A test platform for evaluating the mechanical properties of multifunctional robots

Abstract

The present invention discloses a test platform for evaluating the mechanical performance of a multifunctional robot, comprising a water tank and a fixed frame, wherein the top of the water tank is fixedly connected to the fixed frame, the front and rear ends of the freedom motion joint are respectively movably connected to the inner side of the top of the fixed frame, and the middle end of the freedom motion joint is movably connected to the movable frame, and the freedom motion joint is provided, and the second direction rotation axis hole on the inner side of the top of the vertical rod is penetrated by the second direction rotation axis, so that the rotation in the vertical direction is limited by the fixed frame, so that the torque required by the driving motor can be offset by the fixed frame, and will not affect the measuring unit; by providing a remote driving unit and a multi-joint component, the first driving motor and the second driving motor are started respectively, and when the first driving motor and the second driving motor indirectly drive the multi-joint component to swing, the swing of the multi-joint component is achieved to generate force.

Description

Technical Field

[0001] The invention relates to robot-related fields, and in particular to a test platform for evaluating the mechanical properties of a multifunctional robot. Background Art

[0002] In the process of robot design, it is often necessary to conduct separate mechanical tests on a certain component or a subsystem. The plug-in and convenient multi-joint robot remote drive control platform is widely used in complex mechanical equipment with multiple motion joints.

[0003] At present, most of the mechanical tests on robots can rotate in the vertical direction, which causes the motor reverse torque to affect the experimental test results; and most of the movable frames of the robot are prone to lose balance when performing mechanical tests, which affects the measurement unit. Summary of the invention

[0004] Therefore, in order to solve the above-mentioned deficiencies, the present invention provides a test platform for evaluating the mechanical properties of a multifunctional robot.

[0005] The present invention is achieved by constructing a test platform for evaluating the mechanical properties of a multifunctional robot, the device comprising a water tank and a fixed frame, the top of the water tank being fixedly connected to the fixed frame; the device is characterized in that it also comprises a degree of freedom motion joint, a remote drive unit, a movable frame, a multi-joint component and a sensor measurement unit, the front and rear ends of the degree of freedom motion joint are respectively movably connected to the inner side of the top of the fixed frame, the middle end of the degree of freedom motion joint is movably connected to the movable frame, the outer side of the movable frame is provided with a remote drive unit, the rear side of the bottom end of the movable frame is fixedly connected to the multi-joint component, and the sensor measurement unit is installed in the middle of the front end of the movable frame.

[0006] Preferably, the freedom motion joint includes a first direction front rolling bearing, a first direction rear rolling bearing, a second direction front rolling bearing, a second direction rear rolling bearing, a first direction rear rotating shaft, a first direction front rotating shaft, a second direction rotating shaft and a second direction rotating shaft base, the first direction front rolling bearing and the first direction rear rolling bearing are respectively movably connected to the inner side of the top end of the fixed frame, the rear end of the first direction front rolling bearing is fixedly connected to the first direction front rotating shaft, the front end of the first direction rear rolling bearing is fixedly connected to the first direction rear rotating shaft, the first direction rear rotating shaft and the first direction front rotating shaft are respectively fixed to the front and rear ends of the second direction rotating shaft base, the left and right ends of the second direction rotating shaft base are respectively provided with the second direction front rolling bearing and the second direction rear rolling bearing, the second direction front rolling bearing and the second direction rear rolling bearing are slidably connected to the inner sides of the second direction rotating shaft, and the middle part of the second direction rotating shaft is slidably connected to the inner side of the top end of the movable frame.

[0007] Preferably, the remote drive unit includes a first drive motor, a second drive motor, a front end pull rope of the first drive motor, a rear end pull rope of the first drive motor, a front end pull rope of the second drive motor, a rear end pull rope of the second drive motor, a first rotation joint and a second rotation joint, the output shaft of the first drive motor is fixedly connected to the front end pull rope of the first drive motor and the rear end pull rope of the first drive motor respectively, the front end pull rope of the first drive motor and the rear end pull rope of the first drive motor are fixedly connected to the left and right ends of the first rotation joint respectively, the output shaft of the second drive motor is fixedly fixed to the front end pull rope of the second drive motor and the rear end pull rope of the second drive motor respectively, the front end pull rope of the second drive motor and the rear end pull rope of the second drive motor are fixedly connected to the left and right ends of the second rotation joint respectively, the front end pull rope of the first drive motor and the rear end pull rope of the first drive motor are equal in length, and the front end pull rope of the first drive motor and the rear end pull rope of the first drive motor are symmetrically distributed at the left and right ends of the first rotation joint, the front end pull rope of the first drive motor includes a protective sheath and an end cap, the inner side of the protective sheath is fixedly connected to an axial steel wire, the inner side of the axial steel wire is fixed to a nylon tube, a steel wire is installed inside the nylon tube, and an end cap is provided at the top of the protective sheath.

[0008] Preferably, the placement directions of the first rotation joint and the second rotation joint are perpendicular to a plane formed by the first direction rear rotation axis, the first direction front rotation axis and the second direction rotation axis.

[0009] Preferably, the movable frame comprises a vertical rod, a second direction rotation axis hole, a first direction support rod, a first direction counterweight, a measuring cantilever beam, a second direction right support rod, a second direction right counterweight, a second direction left support rod and a second direction left counterweight. The second direction rotation axis hole is provided on the inner side of the top end of the vertical rod, the first direction support rod is fixedly connected to the front end of the vertical rod, the first direction counterweight is fixed to the front end of the first direction support rod, the measuring cantilever beam is fixedly connected to the middle part of the front end of the vertical rod, the right end of the vertical rod is fixedly connected to the second direction right support rod, the right end of the second direction right support rod is fixedly connected to the inner side of the second direction right counterweight, the left end of the vertical rod is fixed to the second direction left support rod, and the second direction left counterweight is fixed to the left end of the second direction left support rod.

[0010] Preferably, the sensor measuring unit comprises a force sensor body and a force sensor top rod, and the force sensor top rod is provided at the top of the force sensor body.

[0011] Preferably, movable grooves matching the first direction front rolling bearing and the first direction rear rolling bearing are respectively provided on the inner side of the top end of the fixed frame.

[0012] Preferably, the first-direction rear rotating shaft and the first-direction front rotating shaft have the same structure, and the first-direction rear rotating shaft and the first-direction front rotating shaft are respectively distributed at the left and right ends of the second-direction rotating shaft base.

[0013] Preferably, a spherical counterweight block serving as a counterweight is provided at the bottom of the vertical rod, and the center of the counterweight block overlaps with the center line of the vertical rod.

[0014] Preferably, the second direction right support rod and the second direction left support rod have the same structure, and the second direction right support rod and the second direction left support rod are symmetrically distributed at the left and right ends of the vertical rod.

[0015] The present invention has the following advantages: The present invention provides a test platform for evaluating the mechanical properties of a multifunctional robot through improvement, which has the following improvements compared with similar devices:

[0016] The test platform for evaluating the mechanical properties of a multifunctional robot described in the present invention is equipped with a free-motion joint, and a second-direction rotating shaft penetrates the second-direction rotating shaft hole on the inner side of the top end of the vertical rod, so that the vertical rotation is restricted by the fixed frame. Therefore, the torque required by the driving motor can be offset by the fixed frame and will not affect the measuring unit.

[0017] The test platform for evaluating the mechanical properties of a multifunctional robot described in the present invention is configured with a remote drive unit and a multi-joint component to respectively start a first drive motor and a second drive motor. When the first drive motor and the second drive motor indirectly drive the multi-joint component to swing, power is provided for the swinging motion of the multi-joint component.

[0018] A test platform for evaluating the mechanical properties of a multifunctional robot described in the present invention is provided with a movable frame, and mass balance is performed by means of a second direction left counterweight block and a second direction right counterweight block fixed on a second direction left support rod and a second direction right support rod at the left and right ends of a vertical rod.

[0019] The test platform for evaluating the mechanical properties of a multifunctional robot described in the present invention provides a sensor measurement unit so that the force generated by the swing of a multi-joint component is indirectly transmitted to a force sensor body, so that the force sensor body can accurately measure the generated force. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 The present invention Figure 1 A in the enlarged view;

[0022] Figure 3 The present invention Figure 1 The enlarged view of point B in the figure;

[0023] Figure 4 It is a schematic diagram of the structure of the freedom motion joint of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the remote drive unit of the present invention;

[0025] Figure 6 is another structural schematic diagram of the remote drive unit of the present invention;

[0026] Figure 7 is a cross-sectional view of a pull rope at the front end of the first drive motor of the present invention;

[0027] Figure 8 It is a schematic diagram of the movable frame structure of the present invention;

[0028] Fig. 9 It is a schematic diagram of the structure of the sensor measurement unit of the present invention.

[0029] Wherein: water tank-1, fixed frame-2, degree of freedom motion joint-3, remote drive unit-4, movable frame-5, multi-joint component-6, sensor measurement unit-7, first direction front rolling bearing-31, first direction rear rolling bearing-32, second direction front rolling bearing-33, second direction rear rolling bearing-34, first direction rear rotating shaft-35, first direction front rotating shaft-36, second direction rotating shaft-37, second direction rotating shaft base-38, first drive motor-41, second drive motor-42, first drive motor front end pull rope-43, first drive motor rear end pull rope-44, second The front end pull rope of the driving motor -45, the rear end pull rope of the second driving motor -46, the first rotating joint -47, the second rotating joint -48, the protective outer skin -431, the axial steel wire -432, the nylon tube -433, the steel wire -434, the end cap -435, the vertical rod -51, the second direction rotation axis hole -52, the first direction support rod -53, the first direction counterweight block -54, the measuring cantilever beam -55, the second direction right support rod -56, the second direction right counterweight block -57, the second direction left support rod -58, the second direction left counterweight block -59, the force sensor body -71, and the force sensor top rod -72. DETAILED DESCRIPTION

[0030] The following will be combined with the attached Figure 1-9 The present invention is described in detail, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1 , Figure 2 and Figure 3 A test platform for evaluating the mechanical properties of a multifunctional robot of the present invention comprises a water tank 1 and a fixed frame 2, the top of the water tank 1 is fixedly connected to the fixed frame 2, the front and rear ends of a freedom motion joint 3 are respectively movably connected to the inner side of the top of the fixed frame 2, the middle end of the freedom motion joint 3 is movably connected to a movable frame 5, a remote driving unit 4 is arranged on the outer side of the movable frame 5, a multi-joint component 6 is fixedly connected to the rear side of the bottom end of the movable frame 5, and a sensor measuring unit 7 is installed in the middle of the front end of the movable frame 5.

[0032] See also Figure 2 and Figure 4 A test platform for evaluating the mechanical properties of a multifunctional robot according to the present invention, wherein the degree of freedom motion joint 3 comprises a first direction front rolling bearing 31 and a second direction rotating shaft base 38, wherein the first direction front rolling bearing 31 and the first direction rear rolling bearing 32 are respectively movably connected to the inner side of the top end of the fixed frame 2, so that the fixed frame 2 provides an installation area for the first direction front rolling bearing 31 and the first direction rear rolling bearing 32, wherein the rear end of the first direction front rolling bearing 31 is fixedly connected to a first direction front rotating shaft 36, and the front end of the first direction rear rolling bearing 32 is fixedly connected to a first direction rear rotating shaft 35, so that the first direction rear rotating shaft 35 provides a fixing area for the first direction rear rolling bearing 32, wherein the first direction rear rotating shaft 35 and the first direction front rotating shaft 36 are respectively fixed to the front and rear ends of the second direction rotating shaft base 38, and the left and right ends of the second direction rotating shaft base 38 are respectively fixed. A second direction front rolling bearing 33 and a second direction rear rolling bearing 34 are separately provided, so that the second direction shaft base 38 provides a fixing area for the second direction front rolling bearing 33 and the second direction rear rolling bearing 34, the second direction shaft 37 is slidably connected inside the second direction front rolling bearing 33 and the second direction rear rolling bearing 34, the middle part of the second direction shaft 37 is slidably connected to the inner side of the top end of the movable frame 5, and the inner side of the top end of the fixed frame 2 is respectively provided with movable grooves matching the first direction front rolling bearing 31 and the first direction rear rolling bearing 32, the first direction rear shaft 35 and the first direction front shaft 36 have the same structure, and the first direction rear shaft 35 and the first direction front shaft 36 are respectively distributed at the left and right ends of the second direction shaft base 38, and the first direction rear shaft 35 and the first direction front shaft 36 constitute the first direction shaft.

[0033] See also Figure 3 , Figure 5 and Figure 6A test platform for evaluating the mechanical properties of a multifunctional robot of the present invention, the remote drive unit 4 includes a first drive motor 41 and a second rotation joint 48, the output shaft of the first drive motor 41 is respectively fixedly connected to the front end pull rope 43 of the first drive motor and the rear end pull rope 44 of the first drive motor, so that the first drive motor 41 drives the front end pull rope 43 of the first drive motor and the rear end pull rope 44 of the first drive motor to rotate, the front end pull rope 43 of the first drive motor and the rear end pull rope 44 of the first drive motor are respectively fixedly connected to the left and right ends of the first rotation joint 47, the output shaft of the second drive motor 42 is respectively fixed to the front end pull rope 45 of the second drive motor and the rear end pull rope 46 of the second drive motor, the front end pull rope 45 of the second drive motor and the rear end pull rope 46 of the second drive motor The rope 45 and the pull rope 46 at the rear end of the second drive motor are fixedly connected to the left and right ends of the second rotating joint 48 respectively, so that the pull rope 45 at the front end of the second drive motor and the pull rope 46 at the rear end of the second drive motor drive the second rotating joint 48 to rotate. The pull rope 43 at the front end of the first drive motor and the pull rope 44 at the rear end of the first drive motor are equal in length, and the pull rope 43 at the front end of the first drive motor and the pull rope 44 at the rear end of the first drive motor are symmetrically distributed at the left and right ends of the first rotating joint 47. The placement direction of the first rotating joint 47 and the second rotating joint 48 is perpendicular to the plane formed by the first direction rear rotating shaft 35, the first direction front rotating shaft 36 and the second direction rotating shaft 37, so as to avoid the torque of the rotating joint from being fed back to the force measuring unit.

[0034] See also Figure 7 A test platform for evaluating the mechanical properties of a multifunctional robot according to the present invention, the pull rope 43 at the front end of the first driving motor includes a protective outer skin 431 and an end cap 435, an axial steel wire 432 is fixedly connected to the inner side of the protective outer skin 431, so that the protective outer skin 431 provides protection for the steel wire 432, the inner side of the axial steel wire 432 is fixed to a nylon tube 433, a steel wire 434 is installed inside the nylon tube 433, an end cap 435 is provided at the top end of the protective outer skin 431, so that the protective outer skin 431 provides an installation area for the end cap 435.

[0035] See also Figure 8A test platform for evaluating the mechanical properties of a multifunctional robot according to the present invention, wherein a movable frame 5 comprises a vertical rod 51 and a second-direction left counterweight 59, a second-direction rotating shaft hole 52 is provided on the inner side of the top end of the vertical rod 51, so that the vertical rod 51 provides a fixing area for the second-direction left counterweight 59, a first-direction supporting rod 53 is fixedly connected to the front end of the vertical rod 51, a first-direction counterweight 54 is fixedly connected to the front end of the first-direction supporting rod 53, a measuring cantilever beam 55 is fixedly connected to the middle part of the front end of the vertical rod 51, so that the vertical rod 51 provides an installation area for the measuring cantilever beam 55, a second-direction right supporting rod 56 is fixedly connected to the right end of the vertical rod 51, and the right end of the second-direction right supporting rod 56 is fixedly connected to the inner side of the second-direction right counterweight 57, so that the second-direction right supporting rod 56 In order to provide supporting force for the second direction right counterweight 57, the left end of the vertical rod 51 is fixed to the second direction left support rod 58, and the left end of the second direction left support rod 58 is fixed with the second direction left counterweight 59, so that the second direction left support rod 58 provides a fixing area for the second direction left counterweight 59, the second direction right support rod 56 and the second direction left support rod 58 have the same structure, and the second direction right support rod 56 and the second direction left support rod 58 are symmetrically distributed at the left and right ends of the vertical rod 51, and a spherical counterweight block that acts as a counterweight is provided at the bottom of the vertical rod 51, and the center of the counterweight block overlaps with the center line of the vertical rod 51. The natural frequency of the movable frame 5 can be changed by changing the mass of the weight, thereby avoiding the measurement influence caused by the joint rotation reaching the natural frequency.

[0036] See also Figure 3 and Fig. 9 The present invention is a test platform for evaluating the mechanical properties of a multifunctional robot. The sensor measuring unit 7 includes a force sensor body 71 and a force sensor top rod 72. The force sensor top rod 72 is provided at the top of the force sensor body 71, so that the force sensor body 71 provides supporting force for the force sensor top rod 72.

[0037] The present invention provides a test platform for evaluating the mechanical properties of a multifunctional robot through improvement, and its working principle is as follows:

[0038] First, when using this device, first place the device in the working area, and then connect the device to an external power source to provide the required power for the device to work;

[0039] Second, first, fill the water tank 1 with water, and then install the first direction front rolling bearing 31 and the first direction rear rolling bearing 32 on the inner side of the top of the fixed frame 2 respectively, so that the first direction front rolling bearing 31 and the first direction rear rolling bearing 32 provide support force for the second direction rotating shaft base 38 through the first direction rear rotating shaft 35 and the first direction front rotating shaft 36, so that the second direction rotating shaft base 38 is installed on the inner side of the top of the fixed frame 2, and the second direction rotating shaft 37 penetrates the second direction rotating shaft hole 52 on the inner side of the top of the vertical rod 51, so that the vertical rotation is limited by the fixed frame 2, so that the torque required by the driving motor can be offset by the fixed frame 2, and will not affect the measuring unit;

[0040] Third, then, drive motors are added according to the number of motion joints. When the mass of the movable frame 5 is unbalanced, the mass can be balanced by the second direction left counterweight 59 and the second direction right counterweight 57 fixed on the second direction left support rod 58 at the left and right ends of the vertical rod 51 and the second direction right support rod 56;

[0041] Fourth, when the number of joints of the multi-joint component 6 is two, the first drive motor 41 and the second drive motor 42 are started respectively. When the first drive motor 41 and the second drive motor 42 rotate clockwise, the output shaft of the first drive motor 41 drives the pull rope 44 at the rear end of the first drive motor to pull the first rotating joint 47 to the left, so that the first rotating joint 47 pulls the pull rope 43 at the front end of the first drive motor to the left, and the output shaft of the second drive motor 42 drives the pull rope 46 at the rear end of the second drive motor to pull the second rotating joint 48 to the right, so that the second rotating joint 48 pulls the pull rope 45 at the front end of the second drive motor to the right, thereby realizing the swinging of the multi-joint component 6 to generate force;

[0042] Fifth, the force generated by the swing of the multi-joint component 6 is transmitted to the measuring cantilever beam 55 through the vertical rod 51, and the measuring cantilever beam 55 transmits the force to the force sensor body 71 through the force sensor top rod 72, so that the force sensor body 71 can accurately measure the generated force.

[0043] The present invention provides a test platform for evaluating the mechanical properties of a multifunctional robot through improvement. The free-motion joint 3 is optimally set, and the second-direction rotating shaft hole 52 on the inner side of the top of the vertical rod 51 is penetrated by the second-direction rotating shaft 37, so that the rotation in the vertical direction is limited by the fixed frame 2, so that the torque required by the driving motor can be offset by the fixed frame 2, and will not affect the measuring unit; the remote driving unit 4 and the multi-joint component 6 are optimally set, and the first driving motor 41 and the second driving motor 42 are started respectively. When the first driving motor 41 and the second driving motor 42 indirectly drive the multi-joint component 6 to swing, the swing of the multi-joint component 6 is achieved to generate force; the movable frame 5 is optimally set, and the mass balance is performed by the second-direction left supporting rod 58 at the left and right ends of the vertical rod 51 and the second-direction right supporting rod 56. The sensor measuring unit 7 is optimally set, so that the force generated by the swing of the multi-joint component 6 is indirectly transmitted to the force sensor body 71, so that the force sensor body 71 accurately measures the generated force.

[0044] The above shows and describes the basic principle, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and circuit connections adopt conventional connection methods in the prior art, which will not be described in detail here.

[0045] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A test platform for evaluating the mechanical properties of a multifunctional robot, comprising a water tank (1) and a fixed frame (2), wherein the top of the water tank (1) is fixedly connected to the fixed frame (2); the characteristics are: It also comprises a degree of freedom motion joint (3), a remote drive unit (4), a movable frame (5), a multi-joint component (6) and a sensor measurement unit (7), wherein the front and rear ends of the degree of freedom motion joint (3) are respectively movably connected to the inner side of the top end of the fixed frame (2), the middle end of the degree of freedom motion joint (3) is movably connected to the movable frame (5), the outer side of the movable frame (5) is provided with a remote drive unit (4), the rear side of the bottom end of the movable frame (5) is fixedly connected to the multi-joint component (6), and the sensor measurement unit (7) is installed in the middle of the front end of the movable frame (5); The free-motion joint (3) comprises a first-direction front rolling bearing (31), a first-direction rear rolling bearing (32), a second-direction front rolling bearing (33), a second-direction rear rolling bearing (34), a first-direction rear rotating shaft (35), a first-direction front rotating shaft (36), a second-direction rotating shaft (37) and a second-direction rotating shaft base (38); the first-direction front rolling bearing (31) and the first-direction rear rolling bearing (32) are respectively movably connected to the inner side of the top end of the fixed frame (2); the first-direction front rolling bearing (31) is fixedly connected to the first-direction front rotating shaft (36) at the rear end; The front end of the rear rolling bearing (32) is fixedly connected to a first direction rear rotating shaft (35); the first direction rear rotating shaft (35) and the first direction front rotating shaft (36) are respectively fixed to the front and rear ends of a second direction rotating shaft base (38); the left and right ends of the second direction rotating shaft base (38) are respectively provided with a second direction front rolling bearing (33) and a second direction rear rolling bearing (34); the second direction front rolling bearing (33) and the second direction rear rolling bearing (34) are slidably connected to the inside of the second direction rotating shaft (37); the middle part of the second direction rotating shaft (37) is slidably connected to the inside of the top end of the movable frame (5); The movable frame (5) comprises a vertical rod (51), a second direction rotation axis hole (52), a first direction support rod (53), a first direction counterweight (54), a measuring cantilever beam (55), a second direction right support rod (56), a second direction right counterweight (57), a second direction left support rod (58) and a second direction left counterweight (59), wherein the second direction rotation axis hole (52) is provided on the inner side of the top end of the vertical rod (51), the first direction support rod (53) is fixedly connected to the front end of the vertical rod (51), and the first direction A first direction counterweight (54) is fixed to the front end of the vertical support rod (53); a measuring cantilever beam (55) is fixedly connected to the middle of the front end of the vertical rod (51); a second direction right support rod (56) is fixedly connected to the right end of the vertical rod (51); the right end of the second direction right support rod (56) is fixedly connected to the inner side of the second direction right counterweight (57); the left end of the vertical rod (51) is fixed to the second direction left support rod (58); and a second direction left counterweight (59) is fixed to the left end of the second direction left support rod (58); The remote drive unit (4) comprises a first drive motor (41), a second drive motor (42), a pull rope (43) at the front end of the first drive motor, a pull rope (44) at the rear end of the first drive motor, a pull rope (45) at the front end of the second drive motor, a pull rope (46) at the rear end of the second drive motor, a first rotation joint (47) and a second rotation joint (48), wherein an output shaft of the first drive motor (41) is fixedly connected to the pull rope (43) at the front end of the first drive motor and the pull rope (44) at the rear end of the first drive motor, respectively; The pull rope (44) is fixedly connected to the left and right ends of the first rotating joint (47), respectively; the output shaft of the second driving motor (42) is fixedly connected to the pull rope (45) at the front end of the second driving motor and the pull rope (46) at the rear end of the second driving motor, respectively; the pull rope (45) at the front end of the second driving motor and the pull rope (46) at the rear end of the second driving motor are fixedly connected to the left and right ends of the second rotating joint (48), respectively; the left end of the vertical rod (51) is connected to a left cross bar, and the right end is connected to a right cross bar; the first driving motor (41) is arranged on the left cross bar, and the second driving motor (42) is arranged on the right cross bar.

2. A test platform for evaluating the mechanical properties of a multifunctional robot according to claim 1, characterized in that: The pull rope (43) at the front end of the first drive motor and the pull rope (44) at the rear end of the first drive motor are of equal length, and the pull rope (43) at the front end of the first drive motor and the pull rope (44) at the rear end of the first drive motor are symmetrically distributed at the left and right ends of the first rotating joint (47), the pull rope (43) at the front end of the first drive motor comprises a protective outer skin (431) and an end cap (435), an axial steel wire (432) is fixedly connected to the inner side of the protective outer skin (431), the inner side of the axial steel wire (432) is fixed to a nylon tube (433), a steel wire (434) is installed inside the nylon tube (433), and an end cap (435) is provided at the top end of the protective outer skin (431).

3. A test platform for evaluating the mechanical properties of a multifunctional robot according to claim 2, characterized in that: The placement directions of the first rotating joint (47) and the second rotating joint (48) are perpendicular to a plane formed by the first direction rear rotating axis (35), the first direction front rotating axis (36) and the second direction rotating axis (37).

4. A test platform for evaluating the mechanical properties of a multifunctional robot according to claim 1, characterized in that: The sensor measurement unit (7) comprises a force sensor body (71) and a force sensor top rod (72); a force sensor top rod (72) is provided at the top of the force sensor body (71); a force generated by the swing of the multi-joint component (6) is transmitted to the measuring cantilever beam (55) via the vertical rod (51), so that the measuring cantilever beam (55) transmits the force to the force sensor body (71) via the force sensor top rod (72).

5. A test platform for evaluating the mechanical properties of a multifunctional robot according to claim 1, characterized in that: The inner side of the top end of the fixed frame (2) is provided with movable grooves matching the first direction front rolling bearing (31) and the first direction rear rolling bearing (32).

6. A test platform for evaluating the mechanical properties of a multifunctional robot according to claim 1, characterized in that: The first direction rear rotating shaft (35) and the first direction front rotating shaft (36) have the same structure, and the first direction rear rotating shaft (35) and the first direction front rotating shaft (36) are respectively distributed at the left and right ends of the second direction rotating shaft base (38).

7. A test platform for evaluating the mechanical properties of a multifunctional robot according to claim 1, characterized in that: A spherical counterweight block is provided at the bottom of the vertical rod (51) to act as a counterweight, and the center of the counterweight block overlaps with the center line of the vertical rod (51).

8. A test platform for evaluating the mechanical properties of a multifunctional robot according to claim 1, characterized in that: The second direction right support rod (56) and the second direction left support rod (58) have the same structure, and the second direction right support rod (56) and the second direction left support rod (58) are symmetrically distributed at the left and right ends of the vertical rod (51).

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