CN-122016309-A - Robot cross roller bearing testing machine

CN122016309ACN 122016309 ACN122016309 ACN 122016309ACN-122016309-A

Abstract

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

Inventors

Zhao Shenao
YANG HONGFAN
WANG HAIYUAN
Zhu Dingkang
YU YONGJIAN
CAI HAICHAO
GE YOUMING
YE JUN
LIU DUO
BAI JIAYI
LI HAORAN
WU YUANZE
ZHENG ZIWEI
ZHANG XINKAI
XU HANWEN

Assignees

河南科技大学

Dates

Publication Date: 20260512
Application Date: 20260318

Claims (10)

1. A robot cross roller bearing testing machine is characterized by comprising a bearing clamping mechanism, a mounting platform (1), a rotating mechanism arranged on the mounting platform (1) and a main shaft (18) horizontally arranged on the rotating mechanism, wherein the rotating mechanism is used for driving the main shaft (18) to rotate, a support is arranged on the mounting platform (1), a supporting shaft mechanism is arranged on the support, an inner ring of a test bearing (101) is arranged on the supporting shaft mechanism, a bearing clamping mechanism for clamping an outer ring of the test bearing (101) is arranged on the outer side of the test bearing (101), a load loading device is arranged on the bearing clamping mechanism, the load loading device applies radial load to the test bearing (101) through the bearing clamping mechanism, the main shaft (18) is connected with the bearing clamping mechanism in a linkage manner through a swinging assembly, and the rotating mechanism drives the main shaft (18) to rotate and drives the bearing clamping mechanism to swing in a reciprocating manner through a swinging assembly, so that the test bearing (101) is driven to swing in a reciprocating manner.
2. The robot cross roller bearing testing machine according to claim 1, wherein the rotating mechanism comprises a variable frequency motor (2), a coupler A (3), a speed reducer (4) and a coupler B (5), an output shaft of the variable frequency motor (2) is connected with an input end of the speed reducer (4) through the coupler A (3), and an output end of the speed reducer (4) is connected with a main shaft (18) through the coupler B (5).
3. The robot cross roller bearing testing machine according to claim 2, wherein the variable frequency motor (2) is mounted on the mounting platform (1) through a motor mounting base (201), and the speed reducer (4) is mounted on the mounting platform (1) through a gear motor mounting base (401).
4. The robot cross roller bearing testing machine according to claim 1, wherein a test accompanying bearing mounting base (23) is arranged on the mounting platform (1), a test accompanying bearing mounting base A (19) and a test accompanying bearing mounting base B (20) are arranged on the test accompanying bearing mounting base (23), and a test accompanying bearing A (28) and a test accompanying bearing B (31) sleeved on the main shaft (18) are respectively arranged on the test accompanying bearing mounting base A (19) and the test accompanying bearing mounting base B (20).
5. The robot cross roller bearing testing machine according to claim 1, wherein the support comprises a left support frame (15) and a right support frame (10) which are oppositely arranged, the swinging assembly and the support shaft mechanism are arranged between the left support frame (15) and the right support frame (10), the support shaft mechanism comprises a bearing installation connecting shaft A (16) and a bearing installation connecting shaft B (17) which are oppositely arranged, one side, opposite to the bearing installation connecting shaft A (16) and the bearing installation connecting shaft B (17), of each of the two support frames is respectively provided with a bearing installation shaft section A and a bearing installation shaft section B, the bearing installation shaft section A and the bearing installation shaft section B are in plug-in fit, the two test bearings (101) are respectively arranged on the bearing installation shaft section A and the bearing installation shaft section B, the bearing installation shaft section A and the bearing installation shaft section B are further sleeved with a mounting shaft sleeve (24), and the mounting shaft sleeve (24) is positioned between inner rings of the two test bearings (101).
6. The robot cross roller bearing testing machine according to claim 5, wherein the bearing mounting connection shaft B (17) is provided with a protruding portion, and the bearing mounting shaft section a is provided with a groove matching with the protruding portion.
7. The robot cross roller bearing testing machine according to claim 5, wherein the bearing clamping mechanism comprises a mounting shell (102) and a balancing weight mounting tray (9), the test bearing (101) is located between the mounting shell (102) and the balancing weight mounting tray (9), the mounting shell (102) and the balancing weight mounting tray (9) are fixedly connected through mounting bolts so as to clamp an outer ring of the test bearing (101), the balancing weight mounting tray (9) is provided with a containing bin, an upper end opening of the containing bin is formed in the containing bin, a plurality of balancing weights (11) are arranged in the containing bin, and limiting sinking grooves matched with the balancing weights (11) are formed in the bottom of the containing bin.
8. The robot cross roller bearing testing machine according to claim 7, wherein the end of the main shaft (18) is provided with a connecting shaft section and a threaded shaft section, the left support frame (15) is provided with a positioning through hole for the connecting shaft section and the threaded shaft section to pass through, the outer diameters of the connecting shaft section and the threaded shaft section are smaller than the outer diameter of the main shaft (18), the swinging component comprises a swinging angle adjusting rod (13) and a torque transmission rod (12) arranged on the swinging angle adjusting rod (13), the swinging angle adjusting rod (13) is sleeved on the connecting shaft section, the threaded shaft section is in threaded connection with a locking nut (14) for locking the swinging angle adjusting rod (13), the torque transmission rod (12) is in sliding fit with the balancing weight mounting tray (9), and a vertical groove (22) in sliding fit with the torque transmission rod (12) is arranged on the balancing weight mounting tray (9) along the vertical direction.
9. The robot cross roller bearing testing machine according to claim 7, wherein the torque transmission rod (12) is a torque transmission bolt, the torque transmission bolt is provided with a screw rod part and a head part, the swing angle adjusting rod (13) is provided with a plurality of screw thread adjusting holes (21) which are in threaded fit with the screw rod part along the length direction, the screw rod part is in threaded fit with the screw thread adjusting holes (21) and is locked by a positioning nut, the vertical groove (22) is in sliding fit with the head part, and the section of the vertical groove (22) is in a T shape.
10. The robot cross roller bearing testing machine according to claim 9, wherein the lower end of the counterweight mounting tray (9) on the mounting platform (1) is provided with a supporting device mounting chassis (8), a counterweight device supporting tray (6) is arranged above the supporting device mounting chassis (8), a plurality of tray hydraulic lifting cylinders (7) are arranged between the supporting device mounting chassis (8) and the counterweight device supporting tray (6), the counterweight device supporting tray (6) has a test state and a mounting state, when the counterweight device supporting tray (6) is in the test state, the counterweight device supporting tray (6) is separated from the counterweight mounting tray (9), and when the counterweight device supporting tray (6) is in the mounting state, the tray hydraulic lifting cylinders (7) drive the counterweight device supporting tray (6) to lift and collide with the counterweight mounting tray (9).

Description

Robot cross roller bearing testing machine Technical Field The invention relates to the technical field of bearing testing, in particular to a robot cross roller bearing testing machine. Background In the current robotics field, especially high-degree-of-freedom precision robots, crossed roller bearings have evolved from a common mechanical component to a critical component that directly affects the overall performance of the robot. The crossed roller bearing is used as a core precise supporting component of the robot joint, and the rotation and bearing performance of the crossed roller bearing directly determine the motion quality of the whole robot joint. In real, complex robot operating scenarios, crossed roller bearings for the robot joints are subjected to dynamically varying multiple loads, including radial forces, axial forces, moments, and constant oscillatory wear. If the real performance of the device is calculated only by theory or simply tested statically, the real performance of the device after long-term service is difficult to accurately judge. The testing machine can reproduce and even accelerate the severe working conditions in a laboratory environment with high fidelity, and the friction and wear characteristics, the play change, the fatigue life and the final failure mode of the bearing under different speeds, loads, temperatures and lubrication conditions are systematically researched through a precisely controlled loading system, a motion simulation unit and an environment box. And various performance data such as service life, precision maintainability, running stability and the like of the crossed roller bearing under a large number of fit actual running working conditions are obtained, and a practical and reliable data support is provided for understanding the performance boundary and failure mechanism of the crossed roller bearing. The test of the actual performance and the data measurement of the service life of the crossed roller bearing can promote the development of new products with high performance, the optimal process selection and the optimal design scheme, the establishment of a product reliability model and the basis of service life prediction and the like, and has important significance on the motion stability, the positioning precision and the long-term reliability of the robot joint. Disclosure of Invention In view of the above, the invention aims to provide a robot cross roller bearing testing machine, so as to obtain running data of the cross roller bearing attached to actual working conditions, provide reliable data support for subsequent bearing optimization design, production process selection, cross roller bearing type selection for different functions and the like, and be favorable for designing or optimizing out an adapted cross roller bearing according to different working condition requirements, and meet the performance technical requirements of cross roller bearings for various robot joints. The invention aims to solve the technical problems, and adopts the technical scheme that the robot cross roller bearing testing machine comprises a bearing clamping mechanism, a mounting platform, a rotating mechanism arranged on the mounting platform and a main shaft horizontally arranged on the rotating mechanism, wherein the rotating mechanism is used for driving the main shaft to rotate, a support is arranged on the mounting platform, a supporting shaft mechanism is arranged on the support, an inner ring of a test bearing is arranged on the supporting shaft mechanism, a bearing clamping mechanism for clamping an outer ring of the test bearing is arranged on the outer side of the test bearing, a load loading device is arranged on the bearing clamping mechanism, the load loading device applies radial load to the test bearing through the bearing clamping mechanism, the main shaft is in linkage connection with the bearing clamping mechanism through a swinging component, and the rotating mechanism drives the main shaft to rotate and drives the bearing clamping mechanism to swing in a reciprocating rotation mode through the swinging component so as to drive the test bearing to swing in a reciprocating rotation mode. As the preferable scheme, rotary mechanism includes inverter motor, shaft coupling A, reduction gear and shaft coupling B, and inverter motor's output shaft passes through shaft coupling A and is connected with the input of reduction gear, and the output of reduction gear passes through shaft coupling B and is connected with the main shaft. As the preferable scheme, variable frequency motor passes through motor installation base and installs on the mounting platform, and the reduction gear passes through gear motor mount pad and installs on the mounting platform. As the preferable scheme, be equipped with on the mounting platform and accompany test bearing installation base, be equipped with on the test bearing installation base and accompany test bearing mount