Accelerated fatigue testing device for precision speed reducer for robot

Abstract

The invention relates to the technical field of measurement and testing, in particular to a precision reducer accelerated fatigue testing device for a robot, which comprises a supporting table body and a precision reducer supporting box, and the precision reducer supporting box is fixedly connected to the right end of the upper side of the supporting table body; a precise speed reducer is installed in the precise speed reducer supporting box, a temperature adjusting mechanism is arranged on the outer side of the right end of the supporting table body, a load adjusting mechanism is arranged at the right end of the precise speed reducer, and a moving mechanism is arranged on the upper side of the supporting table body. When the fatigue life of the precision speed reducer is tested, the fatigue life of the precision speed reducer working at different temperatures can be simulated through the temperature adjusting mechanism; and meanwhile, the weight of a load on the robot simulation swing arm can be adjusted so as to adapt to different test conditions or precision speed reducers of different robots.

Description

Technical Field

[0001] The invention relates to the technical field of measurement and testing, in particular to an acceleration fatigue testing device of a precision reducer for a robot. Background Art

[0002] Precision reducers are the core components of robots, and service life is an important performance parameter of precision reducers for robots. In order to ensure the reliability of precision reducers for robots, fatigue life testing of precision reducers is particularly important. The life of internal bearings is a key component that limits the life of precision reducers for robots. The working mode of precision reducers is frequent acceleration / deceleration and reciprocating swing. The inertia and impact loads on the bearings have a great influence on their life.

[0003] The existing precision reducer fatigue life test equipment performs continuous steady-state torque loading on the reducer, which cannot simulate the operating conditions of the reducer for robots, and the test method is quite different from the actual working conditions.

[0004] For example, the fatigue life test method for precision reducers for robots disclosed in Chinese patent CN108287072A applies an inertia load to the reducer under test through an inertia load component, drives the input end of the reducer under test with a driving motor, and drives the inertia load component to swing back and forth at the output end of the reducer under test, simulating the actual working condition of the robot's mechanical arm. In theory, the greater the inertia load applied to the reducer under test, the faster the product performance degrades and the shorter the test time, but if the inertia load is too large, it will affect the failure mechanism of the reducer itself.

[0005] At the same time, the robot will work in different environments, and the temperature in different environments will have different effects on the robot's precision reducer, thereby affecting the service life of the precision reducer. The test device cannot adjust the temperature of the working place of the precision reducer, and thus cannot simulate the working conditions of the precision reducer at different temperatures. Therefore, there is a gap between the test conditions and the actual working conditions. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide an accelerated fatigue testing device for a precision reducer for a robot, which can control the working environment temperature and adapt to different test conditions or different precision reducers for robots.

[0007] The technical solution adopted by the present invention to solve its technical problems is: a precision reducer acceleration fatigue testing device for a robot, comprising a support platform and a precision reducer support box, the precision reducer support box is fixedly connected to the upper right end of the support platform, a precision reducer is installed inside the precision reducer support box, a temperature adjustment mechanism is arranged on the outer side of the right end of the support platform, a load adjustment mechanism is arranged on the right end of the precision reducer, and a moving mechanism is arranged on the upper side of the support platform.

[0008] The temperature regulating mechanism includes an air pump installed above the right end of the rear side of the support platform body, an air pipe is installed at the upper end of the air pump, a connecting box is fixedly connected to the rear of the upper rear end of the support platform body, a heating wire is installed inside the connecting box, a connecting pipe is fixedly connected to the upper front end of the connecting box, an exhaust pipe is fixedly connected to the middle position of the inner front end of the precision reducer support box, and a vortex tube is installed at the outer end of the air pipe.

[0009] Furthermore, the end of the connecting tube of the present invention away from the connecting box is fixedly connected to the inner rear end of the precision reducer support box, and the cold air output end of the vortex tube is connected to the middle position of the outer end of the air pipe.

[0010] Furthermore, the load adjustment mechanism described in the present invention includes a robot simulation swing arm installed on the right end of the precision reducer output shaft, and the robot simulation swing arm is fixedly connected to the right side of one end away from the precision reducer with a first threaded rod, and the outer side of the first threaded rod is connected to a counterweight block, and the outer side of the first threaded rod is connected to a fixing ring.

[0011] Furthermore, a circular hole is provided in the middle position of the interior of the counterweight block of the present invention, an internal thread is provided on the inner side of the fixing ring, the outer side of the first threaded rod is slidably connected to the inner side of the circular hole, the inner side of the fixing ring is slidably connected to the outer side of the first threaded rod, the right side of the counterweight block abuts against the left side of the fixing ring, and the right side of the robot simulation swing arm abuts against the left side of the counterweight block.

[0012] Furthermore, the moving mechanism described in the present invention includes a left side plate fixedly connected to the upper left end of the supporting platform body, the supporting platform body is fixedly connected to the upper right end of the right side plate, a bearing is fixedly connected to the inner middle position of the right side plate, a second threaded rod is fixedly connected to the inner side of the bearing, a rotating handle is welded to the second threaded rod, the front and rear ends of the adjacent sides of the left and right plates are fixedly connected to limit rods, the outer end of the limit rod is connected to the moving platform, a motor is installed at the upper end of the moving platform, a coupling is installed at the right end of the output shaft of the motor, and the left end of the output shaft of the precision reducer is installed to the right end of the coupling.

[0013] Furthermore, the movable platform of the present invention has limit holes at both ends, the outer side of the limit rod is slidably connected to the inner side of the limit hole, and the lower side of the movable platform is slidably connected to the upper side of the support platform body.

[0014] Furthermore, a threaded hole is provided in the middle of the interior of the movable platform of the present invention, and the outer side of the second threaded rod is threadedly connected to the inner side of the threaded hole.

[0015] The beneficial effects of the present invention are that the defects existing in the background technology are solved. When simulating the precision reducer working in a high-temperature environment, the air pump and the heating wire are started, so that the airflow enters the connecting box from the air pipe, the heating wire is heated to become hot airflow and then enters the connecting pipe, and then enters the interior of the precision reducer support box from the other end of the connecting pipe, so that the temperature inside the precision reducer support box increases, thereby simulating the working condition of the precision reducer at a high temperature; when it is necessary to simulate the precision reducer working in a low-temperature environment, the air pump is started and high-pressure normal-temperature gas is introduced into the air inlet end of the vortex tube, so that the cold airflow formed in the vortex tube enters the air pipe, follows the airflow in the air pipe into the connecting box, and then enters the precision reducer support box through the connecting pipe, so as to cool down the internal environment of the precision reducer support box, thereby simulating the working condition of the precision reducer at a low temperature, so that the fatigue life of the precision reducer working at different temperatures can be simulated through the temperature adjustment mechanism; Furthermore, after the required number of counterweights are slid to the outside of the first threaded rod, the fixing ring is threadedly connected to the outside of the first threaded rod until the left side of the fixing ring contacts the right side of the counterweight. Then, all the counterweights that have slid to the outside of the first threaded rod can be clamped and fixed between the robot simulation swing arm and the fixing ring on the outside of the first threaded rod, thereby adjusting the weight of the load on the robot simulation swing arm to adapt to different test conditions or different robot precision reducers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view of the main structure of the present invention; Figure 2 It is a schematic diagram of the structure of the mobile mechanism of the present invention; Figure 3 It is a rear view of the main structure of the present invention; Figure 4 It is a schematic diagram of the structure of the temperature regulating mechanism of the present invention; Figure 5 It is a schematic diagram of the internal structure of the connection box of the present invention; Figure 6 It is a schematic diagram of the internal structure of the precision reducer support box of the present invention; Figure 7 It is a schematic diagram of the structure of the load adjustment mechanism of the present invention.

[0017] In the figure: 1. support platform; 2. precision reducer support box; 3. precision reducer; 401. air pump; 402. air pipe; 403. connecting box; 404. connecting pipe; 405. exhaust pipe; 406. heating wire; 407. vortex tube; 501. robot simulation swing arm; 502. first threaded rod; 503. counterweight; 504. fixing ring; 601. left side plate; 602. right side plate; 603. bearing; 604. second threaded rod; 605. rotating handle; 606. limit rod; 607. moving platform; 608. motor; 609. coupling. DETAILED DESCRIPTION

[0018] The present invention will now be described in further detail in conjunction with the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0019] See also Figure 1-Figure 7 A precision reducer acceleration fatigue testing device for a robot comprises a support platform 1 and a precision reducer support box 2. The precision reducer support box 2 is fixedly connected to the upper right end of the support platform 1. A precision reducer 3 is installed inside the precision reducer support box 2. A temperature regulating mechanism is arranged on the outer side of the right end of the support platform 1. A load regulating mechanism is arranged on the right end of the precision reducer 3. A moving mechanism is arranged on the upper side of the support platform 1.

[0020] The temperature regulating mechanism includes an air pump 401 installed on the upper right end of the rear side of the support platform body 1, an air pipe 402 is installed on the upper end of the air pump 401, a connecting box 403 is fixedly connected to the rear of the upper rear end of the support platform body 1, a heating wire 406 is installed inside the connecting box 403, a connecting pipe 404 is fixedly connected to the upper front end of the connecting box 403, an exhaust pipe 405 is fixedly connected to the middle position of the inner front end of the precision reducer support box 2, and a vortex tube 407 is installed on the outer end of the air pipe 402.

[0021] One end of the connecting tube 404 away from the connecting box 403 is fixedly connected to the inner rear end of the precision reducer support box 2, and the cold air output end of the vortex tube 407 is connected to the middle position of the outer end of the air pipe 402, so as to simulate the precision reducer 3 working in a high temperature environment. By starting the air pump 401 and the heating wire 406, the airflow enters the connecting box 403 from the air pipe 402, and the heating wire 406 is heated to become a hot airflow and then enters the connecting tube 404, and then enters the interior of the precision reducer support box 2 from the other end of the connecting tube 404, so that the temperature inside the precision reducer support box 2 rises, thereby simulating the precision reducer 3 working in a high temperature environment. Working conditions at high temperature; when it is necessary to simulate the working of the precision reducer 3 in a low temperature environment, start the air pump 401 and then introduce high-pressure room temperature gas into the air inlet end of the vortex tube 407, so that the cold air flow formed in the vortex tube 407 enters the air pipe 402, follows the air flow in the air pipe 402 into the connecting box 403, and then enters the precision reducer support box 2 through the connecting pipe 404, to cool down the internal environment of the precision reducer support box 2, thereby simulating the working conditions of the precision reducer 3 at low temperature, so that the fatigue life of the precision reducer 3 working at different temperatures can be simulated through the temperature adjustment mechanism.

[0022] The load adjustment mechanism includes a robot simulation swing arm 501 installed on the right end of the output shaft of the precision reducer 3. The robot simulation swing arm 501 is fixedly connected to the right side of one end away from the precision reducer 3 with a first threaded rod 502. The outer side of the first threaded rod 502 is connected to a counterweight block 503. The outer side of the first threaded rod 502 is connected to a fixing ring 504.

[0023] A circular hole is provided in the middle position of the interior of the counterweight block 503, an internal thread is provided on the inner side of the fixing ring 504, the outer side of the first threaded rod 502 is slidably connected to the inner side of the circular hole, the inner side of the fixing ring 504 is slidably connected to the outer side of the first threaded rod 502, the right side of the counterweight block 503 abuts against the left side of the fixing ring 504, and the right side of the robot simulation swing arm 501 abuts against the left side of the counterweight block 503. Therefore, after the required number of counterweight blocks 503 are slid to the outer side of the first threaded rod 502, the fixing ring 504 is threadedly connected to the outer side of the first threaded rod 502 until the left side of the fixing ring 504 contacts the right side of the counterweight block 503. Then, all the counterweight blocks 503 that have slid to the outer side of the first threaded rod 502 can be clamped and fixed between the robot simulation swing arm 501 and the fixing ring 504 on the outer side of the first threaded rod 502, so that the weight of the load on the robot simulation swing arm 501 can be adjusted to adapt to different test conditions or different precision reducers 3 of robots.

[0024] The moving mechanism includes a left side plate 601 fixedly connected to the left end of the upper side of the support platform body 1, the support platform body 1 is fixedly connected to the right end of the upper side with a right side plate 602, a bearing 603 is fixedly connected to the inner middle position of the right side plate 602, a second threaded rod 604 is fixedly connected to the inner side of the bearing 603, a rotating handle 605 is welded to the second threaded rod 604, the front and rear ends of the adjacent sides of the left side plate 601 and the right side plate 602 are fixedly connected to a limiting rod 606, the outer end of the limiting rod 606 is connected to a moving platform 607, and limiting holes are provided at the front and rear ends of the moving platform 607, the outer side of the limiting rod 606 is slidably connected to the inner side of the limiting hole, and the lower side of the moving platform 607 is slidably connected to the upper side of the support platform body 1, so that when the moving platform 607 is located on the upper side of the support platform body 1 and slides, the moving platform 607 can only slide along the outer side of the limiting rod 606, thereby limiting the movement of the moving platform 607.

[0025] A motor 608 is installed at the upper end of the movable platform 607, and a coupling 609 is installed at the right end of the output shaft of the motor 608. The coupling 609 is an existing structure, which is easy to install and can effectively compensate for the radial, angular and axial deviations between the shafts. The left end of the output shaft of the precision reducer 3 is installed to the right end of the coupling 609. A threaded hole is opened in the middle position inside the movable platform 607, and the outer side of the second threaded rod 604 is threadedly connected to the inner side of the threaded hole. When the second threaded rod 604 is rotated by rotating the rotating handle 605, the movable platform 607 can be driven to move along the outer side of the limit rod 606, thereby driving the upper end of the motor 608 to move, so that the coupling 609 and the precision reducer 3 at the right end can be moved, so that when the precision reducer 3 is tested or needs to be tested, it can be moved to the inside of the precision reducer support box 2.

[0026] Working principle: When testing the fatigue life of the precision reducer 3, first install the precision reducer 3 inside the precision reducer support box 2, then turn the rotating handle 605 to rotate the second threaded rod 604 to drive the moving platform 607 to move, so that the upper motor 608 moves together, until the coupling 609 at the right end moves to contact the left end of the output shaft of the precision reducer 3, then connect the right end of the coupling 609 to the left end of the output shaft of the precision reducer 3, then install the robot simulation swing arm 501 to the right end of the output shaft of the precision reducer 3, and then slide the required number of counterweights 503 to the first threaded rod 502, then thread the fixing ring 504 to the outside of the first threaded rod 502, located at the right end of the counterweight 503, and fix the counterweight 503 to the outside of the first threaded rod 502, and then according to the ambient temperature to be tested for the precision reducer 3, first start the air pump 401, and then turn on the heating wire 406 or introduce high-pressure room temperature air into the vortex tube 407, adjust the interior of the precision reducer support box 2 to the required test temperature, and finally start the motor 608 and rotate its output shaft so that the output shaft of the precision reducer 3 rotates, driving the robot simulation swing arm 501 to rotate, and perform fatigue life test of the precision reducer 3.

[0027] The above description only describes the specific implementation mode of the present invention. Various examples do not limit the essential content of the present invention. After reading the description, ordinary technicians in the relevant technical field can modify or deform the specific implementation modes described above without departing from the essence and scope of the invention.

Claims

1. A precision reducer acceleration fatigue test device for a robot, comprising a support platform (1) and a precision reducer support box (2), wherein the precision reducer support box (2) is fixedly connected to the upper right end of the support platform (1), characterized in that: A precision reducer (3) is installed inside the precision reducer support box (2), a temperature adjustment mechanism is arranged on the outside of the right end of the support platform (1), a load adjustment mechanism is arranged on the right end of the precision reducer (3), and a moving mechanism is arranged on the upper side of the support platform (1); The temperature regulating mechanism comprises an air pump (401) installed above the right end of the rear side of the support platform (1); an air pipe (402) is installed at the upper end of the air pump (401); a connection box (403) is fixedly connected to the rear end of the upper side of the support platform (1); a heating wire (406) is installed inside the connection box (403); a connection pipe (404) is fixedly connected to the upper front end of the connection box (403); an exhaust pipe (405) is fixedly connected to the middle position of the inner front end of the precision reducer support box (2); and a vortex tube (407) is installed at the outer end of the air pipe (402).

2. The device for accelerating fatigue testing of a precision reducer for a robot according to claim 1, characterized in that: One end of the connecting tube (404) away from the connecting box (403) is fixedly connected to the inner rear end of the precision reducer support box (2), and the cold air output end of the vortex tube (407) is connected to the middle position of the outer end of the air pipe (402).

3. The device for accelerating fatigue testing of a precision reducer for a robot according to claim 1, characterized in that: The load adjustment mechanism comprises a robot simulation swing arm (501) mounted on the right end of the output shaft of the precision reducer (3); a first threaded rod (502) is fixedly connected to the right side of one end of the robot simulation swing arm (501) away from the precision reducer (3); a counterweight (503) is connected to the outer side of the first threaded rod (502); and a fixing ring (504) is connected to the outer side of the first threaded rod (502).

4. The device for accelerating fatigue testing of a precision reducer for a robot according to claim 3, characterized in that: A circular hole is provided in the middle of the counterweight block (503), an internal thread is provided on the inner side of the fixing ring (504), the outer side of the first threaded rod (502) is slidably connected to the inner side of the circular hole, the inner side of the fixing ring (504) is slidably connected to the outer side of the first threaded rod (502), the right side of the counterweight block (503) is in contact with the left side of the fixing ring (504), and the right side of the robot simulation swing arm (501) is in contact with the left side of the counterweight block (503).

5. The device for accelerating fatigue testing of a precision reducer for a robot according to claim 1, characterized in that: The moving mechanism comprises a left side plate (601) fixedly connected to the left end of the upper side of the support platform (1); the right end of the upper side of the support platform (1) is fixedly connected to the right side plate (602); a bearing (603) is fixedly connected to the middle position of the inner side of the right side plate (602); a second threaded rod (604) is fixedly connected to the inner side of the bearing (603); a rotating handle (605) is welded to the second threaded rod (604); a limiting rod (606) is fixedly connected to the front and rear ends of the adjacent sides of the left side plate (601) and the right side plate (602); the outer end of the limiting rod (606) is connected to the moving platform (607); a motor (608) is installed at the upper end of the moving platform (607); a coupling (609) is installed at the right end of the output shaft of the motor (608); and the left end of the output shaft of the precision reducer (3) is installed to the right end of the coupling (609).

6. The device for accelerating fatigue testing of a precision reducer for a robot according to claim 5, characterized in that: Limiting holes are provided at the front and rear ends of the movable platform (607), the outer side of the limiting rod (606) is slidably connected to the inner side of the limiting hole, and the lower side of the movable platform (607) is slidably connected to the upper side of the supporting platform body (1).

7. The device for accelerating fatigue testing of a precision reducer for a robot according to claim 5, characterized in that: A threaded hole is provided at the middle position inside the movable platform (607), and the outer side of the second threaded rod (604) is threadedly connected to the inner side of the threaded hole.

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