Accelerated life test system for precision reducer of industrial robot under real service condition

Abstract

The application provides an acceleration life test system for an industrial robot precision reducer under real service conditions, comprising: a support table, the top of the support table is provided with a mounting surface, and a support plate is mounted on the mounting surface; a mounting seat, the mounting seat is mounted on the support plate and used for mounting the reducer; a motor, the motor is mounted on the support plate and arranged at one end of the mounting seat, and used for driving the reducer to rotate around the axis of the reducer; and a fixing seat, the fixing seat is mounted on the mounting surface, a rotating disc is rotatably mounted on the fixing seat, an oscillating arm assembly is mounted at the end of the rotating disc away from the reducer, the oscillating arm assembly is provided with a group of oscillating arms which are symmetrically arranged about the rotating disc, and a weight is slidably mounted on the oscillating arm and can be adjusted in position along the length direction of the oscillating arm. The acceleration life test system for the industrial robot precision reducer under real service conditions has the advantages of being capable of simulating the actual motion mode of the robot, facilitating the reducer to reach full load operation, short test period, high test efficiency and low cost.

Description

Technical Field

[0001] This disclosure generally relates to the field of speed reducer fatigue testing, and specifically to an accelerated life testing system for precision speed reducers of industrial robots under real service conditions. Background Technology

[0002] With the continuous development of informatization and industrialization, industrial robots are being used more and more widely, and the requirements for the performance of industrial robot joint reducers are also getting higher and higher. As the core component of the robot, the service life of the joint reducer is a key performance parameter. In order to ensure the reliability of precision reducers for robots, fatigue life testing of robot reducers is particularly important.

[0003] There are two main existing fatigue life testing methods: one is to use continuous loading to test fatigue life, which achieves life testing but cannot simulate the actual movement of the robot; the other method is to directly use the robot to test fatigue life, which conforms to the robot's movement, but because the maximum allowable load value for each joint reducer is inconsistent, it is difficult to achieve full load operation, and the test cycle is long, the test efficiency is low, and the cost is high. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the existing technology, it is desirable to provide an accelerated life testing system for precision reducers of industrial robots under real service conditions to solve the above problems.

[0005] This application provides an accelerated life testing system for precision reducers of industrial robots under real-world service conditions, including: A support platform, the top of which has a mounting surface, on which a support plate is mounted; Mounting bracket, which is mounted on the support plate, is used to mount the reducer; An electric motor is mounted on the support plate and disposed at one end of the mounting base, for driving the reducer to rotate about its own axis. A fixed base is mounted on the mounting surface. A turntable is rotatably mounted on the fixed base. A swing arm assembly is mounted on the end of the turntable away from the reducer. The swing arm assembly has a set of swing arms symmetrically arranged about the turntable. A weight is slidably mounted on the swing arm, and the position of the weight is adjustable along the length direction of the swing arm.

[0006] According to the technical solution provided in the embodiments of this application, the swing arm assembly includes a swing arm rod and a limiting plate. The middle part of the swing arm rod is fixedly connected to the turntable. The swing arm is disposed on the swing arm rod. A limiting groove is formed on the swing arm. The limiting plate is slidably connected to the limiting groove. A stud is installed on the limiting plate. The weight is threadedly connected to the stud.

[0007] According to the technical solution provided in the embodiments of this application, an adjustment structure is provided between the swing arm and the limiting plate, the adjustment structure including: The bearing housing is installed within the limiting groove near the middle of the rocker arm: A lead screw, which passes through the bearing seat and is rotatably connected at one end to the end of the limiting groove; A screw seat is threadedly connected to the lead screw and fixedly connected to the limiting plate.

[0008] According to the technical solution provided in the embodiments of this application, a second motor is also included. The second motor is disposed at the center position of the swing arm and is fixedly connected to the swing arm. The output shaft of the second motor is equipped with an active bevel gear, and the end of the lead screw near the center of the swing arm is equipped with a driven bevel gear that meshes with the active bevel gear.

[0009] According to the technical solution provided in the embodiments of this application, it also includes a mounting plate, which is disposed between the motor and the support plate and is slidably connected to the support plate. The sliding direction is parallel to the axial direction of the reducer, and the motor is fixedly mounted on the mounting plate.

[0010] According to the technical solution provided in the embodiments of this application, a sliding assembly is provided between the support plate and the mounting plate. The sliding assembly includes a connecting plate, which is fixedly connected to the mounting plate. A T-shaped strip is provided at the bottom of the connecting plate. A T-shaped groove is provided on the support plate. The T-shaped strip is slidably connected to the T-shaped groove. A screw is installed in the T-shaped groove. The screw is threadedly connected to the T-shaped strip and one end passes through the support plate and is rotatably connected to the support plate.

[0011] According to the technical solution provided in the embodiments of this application, the mounting base is provided with an adaptive structure, the adaptive structure including an annular groove, the annular groove being opened on the side of the mounting base away from the motor, a plurality of T-shaped sliders being slidably installed in the annular groove, an adjusting strip being slidably connected to the T-shaped sliders, the sliding direction being parallel to the radial direction of the reducer axis, a plurality of screw holes being opened on the adjusting strip, a locking block being installed on one side of the T-shaped sliders, and a locking bolt being threadedly connected to the locking block.

[0012] According to the technical solution provided in the embodiments of this application, a ball bearing is embedded on the side of the limiting plate that contacts the swing arm rod.

[0013] According to the technical solution provided in the embodiments of this application, a torque sensor is also included. The torque sensor is fixedly mounted on the mounting plate and is used to collect the first torque value of the input shaft of the reducer.

[0014] The technical solution provided according to the embodiments of this application also includes: The data acquisition module is used to acquire the second torque value of the output shaft of the reducer; The processing module has its input terminal electrically connected to the output terminal of the torque sensor and the data acquisition module, and is used to receive a first signal of the first torque value and a second signal of the second torque value and compare them. The PLC control module has its input terminal electrically connected to the output terminal of the processing module and its output terminal electrically connected to the second motor. It is used to receive the comparison results from the processing module and control the second motor.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: the reducer is fixed by the mounting base, and the reducer is driven to rotate around its own axis by the input end connected to the motor. The turntable is connected to the output end of the reducer, and a swing arm assembly is installed on the turntable. A weight is slidably installed on the swing arm of the swing arm assembly. The weight provides load for the test reducer. The rotation of the reducer drives the turntable to rotate, which in turn drives the swing arm to rotate. The weight changes position in the length direction of the swing arm as the reducer rotates, thereby changing the moment of inertia of the swing arm assembly. This allows the load at the output end of the reducer to adapt to the torque at the input end of the reducer. On the one hand, it can simulate the actual movement mode of the robot, and on the other hand, it facilitates the reducer to achieve full-load operation. The accelerated life test system for industrial robot precision reducers under real service conditions provided by this application has the advantages of short test cycle, high test efficiency, and low cost. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of the accelerated life testing system for a precision reducer of an industrial robot under real service conditions, as provided in this application; Figure 2 for Figure 1 The diagram shows the rear structure of an accelerated life testing system for a precision reducer of an industrial robot under real service conditions. Figure 3 for Figure 1 The diagram shows the disassembled structure of the support plate and connecting plate in the accelerated life test system for the precision reducer of an industrial robot under real service conditions. Figure 4 for Figure 1 The diagram shows the structure of the swing arm assembly in the accelerated life test system for the precision reducer of an industrial robot under real service conditions. Figure 5 for Figure 1The diagram shows a cross-sectional view of the limit plate in an accelerated life testing system for a precision reducer of an industrial robot under real service conditions. Figure 6 for Figure 1 The diagram shows the disassembled structure of the lead screw and swing arm in the accelerated life test system of the precision reducer of an industrial robot under real service conditions. Figure 7 for Figure 6 Rear structure diagram; Figure 8 for Figure 1 The diagram shows an adaptive structure in an accelerated life testing system for a precision reducer of an industrial robot under real service conditions. Reference numerals: 1. Support platform; 2. Mounting surface; 3. Support plate; 4. Mounting base; 5. Motor; 6. Fixed base; 7. Turntable; 8. Swing arm assembly; 9. Weight; 10. Swing arm rod; 11. Limiting plate; 12. Stud; 13. Limiting groove; 14. Bearing seat; 15. Lead screw; 16. Screw seat; 17. Second motor; 18. Driving bevel gear; 19. Driven bevel gear; 20. Mounting plate; 21. Connecting plate; 22. T-shaped bar; 23. T-shaped groove; 24. Screw; 25. Ball bearing; 26. Torque sensor; 27. Annular groove; 28. T-shaped slider; 29. ​​Adjusting bar; 30. Screw hole; 31. Locking block; 32. Locking bolt. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] Please refer to Figure 1 This application provides an accelerated life testing system for precision reducers of industrial robots under real-world service conditions, comprising: A support platform 1, the top of which has a mounting surface 2, on which a support plate 3 is mounted; Mounting base 4, which is mounted on the support plate 3, is used to mount the reducer; Motor 5, which is mounted on the support plate 3 and disposed at one end of the mounting base 4, is used to drive the reducer to rotate around its own axis; A fixed base 6 is mounted on the mounting surface 2. A turntable 7 is rotatably mounted on the fixed base 6. A swing arm assembly 8 is mounted on the end of the turntable 7 away from the reducer. The swing arm assembly 8 has a set of swing arms symmetrically arranged about the turntable 7. A weight 9 is slidably mounted on the swing arm. The position of the weight 9 is adjustable along the length direction of the swing arm.

[0020] Specifically, the motor, reducer, and turntable are arranged on the same axis.

[0021] Specifically, the support platform 1 is provided with reinforcing corners on its periphery to improve the stability of the support platform 1.

[0022] Working principle: The reducer is fixed by mounting base 4, and the input end of the reducer is connected to the motor 5 to drive the reducer to rotate around its own axis. The turntable 7 is connected to the output end of the reducer. A swing arm assembly 8 is mounted on the turntable 7. A weight 9 is slidably mounted on the swing arm of the swing arm assembly 8. The weight 9 provides load for the test reducer. The rotation of the reducer drives the turntable 7 to rotate, which in turn drives the swing arm to rotate. The weight 9 changes position in the length direction of the swing arm as the reducer rotates, thereby changing the rotational inertia of the swing arm assembly 8. This allows the load at the output end of the reducer to adapt to the torque at the input end of the reducer. On the one hand, it can simulate the actual movement mode of the robot, and on the other hand, it facilitates the reducer to achieve full-load operation. The accelerated life test system for industrial robot precision reducers under real service conditions provided in this application has the advantages of short test cycle, high test efficiency, and low cost.

[0023] Furthermore, the swing arm assembly 8 includes a swing arm rod 10 and a limiting plate 11. The middle part of the swing arm rod 10 has a circular structure, which is sleeved on the turntable 7 and fixedly connected to the turntable 7. The swing arm is disposed on the swing arm rod 10. In one embodiment, the swing arm rod 10 is provided with two swing arms, which are symmetrically arranged. The swing arm has a limiting groove 13 opened along the length direction of the swing arm. The limiting plate 11 extends into the limiting groove 13 and is slidably connected to the limiting groove 13. The sliding direction is set along the length direction of the swing arm. A stud 12 is installed on the limiting plate 11. The weight 9 is sleeved on the stud 12 and threadedly connected to the stud 12 and fixed by a nut.

[0024] When the reducer inside the mounting base 4 rotates, the turntable 7 drives the swing arm 10 to rotate. The swing arm 10, in conjunction with the weight 9, provides the load, allowing the position of the weight to be adjusted to change the moment of inertia, thereby changing the load size and increasing the test efficiency.

[0025] Furthermore, an adjustment structure for adjusting the position of the limiting plate 11 is provided between the swing arm rod 10 and the limiting plate 11. The adjustment structure includes a bearing seat 14, a lead screw 15, and a screw seat 16. The bearing seat 14 is installed in the limiting groove 13 near the middle of the swing arm rod 10. The lead screw 15 is disposed in the limiting groove 13, with one end passing through the bearing seat 14 and fixed, and the other end rotatably connected to the end of the limiting groove 13 near the end of the swing arm. The screw seat 16 is sleeved on the lead screw 15 and threadedly connected to the lead screw 15. The side of the screw seat near the limiting plate 11 is fixedly connected to the limiting plate 11.

[0026] When the lead screw 15 rotates, its external thread drives the screw seat 16 to move inside the limiting groove 13, which in turn drives the limiting disk 11 to move along the length direction of the swing arm. This allows the position of the weight 9 to be adjusted, thereby adjusting the rotational inertia of the reducer output end and realizing the adjustability of the reducer output torque, which is suitable for different robot reducers.

[0027] Furthermore, it also includes a second motor 17, which is located at the center of the rocker arm 10 and is fixedly connected to the rocker arm 10 via a flange. The output shaft of the second motor 17 is equipped with a driving bevel gear 18, and the end of the lead screw 15 near the center of the rocker arm 10 is equipped with a driven bevel gear 19 that meshes with the driving bevel gear 18.

[0028] Specifically, in one embodiment, the second motor 17 is a servo motor, used to adjust whether the swing arm 10 rotates forward or backward according to test requirements, or to adjust the speed of the swing arm 10 according to requirements.

[0029] Specifically, the end of the second motor 17 away from the output shaft is connected to an external device through a conductive slip ring. By setting the conductive slip ring, the second motor 17 can be powered and monitored by the external device, while preventing the second motor 17 from rotating when the swing arm 10 rotates, thus preventing the connection line between the second motor 17 and the external device from getting tangled.

[0030] During operation, the output shaft of the second motor 17 rotates, driving the active bevel gear 18 to rotate. The active bevel gear 18 drives the driven bevel gear 19 to rotate, and the driven bevel gear 19 drives the lead screw 15 to rotate. The lead screw 15 can then drive the limit plate 11 to move through the screw seat 16. By changing the distance between the weight 9 and the center of the swing arm rod 10, the moment of inertia can be dynamically adjusted, thereby achieving the purpose of dynamically matching the input torque.

[0031] Furthermore, it also includes a mounting plate 20 and a torque sensor 26. The mounting plate 20 is disposed between the motor 5 and the support plate 3 and is slidably connected to the support plate 3. The sliding direction is parallel to the axial direction of the reducer. The motor 5 and the torque sensor 26 are fixedly mounted on the mounting plate 20. The torque sensor 26 is disposed between the motor 5 and the reducer. The input end of the torque sensor 26 is connected to the output end of the motor 5 through a coupling. The output end of the torque sensor 26 is drively connected to the input end of the reducer. The torque sensor 26 is used to collect the first torque value T1 of the reduction input shaft.

[0032] By adjusting the position of the mounting plate 20, the positions of the motor 5 and the torque sensor 26 can be adjusted, facilitating the docking of the torque sensor 26 with the reducer.

[0033] Furthermore, a sliding assembly is provided between the support plate 3 and the mounting plate 20. The sliding assembly includes a connecting plate 21, the top surface of which is fixedly connected to the bottom surface of the mounting plate 20. A T-shaped strip 22 is provided at the bottom of the connecting plate 21. A T-shaped groove 23 is provided on the top surface of the support plate 3. The T-shaped strip 22 is slidably connected to the T-shaped groove 23, and the sliding direction is parallel to the axial direction of the reducer. A screw 24 is installed in the T-shaped groove 23. The screw 24 is threadedly connected to the T-shaped strip 22 and one end passes through the side of the support plate 3 and is rotatably connected to the layer plate 3.

[0034] By rotating the screw 24, the screw 24 drives the T-shaped bar 22 to slide inside the T-groove 23 through the thread between the screw 24 and the T-shaped bar 22. During the sliding process, the motor 5 and the torque sensor 26 are moved, so that the output end of the torque sensor 26 can be connected to the input shaft of the reducer.

[0035] Furthermore, the mounting base 4 is slidably connected to the support plate 3 and its position is adjustable in a direction parallel to the axial direction of the reducer.

[0036] Specifically, the sliding structure of the mounting base 4 is similar to that of the sliding assembly. The bottom of the mounting base 4 is provided with a slider, and the support plate 3 is provided with a groove corresponding to the slider. The slider is slidably connected to the groove, and the sliding direction is parallel to the axis of the reducer. A threaded rod is provided in the groove, and the threaded rod is threadedly connected to the slider and one end passes through the support plate 3 on the side away from the motor and is threadedly connected to the support plate 3.

[0037] Further, please refer to Figure 8The mounting base 4 is provided with an adaptive structure, which includes an annular groove 27. The annular groove 27 is opened on the side of the mounting base 4 away from the motor 5. Several T-shaped sliders 28 are slidably installed in the annular groove 27. As shown in the figure, in one embodiment, there are five T-shaped sliders 28. An adjusting strip 29 is slidably connected to the T-shaped slider 28. The sliding direction is parallel to the radial direction of the reducer axis. Several screw holes 30 are opened on the adjusting strip 29. A locking block 31 is installed on the side of the T-shaped slider 28 located in the annular groove 27. A locking bolt 32 is threadedly connected to the locking block 31.

[0038] Specifically, when the reducer is placed on the mounting base 4, the mounting holes on the reducer are aligned with the screw holes 30 on the adaptive structure and fixed with mounting bolts to prevent instability of the reducer during testing. Five T-shaped sliders 28 can slide within the annular groove 27, adjusting the axial position of the screw holes 30 around the reducer axis. Simultaneously, the adjusting strip 29 slides on the T-shaped sliders 28, adjusting the radial position of the screw holes 30 along the reducer axis. This allows the screw holes 30 to adapt to reducers with different mounting hole positions. After adjustment, the locking block 31 is fixed by adjusting the locking bolt 32. The mounting bolt passes through the screw hole 30 and is pressed tightly onto the T-shaped slider 31, thus fixing the reducer and preventing movement during testing that could affect the test results, improving the overall versatility of the test bench.

[0039] Furthermore, a ball bearing 25 is embedded in the side of the limiting plate 11 that contacts the swing arm rod 10.

[0040] Specifically, the ball bearing 25 can reduce the friction between the limit plate 11 and the rocker arm 18, making the position adjustment of the limit plate 11 smoother and avoiding jamming.

[0041] Furthermore, it also includes a data acquisition module, a processing module, and a PLC control module, wherein the data acquisition module is used to acquire the second torque value of the reducer output shaft. T 2 The input terminal of the processing module is electrically connected to the output terminal of the torque sensor 26 and the data acquisition module, respectively, for receiving the first torque value. T 1 Second torque value T 2 In comparison, the input terminal of the PLC control module is electrically connected to the output terminal of the processing module, and the output terminal is electrically connected to the second motor 17.

[0042] Specifically, according to the theorem of angular momentum, we can obtain: in, J z J0 represents the total moment of inertia of the system about the center z-axis of turntable 7, and J0 represents the initial moment of inertia of the system, which is the sum of the moments of inertia of weight 9 and swing arm 10. m This indicates the weight of weight 9. r This indicates the distance of weight 9 from the center of turntable 7 along the z-axis. r It cannot be 0. i Indicates the gear ratio of the reducer. η This represents the ratio of the reducer's output power to its input power. w This indicates the angular velocity of the swing arm disk 10 and the weight 9. α It represents angular acceleration.

[0043] Working process: The reducer to be tested is installed inside the mounting base 4. The positions of the mounting base 4 and the mounting plate 20 are adjusted so that the output shaft of the torque sensor 26 can be connected to the input shaft of the reducer. The output shaft of the reducer is connected to the turntable 7. The output shaft of the motor 5 rotates, thereby driving the torque sensor 26 to rotate, which in turn drives the reducer to rotate. This causes the turntable 7 to drive the swing arm 10 to rotate. The reducer is subjected to a load test by counterweights 9 at both ends of the swing arm 10. During the fatigue life test of the reducer, motor 5 is started, and the output shaft of motor 5 rotates. At the same time, torque sensor 26 can collect the first torque value of the output shaft of motor 5 at various moments. T 1 And send a first signal to the processing module; The second motor 17 and motor 5 start simultaneously, and the second torque value of the reducer output shaft is acquired through the data acquisition module. T 2 And send a second signal to the processing module, when the processing module determines the second torque value. T 2 Cannot match the first torque value T 1 At that time, that is At that time, the processing module sends a judgment command to the PLC control module. After receiving the judgment command, the PLC control module sends a control signal to the second motor 17 to control the second motor 17 to work. The output shaft of the second motor 17 drives the active bevel gear 18 to rotate, which in turn drives the two driven bevel gears 19 to rotate, thereby driving the two lead screws 15 to rotate. The two lead screws 15 drive the two limit plates 11 to move through the two screw seats 16, thereby driving the two sets of weights 9 to move. By moving the two sets of weights 9, the distance of the weights 9 from the center z-axis of the turntable 7 can be adjusted at any time. r ,distance rThe change causes a change in the moment of inertia, thereby achieving the purpose of dynamically matching the first torque value T1 at the input end of the reducer.

[0044] By symmetrically setting two sets of weights 9 at both ends of the front part of the swing arm 10, the torque of the weight block on the center z-axis of the turntable 7 can be instantly counteracted during the swing arm movement, as shown in the following formula: in, Torque mgr The instantaneous angle between the robot and the z-axis of turntable 7 can simulate the actual movement of the robot to conduct fatigue life tests on the robot reducer, making the test structure more realistic.

[0045] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An accelerated life testing system for precision reducers of industrial robots under real-world service conditions, characterized in that, include: A support platform (1) has a mounting surface (2) on its top, and a support plate (3) is mounted on the mounting surface (2). Mounting base (4), which is mounted on the support plate (3) and is used to mount the reducer; The motor (5) is mounted on the support plate (3) and located at one end of the mounting base (4) for driving the reducer to rotate around its own axis; A fixed base (6) is mounted on the mounting surface (2). A turntable (7) is rotatably mounted on the fixed base (6). The turntable (7) is connected to the output end of the reducer. The fixed base (6) provides radial support to the turntable (7), so that the output shaft of the reducer only bears the torque load. The motor (5), the reducer, and the turntable (7) are arranged coaxially. A swing arm assembly (8) is installed at the end of the turntable (7) away from the reducer. The swing arm assembly (8) includes a swing arm rod (10). The middle part of the swing arm rod (10) is fixedly connected to the turntable (7). The two ends of the swing arm rod (10) form a set of swing arms symmetrically arranged about the turntable (7). A weight (9) is slidably installed on the swing arm. The position of the weight (9) along the length direction of the swing arm is adjustable. The weights (9) on the two swing arms have the same mass, and the adjustment positions of the two weights (9) along the length direction of the corresponding swing arms are synchronously linked to counteract the additional torque generated by the gravity of the weights (9) on the central axis of the turntable (7) during the swing of the swing arm assembly (8).

2. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 1, Its features are, The swing arm assembly (8) also includes a limiting plate (11). The swing arm is disposed on the swing arm rod (10). A limiting groove (13) is provided on the swing arm. The limiting plate (11) is slidably connected to the limiting groove (13). A stud (12) is installed on the limiting plate (11). The weight (9) is threadedly connected to the stud (12).

3. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 2, Its features are, An adjustment structure is provided between the swing arm (10) and the limiting plate (11), the adjustment structure including: Bearing seat (14), the bearing seat (14) is installed in the limiting groove (13) near the middle of the rocker arm (10): A lead screw (15) passes through the bearing seat (14) and one end is rotatably connected to the end of the limiting groove (13); Screw seat (16), which is threadedly connected to the lead screw (15) and fixedly connected to the limiting plate (11).

4. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 3. Its features are, It also includes a second motor (17), which is located at the center of the swing arm (10) and is fixedly connected to the swing arm (10). The output shaft of the second motor (17) is equipped with an active bevel gear (18), and the end of the lead screw (15) near the center of the swing arm (10) is equipped with a driven bevel gear (19) that meshes with the active bevel gear (18).

5. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 4. Its features are, It also includes a mounting plate (20), which is disposed between the motor (5) and the support plate (3) and is slidably connected to the support plate (3). The sliding direction is parallel to the axis of the reducer. The motor (5) is fixedly mounted on the mounting plate (20).

6. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 5, Its features are, A sliding assembly is provided between the support plate (3) and the mounting plate (20). The sliding assembly includes a connecting plate (21), which is fixedly connected to the mounting plate (20). A T-shaped strip (22) is provided at the bottom of the connecting plate (21). A T-shaped groove (23) is provided on the support plate (3). The T-shaped strip (22) is slidably connected to the T-shaped groove (23). A screw (24) is installed in the T-shaped groove (23). The screw (24) is threadedly connected to the T-shaped strip (22) and one end passes through the support plate (3) and is rotatably connected to the support plate (3).

7. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 1, characterized in that, The mounting base (4) is provided with an adaptive structure, which includes an annular groove (27). The annular groove (27) is opened on the side of the mounting base (4) away from the motor (5). Several T-shaped sliders (28) are slidably installed in the annular groove (27). An adjusting strip (29) is slidably connected to the T-shaped slider (28). The sliding direction is parallel to the radial direction of the reducer axis. Several screw holes (30) are opened on the adjusting strip (29). A locking block (31) is installed on one side of the T-shaped slider (28). A locking bolt (32) is threadedly connected to the locking block (31).

8. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 2, characterized in that, A ball bearing (25) is embedded on the side of the limiting plate (11) that contacts the swing arm (10).

9. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 5, characterized in that, It also includes a torque sensor (26), which is fixedly mounted on the mounting plate (20) and is used to collect the first torque value of the input shaft of the reducer.

10. The accelerated life testing system for industrial robot precision reducers under real service conditions as described in claim 9, characterized in that, Also includes: The data acquisition module is used to acquire the second torque value of the output shaft of the reducer; The processing module has its input terminal electrically connected to the output terminal of the torque sensor (26) and the data acquisition module, and is used to receive a first signal of the first torque value and a second signal of the second torque value and compare them. The PLC control module has its input terminal electrically connected to the output terminal of the processing module and its output terminal electrically connected to the second motor (17). It is used to receive the comparison result of the processing module and control the second motor (17).

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