A rapid life test device and method for precision reducers

Abstract

The present invention relates to a rapid life test device and method for precision reducers. The input and output ends of the precision reducer to be tested are connected to a drive motor and a swing arm, respectively. Driven by the drive motor, 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 slide rail, a drive device and a slider. The slider is slidably installed in the slide rail. A counterweight is installed on the slider. The drive device cooperates with the slider and the slide rail. Under the action of the drive device, the slider slides along the slide rail, and then drives the counterweight to move on the swing arm. Compared with the prior art, the present invention adds a movable counterweight to the swing arm. The movable counterweight can move with the swing arm movement angle, thereby adjusting the torque acting on the precision reducer so that the torque acting on the reducer is always the maximum torque, which can greatly reduce the life test time of the precision reducer.

Description

Technical Field

[0001] The present invention relates to the technical field of product testing, and in particular to a rapid life testing device and method for a precision reducer. Background Art

[0002] Precision reducers are core components of robots and other equipment. With the rapid development of the manufacturing industry, the demand for precision reducers is relatively large.

[0003] Service life is a key performance parameter for precision reducers. To ensure their reliability, fatigue life testing during the R&D process is crucial. The quality of the testing equipment directly impacts product development progress. Therefore, it's essential to initiate development testing for all types of precision reducers and require the appropriate testing equipment.

[0004] The current life test principle for precision reducers used in robots is to simulate the movement of the robot's swing arm, such as the fatigue life test method for precision reducers used in robots disclosed in Chinese patent CN201810185776.3. In existing life test devices, the output end of the precision reducer is connected to the swing arm, which simulates the robot's mechanical arm. The swing arm mainly uses the torque generated by the weight of the swing arm, and its maximum torque is subject to the maximum stress load of the reducer. However, the torque applied to the precision reducer by the swing arm at different positions during the movement is different, resulting in a long life test cycle and affecting product development testing. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a rapid life testing device and method for precision reducers.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A rapid life test device for a precision reducer includes a precision reducer to be tested, wherein the input end and the output end of the precision reducer are connected to a drive motor and a swing arm, respectively. When driven by the drive motor, the input end of the precision reducer rotates, and then the output end of the precision reducer drives the swing arm to swing.

[0008] The swing arm is provided with a slide rail, a driving device and a slider. The slider is slidably installed in the slide rail. A counterweight is installed on the slider. The driving device cooperates with the slider and the slide rail. Under the action of the driving device, the slider slides along the slide rail, thereby driving the counterweight to move on the swing arm.

[0009] Furthermore, the precision reducer and the drive motor are connected via a transfer shaft, one end of the transfer shaft is connected to the output shaft of the drive motor, and the other end of the transfer shaft is connected to the input end of the precision reducer.

[0010] Furthermore, the precision reducer and the swing arm are connected via 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.

[0011] Furthermore, it also includes a mounting seat, and the precision reducer and the drive motor are mounted on the mounting seat.

[0012] Furthermore, it also includes a base, and the mounting seat is installed on the base.

[0013] Furthermore, a support is provided on the slider, and the counterweight is detachably mounted on the slider via the support.

[0014] Furthermore, 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 second end is a free end. 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.

[0015] Furthermore, 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 to the servo motor, and the other end cooperates with the slider. Under the action of the servo motor, the screw rod rotates, thereby driving the slider to slide along the slide rail.

[0016] Furthermore, a controller is included, and the driving motor and the driving device are communicatively connected to the controller.

[0017] A rapid life test method for precision reducers, specifically:

[0018] The drive motor works, the precision reducer drives the swing arm to swing, and the drive device works to control the position of the slider on the swing arm in real time, so that the torque acting on the precision reducer during the movement of the swing arm is maximized.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) A movable counterweight is added to the swing arm. The movable counterweight can move with the swing arm movement angle, thereby adjusting the torque acting on the precision reducer so that the torque acting on the precision reducer is always the maximum torque. This can greatly reduce the life test time of the precision reducer and thus shorten the research and development process of the precision reducer.

[0021] (2) The driving device includes a servo motor and a screw rod, which has a fast response speed and high control accuracy. It can quickly adjust the movement of the slider in real time during the swing arm movement, and then adjust the position of the counterweight.

[0022] (3) The precision reducer and the drive motor are installed through the mounting base, and a support is provided on the slider to install the counterweight. The entire device can test different types of precision reducers and meet different testing requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of a rapid life test device;

[0024] Figure 2 This is the overall appearance and structure diagram of the rapid life test device;

[0025] Figure 3 Schematic diagram of force analysis during arm swinging motion;

[0026] Figure markings: 1. swing arm, 2. slide rail, 3. slider, 4. support, 5. counterweight, 6. screw, 7. servo motor, 8. connecting shaft, 9. precision reducer, 10. mounting seat, 11. adapter shaft, 12. drive motor, 13. base. DETAILED DESCRIPTION

[0027] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0028] In the drawings, components with identical structures are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrary and are not limited by the present invention. For clarity, some components in the drawings are exaggerated.

[0029] Example 1:

[0030] A rapid life test device for precision reducers, such as Figure 1 and Figure 2 As shown, it includes a precision reducer 9 to be tested, 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 swing arm 1 is provided with a slide rail 2, a drive device and a slider 3, the slider 3 is slidably installed in the slide rail 2, and a counterweight 5 is installed on the slider 3. The drive device cooperates with the slider 3 and the slide rail 2. Under the action of the drive device, the slider 3 slides along the slide rail 2, thereby driving the counterweight 5 to move on the swing arm 1.

[0031] A rapid life test method for precision reducers, specifically:

[0032] The driving motor 12 works, the precision reducer 9 drives the swing arm 1 to swing, and the driving device works to control the position of the slider 3 on the swing arm 1 in real time, so that the torque acting on the precision reducer 9 during the movement of the swing arm 1 is maximized.

[0033] It is understandable 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 torque generated by its own weight. The maximum torque is subject to the maximum stress load of the reducer. The torque applied by the swing arm 1 at different positions during the movement is different, resulting in a long life test cycle, which affects product development testing.

[0034] The maximum combined torque acting on the precision reducer 9 is determined by the maximum load stress that the precision reducer 9 can bear. The life test time of the precision reducer 9 is related to the equivalent load torque acting on it. The greater the equivalent load torque, i.e., the applied torque, the shorter the life test. The present invention adds a movable counterweight 5 to the original test device. The movable counterweight can move with the change in the angle of the swing arm 1, adjusting the torque acting on the precision reducer 9 so that the torque acting on the reducer is always the maximum torque, which can greatly reduce the life test time of the precision reducer 9.

[0035] Specifically, such as Figure 1 As shown, the precision reducer 9 and the drive motor 12 are connected via an adapter shaft 11, one end of which is connected to the output shaft of the drive motor 12, and the other end of which is connected to the input end of the precision reducer 9. The precision reducer 9 and the swing arm 1 are connected via a connecting shaft 8, one end of which is connected to the output end of the precision reducer 9, and the other end of which is connected to the swing arm 1.

[0036] The rapid life test device also includes a mounting base 10, on which the precision reducer 9 and the drive motor 12 are mounted. The precision reducer 9 and the drive motor 12 to be tested can be replaced as needed. The rapid life test device also includes a base 13, on which the mounting base 10 is mounted. The base 13 plays a stabilizing and supporting role. With the cooperation of the base 13, as shown in FIG. Figure 1 As shown, the driving motor 12 and the precision reducer 9 are mounted on the base 13 via the mounting base 10, and the swing arm 1 can be suspended in the air and then swing.

[0037] A support 4 is provided on the slider 3 , and a counterweight 5 is detachably mounted on the slider 3 via the support 4 . The counterweight 5 of different masses can be replaced according to the testing requirements of the precision reducer 9 .

[0038] 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 a free end, the slide rail 2 is arranged along the length direction of the swing arm 1, and the slider 3 slides along the slide rail 2 in the length direction of the swing arm 1.

[0039] The driving device includes 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 to the servo motor 7, and the other end is engaged with the slider 3. Under the action of the servo motor 7, the screw rod 6 rotates, 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 rod 6 passes through the threaded hole, and then the rotation of the screw rod 6 is converted into the sliding of the slider 3. Alternatively, a screw rod sleeve can be installed on the slider 3, and the screw rod sleeve is engaged with the screw rod 6, thereby driving the slider 3 to slide. In addition, other mechanical structures can also be used to achieve the sliding of the slider 3, which will not be elaborated here. In this embodiment, for the convenience of wiring layout, the servo motor 7 is installed at 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.

[0040] The rapid life test device further includes a controller. The drive motor 12 and the driving device are communicatively connected to the controller, and the controller can control the drive motor 12 and the driving device, control the drive motor 12 to control the rotation direction and angle of the swing arm 1, and control the driving device to control the position of the counterweight 5 on the swing arm 1.

[0041] Schematic diagrams of different positions during the swinging process of the swing arm 1 are as Figure 3 shown. Due to its own gravity and rotation, a gravitational torque and an angular acceleration torque act on the precision reducer 9 together, and the gravitational torque is much greater than the angular acceleration torque during the movement of the swing arm 1. The force analysis of it is as follows:

[0042] Definition: the acting mass M of the swing arm; the acting force arm L of the swing arm; the acting mass m of the counterweight; the acting force arm of the counterweight l (0 < l < L); the angle θ (-90° < θ < 90°) between the swing arm and the horizontal plane;

[0043] The gravitational torque T acting on the precision reducer 9:

[0044] T = MgLcosθ + mg l cosθ

[0045] It can be seen that when the value of |θ| is larger, the acting force arm of the counterweight l is larger;

[0046] ,

[0047] 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 torque formed by the movable counterweight, the acting torque acting on the precision reducer 9 can be made to be always the same or nearly the same when the swing arm 1 moves to any position.

[0048] Therefore, when conducting a life test, the slider 3 is moved according to the position of the swing arm 1. When the swing arm 1 moves to a horizontal position, the slider 3 moves to the first end of the swing arm 1. When the swing arm 1 moves away from the horizontal position, the slider 3 moves to the second end of the swing arm 1; so that the gravitational torque acting on the precision reducer 9 is always consistent or nearly consistent, thereby maximizing the equivalent load torque acting on the precision reducer 9 and minimizing the life test time.

[0049] It should be noted that in the above-mentioned life test device and test method, the component models, material names, connection structures, control methods, algorithms and other features that are not clearly stated are all regarded as common technical features disclosed in the prior art, such as the connection between the precision reducer 9 and the drive motor 12 and the swing arm 1, the connection between the servo motor 7 and the screw 6, the calculation of the movement position of the counterweight 5 based on the rotation angle, etc.

[0050] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A rapid life test method for precision reducers, characterized in that: Based on the rapid life test device, the test device includes a precision reducer to be tested, the input end and output end of the precision reducer are respectively connected to the drive motor and the swing arm. Under the drive of the drive motor, 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 slide rail, a driving device and a slider, the slider is slidably installed in the slide rail, a counterweight is installed on the slider, the driving device cooperates with the slider and the slide rail, and under the action of the driving device, the slider slides along the slide rail, thereby driving the counterweight to move on the swing arm; 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 second end is a free end. 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; 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 to the servo motor and the other end is matched with the slider. Under the action of the servo motor, the screw rod rotates, thereby driving the slider to slide along the slide rail. The testing device further includes a controller, and the driving motor and the driving device are in communication with the controller; When performing a life test, the slider is moved according to the position of the swing arm. When the swing arm moves to a horizontal position, the slider moves to the first end of the swing arm. When the swing arm moves away from the horizontal position, the slider moves to the second end of the swing arm, so that the gravitational torque acting on the precision reducer is always consistent or nearly consistent, thereby maximizing the equivalent load torque acting on the precision reducer. A movable counterweight is added to the swing arm. The movable counterweight can move with the swing arm's movement angle, thereby adjusting the torque acting on the precision reducer so that the torque acting on the precision reducer is always the maximum torque, which can greatly reduce the life test time of the precision reducer. The test method is specifically as follows: The drive motor works, the precision reducer drives the swing arm to swing, and the drive device works to control the position of the slider on the swing arm in real time, so that the torque acting on the precision reducer during the movement of the swing arm is maximized.

2. A rapid life test method for a precision reducer according to claim 1, characterized in that: The precision reducer and the drive motor are connected via a transfer shaft, one end of the transfer shaft is connected to the output shaft of the drive motor, and the other end of the transfer shaft is connected to the input end of the precision reducer.

3. The rapid life test method for a precision reducer according to claim 1, characterized in that: The precision reducer and the swing arm are connected via 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.

4. The rapid life test method for a precision reducer according to claim 1 is characterized in that: It also includes a mounting seat, on which the precision reducer and the drive motor are mounted.

5. A rapid life test method for a precision reducer according to claim 4, characterized in that: Also included is a base, on which the mounting seat is mounted.

6. A rapid life test method for a precision reducer according to claim 1, characterized in that: The slider is provided with a support, and the counterweight is detachably mounted on the slider via the support.

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