Robot crossed roller bearing testing machine

Abstract

The invention relates to a robot crossed roller bearing testing machine, which comprises a bearing clamping mechanism, a mounting platform, a rotating mechanism arranged on the mounting platform and a main shaft horizontally arranged on the rotating mechanism, and is characterized in that the rotating mechanism is used for driving the main shaft to rotate; a support is arranged on the installation platform, a supporting shaft mechanism is arranged on the support, an inner ring of a test bearing is installed on the supporting shaft mechanism, a bearing clamping mechanism used for clamping an outer ring of the test bearing is arranged on the outer side of the test bearing, and a load loading device is arranged on the bearing clamping mechanism. The load loading device applies a radial load to the test bearing through the bearing clamping mechanism, and the main shaft is in linkage connection with the bearing clamping mechanism through the swing assembly. According to the invention, the test bearing is installed on the supporting shaft mechanism, and the load is applied to the bearing clamping mechanism, so that the actual operation condition of the crossed roller bearing for the robot joint is simulated accurately, and the bearing operation data conforming to the actual operation condition is obtained.

Description

Technical Field

[0001] This invention relates to the field of bearing testing technology, and in particular to a robotic cross roller bearing testing machine. Background Technology

[0002] In current robotics technology, especially in the field of high-degree-of-freedom precision robots, crossed roller bearings have evolved from a general-purpose mechanical component into a key component that directly affects the overall performance of robots. As a core precision support component of robot joints, crossed roller bearings are like the "precision heart" of the joints, and their rotational and load-bearing performance directly determines the overall motion quality of the robot.

[0003] In real-world, complex robotic operating scenarios, crossed roller bearings used in robot joints endure dynamically changing multi-faceted loads—including radial force, axial force, torque, and continuous oscillating wear. Theoretical calculations or simple static tests alone are insufficient to accurately predict their long-term performance. Testing machines, however, can reproduce and even accelerate these harsh conditions in a laboratory environment with high fidelity. Through precisely controlled loading systems, motion simulation units, and environmental chambers, they can systematically study the friction and wear characteristics, clearance variations, fatigue life, and ultimate failure modes of bearings under different speeds, loads, temperatures, and lubrication conditions. This yields a wealth of performance data on crossed roller bearings under realistic operating conditions, including lifespan, accuracy retention, and operational smoothness, providing reliable data support for understanding the performance boundaries and failure mechanisms of crossed roller bearings. The testing and lifespan measurement of crossed roller bearings can drive the development of high-performance new products, optimize process selection and design schemes, and establish the foundation for product reliability models and lifespan predictions. This is of great significance for the motion smoothness, positioning accuracy, and long-term reliability of robot joints. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a robot crossed roller bearing testing machine to obtain operating data of crossed roller bearings that conform to actual working conditions, providing reliable data support for subsequent bearing optimization design, production process selection, and selection of crossed roller bearings for different functions, which is conducive to designing or optimizing suitable crossed roller bearings for different working conditions and meeting the performance and technical requirements of crossed roller bearings for various robot joints.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: a robotic crossed roller bearing testing machine, comprising a bearing clamping mechanism, a mounting platform, a rotating mechanism set on the mounting platform, and a main shaft horizontally set on the rotating mechanism. The rotating mechanism is used to drive the main shaft to rotate. A bracket is provided on the mounting platform, and a support shaft mechanism is provided on the bracket. The inner ring of the test bearing is mounted on the support shaft mechanism. A bearing clamping mechanism for clamping the outer ring of the test bearing is provided on the outside of the test bearing. A load loading device is provided on the bearing clamping mechanism. The load loading device applies a radial load to the test bearing through the bearing clamping mechanism. The main shaft is linked to the bearing clamping mechanism through a swing assembly. The rotating mechanism drives the main shaft to rotate and drives the bearing clamping mechanism to reciprocate and swing through the swing assembly, so as to drive the test bearing to reciprocate and swing.

[0006] As a preferred embodiment, the rotating mechanism includes a variable frequency motor, coupling A, a reducer, and coupling B. The output shaft of the variable frequency motor is connected to the input end of the reducer through coupling A, and the output end of the reducer is connected to the main shaft through coupling B.

[0007] As a preferred embodiment, the variable frequency motor is mounted on the mounting platform via a motor mounting base, and the reducer is mounted on the mounting platform via a geared motor mounting bracket.

[0008] As a preferred embodiment, the mounting platform is provided with a test bearing mounting base, and the test bearing mounting base is provided with a test bearing mounting seat A and a test bearing mounting seat B. Test bearing A and test bearing B, which are respectively sleeved on the main shaft, are installed in test bearing mounting seat A and test bearing B.

[0009] As a preferred embodiment, the support includes a left support frame and a right support frame arranged opposite to each other. The swing assembly and the support shaft mechanism are disposed between the left support frame and the right support frame. The support shaft mechanism includes a bearing mounting connecting shaft A and a bearing mounting connecting shaft B arranged opposite to each other. Bearing mounting shaft segments A and B are respectively provided on opposite sides of bearing mounting shaft A and bearing mounting shaft segments B. Bearing mounting shaft segments A and B are inserted into each other. There are two test bearings, which are respectively installed on bearing mounting shaft segments A and B. Bearing mounting shaft segments A and B are also fitted with mounting bushings, which are located between the inner rings of the two test bearings.

[0010] As a preferred embodiment, the bearing mounting connecting shaft B is provided with a protrusion, and the bearing mounting shaft section A is provided with a groove that mates with the protrusion.

[0011] As a preferred embodiment, the bearing clamping mechanism includes a mounting housing and a counterweight mounting tray. The test bearing is located between the mounting housing and the counterweight mounting tray. The mounting housing and the counterweight mounting tray are connected and fixed by mounting bolts to clamp the outer ring of the test bearing. The counterweight mounting tray has a receiving chamber with an opening at the top. Multiple counterweights are provided inside the receiving chamber, and a limiting groove that cooperates with the counterweights is provided at the bottom of the receiving chamber.

[0012] As a preferred embodiment, the end of the main shaft is provided with a connecting shaft section and a threaded shaft section, and the left support frame is provided with a positioning through hole for the connecting shaft section and the threaded shaft section to pass through. The outer diameter of the connecting shaft section and the threaded shaft section is smaller than the outer diameter of the main shaft. The swing assembly includes a swing angle adjustment rod and a torque transmission rod provided on the swing angle adjustment rod. The swing angle adjustment rod is sleeved on the connecting shaft section, and a locking nut for locking the swing angle adjustment rod is threaded on the threaded shaft section. The torque transmission rod is slidably engaged with the counterweight mounting tray, and a vertical groove is provided on the counterweight mounting tray along the vertical direction to slidably engage with the torque transmission rod.

[0013] As a preferred embodiment, the torque transmission rod is a torque transmission bolt, which has a screw part and a head. The swing angle adjustment rod is provided with multiple threaded adjustment holes along its length that are threaded to the screw part. The screw part is threaded to the threaded adjustment holes and locked by a positioning nut. The vertical groove is slidably engaged with the head, and the cross-section of the vertical groove is T-shaped.

[0014] As a preferred embodiment, the mounting platform is provided with a support device mounting chassis at the lower end of the counterweight mounting tray, and a counterweight support tray is provided above the support device mounting chassis. Multiple tray hydraulic lifting cylinders are provided between the support device mounting chassis and the counterweight support tray. The counterweight support tray has a test state and an installation state. When the counterweight support tray is in the test state, the counterweight support tray is separated from the counterweight mounting tray. When the counterweight support tray is in the installation state, the tray hydraulic lifting cylinders drive the counterweight support tray to rise and collide with the counterweight mounting tray.

[0015] The beneficial effects of this application are as follows: 1. By installing the test bearing on the support shaft mechanism and applying the load to the bearing clamping mechanism, this application can more accurately simulate the actual operating conditions of the crossed roller bearing and obtain bearing operating data that conforms to the actual operating conditions.

[0016] 2. This application uses a rotating mechanism, a swinging assembly, and a load loading device to work together to apply a load to the test bearing through a bearing clamping mechanism, and can drive the outer ring of the test bearing to reciprocate and swing, thus ensuring the accuracy and stability of the test.

[0017] 3. The swing angle adjustment rod of this application is provided with multiple threaded adjustment holes that cooperate with the torque transmission rod. According to the difference in the swing amplitude of the test bearing under different working conditions, the swing angle requirement of three progressively increasing levels can be achieved by adjusting different swing angle gears.

[0018] 4. By setting up bearing mounting shaft section A, bearing mounting shaft section B, and mounting bushing, this application enables the simultaneous installation of two test bearings on a single testing machine for testing, greatly improving testing efficiency.

[0019] 5. The bearing mounting shaft segments A and B of this application are connected by an interlocking joint, which facilitates installation. The mounting sleeve is fitted onto the bearing mounting shaft segments A and B, which improves the stress condition of the bearing mounting shaft segments A and B and extends their service life. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a front view of the present invention.

[0022] Figure 3 This is a side view of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the swing component of the present invention.

[0024] Figure 5 This is a schematic diagram of the support shaft mechanism in this invention.

[0025] Figure 6 This is a schematic diagram of the test bearing A in this invention.

[0026] Illustration markings: 1. Mounting platform; 101. Test bearing; 102. Mounting housing; 2. Variable frequency motor; 201. Motor mounting base; 3. Coupling A; 4. Reducer; 401. Gear motor mounting base; 5. Coupling B; 6. Counterweight support tray; 7. Tray hydraulic lifting cylinder; 8. Support device mounting chassis; 9. Counterweight mounting tray; 10. Right support frame; 11. Counterweight; 12. Torque transmission rod; 13. Swing angle adjustment rod; 14. Locking nut; 15. Left support frame; 16. 17. Bearing mounting connecting shaft A, 18. Main shaft, 19. Test bearing mounting seat A, 20. Test bearing mounting seat B, 21. Threaded adjustment hole, 22. Vertical groove, 23. Test bearing mounting base, 24. Mounting bushing, 25. Test bearing mounting end cover A, 26. Test bearing sealing ring A, 27. Clearance adjusting shim A, 28. Test bearing A, 29. Test bearing sealing ring B, 30. Test bearing mounting end cover B, 31. Test bearing B, 32. Clearance adjusting shim B. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] Please see Figure 1-6 This invention provides a robotic crossed roller bearing testing machine, including a bearing clamping mechanism, a mounting platform 1, a rotating mechanism mounted on the mounting platform 1, and a main shaft 18 horizontally mounted on the rotating mechanism. The rotating mechanism drives the main shaft 18 to rotate. The mounting platform 1 is provided with a bracket, and the bracket is provided with a support shaft mechanism. The inner ring of the test bearing 101 is mounted on the support shaft mechanism. The outer side of the test bearing 101 is provided with a bearing clamping mechanism for clamping the outer ring of the test bearing 101. The bearing clamping mechanism is provided with a load loading device, which applies a radial load to the test bearing 101 through the bearing clamping mechanism. The main shaft 18 is linked to the bearing clamping mechanism through a swing assembly. The rotating mechanism drives the main shaft 18 to rotate, and drives the bearing clamping mechanism to reciprocate and swing through the swing assembly, thereby driving the test bearing 101 to reciprocate and swing.

[0029] Combination Figure 1 and Figure 2 The rotating mechanism shown includes a variable frequency motor 2, a coupling A3, a reducer 4, and a coupling B5. The output shaft of the variable frequency motor 2 is connected to the input end of the reducer 4 via coupling A3, and the output end of the reducer 4 is connected to the main shaft 18 via coupling B5. The variable frequency motor 2 is mounted on the mounting platform 1 via a motor mounting base 201, and the reducer 4 is mounted on the mounting platform 1 via a reducer motor mounting bracket 401.

[0030] The variable frequency motor 2 is connected and fixed to the motor mounting base 201 by bolts, and the reducer 4 is connected and fixed to the reducer motor mounting base 401 by bolts.

[0031] The mounting platform 1 is equipped with a test bearing mounting base 23, which includes test bearing mounting seats A19 and B20. Test bearings A28 and B31, respectively, are mounted on the main shaft 18 within test bearing mounting seats A19 and B20. Test bearing mounting seat A19 is in close contact with the left boss mounting surface of test bearing mounting base 23 and is fixed by bolts. Test bearing mounting seat B20 is in close contact with the right boss mounting surface of test bearing mounting base 23 and is fixed by bolts.

[0032] The inner ring of the test bearing A28 is fitted with the left side of the main shaft 18, and the right end face of the inner ring of the test bearing A28 is in contact with the left shoulder end face of the main shaft 18. Test bearing mounting end caps A25 are provided at the front and rear of the test bearing mounting seat A19. The test bearing A28 is located between the two test bearing mounting end caps A25. A clearance adjustment shim A27 is provided between the left end face of the inner ring of the test bearing A28 and the left side of the test bearing mounting end cap A25. The left end face of the inner ring of the test bearing A28 mates with the clearance adjustment shim A27 to adjust its axial clearance. The two test bearing mounting end caps A25 are respectively attached to the left and right end faces of the test bearing mounting seat A19 and fixed by bolts. A test bearing sealing ring A26 is provided between the test bearing mounting end caps A25 and the main shaft 18. The test bearing seal ring A26 has a trapezoidal cross section, which fits into the trapezoidal groove reserved on the inner ring surface of the test bearing mounting end cover A25.

[0033] The inner ring of the test bearing B31 is fitted with the right side of the main shaft 18 via a transition fit, and the left end face of the inner ring of the test bearing B31 is in contact with the right shoulder end face of the main shaft 18. Test bearing mounting end caps B30 are provided at the front and rear of the test bearing mounting seat B20. The test bearing B31 is located between the two test bearing mounting end caps B30. A clearance adjustment shim B32 is provided between the right end face of the inner ring of the test bearing B31 and the right side of the test bearing mounting end cap B30. The right end face of the inner ring of the test bearing B31 mates with the clearance adjustment shim B32 to adjust its axial clearance. The test bearing mounting end caps B30 are respectively attached to the left and right end faces on both sides of the test bearing mounting seat B20 and fixed by bolts. A test bearing sealing ring B29 is provided between the test bearing mounting end cap B30 and the main shaft 18. The test bearing sealing ring B29 has a trapezoidal cross-section and is in contact with the trapezoidal groove reserved on the surface of the inner ring of the test bearing mounting end cap B30.

[0034] The upper surface of the mounting platform 1 has multiple rectangular grooves along its width. The lower end of the motor mounting base 201 has a first guide protrusion that mates with the rectangular grooves. The motor mounting base 201 has a first locking bolt for locking it. The lower end of the geared motor mounting seat 401 has a second guide protrusion that mates with the rectangular grooves. The geared motor mounting seat 401 has a second locking bolt for locking it. The lower end of the test bearing mounting base 23 has a third guide protrusion that mates with the rectangular grooves. The test bearing mounting base 23 has a third locking bolt for locking it. The distance between the right side of the test bearing mounting base 23 and the right side of the bottom mounting platform 1 of the testing machine is 5cm. The motor mounting base 201 can be moved axially according to the installation displacement requirements. After the position is adjusted, the bottom is tightened by the first locking bolt, which presses against the upper surface of the bottom mounting platform 1 of the testing machine to restrict its axial displacement and fix it in place. The central axes of the main shaft 18, the reducer 4, and the variable frequency motor 2 are on the same axis to ensure their coaxiality.

[0035] Combination Figure 4 and Figure 5As shown, the support includes a left support frame 15 and a right support frame 10 arranged opposite to each other. The swing assembly and the support shaft mechanism are arranged between the left support frame 15 and the right support frame 10. The support shaft mechanism includes a bearing mounting connecting shaft A16 and a bearing mounting connecting shaft B17 arranged opposite to each other. Bearing mounting shaft segments A and B are respectively provided on opposite sides of bearing mounting connecting shaft A16 and bearing mounting connecting shaft B17. Bearing mounting shaft segments A and B are inserted into each other. There are two test bearings 101. Mounting shaft sections A and B are installed on bearing mounting shaft sections. Each bearing mounting shaft section A and B is also fitted with a mounting sleeve 24, which is located between the inner rings of the two test bearings 101. The mounting sleeve 24 fits against the inner side of the inner ring of the test bearing 101. The mounting sleeve 24 also has an annular protrusion in its center, which abuts against the inner end face of the inner ring of the test bearing 101. The bearing mounting connecting shaft B17 has a protrusion, and bearing mounting shaft section A has a groove that mates with the protrusion. A first annular end cap and a second annular end cap are respectively fitted onto bearing mounting shaft sections A and B. The first and second annular end caps are located on the outer sides of the two test bearings 101, abutting against the outer end faces of the inner rings of the two test bearings 101. A sealing ring is also provided between the first and second annular end caps and the outer end faces of the outer rings of the two test bearings 101.

[0036] The rear end of the mounting platform 1 is provided with an extension platform, which is lower than the mounting platform 1. The bottom surfaces of the right support frame 10 and the left support frame 15 mate with the upper surface of the extension platform of the mounting platform 1 and are fixed by bolts. The right end of the bearing mounting connecting shaft A 16 is interference-fitted with the inner diameter of the right support frame 10, and the left end face of the bearing mounting connecting shaft B 17 is interference-fitted with the inner diameter of the left support frame 15.

[0037] The bearing clamping mechanism includes a mounting housing 102 and a counterweight mounting tray 9. The test bearing 101 is located between the mounting housing 102 and the counterweight mounting tray 9. The mounting housing 102 and the counterweight mounting tray 9 are connected and fixed by mounting bolts to clamp the outer ring of the test bearing 101. The counterweight mounting tray 9 has a receiving chamber with an opening at the top. Multiple counterweights 11 are provided inside the receiving chamber, and a limiting groove that cooperates with the counterweights 11 is provided at the bottom of the receiving chamber. The inner side of the mounting housing 102 has a first semi-annular protrusion that abuts against the inner ring of the test bearing 101. The upper end of the counterweight mounting tray 9 is provided with a second semi-annular protrusion that abuts against the inner ring of the test bearing 101. The first and second semi-annular protrusions are arranged opposite each other, and both are located between the two test bearings 101. The load applied to the test bearing 101 can be controlled by changing the number and weight of the counterweights 11. It should be noted that any parts not described in detail in this application are prior art.

[0038] Specifically, the main shaft 18 has a connecting shaft section and a threaded shaft section at its end. The left support frame 15 has a positioning through hole for the connecting shaft section and the threaded shaft section to pass through. The outer diameter of the connecting shaft section and the threaded shaft section is smaller than the outer diameter of the main shaft 18. The swing assembly includes a swing angle adjustment rod 13 and a torque transmission rod 12 set on the swing angle adjustment rod 13. The swing angle adjustment rod 13 is sleeved on the connecting shaft section. A locking nut 14 for locking the swing angle adjustment rod 13 is threaded on the threaded shaft section. The torque transmission rod 12 is slidably engaged with the counterweight mounting tray 9. The counterweight mounting tray 9 has a vertical groove 22 along the vertical direction that is slidably engaged with the torque transmission rod 12. The end of the torque transmission rod 12 facing the vertical groove 22 has a sliding part that is slidably engaged with the vertical groove. The sliding part and the torque transmission rod 12 have a T-shaped structure. The cross-section of the vertical groove is T-shaped.

[0039] The variable frequency motor 2 in the testing machine is connected to and drives the main shaft 18 through coupling A 3, reducer 4, and coupling B 5. The speed of the main shaft can be adjusted by the reducer 4. Subsequently, the rotation of the main shaft 18 drives the rotation of the swing angle adjustment rod 13. At the same time, the sliding part of the swing angle adjustment rod 13 moves up and down in the vertical groove channel on the end face of the counterweight mounting tray 9, thereby causing the counterweight mounting tray 9 to swing back and forth around the central axis of the bearing mounting connection shaft A 16 and the bearing mounting connection shaft B 17, thus simulating the swing motion of the outer ring of the robot's crossed roller bearing relative to the inner ring.

[0040] In addition, a support device mounting base 8 is provided on the mounting platform 1 at the lower end of the counterweight mounting tray 9, and a counterweight support tray 6 is provided above the support device mounting base 8. Multiple tray hydraulic lifting cylinders 7 are provided between the support device mounting base 8 and the counterweight support tray 6. The counterweight support tray 6 has a test state and an installation state. When the counterweight support tray 6 is in the test state, the counterweight support tray 6 is separated from the counterweight mounting tray 9 and does not affect the swing of the counterweight mounting tray 9. When the counterweight support tray 6 is in the installation state, the counterweight support tray 6 is driven to rise and collide with the counterweight mounting tray 9 so that it supports the counterweight mounting tray 9, which is convenient for disassembly and installation.

[0041] When the experiment is completed and a new test bearing 101 needs to be replaced for testing, or when the performance indicators of a previously tested bearing need to be measured and the test bearing 101 needs to be disassembled, the hydraulic lifting cylinder 7 of the control tray is raised until the upper surface of the counterweight support tray 6 directly contacts the lower outer surface of the counterweight mounting tray 9, generating a certain supporting force. This ensures that the bolts fixing the upper connecting end of the test bearing on the mounting shell 102 and the lower connecting end of the test bearing on the counterweight mounting tray 9 are not subjected to a vertically downward force, facilitating the loosening and disassembly of the bolts, and the mounting shell 102 is then disassembled. Subsequently, the hydraulic lifting cylinder 7 of the control tray is moved downward, and the right support frame 10 is moved to complete the disassembly of the test bearing 101.

[0042] Of course, the present invention is not limited to the embodiments described above. Several other embodiments based on the design concept of the present invention are also provided below.

[0043] For example, in other embodiments, unlike the embodiments described above, a magnetic attraction device is provided in the limiting groove. The magnetic attraction device is used to attract and fix the weights 11, and the magnetic attraction device is preferably a magnet. At the same time, a spacer is provided between two adjacent counterweights 11 to limit the relative position between the two counterweights 11 and prevent them from colliding with each other.

[0044] For example, in other embodiments, unlike the embodiments described above, the torque transmission rod 12 is a torque transmission bolt, which has a screw part and a head. The swing angle adjustment rod 13 is provided with a plurality of threaded adjustment holes 21 along its length direction that are threaded to the screw part. The screw part is threaded to the threaded adjustment holes 21 and locked by a positioning nut. The vertical groove 22 is slidably engaged with the head, and the cross section of the vertical groove 22 is T-shaped.

[0045] There are three threaded adjustment holes 21. The uppermost threaded adjustment hole 21 has the smallest swing angle travel, the middle threaded adjustment hole 21 has the second largest swing angle travel, and the lowermost threaded adjustment hole 21 has the largest swing angle travel. The swing angle of the counterweight mounting tray 9 is controlled by changing the cooperation between the torque transmission rod 12 and the three threaded adjustment holes 21 at different positions on the swing angle adjustment rod 13.

[0046] For example, in other embodiments, unlike the embodiments described above, the mounting housing is also provided with multiple measuring probe mounting seats, which can hold magnetic vibration measuring probes, magnetic acceleration measuring probes, or temperature measuring probes. Different experimental data related to the test bearing are received by magnetically mounting different measuring probes on the measuring probe mounting seats.

[0047] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A robotic cross roller bearing testing machine, characterized in that, The assembly includes a bearing clamping mechanism, an installation platform (1), a rotating mechanism mounted on the installation platform (1), and a main shaft (18) horizontally mounted on the rotating mechanism. The rotating mechanism is used to drive the main shaft (18) to rotate. The installation platform (1) is provided with a bracket, and the bracket is provided with a support shaft mechanism. The inner ring of the test bearing (101) is mounted on the support shaft mechanism. The outer side of the test bearing (101) is provided with a bearing clamping mechanism for clamping the outer ring of the test bearing (101). The bearing clamping mechanism is provided with a load loading device. The load loading device applies a radial load to the test bearing (101) through the bearing clamping mechanism. The main shaft (18) is linked to the bearing clamping mechanism through a swing assembly. The rotating mechanism drives the main shaft (18) to rotate and drives the bearing clamping mechanism to reciprocate and swing through the swing assembly, so as to drive the test bearing (101) to reciprocate and swing.

2. The robotic crossed roller bearing testing machine according to claim 1, characterized in that, The rotating mechanism includes a variable frequency motor (2), a coupling A (3), a reducer (4) and a coupling B (5). The output shaft of the variable frequency motor (2) is connected to the input end of the reducer (4) through the coupling A (3), and the output end of the reducer (4) is connected to the main shaft (18) through the coupling B (5).

3. The robotic crossed roller bearing testing machine according to claim 2, characterized in that, The variable frequency motor (2) is mounted on the mounting platform (1) via the motor mounting base (201), and the reducer (4) is mounted on the mounting platform (1) via the reducer motor mounting base (401).

4. The robotic crossed roller bearing testing machine according to claim 1, characterized in that, The installation platform (1) is provided with a test bearing mounting base (23), and the test bearing mounting base (23) is provided with a test bearing mounting seat A (19) and a test bearing mounting seat B (20). Test bearing A (28) and test bearing B (31) which are sleeved on the main shaft (18) are respectively installed in the test bearing mounting seat A (19) and the test bearing mounting seat B (20).

5. The robotic cross roller bearing testing machine according to claim 1, characterized in that, The support includes a left support frame (15) and a right support frame (10) arranged opposite to each other. The swing assembly and the support shaft mechanism are arranged between the left support frame (15) and the right support frame (10). The support shaft mechanism includes a bearing mounting connection shaft A (16) and a bearing mounting connection shaft B (17) arranged opposite to each other. Bearing mounting shaft A (16) and bearing mounting connection shaft B (17) are respectively provided on opposite sides. Bearing mounting shaft A and bearing mounting shaft B are inserted and fitted together. There are two test bearings (101) and they are respectively installed on bearing mounting shaft A and bearing mounting shaft B. Bearing mounting shaft A and bearing mounting shaft B are also fitted with mounting bushings (24). The mounting bushings (24) are located between the inner rings of the two test bearings (101).

6. A robotic cross roller bearing testing machine according to claim 5, characterized in that, The bearing mounting connecting shaft B (17) is provided with a protrusion, and the bearing mounting shaft section A is provided with a groove that cooperates with the protrusion.

7. A robotic cross roller bearing testing machine according to claim 5, characterized in that, The bearing clamping mechanism includes a mounting housing (102) and a counterweight mounting tray (9). The test bearing (101) is located between the mounting housing (102) and the counterweight mounting tray (9). The mounting housing (102) and the counterweight mounting tray (9) are connected and fixed by mounting bolts to clamp the outer ring of the test bearing (101). The counterweight mounting tray (9) has a receiving chamber with an opening at the top. Multiple counterweights (11) are provided in the receiving chamber. A limiting groove that cooperates with the counterweights (11) is provided at the bottom of the receiving chamber.

8. A robotic cross roller bearing testing machine according to claim 7, characterized in that, The main shaft (18) has a connecting shaft section and a threaded shaft section at its end. The left support frame (15) has a positioning through hole for the connecting shaft section and the threaded shaft section to pass through. The outer diameter of the connecting shaft section and the threaded shaft section is smaller than the outer diameter of the main shaft (18). The swing assembly includes a swing angle adjustment rod (13) and a torque transmission rod (12) set on the swing angle adjustment rod (13). The swing angle adjustment rod (13) is sleeved on the connecting shaft section. The threaded shaft section is threaded with a locking nut (14) for locking the swing angle adjustment rod (13). The torque transmission rod (12) is slidably engaged with the counterweight mounting tray (9). The counterweight mounting tray (9) has a vertical groove (22) along the vertical direction that is slidably engaged with the torque transmission rod (12).

9. A robotic cross roller bearing testing machine according to claim 7, characterized in that, The torque transmission rod (12) is a torque transmission bolt. The torque transmission bolt has a screw part and a head. The swing angle adjustment rod (13) has multiple threaded adjustment holes (21) that are threaded with the screw part along its length direction. The screw part is threaded with the threaded adjustment holes (21) and locked by a positioning nut. The vertical groove (22) is slidably engaged with the head, and the cross section of the vertical groove (22) is T-shaped.

10. A robotic cross roller bearing testing machine according to claim 9, characterized in that, The installation platform (1) is provided with a support device mounting chassis (8) at the lower end of the counterweight mounting tray (9). A counterweight device support tray (6) is provided above the support device mounting chassis (8). Multiple tray hydraulic lifting cylinders (7) are provided between the support device mounting chassis (8) and the counterweight device support tray (6). The counterweight device support tray (6) has a test state and an installation state. When the counterweight device support tray (6) is in the test state, the counterweight device support tray (6) is separated from the counterweight mounting tray (9). When the counterweight device support tray (6) is in the installation state, the tray hydraulic lifting cylinders (7) drive the counterweight device support tray (6) to rise and collide with the counterweight mounting tray (9).

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