Variable-load variable-inertia motor service life testing device and method

Abstract

The invention discloses a variable-load variable-inertia motor life test device and method, and relates to the field of motor test equipment, and the device comprises a conversion assembly which comprises a disc, an inertia disc disposed on the outer wall of the disc, and a load part disposed on the outer wall of the inertia disc; wherein at least one inertia disc is arranged; according to the invention, independent or coupled adjustment of load mass and rotational inertia is realized by arranging a conversion assembly adopting a multi-layer modular design and combining a disc with a replaceable load disc and an inertia piece; eccentric installation is supported so as to simulate asymmetric actual working conditions, meanwhile, the dynamic balance precision is ensured to be smaller than or equal to 0.05 g.mm through a strict symmetric assembly structure, and vibration interference is effectively restrained; load-inertia changes of robot joints in complex dynamic processes such as grabbing, stretching and contracting can be comprehensively reproduced, and a high-fidelity test platform is provided for motor service life evaluation and reliability optimization.

Description

Technical Field

[0001] This invention relates to the field of motor testing equipment, and in particular to a device and method for testing the life of a variable load and variable inertia motor. Background Technology

[0002] In industrial robots, collaborative robots, and special-purpose robot systems, joint motors are core drive components, and their reliability and lifespan directly determine the overall operational stability and maintenance costs. During actual operation, the load and rotational inertia borne by the joints of a robot are not constant, but dynamically change with posture changes and the grasping / releasing of objects of different masses or shapes.

[0003] However, existing motor life testing platforms generally suffer from technical limitations: most use fixed mass disks or single inertia flywheels, which can only simulate constant loads or single inertia conditions; while some platforms can adjust inertia by replacing the entire load disk, the switching process is cumbersome and time-consuming, and cannot dynamically change in a single test, making it difficult to simulate typical real-world conditions such as eccentric loads and asymmetrical mass distributions. Furthermore, existing devices generally lack the ability to independently / coupledly adjust load and inertia, resulting in a severe disconnect between test conditions and the actual operating state of robot joints, distorting the obtained life data and making it difficult to effectively guide motor design optimization and reliability improvement.

[0004] Based on the above problems, we propose a test device and method for testing the life of a variable load and variable inertia motor. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is: how to provide a motor life test platform that can realistically simulate the dynamic coupling of variable load and variable inertia of robot joints in actual operation, so as to overcome the shortcomings of existing test devices that only support fixed load or single inertia and cannot accurately evaluate the life of motors under complex working conditions.

[0006] The above-mentioned technical problems are solved by the following technical solution: The present invention proposes a variable load and variable inertia motor life testing device, which includes a transformation component, including a disk, an inertia disk disposed on the outer wall of the disk, and a load component disposed on the outer wall of the inertia disk; wherein, at least one inertia disk is provided.

[0007] In a preferred embodiment of the variable load and variable inertia motor life testing device of the present invention: the outer wall of the disc is provided with a plurality of mounting holes, and the inertia disc is assembled with the mounting holes in any combination via a connector.

[0008] In a preferred embodiment of the variable load and variable inertia motor life testing device of the present invention: the load component includes a load-bearing plate disposed on the outer wall of the inertia disk, and a weight disk is disposed on the outer wall of the load-bearing plate.

[0009] In a preferred embodiment of the variable load and variable inertia motor life testing device of the present invention: when the conversion component is assembled, the same inertia disks are installed in pairs at opposite diameter positions on the disk to ensure that the dynamic balance accuracy of the system is ≤ 0.05 g·mm during rotation.

[0010] In a preferred embodiment of the variable load and variable inertia motor life testing device of the present invention: when the inertia disk adopts an eccentric installation method, multiple eccentric inertia disks are arranged symmetrically, and the eccentricity of each pair of eccentric inertia disks is consistent with the eccentric direction.

[0011] In a preferred embodiment of the variable load variable inertia motor life testing device of the present invention: the material of the inertia disk is at least one of high performance stainless steel and nickel-based high temperature alloy.

[0012] In a preferred embodiment of the variable load and variable inertia motor life testing device of the present invention: the outer wall of the disk is provided with a connecting shaft, and the connecting shaft is connected to the output shaft of the motor.

[0013] In a preferred embodiment of the variable load and variable inertia motor life testing device of the present invention: the outer wall of the motor is provided with a support plate, the outer wall of the support plate is provided with a mounting base plate, the outer wall of the support plate is provided with a slider, the outer wall of the mounting base plate is provided with a sliding groove, and the slider slides in cooperation with the sliding groove.

[0014] The present invention also proposes a method for testing the life of a joint motor of a robot with variable load and variable inertia, which includes fixing the motor under test to a support plate and connecting it to a disk through a connecting shaft; Based on the target test conditions, select the corresponding quantity, type and installation location of inertia disks and load components, and assemble the transformation components. Start the motor and make it run at a preset speed and start / stop frequency to simulate the typical movement patterns of robot joints; Record the motor's operating parameters and lifespan data under this working condition; Replace the inertia disk and load components to complete multi-condition life test.

[0015] In a preferred embodiment of the variable load and variable inertia robot joint motor life testing method of the present invention: the target test conditions include: Variable load test: With the inertia disk fixed, only the load components are adjusted to change the total mass; Variable inertia test: With a fixed load component, the rotational inertia is adjusted by changing the radius or eccentricity of the inertia disk; Variable load and variable inertia coupling test: Simultaneously adjust the inertia disk and the load component to simulate the combined working condition of grasping a heavy object and extending an arm.

[0016] The beneficial effects of this invention are as follows: by setting up a transformation component with a multi-layer modular design, combined with a disk and replaceable load disks and inertia components, independent or coupled adjustment of load mass and rotational inertia is achieved; it supports eccentric installation to simulate asymmetrical actual working conditions, while ensuring dynamic balance accuracy ≤0.05 g·mm through a strict symmetrical assembly structure, effectively suppressing vibration interference; it can fully reproduce the load-inertia changes of robot joints in complex dynamic processes such as grasping, extending, and retracting, providing a high-fidelity testing platform for motor life assessment and reliability optimization. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein: Figure 1 A schematic diagram of the overall structure of the testing device is shown; Figure 2 A schematic diagram of the motor connection structure is shown; Figure 3 A schematic diagram of the connection structure of the transformation component is shown; Figure 4 A side view of the test device connection structure is shown. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0019] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0020] Reference Figures 1-4 This embodiment provides a variable load and variable inertia motor life testing device, including a transformation component 1. The transformation component 1 is used to test robot joint motors, and its application scope includes, but is not limited to, life testing of robot joint motors, servo motors, and stepper motors under variable load and variable inertia scenarios. The disk 11 serves as the assembly base for the inertia disk 12 and the load component 21. The inertia disk 12, which is located on the outer wall of the disk 11, can be arbitrarily assembled with the mounting holes 111 on the disk 11 by bolts. The load component 13, which is located on the outer wall of the inertia disk 12, is used to adjust the total mass of the system and simulate the external load changes when grasping or releasing objects.

[0021] In one embodiment provided in this application, a plurality of mounting holes 111 are provided on the outer wall of the disk 11. The mounting holes 111 are provided on the outer edge of the disk 11 and are evenly distributed in a circle to form a standardized mounting hole array. The mounting holes 111 have a uniform hole diameter and pitch to ensure that different inertia disks 12 can be interchangeably installed. The inertia disk 12 is assembled with the mounting holes 111 in any combination by means of a connector, which can be a bolt. The inertia disk 12 is provided with through holes or threaded holes corresponding to the mounting holes 111 and is fastened to the disk 11 by bolts. Any combination includes: quantity combination, i.e., installing 1, 2, 3... inertia disks 12; position combination, installed at any hole position such as 0°, 90°, 180°, etc., and symmetrical / eccentric combination.

[0022] In one embodiment provided in this application, the load component 13 includes a load-bearing plate 131 disposed on the outer wall of the inertia disk 12. The inertia disk 12 serves as an intermediate load-bearing layer, acting as both a rotational inertia adjustment module and a mounting base for the load component 13. The load-bearing plate 131 is fixedly installed on the outer wall of the inertia disk 12, serving as a transitional support platform for the additional mass of the load. A weight disk 132 is disposed on the outer wall of the load-bearing plate 131, and a weight disk 231 is installed on the outer wall of the load-bearing plate 131. Both are provided with mounting holes corresponding to the inertia disk 12, and can be replaced according to the actual load mass.

[0023] In one embodiment provided in this application, during assembly, inertia disks 12 of the same type and mass are installed in pairs on the disk 11 at opposite diameter positions to ensure that the dynamic balance accuracy of the system during rotation is ≤0.05 g·mm; inertia disks 12 of the same type and mass refer to two inertia disks 12 being completely identical in structure, material, mass, and geometric dimensions; opposite diameter positions refer to the two inertia disks 12 being installed on two mounting holes 111 on the circumference of the disk 11 that are 180° apart.

[0024] The moment of inertia of the inertia disk 12 can be adjusted by changing its radius, mass distribution, or installation eccentricity e; according to the parallel axis theorem, the total moment of inertia of the system is: ; in J For rotational inertia, m For quality, r For radius, e It is the eccentricity; thus, it can flexibly simulate the working conditions of robot joint extension (high inertia) or retraction (low inertia).

[0025] In one embodiment provided in this application, when an eccentric mounting method is adopted, eccentric mounting refers to mounting the inertia disk 12 on the disk 11 at a position off from its geometric center, so that there is an eccentricity between its center of mass and the rotation axis. This is used to simulate the real working condition where the load center of mass and the joint rotation axis do not coincide when the robot grasps an eccentric object. The multiple eccentric inertia disks 12 are still arranged symmetrically, that is, they are mounted in pairs on the disk 11 at diameter-relative positions, and the eccentricity of each pair of eccentric inertia disks 12 is consistent with the eccentric direction. Consistent eccentricity means that the distance from the center of mass of the two eccentric inertia disks 12 to the center of their respective mounting holes 111 (i.e., eccentricity) must be equal. Consistent eccentric direction means that the offset direction of the center of mass of the two eccentric disks 22 is in the same direction relative to their respective mounting positions (e.g., both are offset in a direction away from the center).

[0026] In one embodiment provided in this application, the inertia disk 12 is made of at least one of high-performance stainless steel and nickel-based high-temperature alloy; it can be made of high-temperature resistant and corrosion resistant material to simulate load inertia changes under extreme environments such as high-temperature and corrosive environments.

[0027] In one embodiment provided in this application, the outer wall of the disc 11 is provided with a connecting shaft 14, and the connecting shaft 14 is fixedly connected to the output end of the motor 15 for stably transmitting rotational torque to the conversion component 1; the outer wall of the motor 15 is provided with a support plate 151, which is directly attached to the outer wall of the motor 15 and plays a role in bearing weight and positioning; the outer wall of the support plate 151 is provided with a mounting base plate 152, and the support plate 151 can be fixedly connected to the mounting base plate 152 by bolts.

[0028] In one embodiment provided in this application, the outer wall of the support plate 151 is provided with a slider 153, and the support plate 151 and the slider 153 are integrally formed; the outer wall of the mounting base plate 152 is provided with a sliding groove 154, and a plurality of sliding grooves 154 are provided, so that the position of the slider 153 can be arbitrarily adjusted according to the position of the drive component 1; the slider 153 slides in conjunction with the sliding groove 154, and a threaded hole is provided through the outer wall of the slider 153, and a plurality of threaded holes are also provided at equal intervals in the sliding groove 154. After the position of the slider 153 is determined, the slider 153 can be fixed in the sliding groove 154 by bolts.

[0029] In use, the motor under test 15 is fixed to the outer wall of the support plate 151 on the mounting base plate 152, and its output shaft is coaxially connected with the connecting shaft 14. According to the target test conditions, the appropriate number, type and eccentricity characteristics of inertia disks 12 and weight disks 132 are selected and installed on the mounting holes 111 of the disk 11 with bolts. The inertia disks 12 are arranged in pairs symmetrically at opposite diameter positions. If it is necessary to simulate eccentric load, eccentric inertia disks 12 with the same eccentricity and direction are used for symmetrical installation. The load component 13 is fixed to the outer wall of the inertia disk 12 by the load plate 131, and the total load mass is adjusted by adding or removing weight disks 132.

[0030] Reference Figures 1-4 This embodiment provides a method for testing the lifespan of joint motors in a variable load, variable inertia robot, including... S1: Fix the motor to be tested to the support plate and connect it to the disc through the connecting shaft; S2: Based on the target test conditions, select the corresponding quantity, type, and installation location of inertia disks and load components, and assemble the transformation components; S3: Start the motor to run at a preset speed and start / stop frequency to simulate the typical motion pattern of the robot joint; S4: Record the motor's operating parameters and lifespan data under this operating condition; S5: Replace the inertia disk and load component combination, and repeat steps S2~S4 to complete the multi-condition life test.

[0031] In one embodiment provided in this application, the target test condition includes: Variable load test: With the inertia disk fixed, only the load components are adjusted to change the total mass; Among them, the fixed disk and the inertia disk are used to simulate the situation where the robot joints grasp different weights under the condition of fixed rotational inertia by adding or removing the load only by adding or removing the weight disk.

[0032] Variable inertia test: With a fixed load component, the rotational inertia is adjusted by changing the radius or eccentricity of the inertia disk; During the test, the eccentricity of the load relative to the disk was changed by altering the position of the inertia disk on the disc and the position of the load component fixed to the inertia disk, thereby changing the moment of inertia. This simulated non-ideal, asymmetrical loads: in actual operation, the objects grasped by the robot are not always symmetrical. For example, when grasping a toolbox or a long rod, the center of gravity is often not at the center of the robot's gripper, resulting in the joint motors experiencing a periodically changing, asymmetrical load torque during rotation. The eccentrically mounted inertia disk precisely simulates this actual situation where the load's center of mass does not coincide with the axis of rotation.

[0033] Variable load and variable inertia coupling test: Simultaneously adjust the inertia disk and the load component to simulate the combined working condition of grasping a heavy object and extending an arm.

[0034] Among them, the above-mentioned variable load test is coupled with the variable inertia test. By changing the installation position of the inertia disk and the weight disk, thereby changing the moment of inertia, the load weight can be changed. The test simulates a non-ideal, asymmetrical large load and tests the joint motor's load-bearing capacity under such non-ideal, asymmetrical working conditions (the maximum load that the motor can withstand under non-ideal, asymmetrical working conditions that are close to actual working conditions).

[0035] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A life testing device for a variable load and variable inertia motor, characterized in that: include, The transformation component (1) includes a disk (11), an inertia disk (12) disposed on the outer wall of the disk (11), and a load member (13) disposed on the outer wall of the inertia disk (12). At least one inertia disk (12) is provided.

2. The variable load and variable inertia motor life testing device according to claim 1, characterized in that: The outer wall of the disk (11) has a plurality of mounting holes (111), and the inertia disk (12) is assembled with the mounting holes (111) in any combination via a connector.

3. The variable load and variable inertia motor life testing device according to claim 2, characterized in that: The load-bearing component (13) includes a load-bearing plate (131) disposed on the outer wall of the inertia disk (12), and a weight disk (132) is disposed on the outer wall of the load-bearing plate (131).

4. The variable load and variable inertia motor life testing device according to claim 3, characterized in that: When the transformation component (1) is assembled, the same inertia disks (12) are installed in pairs on the disk (11) at opposite diameter positions to ensure that the dynamic balance accuracy of the system is ≤ 0.05 g·mm when rotating.

5. The variable load and variable inertia motor life testing device according to claim 3, characterized in that: When the inertia disk (12) is installed eccentrically, multiple eccentric inertia disks (12) are arranged symmetrically, and the eccentricity of each pair of eccentric inertia disks (12) is consistent with the eccentric direction.

6. The variable load and variable inertia motor life testing device according to any one of claims 1 to 5, characterized in that: The inertia disk (12) is made of at least one of high-performance stainless steel and nickel-based high-temperature alloy.

7. The variable load and variable inertia motor life testing device according to claim 5, characterized in that: The outer wall of the disk (11) is provided with a connecting shaft (14), which is connected to the output shaft of the motor (15).

8. The variable load and variable inertia motor life testing device according to claim 6, characterized in that: The motor (15) has a support plate (151) on its outer wall, and a mounting base plate (152) on its outer wall. The support plate (151) has a slider (153) on its outer wall, and a sliding groove (154) is opened on the outer wall of the mounting base plate (152). The slider (153) slides in cooperation with the sliding groove (154).

9. A method for testing the lifespan of joint motors in a variable-load, variable-inertia robot, characterized in that: The device includes the variable load and variable inertia motor life testing apparatus as described in any one of claims 1 to 8, and further includes: The motor to be tested is fixed to the support plate and connected to the disc via the connecting shaft; Based on the target test conditions, select the corresponding quantity, type and installation location of inertia disks and load components, and assemble the transformation components. Start the motor and make it run at a preset speed and start / stop frequency to simulate the typical movement patterns of robot joints; Record the motor's operating parameters and lifespan data under this working condition; Replace the inertia disk and load components to complete multi-condition life test.

10. The method for testing the lifespan of a variable load, variable inertia robot joint motor according to claim 9, characterized in that, The target test conditions include: Variable load test: With the inertia disk fixed, only the load components are adjusted to change the total mass; Variable inertia test: With a fixed load component, the rotational inertia is adjusted by changing the radius or eccentricity of the inertia disk; Variable load and variable inertia coupling test: Simultaneously adjust the inertia disk and the load component to simulate the combined working condition of grasping a heavy object and extending an arm.

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