Accelerated fatigue testing device for speed reducer of robot

Abstract

The invention relates to the technical field of detection and measurement, in particular to a robot speed reducer accelerated fatigue testing device which comprises a testing base, a testing motor connected to the surface of the testing base through screws and a speed reducer body arranged on the surface of the testing base. The device further comprises a speed regulation assembly arranged between the test motor and the speed reducer body, and through the arrangement of the speed regulation assembly, various different motion states and rotating speed requirements in actual robot work can be flexibly simulated, so that the test device can comprehensively test the fatigue performance of the speed reducer body at different rotating speeds; the testing comprehensiveness and accuracy are greatly improved, possible problems of the speed reducer under different working conditions can be found, the performance and the fatigue life of the speed reducer under various working conditions can be comprehensively detected, and the fatigue limit and the service life of the speed reducer can be accurately evaluated.

Description

Technical Field

[0001] The present invention relates to the technical field of detection and measurement, and in particular to an accelerated fatigue test device for a robot reducer. Background Art

[0002] In the fields of modern industrial automation and intelligent robots, the robot reducer is a core component of the robot, and the service life is an important performance parameter of the precision reducer for robots. In order to ensure the reliability of the robot reducer, it is particularly important to conduct fatigue life tests on the robot reducer; Existing accelerated fatigue test devices for robot reducers often have certain limitations. Traditional test devices can only simulate single or a limited number of working conditions, and can only perform simple loading tests at a fixed speed. They cannot simulate the operating conditions of the reducer under complex conditions such as variable speed and variable load, and cannot comprehensively cover various motion states and speed requirements that may be encountered in actual robot work. This results in difficulties in discovering potential problems that the reducer may have under different working conditions during the test, and the test results cannot accurately reflect the actual performance and fatigue life of the reducer. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to provide an accelerated fatigue test device for a robot reducer, which has the characteristics of flexibly simulating various different motion states and speed requirements in actual robot work, enabling the test device to comprehensively test the fatigue performance of the reducer body at different speeds, and greatly improving the comprehensiveness and accuracy of the test.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an accelerated fatigue test device for a robot reducer, including a test base, a test motor screwed to the surface of the test base, and a reducer body arranged on the surface of the test base. A robot simulation swing arm is installed at the output shaft end of the reducer body, and a counterweight is connected to the end of the robot simulation swing arm. A speed regulation component is also included, which is arranged between the test motor and the reducer body; The speed regulation component includes a speed regulation frame fixed on the surface of the test base, a driving shaft and a driven shaft rotatably connected above the same side of the speed regulation frame. The driving shaft and the driven shaft are arranged in parallel; one end of the driving shaft is connected to the output end of the test motor, one end of the driven shaft is connected with a coupling, and the coupling is connected to the input end of the reducer body. The two sides of the surface of the driving shaft are symmetrically splined with main speed regulation cone wheels, the two sides of the surface of the driven shaft are symmetrically splined with driven speed regulation cone wheels, and a speed regulation belt is connected between the two groups of main speed regulation cone wheels and driven speed regulation cone wheels.

[0005] Furthermore, in the present invention, a toggle ring is fixed to the surfaces of opposite sides of the two groups of the main speed regulating cone wheel and the slave speed regulating cone wheel, a toggle slide groove is provided inside the toggle ring, a swing frame with a V-shaped structure is provided between the main speed regulating cone wheel and the slave speed regulating cone wheel, toggle slide rods are fixed at both ends of the swing frame, and the toggle slide rods are slidably connected to the toggle slide groove provided inside the toggle ring, a spring is fixed between the two ends of the two groups of the swing frames, a rotating shaft is fixed to the middle part of the swing frame, and the rotating shaft is rotatably connected to the surface of the speed regulating frame.

[0006] Furthermore, a worm wheel is fixed to the bottom end of the rotating shaft of the present invention, a worm is meshedly connected to the surface of the worm wheel, and the worm is rotatably connected to the bottom of the speed regulating frame, the surface of the worm is connected to one of the bevel gears of the bevel gear pair, a rotating shaft is coaxially fixed inside the other bevel gear of the bevel gear pair, and the two bevel gears are meshed; the rotating shaft is rotatably connected to the bottom of the speed regulating frame, and a handwheel is fixed at the end of the rotating shaft.

[0007] Furthermore, the present invention also includes a fixing assembly arranged between the test base and the reducer body, the fixing assembly includes a fixed base plate fixed to the bottom of the reducer body, positioning columns fixed on both sides of the test base surface, and an extrusion plate hinged on both sides of the test base surface, and a positioning groove adapted to the positioning column is opened inside the fixed base plate.

[0008] Furthermore, a pressing block is fixed to the lower surface of the extrusion plate of the present invention, and a lifting handle is welded to one side of the upper surface of the extrusion plate.

[0009] Furthermore, a side of the test base surface close to the extrusion plate is hinged with an avoidance plate, a side of the avoidance plate close to the extrusion plate is fixed with a wedge-shaped locking block, a fixed support plate is fixed on the surface of the test base, and a spring 2 is fixed between the fixed support plate and the avoidance plate.

[0010] The beneficial effects of the present invention are that the defects existing in the background technology are solved. 1. Through the speed regulation components set up, various motion states and speed requirements in actual robot work can be flexibly simulated, so that the test device can comprehensively test the fatigue performance of the reducer body at different speeds, which greatly improves the comprehensiveness and accuracy of the test, and helps to find possible problems of the reducer under different working conditions, thereby comprehensively testing the performance and fatigue life of the reducer under various working conditions, and accurately evaluating the fatigue limit and service life of the reducer.

[0011] 2. Through the setting of the fixing components, the installation position of the reducer body can be determined quickly and accurately, which enhances the firmness of the extrusion plate on the fixed base plate, and can effectively prevent the extrusion plate from accidentally flipping over, ensuring that the reducer body will not loosen or move during the test. Even in the long-term, high-load test process, the stable installation of the reducer body can be guaranteed, thereby improving the reliability and safety of the test device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the speed regulating assembly in the present invention; Figure 3 For the present invention Figure 2 A magnified image of point A; Figure 4 It is a schematic diagram of the structure of the rotating shaft and the rotation shaft in the present invention; Figure 5 It is a schematic diagram of the structure of the reducer body and the fixing assembly in the present invention; Figure 6 It is a schematic diagram of the local structure of the fixing component in the present invention.

[0013] In the figure: 1. test base; 2. test motor; 3. speed regulating assembly; 31. speed regulating frame; 32. driving shaft; 33. main speed regulating cone wheel; 34. driven shaft; 35. slave speed regulating cone wheel; 36. speed regulating belt; 37. toggle ring; 38. toggle slide bar; 39. swing frame; 310. spring one; 311. rotating shaft; 312. worm gear; 313. worm; 314. bevel gear pair; 315. rotating shaft; 316. handwheel; 4. reducer body; 41. coupling; 42. robot simulation swing arm; 43. counterweight; 5. fixing assembly; 51. fixed bottom plate; 52. positioning column; 53. extrusion plate; 54. lifting handle; 55. pressing block; 56. wedge-shaped locking block; 57. avoidance plate; 58. spring two; 59. fixed support plate. DETAILED DESCRIPTION

[0014] 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.

[0015] like Figure 1 As shown: A robot reducer acceleration fatigue test device includes a test base 1, a test motor 2 screwed to the surface of the test base 1, and a reducer body 4 arranged on the surface of the test base 1, a robot simulation swing arm 42 is installed at the output shaft end of the reducer body 4, and a counterweight block 43 is connected to the end of the robot simulation swing arm 42.

[0016] like Figures 1-6 As shown: In combination with the above content, in order to flexibly simulate various different motion states and speed requirements in the actual operation of the robot, it also includes a speed regulating component 3 arranged between the test motor 2 and the reducer body 4, the speed regulating component 3 includes a speed regulating frame 31 fixed on the surface of the test base 1 and a driving shaft 32 and a driven shaft 34 rotatably connected to the same side and above the speed regulating frame 31, the driving shaft 32 and the driven shaft 34 are arranged in parallel; one end of the driving shaft 32 is connected to the output end of the test motor 2, one end of the driven shaft 34 is connected to a coupling 41, and the coupling 41 is connected to the input end of the reducer body 4, the main speed regulating bevel wheels 33 are symmetrically splined on both sides of the surface of the driving shaft 32, and the slave speed regulating bevel wheels 35 are symmetrically splined on both sides of the surface of the driven shaft 34, and a speed regulating belt 36 is connected between the two sets of main speed regulating bevel wheels 33 and slave speed regulating bevel wheels 35.

[0017] In this embodiment: the driven shaft 34 is connected to the input end of the reducer body 4 through the coupling 41, and then the test motor 2 is started, and the test motor 2 drives the driving shaft 32 to rotate. The driving shaft 32 drives the main speed regulating bevel wheels 33 on both sides to rotate synchronously through the spline, and the main speed regulating bevel wheel 33 drives the slave speed regulating bevel wheel 35 to rotate through the speed regulating belt 36, thereby rotating the driven shaft 34, and finally transmitting the power to the reducer body 4 through the coupling 41.

[0018] In an optional embodiment, a toggle ring 37 is fixed to the opposite side surfaces of the two sets of main speed regulating cone wheels 33 and the slave speed regulating cone wheels 35, and a toggle slide groove is provided inside the toggle ring 37. A swing frame 39 with a V-shaped structure is provided between the main speed regulating cone wheels 33 and the slave speed regulating cone wheels 35. Toggle slide rods 38 are fixed to both ends of the swing frame 39, and the toggle slide rods 38 are slidably connected to the toggle slide groove provided inside the toggle ring 37. A spring 310 is fixed between both ends of the two sets of swing frames 39, and a rotating shaft 31 is fixed to the middle of the swing frame 39. 1, and the rotating shaft 311 is rotatably connected to the surface of the speed regulating frame 31, a worm wheel 312 is fixed to the bottom end of the rotating shaft 311, a worm 313 is meshedly connected to the surface of the worm wheel 312, and the worm 313 is rotatably connected to the bottom of the speed regulating frame 31, the surface of the worm 313 is connected to one of the bevel gears of the bevel gear pair 314, a rotating shaft 315 is coaxially fixed in the other bevel gear of the bevel gear pair 314, and the two bevel gears are meshed; the rotating shaft 315 is rotatably connected to the bottom of the speed regulating frame 31, and a hand wheel 316 is fixed at the end of the rotating shaft 315.

[0019] In this embodiment: When it is necessary to adjust the transmission speed ratio between the test motor 2 and the reducer body 4, rotate the handwheel 316. The handwheel 316 drives the rotating shaft 315 to rotate. The rotating shaft 315 drives the worm 313 to rotate through the bevel gear pair 314. The worm 313 meshes with the worm wheel 312, causing the worm wheel 312 to rotate, and then driving the rotating shaft 311 fixed on the worm wheel 312 to rotate. The rotating shaft 311 drives the swing frame 39 fixed in the middle to rotate around the axis of the rotating shaft 311. The toggle slide rods 38 at both ends of the swing frame 39 slide in the toggle chutes opened inside the toggle ring 37. Since the swing frame 39 is in a V-shaped structure, its rotation will change the distance between the two main speed regulation cones 33 and the slave speed regulation cones 35, thereby changing the transmission radius of the speed regulation belt 36 on the main speed regulation cones 33 and the slave speed regulation cones 35.

[0020] Furthermore: Combined with the above content, in order to ensure the stable installation of the reducer body 4, a fixing component 5 is further included between the test base 1 and the reducer body 4. The fixing component 5 includes a fixing base plate 51 fixed to the bottom of the reducer body 4, positioning columns 52 fixed to both sides of the surface of the test base 1, and pressing plates 53 hinged to both sides of the surface of the test base 1. A positioning groove adapted to the positioning column 52 is opened inside the fixing base plate 51.

[0021] In this embodiment: By placing the fixing base plate 51 at the bottom of the reducer body 4 through the positioning groove to align with the positioning column 52 on the surface of the test base 1 for preliminary positioning, the installation position of the reducer body 4 can be quickly and accurately determined. Then, by pulling the handle 54 to rotate the pressing plates 53 hinged to both sides of the surface of the test base 1, the pressing blocks 55 on the lower surface of the pressing plates 53 are pressed against the fixing base plate 51 to achieve the fixed installation of the reducer body 4.

[0022] In an alternative embodiment: A pressing block 55 is fixed to the lower surface of the pressing plate 53. A handle 54 is welded to one side of the upper surface of the pressing plate 53. An avoidance plate 57 is hinged to one side of the surface of the test base 1 close to the pressing plate 53. A wedge-shaped locking block 56 is fixed to the side of the avoidance plate 57 close to the pressing plate 53. A fixed support plate 59 is fixed to the surface of the test base 1, and a second spring 58 is fixed between the fixed support plate 59 and the avoidance plate 57.

[0023] In this embodiment: During the rotation of the extrusion plate 53, when the extrusion plate 53 contacts the surface of the wedge-shaped locking block 56, the extrusion plate 53 will push the wedge-shaped locking block 56, causing the avoidance plate 57 to rotate around the hinge point and compress the second spring 58, creating space for the extrusion plate 53. After the extrusion plate 53 rotates into place, the avoidance plate 57 will reset under the action of the second spring 58, and the wedge-shaped locking block 56 thereon can be inserted into the corresponding position on the surface of the extrusion plate 53 for pressing and locking, playing a role in auxiliary fixation and preventing the accidental flipping of the extrusion plate 53, which can make the extrusion of the extrusion plate 53 and the pressing block 55 on the fixed base plate 51 more firm, enhancing the firmness of the extrusion of the extrusion plate 53 on the fixed base plate 51.

[0024] The working principle and usage process of the present invention: When it is necessary to conduct an accelerated fatigue test on the robot reducer, the fixed base plate 51 at the bottom of the reducer body 4 is placed by aligning the positioning groove with the positioning post 52 on the surface of the test base 1 to complete the preliminary positioning. This can quickly and accurately determine the installation position of the reducer body 4, avoiding repeated adjustments caused by position deviations during the installation process, greatly improving the installation efficiency, reducing the installation time, and saving valuable time for subsequent test work. Then, by pulling the handle 54 to rotate the extrusion plates 53 hinged on both sides of the surface of the test base 1, the pressing blocks 55 on the lower surface of the extrusion plates 53 are used to press the fixed base plate 51 to achieve the fixed installation of the reducer body 4. During the rotation of the extrusion plates 53, when the extrusion plates 53 contact the surface of the wedge-shaped locking blocks 56, the extrusion plates 53 will push the wedge-shaped locking blocks 56, causing the avoidance plates 57 to rotate around the hinge point and compress the second springs 58 to create space for the extrusion plates 53. After the extrusion plates 53 rotate into place, the avoidance plates 57 will reset under the action of the second springs 58, and the wedge-shaped locking blocks 56 thereon can be inserted into the corresponding positions on the surfaces of the extrusion plates 53 for pressing and locking, playing a role in auxiliary fixation and preventing the accidental flipping of the extrusion plates 53, which can make the extrusion of the extrusion plates 53 and the pressing blocks 55 on the fixed base plate 51 more firm, enhancing the firmness of the extrusion of the extrusion plates 53 on the fixed base plate 51, and can also effectively prevent the accidental flipping of the extrusion plates 53, ensuring that the reducer body 4 will not loosen or displace during the test process. Even during a long-term and high-load test process, the stable installation of the reducer body 4 can be guaranteed, improving the reliability and safety of the test device, and thus completing the installation of the reducer body 4.

[0025] Furthermore, after the fixed installation of the reducer body 4 is completed, the driven shaft 34 is connected to the input end of the reducer body 4 through the coupling 41, and then the test motor 2 is started, and the test motor 2 drives the driving shaft 32 to rotate, and the driving shaft 32 drives the main speed regulating bevel wheels 33 on both sides to rotate synchronously through the spline, and the main speed regulating bevel wheel 33 drives the slave speed regulating bevel wheel 35 to rotate through the speed regulating belt 36, thereby rotating the driven shaft 34, and finally transmitting the power to the reducer body 4 through the coupling 41. When it is necessary to adjust the transmission speed ratio between the test motor 2 and the reducer body 4, the hand wheel 316 is turned, and the hand wheel 316 drives the rotating shaft 315 to rotate, and the rotating shaft 315 drives the worm 313 to rotate through the bevel gear pair 314, and the worm 313 is meshed with the worm wheel 312, so that the worm wheel 312 rotates, and then drives the rotating shaft 311 fixed on the worm wheel 312 to rotate, and the rotating shaft 311 drives the swing frame 39 fixed in the middle to rotate around the axis of the rotating shaft 311, and swings The toggle slide bars 38 at both ends of the frame 39 slide in the toggle slide grooves provided inside the toggle ring 37. Since the swing frame 39 is a V-shaped structure, its rotation will change the distance between the two sets of main speed regulating cone wheels 33 and the slave speed regulating cone wheels 35, thereby changing the transmission radius of the speed regulating belt 36 on the main speed regulating cone wheels 33 and the slave speed regulating cone wheels 35. It can flexibly simulate various different motion states and speed requirements in actual robot work, so that the test device can comprehensively test the fatigue performance of the reducer body 4 at different speeds, whether it is low speed and heavy load or high speed and light load and other working conditions, can be effectively tested, greatly improving the comprehensiveness and accuracy of the test, and helping to discover possible problems of the reducer under different working conditions, thereby comprehensively detecting the performance and fatigue life of the reducer under various working conditions, and can accurately evaluate the fatigue limit and service life of the reducer. Spring 1 310 is connected to the two ends of the two sets of swing frames 39, which plays a buffering and stabilizing role to ensure the smoothness of the speed regulation process.

[0026] It is worth noting that the reducer body 4 starts to work under the power transmitted by the driven shaft 34, and the robot simulation swing arm 42 installed at its output shaft end swings under the drive of the reducer. The counterweight block 43 connected at the end of the swing arm simulates the load in actual work. As the test motor 2 continuously provides power at different speeds, it simulates its various motion states in actual robot work, thereby more comprehensively testing the fatigue performance of the reducer body 4 at different speeds, so as to detect the performance and fatigue life of the reducer body 4 under various working conditions.

[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 robot reducer acceleration fatigue test device, comprising a test base (1), a test motor (2) screwed to the surface of the test base (1), and a reducer body (4) arranged on the surface of the test base (1), a robot simulation swing arm (42) being installed at the output shaft end of the reducer body (4), and a counterweight (43) being connected to the end of the robot simulation swing arm (42), characterized in that: It also includes a speed regulating assembly (3) arranged between the test motor (2) and the reducer body (4); The speed regulating assembly (3) comprises a speed regulating frame (31) fixed on the surface of the test base (1), and a driving shaft (32) and a driven shaft (34) rotatably connected to the same side and above the speed regulating frame (31), wherein the driving shaft (32) and the driven shaft (34) are arranged in parallel; one end of the driving shaft (32) is connected to the output end of the test motor (2), one end of the driven shaft (34) is connected to a coupling (41), and the coupling (41) is connected to the input end of the reducer body (4); a main speed regulating cone wheel (33) is symmetrically splined on both sides of the surface of the driving shaft (32), and a slave speed regulating cone wheel (35) is symmetrically splined on both sides of the surface of the driven shaft (34), and a speed regulating belt (36) is connected between the two sets of the main speed regulating cone wheels (33) and the slave speed regulating cone wheels (35); The invention also comprises a fixing assembly (5) arranged between the test base (1) and the reducer body (4), the fixing assembly (5) comprising a fixing base plate (51) fixed to the bottom of the reducer body (4), positioning columns (52) fixed to both sides of the surface of the test base (1), and extrusion plates (53) hinged to both sides of the surface of the test base (1), and a positioning groove adapted to the positioning column (52) is provided inside the fixing base plate (51).

2. The robot reducer acceleration fatigue testing device according to claim 1, characterized in that: A toggle ring (37) is fixed to the surfaces of opposite sides of the two groups of the main speed regulating cone wheel (33) and the slave speed regulating cone wheel (35), and a toggle slide groove is provided inside the toggle ring (37). A swing frame (39) with a V-shaped structure is provided between the main speed regulating cone wheel (33) and the slave speed regulating cone wheel (35), and toggle slide bars (38) are fixed at both ends of the swing frame (39), and the toggle slide bars (38) are slidably connected in the toggle slide groove provided inside the toggle ring (37). A spring 1 (310) is fixed between both ends of the two groups of the swing frames (39), and a rotating shaft (311) is fixed at the middle of the swing frame (39), and the rotating shaft (311) is rotatably connected to the surface of the speed regulating frame (31).

3. The robot reducer acceleration fatigue testing device according to claim 2, characterized in that: A worm wheel (312) is fixed to the bottom end of the rotating shaft (311); a worm (313) is meshedly connected to the surface of the worm wheel (312); the worm (313) is rotatably connected to the bottom of the speed regulating frame (31); a bevel gear of a bevel gear pair (314) is connected to the surface of the worm (313); a rotating shaft (315) is coaxially fixed inside the other bevel gear of the bevel gear pair (314); the two bevel gears are meshed; the rotating shaft (315) is rotatably connected to the bottom of the speed regulating frame (31), and a hand wheel (316) is fixed at the end of the rotating shaft (315).

4. The robot reducer acceleration fatigue testing device according to claim 1, characterized in that: A pressing block (55) is fixed to the lower surface of the squeezing plate (53), and a lifting handle (54) is welded to one side of the upper surface of the squeezing plate (53).

5. The robot reducer acceleration fatigue testing device according to claim 1, characterized in that: A side avoidance plate (57) is hingedly connected to the surface of the test base (1) on one side close to the extrusion plate (53); a wedge-shaped locking block (56) is fixed to the side of the side avoidance plate (57) close to the extrusion plate (53); a fixed support plate (59) is fixed to the surface of the test base (1); and a second spring (58) is fixed between the fixed support plate (59) and the side avoidance plate (57).

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