Accelerated life testing system for industrial robot precision reducer under real service conditions

Abstract

Provided is an accelerated life testing system for an industrial robot precision reducer under real service conditions, including a support table 1, where the top of the support table is provided with

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of reducer fatigue testing, in particular to an accelerated life testing system for an industrial robot precision reducer under real service conditions. BACKGROUND

[0002] With the continuous development of informationization and industrialization, industrial robots are more and more widely used, and the requirements for the performance of joint reducers of industrial robots are getting higher and higher. As a core component of the robot, the service life of joint reducer is a key performance parameter. In order to ensure the reliability of precision reducers for robots, it is particularly important to test the fatigue life of robot reducers.

[0003] There are two main fatigue life testing methods available at present: one testing method is that the fatigue life is tested in a continuous loading manner, which can realize the life testing but cannot simulate the actual motion of the robot. The other testing method is that the fatigue life is directly tested by the robot, although the testing method is in line with the motion mode of the robot, it is difficult to run at full load due to the inconsistency of the maximum allowable loading values for each joint reducer, moreover, the testing method is long in testing period, low in testing efficiency and high in cost. SUMMARY

[0004] In view of above defects or shortcomings in the prior art, it is expected to provide an accelerated life testing system for an industrial robot precision reducer under real service conditions to solve the problems above.

[0005] It is provided an accelerated life testing system for an industrial robot precision reducer under real service conditions. The system includes:

[0006] a support table, in which the top of the support table is provided with a mounting surface, and a support plate is mounted on the mounting surface;

[0007] a mounting seat, mounted on the support plate for mounting a reducer;

[0008] a mounting plate, wherein the mounting plate is connected to the support plate;

[0009] a motor for driving the reducer to rotate around respective axis, wherein the motor is fixedly mounted on an end of the mounting plate remote from the mounting seat; 04 04 24

[0010] a fixing seat, mounted on the mounting surface, where a rotary disc is rotationally mounted on the fixing seat, a swing arm assembly is disposed on a side of the fixing seat remote from the mounting seat, the swing arm assembly comprises a swing arm and a limit disc, the swing arm comprising two swing arm rods symmetrically disposed either side of a bearing housing mounted at a position, close to a middle of the swing arm, a middle part of the swing arm is fixedly connected to the rotary disc, a limit groove is provided on the swing arm rod, the limit disc is connected to the limit groove in a sliding manner, a stud is mounted on the limit disc, and the counterweight is threaded to the stud, a counterweight is mounted on each swing arm rod in a sliding manner, and the position of the counterweight is adjustable in a length direction of the swing arm rod.

[0011] According to the technical solution provided by an embodiment of the present disclosure, an adjusting structure is provided between the swing arm and the limit disc, and the adjusting structure includes:

[0012] a bearing housing, mounted at a position, close to the middle of the swing arm, in the limit groove;

[0013] a lead screw, penetrating through the bearing housing, where one end of the lead screw is rotationally connected to an end of the limit groove;

[0014] a screw seat, threaded to the lead screw and fixedly connected to the limit disc.

[0015] According to the technical solution provided by an embodiment of the present disclosure, the system further includes a second motor. The second motor is arranged at the center position of the swing arm and fixedly connected to the swing arm. A driving bevel gear is mounted on an output shaft of the second motor, and a driven bevel gear engaged with the driving bevel gear is mounted at one end, close to the center of the swing arm, of the lead screw.

[0016] According to the technical solution provided by an embodiment of the present disclosure. The mounting plate is provided between the motor and the support plate and is connected to the support plate in a sliding manner, and a sliding direction is parallel to an axial direction of the reducer.

[0017] According to the technical solution provided by an embodiment of the present disclosure, a sliding assembly is provided between the support plate and the mounting plate. The sliding assembly includes a connecting plate, the connecting plate is fixedly connected to the mounting plate, and the bottom of the connecting plate is provided with a T-shaped strip. The support plate is provided with a T-shaped groove, and the T-shaped strip is connected to the T-shaped groove in a sliding manner. A screw rod is mounted in the T-shaped groove, the screw rod is threaded to the T-shaped strip, and one end of the screw rod penetrates through the support plate and is rotationally 04 04 24 connected to the support plate.

[0018] According to the technical solution provided by an embodiment of the present disclosure, the mounting seat is provided with an adaptive structure. The adaptive structure includes an annular groove, the annular groove is formed on one side of the mounting seat remote from the motor. Multiple T-shaped sliders are mounted in the annular groove in a sliding manner, an adjustment bar is connected to each T-shaped slider in a sliding manner, and a sliding direction is parallel to a radial direction of the axis of the reducer. Multiple screw holes are formed in the adjustment bar, one side of each T-shaped slider is provided with a locking block, and a locking bolt is threaded to the locking block.

[0019] According to the technical solution provided by an embodiment of the present disclosure, a ball is embedded and installed on one side, in contact with the swing arm, of the limit disc.

[0020] According to the technical solution provided by an embodiment of the present disclosure, the system further includes a torque sensor. The torque sensor is mounted on a coupling interconnecting the motor and the mounting seat and is configured to acquire a first torque value of an input shaft of the reducer.

[0021] According to the technical solution provided by an embodiment of the present disclosure, the system further includes:

[0022] a data acquisition module, configured to acquire a second torque value of an output shaft of the reducer;

[0023] a processing module, where an input end of the processing module is electrically connected to an output end of the torque sensor and an output end of the data acquisition module, and the processing module is configured to receive a first signal of the first torque value and a second signal of the second torque value and compare the first signal with the second signal;

[0024] a PLC control module, where an input end of the PLC control module is electrically connected to an output end of the processing module, and an output end of the PLC control module is electrically connected to the second motor, and the PLC control module is configured to receive a comparison result of the processing module and control the second motor.

[0025] Compared with the prior art, the present disclosure has the beneficial effects that the reducer is fixed through the mounting seat, the input end of the reducer is connected through the motor to drive the reducer to rotate around its own axis, the rotary disc is connected to the output end of the reducer, the swing arm assembly is mounted on the rotary disc, the counterweight is mounted on the swing arm rod of the swing arm assembly in a sliding manner to provide load for testing the reducer. The reducer rotates to drive the rotary disc to rotate, thereby driving the swing arm rod to rotate. The counterweight changes its position in a length direction of the swing arm 04 04 24 rod along with the rotation of the reducer, so as to change the moment of inertia of the swing arm assembly and make the load at the output end of the reducer adaptively changed according to the torque at the input end of the reducer. On the one hand, the actual motion mode of the robot can be simulated, and on the other hand, the reducer is convenient to run at full load. The accelerated life testing system for the industrial robot precision reducer under the real service condition provided by the present disclosure has the advantages of short test period, high test efficiency and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Further features, objects and advantages of the present disclosure will be more apparent with a review of a detailed description of the non-limiting embodiments set forth below with reference to the accompanying drawings.

[0027] FIG. 1 is a structure schematic diagram of an accelerated life testing system for an industrial robot precision reducer under real service conditions in accordance with the present disclosure;

[0028] FIG. 2 is a schematic diagram of a rear structure of an accelerated life testing system for an industrial robot precision reducer under real service conditions shown in FIG. 1;

[0029] FIG. 3 is a schematic diagram of a split structure of a support plate and a connecting plate in an accelerated life testing system for an industrial robot precision reducer under real service conditions shown in FIG. 1;

[0030] FIG. 4 is a structure schematic diagram of a swing arm assembly in an accelerated life testing system for an industrial robot precision reducer under real service conditions shown in FIG. 1;

[0031] FIG. 5 is a schematic diagram of a sectional structure of a limit disc in an accelerated life testing system for an industrial robot precision reducer under real service conditions shown in FIG. 1;

[0032] FIG. 6 is a schematic diagram of a split structure of a lead screw and a swing arm in an accelerated life testing system for an industrial robot precision reducer under real service conditions shown in FIG. 1.

[0033] FIG. 7 is a schematic diagram of a rear structure in FIG. 6;

[0034] FIG. 8 is a schematic diagram of an adaptive structure in an accelerated life testing system for an industrial robot precision reducer under real service conditions shown in FIG. 1.

[0035] In the drawings: 1-support table, 2-mounting surface, 3-support plate, 4-mounting seat, 5-motor, 6-fixing seat, 7-rotary disc, 8-swing arm assembly, 9-counterweight, 10-swing arm rod, 11- 04 04 24 limit disc, 12-stud, 13-limit groove, 14-bearing housing, 15-lead screw, 16-screw seat, 17-second motor, 18-driving bevel gear, 19-driven bevel gear, 20-mounting plate, 21-connecting plate, 22-T-shaped strip, 23-T-shaped groove, 24-screw rod, 25-ball, 26-torque sensor, 27-annular groove, 28-T-shaped slider, 29-adjustment bar, 30-screw hole, 31-locking block, 32-locking bolt. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The present disclosure is further described below with reference to the accompanying drawings and embodiments. It may be understood the specific embodiments described here are intended only to explain the present disclosure rather than limiting. It should also be noted that only parts related to the present disclosure are shown in the drawings for convenience of description.

[0037] It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0038] Please referring to FIG. 1, it is provided an accelerated life testing system for an industrial robot precision reducer under real service conditions. The system includes:

[0039] a support table 1, where the top of the support table 1 is provided with a mounting surface 2, and a support plate 3 is mounted on the mounting surface 2;

[0040] a mounting seat 4, mounted on the support plate 3 for mounting a reducer;

[0041] a motor 5, mounted on the support plate 3 and arranged at one end of the mounting seat 4 for driving the reducer to rotate around respective axis;

[0042] a fixing seat 6, mounted on the mounting surface 2, where a rotary disc 7 is rotationally mounted on the fixing seat 6, a swing arm assembly 8 is mounted at one end, far away from the reducer, of the rotary disc 7, the swing arm assembly 8 is provided with two swing arm rods symmetrically arranged with respect to the bearing housing 14, a counterweight 9 is mounted on each swing arm rod 10 in a sliding manner, and the position of the counterweight 9 is adjustable in a length direction of the swing arm rod 10.

[0043] Specifically, the motor, the reducer and the rotary disc are coaxially provided.

[0044] Specifically, the circumferential side of the support table 1 is provided with a reinforcing corner for improving the stability of the support table 1.

[0045] The working principle is as follows: the reducer is fixed through the mounting seat 4, an input end of the reducer is connected by the motor 5 to drive the reducer to rotate around its own axis. The rotary disc 7 is connected to an output end of the reducer, the swing arm assembly 8 is 04 04 24 mounted on the rotary disc 7, the counterweight 9 is mounted on the swing arm rod 10 of the swing arm assembly 8 in a sliding manner to provide load for testing the reducer. The reducer rotates to drive the rotary disc 7 to rotate, thereby driving the swing arm rod 10 to rotate. The counterweight 9 changes its position in a length direction of the swing arm rod 10 along with the rotation of the reducer, so as to change the moment of inertia of the swing arm assembly 8 and make the load at the output end of the reducer adaptively changed according to the torque at the input end of the reducer. On the one hand, the actual motion mode of the robot can be simulated, and on the other hand, the reducer is convenient to run at full load. The accelerated life testing system for the industrial robot precision reducer under the real service condition provided by the present disclosure has the advantages of short test period, high test efficiency and low cost.

[0046] Further, the swing arm assembly 8 includes a swing arm including two swing arm rod 10 and a limit disc 11. The middle part of the swing arm is of a circular structure, which is sleeved outside the rotary disc 7 and is fixedly connected to the rotary disc 7. The swing arm rod 10 is symmetrically disposed either side of a bearing housing 14. Each swing arm rod 10 is provided with a limit groove 13 in a length direction of the swing arm rod 10. The limit disc 11 extends into the limit groove 13 and is connected to the limit groove 13 in a sliding manner, and a sliding direction is provided in the length direction of the swing arm rod 10. A stud 12 is mounted on the limit disc 11, the counterweight 9 is sleeved outside the stud 12, is threaded to the stud 12, and is fixed by a nut.

[0047] When the reducer in the mounting seat 4 works and rotates, the rotary disc 7 drives the swing arm to rotate, and the swing arm and the counterweight 9 cooperatively provide a load, such that the position of the counterweight can be adjusted to change the moment of inertia, thereby changing the magnitude of the load and increasing the testing efficiency.

[0048] Further, an adjusting structure for adjusting the position of the limit disc 11 is provided between the swing arm and the limit disc 11. The adjusting structure includes a bearing housing 14, a lead screw 15 and a screw seat 16. The bearing housing 14 is mounted at the position, close to the middle of the swing arm, in the limit groove 13. The lead screw 15 is arranged in the limit groove 13, one end of the lead screw 15 penetrates through the bearing housing 14 and is fixed by the bearing housing, and the other end of the lead screw 15 is rotatably connected to one end, close to an end of the swing arm rod 10, of the limit groove 13. The screw seat 16 is sleeved outside the lead screw 15 and is threaded to the lead screw 15. One side, close to the limit disc 11, of the screw seat is fixedly connected to the limit disc 11.

[0049] When the lead screw 15 rotates, an external thread of the lead screw 15 drives the screw seat 16 to move inside the limit groove 13, then the limit disc 11 is driven to move in the length 04 04 24 direction of the swing arm rod 10, and the position of the counterweight 9 can be adjusted, thus adjusting the moment of inertia at the output end of the reducer. The adjustability of the torque at the output end of the reducer is achieved, thereby being suitable for different robot reducers.

[0050] Further, the system further includes a second motor 17. The second motor 17 is arranged at the center position of the swing arm and is fixedly connected to the swing arm by a flange. A driving bevel gear 18 is mounted on an output shaft of the second motor 17, and a driven bevel gear 19 engaged with the driving bevel gear 18 is mounted at one end, close to the center of the swing arm, of the lead screw 15.

[0051] Specifically, in a certain embodiment, the second motor 17 is a servo motor, which is configured to adjust the swing arm to rotate forward or reverse according to test requirements, or adjust the rotational speed of the swing arm according to requirements.

[0052] Specifically, one end, far away from the output shaft, of the second motor 17 is connected to an external device through a conductive slip ring. By arranging the conductive slip ring, the external device can be used to supply power and monitor the second motor 17, and at the same time, when the swing arm rotates, the second motor 17 can be prevented from being driven to rotate to cause the connecting wire entanglement between the second motor 17 and the external device.

[0053] During working, the output shaft of the second motor 17 rotates to drive the driving bevel gear 18 to rotate, the driving bevel gear 18 drives the driven bevel gear 19 to rotate, and the driven bevel gear 19 drives the lead screw 15 to rotate, and thus the lead screw 15 can drive the limit disc 11 to move through the screw seat 16. The purpose of dynamically adjusting the moment of inertia is achieved by changing the distance from the counterweight 9 to the center of the swing arm, thus achieving the purpose of dynamically matching the torque at the input end.

[0054] Further, the system further includes a mounting plate 20 and a torque sensor 26. The mounting plate 20 is provided between the motor 5 and the support plate 3 and is connected to the support plate 3 in a sliding manner, and a sliding direction is parallel to an axial direction of the reducer. The motor 5 and the torque sensor 26 are fixedly mounted on the mounting plate 20, the torque sensor 26 is provided between the motor 5 and the reducer, an input end of the torque sensor 26 is connected to an output end of the motor 5 by a coupling, an output end of the torque sensor 26 is in transmission connection with an input end of the reducer, and the torque sensor 26 is configured to acquire a first torque value Ti of an input shaft of the reducer.

[0055] By adjusting the position of the mounting plate 20, the positions of the motor 5 and the torque sensor 26 can be adjusted to facilitate the butt joint of the torque sensor 26 and the reducer.

[0056] Further, a sliding assembly is provided between the support plate 3 and the mounting plate 04 04 24 20. The sliding assembly includes a connecting plate 21, the top surface of the connecting plate 21 is fixedly connected to the bottom surface of the mounting plate 20, the bottom of the connecting plate 21 is provided with a T-shaped strip 22. The top surface of the support plate 3 is provided with a T-shaped groove 23, the T-shaped strip 22 is connected to the T-shaped groove 23 in a sliding manner, and a sliding direction is parallel to an axial direction of the reducer. A screw rod 24 is mounted in the T-shaped groove 23, the screw rod 24 is threaded to the T-shaped strip 22, and one end of the screw rod 24 penetrates through a side edge of the support plate 3 to be rotationally connected to the support plate 3.

[0057] By rotating the screw rod 24, the screw rod 24 drives the T-shaped strip 22 to slide inside the T-shaped groove 23 through the thread between the screw rod 24 and the T-shaped strip 22, and drives the motor 5 and the torque sensor 26 to move during the sliding, such that the output end of the torque sensor 26 can be butted with the input shaft of the reducer.

[0058] Further, the mounting seat 4 is connected to the supporting plate 3 in a sliding manner, and the position of the mounting seat 4 is adjustable in a direction parallel to the axial direction of the reducer.

[0059] Specifically, a sliding structure of the mounting seat 4 is similar to that of the sliding assembly, a slider is provided at the bottom of the mounting seat 4, the support plate 3 is provided with a sliding chute corresponding to the slider, the slider is connected to the sliding chute in a sliding manner, and a sliding direction is parallel to the axial direction of the reducer. A threaded rod is arranged in the sliding chute, the threaded rod is threaded to the slider, one end of the threaded rod penetrates through one side, away from the motor, of the support plate 3 and is threaded to the support plate 3.

[0060] Further, please referring to FIG. 8, the mounting seat 4 is provided with an adaptive structure. The adaptive structure includes an annular groove 27. The annular groove 27 is provided at one side, far away from the motor 5, of the mounting seat 4. Multiple T-shaped sliders 28 are mounted in the annular groove 27 in a sliding manner, as shown in the figure. In a certain embodiment, the number of the T-shaped slider 28 is five, an adjustment bar 29 is connected to each T-shaped slider 28 in a sliding manner, and a sliding direction is parallel to a radial direction of the axis of the reducer. Multiple screw holes 30 are formed in the adjustment bar 29, the T-shaped slider 28 is provided with a locking block 31 at one side located in the annular groove 27, and a locking bolt 32 is threaded to the locking block 31.

[0061] Specifically, when the reducer is placed on the mounting seat 4, mounting holes on the reducer correspond to the screw holes 30 on the adaptive structure and are fixed by mounting bolts to prevent the reducer from being unstable during test. Five T-shaped sliders 28 can slide in the 04 04 24 annular groove 27 to adjust the positions of the screw holes 30 around the axial direction of the axis of the reducer, meanwhile, the adjustment bar 29 can slide on each T-shaped slider 28 to adjust the positions of the screw holes 30 in the radial direction of the axis of the reducer, thus making the screw holes 30 adapt to reducers with different mounting hole positions. After adjustment, the locking block 31 is fixed by adjusting the locking bolt 32, and the mounting bolts penetrate through the screw holes 30 and then press against the T-shaped slider 31 to fix the reducer, thus preventing the reducer from moving during the test process from affecting the test results, and the universality of the whole test bench is improved.

[0062] Further, a ball 25 is embedded and installed on one side, in contact with the swing arm, of the limit disc 11.

[0063] Specifically, the ball 25 can reduce the friction between the limit disc 11 and the swing arm, such that the position of the limit disc 11 can be adjusted smoother and the phenomenon of jamming is avoided.

[0064] Further, the system also includes a data acquisition module, a processing module, and a PLC control module. The data acquisition module is configured to acquire a second torque value T2 of an output shaft of the reducer, an input end of the processing module is electrically connected to an output end of the torque sensor 26 and an output end of the data acquisition module, respectively, and is configured to receive a first torque value Ti and the second torque value T2 and to compare the first torque value with the second torque value. An input end of the PLC control module is electrically connected to an output end of the processing module, and an output end of the PLC control module is electrically connected to the second motor 17.

[0065] Specifically, it can be obtained from the theorem of moment of momentum: T : d(Jzw) 2 dt d{j ow + Imr^w^ 2 dt , dw 2 dw „ dr --vlmr---\-4mrw-- dt          dt          dt T dw _   2 dw  A dr J 0--1- 2mr---1- 4mrw--= dt          dt          dt

[0066] where Jz represents the total moment of inertia of the system for the central z axis of the rotary disc 7; Jo represents initial moment of inertia of the system, i.e., the sum of the moment of inertia of the counterweight 9 and the swing arm; m represents the weight of the counterweight 9; r represents a distance from the counterweight 9 to the central z axis of the rotary disc 7, and r cannot be 0; i represents a transmission ratio of the reducer; / / represents a ratio of an output power 04 04 24 to an input power of the reducer; w represents angular velocity of the swing arm and the counterweight 9; and a represents the angular acceleration.

[0067] The working process is as follows: a reducer to be tested is mounted on the inner side of the mounting seat 4, the positions of the mounting seat 4 and the mounting plate 20 are adjusted? such that the output shaft of the torque sensor 26 can be connected to the input shaft of the reducer, and the output shaft of the reducer can be connected to the rotary disc 7. The output shaft of the motor 5 rotates to drive the torque sensor 26 to work and rotate, thus driving the reducer to work and rotate, the rotary disc 7 is enabled to drive the swing to rotate, a load testing is carried out on the reducer through the counterweights 9 at both ends of the swing arm.

[0068] During the fatigue life testing of the reducer, the motor 5 is started, the output shaft of the motor 5 rotates, and at the same time, the torque sensor 26 can acquire a first torque value Ti of the output shaft of the motor 5 at each moment and send a first signal to the processing module.

[0069] The second motor 17 and the motor 5 are started at the same time. The data acquisition module acquires a second torque value T2 of the output shaft of the reducer and sends a second signal to the processing module. When the processing module determines that the second torque ,            2               dr J-a + 2mr -a + Qmrw-- Z value T2 cannot match the first torque value Ti, i.e., when ---------------------------    , the rj-i processing module sends a determination instruction to the PLC control module. After receiving the determination instruction, the PLC control module sends a control signal to the second motor 17 to control the second motor 17 to work. An output shaft of the second motor 17 drives the driving bevel gear 18 to rotate, and the driving bevel gear 18 drives two driven bevel gears 19 to rotate, thereby driving two lead screws 15 to rotate. The two lead screws 15 drive two limit discs 11 to move through two screw seats 16, thereby driving two groups of counterweights 9 to move. By moving the two groups of counterweights 9, the distance r from the counterweights 9 to the center z axis of the rotary disc 7 can be adjusted at any time, and the change of the distance r changes the moment of inertia, thus achieving the purpose of dynamically matching the first torque value Ti at the input end of the reducer.

[0070] By symmetrically arranging two groups of counterweights 9 at the front ends of the swing arm, the moment of the counterweight block to the central z axis of the rotary disc 7 can be instantaneously counteracted when the swing arm rod 10 moves. The formula is as follows: mgr cos ¢) + mgr cos(?r - rp) - 0

[0071] where 9? is an instantaneous included angle between the moment mgr and the z axis of the rotary disc 7. The fatigue life test of the robot reducer can be carried out by simulating the actual motion mode of the robot, and the test structure is more practical.

[0072] The above description is only the preferred embodiment of the present disclosure and the explanation of the applied technical principles. Those skilled in the art should understand that the scope of the present disclosure referred to in the present disclosure is not limited to technical solutions formed by specific combinations of the above technical features, but also should cover other technical solutions formed by arbitrary combinations of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions constituted by means of the mutual replacement between the above features and the technical feature having similar functions as disclosed in (not limited to) the present disclosure. 04 04 24

Claims

04 04 241. An accelerated life testing system for an industrial robot precision reducer under real service conditions, comprising:a support table (1), wherein the top of the support table (1) is provided with a mounting surface (2), and a support plate (3) is mounted on the mounting surface (2);a mounting seat (4), mounted on the support plate (3) for mounting a reducer;a mounting plate (20), wherein the mounting plate (20) is connected to the support plate (3);a motor (5), for driving the reducer to rotate around respective axis, wherein the motor is fixedly mounted on an end of the mounting plate (20) remote from the mounting seat (4)a fixing seat (6), mounted on the mounting surface (2), wherein a rotary disc (7) is rotationally mounted on the fixing seat (6), a swing arm assembly (8) is disposed on a side of the fixing seat (6) remote from the mounting seat (4), wherein the swing arm assembly (8) comprises a swing arm and a limit disc (11), the swing arm comprising two swing arm rods (10) symmetrically disposed either side of a bearing housing (14) mounted at a position, close to a middle of the swing arm, a middle part of the swing arm is fixedly connected to the rotary disc (7), a limit groove (13) is provided on the swing arm rod (10), the limit disc (11) is connected to the limit groove (13) in a sliding manner, a stud (12) is mounted on the limit disc (11), and the counterweight (9) is threaded to the stud (12), a counterweight (9) is mounted on each swing arm rod (10) in a sliding manner, and the position of the counterweight (9) is adjustable in a length direction of the swing arm rod (10).

2. The accelerated life testing system for an industrial robot precision reducer under real service conditions according to claim 1, wherein an adjusting structure is provided between the swing arm and the limit disc (11), and the adjusting structure comprises:the bearing housing (14), mounted at a position, close to the middle of the swing arm, in the limit groove (13);a lead screw (15), penetrating through the bearing housing (14), wherein one end of the lead screw is rotationally connected to an end of the limit groove (13);a screw seat (16), threaded to the lead screw (15) and fixedly connected to the limit disc (11).04 04 243. The accelerated life testing system for an industrial robot precision reducer under real service conditions according to claim 2, further comprising a second motor (17), wherein the second motor (17) is arranged at the center position of the swing and fixedly connected to the swing arm, a driving bevel gear (18) is mounted on an output shaft of the second motor (17), and a driven bevel gear (19) engaged with the driving bevel gear (18) is mounted at one end, close to the center of the swing arm, of the lead screw (15).

4. The accelerated life testing system for an industrial robot precision reducer under real service conditions according to claim 1, wherein the mounting plate (20) is arranged between the motor (5) and the support plate (3) and is connected to the support plate (3) in a sliding manner, a sliding direction is parallel to an axial direction of the reducer.

5. The accelerated life testing system for an industrial robot precision reducer under real service conditions according to claim 4, wherein a sliding assembly is provided between the support plate (3) and the mounting plate (20), the sliding assembly comprises a connecting plate (21), the connecting plate (21) is fixedly connected to the mounting plate (20), the bottom of the connecting plate (21) is provided with a T-shaped strip (22), the support plate (3) is provided with a T-shaped groove (23), the T-shaped strip (22) is connected to the T-shaped groove (23) in a sliding manner, a screw rod (24) is mounted in the T-shaped groove (23), the screw rod (24) is threaded to the T-shaped strip (22), and one end of the screw rod (24) penetrates through the support plate (3) and is rotationally connected to the support plate (3).

6. The accelerated life testing system for an industrial robot precision reducer under real service conditions according to claim 1, wherein the mounting seat (4) is provided with an adaptive structure, the adaptive structure comprises an annular groove (27), the annular groove (27) is formed on one side,of the mounting seat (4) remote from the motor (5), a plurality of T-shaped sliders (28) are mounted in the annular groove (27) in a sliding manner, an adjustment bar (29) is connected to each T-shaped slider (28) in a sliding manner, and a sliding direction is parallel to a radial direction of the axis of the reducer; a plurality of screw holes (30) are formed in the adjustment bar (29), one side of each T-shaped slider (28) is provided with a locking block (31), and a locking bolt (32) is threaded to the locking block (31).

7. The accelerated life testing system for an industrial robot precision reducer under real service conditions according to claim 1, wherein a ball (25) is embedded and installed on oneside, in contact with the swing arm, of the limiting disc (11).04 04 248. The accelerated life testing system for an industrial robot precision reducer under real service conditions according to claim 4, further comprising a torque sensor (26), wherein the torque sensor (26) is mounted on a coupling interconnecting the motor (5) and the mounting seat (4) and is configured to acquire a first torque value of an input shaft of the reducer.

9. The accelerated life testing system for an industrial robot precision reducer under real service conditions according to claim 8, further comprising:a data acquisition module, configured to acquire a second torque value of an output shaft of the reducer;a processing module, wherein an input end of the processing module is electrically connected to an output end of the torque sensor (26) and an output end of the data acquisition module, and the processing module is configured to receive a first signal of the first torque value and a second signal of the second torque value and compare the first signal with the second signal;a PLC control module, wherein an input end of the PLC control module is electrically connected to an output end of the processing module, an output end of the PLC control module is electrically connected to the second motor (17), and the PLC control module is configured to receive a comparison result of the processing module and to control the second motor (17).

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