Bearing service life detection structure for harmonic reducer of manipulator

Abstract

The utility model discloses a mechanical arm harmonic reducer bearing service life detection structure comprising a machine bench which is provided with a test board used for fixing a harmonic reducer and a driving motor in transmission connection with an input end of the harmonic reducer. A driving gear is arranged at the input end of the harmonic reducer and is in transmission connection with a driving motor, the output end of the harmonic reducer is connected with a rotating arm assembly, a counterweight assembly is arranged on the rotating arm assembly, and the rotating arm assembly comprises a connecting arm connected with the harmonic reducer. The balance weight assembly comprises a connecting arm and an adjusting arm arranged on the connecting arm in a sliding mode, the balance weight assembly is fixed to the adjusting arm, a plurality of positioning grooves are formed in the connecting arm in the length direction, and the positioning grooves are connected with the adjusting arm in a clamped mode so as to limit the adjusting arm to be kept at the current position.

Description

TECHNICAL FIELD

[0001] The utility model relates to bearing detection technical field, concretely relates to a mechanical hand harmonic reducer bearing life detection structure. BACKGROUND

[0002] The characteristics of harmonic reducer include transmission ratio, high bearing capacity, high transmission precision, high transmission efficiency, stable movement, simple structure, small volume, light weight, can transfer movement to closed space, is often used in the joint part of mechanical hand, and the bearing on the harmonic reducer is a key component, which will affect the service life and transmission precision of the harmonic reducer.

[0003] In the existing harmonic reducer production process, the bearing of the harmonic reducer generally needs to be tested for life, but the existing life detection equipment cannot adjust the swing arm and the counterweight, so the use effect in different application scenarios cannot be tested. UTILITY MODEL CONTENT

[0004] To solve the technical problems in the background art, the utility model provides a mechanical hand harmonic reducer bearing life detection structure.

[0005] The technical scheme adopted by the utility model to solve the technical problems is as follows:

[0006] A mechanical hand harmonic reducer bearing life detection structure, comprising a machine table, a test plate for fixing a harmonic reducer is arranged on the machine table, and a drive motor is drivingly connected with an input end of the harmonic reducer;

[0007] The input end of the harmonic reducer is provided with a drive gear, the drive gear is drivingly connected with the drive motor, and the output end of the harmonic reducer is connected with a swing arm assembly, the swing arm assembly is provided with a counterweight assembly, the swing arm assembly comprises a connecting arm connected with the harmonic reducer and an adjusting arm slidingly arranged on the connecting arm, the counterweight assembly is fixed on the adjusting arm, a plurality of positioning grooves are arranged on the connecting arm along the length direction, and the positioning grooves are clamped with the adjusting arm to limit the adjusting arm to remain at the current position.

[0008] Preferably, a clamping groove is formed in the adjusting arm, a positioning steel ball is arranged in the clamping groove, the positioning steel ball always has a movement trend towards the positioning groove, and the positioning steel ball is placed in the positioning groove to limit the adjusting arm to remain at the current position.

[0009] Preferably, an elastic element is provided in the snap-fitting groove, one end of the elastic element abuts the positioning steel ball, and the other end abuts the snap-fitting groove, so that the positioning steel ball always has a tendency to move toward the positioning groove. Through the above improvements, the elastic element will exert pressure on the positioning steel ball, so that the positioning steel ball extends out of the snap-fitting groove and is placed in the positioning groove. The positioning groove and the positioning steel ball cooperate to fix the adjustment arm in the current position, greatly improving the adjustment speed.

[0010] Preferably, positioning grooves are provided on both sides of the connecting arm, and the snap-fitting grooves are arranged opposite to the positioning grooves. Through the above improvements, the positioning grooves on both sides of the connecting arm are cooperated with the snap-fitting grooves, and the positioning grooves on both sides are simultaneously cooperated and fixed with the positioning steel balls, thereby further improving the reliability of the connection and positioning between the connecting arm and the adjusting arm.

[0011] Preferably, the counterweight assembly includes a basic counterweight block connected to the adjusting arm, and several adjusting counterweight blocks of different weights, and the basic counterweight block is snap-connected with the adjusting counterweight block. Through the above improvements, the basic counterweight block and the adjusting counterweight blocks of different weights can be proportioned to form different counterweights, thereby simulating different counterweights to be compatible with different testing requirements.

[0012] Preferably, the connecting arm is provided with an indicating scale for indicating the extension distance of the adjusting arm. Through the above improvement, the extension distance of the adjusting arm can be adjusted according to the indicating scale, thereby ensuring the accuracy of the arm length adjustment.

[0013] Preferably, a connecting groove is formed on the basic counterweight block, and the adjusting arm is placed in the connecting groove. An adjusting groove is formed on the basic counterweight block, and the basic counterweight block is connected to the adjusting arm through the adjusting groove. Through the above improvements, the adjusting arm is placed in the connecting groove, which improves the reliability of the connection between the basic counterweight block and the adjusting arm, and the adjusting groove can be used to cooperate with the adjusting arm to fine-tune the position of the basic counterweight block, thereby ensuring the accuracy and convenience of the arm length adjustment.

[0014] Preferably, a fixing screw is provided on the adjusting arm, and the fixing screw abuts against the connecting arm to fix the adjusting arm on the connecting arm. Through the above improvement, the fixing screw abuts against the connecting arm, which further improves the reliability of the connection and fixation between the adjusting arm and the connecting arm.

[0015] Preferably, the adjusting counterweight is provided with a clamping protrusion, the base counterweight is provided with a rotating groove for accommodating the clamping protrusion, the end of the rotating groove is provided with a clamping port for accommodating the clamping protrusion, and the adjusting counterweight is provided with a jacking fixing block abutting the bottom of the clamping protrusion and forcing the clamping protrusion to be accommodated in the clamping port. Through the above improvement, the clamping protrusion is accommodated in the rotating groove and rotated, and the adjusting counterweight is quickly fixed on the base counterweight when the clamping protrusion is jacked into the clamping port under the action of the jacking fixing block, thereby improving the convenience of counterweight adjustment.

[0016] Preferably, the adjusting counterweight is provided with a jacking spring supported at the bottom of the jacking fixing block, so that the jacking fixing block always has an upward movement tendency. Through the above improvement, the jacking spring acts on the jacking fixing block, so that the jacking fixing block can limit the clamping protrusion in the clamping port, thereby improving the convenience of counterweight adjustment.

[0017] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0018] The driving motor drives the driving gear to rotate and drives the output end of the harmonic reducer to rotate, the counterweight assembly is arranged on the rotating arm assembly to simulate counterweight, and the rotating arm assembly is used for simulating the swing of the mechanical arm, so that the service life of the bearing on the harmonic reducer is tested, the connecting arm connected with the harmonic reducer and the adjusting arm slidingly arranged on the connecting arm are arranged on the rotating arm assembly, the counterweight assembly is fixed on the adjusting arm, a plurality of positioning grooves are arranged on the connecting arm along the length direction, the positioning grooves are clamped with the adjusting arm, and the adjusting arm is limited to keep at the current position, the positioning grooves at different positions are clamped with the adjusting arm, the length of the arm is quickly adjusted, the harmonic reducer is simulated to cooperate with the mechanical arm with different lengths, and the service life of the bearing under different working conditions is detected. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the front of the overall structure of the utility model;

[0020] Figure 2 It is a structural schematic view of the back of the overall structure of the utility model;

[0021] Figure 3 It is a structural schematic view of the rotating arm assembly and the counterweight assembly of the utility model;

[0022] Figure 4 It is a structural schematic view of the connecting arm of the utility model;

[0023] Figure 5 It is a structural schematic view of the adjusting arm of the utility model;

[0024] Figure 6 An exploded view of the counterweight assembly of the utility model;

[0025] Figure 7 A structural schematic view of the adjusting counterweight block of the utility model;

[0026] In the figure: 1, machine table; 2, test plate; 3, harmonic reducer; 4, driving motor; 5, driving gear; 6, rotating arm assembly; 7, counterweight assembly; 1.1, connecting arm; 1.2, adjusting arm; 1.3, positioning groove; 1.4, clamping groove; 1.5, positioning steel ball; 1.6, elastic element; 2.1, basic counterweight block; 2.2, adjusting counterweight block; 2.3, connecting groove; 2.4, adjusting groove; 2.5, fixing screw; 3.1, clamping convex part; 3.2, rotating groove; 3.3, clamping port; 3.4, jacking fixing block; 3.5, jacking spring; DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0028] It should be understood that although the terms upper, middle, lower, top end, one end and the like appear in the present document to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish the elements from each other for the purpose of understanding, and are not used to define any directional or sequential limitation.

[0029] As Figures 1-7 shown in the figure, a mechanical hand harmonic reducer 3 bearing life detection structure, including machine table 1, machine table 1 is provided with test plate 2 for fixing harmonic reducer 3, and driving motor 4 connected with harmonic reducer 3 input end transmission.

[0030] Specifically, the input end of the harmonic reducer 3 is provided with a driving gear 5, the driving gear 5 is in transmission connection with the driving motor 4, and the output end of the harmonic reducer 3 is connected with a rotating arm assembly 6, the rotating arm assembly 6 is provided with a counterweight assembly 7, the rotating arm assembly 6 includes a connecting arm 1.1 connected with the harmonic reducer 3, and an adjusting arm 1.2 slidingly arranged on the connecting arm 1.1, the counterweight assembly 7 is fixed on the adjusting arm 1.2, a plurality of positioning grooves 1.3 are arranged on the connecting arm 1.1 along the length direction, and the positioning grooves 1.3 are clamped with the adjusting arm 1.2 to limit the adjusting arm 1.2 to keep at the current position.

[0031] During the bearing life test process, the driving motor 4 drives the driving gear 5 to rotate, and drives the output end of the harmonic reducer 3 to rotate the rotating arm assembly 6, the counterweight assembly 7 is arranged on the rotating arm assembly 6 to simulate the counterweight, to simulate the swing of the mechanical arm, so as to test the life of the bearing on the harmonic reducer 3, and the rotating arm assembly 6 includes a connecting arm 1.1 connected with the harmonic reducer 3, and an adjusting arm 1.2 slidingly arranged on the connecting arm 1.1, the counterweight assembly 7 is fixed on the adjusting arm 1.2, a plurality of positioning grooves 1.3 are arranged on the connecting arm 1.1 along the length direction, and the positioning grooves 1.3 are clamped with the adjusting arm 1.2, so as to limit the adjusting arm 1.2 to remain at the current position, the positioning grooves 1.3 at different positions are clamped with the adjusting arm 1.2, so that the length of the arm can be quickly adjusted, so that the harmonic reducer 3 can be simulated to cooperate with the mechanical arm with different arm lengths, and the service life of the bearing under different working conditions can be detected, in addition, the counterweight can be adjusted through the counterweight assembly 7, so that more working conditions can be tested.

[0032] Preferably, the driving motor 4 is a servo motor, which improves the accuracy of the rotating arm control.

[0033] As a further explanation of the adjusting assembly embodiment, the adjusting arm 1.2 is provided with a clamping groove 1.4, and a positioning steel ball 1.5 is arranged in the clamping groove 1.4, the positioning steel ball 1.5 always has a movement trend towards the positioning groove 1.3, and the positioning steel ball 1.5 is arranged in the positioning groove 1.3 to limit the adjusting arm 1.2 to remain at the current position.

[0034] During the test, if the arm length needs to be adjusted, the adjusting arm 1.2 can be pulled to slide on the connecting arm 1.1, and when the positioning steel ball 1.5 is arranged in the positioning groove 1.3, the adjusting arm 1.2 can be fixed at the current position, so that the length of the entire rotating arm assembly 6 can be quickly adjusted.

[0035] Specifically, the clamping groove 1.4 is provided with an elastic element 1.6, one end of the elastic element 1.6 abuts against the positioning steel ball 1.5, and the other end abuts against the clamping groove 1.4, the elastic element 1.6 applies pressure to the positioning steel ball 1.5, so that the positioning steel ball 1.5 extends out of the clamping groove 1.4 and is arranged in the positioning groove 1.3, the positioning groove 1.3 cooperates with the positioning steel ball 1.5 to fix the adjusting arm 1.2 at the current position, and the adjusting speed is greatly improved.

[0036] Preferably, the connecting arm 1.1 is provided with the positioning groove 1.3 on both sides, and the clamping groove 1.4 is arranged opposite to the positioning groove 1.3, the clamping groove 1.4 cooperates with the positioning groove 1.3 on both sides of the connecting arm 1.1, and the positioning grooves 1.3 on both sides cooperate with the positioning steel ball 1.5 to be fixed, so that the reliability of the connection and positioning of the connecting arm 1.1 and the adjusting arm 1.2 is further improved.

[0037] As preferred, the connecting arm 1.1 is provided with an indication scale for indicating the extension distance of the adjusting arm 1.2, and the extension distance of the adjusting arm 1.2 can be adjusted according to the indication scale, so as to ensure the accuracy of the arm length adjustment.

[0038] In some other embodiments, the adjusting arm 1.2 is provided with a fixing screw 2.5, which is in abutment with the connecting arm 1.1, so as to fix the adjusting arm 1.2 on the connecting arm 1.1. Through the above improvement, the fixing screw 2.5 is in abutment with the connecting arm 1.1, so as to further improve the reliability of the connection and fixation of the adjusting arm 1.2 and the connecting arm 1.1.

[0039] Further explanation of the embodiment of the counterweight assembly 7, the counterweight assembly 7 includes a basic counterweight 2.1 connected with the adjusting arm 1.2, and a plurality of adjusting counterweights 2.2 with different weights, and the basic counterweight 2.1 and the adjusting counterweight 2.2 are connected, and the basic counterweight 2.1 and the adjusting counterweight 2.2 with different weights can be matched to form different counterweights, so as to simulate different counterweights to meet different test requirements.

[0040] Specifically, the adjusting counterweight 2.2 is formed with a clamping protrusion 3.1, the basic counterweight 2.1 is formed with a rotating groove 3.2 for placing the clamping protrusion 3.1, the end of the rotating groove 3.2 is formed with a clamping hole 3.3 for placing the clamping protrusion 3.1, and the adjusting counterweight 2.2 is provided with a jacking fixing block 3.4, the jacking fixing block 3.4 abuts the bottom of the clamping protrusion 3.1 and forces the clamping protrusion 3.1 to be placed in the clamping hole 3.3.

[0041] During the cooperation of the adjusting counterweight 2.2 and the basic counterweight 2.1, the clamping protrusion 3.1 is placed in the rotating groove 3.2 and rotated, and when the clamping protrusion 3.1 is rotated to a certain position, it will be jacked into the clamping hole 3.3 under the action of the jacking fixing block 3.4, so as to quickly fix the adjusting counterweight 2.2 on the basic counterweight 2.1, and improve the convenience of counterweight adjustment.

[0042] Further, the adjusting counterweight 2.2 is provided with a jacking spring 3.5 supported at the bottom of the jacking fixing block 3.4, so as to act on the jacking fixing block 3.4 by the jacking spring 3.5, so that the jacking fixing block 3.4 can limit the clamping protrusion 3.1 in the clamping hole 3.3, so as to quickly fix the adjusting counterweight 2.2 on the basic counterweight 2.1, and improve the convenience of counterweight adjustment.

[0043] As preferred, the basic counterweight 2.1 is formed with a connecting groove 2.3, and the adjusting arm 1.2 is placed in the connecting groove 2.3, so as to place the adjusting arm 1.2 in the connecting groove 2.3, and improve the reliability of the connection between the basic counterweight 2.1 and the adjusting arm 1.2.

[0044] In addition, the base weight block 2.1 is formed with an adjusting groove 2.4, and the base weight block 2.1 is connected with the adjusting arm 1.2 through the adjusting groove 2.4, and the position of the base weight block 2.1 can be finely adjusted by cooperation of the adjusting groove 2.4 and the adjusting arm 1.2, so that the accuracy and convenience of the arm length adjustment are ensured.

[0045] As preferred, the jacking fixing block 3.4 is formed with a guide camber, and the smoothness when the clamping convex part 3.1 is placed into the clamping port 3.3 is improved.

[0046] The specific embodiment is only an explanation of the utility model, and is not a limitation of the utility model, and the person skilled in the art can make a modification without creative contribution according to the need after reading the specification, but as long as it is within the scope of the claims of the utility model, it is protected by the patent law.

Claims

1. A bearing life detection structure for a manipulator harmonic reducer, characterized in that: The machine comprises a platform (1), on which a test plate (2) for fixing a harmonic reducer (3) is provided, and a drive motor (4) connected to the input end of the harmonic reducer (3); A driving gear (5) is provided on the input end of the harmonic reducer (3), and the driving gear (5) is transmission-connected to the driving motor (4). The output end of the harmonic reducer (3) is connected to a rotating arm assembly (6), and a counterweight assembly (7) is provided on the rotating arm assembly (6). The rotating arm assembly (6) comprises a connecting arm (1.1) connected to the harmonic reducer (3), and an adjusting arm (1.2) slidably arranged on the connecting arm (1.1). The counterweight assembly (7) is fixed on the adjusting arm (1.2). A plurality of positioning grooves (1.3) are arranged on the connecting arm (1.1) along the length direction. The positioning grooves (1.3) are engaged with the adjusting arm (1.2) to limit the adjusting arm (1.2) to remain in a current position.

2. A manipulator harmonic reducer bearing life detection structure according to claim 1, characterized in that: The regulating arm (1.2) is provided with a clamping groove (1.4), a positioning steel ball (1.5) is arranged in the clamping groove (1.4), the positioning steel ball (1.5) always has a movement tendency toward the positioning groove (1.3), and the positioning steel ball (1.5) is placed in the positioning groove (1.3) to limit the regulating arm (1.2) to remain in the current position.

3. A manipulator harmonic reducer bearing life detection structure according to claim 2, characterized in that: An elastic element (1.6) is provided in the clamping groove (1.4), one end of the elastic element (1.6) abuts against the positioning steel ball (1.5), and the other end abuts against the clamping groove (1.4), so that the positioning steel ball (1.5) always has a movement tendency toward the positioning groove (1.3).

4. A manipulator harmonic reducer bearing life detection structure according to claim 2, characterized in that: Positioning grooves (1.3) are provided on both sides of the connecting arm (1.1), and the clamping groove (1.4) is arranged opposite to the positioning groove (1.3).

5. The bearing life detection structure of a manipulator harmonic reducer according to claim 1 is characterized in that: The counterweight assembly (7) comprises a basic counterweight block (2.1) connected to the adjustment arm (1.2) and a plurality of adjustment counterweight blocks (2.2) of different weights, and the basic counterweight block (2.1) and the adjustment counterweight block (2.2) are clamped together.

6. A manipulator harmonic reducer bearing life detection structure according to claim 1, characterized in that: The connecting arm (1.1) is provided with an indicating scale for indicating the extension distance of the regulating arm (1.2).

7. A manipulator harmonic reducer bearing life detection structure according to claim 5, characterized in that: A connecting groove (2.3) is formed on the basic counterweight block (2.1), the adjusting arm (1.2) is placed in the connecting groove (2.3), an adjusting groove (2.4) is formed on the basic counterweight block (2.1), and the basic counterweight block (2.1) is connected to the adjusting arm (1.2) via the adjusting groove (2.4).

8. The bearing life detection structure of a manipulator harmonic reducer according to claim 1 is characterized in that: A fixing screw (2.5) is provided on the adjusting arm (1.2), and the fixing screw (2.5) abuts against the connecting arm (1.1) so that the adjusting arm (1.2) is fixed on the connecting arm (1.1).

9. The bearing life detection structure of a manipulator harmonic reducer according to claim 5, characterized in that: The adjusting counterweight (2.2) is formed with a clamping protrusion (3.1), the basic counterweight (2.1) is formed with a rotation groove (3.2) for the clamping protrusion (3.1) to be placed, the end of the rotation groove (3.2) is formed with a clamping interface (3.3) for the clamping protrusion (3.1) to be placed, and the adjusting counterweight (2.2) is provided with a lifting and fixing block (3.4), the lifting and fixing block (3.4) abuts against the bottom of the clamping protrusion (3.1) and forces the clamping protrusion (3.1) to be placed in the clamping interface (3.3).

10. A manipulator harmonic reducer bearing life detection structure according to claim 9, characterized in that: A lifting spring (3.5) is provided on the adjusting counterweight block (2.2), and the lifting spring (3.5) is supported on the bottom of the lifting fixed block (3.4) so ​​that the lifting fixed block (3.4) always has an upward movement trend.

Images