Industrial robot balance cylinder life and stability measuring device

Abstract

The application discloses a kind of industrial robot balance cylinder life and stability measuring device, including rack, camera is fixedly installed in one side of the rack by support, the surface of the rack is fixedly installed with display by support, the surface of the rack is fixedly installed with servo motor by support, the output end outside of the servo motor is equipped with torque speed sensor, the output end of the servo motor is fixedly connected with the input end of speed reducer, temperature sensor is embedded on the side support of the speed reducer. High-precision speed reducer for industrial robot can effectively restore operating conditions, and can accurately reach any balance cylinder position. The setting of fixed seat A and fixed seat B can quickly install and meet the installation of balance cylinder with different strokes, and can test any thrust balance cylinder with a thrust range of 0-30KN. It can also be easily expanded to meet single or multiple balance cylinder testing, and easy to implement batch testing of balance cylinder.

Description

Technical Field

[0001] This invention relates to the field of industrial robot balance cylinder testing technology, specifically to a device for measuring the lifespan and stability of an industrial robot balance cylinder. Background Technology

[0002] With the development of modern manufacturing technology, industrial robots have become a new type of production equipment with high added value and wide application. To continuously improve the overall performance of robots, achieving optimal robot balance is a crucial issue in the robot development process. Because the center of gravity of an industrial robot's arm does not pass through a pivot axis, it generates a gravitational torque, which varies with the arm's angle of motion and acceleration, directly affecting the robot's motion and dynamic characteristics. Therefore, industrial robots should possess a good balance system. Furthermore, a good balance system can reduce the driving force and power at the joints, thereby reducing the mass and size of the drive unit and lowering costs.

[0003] In the design of industrial robots, commonly used balancing devices can be categorized as follows: counterweight type, spring cylinder type, pneumatic cylinder type, hydraulic-pneumatic type (nitrogen cylinder type), and spring cam type. The spring cylinder type balancing system has a simple structure, is easy to maintain, and offers good balancing performance. Its key feature is that it stores or releases energy through changes in the relative position of the spring fulcrum, thereby balancing the eccentric torque.

[0004] The balancing device on the boom is used to balance the changes in gravitational potential energy. From an energy perspective, the changes in gravitational potential energy are converted into the storage and release of potential energy of the balancing device, thereby reducing the dissipation of energy in the drive system, i.e., the motor drive.

[0005] The conventional method for testing a balance cylinder is to install the balance cylinder on the robot body and run it on the machine. However, if the balance cylinder has a problem, such as interference or abnormal noise, it is necessary to disassemble the robot body and remove the balance cylinder for repair and optimization. This is a lot of work, the disassembly work is dangerous, the operation is cumbersome, it is easy to damage parts, and there is a lot of repetitive disassembly and assembly work. Summary of the Invention

[0006] In order to solve at least the technical problems mentioned in the background art, the present invention provides a device for measuring the life and stability of the balance cylinder of an industrial robot.

[0007] The present invention adopts the following technical solution.

[0008] An industrial robot balance cylinder life and stability measurement device includes a frame. A camera is fixedly mounted on one side of the frame via a bracket. A display is fixedly mounted on the surface of the frame via a bracket. A servo motor is fixedly mounted on the surface of the frame via a support. A torque and speed sensor is fitted onto the outer side of the output end of the servo motor. The output end of the servo motor is fixedly connected to the input end of a reducer. A temperature sensor is embedded in the side support of the reducer. A vibration sensor is embedded below the reducer. An adapter flange is fixedly connected to the output end of the reducer. A swing arm is fixedly mounted on the output end of the adapter flange. A load plate is detachably mounted on the other end of the swing arm. A fixed seat A is fixedly mounted on the surface of the adapter flange. A balance cylinder is hinged to the inner side of the fixed seat A. The other end of the balance cylinder is hinged to a fixed seat B, which is mounted on the surface of the frame.

[0009] Preferably, the servo motor is signal-connected to the drive controller, the output terminals of the vibration sensor, torque and speed sensor, and temperature sensor are all signal-connected to the data acquisition device, and the data acquisition device and drive controller are signal-connected to the display.

[0010] Preferably, the balance cylinder is a spring balance cylinder, and the spring balance cylinder contains multiple sets of springs.

[0011] Preferably, a thrust sensor is installed on the balance cylinder, and the thrust sensor is connected to the data acquisition device for signal transmission.

[0012] Preferably, a noise tester is also installed on the rack, and the noise tester is connected to the data acquisition equipment via signal connection.

[0013] Preferably, the camera is connected to the data acquisition device via a signal connection.

[0014] Preferably, the swing arm is L-shaped, wherein the load plate is detachably mounted on the short shaft of the swing arm.

[0015] Beneficial effects: This industrial robot balance cylinder life and stability measurement device uses a servo motor to drive the input torque, and the reducer output drives the loaded swing arm to rotate or swing periodically to simulate the actual working conditions of an industrial robot arm. The load on the reducer is changed by adjusting the number of counterweights installed on the swing arm, and the output speed of the reducer is adjusted by changing the servo motor speed. The more counterweights, the greater the acceleration factor for fatigue life testing, and the shorter the test time for the reducer. The overall fatigue life of the reducer is an important performance indicator, and this experimental device can be used to test the fatigue life of the reducer simultaneously. The reducer provides different movement speeds, and data such as the thrust of the balance cylinder at different speeds can be monitored. This industrial robot balance cylinder life and stability measurement device uses a high-precision reducer for industrial robots, effectively reproducing operating conditions and accurately reaching any balance cylinder position. The fixed bases A and B allow for quick installation and testing of balance cylinders with different strokes and specifications, capable of testing balance cylinders with thrust ranges of 0-30KN. It is also easily expandable to test one or two balance cylinders, facilitating batch testing. Based on the load and maximum reach requirements of high-load industrial robots, this application designs a reasonable spring balance cylinder structure prototype for testing. This prototype can test the balance cylinder's stability, checking for interference and abnormal noise, and identifying potential problems. It can also perform durability tests to measure the balance cylinder's lifespan. The ultimate goal is to verify that the balance cylinder can both overcome eccentric gravitational torque requirements, allowing for the selection of a smaller motor power, and enabling a more compact structure and lighter weight for high-load industrial robots. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of a partial cross-section of the present invention;

[0018] Figure 3 This is a schematic diagram of the front structure of the present invention;

[0019] Figure 4 This is a schematic diagram of the rear structure of the present invention;

[0020] Figure 5 This is a schematic diagram illustrating the detection principle of the present invention.

[0021] In the diagram: 1-Frame, 2-Camera, 3-Display, 4-Servo Motor, 5-Vibration Sensor, 6-Adapter Flange, 7-Fixed Base A, 8-Balance Cylinder, 9-Fixed Base B, 10-Swing Arm, 11-Load Plate, 12-Torque and Speed ​​Sensor, 13-Temperature Sensor, 14-Reducer. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figure 1-4 An industrial robot balance cylinder life and stability measurement device includes a frame 1. A camera 2 is fixedly mounted on one side of the frame 1 via a bracket. A display 3 is fixedly mounted on the surface of the frame 1 via a bracket. The balance cylinder data can be viewed through the display 3: the effective value of the current is converted into torque, and then the torque is converted into balance cylinder thrust. The real-time curves of balance cylinder thrust and speed are displayed on the display. The balance cylinder status can be viewed intuitively. An alarm threshold is set so that an alarm can be triggered in time when the balance cylinder data is abnormal.

[0024] Please see Figure 2 A servo motor 4 is fixedly mounted on the surface of the frame 1 via a support. A torque and speed sensor 12 is fitted on the outer side of the output end of the servo motor 4. The output end of the servo motor 4 is fixedly connected to the input end of the reducer 14. A temperature sensor 13 is embedded on the side bracket of the reducer 14. A vibration sensor 5 is embedded below the reducer 14. An adapter flange 6 is fixedly connected to the output end of the reducer 14. A swing arm 10 is fixedly mounted on the output end of the adapter flange 6. The swing arm 10 is L-shaped. A load plate 11 is detachably mounted on the other end of the swing arm 10. The load plate 11 is detachably mounted on the short shaft of the swing arm 10.

[0025] Please see Figure 1-4 A fixed seat A7 is fixedly installed on the surface of the adapter flange 6. A balance cylinder 8 is hinged to the inner side of the fixed seat A7. The other end of the balance cylinder 8 is hinged to the fixed seat B9. The fixed seat B9 is installed on the surface of the frame 1.

[0026] Please see Figure 5 Servo motor 4 is connected to the drive controller signal. The output terminals of vibration sensor 5, torque and speed sensor 12, and temperature sensor 13 are all connected to the data acquisition device signal. The data acquisition device, drive controller, and display 3 are connected to the display. A thrust sensor is installed on the balance cylinder 8 and is connected to the data acquisition device signal. A noise tester is also installed on the frame 1 and is connected to the data acquisition device signal. Camera 2 is connected to the data acquisition device signal.

[0027] Please see Figure 1-4The balance cylinder 8 is a spring balance cylinder (a nitrogen balance cylinder can also be used). There are three sets of springs in the spring balance cylinder. Let the stiffness of spring 1 be k1 and the spring compression length be △L1, the stiffness of spring 2 be k2 and the spring compression length be △L2, and the stiffness of spring 3 be k3 and the spring compression length be △L3. Then the total elastic force generated by the spring balance cylinder is F = k1*△L1 + k2*△L2 + k3*△L3.

[0028] In use, the servo motor 4 drives the input torque, and the output end of the reducer 14 drives the loaded swing arm 10 to rotate or swing periodically to simulate the actual working conditions of an industrial robot arm. The load of the reducer 14 is changed by adjusting the number of counterweights 11 installed on the swing arm 10, and the output speed of the reducer 14 is adjusted by changing the speed of the servo motor 4. The more counterweights 11 there are, the greater the acceleration factor of the fatigue life test, and the shorter the test time of the reducer 14. The fatigue life of the reducer is an important performance indicator of the reducer. This experimental device can be used to test the fatigue life of the reducer at the same time. The reducer 14 provides different movement speeds, and data such as the thrust of the balance cylinder at different speeds can be monitored.

[0029] In summary, this industrial robot balance cylinder life and stability measurement device uses a high-precision reducer for industrial robots, which can effectively reproduce the operating conditions and accurately reach any balance cylinder 8 position. The setting of fixed base A7 and fixed base B9 can quickly install and meet the testing of balance cylinders with different strokes and specifications, and can test any thrust balance cylinder with a thrust range of 0-30KN. It can also be easily expanded to meet the testing of one or two balance cylinders 8, and can easily realize batch testing of balance cylinders 8.

[0030] Based on the load and maximum reach requirements of high-load industrial robots, this application designs and tests a prototype of a reasonable spring balance cylinder structure. On the one hand, it can test the stability of the balance cylinder 8, whether interference or abnormal noise occurs, and identify potential problems with the balance cylinder 8. On the other hand, it can conduct durability tests to test the service life of the balance cylinder 8. The ultimate goal is to verify that the balance cylinder 8 can meet the requirements of overcoming eccentric gravity torque, select a smaller motor power, and make the structure of the high-load industrial robot more compact and the body lighter.

Claims

1. A device for measuring the lifespan and stability of an industrial robot balance cylinder, comprising a frame (1), characterized in that: A camera (2) is fixedly mounted on one side of the frame (1) via a bracket. A display (3) is fixedly mounted on the surface of the frame (1) via a bracket. A servo motor (4) is fixedly mounted on the surface of the frame (1) via a support. A torque and speed sensor (12) is fitted on the outside of the output end of the servo motor (4). The output end of the servo motor (4) is fixedly connected to the input end of the reducer (14). A temperature sensor (13) is embedded on the side bracket of the reducer (14). A vibration sensor (5) is embedded below the reducer (14). The output end of the speed machine (14) is fixedly connected to the adapter flange (6), the output end of the adapter flange (6) is fixedly installed with the swing arm (10), the other end of the swing arm (10) is detachably installed with the load plate (11), the surface of the adapter flange (6) is fixedly installed with the fixed seat A (7), the inner side of the fixed seat A (7) is hinged with the balance cylinder (8), the other end of the balance cylinder (8) is hinged with the fixed seat B (9), the fixed seat B (9) is installed on the surface of the frame (1); the balance cylinder (8) is a spring balance cylinder, and there are multiple sets of springs in the spring balance cylinder.

2. The device for measuring the lifespan and stability of an industrial robot balance cylinder according to claim 1, characterized in that: The servo motor (4) is connected to the drive controller via signal, and the output terminals of the vibration sensor (5), torque and speed sensor (12), and temperature sensor (13) are all connected to the data acquisition device via signal. The data acquisition device and the drive controller are connected to the display (3) via signal.

3. The device for measuring the lifespan and stability of an industrial robot balance cylinder according to claim 2, characterized in that: A thrust sensor is installed on the balance cylinder (8), and the thrust sensor is connected to the data acquisition device.

4. The industrial robot balance cylinder life and stability measuring device according to claim 2, characterized in that: A noise tester is also installed on the rack (1), and the noise tester is connected to the data acquisition equipment.

5. The device for measuring the lifespan and stability of an industrial robot balance cylinder according to claim 1, characterized in that: The camera (2) is connected to the data acquisition device via signal.

6. The device for measuring the lifespan and stability of an industrial robot balance cylinder according to claim 1, characterized in that: The swing arm (10) is L-shaped, and the load plate (11) is detachably mounted on the short shaft of the swing arm (10).

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