CN112197960B - Vibration and fatigue life detection device of speed reducer for robot - Google Patents
Vibration and fatigue life detection device of speed reducer for robot Download PDFInfo
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- CN112197960B CN112197960B CN202011000907.XA CN202011000907A CN112197960B CN 112197960 B CN112197960 B CN 112197960B CN 202011000907 A CN202011000907 A CN 202011000907A CN 112197960 B CN112197960 B CN 112197960B
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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
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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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
- G01M13/028—Acoustic or vibration analysis
Abstract
The invention discloses a device for detecting vibration and fatigue life of a speed reducer for a robot, which comprises an experiment table, a support arranged on the experiment table, a rigid-flexible switching mechanism, a power transmission mechanism for providing power for a detected speed reducer, a loading mechanism for providing load for the detected speed reducer and a detection mechanism for detecting parameters of the detected speed reducer, wherein a support hole for the detected speed reducer is formed in the support, the rigid-flexible switching mechanism is embedded in the support hole and sleeved on the detected speed reducer, the rigid-flexible switching mechanism comprises an inner ring body sleeved on the detected speed reducer, a plurality of elastic components annularly arranged on the inner ring body and a rigid ring sleeved on the inner ring body in a detachable mode, the outer sides of the elastic components and the rigid ring are abutted against the inner wall of the support hole, and the rigid-flexible switching mechanism is switched between a flexible state and a rigid state. One set of device of this case can carry out two performance detections, plays and reduces and sets up and maintenance cost to reduce occupation space greatly, reach the purpose that promotes the device use benefit.
Description
Technical Field
The invention relates to the technical field of mechanical detection, in particular to a device for detecting vibration and fatigue life of a speed reducer for a robot.
Background
The speed reducer is used as a core part for the industrial robot, and the transmission precision and reliability of the speed reducer directly determine the service life and the use precision of the industrial robot. The speed reducer belongs to precision transmission equipment, processing and assembly errors exist in batch production, and in the actual use process, the vibration of the speed reducer directly influences the safe operation of power equipment such as a transmission shaft, an engine or a motor and the like, and even serious consequences can be generated. The vibration detection and fault analysis of the speed reducer are one of key technical means for feeding back the manufacturing and assembling errors of the speed reducer, improving the repeated positioning precision and the transmission stability of the speed reducer and prolonging the service life of the robot. Therefore, the vibration and fatigue life of the RV reducer need to be researched to solve the problem of the chattering of the robot and prolong the service life.
The vibration measurement of current reduction gear mainly goes on at horizontal reduction gear comprehensive experiment platform, with reduction gear fixed mounting on the fixed bolster of laboratory bench, belong to rigid connection, and most reduction gear vibration measurement mainly adopts the face contact, and when reduction gear input rotational speed was too high, the vibration of input driving motor self vibration and whole laboratory bench easily takes place, vibration sensor on these nonlinear error factors directly pass to the reduction gear easily, it is stronger to the vibration signal monitoring interference of reduction gear, need just can detect out the vibration condition of reduction gear through multiple signal processing or failure diagnosis algorithm, this signal processing or algorithm operation are difficult to realize to most enterprises, need special technical staff just can operate. Therefore, in order to eliminate or weaken the interference of external vibration on the vibration measurement of the speed reducer as much as possible, the market improves the testing device, for example, chinese patent CN201910244497.4 discloses a harmonic speed reducer vibration testing device, which comprises a harmonic speed reducer, a harmonic speed reducer output flange, a clamping type transfer block, an elastic coupling, a servo motor, a connecting sleeve, an elastic rope and a vibration sensor, wherein the harmonic speed reducer output flange is installed at the output end of the harmonic speed reducer, one end of the clamping type transfer block is connected with the input shaft of the harmonic speed reducer, the other end of the clamping type transfer block is connected with one end of the elastic coupling, the connecting sleeve is installed at the non-transfer position of the harmonic speed reducer, the other end of the elastic coupling is connected with the output shaft of the servo motor, and the elastic coupling and the assembly body of the servo motor are fixed on the connecting sleeve, the elastic rope is arranged on the connecting sleeve, the vibration sensor is arranged on the harmonic reducer, and the elastic rope is used for suspending the vibration testing device; the vibration sensor is used for testing the vibration quantity of the harmonic reducer. The whole testing device is suspended by the elastic rope in the detection process, a connecting device does not exist, the non-linear factor of the contact surface cannot be introduced, the interference of the linear factor on the vibration signal is eliminated by the substrate, and the measurement result is more reliable. Therefore, the device which is simple and reliable and can reduce the influence of the outside on the vibration measurement of the speed reducer to the maximum extent has important practical engineering value.
In addition, the service life of the speed reducer is another important performance parameter of the speed reducer, which directly concerns the service life and the safety of the speed reducer, and the fatigue life test of the speed reducer is particularly important for ensuring the reliability of the speed reducer for the robot. The structure of the detection device is also disclosed, for example, the robot harmonic reducer fatigue performance test bed disclosed in chinese CN201920301271.9, includes a platform, on which a moving mechanism, a motor base, a supporting seat are sequentially arranged, and the robot harmonic reducer performance parameter comprehensive test bed further includes: the driving motor is connected with an input shaft of a first torque sensor through a coupler, an output shaft of the first torque sensor is connected with an input shaft of a tested harmonic reducer, an output shaft of the tested harmonic reducer is connected with an input shaft of a second torque sensor through a coupler, an output shaft of the second torque sensor is connected with an input shaft of the tested harmonic reducer, an output shaft of the tested harmonic reducer is connected with the load motor through a coupler, the AC servo frequency conversion controller comprises a rectification feedback AC controller, a driving inversion controller, a loading inversion controller, the load motor is connected with an acceleration inversion controller, the loading inversion controller transmits a torque signal of the load motor to the rectification feedback AC controller, and the rectification feedback AC controller is connected with an input end of the driving inversion controller, the output end of the driving inversion controller is connected with the driving motor. The running state of the robot is simulated through PLC programming, the driving and load motors are automatically controlled through a PLC programming program to complete corresponding test requirements, the test bed controls the rotating speed through the driving motor and controls the torque through the load motor, the load torque required by the fatigue test is applied to the tested speed reducer, and the fatigue test of the speed reducer is completed through long-time loading operation. Wherein, the reduction gear of being examined passes through reduction gear supporting seat to support and the reduction gear of being examined passes through rigid connection with the reduction gear supporting seat.
Therefore, due to the different requirements of the two performances, the two performances are respectively detected by two detection devices in the existing mode, and the problems that the two sets of devices occupy large space, and the purchase and maintenance costs are large due to various mechanisms exist.
In view of the above, the applicant has made an intensive study to solve the above problems and has made the present invention.
Disclosure of Invention
The invention mainly aims to provide a device for detecting vibration and fatigue life of a speed reducer for a robot.
In order to achieve the above purpose, the solution of the invention is:
the utility model provides a vibration and fatigue life detection device of reduction gear for robot, wherein, include the laboratory bench and establish the support on the laboratory bench, just gentle shifter, for being surveyed the power transmission mechanism that the reduction gear provided power, for being surveyed the reduction gear and providing the loading mechanism of load and detect the detection mechanism of being surveyed the reduction gear parameter, be equipped with the supported hole that is used for being surveyed the reduction gear on the support, just gentle shifter inlays to be established in the supported hole and overlaps and establish on being surveyed the reduction gear, should just gentle shifter establish including the cover establish the interior ring body that is surveyed the speed reduction, a plurality of elastic component of ring body and can install and remove the rigid ring of establishing the interior ring body, the outside of elastic component and rigid ring all offsets with the supported hole inner wall, just gentle shifter switches between flexible state and rigid state.
Furthermore, each elastic component comprises two continuous elastic pieces, each elastic piece comprises a connecting portion and an elastic arc portion, the two connecting portions are connected, one end of each connecting portion is connected with the inner wall of the support hole or the outer wall of the inner ring body, and the convex surfaces of the two elastic arc portions are connected with the inner wall of the inner ring body or the inner wall of the support hole.
Furthermore, two rigid rings are arranged and can be respectively sleeved at the two axial ends of the inner ring body in a detachable manner.
Furthermore, the device also comprises a plurality of locking blocks, wherein the locking blocks are provided with a plurality of locking holes, and each locking block is respectively connected with the support and the detected speed reducer through two ends of each locking hole.
Further, the detection mechanism comprises a torque sensor, a temperature sensor and a vibration sensor, and the temperature sensor and the vibration sensor are arranged on the inner surface of the inner ring body.
Further, power transmission mechanism includes coaxial setting and the driving motor who connects gradually, transmission shaft, first elastic coupling and second elastic coupling, torque sensor establishes between first elastic coupling and second elastic coupling, and the output of second elastic coupling is connected with the input shaft of the reduction gear of being surveyed.
Further, loading mechanism includes the swing arm, swing arm one end and the output shaft of being surveyed the reduction gear and the other end are equipped with and hold the chamber, should hold the chamber and be equipped with the material mouth that can drop into the counter weight ball.
Further, the loading mechanism further comprises a supporting seat and a loader arranged on the supporting seat, and the loader is used for feeding the counterweight balls into the accommodating cavity through the material port.
Further, the counterweight ball is made of an iron material, a moving cavity communicated with the accommodating cavity is further arranged in the swing arm, and an electromagnet is arranged on the inner wall of the accommodating cavity and the inner wall of the moving cavity.
Furthermore, the accommodating cavity is also provided with a load shedding port.
After adopting the structure, compared with the prior art, the vibration and fatigue life detection device of the speed reducer for the robot has the beneficial effects that:
1. the just gentle shifter of present case can switch between rigid state and flexible state, when this case is used for the vibration detection, demolish loading mechanism and just gentle shifter's rigid ring dismantles simultaneously, makes measured reduction gear and support flexonics, and elastic component can absorb the vibration of laboratory bench self to furthest reduces external nonlinear factor and to vibration measurement's interference, improves the measuring accuracy.
2. When the device is used for detecting the fatigue life, the loading mechanism is installed, the rigid ring of the rigid-flexible switching mechanism is sleeved on the inner ring body, the speed reducer to be detected is rigidly connected with the support, and the loading mechanism is used for providing load for the speed reducer to be detected, so that the fatigue life test is completed. Therefore, one set of device can carry out two performance detections, thereby reducing the setting and maintenance cost, greatly reducing the occupied space and achieving the purpose of improving the use benefit of the device.
Drawings
FIG. 1 is a front view of the present case for vibration detection;
FIG. 2 is a side view of the present case for vibration detection;
FIG. 3 is a schematic structural diagram of the present invention for detecting fatigue life;
FIG. 4 is a second schematic diagram of the structure for detecting fatigue life of the present invention;
FIG. 5 is a schematic view of the overall structure of the rigid-flexible conversion mechanism;
FIG. 6 is an exploded view of the rigid-flexible conversion mechanism;
FIG. 7 is a schematic structural diagram of an elastic assembly according to the present disclosure;
fig. 8 is a schematic cross-sectional view of the swing arm of the present application.
In the figure:
the device comprises a tested speed reducer-1, a flange plate-11, an input shaft-12 and an output shaft-13;
experiment table-2;
bracket-3, support hole-31;
a rigid-flexible conversion mechanism-4, an inner ring-41, an elastic component-42, an elastic sheet-43, a connecting part-43 a, an elastic arc part-43 b, a rigid ring-44 and a spherical support body-45;
a power transmission mechanism-5, a driving motor-51, a transmission shaft-52, a first elastic coupling-53 and a second elastic coupling-54;
a torque sensor-61, a temperature sensor-62, a vibration sensor-63;
the device comprises a loading mechanism-7, a swing arm-71, an accommodating cavity-71 a, a material port-71 b, a moving cavity-71 c, a load reducing port-71 d, a loader-72, a counterweight ball-73, an electromagnet-74 and a supporting seat-75;
a locking block-8;
and a disc-9 is installed.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
As shown in fig. 1 to 7, the present invention provides a vibration and fatigue life detection device for a speed reducer for a robot, which includes an experiment table 2, a bracket 3 arranged on the experiment table 2, a rigid-flexible conversion mechanism 4, a power transmission mechanism 5 for providing power to a detected speed reducer 1, a loading mechanism 7 for providing load to the detected speed reducer 1, and a detection mechanism for detecting parameters of the detected speed reducer 1. The support 3 is provided with a support hole 31 for the tested speed reducer 1, the mounting disc 9 is arranged outside the support hole 31, and the mounting disc 9 is fixed on the support hole 31.
The rigid-flexible switching mechanism 4 is embedded in the supporting hole 31 and sleeved on the tested speed reducer 1, the rigid-flexible switching mechanism 4 comprises an inner ring body 41 sleeved on the tested speed reducer 1, a plurality of elastic components 42 annularly arranged on the inner ring body 41 and a rigid ring 44 detachably sleeved on the inner ring body 41, the outer sides of the elastic components 42 and the rigid ring 44 are abutted against the inner wall of the supporting hole 31, and the rigid-flexible switching mechanism 4 is switched between a flexible state and a rigid state.
Like this, when this case is used for vibration detection, as shown in fig. 1, 2, demolish loading mechanism 7 and the rigidity circle 44 of just gentle shifter mechanism 4 is dismantled simultaneously, at this moment, by elastic component 42 and holding hole 31 inner wall counterbalance, just gentle shifter mechanism 4 is in the flexible state, makes the reduction gear 1 of being surveyed and support 3 flexonics, and elastic component 42 can absorb the vibration of laboratory bench 2 self to furthest reduces the interference of external non-linear factor to vibration measurement, improves measurement accuracy. When the scheme is used for detecting the fatigue life, as shown in fig. 3 and 4, the loading mechanism 7 is installed, the rigid ring 44 of the rigid-flexible switching mechanism 4 is sleeved on the inner ring body 41, at this time, the rigid ring 44 abuts against the inside of the supporting hole 31 and is supported by the rigid ring 44, the elastic assembly 42 is not pressed, the rigid-flexible switching mechanism 4 is in a rigid state, the detected speed reducer 1 is rigidly connected with the support 3, and the loading mechanism 7 is used for providing a load for the detected speed reducer 1, so that the fatigue life test is completed.
Preferably, as shown in fig. 5 to 7, each elastic assembly 42 includes two connected elastic sheets 43, each elastic sheet 43 includes a connecting portion 43a and an elastic arc portion 43b, the two connecting portions 43a are connected and one end of each elastic sheet is connected to the inner wall of the support hole 31 or the outer wall of the inner ring 41, the convex surfaces of the two elastic arc portions 43b are connected to the outer wall of the inner ring 41 or the inner wall of the support hole 31, and the two elastic arc portions 43b are symmetrically disposed with the connecting portions 43a as a symmetric object. When the experiment table 2 vibrates, the convex points of the elastic arc parts 43b are pressed and deformed, so that the external vibration force is absorbed through deformation.
More preferably, the rigid-flexible conversion mechanism 4 has two rigid rings 44 detachably fitted on both ends of the inner ring body 41 in the axial direction, that is, the elastic member 42 is disposed between the two rigid rings 44, so that the rigid rings and the elastic member 42 are disposed without being affected by each other.
Preferably, the speed reducer testing device further comprises a plurality of locking blocks 8, a plurality of locking holes are formed in the locking blocks 8, each locking block 8 is connected with the support 3 and the speed reducer 1 to be tested respectively through two ends of each locking hole, specifically, the speed reducer 1 to be tested is also provided with a flange plate 11, and two ends of each locking block 8 are connected with the mounting plate 9 and the flange plate 11 respectively to connect the speed reducer 1 to be tested with the support 3. The locking holes have various specifications and sizes and are suitable for the tested speed reducers 1 of different types.
The detection mechanism includes a torque sensor 61, a temperature sensor 62, and a vibration sensor 63, and the temperature sensor 62 and the vibration sensor 63 are provided on the inner surface of the inner ring body 41. Specifically, the inner surface of the inner ring 41 is provided with a plurality of spherical supports 45, the inner ring 41 is connected to the reducer 1 to be measured via the spherical supports 45, and the temperature sensor 62 and the vibration sensor 63 are not pressed. And two sensors establish can the direct measurement by the inboard signal of surveying reduction gear 1 of interior ring 41, play the effect that the external vibration is absorbed by elastic component 42 in the interior ring 41 outside simultaneously, guarantee that the signal source of vibration sensor 63 is accurate, other signals are to the interference of the reduction gear true condition when effectively having avoided traditional laboratory bench 2 to test reduction gear vibrations signal.
Preferably, the power transmission mechanism 5 includes a driving motor 51, a transmission shaft 52, a first elastic coupling 53 and a second elastic coupling 54 which are coaxially disposed and sequentially connected, and the torque sensor 61 is disposed between the first elastic coupling 53 and the second elastic coupling 54, so that the power of the driving motor 51 can be input to the torque sensor 61 through the first elastic coupling 53, thereby reducing the influence degree of the vibration or impact of the driving motor 51 on the detection accuracy of the torque sensor 61. The output of the second elastic coupling 54 is connected to the input shaft 12 of the gear unit 1 under test. The power of the driving motor 51 is smoothly transmitted to the inside of the tested speed reducer 1 through the transmission shaft 52, the first elastic coupling 53, the torque sensor 61 and the second elastic coupling 54, and the influence of external factors on the experimental test of the tested speed reducer 1 is effectively reduced.
As shown in fig. 3 and 8, the loading mechanism 7 includes a swing arm 71, and may further include a support base 75 and a loader 72 disposed on the support base 75. One end of the swing arm 71 is connected with the output shaft 13 of the tested speed reducer 1, the other end of the swing arm is provided with an accommodating cavity 71a, the accommodating cavity 71a is provided with a material opening 71b, and the loader 72 puts the counterweight balls 73 into the accommodating cavity 71a through the material opening 71 b. When the fatigue life is detected, one end of the swing arm 71 is connected with the output shaft 13 of the driven side reducer, and when the output shaft 13 rotates, the swing arm 71 performs circular motion to provide a loading load for the driven side reducer. Of course, the counterweight balls 73 can be manually put into the swing arms 71, the loader 72 can be arranged for automation, the loader 72 is not important in the scheme, the specific structure is not described in detail, and the loading of the counterweight balls can be realized by a simple conveyor belt.
The counterweight ball 73 is made of an iron material, a moving cavity 71c communicated with the accommodating cavity 71a is further arranged in the swing arm 71, and electromagnets 74 are arranged on the inner walls of the accommodating cavity 71a and the moving cavity 71 c. Accordingly, the electromagnet 74 is energized to have a magnetic attraction force, and can attract the weight ball 73; the electromagnet 74 is de-energized and there is no magnetic attraction force and the weight ball 73 can move between the accommodation chamber 71a and the moving chamber 71 c.
The accommodating cavity 71a is further provided with a load relief opening 71d, and the counterweight balls 73 can fall out of the load relief opening 71d, so that the number of the counterweight balls 73 in the swing arm 71 is reduced, and the load of the swing arm 71 is reduced. The material opening 71b and the load reducing opening 71d can be opened or closed manually, and a rotating mechanism can be arranged to open or close the material opening 71b and the load reducing opening 71d in a rotating manner in order to realize automation. The structural manner of automatically opening or closing the cover is simple to implement and is not important in the present case, and will not be described in detail here.
Thus, the present invention has two working states, when vibration detection is performed, as shown in fig. 1 and 2, the loading mechanism 7 is removed, so that the output shaft 13 of the detected speed reducer 1 is in an idle state, the power of the driving motor 51 is input to the first elastic coupling 53 through the transmission shaft 52, the power is further input to the torque sensor 61 through the first elastic coupling 53, the torque signal input by the driving motor 51 can be effectively detected by the torque sensor 61, then the power is transmitted to the second elastic coupling 54, the force is transmitted to the input shaft 12 of the detected speed reducer 1 through the second elastic coupling 54, at this time, the rigid-flexible mechanism is in a flexible state, the elastic elements on the outer surface of the inner shell absorb the vibration of the driving motor 51 and the test bed body, i.e. the external vibration is isolated outside the detected speed reducer 1, the vibration sensor 63 on the inner surface of the inner shell can directly measure the vibration signal of the detected speed reducer 1, the accurate signal source is guaranteed, so that the interference of external signals to the vibration signals of the detected speed reducer 1 is reduced to the maximum extent, and the vibration condition of the detected speed reducer 1 is truly reflected.
When the fatigue life detection is carried out, the loading mechanism 7 is loaded by connecting one end of the swing arm 71 to the output end of the detected speed reducer 1, and similarly, the driving motor 51 can smoothly transmit power to the input shaft 12 of the detected speed reducer 1. The service life fatigue detection is divided into two conditions of a uniform load working condition and a variable load working condition: when the electromagnet 74 in the swing arm 71 is electrified, the counterweight ball 73 is adsorbed and fixed by the electromagnet 74, the effect of the swing arm 71 at the moment is equal to the effect of a conventional counterweight block, and at the moment, the operation condition of the reducer 1 to be tested under the uniform load working condition is simulated; when the electromagnet 74 in the swing arm 71 is powered off, the counterweight ball 73 is not influenced by magnetic force and can freely move in the accommodating cavity 71a and the moving cavity 71c in the swing arm 71, when the reducer output shaft 13 rotates, the swing arm 71 per se does circular motion, while the counterweight ball 73 in the swing arm 71 does circular motion and does irregular and indefinite free motion in the accommodating cavity 71a and the moving cavity 71c in the swing arm 71, and the counterweight of the swing arm 71 at the moment is changed inertia force, so that a variable load working condition is formed, and the operation of the manipulator under different working conditions is effectively simulated. Like this, two kinds of operating modes carry out the free collocation of each other to can imitate if all carry to become to carry or become to carry to the fatigue life experiment of being surveyed reduction gear 1 under the alternative operating mode such as all carrying, the test result more can reflect the robot in-service use operating mode, and the measuring accuracy is higher.
In the fatigue life detection process, the temperature sensor 62 in the inner ring body 41 detects the temperature change condition of the detected speed reducer 1 at any time, and the vibration sensor 63 can effectively detect the vibration speed, the acceleration and the displacement value of the detected speed reducer 1, so that the change of the self failure mechanism of the detected speed reducer 1 by the load formed by the loading force is prevented.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (10)
1. The utility model provides a vibration and fatigue life detection device of reduction gear for robot, its characterized in that, include the laboratory bench and establish the support on the laboratory bench, just gentle shifter, for being surveyed the power transmission mechanism that the reduction gear provided power, for being surveyed the reduction gear and providing the loading mechanism of load and detect the detection mechanism by surveying the reduction gear parameter, be equipped with the supported hole that is used for the installation to be surveyed the reduction gear on the support, just gentle shifter inlays to be established in the supported hole and overlaps and establish on being surveyed the reduction gear, and this just gentle shifter is established including the cover and is established the interior annular body of being surveyed the reduction gear, and the rigid circle of establishing at a plurality of elastic component of inner ring body and can install and remove the cover and establish in the inner ring body, the outside of elastic component and rigid circle all offsets with the supported hole inner wall, just gentle shifter switches between flexible state and rigid state.
2. The apparatus according to claim 1, wherein each elastic member comprises two connected elastic pieces, each elastic piece comprises a connecting portion and an elastic arc portion, the two connecting portions are connected and one end of each connecting portion is connected with the inner wall of the support hole or the outer wall of the inner ring body, and convex surfaces of the two elastic arc portions are connected with the outer wall of the inner ring body or the inner wall of the support hole.
3. The vibration and fatigue life detecting device of a decelerator for robots as claimed in claim 1 or 2, wherein two rigid rings are provided to be detachably fitted on both axial ends of the inner ring body, respectively.
4. The device for detecting the vibration and fatigue life of the speed reducer for the robot according to claim 3, further comprising a plurality of locking blocks, wherein the locking blocks are provided with a plurality of locking holes, and each locking block is respectively connected with the bracket and the speed reducer to be detected through two ends of each locking hole.
5. The vibration and fatigue life detecting apparatus of a decelerator for robots according to claim 1, wherein the detecting means includes a torque sensor, a temperature sensor, and a vibration sensor, the temperature sensor and the vibration sensor being provided on an inner surface of the inner ring body.
6. The device for detecting the vibration and fatigue life of the speed reducer for the robot according to claim 5, wherein the power transmission mechanism comprises a driving motor, a transmission shaft, a first elastic coupling and a second elastic coupling which are coaxially arranged and sequentially connected, the torque sensor is arranged between the first elastic coupling and the second elastic coupling, and an output end of the second elastic coupling is connected with an input shaft of the speed reducer to be detected.
7. The apparatus according to claim 1, wherein the loading mechanism comprises a swing arm, one end of the swing arm is connected to the output shaft of the reducer to be tested, and the other end of the swing arm is provided with a receiving cavity, and the receiving cavity is provided with a material port into which the counterweight ball can be inserted.
8. The vibration and fatigue life detecting device of a decelerator for robots as claimed in claim 7, wherein said loading mechanism further includes a support base and a loader provided on the support base, the loader dropping a counterweight ball into the accommodating chamber through the material port.
9. The apparatus for detecting the vibration and fatigue life of a decelerator for a robot according to claim 7, wherein the counterweight ball is made of a ferrous material, the swing arm is further provided therein with a moving chamber communicated with the accommodating chamber, and the inner walls of the accommodating chamber and the moving chamber are provided with electromagnets.
10. A vibration and fatigue life detecting apparatus of a decelerator for robots as set forth in any one of claims 7 to 9, wherein said accommodating chamber is further provided with a relief port.
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| CN112924171B (en) * | 2021-02-08 | 2022-08-26 | 盐城工学院 | RV reduction gear integrated test device |
| KR102562497B1 (en) * | 2021-04-01 | 2023-08-02 | 국방과학연구소 | Load simulator for testing actuator |
| CN113567111B (en) * | 2021-07-21 | 2022-07-19 | 吉林大学重庆研究院 | High-precision detection device for heat production and abrasion of speed reducer |
| CN113670591A (en) * | 2021-08-09 | 2021-11-19 | 辽宁通用航空研究院 | Torque fatigue test device |
| CN116429416B (en) * | 2023-06-13 | 2023-08-18 | 江苏开放大学（江苏城市职业学院） | Vibration detection platform of robot speed reducer |
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| 柔性机械臂的变结构振动控制研究;邱志成;《动力学与控制学报》;20070331;第5卷(第1期);第62-67页 * |
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