CN110196163A - Robot joint speed reducer base bearing test tool and testing machine - Google Patents
Robot joint speed reducer base bearing test tool and testing machine Download PDFInfo
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- CN110196163A CN110196163A CN201810157300.9A CN201810157300A CN110196163A CN 110196163 A CN110196163 A CN 110196163A CN 201810157300 A CN201810157300 A CN 201810157300A CN 110196163 A CN110196163 A CN 110196163A
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- bearing
- test
- installation part
- loading device
- speed reducer
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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
- G01M13/04—Bearings
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- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The present invention relates to a kind of robot joint speed reducer base bearing test tool and testing machines, test tool includes for the interior installation part with the cooperation of the inner ring of test bearing and the outer installation part for being fixed on test bearing on interior installation part, interior installation part has for the Axile connection structure with corresponding test axis connection, and outer installation part is linked with can axial loading device to the axially loaded offset distance of test bearing and can be to the radial loading device of test bearing radial loaded offset distance.When use, interior installation part is mounted on corresponding test axis, apply load to outer installation part by axial loading device and radial loading device, thus can dummy robot's joint speed reducer base bearing actual use operating condition, support can be provided to the research of the base bearing to robot joint speed reducer by collecting corresponding data.
Description
Technical field
The present invention relates to bearing test field, more particularly to a kind of robot joint speed reducer base bearing test tool and
Testing machine.
Background technique
With the continuous improvement of industrial automatization, robot has obtained increasingly being widely to apply.For machine
For people, to be accurately finished the movement of its setting, the rigidity of joint speed reducer, return difference, bearing capacity, compactedness, noise
Value and efficiency etc. are the factors for needing to consider emphatically.It can be said that the performance of joint speed reducer is directly determined to a certain extent
The performance of Ding Liao robot.
For robot joint speed reducer, the importance of the base bearing as its core component is self-evident.Robot
For the base bearing of joint speed reducer based on thin-wall precise bearing, majority is with angular contact bearings, on joint speed reducer
Mounting means and force analysis can be found in entitled " the RV retarder axis disclosed in " bearing " periodical of 10 phases in 2016
The force analysis held " paper, under the action of axial force and radially outward force, the planet carrier on RV retarder is by corresponding
Tilting moment, two base bearing shareds which is mainly used by pairing, it is seen that the main shaft of joint speed reducer is withstood forces
Complex, the force loading device for not being available existing face carries out simulation loading.As things go, robot closes
Section retarder base bearing is subsequent there is no just can be carried out through overtesting, when often breaking down after installation before application
Processing, this clearly extremely passively, or even can bring the loss that can not be estimated to user.
Summary of the invention
The purpose of the present invention is to provide a kind of robot joint speed reducer base bearing test tools, to close to robot
The research for saving the base bearing of retarder provides support.
Meanwhile the object of the invention is also to provide used above-mentioned robot joint speed reducer base bearing test tool
Robot joint speed reducer base bearing testing machine.
To achieve the above object, the invention adopts the following technical scheme:
Scheme 1: robot joint speed reducer base bearing test tool, including for the interior installation with the cooperation of the inner ring of test bearing
Part and for test bearing to be fixed on the outer installation part on interior installation part, interior installation part has for connecting with corresponding test axis
The Axile connection structure connect, outer installation part is linked with can axial loading device to the axially loaded offset distance of test bearing and can be to examination
Test the radial loading device of bearing radial loaded offset distance.
Scheme 2: on the basis of scheme 1, the force application location of the external installation part of axial loading device is along test bearing
Radially adjustable, the force application location of the external installation part of radial loading device is axially adjustable along test bearing.
Scheme 3: on the basis of scheme 1, the outer installation part is fixedly mounted on a payload reception part, the axial direction
Loading device and radial loading device pass through the payload reception part and are coupled with outer installation part.
Scheme 4: on the basis of scheme 3, the link position of the axial loading device and payload reception part is along test axis
Hold radially adjustable, the link position of the radial loading device and payload reception part is axially adjustable along test bearing.
Scheme 5: on the basis of scheme 4, the payload reception part includes connecting plate, the axial loading device with connect
Plate connects and the position on connecting plate can radially be adjusted along test bearing.
Scheme 6: on the basis of scheme 5, the connecting plate is equipped with the dovetail groove radially extended along test bearing, axial
In test bearing, radially position is adjustable with dovetail groove cooperation by connection bolt for loading device.
Scheme 7: on the basis of any one of scheme 3-6, the payload reception part further includes connection integrated or separately
Load body at the connecting plate side, outer installation part are fixedly mounted in the load body.
Scheme 8: on the basis of scheme 5 or 6, the connecting plate is equipped with the dovetail groove axially extending along test bearing,
Radial loading device by connection bolt with along test bearing it is axially extending dovetail groove cooperation it is axially upper in test bearing
It sets adjustable.
Scheme 9: on the basis of any one of scheme 1-6, set Axile connection structure is axis on the interior installation part
Hold connection structure.
Scheme 10: on the basis of scheme 9, the shaft end connection structure is flange connection.
Scheme 11: on the basis of any one of scheme 1-6, the interior installation part is equipped with for separating two test axis
The spacer ring held.
Scheme 12: on the basis of any one of scheme 1-6, the interior installation part is equipped with stripping ring, for dismantling
Removal force is carried when test bearing.
Scheme 13: on the basis of scheme 12, sealing structure is equipped between the stripping ring and outer installation part.
Scheme 14: on the basis of scheme 13, the sealing structure is lip-type packing.
Scheme 15: on the basis of any one of scheme 1-6, the axial loading device is tension and compression force loading device.
Scheme 16: on the basis of any one of scheme 1-6, the axial loading device includes load force snesor.
Scheme 17: on the basis of any one of scheme 1-6, the radial loading device is tension and compression force loading device.
Scheme 18: on the basis of any one of scheme 1-6, the radial loading device includes load force snesor.
19. robot joint speed reducer base bearing testing machine of scheme, including test axis, be mounted on it is on test axis,
For the interior installation part with the cooperation of the inner ring of test bearing and for test bearing to be fixed on the outer installation part on interior installation part,
Outer installation part is linked with can axial loading device to the axially loaded offset distance of test bearing and can be to test bearing radial loaded
The radial loading device of offset distance.
Scheme 20: on the basis of scheme 19, the force application location of the external installation part of axial loading device is along test axis
Hold radially adjustable, the force application location of the external installation part of radial loading device is axially adjustable along test bearing.
Scheme 21: on the basis of scheme 19, the outer installation part is fixedly mounted on a payload reception part, the axis
Pass through the payload reception part to loading device and radial loading device to be coupled with outer installation part.
Scheme 22: on the basis of scheme 21, the link position of the axial loading device and payload reception part is along test
Bearing is radially adjustable, and the link position of the radial loading device and payload reception part is axially adjustable along test bearing.
Scheme 23: on the basis of scheme 22, the payload reception part includes connecting plate, the axial loading device and company
Fishplate bar connects and the position on connecting plate can radially be adjusted along test bearing.
Scheme 24: on the basis of scheme 23, the connecting plate is equipped with the dovetail groove radially extended along test bearing, axis
To loading device, by connection bolt, in test bearing, radially position is adjustable with dovetail groove cooperation.
Scheme 25: on the basis of any one of scheme 21-24, the payload reception part further includes company integrated or separately
The load body at the connecting plate side is connect, outer installation part is fixedly mounted in the load body.
Scheme 26: on the basis of scheme 23 or 24, the connecting plate is equipped with the dovetail axially extending along test bearing
Slot, radial loading device are cooperated in test bearing axial direction by connection bolt with along the axially extending dovetail groove of test bearing
Position is adjustable.
Scheme 27: on the basis of any one of scheme 19-24, the interior installation part is mounted on the test axis
Shaft end.
Scheme 28: on the basis of scheme 27, pass through flanged joint between the interior installation part and test axis.
Scheme 29: on the basis of any one of scheme 19-24, the interior installation part is equipped with for separating two tests
The spacer ring of bearing.
Scheme 30: on the basis of any one of scheme 19-24, the interior installation part is equipped with stripping ring, for tearing open
Removal force is carried when unloading test bearing.
Scheme 31: on the basis of scheme 30, sealing structure is equipped between the stripping ring and outer installation part.
Scheme 32: on the basis of scheme 31, the sealing structure is lip-type packing.
Scheme 33: on the basis of any one of scheme 19-24, the axial loading device is pressure load dress
It sets.
Scheme 34: on the basis of any one of scheme 19-24, the axial loading device includes loading force sensing
Device.
Scheme 35: on the basis of any one of scheme 19-24, the radial loading device is pressure load dress
It sets.
Scheme 36: on the basis of any one of scheme 19-24, the radial loading device includes loading force sensing
Device.
The beneficial effects of the present invention are: due to the interior installation of robot joint speed reducer base bearing test tool of the invention
Part has for the connection structure with test axis connection, and outer installation part is linked with can be to the axial direction of the axially loaded offset distance of test bearing
Loading device and can be to the radial loading device of test bearing radial loaded offset distance.It when in use, can be by interior installation part
It is mounted on corresponding test axis, load is applied to outer installation part by axial loading device and radial loading device, thus
Can dummy robot's joint speed reducer base bearing actual use operating condition, can be to robot by collecting corresponding data
The research of the base bearing of joint speed reducer provides support.
Detailed description of the invention
Fig. 1 is the usage state diagram of the embodiment of robot joint speed reducer base bearing test tool；
Fig. 2 is the A-A cross-sectional view of Fig. 1；
Fig. 3 is the structural schematic diagram of neck bush.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
The specific embodiment of robot joint speed reducer base bearing test tool of the invention, as shown in Figs. 1-2, the machine
Person joint's retarder base bearing test tool includes interior installation part, outer installation part, axial loading device 12 and radial loading device
11。
Interior installation part is used to install the inner ring 13 of test bearing, and core part is a neck bush 14, and structure is as schemed
3, neck bush 14 is equipped with Axile connection structure, and Axile connection structure is to be mounted on corresponding test axis 15 for being fixed.
As shown in Fig. 2, in the present embodiment, Axile connection structure is the shaft end for neck bush to be fixed on to test axis, i.e. cantilever end,
It is specifically formed by connecting hole 16 set thereon, connecting hole 16 makes Axile connection structure form flange connection.From Fig. 2
In as can be seen that in the present embodiment, the inner hole of neck bush 14 is stepped hole, and stepped hole has for the ladder with test axis
Face has set another set of connecting hole on the cascaded surface, and to cooperate for the test axis with different model, connecting hole herein can also
For dismantling.In addition, neck bush 14 is also provided with end cap 17 at one end of above-mentioned cascaded surface, end cap 17 is for fixed pressure
Tight neck bush 14, realizes dual fail-safe.
The outer peripheral surface of neck bush 14 forms the inner ring mounting surface of test bearing, be respectively provided with thereon stripping ring 18 and every
Ring 19, wherein stripping ring 18 is located at one end of neck bush 14, when dismantling test bearing, taps stripping ring 18, can keep away
Exempt from destructive test bearing.Spacer ring 19 separates two test bearings, primary peace for withstanding between the inner ring of two test bearings
Filling two test bearings is for the working condition of dummy robot's joint speed reducer base bearing as true as possible, in addition, logical
The tolerance fit between spacer ring 19 and outer installation part is crossed, can not only realize that the positioning to test bearing pre-tightens, and can be with mould
The gasket type pre-pressing structure of pseudarthrosis retarder.One end of the separate stripping ring of neck bush 14 is connected with pressing ring by screw element
20, pressing ring 20 is used to test bearing being fixed on neck bush 14.
Outer installation part 21 is in nested structure, covers on neck bush 14, can cooperate with the outer ring 22 of test bearing, in this reality
It applies in example, for protection test bearing, sealing structure is provided between above-mentioned stripping ring 18 and outer installation part 21, is sealed herein
Structure is specifically using lip-type packing 30, and certainly, in other embodiments, sealing structure can also be other using filler etc.
The sealing structure of type.It is also provided with lubricating oil filling mouth 23 at the periphery of spacer ring in addition, corresponding on outer installation part 21, passes through profit
Oil filling mouth 23 can carry out test bearing oily.
A payload reception part is also connected with by flange connection on outer installation part 21, is equivalent to outer installation part 21
It being mounted on payload reception part, payload reception part includes connecting plate and the rectangular load body 24 for being located at connecting plate side,
Outer installation part 21 is mounted in load body 24, and in the present embodiment, connecting plate is specifically using split type structure, by erecting
Plate part 25 and the plate part 26 for being located at the top of riser portion 25 are constituted, and plate part 26 especially by being fastenedly connected accordingly
On structure fixing assembling riser portion 25.
It should be strongly noted that load body 24 herein is structure as a whole with riser portion 25.Moreover, outer installation part
21 are assembled together by the way that above-mentioned flange connection is corresponding with the fastening of riser portion 25.And in other embodiments, add
Carrying body 24 can also be the structure together with seperated fixing assembling with riser portion 25, correspondingly, riser portion 25 can be with plate
Part 26 is structure as a whole.
Axial loading device 12 is coupled by the riser portion 25 of connecting plate with outer installation part 21, in the present embodiment, axis
To the tie point position of loading device 12 and payload reception part be can radially adjusting along test bearing, which is specifically this
What sample was realized: the riser portion 25 of connecting plate is equipped with the dovetail groove extended up and down, is specially T-slot in the present embodiment, axial
The load seat 40 of loading device 12 by connector sleeve 27(herein be specially copper sheathing), oscillating bearing 28 be connected with load force snesor
29, in the present embodiment, load force snesor is pull pressure sensor.
Radial loading device 11 is coupled by the plate part 26 of connecting plate with outer installation part, in the present embodiment, radial
The tie point position of loading device and payload reception part is can be along the axially adjustable of test bearing, which is specifically real in this way
Existing: the horizontal plate portions of connecting plate are equipped with the dovetail groove axially extending along test bearing, are specially T shape in the present embodiment
The load seat of slot, radial loading device is connected with load force snesor by connector sleeve (being herein specially copper sheathing), oscillating bearing,
In the present embodiment, load force snesor is pull pressure sensor.
As shown in Fig. 1 and Fig. 2, in the present embodiment, axial loading device and radial loading device are located at test bearing
At opposite two sides, in the present embodiment, respectively upper and lower two sides.Certainly, in other embodiments, they, which can also be, is testing
At the left and right sides of bearing or arbitrary opposite two sides, or around the arbitrarily selected position setting of circumferencial direction of test bearing.
In the other embodiments of robot joint speed reducer base bearing test tool, axial loading device and radial loaded dress
Setting can also directly connect with outer installation part and form the relationship that load is coupled；It can also be set on outer installation part or connecting plate
It is adjustable come the position for realizing axial loading device and radial loading device to set multiple and different holes.Axial loading device and radial direction add
Carrying the loading position set can also be fixed point, in such cases, need to guarantee that the loading force of axial loading device deviates test
The center of bearing, the loading force of radial loading device deviate the middle position of test bearing.It is axial to add in above-described embodiment
Carry to set and contain force part, i.e. power section with radial loading device, in other embodiments, axial loading device and
Radial loading device should also contain the case where removing force part, in such cases, can by external connection power source come into
Row test.
The embodiment of robot joint speed reducer base bearing testing machine, the testing machine include test axis and tooling, test
It can be the rotary axis of any mechanical equipment with axis, tooling is identical as the structure of tooling described in above-described embodiment, herein
It will not go into details.In the specific implementation, mechanical equipment can be lathe or other devices that can provide corresponding rotary axis.
Claims (10)
1. robot joint speed reducer base bearing test tool, which is characterized in that including for cooperating with the inner ring of test bearing
Interior installation part and for test bearing to be fixed on the outer installation part on interior installation part, interior installation part have for mutually take an entrance examination
Test the Axile connection structure with axis connection, outer installation part be linked with can axial loading device to the axially loaded offset distance of test bearing and
It can be to the radial loading device of test bearing radial loaded offset distance.
2. robot joint speed reducer base bearing test tool according to claim 1, which is characterized in that the axial direction adds
Carry set external installation part force application location it is radially adjustable along test bearing, the force of the external installation part of radial loading device
Position is axially adjustable along test bearing.
3. robot joint speed reducer base bearing test tool according to claim 1, which is characterized in that the outer installation
Part is fixedly mounted on a payload reception part, and the axial loading device and radial loading device pass through the payload reception
Part is coupled with outer installation part.
4. robot joint speed reducer base bearing test tool according to claim 3, which is characterized in that the axial direction adds
It carries and sets, the radial loading device and payload reception part radially adjustable along test bearing with the link position of payload reception part
Link position is axially adjustable along test bearing.
5. robot joint speed reducer base bearing test tool according to claim 4, which is characterized in that the load connects
Addressee includes connecting plate, and the axial loading device is connect with connecting plate and the position on connecting plate can be along test bearing radial direction
Adjustment.
6. robot joint speed reducer base bearing testing machine, which is characterized in that including test axis, be mounted on test axis
, for the interior installation part with the cooperation of the inner ring of test bearing and the outer installation for being fixed on test bearing on interior installation part
Part, outer installation part be linked with can axial loading device to the axially loaded offset distance of test bearing and can to test bearing radially plus
Carry the radial loading device of offset distance.
7. robot joint speed reducer base bearing testing machine according to claim 6, which is characterized in that described axially loaded
The force application location of the external installation part of device is radially adjustable along test bearing, the force position of the external installation part of radial loading device
It sets axially adjustable along test bearing.
8. robot joint speed reducer base bearing testing machine according to claim 6, which is characterized in that the outer installation part
It is fixedly mounted on a payload reception part, the axial loading device and radial loading device pass through the payload reception part
It is coupled with outer installation part.
9. robot joint speed reducer base bearing testing machine according to claim 8, which is characterized in that described axially loaded
The link position of device and payload reception part is radially adjustable along test bearing, the company of the radial loading device and payload reception part
It is axially adjustable along test bearing to connect position.
10. robot joint speed reducer base bearing testing machine according to claim 9, which is characterized in that the load connects
Addressee includes connecting plate, and the axial loading device is connect with connecting plate and the position on connecting plate can be along test bearing radial direction
Adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810157300.9A CN110196163A (en) | 2018-02-24 | 2018-02-24 | Robot joint speed reducer base bearing test tool and testing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810157300.9A CN110196163A (en) | 2018-02-24 | 2018-02-24 | Robot joint speed reducer base bearing test tool and testing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110196163A true CN110196163A (en) | 2019-09-03 |
Family
ID=67744046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810157300.9A Pending CN110196163A (en) | 2018-02-24 | 2018-02-24 | Robot joint speed reducer base bearing test tool and testing machine |
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| Country | Link |
|---|---|
| CN (1) | CN110196163A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112240827A (en) * | 2020-04-02 | 2021-01-19 | 北京新能源汽车技术创新中心有限公司 | Composite loading device and test bed for speed reducer test |
| CN112577738A (en) * | 2020-11-26 | 2021-03-30 | 人本股份有限公司 | Wheel hub bearing durability test tool |
-
2018
- 2018-02-24 CN CN201810157300.9A patent/CN110196163A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112240827A (en) * | 2020-04-02 | 2021-01-19 | 北京新能源汽车技术创新中心有限公司 | Composite loading device and test bed for speed reducer test |
| CN112577738A (en) * | 2020-11-26 | 2021-03-30 | 人本股份有限公司 | Wheel hub bearing durability test tool |
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