Humanoid robot joint module performance test system

Abstract

The present invention relates to the field of measurement and testing technology, and in particular to a humanoid robot joint module performance test system, comprising a test frame and a top frame fixed on the surface of the test frame, and also comprising a compression test component arranged above the test frame. The present invention can better simulate the stress conditions under actual working conditions by setting up the compression test component, and provide accurate data support for performance testing and optimization of the joint module. By adjusting the output pressure of the loading hydraulic cylinder, it is ensured that the required pressure can be accurately applied under different test conditions. By positioning the joint module with positioning claws and positioning blocks, the compression performance and stability of the joint module in actual use can be better understood, and accurate data support can be provided for the design and optimization of the robot, so as to avoid the joint module from being offset during the test, resulting in deviations in the measured pressure, deformation and other data, thereby obtaining accurate performance test data.

Description

Technical Field

[0001] The invention relates to the technical field of measurement and testing, and in particular to a humanoid robot joint module performance testing system. Background Art

[0002] With the continuous development of humanoid robot technology, the integrated joint module (including servo motor, reducer, etc.) as a key component of the robot, its performance directly affects the overall performance and reliability of the robot. In practical applications, the joint module of the humanoid robot needs to withstand various complex loads and motion states, so it is very important to conduct accurate performance testing and optimization.

[0003] At present, during the test process of the existing test system, the joint module is prone to offset, making the measured pressure, deformation and other data inaccurate, affecting the judgment of the joint module performance, such as speed, torque, angle, load, transmission ratio and other parameters, and thus unable to provide reliable data basis for the design and optimization of the robot. In the process of applying pressure, it is difficult to achieve stable and precisely controlled pressure output, and the pressure value is prone to deviation, which cannot provide accurate data support for the performance evaluation of the joint module. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a humanoid robot joint module performance testing system, which has the characteristics of preventing the joint module from being offset and better simulating the stress conditions under actual working conditions.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a humanoid robot joint module performance test system, including a test frame and a top frame fixed on the surface of the test frame, and also including a compression test component arranged above the test frame;

[0006] The compression test assembly includes a loading hydraulic cylinder connected to the surface of the top frame by screws, a lower pressure plate fixed to the output end of the loading hydraulic cylinder, and a fixing frame fixed to the lower surface of the lower pressure plate, the surface of the fixing frame is hinged with a plurality of positioning claws in a ring array, a bearing plate is arranged directly below the fixing frame, a pressure sensor is fixed to the lower surface of the bearing plate, and a transmission gear ring is rotatably connected between the pressure sensor and the test frame, a driving gear is meshedly connected to the surface of the transmission gear ring, a positioning motor is screwed to the surface of the test frame, and the output end of the positioning motor is fixedly connected to the inside of the driving gear, and positioning blocks are arranged around the bearing plate.

[0007] Furthermore, the fixing frame of the present invention is internally slidably connected with a movable rod, a pressure seat is fixed at the bottom end of the movable rod, a plurality of groups of springs are fixed between the pressure seat and the fixing frame, a blocking ring is fixed in the middle of the lower surface of the fixing frame, and a hinged rod is hinged between the pressure seat and the positioning claw.

[0008] Furthermore, a gathering seat is fixed on one side of the transmission gear ring surface close to the positioning block of the present invention, a screw rod is rotatably connected inside the gathering seat, the positioning block is threadedly connected to the surface of the screw rod, and a movable groove adapted to the positioning block is opened inside the gathering seat.

[0009] Furthermore, one end of the screw rod of the present invention passes through the interior of the gathering seat and extends to the outside of the gathering seat, and is fixedly connected to a driven gear arranged on the outside of the gathering seat, and the driven gear is meshingly connected to the transmission gear ring.

[0010] Furthermore, the present invention also includes a durability test component installed on the surface of the test frame, the durability test component includes a support frame fixed on the surface of the test frame, a drive motor screwed to the surface of the support frame, and a push-pull rod arranged on the front side of the support frame, the four corners of the push-pull rod are slidably connected with guide wheels, and the guide wheels are rotatably connected to the surface of the support frame, one end of the push-pull rod is fixed with a push-pull frame with a U-shaped structure, and the end of the push-pull frame is hinged with a fixed sleeve.

[0011] Furthermore, a worm is fixed to the output end of the driving motor of the present invention, a worm is meshingly connected to the surface of the worm, a rotating frame is fixedly connected to the inside of the worm wheel, and the rotating frame is rotatably connected to the inside of the supporting frame.

[0012] Furthermore, two groups of symmetrically arranged push rods are fixed on the surface of the rotating frame of the present invention, a swing frame is hinged on the side of the support frame surface close to the push rod, a shift groove is opened at the end of the swing frame, and a shift rod is slidably connected in the shift groove, the shift rod is fixed on the surface of the push-pull rod, and a reset block is screwed to the side of the push-pull rod surface close to the push rod.

[0013] The beneficial effects of the present invention are that the defects existing in the background technology are solved.

[0014] 1. By setting up the compression test components, the stress conditions under actual working conditions can be better simulated, and accurate data support can be provided for the performance test and optimization of the joint module. By adjusting the output pressure of the loading hydraulic cylinder, it is ensured that the required pressure can be accurately applied under different test conditions. This greatly improves the accuracy of testing and evaluating the joint module, and provides a strong guarantee for product quality control and improvement. During this period, the positioning of the joint module by the positioning claws and positioning blocks can better understand the compression resistance and stability of the joint module in actual use, and provide accurate data support for the design and optimization of the robot, avoiding the displacement of the joint module during the test, resulting in deviations in the measured pressure, deformation and other data, thereby obtaining accurate performance test data.

[0015] 2. Through the durability test components set up, the joints of the joint module can be bent repeatedly, which can highly simulate the movement state of the robot in various practical application scenarios, so as to better understand the performance of the joint module in actual use and ensure its reliable operation in actual work. In addition, the performance of the joint module at different bending angles and speeds can be tested to achieve a comprehensive evaluation of the adaptability of the joint module, to detect the durability of the joint module at different speeds, to discover possible performance degradation in advance, and to provide a reference for product maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the bearing plate and the positioning block in the present invention;

[0018] Figure 3 It is a schematic diagram of the structure of the lower pressing plate and the positioning claws in the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the durability test component in the present invention;

[0020] Figure 5 It is a structural schematic diagram of the support frame in the present invention.

[0021] In the figure: 1. test frame; 2. top frame; 3. compression test assembly; 31. loading hydraulic cylinder; 32. lower pressure plate; 33. fixed frame; 34. movable rod; 35. pressure seat; 36. spring; 37. blocking ring; 38. hinged rod; 39. positioning claw; 310. bearing plate; 311. pressure sensor; 312. gathering seat; 313. screw rod; 314. driven gear; 315. transmission gear ring; 316. positioning block; 317. driving gear; 318. positioning motor; 4. durability test assembly; 41. support frame; 42. driving motor; 43. worm; 44. worm wheel; 45. rotating frame; 46. push rod; 47. swing frame; 48. push-pull rod; 49. lever; 410. reset block; 411. guide wheel; 412. push-pull frame; 413. fixed sleeve. DETAILED DESCRIPTION

[0022] The present invention will now be described in further detail in conjunction with the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0023] like Figure 1-Figure 5 A humanoid robot joint module performance testing system shown includes a test frame 1 and a top frame 2 fixed on the surface of the test frame 1.

[0024] In order to better simulate the stress conditions under actual working conditions, it also includes a compression test component 3 arranged above the test frame 1. The compression test component 3 includes a loading hydraulic cylinder 31 screwed to the surface of the top frame 2, a lower pressure plate 32 fixed to the output end of the loading hydraulic cylinder 31, and a fixed frame 33 fixed to the lower surface of the lower pressure plate 32. The surface of the fixed frame 33 is hinged with several groups of positioning claws 39 in a ring array. A bearing plate 310 is arranged directly below the fixed frame 33. A pressure sensor 311 is fixed to the lower surface of the bearing plate 310, and a transmission gear ring 315 is rotatably connected between the pressure sensor 311 and the test frame 1. The surface of the transmission gear ring 315 is meshed with a driving gear 317. The surface of the test frame 1 is screwed to a positioning motor 318, and the output end of the positioning motor 318 is fixedly connected to the inside of the driving gear 317. Positioning blocks 316 are arranged around the bearing plate 310.

[0025] In this embodiment: when it is necessary to test the performance of the humanoid robot joint module, the joint module is first placed on the surface of the supporting plate 310. At this time, the gravity exerted on the supporting plate 310 will squeeze the pressure sensor 311 to generate a piezoelectric signal and send it to the control system, which is not shown in the figure. The positioning motor 318 and the loading hydraulic cylinder 31 are automatically started by the control system. By starting the positioning motor 318, the driving gear 317 can be driven to drive the transmission gear ring 315 to rotate on the surface of the test frame 1, thereby driving multiple groups of driven gears 314 to rotate and drive the screw rod 313 to rotate inside the gathering seat 312, which can drive the positioning block 316 to move inside the gathering seat 312 and approach the surface of the joint module until the multiple groups of positioning blocks 316 are close to the surface of the joint module. The loading hydraulic cylinder 31 is started to drive the lower pressure plate 32 to transfer the load to the joint module through the pressure seat 35, and the applied pressure is detected by the pressure sensor 311. During this period, the joint module is positioned by the positioning claw 39 and the positioning block 316.

[0026] In an optional embodiment: the interior of the fixed frame 33 is slidably connected with a movable rod 34, the bottom end of the movable rod 34 is fixed with a pressure seat 35, a plurality of groups of springs 36 are fixed between the pressure seat 35 and the fixed frame 33, a blocking ring 37 is fixed to the middle of the lower surface of the fixed frame 33, and a hinged rod 38 is hinged between the pressure seat 35 and the positioning claw 39.

[0027] In this embodiment: when the pressure seat 35 contacts the top of the joint module, the movable rod 34 can slide in the movable groove opened inside the fixed frame 33, and squeeze the spring 36 to deform and generate elastic force, and then with the cooperation of the hinged rod 38, the positioning claw 39 can be pulled toward the surface of the joint module until the multiple sets of positioning blocks 316 are tightly attached to the surface of the joint module.

[0028] In an optional embodiment: a gathering seat 312 is fixed to one side of the surface of the transmission gear ring 315 close to the positioning block 316, the gathering seat 312 is internally rotatably connected with a screw rod 313, the positioning block 316 is threadedly connected to the surface of the screw rod 313, and the gathering seat 312 is internally provided with a movable groove adapted to the positioning block 316, one end of the screw rod 313 passes through the interior of the gathering seat 312 and extends to the outside of the gathering seat 312, and is fixedly connected to a driven gear 314 arranged on the outside of the gathering seat 312, and the driven gear 314 is meshedly connected to the transmission gear ring 315.

[0029] In this embodiment: by starting the positioning motor 318, the driving gear 317 can be driven to drive the transmission gear ring 315 to rotate on the surface of the test frame 1, and then drive multiple sets of driven gears 314 and screw rods 313 to rotate inside the gathering seat 312, which can drive the positioning block 316 to move inside the gathering seat 312 and approach the surface of the joint module until the multiple sets of positioning blocks 316 are close to the surface of the joint module.

[0030] Going further:

[0031] In combination with the above content, in order to highly simulate the movement state of the robot in various actual application scenarios, it also includes a durability test component 4 installed on the surface of the test frame 1, and the durability test component 4 includes a support frame 41 fixed on the surface of the test frame 1 and a drive motor 42 screwed to the surface of the support frame 41 and a push-pull rod 48 arranged on the front side of the support frame 41. The four corners of the push-pull rod 48 are slidably connected with guide wheels 411, and the guide wheels 411 are rotatably connected to the surface of the support frame 41. One end of the push-pull rod 48 is fixed with a push-pull frame 412 with a U-shaped structure, and the end of the push-pull frame 412 is hinged with a fixing sleeve 413.

[0032] In this embodiment: after the positioning of the joint module is completed, the fixing sleeve 413 is fixed to the upper and lower sides of the joint module, and then the driving motor 42 is started, and the driving motor 42 drives the push-pull rod 48 to slide in the opposite direction between the four groups of guide wheels 411, and so on and so forth, thereby driving the push-pull frame 412 to move back and forth, and then driving the two groups of fixing sleeves 413 to move synchronously, thereby truly simulating the actual use of the joint module.

[0033] In an optional embodiment: a worm 43 is fixed to the output end of the driving motor 42, and a worm wheel 44 is meshingly connected to the surface of the worm 43, and a rotating frame 45 is fixedly connected to the inside of the worm wheel 44, and the rotating frame 45 is rotatably connected to the inside of the support frame 41, and two groups of symmetrically arranged push rods 46 are fixed to the surface of the rotating frame 45, and a swing frame 47 is hinged on the side of the support frame 41 surface close to the push rod 46, and a shifting groove is provided at the end of the swinging frame 47, and a shifting rod 49 is slidably connected in the shifting groove, and the shifting rod 49 is fixed to the surface of the push-pull rod 48, and a reset block 410 is screwed to the side of the push-pull rod 48 surface close to the push rod 46.

[0034] In this embodiment: start the drive motor 42, and the drive motor 42 drives the worm 43 to drive the worm wheel 44 and the rotating frame 45 to rotate inside the support frame 41, and then drives the push rod 46 to follow the rotation. When the push rod 46 rotates and rises, it can push the swing frame 47 to rotate on the surface of the support frame 41, and then drive the lever 49 to move, thereby driving the push-pull rod 48 to slide between the four sets of guide wheels 411, and drive the reset block 410 to move synchronously. As the rotating frame 45 and the push rod 46 rotate, they can push the reset block 410 to drive the push-pull rod 48 to slide in the opposite direction between the four sets of guide wheels 411. Figure 4 As shown in the figure, the rotating frame 45 rotates clockwise, and the push rod 46 rotates to the side of the reset block 410. Due to the continuous rotation of the rotating frame 45, the push rod 46 first pushes the reset block 410 forward, and then the push rod 46 disengages from the reset block 410; then, the push rod 46 rotates to the position of the push swing frame 47; under the action of the rotating frame 45, the push rod 46 pushes the push swing frame 47 to rotate; during the rotation of the push swing frame 47, the push-pull rod 48 will be pulled back, so that the reset block 410 will also be pulled back; when the push rod 46 rotates and disengages from the push swing frame 47, it will contact the pulled back reset block 410 again, and push the reset block 410 again to realize the reciprocating motion of the push-pull rod 48.

[0035] The working principle and use process of the present invention are as follows: when it is necessary to test the performance of the joint module of the humanoid robot, the joint module is first placed on the surface of the carrier plate 310. At this time, the gravity exerted on the carrier plate 310 will squeeze the pressure sensor 311 to generate a piezoelectric signal and send it to the control system, which is not shown in the figure. The positioning motor 318 and the loading hydraulic cylinder 31 are automatically started by the control system. By starting the positioning motor 318, the driving gear 317 can be driven to drive the transmission gear ring 315 to rotate on the surface of the test frame 1, thereby driving multiple groups of driven gears 314 and screw rods 313 to rotate inside the gathering seat 312, which can drive the positioning block 316 to move inside the gathering seat 312 and approach the surface of the joint module until the multiple groups of positioning blocks 3 16 is tightly attached to the surface of the joint module, so that the bottom end of the joint module can be fixed. During this period, by starting the loading hydraulic cylinder 31, the lower pressure plate 32 and the pressure seat 35 can be driven to approach the top of the joint module. When the pressure seat 35 contacts the top of the joint module, the movable rod 34 can slide in the movable groove opened in the fixed frame 33, and the squeezing spring 36 is deformed to generate elastic force. Then, with the cooperation of the hinged rod 38, the positioning claw 39 can be pulled toward the surface of the joint module until the multiple groups of positioning blocks 316 are tightly attached to the surface of the joint module, so that the top of the joint module can be fixed. Accurate positioning can ensure that the joint module is always in a predetermined position and posture during the loading and compression test, so that more accurate test data can be obtained.

[0036] After the positioning of the joint module is completed, the fixing sleeve 413 is fixed to the upper and lower sides of the joint module, and then the driving motor 42 is started. The driving motor 42 drives the worm 43 to drive the worm wheel 44 and the rotating frame 45 to rotate inside the support frame 41, thereby driving the push rod 46 to follow the rotation. When the push rod 46 rotates and rises, it can push the swing frame 47 to rotate on the surface of the support frame 41, thereby driving the lever 49 to move, thereby driving the push-pull rod 48 to slide between the four sets of guide wheels 411, and driving the reset block 410 to move synchronously. As the rotating frame 45 and the push rod 46 rotate, the reset block 410 can be pushed to drive the push-pull rod 48 to slide in the opposite direction between the four sets of guide wheels 411. By moving the push-pull frame 412 back and forth, the two sets of fixed sleeves 413 can be driven to move synchronously, thereby simulating the actual use of the joint module. By repeatedly bending the joints of the joint module (the joint module can be composed of joints at both ends), the movement state of the robot in various actual application scenarios can be highly simulated, so as to better understand the performance of the joint module in actual use and ensure its reliable operation in actual work. The performance of the joint module at different bending angles and speeds can be detected, so as to comprehensively evaluate the adaptability of the joint module, detect the durability of the joint module at different speeds, discover possible performance degradation in advance, and provide a reference for product maintenance.

[0037] After completing the durability test of the joint module, the drive motor 42 is started again. By controlling the operation of the drive motor 42, the joint module can be bent into a bending state of a specific angle value, and then the loading hydraulic cylinder 31 is started to drive the lower pressure plate 32 to transfer the load to the joint module through the pressure seat 35. The applied pressure is detected by the pressure sensor 311 to achieve a stable and precisely controllable pressure on the joint module, ensuring that the pressure value is accurate and can better simulate the stress conditions under the actual working state, so as to provide a better support for the joint module.

[0038] The performance testing and optimization of the group can be provided with accurate data support. By adjusting the output pressure of the loading hydraulic cylinder 31, it is ensured that the required pressure can be accurately applied under different test conditions, which greatly improves the accuracy of testing and evaluating the joint module, and provides a strong guarantee for product quality control and improvement. During this period, the positioning of the joint module by the positioning claw 39 and the positioning block 316 can better understand the pressure resistance and stability of the joint module in actual use, and provide accurate data support for the design and optimization of the robot, avoiding the displacement of the joint module during the test, resulting in deviations in the measured pressure, deformation and other data, thereby obtaining accurate performance test data.

[0039] The above description only describes the specific implementation mode of the present invention. Various examples do not limit the essential content of the present invention. After reading the description, ordinary technicians in the relevant technical field can modify or deform the specific implementation modes described above without departing from the essence and scope of the invention.

Claims

1. A humanoid robot joint module performance testing system, comprising a test frame (1) and a top frame (2) fixed on the surface of the test frame (1), characterized in that: It also includes a compression test assembly (3) arranged above the test frame (1); The compression test assembly (3) comprises a loading hydraulic cylinder (31) arranged on the surface of the top frame (2), a lower pressure plate (32) fixed at the output end of the loading hydraulic cylinder (31), and a fixing frame (33) fixed to the lower surface of the lower pressure plate (32); the surface of the fixing frame (33) is hinged with a plurality of groups of positioning claws (39) in a ring array; a bearing plate (310) is arranged directly below the fixing frame (33); a pressure sensor (311) is fixed to the lower surface of the bearing plate (310); a transmission gear ring (315) is rotatably connected between the pressure sensor (311) and the test frame (1); a driving gear (317) is meshedly connected to the surface of the transmission gear ring (315); a positioning motor (318) is screwed to the surface of the test frame (1); the output end of the positioning motor (318) is fixedly connected to the inside of the driving gear (317); positioning blocks (316) are arranged around the bearing plate (310); It also includes a durability test component (4) installed on the surface of the test frame (1), the durability test component (4) includes a support frame (41) fixed on the surface of the test frame (1), a drive motor (42) screwed to the surface of the support frame (41), and a push-pull rod (48) arranged on the front side of the support frame (41), the four corners of the push-pull rod (48) are slidably connected to guide wheels (411), and the guide wheels (411) are rotatably connected to the surface of the support frame (41), one end of the push-pull rod (48) is fixed with a push-pull frame (412) with a U-shaped structure, and the end of the push-pull frame (412) is hinged with a fixing sleeve (413); the joint module is composed of two sections of joints, and the fixing sleeve (413) is fixed to the upper and lower sides of the joint module.

2. The humanoid robot joint module performance testing system according to claim 1, characterized in that: A movable rod (34) is arranged inside the fixing frame (33), a pressure seat (35) is fixed to the bottom end of the movable rod (34), a plurality of groups of springs (36) are fixed between the pressure seat (35) and the fixing frame (33), a blocking ring (37) is fixed to the middle of the lower surface of the fixing frame (33), and a hinged rod (38) is hinged between the pressure seat (35) and the positioning claw (39).

3. The humanoid robot joint module performance testing system according to claim 1, characterized in that: A gathering seat (312) is fixed on one side of the surface of the transmission gear ring (315) close to the positioning block (316); a screw rod (313) is rotatably connected inside the gathering seat (312); the positioning block (316) is threadedly connected to the surface of the screw rod (313); and a movable groove matching the positioning block (316) is provided inside the gathering seat (312).

4. The humanoid robot joint module performance testing system according to claim 3, characterized in that: One end of the screw rod (313) passes through the interior of the gathering seat (312) and extends to the outside of the gathering seat (312), and is fixedly connected to a driven gear (314) arranged on the outside of the gathering seat (312), and the driven gear (314) is meshingly connected to the transmission gear ring (315).

5. The humanoid robot joint module performance testing system according to claim 1, characterized in that: A worm (43) is fixed to the output end of the driving motor (42); a worm wheel (44) is meshingly connected to the surface of the worm (43); a rotating frame (45) is fixedly connected to the inside of the worm wheel (44); and the rotating frame (45) is rotatably connected to the inside of the supporting frame (41).

6. The humanoid robot joint module performance testing system according to claim 5, characterized in that: Two groups of symmetrically arranged push rods (46) are fixed on the surface of the rotating frame (45); a swing frame (47) is hingedly connected to the side of the surface of the supporting frame (41) close to the push rods (46); a shifting groove is provided at the end of the swinging frame (47); a shifting rod (49) is slidably connected in the shifting groove; the shifting rod (49) is fixed to the surface of the push-pull rod (48); a reset block (410) is screwedly connected to the side of the surface of the push-pull rod (48) close to the push rod (46).

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