Testing device for robot joint performance

Abstract

The invention relates to the technical field of robot joints, and particularly discloses a robot joint performance testing device which comprises a base, two vertical plates are installed in the middle of the top of the base, a clamping mechanism is arranged between the two vertical plates, and the top of the base is connected with a moving column through two first electric telescopic rods. A moving frame is arranged between the two moving columns, a plurality of balancing weights are arranged in the moving frame, a pushing mechanism is arranged at the top of the moving frame, a connecting frame is arranged at the bottom of the moving frame, an elastic sealing cover is installed between the moving frame and the connecting frame, and a driving mechanism is installed at the bottom of the moving frame. According to the device, through the arrangement of the pushing mechanism, the multiple balancing weights can be sequentially and automatically installed at the tops of the two second installation plates, loads of different weights at the rotating end of the robot joint can be conveniently tested, manual disassembly and assembly of the multiple balancing weights are avoided, and the working efficiency is improved. And the use requirements of people on rapid testing of the joint performance of a large batch of robots can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joints, and particularly relates to a test device for the performance of robot joints. Background Art

[0002] Robot joints are key components in the mechanical structure of robots. They connect different parts of the robot, enabling the robot to achieve various movements and pose changes, and are the basis for the robot to achieve flexible operation and movement functions. According to different movement forms and functions, robot joints can be divided into rotary joints, prismatic joints, spherical joints, and Hooke joints. Among them, the rotary joint is one of the most common joint types in robots and is widely used in parts such as the robot's arm and waist.

[0003] Since the rotary joint of the robot needs to have a rotating function, it is necessary to test the output torque of the joint under different loads to verify whether it meets the design specifications. When conducting a load test on the rotating end of the joint, it is necessary for the staff to manually disassemble and assemble counterweight blocks of different weights with the rotating end of the joint in sequence to ensure relatively high test data accuracy. However, manually and continuously disassembling and assembling multiple configuration blocks is laborious and cumbersome. When it is necessary to test multiple robot joints, the test efficiency will be affected, and it cannot meet the user's demand for quickly testing the performance of a large number of robot joints. Summary of the Invention

[0004] Aiming at the defects in the prior art, the present invention provides a test device for the performance of robot joints.

[0005] A test device for the performance of robot joints includes a base. At the center of the top of the base, two vertical plates are installed. Between the two vertical plates, there is a clamping mechanism for clamping and fixing the robot joint to be tested. The top of the base is connected to a moving column through two first electric telescopic rods. Between the two moving columns, there is a moving frame. Inside the moving frame, there are multiple counterweight blocks. At the top of the moving frame, there is a feeding mechanism for pushing the counterweight blocks to fall downward. At the bottom of the moving frame, there is a connecting frame. An elastic sealing cover is installed between the moving frame and the connecting frame. At the bottom of the moving frame, there is a driving mechanism for driving the elastic sealing cover to extend downward.

[0006] Optionally, second electric telescopic rods are rotatably installed inside the two vertical plates, and first clamping plates are installed at the telescopic ends of the two second electric telescopic rods. The two first clamping plates jointly clamp and fix the robot joint.

[0007] Optionally, the top end of the robot joint is threadedly installed with a first mounting plate through a plurality of bolts. Both outer walls of the first mounting plate are connected with a second mounting plate through two third electric telescopic rods. Placement grooves adapted to the bottom ends of the counterweight blocks are provided at the tops of the two second mounting plates. The surfaces of the two second electric telescopic rods and the third electric telescopic rods are respectively sleeved with a first elastic protective cover and a second elastic protective cover.

[0008] Optionally, lead screws are rotatably installed inside the two moving columns. Moving blocks are threadedly installed on the outer walls of the two lead screws. The moving frame is rotatably installed between the two moving blocks.

[0009] Optionally, three rectangular grooves are provided inside the moving frame. A plurality of counterweight blocks are all placed on the top of one of the rectangular grooves located in the middle position. Three material discharging openings are provided inside one of the rectangular grooves. Two blocking plates are rotatably installed inside each of the three material discharging openings.

[0010] Optionally, the pushing mechanism includes two first sliding grooves provided on the outer walls of both sides of the moving frame. First sliders are installed inside the two first sliding grooves. One ends of the two first sliders away from the first sliding grooves are both installed with first moving rods. Second sliding grooves are provided on the outer walls of the two first moving rods close to each other. Second sliders are installed inside the two second sliding grooves.

[0011] Optionally, one ends of the two second sliders away from the second sliding grooves are both installed with second moving rods. First double-headed screws are rotatably installed inside the two second moving rods. Two first moving seats are threadedly installed on the outer walls of the two first double-headed screws. Push plates are rotatably installed at the bottom ends of the two first moving seats.

[0012] Optionally, the driving mechanism includes two rotating plates rotatably installed at the bottom end of the moving frame. Second double-headed screws are rotatably installed inside the two rotating plates. Second moving seats are threadedly installed on the outer walls of the two second double-headed screws. First rotating blocks are rotatably installed inside the two second moving seats.

[0013] Optionally, rectangular plates are provided below the two rotating plates. Blocking blocks are installed on the outer walls of one sides of the two rectangular plates. Two second rotating blocks are rotatably installed at the tops of the two rectangular plates. The two first rotating blocks are respectively connected to the second rotating blocks close to them through fourth electric telescopic rods. The surfaces of the two fourth electric telescopic rods are respectively sleeved with third elastic protective covers.

[0014] Optionally, the bottom ends of the two rectangular plates are magnetically fixed to the connecting frame through preset first electromagnets. A connecting groove adapted to the connecting frame is provided at the top of the base. Electric push rods are installed on the outer walls of both sides of the connecting frame. Clamping plates for clamping and fixing the robot joint are installed at the telescopic ends of the two electric push rods.

[0015] The beneficial effects of the present invention are embodied in: 1. In this invention, through the arranged material pushing mechanism, multiple counterweight blocks with different weights can be automatically installed on the tops of two second mounting plates in sequence, which is convenient for testing the loads with different weights at the rotating ends of robot joints, avoiding manual disassembly and assembly of multiple counterweight blocks, and can meet the usage requirements of people for quickly testing the performance of a large number of robot joints.

[0016] 2. In this invention, after testing the loads with different weights at the rotating ends of robot joints, the fallen counterweight blocks can be manually or by a preset manipulator placed back on the top of the moving frame. With the push plates of the two material pushing mechanisms clamping and limiting the two sides of the corresponding counterweight blocks respectively, and controlling the two first sliders to move towards the middle position inside the corresponding first chutes in sequence, the corresponding counterweight blocks can be pushed to fall downward from the middle material outlet and impact the rotating end of the robot joint, so as to test whether the anti-impact interference ability of the robot joint during operation is qualified.

[0017] 3. In this invention, since an elastic sealing cover is arranged between the moving frame and the connecting frame, before testing the anti-impact interference ability of the robot joint by means of the downward fallen counterweight blocks, through the mutual cooperation of multiple components of the driving mechanism, the elastic sealing cover can be driven to unfold to shield and protect the top of the base. When the counterweight blocks fall downward and impact the surface of the robot joint, the scattered counterweight blocks can be limited, preventing them from falling from the top of the base to other areas, and improving the protection of the personal safety of relevant surrounding staff.

[0018] 4. In this invention, after the connecting frame is connected to the connecting groove, control the telescopic ends of the two electric push rods to extend together, driving the two second clamping plates to further clamp and limit the bottom end of the robot joint. On the one hand, it can improve the stability of the robot joint during the anti-impact interference ability test, and on the other hand, it can improve the limiting and fixing effect at the bottom end of the connecting frame, ensuring that the stability of the connecting frame during use is not affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts do not necessarily draw according to the actual scale.

[0020] Figure 1 It is a schematic diagram of the overall structure of a test device for the performance of a robot joint proposed by the present invention; Figure 2 It is a schematic diagram of the structures of two lead screws, a second electric telescopic rod and a third electric telescopic rod in the present invention; Figure 3 It is a schematic structural diagram of the moving frame in the present invention; Figure 4 It is a structural sectional view of the elastic sealing cover in the present invention; Figure 5 It is a schematic structural diagram of multiple plugging plates and rectangular grooves in the present invention; Figure 6 is Figure 5 a schematic structural diagram from another angle; Figure 7 It is a schematic structural diagram of the driving mechanism in the present invention; Figure 8 It is a schematic structural diagram of the connecting frame in the present invention; Figure 9 It is a schematic structural diagram of the material pushing mechanism in the present invention.

[0021] In the drawings, 1, base; 2, first electric telescopic rod; 3, moving column; 4, connecting groove; 5, vertical plate; 6, first clamping plate; 7, first mounting plate; 8, second mounting plate; 9, moving block; 10, moving frame; 11, connecting frame; 12, lead screw; 13, second electric telescopic rod; 14, third electric telescopic rod; 15, elastic sealing cover; 16, first sliding groove; 17, counterweight block; 18, first moving rod; 19, second moving rod; 20, push plate; 21, rectangular groove; 22, plugging plate; 23, rotating plate; 24, rectangular plate; 25, second double-headed screw; 26, second moving seat; 27, first rotating block; 28, second rotating block; 29, plugging block; 30, third elastic protection cover; 31, electric push rod; 32, second clamping plate; 33, first slider; 34, second sliding groove; 35, second slider; 36, first double-headed screw; 37, first moving seat. Detailed implementation manners

[0022] Next, embodiments of the technical solutions of the present invention will be described in detail with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0023] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art to which the present invention belongs.

[0024] Such as Figures 1 - 9As shown in the figure, a test device for the performance of a robot joint includes a base 1. At the center of the top of the base 1, two vertical plates 5 are installed. Between the two vertical plates 5, there is a clamping mechanism for clamping and fixing the robot joint to be tested. The top of the base 1 is connected to a moving column 3 through two first electric telescopic rods 2. Between the two moving columns 3, there is a moving frame 10. Inside the moving frame 10, there are multiple counterweight blocks 17. At the top of the moving frame 10, there is a feeding mechanism for pushing the counterweight blocks 17 to fall downward. At the bottom of the moving frame 10, there is a connecting frame 11. An elastic sealing cover 15 is installed between the moving frame 10 and the connecting frame 11. At the bottom of the moving frame 10, there is a driving mechanism for driving the elastic sealing cover 15 to extend downward. During the telescopic process of the telescopic ends of the two first electric telescopic rods 2, they can push the two moving columns 3 to move up and down on the top of the base 1 for adjustment.

[0025] As a technical optimization scheme of the present invention, second electric telescopic rods 13 are rotatably installed inside both of the two vertical plates 5. At the telescopic ends of the two second electric telescopic rods 13, first clamping plates 6 are installed. The two first clamping plates 6 jointly clamp and fix the robot joint. When the telescopic ends of the two second electric telescopic rods 13 extend together, they can drive the two first clamping plates 6 to move towards each other to clamp and fix the robot joint to be tested. On the outer walls of the two vertical plates 5 on the side away from each other, first driving motors are preset respectively. The output ends of the two first driving motors are respectively connected to the two second electric telescopic rods 13, so as to drive the two second electric telescopic rods 13 and the first clamping plates 6 to rotate and adjust.

[0026] As a technical optimization scheme of the present invention, the top end of the robot joint is threadedly installed with a first mounting plate 7 through multiple bolts. On both outer walls of the first mounting plate 7, second mounting plates 8 are connected through two third electric telescopic rods 14. On the tops of the two second mounting plates 8, placing grooves adapted to the bottom ends of the counterweight blocks 17 are opened. First elastic protection covers and second elastic protection covers are respectively sleeved on the surfaces of the two second electric telescopic rods 13 and the third electric telescopic rods 14. Connecting the first mounting plate 7 and the second mounting plate 8 to the rotating end at the top of the robot joint is convenient for subsequent relevant rotational load tests on the robot joint. The two third electric telescopic rods 14 provided between the two second mounting plates 8 and the first mounting plate 7 can drive the distance between the second mounting plate 8 and the first mounting plate 7 to expand and contract with the telescopic movement of the telescopic ends of the two third electric telescopic rods 14, so as to adjust the length of the load swing arm increased during the subsequent rotational load test of the robot joint, and further enable the output torque and rotational speed of the rotating end of the robot joint to be adjusted, making the rotational load test of the robot joint more comprehensive.

[0027] As a technical optimization solution of the present invention, screw rods 12 are rotatably installed inside both of the two moving columns 3. Moving blocks 9 are threadedly installed on the outer walls of both of the two screw rods 12. A moving frame 10 is rotatably installed between the two moving blocks 9. Second driving motors are preset at the tops of both of the two moving columns 3. The output ends of the two second driving motors are respectively connected to the tops of the two screw rods 12, so as to drive the two screw rods 12 to rotate inside the corresponding moving columns 3, and then drive the moving blocks 9 on the outer walls of the two screw rods 12 to move and adjust. A third driving motor is preset inside one of the moving blocks 9. The output end of the third driving motor is connected to the rotating part at one end of the moving frame 10, so as to drive the moving frame 10 to rotate and adjust between the two moving blocks 9.

[0028] As a technical optimization solution of the present invention, three rectangular slots 21 are formed inside the moving frame 10. A plurality of counterweight blocks 17 are all placed on the top of one of the rectangular slots 21 located in the middle position. Three material discharge openings are formed inside one of the rectangular slots 21. Two blocking plates 22 are rotatably installed inside each of the three material discharge openings. A plurality of first driving devices are preset at the bottom end of the moving frame 10. The output ends of the plurality of first driving devices are respectively connected to the rotating parts at one ends of the corresponding blocking plates 22, so as to drive the plurality of blocking plates 22 to rotate and adjust at the bottom end of the moving frame 10.

[0029] As a technical optimization solution of the present invention, the pushing mechanism includes two first sliding grooves 16 formed on the outer walls on both sides of the moving frame 10. First sliders 33 are installed inside both of the two first sliding grooves 16. First moving rods 18 are installed at the ends of both of the two first sliders 33 away from the first sliding grooves 16. Second sliding grooves 34 are formed on the outer walls on the side where both of the two first moving rods 18 are close to each other. Second sliders 35 are installed inside both of the two second sliding grooves 34. Two first linear motors are preset inside both of the two first sliding grooves 16. The two first linear motors can drive the two first sliders 33 to move back and forth inside the corresponding first sliding grooves 16, and then drive the corresponding first moving rods 18 to move and adjust on both sides of the moving frame 10. Two second linear motors are preset inside both of the two second sliding grooves 34. The two second linear motors can drive the two second sliders 35 to move back and forth inside the corresponding second sliding grooves 34.

[0030] As a technical optimization solution of the present invention, second moving rods 19 are installed at the ends of two second sliders 35 away from the second sliding groove 34. First double-headed screws 36 are rotatably installed inside the two second moving rods 19. Two first moving seats 37 are threadedly installed on the outer walls of the two first double-headed screws 36. Push plates 20 are rotatably installed at the bottoms of the two first moving seats 37. Second driving devices are preset on the outer walls of one side of the two second moving rods 19. The output ends of the two second driving devices are respectively connected to one end of the two first double-headed screws 36, so as to drive the two first double-headed screws 36 to rotate inside the corresponding second moving rods 19, and then drive the two first moving seats 37 on their outer walls to move and adjust in the approaching or separating direction; and third driving devices are preset inside the two first moving seats 37. The output ends of the two third driving devices are respectively connected to the rotating parts of the two push plates 20, so as to drive the two push plates 20 to rotate and adjust at the bottoms of the corresponding first moving seats 37.

[0031] As a technical optimization solution of the present invention, the driving mechanism includes two rotating plates 23 rotatably installed at the bottom end of the moving frame 10. Second double-headed screws 25 are rotatably installed inside the two rotating plates 23. Second moving seats 26 are threadedly installed on the outer walls of the two second double-headed screws 25. First rotating blocks 27 are rotatably installed inside the two second moving seats 26. The output ends of two of the first driving devices preset at the bottom end of the moving frame 10 are respectively connected to the rotating parts of one end of the two rotating plates 23, so as to drive the two rotating plates 23 to rotate and adjust at the bottom end of the moving frame 10; fourth driving devices are preset inside the two rotating plates 23. The output ends of the two fourth driving devices are respectively connected to one end of the two second double-headed screws 25, so as to drive the two second double-headed screws 25 to rotate inside the corresponding rotating plates 23; and then drive the two second moving seats 26 to move and adjust in the approaching or separating direction.

[0032] As a technical optimization solution of the present invention, rectangular plates 24 are arranged below both of the two rotating plates 23. Sealing blocks 29 are installed on the outer walls of one sides of the two rectangular plates 24. Two second rotating blocks 28 are rotatably installed at the tops of the two rectangular plates 24. Both of the two first rotating blocks 27 are connected to the second rotating blocks 28 close to them through fourth electric telescopic rods. Third elastic protection covers 30 are sleeved on the surfaces of the two fourth electric telescopic rods. When the two second moving seats 26 move towards each other, they can drive the two first rotating blocks 27, the fourth electric telescopic rods and the second rotating blocks 28 to rotate towards each other together, and then push the rectangular plates 24 to move away from the rotating plates 23. Until the two fourth electric telescopic rods rotate to the vertical state, the telescopic ends of the two fourth electric telescopic rods can be controlled to extend, pushing the rectangular plates 24 to move and adjust for a longer distance; when the two second moving seats 26 move away from each other, they can drive the two first rotating blocks 27, the fourth electric telescopic rods and the second rotating blocks 28 to rotate away from each other together, and then drive the rectangular plates 24 to move and adjust towards the rotating plates 23. Until the rectangular plates 24 move to a suitable position towards the rotating plates 23, at this time, the rotating plates 23 can drive the rectangular plates 24 to rotate upwards together, and then drive the sealing blocks 29 on one side of the rectangular plates 24 to block one of the rectangular grooves 21 above them.

[0033] As a technical optimization solution of the present invention, the bottoms of the two rectangular plates 24 are magnetically attracted and fixed to the connection frame 11 through preset first electromagnets. A connection groove 4 adapted to the connection frame 11 is opened at the top of the base 1. Electric push rods 31 are installed on the outer walls of both sides of the connection frame 11. Second clamping plates 32 for clamping and fixing the robot joint are installed at the telescopic ends of the two electric push rods 31. After the two rectangular plates 24 are magnetically attracted to the lower connection frame 11 through the preset first electromagnets, at this time, the driving mechanism can drive the connection frame 11 to move and adjust below the moving frame 10; a sealing strip is arranged on the inner wall of the connection groove 4. After the bottom end of the connection frame 11 is inserted into the connection groove 4, the sealing strip ensures that the connection frame 11 and the connection groove 4 are in close contact with each other to achieve a sealing effect. Cooperating with the second electromagnet preset in the connection groove 4, the bottom end of the connection frame 11 can be magnetically attracted and fixed to prevent the connection frame 11 from separating from the connection groove 4.

[0034] In this embodiment, through the provided first elastic protective cover, second elastic protective cover and third elastic protective cover 30, the second electric telescopic rod 13, third electric telescopic rod 14 and fourth electric telescopic rod can be respectively shielded and protected to avoid being damaged by water, sediment, etc. during use; relevant shielding and protection facilities are also provided on the surfaces of the two second double-headed screws 25 to prevent the two second double-headed screws 25 from being damaged by water and sediment during use; and the relevant drive motors and drive devices for driving the components to rotate are both waterproof and sealed to ensure that they can be used normally in water mixed with sediment; the elastic sealing cover 15 is waterproof and telescopic, which is convenient for telescopic adjustment to different lengths during use, and its waterproof performance is not affected when adjusted to different lengths.

[0035] In the present invention, when it is necessary to test the relevant performance of a robot joint, the robot joint to be detected is placed between two first clamping plates 6 through a feeding manipulator preset on the front of the device. With the telescopic ends of two second electric telescopic rods 13 extending together, the two first clamping plates 6 are driven to clamp and fix the robot joint. Then, the first mounting plate 7 is connected to the rotating end at the top of the robot joint through a plurality of bolts. When the rotating end of the robot joint rotates at this time, it will drive the first mounting plate 7 and two second mounting plates 8 to rotate together. Since the first mounting plate 7 and the two second mounting plates 8 are connected by two third electric telescopic rods 14, it can be used as a rotating swing arm. By means of the telescopic movement of the telescopic ends of the two third electric telescopic rods 14, the length of the swing arm can be adjusted. A plurality of counterweight blocks 17 with the same volume but different weights are placed on the top of the moving frame 10. With the two lead screws 12 driving the two moving blocks 9 and the moving frame 10 to move downward together, and controlling the two plugging plates 22 at both ends of one rectangular groove 21 to rotate downward and open until the moving frame 10 moves to abut against the tops of the two second mounting plates 8. Then, with the two first sliders 33 moving away from each other in the corresponding first sliding grooves 16, the two push plates 20 are driven to move to both sides of the two counterweight blocks 17 close to the material discharge port. By rotating the two first double-headed screws 36, the two push plates 20 are driven to move towards each other and clamp both sides of the two counterweight blocks 17. With the two first sliders 33 continuing to move away from each other in the corresponding first sliding grooves 16, the two counterweight blocks 17 can be driven to move to the tops of the corresponding material discharge ports. With the two push plates 20 clamping and limiting both sides of the counterweight blocks 17, the two counterweight blocks 17 can fall downward from the two material discharge ports onto the tops of the two second mounting plates 8. With the third electromagnets preset inside the two second mounting plates 8, the two counterweight blocks 17 can be magnetically fixed respectively. During the rotation of the rotating end of the robot joint at this time, it can synchronously drive the first mounting plate 7, the two second mounting plates 8 and the added load counterweight blocks 17 to rotate together. At the same time, one of the second electric telescopic rods 13 is controlled to rotate inside the vertical plate 5, driving the two first clamping plates 6 and the clamped robot joint to rotate and adjust together on the top of the base 1, simulating the usage scenario of the robot pipe joint driving the load to rotate at different angles, and improving the comprehensiveness of the load test on the rotating end of the robot joint; While the rotating end of the robot joint drives the first mounting plate 7, two second mounting plates 8 and the additional load counterweight blocks 17 to rotate, it is also possible to control the telescopic ends of multiple third electric telescopic rods 14 to extend simultaneously, so as to achieve the effect of adjusting the length of the swing arm, enabling the output torque and rotational speed of the rotating end of the robot joint to be adjusted accordingly. Moreover, when it is necessary to add counterweight blocks 17 with different weights, the two first clamping plates 6 can be controlled to drive the robot joint to rotate downward by 90 degrees, and the third electromagnets inside the two second mounting plates 8 can be controlled to be powered off, so that two of the counterweight blocks 17 can fall downward accordingly. Then, the subsequent other counterweight blocks 17 can be continuously pushed by the pushing mechanism to repeat the above steps, so that they automatically fall from the top of the moving frame 10 onto the tops of the two second mounting plates 8, testing the loads with different weights at the rotating end of the robot joint, and further improving the comprehensiveness of the rotating load test of the robot joint.

[0036] After testing the loads with different weights at the rotating end of the robot joint, the dropped counterweight blocks 17 can be manually or by a preset manipulator re-placed on the top of the moving frame 10, and the connection between the first mounting plate 7 and the rotating end of the robot joint can be released. Then, two blocking plates 22 at the bottom of the middle discharge opening are controlled to rotate downward to open. Since this discharge opening is just above the clamped and fixed robot joint, at this time, the push plates 20 of the two pushing mechanisms can be used to clamp and limit the two sides of the corresponding counterweight blocks 17 respectively, and the two first sliders 33 are sequentially controlled to move towards the central position inside the corresponding first chutes 16, so as to push the corresponding counterweight blocks 17 to fall downward from the middle discharge opening and impact the rotating end of the robot joint, to test whether the anti-impact interference ability of the robot joint during operation is qualified; And in this process, the two first clamping plates 6 can also be used to drive the robot joint to rotate and adjust, so that the upper counterweight blocks 17 can sequentially impact different parts of the robot joint; It is also possible to use the telescopic ends of the two first electric telescopic rods 2 to push multiple components such as the two moving columns 3 and the moving frame 10 to move upward to a higher position together, so that the counterweight blocks 17 can also fall downward from different heights to impact the robot joint, further improving the comprehensiveness of the anti-impact interference ability test of the robot joint.

[0037] Since an elastic sealing cover 15 is provided between the moving frame 10 and the connecting frame 11, before testing the anti-impact interference ability of the robot joint by means of the weight 17 falling downward, the first electromagnets at the bottoms of the two rectangular plates 24 are controlled to be energized and started, so that they are magnetically fixed to the top of the connecting frame 11. At this time, the top of the connecting frame 11 can be connected and supported by the driving mechanism. As the two lead screws 12 drive the moving frame 10 to move downward, the connecting frame 11 is driven to move downward accordingly until the bottom of the connecting frame 11 is inserted into the connecting groove 4. Cooperating with the second electromagnet preset inside the connecting groove 4, the connecting frame 11 entering the inside of the connecting groove 4 can be magnetically fixed. As the two lead screws 12 reverse, driving the moving frame 10 to move downward and the telescopic ends of the two first electric telescopic rods 2 to extend upward, the elastic sealing cover 15 can be driven to unfold upward to shield and protect the top of the base 1. When the weight 17 falls downward and impacts the surface of the robot joint, the scattered weight 17 can be limited, preventing it from falling from the top of the base 1 to other areas and improving the protection of the personal safety of the relevant surrounding staff; After the above-mentioned connecting frame 11 is connected to the connecting groove 4, the telescopic ends of the two electric push rods 31 are controlled to extend together, driving the two second clamping plates 32 to further clamp and limit the bottom end of the robot joint. On the one hand, it can improve the stability of the robot joint during the anti-impact interference test, and on the other hand, it can improve the limiting and fixing effect of the bottom end of the connecting frame 11, ensuring that the stability of the connecting frame 11 during use is not affected.

[0038] During the rotation load test and anti-impact interference process of the robot joint as described above, if the rotating end fails to rotate, at this time, the two first clamping plates 6 can be controlled to maintain the vertical clamping and fixing of the robot joint. After the connecting frame 11 is pushed downward to a position close to the robot joint by the two driving mechanisms, the telescopic ends of the two electric push rods 31 are controlled to extend together, driving the two second clamping plates 32 to clamp and fix the robot joint, and the clamping and limiting of the robot joint by the two first clamping plates 6 are released. After the two driving mechanisms drive the connecting frame 11 to move upward to a position higher than the two vertical plates 5, the moving frame 10 is controlled to rotate clockwise backward between the two moving blocks 9, and then the two driving mechanisms are controlled to drive the connecting frame 11 to move downward until the connecting frame 11 moves downward to an appropriate height, and the clamping and fixing of the robot joint by the two second clamping plates 32 are released, so as to automatically unload the unqualified robot joint and place it behind the device, facilitating the subsequent staff to quickly identify the unqualified robot joints located behind the device and avoiding the problem that the unqualified robot joints are taken and placed in front of the device by the feeding manipulator and mixed with other qualified robot joints, making it inconvenient for the subsequent staff to quickly distinguish them.

[0039] After testing the anti-shock and anti-interference ability of the robot joint, the magnetic attraction fixation between the second electromagnet and the bottom end of the connecting frame 11 can be released, so that the elastic sealing cover 15 elastically resets upward by a certain distance, driving a gap between the connecting frame 11 and the base 1. After an artificial or mechanical hand takes out the scattered counterweight blocks 17 and places them on the top of the moving frame 10, then the connecting frame 11 is connected and fixed to the connecting groove 4, and the second electromagnet is controlled to continue to be magnetically attracted and fixed to the bottom end of the connecting frame 11. Then, the two second double-headed screws 25 are controlled to rotate, driving the two second moving seats 26 to move in opposite directions until the two rectangular plates 24 move toward the rotating plate 23 to a suitable position. At this time, the two rotating plates 23 can drive the rectangular plate 24 to rotate upward together, and then drive the blocking block 29 on one side of the rectangular plate 24 to block one of the rectangular grooves 21 above it. Cooperating with the multiple counterweight blocks 17 and the three groups of blocking plates 22 placed inside the rectangular groove 21 in the middle position, the three rectangular grooves 21 inside the moving frame 10 can be blocked, so that only part of the gap exists inside the moving frame 10. Controlling one group of blocking plates 22 located in the middle position to rotate downward and open, the output end pipe of the preset blower that can discharge sediment outside can be inserted into the feeding port in the middle position, so that the wind containing sediment conveyed into the elastic sealing cover 15 acts on the surface of the robot joint, and the wind entering the elastic sealing cover 15 can be discharged outward through the gap, so as to simulate the special use environment of the robot in the external wind and sand, test the sealing performance of the robot joint, and ensure that it can still work normally in the harsh environment.

[0040] After testing the sealing performance of the robot joint, the preset external nozzle that can spray water is inserted into the feeding port in the middle position, so that the nozzle can spray water onto the surface of the robot joint to simulate the scenario of the robot being used in the external rainy weather and test the IP waterproof grade of the robot joint; at this time, the water sprayed by the nozzle into the elastic sealing cover 15 can also wash the inner wall of the elastic sealing cover 15, which is convenient for the subsequent use of the elastic sealing cover 15.

[0041] At the same time, the nozzle continuously sprays water into the elastic sealing cover 15 until the water level is higher than the robot joint. At this time, the water and sediment inside the elastic sealing cover 15 can be mixed with each other to form a sediment-water mixture. The robot joint continues to operate in the sediment-water mixture, which can simulate the scenario of the robot being in a submerged state when engaged in underwater work, further improving the comprehensiveness and accuracy of the waterproof and sealing performance test of the robot joint.

[0042] During the operation test of the above robot joint in the sediment-water mixture, the two lead screws 12 can be controlled to rotate synchronously, driving components such as the moving frame 10 to move downward between the two moving columns 3. After the moving frame 10 moves downward to a position close to the water surface inside the elastic sealing cover 15, first control the two rotating plates 23 to drive the corresponding rectangular plates 24 to rotate downward. By means of the blocking of two of the rectangular grooves 21 by the two blocking plates 22, then control the two second sliders 35 to move downward together inside the corresponding second chutes 34, driving the bottom ends of the two push plates 20 to pass downward through the corresponding rectangular grooves 21 and enter the sediment-water mixture. Control the two push plates 20 to rotate 90 degrees by themselves, and control the two first sliders 33 to move back and forth inside the corresponding first chutes 16, so that the multiple push plates 20 can stir the sediment-water mixture inside the elastic sealing cover 15 back and forth. Combining with the rotation of the multiple push plates 20, the scenario of the robot joint being used in flowing sediment water can be simulated, and thus the waterproof and sealing performance of the robot joint can be tested more comprehensively.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A test device for the performance of a robot joint, comprising a base (1), characterized in that, At the center of the top of the base (1), two vertical plates (5) are installed. Between the two vertical plates (5), a clamping mechanism is provided for clamping and fixing the robot joint to be tested. The top of the base (1) is connected to a moving column (3) by two first electric telescopic rods (2). Between the two moving columns (3), a moving frame (10) is provided. Inside the moving frame (10), a plurality of counterweight blocks (17) are provided. At the top of the moving frame (10), a feeding mechanism is provided for pushing the counterweight blocks (17) to fall downward. At the bottom of the moving frame (10), a connecting frame (11) is provided. An elastic sealing cover (15) is installed between the moving frame (10) and the connecting frame (11). At the bottom of the moving frame (10), a driving mechanism is installed for driving the elastic sealing cover (15) to extend downward.

2. The testing device for the performance of a robot joint according to claim 1, wherein, Inside each of the two vertical plates (5), a second electric telescopic rod (13) is rotatably installed. At the telescopic ends of the two second electric telescopic rods (13), first clamping plates (6) are installed. The two first clamping plates (6) jointly clamp and fix the robot joint.

3. The testing device for the performance of a robot joint according to claim 2, characterized in that, The top end of the robot joint is threadedly installed with a first mounting plate (7) through a plurality of bolts. On both outer walls of the first mounting plate (7), second mounting plates (8) are connected by two third electric telescopic rods (14). On the tops of the two second mounting plates (8), placing grooves adapted to the bottom ends of the counterweight blocks (17) are provided. First elastic protection covers and second elastic protection covers are respectively sleeved on the surfaces of the two second electric telescopic rods (13) and the third electric telescopic rods (14).

4. A test device for the performance of a robot joint according to claim 1, characterized in that, Inside each of the two moving columns (3), a lead screw (12) is rotatably installed. On the outer walls of the two lead screws (12), moving blocks (9) are threadedly installed. The moving frame (10) is rotatably installed between the two moving blocks (9).

5. A test device for robot joint performance according to claim 1, characterized in that, Inside the moving frame (10), three rectangular grooves (21) are provided. A plurality of counterweight blocks (17) are all placed on the top of one of the rectangular grooves (21) located in the middle position. Inside one of the rectangular grooves (21), three material discharging openings are provided. Inside each of the three material discharging openings, two blocking plates (22) are rotatably installed.

6. The test device for robot joint performance according to claim 1, characterized in that The feeding mechanism includes two first sliding grooves (16) provided on the outer walls of both sides of the moving frame (10). Inside each of the two first sliding grooves (16), a first sliding block (33) is installed. At the ends of the two first sliding blocks (33) away from the first sliding grooves (16), first moving rods (18) are installed. On the outer walls of the two first moving rods (18) close to each other, second sliding grooves (34) are provided. Inside each of the two second sliding grooves (34), a second sliding block (35) is installed.

7. The test device for the performance of a robot joint according to claim 6, characterized in that, At the ends of the two second sliding blocks (35) away from the second sliding grooves (34), second moving rods (19) are installed. Inside each of the two second moving rods (19), a first double-headed screw (36) is rotatably installed. On the outer walls of the two first double-headed screws (36), two first moving seats (37) are threadedly installed. At the bottom ends of the two first moving seats (37), push plates (20) are rotatably installed.

8. The test device for the performance of a robot joint according to claim 1, characterized in that, The driving mechanism includes two rotating plates (23) rotatably installed at the bottom end of the moving frame (10). A second double-headed screw rod (25) is rotatably installed inside each of the two rotating plates (23). A second moving seat (26) is threadedly installed on the outer wall of each of the two second double-headed screw rods (25). A first rotating block (27) is rotatably installed inside each of the two second moving seats (26).

9. The testing device for the performance of a robot joint according to claim 8, wherein Below each of the two rotating plates (23), a rectangular plate (24) is provided. A blocking block (29) is installed on the outer wall of one side of each of the two rectangular plates (24). Two second rotating blocks (28) are rotatably installed at the top end of each of the two rectangular plates (24). Each of the two first rotating blocks (27) is connected to the second rotating block (28) closest to it through a fourth electric telescopic rod. A third elastic protective cover (30) is sleeved on the surface of each of the two fourth electric telescopic rods.

10. The test device for robot joint performance according to claim 9, characterized in that, The bottom end of each of the two rectangular plates (24) is magnetically attracted and fixed to the connecting frame (11) through a preset first electromagnet. A connecting groove (4) adapted to the connecting frame (11) is formed in the top of the base (1). Electric push rods (31) are installed on the outer walls of both sides of the connecting frame (11). A second clamping plate (32) for clamping and fixing the robot joint is installed at the telescopic end of each of the two electric push rods (31).

Images