CN114878159A - Rapid life testing device and method applied to precision speed reducer - Google Patents
Rapid life testing device and method applied to precision speed reducer Download PDFInfo
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- CN114878159A CN114878159A CN202210476443.2A CN202210476443A CN114878159A CN 114878159 A CN114878159 A CN 114878159A CN 202210476443 A CN202210476443 A CN 202210476443A CN 114878159 A CN114878159 A CN 114878159A
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- speed reducer
- swing arm
- precision speed
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- slide rail
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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
- G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
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
Technical Field
The invention relates to the technical field of product testing, in particular to a quick service life testing device and method applied to a precision speed reducer.
Background
The precision speed reducer is a core component of a robot and the like, and with the rapid development of the manufacturing industry, the demand for the precision speed reducer is large, and the research and development of the precision speed reducer are required independently in order to break the situation that the precision speed reducer is totally dependent on import.
The service life is an important performance parameter of the precision speed reducer, and the fatigue life test of the precision speed reducer in the research and development process is particularly important in order to ensure the reliability of the precision speed reducer. The quality of the testing device directly influences the development progress of the product. Therefore, it is necessary to start development and test of various precision reducers and to require a corresponding test device.
At present, the principle of testing the service life of a precision speed reducer for a robot is to simulate the swing arm movement of the robot, for example, a method for testing the fatigue life of the precision speed reducer for the robot disclosed in chinese patent CN 201810185776.3. In the existing life testing device, the output end of a precision speed reducer is connected with a swing arm, the swing arm simulates a mechanical arm of a robot, the swing arm mainly utilizes the moment generated by the self weight of the swing arm, and the maximum moment is limited by the maximum stress load of the speed reducer. However, the swing arm has different moments acting on the precision speed reducer at different positions in the movement process, so that the service life test period is long, and the product development and test are influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a quick service life testing device and method applied to a precision speed reducer.
The purpose of the invention can be realized by the following technical scheme:
a quick service life testing device applied to a precision speed reducer comprises the precision speed reducer to be tested, wherein the input end and the output end of the precision speed reducer are respectively connected with a driving motor and a swing arm, under the driving of the driving motor, the input end of the precision speed reducer rotates, 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, and the slide block slides along the slide rail under the action of the driving device so as to drive the balancing weight to move on the swing arm.
Furthermore, the precision speed reducer is connected with the driving motor through a transfer shaft, one end of the transfer shaft is connected with an output shaft of the driving motor, and the other end of the transfer shaft is connected with an input end of the precision speed reducer.
Furthermore, the precision speed reducer is connected with the swing arm through a connecting shaft, one end of the connecting shaft is connected with the output end of the precision speed reducer, and the other end of the connecting shaft is connected with the swing arm.
Further, still include the mount pad, precision reduction gear and driving motor install on the mount pad.
Further, still include the base, the mount pad is installed on the base.
Further, a support is arranged on the sliding block, and the balancing weight is detachably mounted on the sliding block through the support.
Furthermore, in the length direction of the swing arm, the first end of the swing arm is connected with the output end of the precision speed reducer, the second end of the swing arm is a free end, the slide rail is arranged along the length direction of the swing arm, and the slide block slides along the slide rail in the length direction of the swing arm.
Further, drive arrangement includes servo motor and lead screw, servo motor installs in the swing arm, and the one end of lead screw links to each other with servo motor, and the other end and slider cooperation are in servo motor's effect down the lead screw rotates to drive the slider and slide along the slide rail.
Further, the device also comprises a controller, and the driving motor and the driving device are in communication connection with the controller.
A quick service life testing method applied to a precision speed reducer specifically comprises the following steps:
the driving motor works, the precision speed reducer drives the swing arm to swing, the driving device works, and the position of the sliding block in the swing arm is controlled in real time, so that the acting torque acting on the precision speed reducer in the motion process of the swing arm is maximum.
Compared with the prior art, the invention has the following beneficial effects:
(1) increased portable counter weight in the swing arm, portable counter weight can move along with swing arm motion angle change to the adjustment acts on the application torque on the precision reducer, makes the application torque that acts on the reduction gear be the biggest torque all the time, can reduce the life-span test time of precision reducer by to a great extent, and then shortens the research and development flow of precision reducer.
(2) The driving device comprises a servo motor and a lead screw, the corresponding speed is high, the control precision is high, the movement of the sliding block can be rapidly adjusted in real time in the swing arm movement process, and then the position of the balancing weight is adjusted.
(3) Precision reduction gear and driving motor pass through the mount pad installation, set up the support on the slider in order to install the balancing weight, and whole device can test the precision reduction gear of different models to satisfy different test demands.
Drawings
FIG. 1 is a schematic structural diagram of a rapid life test apparatus;
FIG. 2 is a view showing an overall appearance of the rapid life test apparatus;
FIG. 3 is a schematic view of force analysis during the swing arm movement;
reference numerals: 1. swing arm, 2, slide rail, 3, slider, 4, support, 5, balancing weight, 6, lead screw, 7, servo motor, 8, connecting axle, 9, accurate reduction gear, 10, mount pad, 11, switching shaft, 12, driving motor, 13, base.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. Parts are exaggerated in the drawing where appropriate for clarity of illustration.
Example 1:
a rapid life testing device applied to a precision speed reducer is shown in figures 1 and 2 and comprises a precision speed reducer 9 to be tested, wherein the input end and the output end of the precision speed reducer 9 are respectively connected with a driving motor 12 and a swing arm 1, the input end of the precision speed reducer 9 rotates under the driving of the driving motor 12, and then the output end of the precision speed reducer 9 drives the swing arm 1 to swing; be equipped with slide rail 2, drive arrangement and slider 3 on the swing arm 1, slider 3 slidable mounting is in slide rail 2, installs balancing weight 5 on the slider 3, and drive arrangement cooperates with slider 3 and slide rail 2, and slider 3 slides along slide rail 2 under drive arrangement's effect, and then drives balancing weight 5 and move on swing arm 1.
A quick service life testing method applied to a precision speed reducer specifically comprises the following steps:
the driving motor 12 works, the precision speed reducer 9 drives the swing arm 1 to swing, the driving device works, and the position of the sliding block 3 in the swing arm 1 is controlled in real time, so that the acting torque acting on the precision speed reducer 9 in the motion process of the swing arm 1 is maximum.
It can be understood that, in the existing life test device, the motion of the swing arm 1 of the simulation robot is realized, the swing arm 1 mainly utilizes the moment generated by the dead weight of the swing arm 1, the maximum moment is limited by the maximum stress load of the speed reducer, and the action moments of the swing arm 1 at different positions in the motion process are different, so that the life test period is long, and the product development and test are influenced.
The maximum comprehensive moment acting on the precision speed reducer 9 is determined by the maximum load stress which can be borne by the precision speed reducer 9, the life test time of the precision speed reducer 9 is related to the acting equivalent load moment, and the equivalent load moment, namely the acting moment, is larger, and the life test is shorter. The invention adds the movable balancing weight 5 on the original testing device, the movable balancing weight can move along with the change of the motion angle of the swing arm 1, and the action torque acting on the precision speed reducer 9 is adjusted, so that the action torque acting on the speed reducer is always the maximum torque, and the service life testing time of the precision speed reducer 9 can be greatly reduced.
Specifically, as shown in fig. 1, the precision reducer 9 is connected to a driving motor 12 through a transfer shaft 11, one end of the transfer shaft 11 is connected to an output shaft of the driving motor 12, and the other end of the transfer shaft 11 is connected to an input end of the precision reducer 9. The precision speed reducer 9 is connected with the swing arm 1 through a connecting shaft 8, one end of the connecting shaft 8 is connected with the output end of the precision speed reducer 9, and the other end of the connecting shaft 8 is connected with the swing arm 1.
The rapid life testing device further comprises a mounting seat 10, wherein the precision speed reducer 9 and the driving motor 12 are mounted on the mounting seat 10, and the precision speed reducer 9 and the driving motor 12 to be tested can be replaced as required. Quick life-span testing arrangement still includes base 13, and mount pad 10 is installed on base 13, and base 13 plays firm, the supporting role, and under base 13's cooperation, as shown in fig. 1, driving motor 12 and accurate reduction gear 9 pass through mount pad 10 and install on base 13, and swing arm 1 can unsettled setting, and then the swing.
Be provided with support 4 on slider 3, balancing weight 5 passes through support 4 demountable installation on slider 3, can change the balancing weight 5 of different masses according to 9 tests of accurate reduction gear.
In the length direction of swing arm 1, the first end of swing arm 1 links to each other with the output of precision reduction gear 9, and the second end is the free end, and slide rail 2 sets up along the length direction of swing arm 1, and slider 3 slides along slide rail 2 in the length direction of swing arm 1.
The driving device comprises a servo motor 7 and a screw rod 6, the servo motor 7 is installed on the swing arm 1, one end of the screw rod 6 is connected with the servo motor 7, the other end of the screw rod 6 is matched with the sliding block 3, and the screw rod 6 rotates under the action of the servo motor 7 so as to drive the sliding block 3 to slide along the sliding rail 2. If can set up the screw hole on slider 3, lead screw 6 passes the screw hole, and then the rotation of lead screw 6 converts the slip of slider 3 into, also can install 6 sets of lead screws on slider 3, 6 sets of lead screws and the cooperation of lead screw 6, and then drive slider 3 and slide. In addition, other mechanical structures can be used to realize the sliding of the sliding block 3, which will not be described in detail herein. In this embodiment, in order to facilitate the wiring arrangement, the servo motor 7 is installed at the first end of the swing arm 1, i.e., the side where the swing arm 1 is connected to the output end of the precision reducer 9.
The quick life test device further comprises a controller, the driving motor 12 and the driving device are in communication connection with the controller, the driving motor 12 and the driving device can be controlled by the controller, the driving motor 12 is controlled to control the rotating direction and the angle of the swing arm 1, and the driving device is controlled to control the position of the balancing weight 5 on the swing arm 1.
The schematic diagrams of different positions in the swing process of the swing arm 1 are shown in fig. 3, the gravity moment and the angular accelerator moment are generated and jointly acted on the precision speed reducer 9 due to the self gravity and the rotation, and the gravity moment is far larger than the angular accelerator moment in the motion process of the swing arm 1. The stress analysis is carried out as follows:
defining: a swing arm action mass M; an arm of force L is acted on the swing arm; the action mass m of the balancing weight; the acting force arm L of the balancing weight (0< L < L); the included angle theta (-90 degrees < theta <90 degrees) between the swing arm and the horizontal plane;
gravity torque T applied to the precision speed reducer 9:
T＝MgLcosθ+mglcosθ
it can be known that, when the value of | θ | is larger, the force arm l of the counterweight block is larger;
T＝MgL(cosθ) min +mgl min (cosθ) min ＝MgL(cosθ) max +mgl max (cosθ) max
it can be understood that by adding the movable counterweight, when the swing arm 1 moves to any angle, the acting torque applied to the precision speed reducer 9 when the swing arm 1 moves to any position can be consistent or nearly consistent due to the change of the acting torque formed by the movable counterweight.
Therefore, when the service life test is carried out, the sliding block 3 is moved according to the movement position of the swing arm 1, when the swing arm 1 moves to the horizontal position, the sliding block 3 moves to the first end of the swing arm 1, and when the swing arm 1 moves to a position far away from the horizontal position, the sliding block 3 moves to the second end of the swing arm 1; the gravity moment acting on the precision speed reducer 9 is consistent or close to consistent all the time, so that the equivalent load moment acting on the precision speed reducer 9 is maximum, and the service life testing time is reduced to the maximum extent.
It should be noted that, in the above-mentioned life testing apparatus and testing method, the features such as the part model, the material name, the connection structure, the control method, and the algorithm, which are not explicitly described, are all regarded as common technical features disclosed in the prior art, such as the connection between the precision speed reducer 9 and the driving motor 12 and the swing arm 1, the connection between the servo motor 7 and the lead screw 6, and the calculation of the movement position of the counterweight 5 according to the rotation angle.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A quick service life testing device applied to a precision speed reducer is characterized by comprising the precision speed reducer to be tested, wherein the input end and the output end of the precision speed reducer are respectively connected with a driving motor and a swing arm;
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, and the slide block slides along the slide rail under the action of the driving device so as to drive the balancing weight to move on the swing arm.
2. The rapid life testing device for the precision speed reducer according to claim 1, wherein the precision speed reducer is connected with the driving motor through a transfer shaft, one end of the transfer shaft is connected with an output shaft of the driving motor, and the other end of the transfer shaft is connected with an input end of the precision speed reducer.
3. The rapid life test device applied to the precision speed reducer according to claim 1, wherein the precision speed reducer is connected with the swing arm through a connecting shaft, one end of the connecting shaft is connected with the output end of the precision speed reducer, and the other end of the connecting shaft is connected with the swing arm.
4. The rapid life testing device for the precision speed reducer according to claim 1, further comprising a mounting seat, wherein the precision speed reducer and the driving motor are mounted on the mounting seat.
5. The quick life testing device for the precision speed reducer according to claim 4, further comprising a base, wherein the mounting seat is mounted on the base.
6. The quick life testing device for the precision speed reducer as claimed in claim 1, wherein a support is arranged on the sliding block, and the balancing weight is detachably mounted on the sliding block through the support.
7. The quick life testing device applied to the precision speed reducer according to claim 1, wherein a first end of the swing arm is connected with an output end of the precision speed reducer in a length direction of the swing arm, a second end of the swing arm is a free end, the slide rail is arranged along the length direction of the swing arm, and the slide block slides along the slide rail in the length direction of the swing arm.
8. The quick life testing device applied to the precision speed reducer according to claim 1, wherein the driving device comprises a servo motor and a screw rod, the servo motor is mounted on the swing arm, one end of the screw rod is connected with the servo motor, the other end of the screw rod is matched with the sliding block, and the screw rod rotates under the action of the servo motor so as to drive the sliding block to slide along the sliding rail.
9. The rapid life testing device for the precision speed reducer according to claim 1, further comprising a controller, wherein the driving motor and the driving device are in communication connection with the controller.
10. A rapid life test method applied to a precision speed reducer, characterized in that based on the rapid life test device of any one of claims 1 to 9, specifically:
the driving motor works, the precision speed reducer drives the swing arm to swing, the driving device works, and the position of the sliding block in the swing arm is controlled in real time, so that the acting torque acting on the precision speed reducer in the motion process of the swing arm is maximum.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210476443.2A CN114878159A (en) | 2022-04-29 | 2022-04-29 | Rapid life testing device and method applied to precision speed reducer |
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| CN202210476443.2A CN114878159A (en) | 2022-04-29 | 2022-04-29 | Rapid life testing device and method applied to precision speed reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2624488A (en) * | 2022-11-16 | 2024-05-22 | Univ Hebei Technology | Accelerated life testing system for industrial robot precision reducer under real service conditions |
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- 2022-04-29 CN CN202210476443.2A patent/CN114878159A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2624488A (en) * | 2022-11-16 | 2024-05-22 | Univ Hebei Technology | Accelerated life testing system for industrial robot precision reducer under real service conditions |
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