring of the deep groove ball bearing. Interference fit, the outer ring of the deep groove ball bearing is interference fit with the inner wall of the reducer bracket, the flange shaft and the reducer sleeve 211 are connected by screw 2, the flange shaft and the output end of the reducer are connected by screw 3, the reducer sleeve and The reducer bracket is connected by four screws, the other end of the input shaft passes through the back cover and is connected to the taper hole of the reducer, the rotary encoder 2 is fixedly connected to the encoder bracket 2, the flange shaft is fixedly connected to the inner ring of the rotary encoder 2, and the temperature sensor One is installed inside the reducer, the first acceleration sensor is installed on the flange shaft, and the second temperature sensor is installed on the end face of the servo motor.

The structure of the torque loading unit of the present invention is: the torque sensor bracket and the electric dynamometer are all installed on the ball screw drive platform, the electric dynamometer is connected to the left end of the torque sensor through a gear coupling, and the right end of the torque sensor is connected to the left end of the torque sensor through a ten thousand The knuckle coupling is connected to the flange shaft of the power unit, the top of the electric Z-axis height precision adjustment displacement table is bolted to the bottom of the ball screw drive platform, and the corner brackets are respectively bolted to the platform support frame and the ball screw drive platform.

The radial force loading unit of the present invention is fixed on the encoder support frame 2 through bolt connection, and the flange shaft passes through the radial force loading unit. The structure of the radial force loading unit is: a deep groove ball bearing outer ring and The interference fit of the bearing sleeve, the interference fit of the inner ring and the flange shaft, the left end cover and the right end cover are fixed with the bearing sleeve through bolt connection, the upper surface of the piezoelectric ceramic is in contact with the lower surface of the bearing sleeve, and the upper part of the support rod is threaded and piezoelectric The lower end of the ceramic is connected, the upper adjustment nut is installed between the support rod and the piezoelectric ceramic, and the upper adjustment nut is in contact with the lower end surface of the piezoelectric ceramic, the lower part of the support rod is threaded with the pressure sensor, and the lower adjustment is installed between the pressure sensor and the support rod The nut, the lower end surface of the lower adjustment nut is in contact with the upper end surface of the pressure sensor, the pressure sensor is fixed on the support frame through bolts, the support frame is fixedly connected with the encoder support frame two through bolts, and the screw threads of the upper adjustment nut and the lower adjustment nut rotate in opposite directions.

The structure of the three comprehensive test chambers of the present invention is: the vibration table is located below the inside of the temperature and humidity test chamber, the acceleration sensor 3 is fixedly connected to the top surface of the vibration table, and the temperature sensor 3 and the humidity sensor are respectively fixedly connected above the inside of the temperature and humidity test chamber.

In the power unit of the present invention, four helical support rod seats are fixedly connected to the motor support, the four helical support rods are threadedly connected to the four helical support rod seats respectively, and the front ends of the four helical support rods are respectively connected to the top of the servo motor housing. catch.

The beneficial effects of the present invention are:

The power unit of the present invention is located in the three-comprehensive test chamber, which can realize the application of loads such as temperature, humidity, and vibration on the power unit, thereby simulating the actual environmental working conditions of the power unit of the industrial robot;

The invention uses an electric dynamometer to load the power unit with torque, which can automatically adjust the applied torque, and uses a radial force loading unit to simulate the radial force borne by the power unit of an industrial robot during startup or operation, and can automatically adjust the magnitude of the applied radial force;

The present invention uses a shaft coupling to connect the output shaft of the servo motor and the input shaft of the reducer, which can simulate the actual connection between the servo motor and the reducer, and at the same time facilitate the replacement of the motor;

The motor support of the present invention is designed with four slide grooves, and is designed with a supporting and clamping mechanism on the back, which is suitable for installing various types of servo motors. The reducer bracket is indirectly fixed through the reducer sleeve and the reducer. Suitable for installing various types of reducers;

The invention can realize the reliability test of the power unit under two different output modes of the reducer; during the test, relevant performance parameters of the power unit can be collected and displayed in real time, and the performance change trend of the power unit can be judged.

The invention can simulate the actual working conditions of the power unit of the industrial robot and conduct reliability tests, has higher test efficiency, high degree of automation, can collect and calculate parameters such as power unit vibration, temperature, transmission efficiency, and power loss in real time, and can be used It is used for transmission error, hysteresis and backlash detection of the reducer.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of power unit of the present invention;

Figure 3a is an exploded view of the power unit of the present invention;

Fig. 3b is a structural schematic diagram of the second temperature sensor installed on the end face of the servo motor in the power unit of the present invention;

Fig. 3c is a structural schematic diagram of an acceleration sensor installed on a flange shaft in the power unit of the present invention;

Fig. 3d is a structural schematic diagram of the temperature sensor installed inside the reducer in the power unit of the present invention;

Fig. 3e is a structural schematic diagram of a strain gauge and an acceleration sensor 2 installed on the input shaft of the power unit of the present invention;

Fig. 4 is the axonometric view of the rear cover in the power unit of the present invention;

Fig. 5 is a schematic structural view of the torque loading unit of the present invention;

Fig. 6 is an axonometric view of the torque loading unit of the present invention;

Fig. 7 is a schematic diagram of the installation position of the radial force loading unit of the present invention;

Fig. 8 is a structural schematic diagram of the radial force loading unit of the present invention;

Fig. 9 is an exploded view of the radial force loading unit of the present invention;

Fig. 10 is the structural representation of three comprehensive test chambers of the present invention;

Fig. 11 is a schematic diagram of the control system of the present invention.

detailed description

It consists of three comprehensive test chambers 1, power unit 2, radial force loading unit 3, universal joint coupling 4, and torque loading unit 5, of which power unit 2 and radial force loading unit 3 are placed in three comprehensive test chamber 1 Internally, the torque loading unit 5 is connected to the power unit 2 via a cardan coupling 4 .

The structure of the power unit of the present invention is: motor support 202, encoder support frame one 206, reducer support 210, encoder support two 213 are all fixed on the base plate 215 by bolt connection, servo motor 201 and motor support 202 Fixedly connected, the shaft of the servo motor 201 is connected to one end of the input shaft 204 through a coupling 203, and a strain gauge 218 and an acceleration sensor 219 are installed on the input shaft 204 to measure the torque of the input shaft 204 and detect its vibration state, and rotate the encoder Device one 205 is fixedly connected with encoder support frame one 206, and measures the rotating speed or rotation angle of input shaft 204 through rotary encoder 205; One 221 is connected with the encoder support frame one 206, the plane end of the rear cover 207 is fixedly connected with the end cover of the reducer 208, the flange shell of the reducer 208 is fixedly connected with the reducer sleeve 211, and the reducer cover 211 is connected with the deep groove ball bearing 209 The inner ring is interference fit, the outer ring of the deep groove ball bearing 209 is interference fit with the inner wall of the reducer bracket 210, the flange shaft 212 and the reducer sleeve 211 are connected by the second screw 222, and the flange shaft 212 is connected to the output end of the reducer 208 Connected by screw three 223, reducer sleeve 211 and reducer bracket 210 are connected by screw four 224, the other end of the input shaft 204 passes through the rear cover 207 to connect with the tapered hole of the reducer 208, rotary encoder two 214 and encoder bracket two 213 Fixed connection, the flange shaft 212 is fixedly connected to the inner ring of the rotary encoder 214 to measure the output speed of the reducer 208, the temperature sensor 1 216 is installed inside the reducer 208 to measure the temperature of the reducer, and the acceleration sensor 1 217 is installed in the On the flange shaft 212, the vibration of the flange shaft is measured, and the temperature sensor 220 is installed on the end face of the servo motor to measure the temperature change of the servo motor;

The structure of the torque loading unit 5 of the present invention is: a torque sensor bracket 501, a torque sensor 502, a gear coupling 503, an electric dynamometer 504, a ball screw drive platform 505, and an electric Z-axis height precision adjustment displacement table 506, a platform support frame 507, and a corner code 508, wherein the torque sensor bracket 501 and the electric dynamometer 504 are all installed on the ball screw drive platform 505, which can easily move along the axis of the ball screw, and the electric dynamometer 504 passes through the gear Type coupling 503 is connected with the left end of torque sensor 502, and the right end of torque sensor 502 is connected with power unit flange shaft 212 through universal joint coupling 4, thereby applying load torque to the power unit of industrial robot, and torque sensor 502 can also Measure the output torque of the flange shaft 212 of the power unit, the top of the electric Z-axis height precision adjustment displacement table 506 is bolted to the bottom of the ball screw drive platform 505, and the corner code 508 is respectively bolted to the platform support frame 507 and the ball screw drive platform 505 .

During the operation of the industrial robot power unit, in addition to the torque, it also bears the radial force generated by the arm or the clamped weight. In the present invention, the radial force loading unit is used to simulate the radial force. The details are as follows:

The radial force loading unit 3 of the present invention is fixed on the encoder support frame 2 213 through bolt connection, and the flange shaft 212 passes through the radial force loading unit 3, as shown in Figures 8 and 9, the radial force The structure of the loading unit 3 is: by the left end cover 301, deep groove ball bearing 302, bearing sleeve 303, right end cover 304, piezoelectric ceramics 305, upper adjustment nut 306, support rod 307, lower adjustment nut 308, pressure sensor 309, support frame 310, in which the outer ring of deep groove ball bearing 302 is interference fit with bearing sleeve 303, the inner ring is interference fit with flange shaft 212, and the left end cover 301 and right end cover 304 are fixed with bearing sleeve 303 through bolt connection, thereby preventing the Axial movement, the top surface of the piezoelectric ceramic 305 is in contact with the bottom surface of the bearing sleeve 303, the upper part of the support rod 307 is connected to the lower end of the piezoelectric ceramic 305 through threads, and an adjustment nut 306 is installed between the support rod 307 and the piezoelectric ceramic 305 , and the upper adjustment nut 306 is in contact with the lower end surface of the piezoelectric ceramic 305, the lower part of the support rod 307 is threaded with the pressure sensor 309, the lower adjustment nut 308 is installed between the pressure sensor 309 and the support rod 307, the lower end surface of the lower adjustment nut 308 and the pressure The upper end surface of the sensor 309 is in contact, the pressure sensor 309 is fixed on the support frame 310 through bolts, the support frame 310 is fixedly connected with the encoder support frame 2 213 through bolts, and the thread direction of the upper adjustment nut 306 and the lower adjustment nut 308 are opposite, and the lower adjustment nut is fixed. Nut 308, rotating the upper adjustment nut 306 can realize the rise and fall of the piezoelectric ceramic 305, which is convenient for installation and debugging. The piezoelectric ceramic 305 acts on the shaft sleeve 303, and then acts on the bearing 302, and then acts on the flange On the shaft 212, the radial force is applied to the reducer, and the magnitude of the radial force can be changed by changing the input current of the piezoelectric ceramic 305.

The three comprehensive test chambers 1 of the present invention are made of a temperature and humidity test chamber 101, a vibrating table 102, a temperature sensor 103, a humidity sensor 104, and an acceleration sensor 105. It is fixedly connected to the top surface of the vibrating table 102, and the temperature sensor 3 103 and the humidity sensor 104 are respectively fixedly connected above the inside of the temperature and humidity test chamber 101.

The temperature and humidity test chamber 101 applies temperature and humidity loads to the power unit, and the vibrating table 102 applies vibration loads to the power unit.

Four spiral support rod seats 225 are fixedly connected to the motor support 202 in the power unit 2 of the present invention, the four spiral support rods 226 are threadedly connected with the four spiral support rod seats respectively, and the front ends of the four spiral support rods are respectively connected to the servo motor 201 shell top connection.

working principle:

Each sensor and encoder of the present invention are connected to the host computer through wires, and the collected data are transmitted to the host computer respectively, and are used for the parameter acquisition of the power unit by the host computer, as the analysis and calculation basis of the relevant reliability test results, and the test starts , according to the experimental requirements, install the servo motor and reducer, and use one of the following methods for the power unit:

(1) The output flange of the reducer 208 is fixed, and the flange shell output of the reducer 208:

Remove the screw 3 223 and screw 4 224, the output of the servo motor 201 enters the reducer through the input shaft, the output flange is fixed because the end cover of the reducer 208 is fixed, and the power is output through the flange shell of the reducer 208, the reducer The sleeve 211 rotates to drive the flange shaft 212 to rotate out;

(2) The flange shell of the reducer 208 is fixed, and the output flange of the reducer 208 outputs:

Remove screw one 221 and screw two 222, the output of the servo motor 201 enters the reducer through the input shaft, because the end cover of the reducer 208 can rotate, the input shaft drives the output flange to rotate, and drives the flange shaft 212 to rotate out;

After installation, the servo motor is rotated, the radial force loading unit 3 and the torque loading unit start to work, and the strain gauge 218 installed on the input shaft 204 can measure the output torque of the power unit input shaft 204 in real time, and is installed on the input shaft 204 The rotary encoder 205 on the top and the rotary encoder 214 on the flange shaft 212 can respectively measure the rotational speed of the input shaft 204 and the output rotational speed of the reducer 208, and the temperature sensor 216 installed in the reducer 208 can measure the temperature of the reducer in real time , the acceleration sensor 217 installed on the flange shaft 212 can measure the vibration state of the flange shaft 212 in real time, and then obtain the vibration state of the reducer, and the acceleration sensor 219 installed on the input shaft 204 of the power unit can measure the vibration state of the input shaft 204 in real time In the vibration state, the temperature sensor 220 installed on the end face of the servo motor 201 can measure the temperature change of the servo motor in real time, and the torque sensor 502 can measure the output torque of the reducer 208 in real time.

Claims (6)

1. a kind of industrial robot power unit reliability test bench, it is characterised in that：By three combined test chambers, power unit, Radial load loading unit, gimbal coupling, wherein moment of torsion loading unit composition, power unit and radial load loading unit are laid Inside three combined test chambers, moment of torsion loading unit is connected by gimbal coupling with power unit.

2. a kind of industrial robot power unit reliability test bench according to claim 1, it is characterised in that：It is described dynamic The structure of power unit is：Motor support base, encoder support frame one, reducer stent, encoder support two is bolted It is fixed on base plate, servomotor is fixedly connected with motor support base, the axle of servomotor is connected by shaft coupling and input shaft one end Connect, foil gauge, acceleration transducer two be installed on input shaft, rotary encoder one is fixedly connected with encoder support frame one, Input shaft is fixedly connected with the inner ring of rotary encoder one, and the retainer ring end of bonnet is connected by screw one with encoder support frame one Connect, bonnet planar ends are fixedly connected with decelerator end cap, the flange shell of decelerator is fixedly connected with decelerator set, decelerator set With deep groove ball bearing inner ring interference fit, the inwall interference fit of deep groove ball bearing outer ring and reducer stent, flange shaft with subtract Fast device set 211 is connected by screw two, and flange shaft is connected with the output end of decelerator by screw three, and decelerator covers and decelerator Support is connected by screw four, and the input shaft other end is connected through bonnet with the taper hole of decelerator, rotary encoder two with coding Device support two is fixedly connected, and flange shaft is fixedly connected with the inner ring of rotary encoder two, and temperature sensor one is installed in decelerator Portion, acceleration transducer one is arranged in flange shaft, and temperature sensor two is arranged on servomotor end face.

3. a kind of industrial robot power unit reliability test bench according to claim 1, it is characterised in that：The torsion The structure of square loading unit is：Torque sensor support, electric dynamometer are installed in ball-screw and drive on platform, and electric power is surveyed Work(machine is connected by gear coupling with torque sensor left end, and torque sensor right-hand member is by gimbal coupling and power list First flange shaft connection, electronic Z axis high-precision regulation displacement platform top drives mesa base bolt connection, corner brace with ball-screw Respectively platform bolt connection is driven with platform frame and ball-screw.

4. a kind of industrial robot power unit reliability test bench according to claim 1, it is characterised in that：The footpath It is bolted to power loading unit and is fixed on encoder support frame two, flange shaft passes through radial load loading unit, described The structure of radial load loading unit is：Deep groove ball bearing outer ring and bearing holder (housing, cover) interference fit, inner ring and flange shaft interference fit, it is left End cap and right end cap are bolted to be fixed with bearing holder (housing, cover), and top surface and bearing holder (housing, cover) bottom surface are contacted on piezoelectric ceramics, support bar Top is connected by screw thread and piezoelectric ceramics lower end, adjusting nut is installed between support bar and piezoelectric ceramics, and raise Whole nut and piezoelectric ceramics lower surface contact, and support bar bottom and pressure sensor are threadedly coupled, in pressure sensor and support Lower adjusting nut is installed, lower adjusting nut lower surface and pressure sensor upper surface contact, and pressure sensor passes through spiral shell between bar Bolt is fixed on support frame, and support frame is fixedly connected by bolt with encoder support frame two, upper adjusting nut and lower adjustment spiral shell Box thread is oppositely oriented.

5. a kind of industrial robot power unit reliability test bench according to claim 1, it is characterised in that：Described three Combined test chamber institute structure is：Shake table is located at humiture test box lower inside, acceleration transducer three and vibration countertop It is fixedly connected, temperature sensor three and humidity sensor are respectively fixedly connected with humiture test box inner upper.

6. a kind of industrial robot power unit reliability test bench according to claim 2, it is characterised in that：It is described dynamic Be fixedly connected four spiral support pole sockets in power unit on motor support base, four spiral support bars respectively with four spiral support bars Seat threaded connection, four spiral support bar front ends respectively with Servomotor shells apical grafting.