Planetary reducer variable-load twin-dragging durability life testing device
By designing a planetary reducer variable load drag durability life test device, and adopting a dual reducer coaxial reverse connection and intelligent cooling monitoring, the comprehensive verification problem of the existing test bench was solved, realizing efficient and reliable detection and data monitoring, adapting to multiple gear detection, and meeting the interface requirements of intelligent manufacturing systems.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2026-03-17
AI Technical Summary
Existing test benches cannot simultaneously meet the comprehensive verification requirements of forward and reverse rotation durability, stall testing, and multi-stage loading. Traditional mechanical loading systems cannot achieve precise control of dynamic variable radial loads, lack integrated data monitoring systems, have insufficient equipment scalability, and are difficult to connect to intelligent manufacturing systems and cloud platforms.
A planetary reducer variable load drag durability life test device was designed. It adopts a mechanical layout with two reducers coaxially and in reverse connection to achieve independent or synchronous application of axial torque and radial force. The maximum combined load reaches 150%. It is equipped with an intelligent cooling monitoring mechanism and a five-speed adjustable servo loading control system with emergency stop protection function. It is used in conjunction with the monitoring mechanism.
It achieves efficient durability and life testing of planetary gear reducers, has a comprehensive testing structure and reliability, can quickly protect the device under abnormal operating conditions, provides accurate testing environment and data monitoring, supports multiple gear detection, and meets the interface requirements of intelligent manufacturing systems and cloud platforms.
Smart Images
Figure CN224004672U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of planetary gearbox technology, specifically to a planetary gearbox variable load drag durability life testing device. Background Technology
[0002] Planetary gear reducers are a widely used industrial product that reduces motor speed while increasing output torque. They are used as components in industries such as lifting, excavation, transportation, and construction. The internal gears of planetary gear reducers are made of 20CrMnTi carburized and quenched gears, and are characterized by their small size, light weight, high load-bearing capacity, long service life, smooth operation, low noise, high output torque, large speed ratio, high efficiency, and safe performance. They also feature power splitting and multi-tooth meshing capabilities.
[0003] Existing test benches cannot simultaneously meet the comprehensive verification requirements of forward and reverse rotation durability, stall testing, and multi-stage loading. Traditional mechanical loading systems cannot achieve precise control of dynamic variable radial loads, lack an integrated data monitoring system (synchronous acquisition of four parameters: torque, speed, temperature, and vibration), have insufficient equipment scalability, and are difficult to connect to intelligent manufacturing systems (MES) and cloud platforms. Utility Model Content
[0004] The purpose of this invention is to provide a device for testing the durability and lifespan of planetary gear reducers under varying loads, in order to solve the problems mentioned in the background art.
[0005] To achieve the above objectives, this utility model provides the following technical solution: a planetary reducer variable load drag durability life testing device, including a workbench, a variable load drag durability life testing mechanism is provided on the surface of the workbench, an intelligent cooling monitoring mechanism is provided on the surface of the workbench, and a monitoring mechanism is provided on the surface of the variable load drag durability life testing mechanism.
[0006] The variable load-paired towing durability life testing mechanism includes a first linear guide rail, which is installed at both ends of the top of the worktable. A first slider is slidably connected to the top of the first linear guide rail. A drive-side machining seat and a loading-side machining seat are installed on the top of the first slider. A second linear guide rail is installed at both ends of the middle section of the top of the worktable. A second slider is slidably connected to the top of the second linear guide rail. A drive-side motor slide and a loading-side motor slide are installed on the top of the second slider. A drive servo motor is installed on the left end of the drive-side motor slide, and a drive-end coupling is installed on the right end of the drive servo motor. A first reducer is installed on the right side of the drive-side machining seat. A loading-side servo motor is installed on the right side of the loading-side motor slide. A drive-end coupling protective shell is installed on the outer end of the drive-end coupling. A loading-end coupling is installed on the left end of the loading-side servo motor. A loading-side machining seat is installed on the inner right end of the loading-side machining seat. A torque and speed sensor is installed on the side. A second reducer is installed on the left side of the loading-side machining seat. Reducer mounting flanges are installed on the right side of the drive-side machining seat and the left side of the loading-side machining seat. A loading-end protective shell is installed on the outer end of the loading-end coupling and the torque and speed sensor. Variable load drag durability life test is performed by connecting the opposing first and second reducers. Axial torque and radial force can be applied independently or synchronously. The maximum combined load reaches 150% of the planetary reducer's rated value. A third-order S-shaped acceleration and deceleration curve is used to achieve smooth, impact-free speed change from 0-3000 rpm. The mechanical layout of coaxial reverse connection of the two reducers can achieve efficient durability life testing. At the same time, the device has a five-speed adjustable servo loading control system, which can adapt to various different gears for testing, ensuring a more comprehensive and reliable testing structure. When used with a monitoring mechanism, it can perform emergency stop protection within 100ms under abnormal working conditions, thereby protecting the safety of the device.
[0007] Preferably, the drive-side machining base and the drive-side motor slide are located on the top left side of the worktable, and the loading-side machining base and the loading-side motor slide are located on the top right side of the worktable.
[0008] Preferably, the drive servo motor and the first reducer are connected together via a drive-end coupling, and the load-side servo motor, torque and speed sensor, and second reducer are connected together via a load-end coupling. Both the first reducer and the second reducer are mounted on the inner ends of the drive-side machining base and the load-side machining base via reducer mounting flanges.
[0009] Preferably, the intelligent cooling monitoring mechanism includes a drive-end motor cooling fan, which is installed at the bottom of the inner end of the drive-side motor slide. A loading-side motor cooling fan is installed at the bottom of the inner end of the loading-side motor slide. A fixed frame is installed at the center of the rear end of the top of the workbench, and a reducer cooling fan is installed inside the fixed frame. Mounting seats are installed at both ends of the center of the front end of the top of the workbench, and infrared temperature probes are installed on the top of the mounting seats. During use, the device dissipates heat from the drive-end motor cooling fan, the loading-side motor cooling fan, and the reducer cooling fan to cool the drive servo motor, the loading-side servo motor, the first reducer, and the second reducer, preventing the device from overheating and causing damage. At the same time, the infrared temperature probes monitor the temperature of the first reducer and the second reducer in real time, further preventing the device from overheating and causing damage. This mechanism provides a good testing environment for the device.
[0010] Preferably, the monitoring mechanism includes a drive-side servo cylinder, which is installed on the top right side of the drive-side machining base. A drive-end pressure sensor is installed in the middle right section of the drive-side machining base. A loading-end servo cylinder is installed on the top left side of the loading-side machining base. A loading-end pressure sensor is installed in the middle left section of the loading-side machining base. Radial loading V-shaped pressure plates are installed at the bottom of both the drive-side servo cylinder and the loading-end servo cylinder.
[0011] Preferably, the workbench is fixedly connected to four feet at its bottom corners, and auxiliary moving wheels are installed on the surface of the feet. A suspension is fixedly connected to the top right front end of the workbench, a support is installed on the front of the suspension, a display screen is installed on the surface of the support, and an emergency stop control button is installed on the top left front end of the workbench.
[0012] Compared with the prior art, this utility model provides a planetary gear reducer variable load drag durability life testing device, which has the following beneficial effects:
[0013] 1. This planetary reducer variable load drag durability life testing device is equipped with a variable load drag durability life testing mechanism. Variable load drag durability life testing is performed through the connection of opposing first and second reducers. Axial torque and radial force can be applied independently or synchronously, with a maximum combined load reaching 150% of the planetary reducer's rated value. It adopts a three-order S-shaped acceleration / deceleration curve design to achieve smooth, impact-free speed change from 0-3000 rpm. The mechanical layout of coaxial reverse connection of the two reducers achieves efficient durability life testing. Simultaneously, the device features a five-speed adjustable servo loading control system, adaptable to various testing speeds, ensuring a more comprehensive and reliable testing structure. When used in conjunction with a monitoring mechanism, it can execute emergency stop protection within 100ms under abnormal operating conditions, thereby protecting the device's safety.
[0014] 2. The planetary reducer variable load towing durability life testing device is equipped with an intelligent cooling monitoring mechanism. During use, the device uses cooling fans on the drive end motor, the loading end motor, and the reducer to dissipate heat from the drive servo motor, the loading side servo motor, the first reducer, and the second reducer, preventing the device from overheating and causing damage. At the same time, infrared temperature probes monitor the temperature of the first reducer and the second reducer in real time, further preventing the device from overheating and causing damage. This mechanism provides a good testing environment for the device. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0017] Figure 2 This is a schematic diagram of the structural variable load towing durability life test mechanism of this utility model;
[0018] Figure 3 This is a schematic diagram of the torque and speed sensor structure of this utility model;
[0019] Figure 4 This is a schematic diagram of the structural monitoring mechanism of this utility model;
[0020] Figure 5 This is a schematic diagram of the intelligent cooling monitoring mechanism of this utility model.
[0021] In the diagram: 1. Workbench; 2. Base; 21. Auxiliary moving wheel; 3. Suspension; 4. Support platform; 5. Display screen; 6. Variable load towing durability life test mechanism; 61. First linear guide rail; 62. First slider; 63. Drive-side machining seat; 631. Loading-side machining seat; 64. Second linear guide rail; 65. Second slider; 66. Drive-side motor slide; 661. Loading-side motor slide; 67. Drive servo motor; 68. Drive-end coupling; 69. First reducer; 601. Drive-end coupling protective housing; 602. Loading-side servo motor; 603. Loading... 604. End coupling; 605. Torque and speed sensor; 606. Second reducer; 607. Reducer mounting flange; 608. Loading end protective housing; 7. Intelligent cooling monitoring mechanism; 71. Drive end motor cooling fan; 72. Loading end motor cooling fan; 73. Fixing bracket; 74. Reducer cooling fan; 75. Mounting base; 76. Infrared temperature probe; 8. Monitoring mechanism; 81. Drive side servo cylinder; 82. Drive end pressure sensor; 83. Loading end servo cylinder; 84. Loading end pressure sensor; 85. Radial loading V-shaped pressure plate; 9. Emergency stop control button. Detailed Implementation
[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0023] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0024] This utility model provides the following technical solution:
[0025] Example 1
[0026] Please see Figure 1-5 The planetary gear reducer variable load drag durability life test device includes a workbench 1, a variable load drag durability life test mechanism 6 is provided on the surface of the workbench 1, an intelligent cooling monitoring mechanism 7 is provided on the surface of the workbench 1, and a monitoring mechanism 8 is provided on the surface of the variable load drag durability life test mechanism 6.
[0027] The variable load-to-tow durability life testing mechanism 6 includes a first linear guide rail 61, which is installed at both ends of the top of the worktable 1. A first slider 62 is slidably connected to the top of the first linear guide rail 61. A drive-side machining seat 63 is installed on the top of the first slider 62, and a loading-side machining seat 631 is installed on the top of the first slider 62. A second linear guide rail 64 is installed at both ends of the middle section of the top of the worktable 1. A second slider 65 is slidably connected to the top of the second linear guide rail 64. A drive-side motor slide 66 is installed on the top of the second slider 65, and a loading-side motor slide 66 is installed on the top of the second slider 65. A drive-side motor slide 661 has a drive servo motor 67 mounted on its left end and a drive-end coupling 68 mounted on its right end. A first reducer 69 is mounted on the right side of the drive-side machining base 63. A loading-side servo motor 602 is mounted on the right side of the loading-side motor slide 661. A drive-end coupling protective housing 601 is mounted on the outer end of the drive-end coupling 68. A loading-end coupling 603 is mounted on the left end of the loading-side servo motor 602. A torque and speed sensor 604 is mounted on the right side of the inner end of the loading-side machining base 631. The loading-side machining base 631 has a left end... A second reducer 605 is mounted on the side. Reducer mounting flanges 606 are mounted on the right side of the drive-side machining base 63 and the left side of the loading-side machining base 631. Loading-end coupling 603 and torque-speed sensor 604 are fitted with loading-end protective housings 607. A variable load drag durability test is conducted by connecting the opposing first reducer 69 and second reducer 605. Axial torque and radial force can be applied independently or synchronously. The maximum combined load reaches 150% of the planetary reducer's rated value. A third-order S-shaped acceleration / deceleration curve is used to achieve impact-free operation from 0-3000rpm. The device features smooth speed change and a mechanical layout with coaxial reverse connection of dual reducers, enabling efficient durability life testing. It also boasts a five-speed adjustable servo loading control system, adaptable to various testing speeds, ensuring a more comprehensive and reliable testing structure. When used in conjunction with monitoring mechanism 8, it can perform emergency stop protection within 100ms under abnormal operating conditions, thus protecting the device's safety. The first linear guide 61 and second linear guide 64 in this device are model HGH15CA, and the torque and speed sensor 604 used in this device is model HBM T40B.
[0028] The drive-side machining base 63 and the drive-side motor slide 66 are located on the top left side of the worktable 1, and the loading-side machining base 631 and the loading-side motor slide 661 are located on the top right side of the worktable 1.
[0029] The drive servo motor 67 and the first reducer 69 are connected together through the drive end coupling 68. The loading side servo motor 602, the torque and speed sensor 604, and the second reducer 605 are connected together through the loading end coupling 603. The first reducer 69 and the second reducer 605 are both installed on the inner ends of the drive side machining base 63 and the loading side machining base 631 through the reducer mounting flange 606.
[0030] Example 2
[0031] Please see Figure 1-5 Furthermore, based on Embodiment 1, the intelligent cooling monitoring mechanism 7 further includes a drive-end motor cooling fan 71, which is installed at the bottom of the inner end of the drive-side motor slide 66. A loading-end motor cooling fan 72 is installed at the bottom of the inner end of the loading-side motor slide 661. A fixed frame 73 is installed at the center of the rear end of the top of the workbench 1. A reducer cooling fan 74 is installed inside the fixed frame 73. Mounting seats 75 are installed at both ends of the center of the front end of the top of the workbench 1. An infrared temperature probe 76 is installed on the top of the mounting seat 75. During use, the device uses the drive-end motor cooling fan 71, the loading-end motor cooling fan 72, and the reducer cooling fan 74 to dissipate heat from the drive servo motor 67, the loading-side servo motor 602, the first reducer 69, and the second reducer 605 to prevent the device from overheating and causing damage. At the same time, the infrared temperature probe 76 monitors the temperature of the first reducer 69 and the second reducer 605 in real time to further prevent the device from overheating and causing damage. This mechanism provides a good detection environment for the device.
[0032] The monitoring mechanism 8 includes a drive-side servo cylinder 81, which is mounted on the top right side of the drive-side machining base 63. A drive-end pressure sensor 82 is mounted on the middle right side of the drive-side machining base 63. A loading-end servo cylinder 83 is mounted on the top left side of the loading-side machining base 631. A loading-end pressure sensor 84 is mounted on the middle left side of the loading-end machining base 631. Radial loading V-shaped pressure plates 85 are mounted at the bottom of both the drive-side servo cylinder 81 and the loading-end servo cylinder 83. The drive-end pressure sensor 82 and the loading-end pressure sensor 84 used in this device are of the Kistler 6125B type.
[0033] The bottom of the workbench 1 is fixedly connected to four feet 2, and auxiliary moving wheels 21 are installed on the surface of the feet 2. The top right front end of the workbench 1 is fixedly connected to a suspension 3, and a support 4 is installed on the front of the suspension 3. A display screen 5 is installed on the surface of the support 4. An emergency stop control button 9 is installed on the top left front end of the workbench 1.
[0034] In actual operation, when this device is used, the drive servo motor 67, drive-end coupling 68, first reducer 69, loading-side servo motor 602, loading-end coupling 603, torque and speed sensor 604, and second reducer 605 are sequentially installed on the device surface. The two sets of reducers are moved to the detection position via the first linear guide rail 61, first slider 62, second linear guide rail 64, and second slider 65. A variable load drag durability life test is performed by connecting the opposing first reducer 69 and second reducer 605. Axial torque and radial force can be measured. The device can be applied independently or synchronously, with a maximum combined load reaching 150% of the planetary reducer's rated value. It adopts a third-order S-shaped acceleration and deceleration curve to achieve smooth, shock-free speed change from 0 to 3000 rpm. The mechanical layout of coaxial reverse connection of dual reducers can achieve efficient durability life testing. At the same time, the device has a five-speed adjustable servo loading control system, which can adapt to various different speeds of testing, ensuring a more comprehensive and reliable testing structure. When used with monitoring mechanism 8, it can perform emergency stop protection within 100ms under abnormal working conditions, thereby protecting the safety of the device.
[0035] The drive servo motor 67 (M1) operates in speed mode and achieves a speed accuracy of 0.1 rpm through a vector control algorithm; the loading-side servo motor 602 (M2) operates in torque mode. A precision dynamic torque and speed sensor 604 is installed between the drive servo motor 67 (M1) and the loading-side servo motor 602 (M2). The mechanical transmission backlash is eliminated through a sensor feedback compensation algorithm, which can accurately apply a continuous load of 0.1%-100% of the rated torque.
[0036] During use, the device uses the cooling fan 71 of the drive end motor, the cooling fan 72 of the loading end motor, and the cooling fan 74 of the reducer to cool the drive servo motor 67, the loading side servo motor 602, the first reducer 69, and the second reducer 605 to prevent the device from overheating and being damaged. At the same time, the infrared temperature probe 76 monitors the temperature of the first reducer 69 and the second reducer 605 in real time to further prevent the device from overheating and being damaged. This mechanism provides a good testing environment for the device.
[0037] During the testing process, the axial loading system adopts a PID+PWM composite control strategy. The pressure sensor 82 at the drive end and the pressure sensor 84 at the loading end provide real-time feedback data. Combined with the 0.005mm positioning accuracy of the servo cylinder 81 at the drive side and the servo cylinder 83 at the loading end, a radial force control accuracy of ±1% is achieved. With a dynamic response time of ≤50ms, meeting the requirements for impact load simulation, the software platform has a built-in ISO 6336 standard test program library, supports custom speed-torque loading curves (up to 100 operating points can be set), has an automatic frequency sweep test function (0.1-100Hz), can import and export test parameters, and can simulate alternating load spectra under real operating conditions. The device can automatically generate test reports, recording 32 key parameters including efficiency curves, temperature rise data, vibration spectrum, etc., to produce a complete and comprehensive report. The system has achieved full automation of the testing process, and the single test cycle can be shortened to 30% of traditional methods. With the database management system, it supports the rapid recall of test schemes and comparison and analysis of historical data, providing a reliable test platform for the research and development and quality control of transmission components. This device is suitable for type testing, life verification (can perform >10^7 cycle tests), transmission efficiency analysis (accuracy up to ±0.2%), and fault diagnosis research of planetary reducers. By changing the adaptable tooling, it can be extended to the comprehensive performance testing of precision transmission components such as harmonic reducers and RV reducers, meeting the requirements of national standards such as GB / T 30819-2014.
[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
Claims
1. A device for testing durability life of planetary reducer variable load against drag, comprising a workbench (1), characterized in that: The workbench (1) surface is provided with a variable load pair drag durability life test mechanism (6), the workbench (1) surface is provided with intelligent cooling monitoring mechanism (7), the variable load pair drag durability life test mechanism (6) surface is provided with monitoring mechanism (8); The variable load pair drag durability life test mechanism (6) includes a first linear guide rail (61), the first linear guide rail (61) is installed on the top of the workbench (1) front and rear ends, the first linear guide rail (61) top sliding connection has a first sliding block (62), the first sliding block (62) top is installed with drive side machining seat (63), the first sliding block (62) top is installed with loading side machining seat (631), the workbench (1) top middle segment front and rear ends are installed with second linear guide rail (64), the second linear guide rail (64) top sliding connection has a second sliding block (65), the second sliding block (65) top is installed with drive side motor sliding table (66), the second sliding block (65) top is installed with loading side motor sliding table (661), the drive side motor sliding table (66) left end is installed with drive servo motor (67), the drive servo motor (67) right end is installed with drive end coupling (68), the drive side machining seat (63) right side is installed with first speed reducer (69), the loading side motor sliding table (661) right side is installed with loading side servo motor (602), the drive end coupling (68) outer end is installed with drive end coupling protection shell (601), the loading side servo motor (602) left end is installed with loading end coupling (603), the loading side machining seat (631) inner end right side is installed with torque speed sensor (604), the loading side machining seat (631) left side is installed with second speed reducer (605), the drive side machining seat (63) right side and loading side machining seat (631) left side are installed with speed reducer installation flange (606), the loading end coupling (603) and torque speed sensor (604) outer end are installed with loading end protection shell (607).
2. The planetary reducer variable load drag torque durability life test device of claim 1, wherein: The drive side machining seat (63) and the drive side motor sliding table (66) are arranged on the left side of the top of the workbench (1), and the loading side machining seat (631) and the loading side motor sliding table (661) are arranged on the right side of the top of the workbench (1).
3. The planetary reducer variable load drag torque durability life test device of claim 1, wherein: The drive servo motor (67) and the first speed reducer (69) are connected together through the drive end coupling (68), the loading side servo motor (602), the torque speed sensor (604) and the second speed reducer (605) are connected together through the loading end coupling (603), and the first speed reducer (69) and the second speed reducer (605) are both installed in the inner end of the drive side machining seat (63) and the loading side machining seat (631) through the speed reducer installation flange (606).
4. The planetary reducer variable load drag torque durability life test device of claim 1, wherein: The intelligent cooling monitoring mechanism (7) comprises a driving end motor cooling fan (71), the driving end motor cooling fan (71) is installed in the bottom of the inner end of the driving side motor sliding table (66), the loading side motor sliding table (661) is installed with loading end motor cooling fan (72) in the bottom of the inner end, the top rear end center of the workbench (1) is installed with a fixed frame (73), the fixed frame (73) is installed with a reducer cooling fan (74) inside, the top front end center of the workbench (1) is installed with a mounting seat (75) on both sides, the mounting seat (75) is installed with an infrared temperature measurement probe (76) on the top.
5. The planetary reducer variable load drag torque durability life test device of claim 1, wherein: The monitoring mechanism (8) comprises a driving side servo electric cylinder (81), the driving side servo electric cylinder (81) is installed on the right top of the driving side machining seat (63), the driving side machining seat (63) is installed with a driving end pressure sensor (82) on the right middle segment, the loading side machining seat (631) is installed with a loading end servo electric cylinder (83) on the left top, the loading side machining seat (631) is installed with a loading end pressure sensor (84) on the left middle segment, the bottom of the driving side servo electric cylinder (81) and the loading end servo electric cylinder (83) is installed with a radial loading V-shaped port pressing plate (85).
6. The planetary reducer variable load drag torque durability life test device of claim 1, wherein: The bottom corner of the workbench (1) is fixedly connected with a bottom foot (2), the surface of the bottom foot (2) is installed with an auxiliary moving wheel (21), the top right front end of the workbench (1) is fixedly connected with a suspension (3), the front of the suspension (3) is installed with a supporting table (4), the surface of the supporting table (4) is installed with a display screen (5), the top left front end of the workbench (1) is installed with an emergency stop control button (9).