CN115655710A - Accelerated life test system for industrial robot precision speed reducer under real service working condition - Google Patents
Accelerated life test system for industrial robot precision speed reducer under real service working condition Download PDFInfo
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- CN115655710A CN115655710A CN202211432852.9A CN202211432852A CN115655710A CN 115655710 A CN115655710 A CN 115655710A CN 202211432852 A CN202211432852 A CN 202211432852A CN 115655710 A CN115655710 A CN 115655710A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 85
- 238000012360 testing method Methods 0.000 title claims abstract description 45
- 230000009467 reduction Effects 0.000 claims abstract description 27
- 230000001133 acceleration Effects 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000004088 simulation Methods 0.000 abstract 1
- 238000013522 software testing Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000003044 adaptive effect Effects 0.000 description 5
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- 230000005540 biological transmission Effects 0.000 description 1
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- 239000008358 core component Substances 0.000 description 1
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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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- 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
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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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Abstract
The application provides industrial robot precision reduction gear acceleration life-span test system under real operating mode, include: the top of the supporting platform is provided with an installation surface on which a supporting plate is installed; the mounting seat is mounted on the supporting plate and used for mounting the speed reducer; the motor is arranged on the supporting plate and arranged at one end of the mounting seat and used for driving the speed reducer to rotate around the axis of the speed reducer; the fixing base, the fixing base is installed on the installation face, rotates on the fixing base and installs the carousel, and the one end that the reduction gear was kept away from to the carousel is installed the swing arm subassembly, and the swing arm subassembly has a set of swing arm about the rotary disk symmetry setting, and slidable mounting has the weight on the swing arm, and the weight is adjustable along the length direction position of swing arm. The application provides a life-span test system is accelerated to accurate reduction gear of industrial robot under real working condition of being in service has but simulation robot actual motion mode, makes things convenient for the reduction gear to reach full load operation, and test cycle is short, efficiency of software testing is high, advantage with low costs.
Description
Technical Field
The utility model relates to a reduction gear fatigue test field, concretely relates to accurate reduction gear of industrial robot acceleration life-span test system under real operating mode of being in service.
Background
With the continuous development of informatization and industrialization, the application of industrial robots is more and more extensive, the requirements on the performance of joint reducers of industrial robots are also more and more high, the joint reducers serve as core components of the robots, the service life of the joint reducers is a key performance parameter, and the fatigue life test of the robot reducers is particularly important for ensuring the reliability of precise reducers for the robots.
The existing fatigue life test modes mainly comprise the following two modes: the fatigue life is tested by adopting a continuous loading mode, although the life test is realized, the actual motion mode of the robot cannot be simulated; the other testing mode is to directly adopt a robot to test the fatigue life, although the testing mode accords with the motion mode of the robot, the maximum allowable loading value of each joint reducer is inconsistent, the full-load operation is difficult to achieve, and the testing cycle is long, the testing efficiency is low and the cost is high.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, it is desirable to provide an accelerated life test system for a precision speed reducer of an industrial robot under a real service condition to solve the above-mentioned problems.
The application provides a precision speed reducer of industrial robot under real operating mode life-span test system with higher speed includes:
the top of the supporting platform is provided with a mounting surface, and a supporting plate is mounted on the mounting surface;
the mounting seat is mounted on the supporting plate and used for mounting a speed reducer;
the motor is arranged on the supporting plate and arranged at one end of the mounting seat and used for driving the speed reducer to rotate around the axis of the speed reducer;
the fixing base, the fixing base is installed on the installation face, rotate on the fixing base and install the carousel, the carousel is kept away from the swing arm subassembly is installed to the one end of reduction gear, the swing arm subassembly have about a set of swing arm that the rotary disk symmetry set up, slidable mounting has the weight on the swing arm, the weight is followed the length direction position of swing arm is adjustable.
According to the technical scheme that this application embodiment provided, swing arm subassembly includes swing arm pole and spacing dish, swing arm pole middle part with carousel fixed connection, the swing arm sets up on the swing arm pole, the spacing groove has been seted up in the swing arm, spacing dish with spacing groove sliding connection, install the double-screw bolt on the spacing dish, weight threaded connection is in on the double-screw bolt.
According to the technical scheme that this application embodiment provided, the swing arm pole with be equipped with between the spacing dish and adjust the structure, it includes to adjust the structure:
the bearing frame, the bearing frame is installed the position in the middle of the spacing inslot is close to the swing arm pole:
the screw rod penetrates through the bearing seat, and one end of the screw rod is rotatably connected with the end part of the limiting groove;
the screw seat is in threaded connection with the screw rod and is fixedly connected with the limiting disc.
According to the technical scheme that this application embodiment provided, still include the second motor, the second motor sets up the central point of swing arm pole put and with swing arm pole fixed connection, the initiative awl tooth is installed to the output shaft of second motor, the lead screw is close to the one end at swing arm pole center install with the driven awl tooth of initiative awl tooth meshing.
According to the technical scheme that this application embodiment provided, still include the mounting panel, the mounting panel sets up the motor with between the backup pad and with sliding connection between the backup pad, the slip direction is on a parallel with the axis direction of reduction gear, motor fixed mounting be in on the mounting panel.
According to the technical scheme that this application embodiment provided, the backup pad with be equipped with sliding assembly between the mounting panel, sliding assembly includes the connecting plate, the connecting plate with mounting panel fixed connection, the connecting plate bottom is provided with T shape strip, the T-slot has been seted up in the backup pad, T shape strip with T-slot sliding connection, the T-slot is installed the screw rod, the screw rod with T shape strip threaded connection and one end run through the backup pad is rotated with the backup pad and is connected.
According to the technical scheme that this application embodiment provided, be equipped with adaptive structure on the mount pad, adaptive structure includes the ring channel, the ring channel is seted up the mount pad is kept away from one side of motor, slidable mounting has a plurality of T shape slider in the ring channel, sliding connection has the regulation strip on the T shape slider, and the slip direction is on a parallel with the radial direction of reduction gear axis, a plurality of screw has been seted up on the regulation strip, the latch segment is installed to one side of T shape slider, threaded connection has locking bolt on the latch segment.
According to the technical scheme that this application embodiment provided, spacing dish with the ball is installed in the embedding of one side of swing arm pole contact.
According to the technical scheme that this application embodiment provided, still include torque sensor, torque sensor fixed mounting be in on the mounting panel for gather the first torque value of reduction gear input shaft.
According to the technical scheme provided by the embodiment of the application, the method further comprises the following steps:
the data acquisition module is used for acquiring a second torque value of the output shaft of the speed reducer;
the input end of the processing module is electrically connected with the torque sensor and the output end of the data acquisition module and is used for receiving a first signal of the first torque value and a second signal of the second torque value and comparing the first signal with the second signal;
and the input end of the PLC control module is electrically connected with the output end of the processing module, and the output end of the PLC control module is electrically connected with the second motor and used for receiving the comparison result of the processing module and controlling the second motor.
Compared with the prior art, the beneficial effect of this application lies in: the speed reducer is fixed through the mounting seat, the input end of the speed reducer is connected through the motor and driven, the speed reducer rotates around the axis of the speed reducer, the turntable is connected with the output end of the speed reducer, the swing arm assembly is installed on the turntable, the weight is slidably installed on the swing arm of the swing arm assembly, the weight is provided for testing the speed reducer through the weight, the speed reducer rotates to drive the turntable to rotate so as to drive the swing arm to rotate, the weight changes position along with the rotation of the speed reducer in the length direction of the swing arm, and then the rotational inertia of the swing arm assembly is changed so that the load of the output end of the speed reducer can be adaptively changed according to the torque of the input end of the speed reducer.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of an acceleration life testing system of a precision speed reducer of an industrial robot under a real service condition, provided by the application;
FIG. 2 is a rear structure schematic diagram of the acceleration life test system of the precision speed reducer of the industrial robot under the actual service condition shown in FIG. 1;
FIG. 3 is a schematic diagram of a split structure of a supporting plate and a connecting plate in the acceleration life testing system of the industrial robot precision reducer under the real service condition shown in FIG. 1;
FIG. 4 is a schematic structural diagram of a swing arm assembly in the acceleration life testing system of the precision speed reducer of the industrial robot under the real service condition shown in FIG. 1;
FIG. 5 is a schematic cross-sectional structure view of a limiting disc in the acceleration life testing system of the precision speed reducer of the industrial robot under the actual service condition shown in FIG. 1;
FIG. 6 is a schematic diagram of a split structure of a screw rod and a swing arm rod in the acceleration life testing system of the industrial robot precision speed reducer under the real service condition shown in FIG. 1;
FIG. 7 is a schematic view of the rear structure of FIG. 6;
FIG. 8 is a schematic diagram of an adaptive structure in the acceleration life testing system of the precision speed reducer of the industrial robot under the real service condition shown in FIG. 1;
reference numbers: 1. a support table; 2. a mounting surface; 3. a support plate; 4. a mounting base; 5. a motor; 6. a fixed seat; 7. a turntable; 8. a swing arm assembly; 9. a weight; 10. a swing arm lever; 11. a limiting disc; 12. a stud; 13. a limiting groove; 14. a bearing seat; 15. a screw rod; 16. a screw seat; 17. a second motor; 18. driving bevel gears; 19. driven bevel gears; 20. mounting a plate; 21. a connecting plate; 22. t-shaped strips; 23. a T-shaped slot; 24. a screw; 25. a ball bearing; 26. a torque sensor; 27. an annular groove; 28. a T-shaped slider; 29. an adjustment bar; 30. a screw hole; 31. a locking block; 32. and locking the bolt.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, the present application provides an accelerated life testing system for a precision speed reducer of an industrial robot under a real service condition, which includes:
the device comprises a supporting table 1, wherein the top of the supporting table 1 is provided with a mounting surface 2, and a supporting plate 3 is mounted on the mounting surface 2;
the mounting seat 4 is mounted on the supporting plate 3 and used for mounting a speed reducer;
the motor 5 is arranged on the supporting plate 3, arranged at one end of the mounting seat 4 and used for driving the speed reducer to rotate around the axis of the speed reducer;
fixing base 6, fixing base 6 is installed on installation face 2, it installs carousel 7 to rotate on the fixing base 6, carousel 7 keeps away from the one end of reduction gear installs swing arm assembly 8, swing arm assembly 8 have about a set of swing arm that rotary disk 7 symmetry set up, slidable mounting has weight 9 on the swing arm, weight 9 is followed the length direction position of swing arm is adjustable.
Specifically, the motor, the speed reducer and the turntable are coaxially arranged.
Specifically, a reinforcing angle is arranged on the periphery of the support table 1, and is used for improving the stability of the support table 1.
The working principle is as follows: the speed reducer is fixed through the mounting seat 4, the input end of the speed reducer is connected through the motor 5 and driven, the speed reducer rotates around the axis of the speed reducer, the turntable 7 is connected with the output end of the speed reducer, the swing arm assembly 8 is installed on the turntable 7, the weight 9 is installed on the swing arm of the swing arm assembly 8 in a sliding mode, the weight 9 provides load for testing the speed reducer, the speed reducer rotates to drive the turntable 7 to rotate so as to drive the swing arm to rotate, the weight 9 changes the position along with the rotation of the speed reducer in the length direction of the swing arm, and then the rotational inertia of the swing arm assembly 8 is changed so that the load of the output end of the speed reducer can be adaptively changed according to the torque of the input end of the speed reducer.
Further, the swing arm assembly 8 includes swing arm pole 10 and spacing dish 11, swing arm pole 10 mid portion is circular structure, overlaps to be established on carousel 7 and with carousel 7 fixed connection, the swing arm sets up on the swing arm pole 10, in a certain embodiment, be provided with two swing arms on the swing arm pole 10, two swing arm symmetries set up, have the spacing groove 13 of seting up along swing arm length direction on the swing arm, spacing dish 11 stretches into in the spacing groove 13 with spacing groove 13 sliding connection, the slip direction is followed the length direction of swing arm sets up, install double-screw bolt 12 on the spacing dish 11, weight 9 cover is established on the double-screw bolt 12 and with double-screw bolt 12 threaded connection to fix through the nut.
When the speed reducer in the mounting seat 4 works and rotates, the rotary disc 7 drives the swing arm rod 10 to rotate, and the swing arm rod 10 is matched with the weight 9 to provide a load, so that the position of the adjustable weight can change the rotary inertia, the size of the load can be changed, and the test efficiency can be improved.
Further, the swing arm pole 10 with be equipped with the regulation structure that is used for adjusting spacing dish 11 positions between the spacing dish 11, it includes bearing frame 14, lead screw 15 and spiral shell seat 16 to adjust the structure, bearing frame 14 is installed be close to the position in the middle of the swing arm pole 10 in the spacing inslot 13, lead screw 15 sets up spacing inslot 13 and one end are passed bearing frame 14 is fixed, the other end with spacing inslot 13 is close to the one end of swing arm tip is rotated and is connected, 16 covers of spiral shell seat are established on the lead screw 15 and with 15 threaded connection of lead screw, one side that the spiral shell seat is close to spacing dish 11 with spacing dish 11 fixed connection.
When the screw rod 15 rotates, the screw base 16 is driven by external threads to move in the limiting groove 13, so that the limiting disc 11 is driven to move along the length direction of the swing arm, the position of the weight 9 can be adjusted, the rotational inertia of the output end of the speed reducer is adjusted, the torque adjustability of the output end of the speed reducer is realized, and the adjustable speed reducer is suitable for different robot speed reducers.
Further, the swing arm device further comprises a second motor 17, the second motor 17 is arranged at the center of the swing arm rod 10 and fixedly connected with the swing arm rod 10 through a flange, a driving bevel gear 18 is installed on an output shaft of the second motor 17, and a driven bevel gear 19 meshed with the driving bevel gear 18 is installed at one end, close to the center of the swing arm rod 10, of the screw rod 15.
Specifically, in a certain embodiment, the second motor 17 is a servo motor, and is configured to adjust whether the swing arm 10 rotates forward or backward according to a test requirement, or adjust the rotation speed of the swing arm 10 according to a requirement.
Specifically, the one end that the output shaft was kept away from to second motor 17 is connected with external equipment through leading electrical slip ring, leads to electrical slip ring through setting up for when usable external equipment supplied power, monitors second motor 17, prevents that swing arm pole 10 from driving second motor 17 rotation when rotating and then causing the connecting wire winding between second motor 17 and the external equipment.
In the work, the output shaft of the second motor 17 rotates to drive the driving bevel gear 18 to rotate, the driving bevel gear 18 drives the driven bevel gear 19 to rotate, the driven bevel gear 19 drives the screw rod 15 to rotate, the screw rod 15 can drive the limiting disc 11 to move through the screw seat 16, the purpose of dynamically adjusting the rotary inertia is achieved by changing the distance between the weight 9 and the center of the swing arm rod 10, and the purpose of dynamically matching the torque of the input end is achieved.
Further, still include mounting panel 20 and torque sensor 26, mounting panel 20 sets up motor 5 with between the backup pad 3 and with sliding connection between the backup pad 3, the slip direction is on a parallel with the axis direction of reduction gear, motor 5 with torque sensor 26 fixed mounting is in on mounting panel 20, torque sensor 26 sets up motor 5 with between the reduction gear, torque sensor 26's input with the output of motor 5 passes through the coupling joint, torque sensor 26's output with the input transmission of reduction gear is connected, torque sensor 26 is used for gathering the first torque value T of speed reduction input shaft 1 。
By adjusting the position of the mounting plate 20, the positions of the motor 5 and the torque sensor 26 can be adjusted, and the torque sensor 26 can be conveniently butted with the speed reducer.
Further, backup pad 3 with be equipped with sliding assembly between the mounting panel 20, sliding assembly includes connecting plate 21, connecting plate 21 top surface with mounting panel 20 bottom surface fixed connection, connecting plate 21 bottom is provided with T shape strip 22, T-slot 23 has been seted up to 3 top surfaces of backup pad, T shape strip 22 with T-slot 23 sliding connection, the slip direction is on a parallel with the axis direction of reduction gear, install screw rod 24 in the T-slot 23, screw rod 24 with T shape strip 22 threaded connection and one end run through the side of backup pad 3 rotates with its plywood 3 to be connected.
By rotating the screw 24, the screw 24 drives the T-shaped strip 22 to slide on the inner side of the T-shaped groove 23 through the thread between the screw 24 and the T-shaped strip 22, and the motor 5 and the torque sensor 26 are driven to move in the sliding process, so that the output end of the torque sensor 26 can be in butt joint with the input shaft of the speed reducer.
Further, the mounting seat 4 is connected with the supporting plate 3 in a sliding manner and is adjustable in position along the direction parallel to the axial direction of the speed reducer.
Specifically, the gliding structure of mount pad 4 with the sliding component is similar, mount pad 4 bottom is equipped with the slider, set up on the backup pad 3 with the spout that the slider corresponds, the slider with spout sliding connection, the slip direction is on a parallel with the axis direction of reduction gear, be provided with the threaded rod in the spout, the threaded rod with slider threaded connection and one end run through backup pad 3 keep away from one side of motor with 3 threaded connection of backup pad.
Further, please refer to fig. 8, be equipped with adaptive structure on the mount pad 4, adaptive structure includes ring channel 27, ring channel 27 sets up one side that motor 5 was kept away from to mount pad 4, slidable mounting has a plurality of T shape slider 28 in the ring channel 27, as shown in the figure, in a certain embodiment, T shape slider 28 is equipped with five, sliding connection has adjusting strip 29 on T shape slider 28, the direction of sliding is on a parallel with the radial direction of reduction gear axis, a plurality of screw 30 has been seted up on the adjusting strip 29, the position of T shape slider 28 be located one side in ring channel 27 installs latch 31, threaded connection has locking bolt 32 on the latch 31.
Specifically, when the speed reducer is placed on the mounting base 4, the mounting hole in the speed reducer corresponds to the screw hole 30 in the self-adaptive structure and is fixed through the mounting bolt, so that the speed reducer is prevented from being unstable in the testing process; can be in through five T shape sliders 28 slide in the ring channel 27, can adjust the screw 30 and wind the position of the axial direction of reduction gear axis, the regulation strip 29 is in simultaneously slide on the T shape slider 28, can adjust the screw 30 and follow the position of the axial radial direction of reduction gear for screw 30 can adapt to the reduction gear of different mounting hole positions, and through the adjustment after the adjustment locking bolt 32 is fixed locking block 31, runs through the mounting bolt and sticiss behind the screw 30 on T shape slider 31, thereby fixes the reduction gear, prevents that the reduction gear from removing in the test procedure and producing the influence to the test result, has improved the commonality of whole test bench.
Furthermore, a ball 25 is embedded in one side of the limiting disc 11, which is in contact with the swing arm rod 10.
Specifically, the ball 25 can reduce the friction between the limiting disc 11 and the swing arm rod 18, so that the position of the limiting disc 11 can be adjusted more smoothly, and the phenomenon of clamping stagnation is avoided.
Further, the device also comprises a data acquisition module, a processing module and a PLC control module, wherein the data acquisition module is used for acquiring a second torque value of the output shaft of the speed reducerT 2 The input end of the processing module is electrically connected with the torque sensor 26 and the output end of the data acquisition module respectively and is used for receiving the first torque valueT 1 And a second torque valueT 2 And comparing, wherein the input end of the PLC control module is electrically connected with the output end of the processing module, and the output end of the PLC control module is electrically connected with the second motor 17.
Specifically, according to the theorem of moment of momentum, the following can be obtained:
wherein,J z represents the total moment of inertia of the system about the central z-axis of the turntable 7, J0 represents the initial moment of inertia of the system, i.e. the sum of the moments of inertia of the weight 9 and the swing arm lever 10,mwhich represents the weight of the weight 9,rrepresenting the distance of the weight 9 from the central z-axis of the turntable 7,rthe value of 0 is not allowed to be taken,ithe gear ratio of the reduction gear is represented,ηrepresenting the ratio of the output power of the retarder to the input power,wshowing a swing arm disc 10 andthe angular velocity of the weight 9 is such that,αindicating angular acceleration.
The working process is as follows: installing a speed reducer to be tested on the inner side of the installation seat 4, adjusting the positions of the installation seat 4 and the installation plate 20 to enable an output shaft of a torque sensor 26 to be connected with an input shaft of the speed reducer, connecting an output shaft of the speed reducer with the turntable 7, enabling an output shaft of the motor 5 to rotate to drive the torque sensor 26 to work and rotate, driving the speed reducer to work and rotate, enabling the turntable 7 to drive the swing arm rod 10 to rotate, and carrying out a load test on the speed reducer through counterweights 9 at two ends of the swing arm rod 10;
in the process of carrying out the fatigue life test of the speed reducer, the motor 5 is started, the output shaft of the motor 5 rotates, and meanwhile, the torque sensor 26 can acquire a first torque value of the output shaft of the motor 5 at each momentT 1 And sending a first signal to the processing module;
the second motor 17 and the motor 5 are started simultaneously, and a second torque value of the output shaft of the speed reducer is acquired through the data acquisition moduleT 2 And sending a second signal to the processing module when the processing module determines a second torque valueT 2 Failure to match the first torque valueT 1 When is at time
When the two lead screws 15 are driven to rotate, the processing module sends a judgment instruction to the PLC control module, the PLC control module sends a control signal to the second motor 17 after receiving the judgment instruction to control the second motor 17 to work, an output shaft of the second motor 17 drives the driving bevel gear 18 to rotate, and the driving bevel gear 18 drives the two driven bevel gears 19 to rotate so as to drive the two lead screws 15 to rotate. The two screw rods 15 drive the two limiting discs 11 to move through the two screw seats 16 so as to drive the two groups of weights 9 to move, and the distance between the weights 9 and the central z axis of the turntable 7 can be adjusted at any time through the movement of the two groups of weights 9rDistance, distancerThe change causes the rotational inertia to change, thereby achieving the purpose of dynamically matching the first torque value T of the input end of the speed reducer 1 The purpose of (1).
Through setting up two sets of weights 9 at swing arm pole 10's anterior both ends symmetry, can instantaneously offset the moment of heavy object piece to carousel 7 center z axle when the swing arm motion, the formula is as follows:
wherein,
is a moment of forcemgrWith the instantaneous contained angle of the z axle of carousel 7, can simulate the actual motion mode of robot and carry out robot reduction gear fatigue life test, the test structure is laminated reality more.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. Accurate reduction gear of industrial robot under real operating mode is life-span test system with higher speed, its characterized in that includes:
the support platform (1), the top of the support platform (1) is provided with a mounting surface (2), and a support plate (3) is mounted on the mounting surface (2);
the mounting seat (4) is mounted on the supporting plate (3) and used for mounting a speed reducer;
the motor (5) is mounted on the supporting plate (3) and arranged at one end of the mounting seat (4) and used for driving the speed reducer to rotate around the axis of the speed reducer;
fixing base (6), fixing base (6) are installed on installation face (2), it installs carousel (7) to rotate on fixing base (6), carousel (7) are kept away from swing arm subassembly (8) are installed to the one end of reduction gear, swing arm subassembly (8) have about a set of swing arm that rotary disk (7) symmetry set up, slidable mounting has weight (9) on the swing arm, weight (9) are followed the length direction position of swing arm is adjustable.
2. The acceleration life test system of the industrial robot precision speed reducer under the actual service condition according to claim 1, wherein the swing arm assembly (8) comprises a swing arm rod (10) and a limiting disc (11), the middle part of the swing arm rod (10) is fixedly connected with the rotary disc (7), the swing arm is arranged on the swing arm rod (10), a limiting groove (13) is formed in the swing arm, the limiting disc (11) is in sliding connection with the limiting groove (13), a stud (12) is installed on the limiting disc (11), and the weight (9) is in threaded connection with the stud (12).
3. The acceleration life test system of the industrial robot precision reducer under the actual service condition of claim 2 is characterized in that an adjusting structure is arranged between the swing arm rod (10) and the limiting disc (11), and the adjusting structure comprises:
the bearing seat (14), the bearing seat (14) is installed and is close to the position in the middle of swing arm pole (10) in spacing groove (13):
the screw rod (15) penetrates through the bearing seat (14), and one end of the screw rod (15) is rotatably connected with the end part of the limiting groove (13);
the screw seat (16), screw seat (16) with lead screw (15) threaded connection and with spacing dish (11) fixed connection.
4. The acceleration life testing system of the precision speed reducer of the industrial robot under the actual service condition is characterized by further comprising a second motor (17), wherein the second motor (17) is arranged at the center of the swing arm rod (10) and is fixedly connected with the swing arm rod (10), a driving bevel gear (18) is installed on an output shaft of the second motor (17), and a driven bevel gear (19) meshed with the driving bevel gear (18) is installed at one end, close to the center of the swing arm rod (10), of the screw rod (15).
5. The acceleration life testing system of the industrial robot precision speed reducer under the actual service condition as claimed in claim 1, further comprising a mounting plate (20), wherein the mounting plate (20) is arranged between the motor (5) and the support plate (3) and is connected with the support plate (3) in a sliding manner, the sliding direction is parallel to the axial direction of the speed reducer, and the motor (5) is fixedly mounted on the mounting plate (20).
6. The acceleration life testing system for the precision speed reducer of the industrial robot under the actual service condition is characterized in that a sliding assembly is arranged between the supporting plate (3) and the mounting plate (20), the sliding assembly comprises a connecting plate (21), the connecting plate (21) is fixedly connected with the mounting plate (20), a T-shaped strip (22) is arranged at the bottom of the connecting plate (21), a T-shaped groove (23) is formed in the supporting plate (3), the T-shaped strip (22) is slidably connected with the T-shaped groove (23), a screw rod (24) is installed in the T-shaped groove (23), the screw rod (24) is in threaded connection with the T-shaped strip (22), and one end of the screw rod penetrates through the supporting plate (3) to be rotatably connected with the supporting plate (3).
7. The system for testing the accelerated service life of the precision speed reducer of the industrial robot under the actual service working condition according to claim 1, wherein a self-adaptive structure is arranged on the mounting seat (4), the self-adaptive structure comprises an annular groove (27), the annular groove (27) is formed in one side, away from the motor (5), of the mounting seat (4), a plurality of T-shaped sliding blocks (28) are arranged in the annular groove (27) in a sliding mode, adjusting strips (29) are connected to the T-shaped sliding blocks (28) in a sliding mode, the sliding direction is parallel to the radial direction of the axis of the speed reducer, a plurality of screw holes (30) are formed in the adjusting strips (29), locking blocks (31) are installed on one sides of the T-shaped sliding blocks (28), and locking bolts (32) are connected to the locking blocks (31) through threads.
8. The acceleration life test system of the industrial robot precision reducer under the actual service condition according to claim 2, characterized in that a ball (25) is embedded in one side of the limiting disc (11) contacting with the swing arm rod (10).
9. The acceleration life test system of the industrial robot precision speed reducer under the actual service condition as claimed in claim 5, further comprising a torque sensor (26), wherein the torque sensor (26) is fixedly mounted on the mounting plate (20) and is used for acquiring a first torque value of the input shaft of the speed reducer.
10. The acceleration life testing system of the precision speed reducer of the industrial robot under the real service condition of claim 9, further comprising:
the data acquisition module is used for acquiring a second torque value of the output shaft of the speed reducer;
the input end of the processing module is electrically connected with the torque sensor (26) and the output end of the data acquisition module, and the processing module is used for receiving a first signal of the first torque value and a second signal of the second torque value and comparing the first signal with the second signal;
and the input end of the PLC control module is electrically connected with the output end of the processing module, and the output end of the PLC control module is electrically connected with the second motor (17) and used for receiving the comparison result of the processing module and controlling the second motor (17).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211432852.9A CN115655710A (en) | 2022-11-16 | 2022-11-16 | Accelerated life test system for industrial robot precision speed reducer under real service working condition |
| GB2307539.3A GB2624488A (en) | 2022-11-16 | 2023-05-19 | Accelerated life testing system for industrial robot precision reducer under real service conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211432852.9A CN115655710A (en) | 2022-11-16 | 2022-11-16 | Accelerated life test system for industrial robot precision speed reducer under real service working condition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115655710A true CN115655710A (en) | 2023-01-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211432852.9A Pending CN115655710A (en) | 2022-11-16 | 2022-11-16 | Accelerated life test system for industrial robot precision speed reducer under real service working condition |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115655710A (en) |
| GB (1) | GB2624488A (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206114288U (en) * | 2016-08-25 | 2017-04-19 | 浙江双环传动机械股份有限公司 | Closed reduction gear accelerated life test system of electricity |
| CN108287072B (en) * | 2018-03-07 | 2023-08-15 | 中机生产力促进中心有限公司 | Fatigue life testing method of precise speed reducer for robot |
| CN114878159A (en) * | 2022-04-29 | 2022-08-09 | 上海羿弓精密科技有限公司 | Rapid life testing device and method applied to precision speed reducer |
-
2022
- 2022-11-16 CN CN202211432852.9A patent/CN115655710A/en active Pending
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2023
- 2023-05-19 GB GB2307539.3A patent/GB2624488A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| GB202307539D0 (en) | 2023-07-05 |
| GB2624488A (en) | 2024-05-22 |
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