CN114878159A - Rapid life testing device and method applied to precision speed reducer - Google Patents

Abstract

The invention relates to a quick life test device and a quick life test method applied to a precision speed reducer, wherein the input end and the output end of the precision speed reducer to be tested are respectively connected with a driving motor and a swing arm, the input end of the precision speed reducer rotates under the driving of the driving motor, and then the output end of the precision speed reducer drives the swing arm to swing; the swing arm is provided with a slide rail, a driving device and a slide block, the slide block is slidably mounted in the slide rail, the slide block is provided with a balancing weight, the driving device is matched with the slide block and the slide rail, the slide block slides along the slide rail under the action of the driving device, and then the balancing weight is driven to move on the swing arm. Compared with the prior art, the invention adds the movable counter weight on the swing arm, and the movable counter weight can move along with the change of the motion angle of the swing arm, thereby adjusting the acting torque acting on the precision speed reducer, ensuring that the acting torque acting on the speed reducer is always the maximum torque, and greatly reducing the service life test time of the precision speed reducer.

Description

A fast life testing device and method applied to precision reducer

technical field

The invention relates to the technical field of product testing, in particular to a fast life testing device and method applied to a precision reducer.

Background technique

Precision reducers are the core components of robots. With the rapid development of the manufacturing industry, there is a large demand for precision reducers. In order to break the pattern of relying on imports for precision reducers, it is necessary to independently develop precision reducers.

The service life is an important performance parameter of the precision reducer. In order to ensure the reliability of the precision reducer, the fatigue life test of the precision reducer during the research and development process is particularly important. The quality of the test device directly affects the progress of product development. Therefore, it is necessary to start the development and testing of various types of precision reducers, and require corresponding testing devices.

At present, the life test principle of the precision reducer for robots is to simulate the motion of the swing arm of the robot, such as a fatigue life test method of the precision reducer for robots disclosed in Chinese patent CN201810185776.3. In the existing life testing device, the output end of the precision reducer is connected to a swing arm, which simulates a robotic arm. The swing arm mainly uses the moment generated by the self-weight of the swing arm, and its maximum moment is limited by the maximum stress load of the reducer. However, during the movement of the swing arm, the torque acting on the precision reducer is different at different positions, which leads to a long life test cycle and affects product development and testing.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a rapid life testing device and method applied to a precision reducer in order to overcome the above-mentioned defects of the prior art.

The object of the present invention can be realized through the following technical solutions:

A fast life testing device applied to a precision reducer, comprising a precision reducer to be tested, the input end and the output end of the precision reducer are respectively connected to a drive motor and a swing arm, and driven by the drive motor, the precision reducer is The input end of the reducer rotates, and then the output end of the precision reducer drives the swing arm to swing;

The swing arm is provided with a sliding rail, a driving device and a sliding block, the sliding block is slidably installed in the sliding rail, a counterweight is installed on the sliding block, and the driving device cooperates with the sliding block and the sliding rail, and the sliding block is installed on the sliding block. Under the action, the slider slides along the slide rail, thereby driving the counterweight to move on the swing arm.

Further, the precision reducer and the drive motor are connected through an adapter shaft, one end of the adapter shaft is connected to the output shaft of the drive motor, and the other end of the adapter shaft is connected to the input end of the precision reducer.

Further, the precision reducer and the swing arm are connected through a connecting shaft, one end of the connecting shaft is connected to the output end of the precision reducer, and the other end of the connecting shaft is connected to the swing arm.

Further, a mounting seat is also included, and the precision reducer and the driving motor are mounted on the mounting seat.

Further, it also includes a base, and the mounting base is installed on the base.

Further, a support is provided on the sliding block, and the counterweight is detachably mounted on the sliding block through the support.

Further, in the length direction of the swing arm, the first end of the swing arm is connected with the output end of the precision reducer, the second end is the free end, the slide rail is arranged along the length direction of the swing arm, and the slider is along the slide rail. Slide the length of the swing arm.

Further, the driving device includes a servo motor and a screw rod, the servo motor is installed on the swing arm, one end of the screw rod is connected with the servo motor, and the other end is matched with the slider, and the screw rod is under the action of the servo motor. Rotate, thereby driving the slider to slide along the slide rail.

Further, a controller is also included, and the driving motor and the driving device are connected in communication with the controller.

A rapid life test method applied to precision reducers, specifically:

The drive motor works, the precision reducer drives the swing arm to swing, the drive device works, and the position of the slider on the swing arm is controlled in real time, so that the torque acting on the precision reducer during the movement of the swing arm is the largest.

Compared with the prior art, the present invention has the following beneficial effects:

(1) A movable counterweight is added to the swing arm, and the movable counterweight can move with the movement angle of the swing arm, so as to adjust the acting torque acting on the precision reducer, so that the acting torque acting on the reducer is always It is the maximum torque, which can greatly reduce the life test time of the precision reducer, thereby shortening the research and development process of the precision reducer.

(2) The driving device includes a servo motor and a lead screw, which has fast corresponding speed and high control precision. It can quickly adjust the movement of the slider in real time during the movement of the swing arm, and then adjust the position of the counterweight.

(3) The precision reducer and the drive motor are installed through the mounting seat, and the slider is provided with a support to install the counterweight. The whole device can test different types of precision reducers and meet different test requirements.

Description of drawings

1 is a schematic structural diagram of a rapid life test device;

Fig. 2 is the overall appearance structure diagram of the rapid life test device;

Figure 3 is a schematic diagram of the force analysis during the movement of the swing arm;

Reference numerals: 1, swing arm, 2, slide rail, 3, slider, 4, support, 5, counterweight, 6, lead screw, 7, servo motor, 8, connecting shaft, 9, precision reducer , 10, the mounting seat, 11, the transfer shaft, 12, the drive motor, 13, the base.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

In the drawings, structurally identical components are denoted by the same numerals, and structurally or functionally similar components are denoted by like numerals throughout. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. Parts in the drawings have been appropriately exaggerated in some places for clarity of illustration.

Example 1:

A fast life test device applied to a precision reducer, as shown in Figures 1 and 2, includes a precision reducer 9 to be tested, and the input and output ends of the precision reducer 9 are respectively connected to the drive motor 12 and the swing arm 1. , Under the drive of the drive motor 12, the input end of the precision reducer 9 rotates, and then the output end of the precision reducer 9 drives the swing arm 1 to swing; The block 3 is slidably installed in the slide rail 2, and a counterweight block 5 is installed on the slide block 3. The drive device cooperates with the slide block 3 and the slide rail 2. Under the action of the drive device, the slide block 3 slides along the slide rail 2, thereby driving the The counterweight 5 moves on the swing arm 1 .

A rapid life test method applied to precision reducers, specifically:

The drive motor 12 works, the precision reducer 9 drives the swing arm 1 to swing, the driving device works, and the position of the slider 3 on the swing arm 1 is controlled in real time, so that the torque acting on the precision reducer 9 during the movement of the swing arm 1 is the largest.

It can be understood that, in the existing life test device, the movement of the robot swing arm 1 is simulated, and the swing arm 1 mainly uses the moment generated by the self-weight of the swing arm 1, and its maximum moment is subject to the maximum stress load of the reducer, and the swing arm 1 is moving. During the process, the acting torque is different at different positions, which leads to a long life test cycle and affects product development and testing.

The maximum comprehensive torque acting on the precision reducer 9 is determined by the maximum load stress that the precision reducer 9 can carry. The life test time of the precision reducer 9 is related to the acting equivalent load torque. The equivalent load torque, that is, the larger the acting torque, the shorter the life test. In the present invention, a movable counterweight 5 is added to the original test device, and the movable counterweight can move with the change of the movement angle of the swing arm 1 to adjust the acting torque acting on the precision reducer 9, so that the force acting on the reducer can be adjusted. The acting torque is always the maximum torque, which can greatly reduce the life test time of the precision reducer 9.

Specifically, as shown in FIG. 1 , the precision reducer 9 and the drive motor 12 are connected through an adapter shaft 11 , one end of the adapter shaft 11 is connected to the output shaft of the drive motor 12 , and the other end of the adapter shaft 11 is connected to the precision reducer input of device 9. The precision reducer 9 and the swing arm 1 are connected through a connecting shaft 8 , one end of the connecting shaft 8 is connected to the output end of the precision reducer 9 , and the other end of the connecting shaft 8 is connected to the swing arm 1 .

The rapid life testing device further includes a mounting seat 10 on which the precision reducer 9 and the driving motor 12 are mounted, and the precision reducer 9 and the driving motor 12 to be tested can be replaced as required. The rapid life testing device also includes a base 13, the mounting base 10 is mounted on the base 13, and the base 13 plays a role of stability and support. With the cooperation of the base 13, as shown in FIG. 1, the drive motor 12 and the precision reducer 9 pass through the mounting base. 10 is installed on the base 13, and the swing arm 1 can be suspended and swing.

A support 4 is provided on the slider 3 , and the counterweight 5 is detachably mounted on the slider 3 through the support 4 , and the counterweight 5 of different quality can be replaced according to the test requirements of the precision reducer 9 .

In the length direction of the swing arm 1, the first end of the swing arm 1 is connected to the output end of the precision reducer 9, the second end is the free end, the slide rail 2 is arranged along the length direction of the swing arm 1, the slider 3 The rail 2 slides in the longitudinal direction of the swing arm 1 .

The driving device includes a servo motor 7 and a screw 6. The servo motor 7 is installed on the swing arm 1. One end of the screw 6 is connected with the servo motor 7, and the other end is matched with the slider 3. Under the action of the servo motor 7, the screw 6 Rotate, thereby driving the slider 3 to slide along the slide rail 2 . For example, a threaded hole can be provided on the slider 3, and the screw 6 passes through the threaded hole, and then the rotation of the screw 6 is converted into the sliding of the slider 3. It is also possible to install 6 sets of screw rods on the slider 3, and 6 sets of screw rods. It cooperates with the screw rod 6 to drive the slider 3 to slide. In addition, other mechanical structures can also be used to realize the sliding of the slider 3 , which will not be repeated here. In this embodiment, in order to facilitate wiring arrangement, the servo motor 7 is installed on the first end of the swing arm 1 , that is, the side where the swing arm 1 is connected to the output end of the precision reducer 9 .

The rapid life test device also includes a controller, the driving motor 12 and the driving device are connected in communication with the controller, the controller can control the driving motor 12 and the driving device, and control the driving motor 12 to control the rotation direction and angle of the swing arm 1, The drive device is controlled to control the position of the counterweight 5 on the swing arm 1 .

The schematic diagram of different positions in the swinging process of the swing arm 1 is shown in Figure 3. Due to its own gravity and rotation, the gravitational moment and the angular accelerator torque act together on the precision reducer 9, and the gravitational moment during the movement of the swing arm 1 is much larger than the angle accelerator torque. Its force analysis is as follows:

Definition: the action mass M of the swing arm; the action arm L of the swing arm; the action mass m of the counterweight block; the force arm of the counterweight block l (0<l<L); the angle θ between the swing arm and the horizontal plane (-90°< θ<90°);

Gravity moment T acting on precision reducer 9:

T=MgLcosθ+mglcosθ

It can be seen that when the value of |θ| is larger, the force arm l of the counterweight is larger;

T=MgL(cosθ) _min + mgl _min (cosθ) _min =MgL(cosθ) _max + mgl _max (cosθ) _max

It can be understood that by adding a movable counterweight, when the swing arm 1 moves to any angle, due to the change of the acting moment formed by the movable counterweight, the precision reducer 9 can be acted on when the swing arm 1 moves to any position. The acting torque is always the same or close to the same.

Therefore, during the life test, move the slider 3 according to the position where the swing arm 1 moves. When the swing arm 1 moves to the horizontal position, the slider 3 moves to the first end of the swing arm 1, and the swing arm 1 moves away from the horizontal position. When the slider 3 moves to the second end of the swing arm 1, the gravitational moment acting on the precision reducer 9 is always consistent or close to the same, so that the equivalent load moment acting on the precision reducer 9 is maximized and the life test time is minimized .

It should be noted that in the above-mentioned life testing device and testing method, the features such as component model, material name, connection structure, control method, algorithm and other features that are not clearly stated are regarded as common technical features disclosed in the prior art, such as precision deceleration. The connection between the actuator 9 and the drive motor 12 and the swing arm 1, the connection between the servo motor 7 and the lead screw 6, the calculation of the movement position of the counterweight 5 according to the rotation angle, and so on.

The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (10)

1. a fast life test device applied to the precision reducer, is characterized in that, comprises the precision reducer to be tested, the input end and the output end of the described precision reducer are respectively connected to the drive motor and the swing arm, in the drive motor Driven, the input end of the precision reducer rotates, and then the output end of the precision reducer drives the swing arm to swing; The swing arm is provided with a sliding rail, a driving device and a sliding block, the sliding block is slidably installed in the sliding rail, a counterweight is installed on the sliding block, and the driving device cooperates with the sliding block and the sliding rail, and the sliding block is installed on the sliding block. Under the action, the slider slides along the slide rail, thereby driving the counterweight to move on the swing arm. 2. a kind of fast life testing device applied to precision reducer according to claim 1, is characterized in that, between precision reducer and drive motor is connected through adapter shaft, and one end of described adapter shaft is connected with drive motor The other end of the adapter shaft is connected to the input end of the precision reducer. 3. A fast life testing device applied to a precision reducer according to claim 1, wherein the precision reducer and the swing arm are connected by a connecting shaft, and one end of the connecting shaft is connected to the precision reducer The output end of the device is connected to the swing arm at the other end of the connecting shaft. 4 . The rapid life testing device applied to a precision reducer according to claim 1 , further comprising a mounting seat, on which the precision reducer and the drive motor are mounted. 5 . 5 . The rapid life testing device applied to a precision reducer according to claim 4 , further comprising a base, and the mounting base is mounted on the base. 6 . 6 . The fast life test device applied to a precision reducer according to claim 1 , wherein the slider is provided with a support, and the counterweight is detachably installed on the slider through the support. 7 . superior. 7. A fast life testing device applied to a precision reducer according to claim 1, characterized in that, in the length direction of the swing arm, the first end of the swing arm is connected to the output end of the precision reducer, and the first end of the swing arm is connected to the output end of the precision reducer. The two ends are free ends, the slide rail is arranged along the length direction of the swing arm, and the slider slides along the slide rail in the length direction of the swing arm. 8. A fast life testing device applied to a precision reducer according to claim 1, wherein the driving device comprises a servo motor and a lead screw, the servo motor is mounted on the swing arm, and the lead screw is mounted on the swing arm. One end is connected with the servo motor, and the other end is matched with the slider. Under the action of the servo motor, the lead screw rotates, thereby driving the slider to slide along the slide rail. 9 . The rapid life testing device applied to a precision reducer according to claim 1 , further comprising a controller, wherein the driving motor and the driving device are connected in communication with the controller. 10 . 10. A rapid life test method applied to a precision reducer, characterized in that, based on the rapid life test device as described in any one of claims 1-9, specifically: The drive motor works, the precision reducer drives the swing arm to swing, the drive device works, and the position of the slider on the swing arm is controlled in real time, so that the torque acting on the precision reducer during the movement of the swing arm is the largest.

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