A dynamic performance testing device for industrial robots

Abstract

The present invention belongs to the technical field of dynamic strength testing, and specifically refers to a dynamic performance testing device for an industrial robot, including a manipulator body, a sliding adjustment type offset sensing mechanism, a swinging universal preload mechanism, and an adaptive clamping and positioning mechanism. When the manipulator body moves rapidly, the present invention can enter a position sensing state: at this time, the position of the sliding base can be automatically locked and fixed, and the positioning clamping plate will automatically move away from the positioning collar, thereby avoiding affecting the movement of the positioning collar; and when the manipulator body is stationary or slowly adjusted, it will enter a follow-up adjustment state: at this time, the position of the sliding base is automatically unlocked, and the positioning clamping plate will automatically approach and clamp the positioning collar, so that the position of the sensing collar can always be adjusted following the adjustment of the positioning collar.

Description

Technical Field

[0001] The invention belongs to the technical field of dynamic strength testing, and in particular relates to a dynamic performance testing device for an industrial robot. Background Art

[0002] An industrial robot is an industrial equipment with high dynamic precision requirements, which is specifically reflected in positioning accuracy, repeatability, acceleration, etc.; among which acceleration is mainly related to motor torque, while accuracy is determined by the servo motor itself, as well as the controller, position sensor, structural stiffness and other factors. Even if the motor torque is sufficient, there may be problems such as slow response speed due to insufficient stiffness.

[0003] Therefore, for the dynamic performance test of industrial robots, the test of structural stiffness is an indispensable part. However, the current testing methods not only have cumbersome operating steps, but also the test results of structural stiffness cannot be well displayed due to the lack of suitable reference objects during the test process.

[0004] In actual operation, the test steps are also repetitive and cumbersome. Generally, when a load is installed, different accelerations are applied in the cantilever state at different horizontal distances, and the deformation amplitude of the end of the robot body under different working conditions is detected. Due to the large number of test positions and times, frequent adjustment of the reference object will not only affect the efficiency, but also inevitably cause the reference object's position coordinate error to accumulate too much. Summary of the invention

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present invention proposes a dynamic performance testing device for an industrial robot, which can enter a position sensing state when the manipulator body moves rapidly: at this time, the position of the sliding base can be automatically locked and fixed, and the positioning clamp will automatically move away from the positioning collar, thereby avoiding affecting the movement of the positioning collar; and when the manipulator body is stationary or adjusted slowly, it will enter a following adjustment state: at this time, the position of the sliding base is automatically unlocked, and the positioning clamp will automatically approach and clamp the positioning collar, so that the position of the sensing collar can always be adjusted following the adjustment of the positioning collar.

[0006] The technical solution adopted by the present invention is as follows: The present invention proposes a dynamic performance testing device for an industrial robot, comprising a manipulator body, a sliding adjustment type offset sensing mechanism, a swinging universal preload mechanism and an adaptive clamping and positioning mechanism, wherein the sliding adjustment type offset sensing mechanism is arranged on the manipulator body, the swinging universal preload mechanism is arranged on the sliding adjustment type offset sensing mechanism, and the adaptive clamping and positioning mechanism is arranged on the sliding adjustment type offset sensing mechanism.

[0007] Furthermore, the swing-type universal pre-tensioning mechanism comprises a swing sensing component and a locking component. The swing sensing component is arranged on the sliding support component, and the locking component is sleeved on the swing sensing component.

[0008] Preferably, the swing sensing assembly comprises a fixed column, a swing column and a top support ring, the fixed column is fixedly connected to the bottom of the sliding support assembly, a ball head is provided at the bottom of the fixed column, a ball socket matching the ball head is provided at the top of the swing column, the swing column is rotatably arranged on the ball head through the ball socket, a pendulum is provided at the bottom of the swing column, and the top support ring is fixedly connected to the swing column.

[0009] As a further preferred embodiment of the present invention, the locking assembly includes a friction push plate, a locking push plate and a locking spring. The friction push plate is snap-fitted and slidably arranged on the fixed column, the locking push plate is snap-fitted and slidably arranged on the fixed column, the locking spring is arranged between the friction push plate and the locking push plate, and the locking push plate is in sliding contact with the top support ring.

[0010] The swinging pendulum can sense the movement of the robot body, so when the robot body moves, the swing of the pendulum and the top support ring pushes the locking push plate up and compresses the locking spring, thereby achieving the technical effect of automatically increasing the thrust of the friction push plate and locking the position of the sliding base when the robot body moves.

[0011] Furthermore, the adaptive clamping and positioning mechanism comprises a clamping and positioning component and an automatic avoidance component, the adaptive clamping and positioning mechanism is symmetrically arranged on the sliding support component, the clamping and positioning component is arranged on the sliding support component, and the automatic avoidance component is symmetrically arranged on the clamping and positioning component.

[0012] Preferably, the clamping and positioning assembly comprises a clamping plate guide groove, a positioning clamping plate and a clamping spring, the clamping plate guide groove is fixedly connected to the sliding support assembly, the positioning clamping plate is slidably engaged in the clamping plate guide groove, and the clamping spring is arranged between the clamping plate guide groove and the positioning clamping plate.

[0013] As a further preferred embodiment of the present invention, the automatic avoidance assembly includes a steering member, a steering rod and a linkage rope, the steering member is fixed to the outer side of the clamp plate guide groove, the steering rod is fixed to the bottom of the sliding support assembly, one end of the linkage rope is arranged on the positioning clamp plate, and the other end of the linkage rope is arranged on the locking push plate, and the linkage rope is in sliding contact with the steering member and the steering rod.

[0014] Through the linkage of the linkage rope, when the pendulum swings, the positioning clamp can be automatically retreated and the clamping of the positioning collar can be released. After a period of time after the pendulum stops swinging, the clamping of the positioning clamp on the positioning collar will be automatically restored. At this time, the sliding base can move along with the movement of the load mounting platform.

[0015] Furthermore, the sliding adjustable offset sensing mechanism comprises a sliding support component and a relative offset component, and the relative offset component is arranged on the sliding support component.

[0016] Preferably, the sliding support assembly includes a cantilever reference bracket, a sliding guide frame and a sliding base, the cantilever reference bracket is fixedly connected to a rotating base, the sliding guide frame is fixedly connected to the end of the cantilever reference bracket, the sliding guide frame is provided with a sliding groove, and the sliding base is snap-fitted and slidably arranged in the sliding groove.

[0017] As a further preferred embodiment of the present invention, the relative offset assembly includes a positioning ring, an offset detection probe and a sensing ring, the positioning ring is fixedly connected to the bottom of the load mounting platform, the offset detection probe is fixedly connected to the bottom of the load mounting platform, the positioning ring and the offset detection probe are coaxially arranged, the sensing ring is fixedly connected to the sliding base, and the inner ring of the sensing ring is evenly distributed with sensing contacts.

[0018] By sensing the position of the positioning collar, the sliding base and the sensing collar can automatically follow the movement of the load mounting platform when the load mounting platform is adjusted. As a result, when the position of the load mounting platform changes, the positioning collar and the sensing collar are always in a coaxial relative position, thereby ensuring that the contact between the offset detection probe and the sensing collar can feedback the stiffness problem of the manipulator body.

[0019] As a further preferred embodiment of the present invention, the fixed column is fixedly connected to the bottom of the sliding base, the clamping plate guide groove is fixedly connected to the sliding base, and the steering rod is fixedly connected to the bottom of the sliding base.

[0020] Furthermore, the robot body includes a fixed base, a rotating base is provided on the fixed base, a large arm is rotatably provided on the rotating base, a small arm is rotatably provided on the large arm, and a load mounting platform is rotatably provided on the end of the small arm.

[0021] Preferably, the offset detection probe and the sensing contact are both made of metal, and there is friction resistance between the locking push plate and the fixed column.

[0022] The beneficial effects achieved by the present invention using the above structure are as follows:

[0023] (1) When the manipulator body moves rapidly, the present invention can enter a position sensing state, at which time the position of the sliding base can be automatically locked and fixed, and the positioning clamp will automatically move away from the positioning ring, thereby avoiding affecting the movement of the positioning ring; and when the manipulator body is stationary or adjusted slowly, it will enter a following adjustment state, at which time the position of the sliding base is automatically unlocked, and the positioning clamp will automatically approach and clamp the positioning ring, so that the position of the sensing ring can always be adjusted following the adjustment of the positioning ring.

[0024] (2) The swinging pendulum can sense the movement of the robot body, so that when the robot body moves, the swinging of the pendulum and the top support ring pushes the locking push plate up and compresses the locking spring, thereby achieving the technical effect of automatically increasing the thrust of the friction push plate and locking the position of the sliding base when the robot body moves.

[0025] (3) Through the linkage of the linkage rope, when the pendulum swings, the positioning clamp can be automatically retracted and the clamping of the positioning collar can be released. After a period of time after the pendulum stops swinging, the clamping of the positioning clamp on the positioning collar will be automatically restored. At this time, the sliding base can move along with the movement of the load mounting platform.

[0026] (4) By sensing the position of the positioning collar, the sliding base and the sensing collar can automatically follow the movement of the load mounting platform when the load mounting platform is adjusted. As a result, when the position of the load mounting platform changes, the positioning collar and the sensing collar are always in a coaxial relative position, thereby ensuring that the contact between the offset detection probe and the sensing collar can feedback the stiffness problem of the manipulator body. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional diagram of a dynamic performance testing device for an industrial robot proposed by the present invention;

[0028] Figure 2 This is a front view of a dynamic performance testing device for an industrial robot proposed by the present invention;

[0029] Figure 3 It is a left view of a dynamic performance testing device for an industrial robot proposed by the present invention;

[0030] Figure 4 A top view of a dynamic performance testing device for an industrial robot proposed by the present invention;

[0031] Figure 5 for Figure 2 A cross-sectional view along the cutting line AA;

[0032] Figure 6 for Figure 5A cross-sectional view along the cutting line BB;

[0033] Figure 7 An exploded schematic diagram of a dynamic performance testing device for an industrial robot proposed by the present invention;

[0034] Figure 8 for Figure 5 A partial enlarged view of point Ⅰ in the middle;

[0035] Fig. 9 for Figure 6 A partial enlarged view of the middle II;

[0036] Fig.10 for Figure 7 A partial enlarged view of point III in the middle.

[0037] Among them, 1. Manipulator body, 2. Sliding adjustment offset sensing mechanism, 3. Swinging universal preload mechanism, 4. Adaptive clamping and positioning mechanism, 5. Fixed base, 6. Rotating base, 7. Upper arm, 8. Lower arm, 9. Load mounting table, 10. Sliding support assembly, 11. Relative offset assembly, 12. Cantilever reference bracket, 13. Sliding guide frame, 14. Sliding base, 15. Positioning collar, 16. Offset detection probe, 17. Sensing collar, 18. Sliding Groove, 19, sensing contact, 20, swing sensing assembly, 21, locking assembly, 22, fixed column, 23, swing column, 24, top support ring, 25, friction push plate, 26, locking push plate, 27, locking spring, 28, ball head, 29, ball socket, 30, pendulum, 31, clamping and positioning assembly, 32, automatic avoidance assembly, 33, splint guide groove, 34, positioning splint, 35, clamping spring, 36, steering member, 37, steering rod, 38, linkage rope.

[0038] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be understood that terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “top”, “bottom”, “inside” and “outside” indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0041] like Figure 1 to Figure 10 As shown, the present invention proposes a dynamic performance testing device for an industrial robot, comprising a manipulator body 1, a sliding adjustable offset sensing mechanism 2, a swinging universal preload mechanism 3 and an adaptive clamping and positioning mechanism 4, wherein the sliding adjustable offset sensing mechanism 2 is arranged on the manipulator body 1, the swinging universal preload mechanism 3 is arranged on the sliding adjustable offset sensing mechanism 2, and the adaptive clamping and positioning mechanism 4 is arranged on the sliding adjustable offset sensing mechanism 2.

[0042] The robot body 1 includes a fixed base 5, a rotating base 6 is provided on the fixed base 5, a large arm 7 is rotatably provided on the rotating base 6, a small arm 8 is rotatably provided on the large arm 7, and a load mounting platform 9 is rotatably provided at the end of the small arm 8.

[0043] When the robot body 1 moves quickly, the present invention can enter a position sensing state, at which time the position of the sliding base 14 can be automatically locked and fixed, and the positioning clamp 34 will automatically move away from the positioning ring 15, thereby avoiding affecting the movement of the positioning ring 15; and when the robot body 1 is stationary or adjusted slowly, it will enter a following adjustment state, at which time the position of the sliding base 14 is automatically unlocked, and the positioning clamp 34 will automatically approach and clamp the positioning ring 15, so that the position of the sensing ring 17 can always be adjusted following the adjustment of the positioning ring 15.

[0044] The sliding adjustable offset sensing mechanism 2 comprises a sliding support assembly 10 and a relative offset assembly 11 . The relative offset assembly 11 is disposed on the sliding support assembly 10 .

[0045] The sliding support assembly 10 includes a cantilever reference bracket 12, a sliding guide frame 13 and a sliding base 14. The cantilever reference bracket 12 is fixedly connected to the rotating base 6, and the sliding guide frame 13 is fixedly connected to the end of the cantilever reference bracket 12. The sliding guide frame 13 is provided with a sliding groove 18, and the sliding base 14 is engaged and slidably arranged in the sliding groove 18.

[0046] The relative offset assembly 11 includes a positioning ring 15, an offset detection probe 16 and a sensing ring 17. The positioning ring 15 is fixedly connected to the bottom of the load mounting platform 9, the offset detection probe 16 is fixedly connected to the bottom of the load mounting platform 9, the positioning ring 15 and the offset detection probe 16 are coaxially arranged, the sensing ring 17 is fixedly connected to the sliding base 14, and the inner ring of the sensing ring 17 is evenly distributed with sensing contacts 19.

[0047] By sensing the position of the positioning collar 15, the sliding base 14 and the sensing collar 17 can automatically follow the movement of the load mounting platform 9 when the load mounting platform 9 is moved and adjusted. Therefore, when the position of the load mounting platform 9 changes, the positioning collar 15 and the sensing collar 17 are always in a coaxial relative position, thereby ensuring that the contact between the offset detection probe 16 and the sensing collar 17 can feedback the stiffness problem of the manipulator body 1.

[0048] The swing-type universal pre-tightening mechanism 3 comprises a swing sensing component 20 and a locking component 21 . The swing sensing component 20 is arranged on the sliding support component 10 , and the locking component 21 is sleeved on the swing sensing component 20 .

[0049] The swing sensing assembly 20 includes a fixed column 22, a swing column 23 and a top support ring 24. The fixed column 22 is fixedly connected to the bottom of the sliding support assembly 10. A ball head 28 is provided at the bottom of the fixed column 22. A ball socket 29 matching the ball head 28 is provided at the top of the swing column 23. The swing column 23 is rotatably arranged on the ball head 28 through the ball socket 29. A pendulum 30 is provided at the bottom of the swing column 23. The top support ring 24 is fixedly connected to the swing column 23.

[0050] The locking assembly 21 includes a friction push plate 25, a locking push plate 26 and a locking spring 27. The friction push plate 25 is slidably engaged on the fixed column 22, the locking push plate 26 is slidably engaged on the fixed column 22, the locking spring 27 is arranged between the friction push plate 25 and the locking push plate 26, and the locking push plate 26 is in sliding contact with the top support ring 24.

[0051] The swinging pendulum 30 can sense the movement of the manipulator body 1, so that when the manipulator body 1 moves, the swinging of the pendulum 30 and the top support ring 24 pushes the locking push plate 26 to rise and compresses the locking spring 27, thereby achieving the technical effect of automatically increasing the thrust of the friction push plate 25 and locking the position of the sliding base 14 when the manipulator body 1 moves.

[0052] The adaptive clamping and positioning mechanism 4 includes a clamping and positioning component 31 and an automatic avoidance component 32 . The adaptive clamping and positioning mechanism 4 is symmetrically arranged on the sliding support component 10 . The clamping and positioning component 31 is arranged on the sliding support component 10 , and the automatic avoidance component 32 is symmetrically arranged on the clamping and positioning component 31 .

[0053] The clamping and positioning assembly 31 includes a clamping plate guide groove 33, a positioning clamping plate 34 and a clamping spring 35. The clamping plate guide groove 33 is fixed to the sliding support assembly 10, the positioning clamping plate 34 is slidably engaged in the clamping plate guide groove 33, and the clamping spring 35 is arranged between the clamping plate guide groove 33 and the positioning clamping plate 34.

[0054] The automatic avoidance assembly 32 includes a steering member 36, a steering rod 37 and a linkage rope 38. The steering member 36 is fixed to the outer side of the clamp guide groove 33, the steering rod 37 is fixed to the bottom of the sliding support assembly 10, one end of the linkage rope 38 is arranged on the positioning clamp 34, and the other end of the linkage rope 38 is arranged on the locking push plate 26. The linkage rope 38 is in sliding contact with the steering member 36 and the steering rod 37.

[0055] Through the linkage of the linkage rope 38, when the pendulum 30 swings, the positioning clamp 34 can be automatically retracted and the clamping and positioning of the positioning ring 15 can be released. After a period of time after the pendulum 30 stops swinging, the clamping of the positioning clamp 34 on the positioning ring 15 will be automatically restored. At this time, the sliding base 14 can move along with the movement of the load mounting platform 9.

[0056] The fixed column 22 is fixedly connected to the lower part of the sliding base 14 , the clamping plate guide groove 33 is fixedly connected to the sliding base 14 , and the steering rod 37 is fixedly connected to the bottom of the sliding base 14 .

[0057] The deviation detection probe 16 and the sensing contact 19 are both made of metal, and there is friction resistance between the locking push plate 26 and the fixed column 22 .

[0058] In specific use, the user needs to perform a dynamic performance test on the manipulator body 1 when the load mounting platform 9 is at different cantilever distance positions. During the test, the relative positions of the rotating base 6, the upper arm 7, the lower arm 8 and the load mounting platform 9 remain unchanged, and the rotating base 6 is driven to rotate at a high speed and non-uniform speed. The load weight installed on the load mounting platform 9 needs to be adjusted according to the test requirements;

[0059] In the initial state, the compression of the locking spring 27 is extremely small, so the extrusion force and friction force between the friction push plate 25 and the sliding guide frame 13 are also very small. At this time, the sliding base 14 can slide freely. Therefore, when slowly adjusting the distance of the load mounting platform 9, the positioning clamps 34 on both sides contact and clamp the positioning ring 15. Therefore, in the process of adjusting the distance of the load mounting platform 9, the sliding base 14 will also slide along, and the induction ring 17 and the positioning ring 15 always maintain a coaxial arrangement.

[0060] After the load mounting platform 9 is adjusted to a certain distance, the stiffness of the manipulator body 1 is tested by rotating the rotating base 6. Since the rotating base 6 must always have acceleration, the rotating base 6 cannot rotate at a constant speed.

[0061] When the rotating base 6 has acceleration, the pendulum 30 will inevitably swing in a direction perpendicular to the cantilever reference bracket 12. If the upper arm 7 or the lower arm 8 is deformed or affected by centrifugal force, the actual swing direction of the pendulum 30 will deflect to a certain extent, but the overall state is still close to the state perpendicular to the cantilever reference bracket 12.

[0062] When the pendulum 30 deflects, no matter what the deflection direction is, the locking push plate 26 will be pushed upward by the inclined support ring 24. At this time, the locking spring 27 is compressed, and the extrusion force and friction between the friction push plate 25 and the sliding guide frame 13 are increased, thereby fixing the sliding base 14 on the sliding guide frame 13. Since there is resistance to the resetting of the locking push plate 26, the position of the locking push plate 26 does not change much when the magnitude and direction of acceleration continue to change back and forth.

[0063] At the same time, due to the rise of the locking push plate 26, under the linkage of the linkage rope 38, the positioning clamp plate 34 will overcome the elastic force of the clamping spring 35 and rebound. At this time, the positioning clamp plate 34 is away from the positioning collar 15 to avoid affecting the actual offset of the load mounting platform 9.

[0064] While locking the sliding base 14, the positioning clamp 34 is kept away from the positioning collar 15; since the cantilever reference bracket 12 can be made of a light-weight and high-rigidity material, the cantilever reference bracket 12 can be used as a reference. If the rigidity of the manipulator body 1 is insufficient, the offset detection probe 16 on the load mounting platform 9 at the end will produce relative displacement with the sensing collar 17. When the offset detection probe 16 contacts the sensing contact 19, an electrical signal will be sent toward the outside, indicating that the deformation amplitude of the load mounting platform 9 is too large.

[0065] By reading the overhang distance of the load mounting platform 9 and the acceleration of the rotating base 6 when the deviation detection probe 16 and the sensing contact 19 are in contact, the rigidity of the robot body 1 can be fed back.

[0066] When the measurement of a position does not trigger an alarm, it is necessary to stop the machine and adjust the load mounting platform 9 to the next overhang distance. When the rotating base 6 is stationary, the locking push plate 26 will slowly reset under the elastic force of the locking spring 27. At this time, the squeezing force and friction force between the friction push plate 25 and the sliding guide frame 13 are reduced, and the sliding base 14 is unlocked. With the reset of the locking push plate 26, the positioning clamp 34 is also able to approach the positioning collar 15 under the elastic force of the clamping spring 35; at this time, if the distance between the load mounting platform 9 and the fixed base 5 changes, the sliding base 14 will also slide with the load mounting platform 9.

[0067] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0068] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A dynamic performance testing device for an industrial robot, comprising a manipulator body (1), the manipulator body (1) comprising a fixed base (5), a rotating base (6) being arranged on the fixed base (5), and a load mounting platform (9) being arranged at the end of the manipulator body (1), characterized in that: It also comprises a sliding adjustable offset sensing mechanism (2), a swinging universal pre-tensioning mechanism (3) and an adaptive clamping and positioning mechanism (4), wherein the sliding adjustable offset sensing mechanism (2) is arranged on the manipulator body (1), the swinging universal pre-tensioning mechanism (3) is arranged on the sliding adjustable offset sensing mechanism (2), and the adaptive clamping and positioning mechanism (4) is arranged on the sliding adjustable offset sensing mechanism (2); The sliding adjustable offset sensing mechanism (2) comprises a sliding support component (10) and a relative offset component (11), wherein the relative offset component (11) is arranged on the sliding support component (10); The swing-type universal pre-tensioning mechanism (3) comprises a swing sensing component (20) and a locking component (21), wherein the swing sensing component (20) is arranged on the sliding support component (10), and the locking component (21) is sleeved on the swing sensing component (20); The adaptive clamping and positioning mechanism (4) comprises a clamping and positioning component (31) and an automatic avoidance component (32); the adaptive clamping and positioning mechanism (4) is symmetrically arranged on the sliding support component (10); the clamping and positioning component (31) is arranged on the sliding support component (10); and the automatic avoidance component (32) is symmetrically arranged on the clamping and positioning component (31); The swing sensing assembly (20) comprises a fixed column (22), a swing column (23) and a top support collar (24); the fixed column (22) is fixedly connected to the bottom of the sliding support assembly (10); a ball head (28) is provided at the bottom of the fixed column (22); a ball socket (29) matched with the ball head (28) is provided at the top of the swing column (23); the swing column (23) is rotatably arranged on the ball head (28) through the ball socket (29); a pendulum (30) is provided at the bottom of the swing column (23); and the top support collar (24) is fixedly connected to the swing column (23); The locking assembly (21) comprises a friction push plate (25), a locking push plate (26) and a locking spring (27); the friction push plate (25) is slidably mounted on the fixed column (22); the locking push plate (26) is slidably mounted on the fixed column (22); the locking spring (27) is disposed between the friction push plate (25) and the locking push plate (26); and the locking push plate (26) is in sliding contact with the top support ring (24); The clamping and positioning assembly (31) comprises a clamping plate guide groove (33), a positioning clamping plate (34) and a clamping spring (35); the clamping plate guide groove (33) is fixedly connected to the sliding support assembly (10); the positioning clamping plate (34) is slidably engaged in the clamping plate guide groove (33); and the clamping spring (35) is arranged between the clamping plate guide groove (33) and the positioning clamping plate (34); The automatic avoidance assembly (32) comprises a steering member (36), a steering rod (37) and a linkage rope (38); the steering member (36) is fixedly connected to the outer side of the clamping plate guide groove (33); the steering rod (37) is fixedly connected to the bottom of the sliding support assembly (10); one end of the linkage rope (38) is arranged on the positioning clamping plate (34); the other end of the linkage rope (38) is arranged on the locking push plate (26); the linkage rope (38) is in sliding contact with the steering member (36) and the steering rod (37); The sliding support assembly (10) comprises a cantilever reference bracket (12), a sliding guide bracket (13) and a sliding base (14); the cantilever reference bracket (12) is fixedly connected to the rotating base (6); the sliding guide bracket (13) is fixedly connected to the end of the cantilever reference bracket (12); a sliding groove (18) is provided on the sliding guide bracket (13); and the sliding base (14) is slidably engaged in the sliding groove (18); The relative offset assembly (11) comprises a positioning collar (15), an offset detection probe (16) and a sensing collar (17); the positioning collar (15) is fixedly connected to the bottom of the load mounting platform (9); the offset detection probe (16) is fixedly connected to the bottom of the load mounting platform (9); the positioning collar (15) and the offset detection probe (16) are coaxially arranged; the sensing collar (17) is fixedly connected to the sliding base (14); and sensing contacts (19) are evenly distributed in an annular shape inside the sensing collar (17).

2. The dynamic performance testing device of an industrial robot according to claim 1, characterized in that: The fixed column (22) is fixedly connected to the bottom of the sliding base (14), the clamping plate guide groove (33) is fixedly connected to the sliding base (14), and the steering rod (37) is fixedly connected to the bottom of the sliding base (14).

3. The dynamic performance testing device of an industrial robot according to claim 2, characterized in that: A large arm (7) is rotatably provided on the rotating base (6), a small arm (8) is rotatably provided on the large arm (7), and a load mounting platform (9) is rotatably provided at the end of the small arm (8).

4. The dynamic performance testing device of an industrial robot according to claim 3, characterized in that: The deviation detection probe (16) and the sensing contact (19) are both made of metal, and there is friction resistance between the locking push plate (26) and the fixed column (22).

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