An accelerated test method and device for the reliability of an industrial robot drive joint

Abstract

The invention discloses an industrial robot driving joint reliability acceleration test method and device. According to an existing industrial robot driving joint test method, load force provided by aload torque motor or an electric dynamometer is adopted to directly act on a motor shaft, and the situation that a mechanical arm bears the load force in multiple directions in actual work is not consistent. Three vibrator fixing plates with the distance equal to that of an output shaft of a speed reducer are fixed to the power output end of a rotating arm, a vibrator is fixed to each vibrator fixing plate, reliability tests of the speed reducer are conducted when the X-axis vibrator, the Y-axis vibrator and the Z-axis vibrator act, and then a fault-free operation life formula of the speed reducer under different combination vibration modes of the X axis, the Y axis and the Z axis and different vibration force amplitudes and vibration frequencies of the vibrators is constructed. The actual working condition of the rotating arm of an industrial robot can be simulated, reliability tests are conducted, higher test efficiency is achieved, the measuring precision is high, the structure issimple, and operation is easy.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an accelerated testing method and device for reliability of driven joints of industrial robots with additional vibration loads. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. Drive joints play a vital role in the control of industrial robots, so higher requirements are put forward for the reliability of drive joints, and the intelligent reliability accelerated test of industrial robot drive joints can be carried out by using the test bench. Therefore, it is necessary to design an accelerated test bench for the reliability of industrial robot drive joints. [0003] At present, a large number of test benches have been designed for the reliability ...

AI Technical Summary

Problems solved by technology

The above two test benches do not use articulated arms for testing, but directly use the load moment motor or the load force provided by the electric dynamometer to directly act on the motor shaft, which is different from the fact that the mechanical arm needs to bear loads in multiple directions in actual work. The force situation does not match, so it is not accurate enough to simulate the damage to the robot-driven joints caused by the normal working environment and the fatigue strength test

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