A testing device and process for a humanoid robot

Abstract

The present invention relates to the technical field of structural testing, and discloses a testing device and process for a humanoid robot, including a workpiece to be tested and a base. The top of the base is fixedly connected with the workpiece to be tested. The top of the base is fixedly connected with an inner ring, and the top of the base is fixedly connected with an outer ring. A testing mechanism is arranged on the top of the base. The testing mechanism includes: an inner ring sliding column, which is slidably connected to the outer wall of the inner ring. The top of the inner ring sliding column is fixedly connected with a receiving block, and one end of a first spring is fixedly connected to the inner wall of the receiving block. For this testing device and process of the humanoid robot, by using the setting of the testing mechanism, when the driving motor rotates, the workpiece to be tested can be subjected to impact testing in a cyclic manner. By rotating the position of the inner ring sliding column on the inner ring, different positions of the workpiece to be tested can be impacted, so that different positions of the workpiece to be tested can be tested without frequently disassembling and repositioning the device.

Description

Technical Field

[0001] The present invention relates to the technical field of structural testing, and specifically to a testing device and process for humanoid robots. Background Art

[0002] Static or dynamic balance testing of humanoid robots can be carried out through impact testing. The specific methods include: First, in dynamic impact testing, an impact hammer or heavy object is used to apply an instantaneous impact to the robot, observe its attitude changes and stability, and record the reaction after the impact through an acceleration sensor; Second, in gait impact testing, an external impact is applied when the robot is walking, monitor its reaction to balance, and use a force sensor and a video system for analysis. Observe its stability after the impact and monitor the reaction through sensors. These testing methods aim to evaluate the impact resistance of the robot, ensure its balance in a dynamic environment, and optimize the design.

[0003] When conducting impact testing on humanoid robots, if the applied impact force basically remains in one direction, this single-direction impact can simplify the testing process. However, in actual applications, robots often face external impacts in multiple directions. Therefore, when it is necessary to change the impact direction, the disassembly, reinstallation, and positioning of the equipment not only take time but also result in a reduction in positioning accuracy. The effectiveness of impact testing depends on the direction and intensity of the applied force. After each reinstallation, due to the existence of minor displacements or angular deviations in the equipment, the height of the impact is also inconsistent, which causes the impact test results at different angles to not be fully comparable, thus affecting the reaction ability and stability of the robotic arm in the real environment. In addition, the stress-strain characteristics and vibration modes of the material will also vary due to different impact directions, further increasing the uncertainty of the test results. Therefore, frequent repositioning of the equipment not only reduces the testing efficiency but also makes the test results deviate from the performance in actual applications, resulting in the failure to fully verify the impact resistance and dynamic balance performance of the robot in a changing environment during the design stage.

[0004] Therefore, a testing device and process for humanoid robots are proposed to solve the above-mentioned problems. Summary of the Invention

[0005] (1) Technical Problems to be Solved

[0006] In view of the deficiencies of the prior art, the present invention provides a testing device and process for humanoid robots, which solves the problem that the impact testing of humanoid robots requires frequent disassembly and repositioning of the equipment when changing the impact direction.

[0007] (2) Technical Solutions

[0008] To achieve the above object, the present invention provides the following technical solution: A testing device for a humanoid robot, including a workpiece to be tested and a base. The top of the base is fixedly connected with the workpiece to be tested. The top of the base is fixedly connected with an inner ring. The top of the base is fixedly connected with an outer ring. A testing mechanism is arranged on the top of the base. The testing mechanism includes: an inner ring sliding column, which is slidably connected to the outer wall of the inner ring. The top of the inner ring sliding column is fixedly connected with a receiving block. One end of a first spring is fixedly connected to the inner wall of the receiving block. The other end of the first spring is fixedly connected to a driving block. One end of a second spring is fixedly connected to the outer wall of the driving block. The other end of the second spring is fixedly connected to an impact block. A ratchet condition is arranged on the inner wall of the receiving block. A clamping member is arranged on the inner wall of the inner ring sliding column. The top of the driving block is fixedly connected with a triangular block. A power mechanism is arranged on the outer wall of the receiving block. The power mechanism includes: a driving motor, a direction bar, a spiral ring member, a sixth spring, a trapezoidal plate, a stabilizing shaft, a transmission shaft, a belt, a vertical rod, an external sleeve, a seventh spring, a long bar, a fixed support member, a cylindrical support member, a cylindrical rod, a first convex block, a second convex block, and a frame member.

[0009] Preferably, both sides of the outer wall of the receiving block are fixedly connected with the fixed support member. The outer wall of the fixed support member is fixedly connected with the housing of the driving motor. The output shaft of the driving motor is fixedly connected with the direction bar. One end of the sixth spring is fixedly connected to the outer wall of the direction bar. The other end of the sixth spring is fixedly connected to the inner wall of the trapezoidal plate. The outer wall of the trapezoidal plate is fixedly connected with the spiral ring member. One side of the trapezoidal plate away from the spiral ring member is fixedly connected with the stabilizing shaft. The transmission shaft is rotatably connected to the inner wall of the fixed support member. The outer wall of the transmission shaft is in belt transmission connection with the output shaft of the driving motor. A vertical rod is arranged on the inner wall of the fixed support member. Both sides of the outer wall of the receiving block are fixedly connected with the cylindrical support member. The outer wall of the transmission shaft is fixedly connected with the cylindrical rod. The cylindrical support member is rotatably connected with the cylindrical rod. The outer wall of the cylindrical rod is fixedly connected with the first convex block. The outer wall of the cylindrical rod is fixedly connected with the second convex block. The surface of the ratchet condition is fixedly connected with the frame member.

[0010] Preferably, a rotation mechanism is provided on the top of the base. The rotation mechanism includes an outer ring sliding column, and an outer ring is slidably connected to the inner wall of the outer ring sliding column. A rack plate is slidably connected to the inner wall of the outer ring sliding column. The outer wall of the rack plate is rotatably connected to the outer wall of a stabilizing shaft. A lower connecting gear is rotatably connected to the inner wall of the outer ring sliding column. A connecting cylinder is fixedly connected to the top of the lower connecting gear. An upper gear member is rotatably connected to the outer wall of the connecting cylinder. Inner ratchet teeth are fixedly connected to the inner wall of the upper gear member. The inner ratchet teeth are arranged in a circumferential array. One end of a spring eight is fixedly connected to the inner wall of the connecting cylinder. The other end of the spring eight is fixedly connected to a ratchet pawl. The outer wall of the ratchet pawl is slidably connected to the inner wall of the connecting cylinder. One end of a fixed connecting rod is fixedly connected to the outer wall of the rack plate. The other end of the fixed connecting rod is fixedly connected to a limiting plate. An inclined surface lifting block is fixedly connected to the outer wall of the limiting plate. A top parallel plate is fixedly connected to the outer wall of the limiting plate. A rotating plate is hinged to the top parallel plate.

[0011] Preferably, a toothed ring is provided on the inner outer wall of the outer ring. The outer wall of the driving block is slidably connected to the inner wall of the receiving block. The outer wall of the impact block is slidably connected to the inner wall of the receiving block.

[0012] Preferably, the ratchet condition includes an inclined rack and a spring three. One end of the inclined rack and the spring three is fixed. The other end of the spring three is fixedly connected to the inner wall of the receiving block. The outer wall of the inclined rack is slidably connected to the inner wall of the receiving block. The cross section of the triangular block is a right triangle.

[0013] Preferably, the clamping member includes a fixing plate. The fixing plate is fixedly connected to the inner wall of the inner ring sliding column. One end of a spring four is fixedly connected to the outer wall of the fixing plate. The other end of the spring four is fixedly connected to a trapezoidal block. A groove is provided at the bottom of the impact block. The trapezoidal block is slidably connected to the inner wall of the inner ring sliding column. One end of a pull rope is fixedly connected to the outer wall of the trapezoidal block. The other end of the pull rope is fixedly connected to the inner wall of the inner ring sliding column. One end of a spring five is fixedly connected to the inner wall of the inner ring sliding column. The other end of the spring five is fixedly connected to an arc-shaped block. The outer wall of the arc-shaped block is slidably connected to the inner wall of the inner ring sliding column. The inner wall of the arc-shaped block is penetrated by the pull rope.

[0014] Preferably, the direction strip is slidably connected to the inner wall of the spiral ring member. The direction strip is slidably connected to the inner wall of the trapezoidal plate. A spiral plate is provided on the surface of the spiral ring member. The outer wall of the stabilizing shaft penetrates through the inner wall of the fixed support member.

[0015] Preferably, the vertical rod includes an outer sleeve, the outer wall of the outer sleeve is fixedly connected to the inner wall of the fixed support, one end of a seventh spring is fixedly connected to the inner wall of the outer sleeve, the other end of the seventh spring is fixedly connected to a long strip rod, the outer wall of the long strip rod is slidably connected to the inner wall of the outer sleeve, the long strip rod is L-shaped, and the surface of the frame member is slidably connected to the inner wall of the receiving block.

[0016] Preferably, the outer wall of the outer ring sliding column is fixedly connected to the outer wall of the receiving block, and a torsion spring is provided between the rotating plate and the top parallel plate.

[0017] A testing process for a humanoid robot includes the following steps:

[0018] Step 1: Fix and install the workpiece to be tested at the central position on the top of the base;

[0019] Step 2: Start the driving motor. The output shaft of the driving motor drives the direction long strip to rotate. The direction long strip drives the spiral ring member and the trapezoidal plate to rotate. The trapezoidal plate first rotates 180° and abuts against the driving block to move towards the impact block. When the driving block drives the triangular block to move towards the impact block, the inclined surface of the triangular block abuts against the inclined rack, causing the inclined rack to reciprocate up and down under the action of the third spring. At this time, the inclined rack cannot hinder the movement of the triangular block. And when the triangular block moves away from the impact block at this time, the straight surface of the triangular block will abut against the inclined rack, and at this time the triangular block cannot move away from the impact block. At this time, the driving block can only move towards the impact block until the trapezoidal plate rotates 180° and no longer abuts against the driving block, causing the driving block to compress the second spring to store energy and stretch the first spring to store energy. At this time, the output shaft of the driving motor drives the transmission shaft to rotate through the belt, and the transmission shaft drives the cylindrical rod to rotate. When the trapezoidal plate rotates 180°, the cylindrical rod will also rotate 180°. At this time, the cylindrical rod drives the first convex block to abut against the arc-shaped block, and the arc-shaped block squeezes the bent pull rope. After the pull rope is bent, it drives the trapezoidal block to move downward. At this time, the trapezoidal block no longer engages with the impact block, and the second spring drives the impact block to impact the workpiece to be tested. Then when the driving motor continues to rotate 90°, the cylindrical rod drives the second convex block to abut against the frame member and move upward. The frame member drives the inclined rack to move upward, and the first spring drives the driving block to move away from the impact block. The driving block drives the second spring and the impact block back to their original positions. In this way, when the driving motor rotates, it can cyclically impact-test the workpiece to be tested. Rotate the position of the inner ring sliding column on the inner ring to impact different positions of the workpiece to be tested.

[0020] Step 3: When the seventh spring drives the bottom of the long strip rod to abut against the surface of the spiral ring member, when the spiral ring member rotates, the spiral plate on the surface of the spiral ring member abuts against the long strip rod, driving the spiral ring member to slowly move away from the driving motor. The spiral ring member drives the trapezoidal plate to rotate while moving away from the driving motor;

[0021] Step 4: The trapezoidal plate moves away from the driving motor. The driving motor drives the stabilizing shaft to move away from the driving motor. The stabilizing shaft drives the rack plate to move away from the driving motor. The rack plate drives the upper gear member to rotate forward. At this time, the upper gear member drives the inner ratchet teeth to rotate forward. At this time, the inner ratchet teeth and the ratchet pawl slip relative to each other. The rack plate drives the fixed connecting rod to move away from the driving motor. The fixed connecting rod drives the inclined surface lifting block to move away from the driving motor until the long bar moves to the end of the spiral ring member, causing the inclined surface of the inclined surface lifting block to abut against the long bar, causing the long bar to move upward to push open the rotating plate. At this time, the long bar does not abut against the spiral ring member. Spring six drives the trapezoidal plate to move towards the driving motor. The trapezoidal plate drives the stabilizing shaft to move towards the driving motor. The stabilizing shaft drives the rack plate to move towards the driving motor. The rack plate drives the upper gear member to rotate in reverse. The upper gear member drives the inner ratchet teeth to rotate in reverse. The inner ratchet teeth drive the ratchet pawl to rotate in reverse. The ratchet pawl drives the connecting cylinder to rotate in reverse. The connecting cylinder drives the lower connecting gear to rotate in reverse. The lower connecting gear rotates on the internal gear ring of the outer ring, driving the outer ring sliding column to rotate on the outer ring, driving the entire device to rotate on the outer ring. The rack plate drives the fixed connecting rod, the limiting plate and the top parallel plate to move towards the driving motor, causing the long bar to move relatively on the top parallel plate, causing the long bar to return to its original position again, and repeating this cycle for testing.

[0022] (3) Beneficial effects

[0023] Compared with the prior art, the present invention provides a testing device and process for a humanoid robot, having the following beneficial effects:

[0024] 1. For the testing device of the humanoid robot, by using the setting of the testing mechanism, the driving motor rotates to perform impact testing on the workpiece to be tested in a cyclic and repetitive manner. By rotating the position of the inner ring sliding column on the inner ring, impacts can be performed on different positions of the workpiece to be tested, so that different positions of the workpiece to be tested can be tested without frequent disassembly and repositioning of the device.

[0025] 2. For the testing device of the humanoid robot, by using the setting of the testing mechanism and the automated operation of the driving motor, the testing process not only improves the efficiency but also effectively reduces human operation errors. Driven by the motor, the precise movement of the trapezoidal plate and the triangular block ensures that the impact block impacts under the specified time and force, simulating the impact conditions that may be encountered in a real scenario, so as to more comprehensively evaluate the impact resistance of the workpiece.

[0026] 3. The testing device for this humanoid robot, with the power mechanism set up, the impact force of the impact block on the workpiece to be tested becomes greater and greater, which can help evaluate the adaptability and tolerance of the robot to impacts of different intensities, ensure that it can handle various extreme situations in actual applications, and at the same time can identify the fatigue limit of materials and potential weaknesses of the structure, thereby providing a basis for optimizing the design and ensuring the stability and safety of the robot in a changing environment.

[0027] 4. The testing device for this humanoid robot, with the rotation mechanism set up, after testing various impact forces at one position, it automatically rotates the impact test position, which can provide impact evaluations from multiple angles and directions. This helps to comprehensively analyze the balance ability and anti-impact performance of the robot in different postures and positions, and ensures that it can handle diverse external impacts in actual applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 FIG. is a schematic structural diagram of the front view of a testing device for a humanoid robot proposed by the present invention;

[0029] Figure 2 FIG. is a schematic structural diagram of the testing mechanism of a testing device for a humanoid robot proposed by the present invention;

[0030] Figure 3 FIG. is a schematic cross-sectional structure diagram of the receiving block of a testing device for a humanoid robot proposed by the present invention;

[0031] Figure 4 A testing device for a humanoid robot proposed by the present invention Figure 3 is an enlarged structural diagram of part A in;

[0032] Figure 5 FIG. is a schematic structural diagram of the clamping part of a testing device for a humanoid robot proposed by the present invention;

[0033] Figure 6 FIG. is a schematic structural diagram of the power mechanism of a testing device for a humanoid robot proposed by the present invention;

[0034] Figure 7 FIG. is a schematic cross-sectional structure diagram of the trapezoidal plate of a testing device for a humanoid robot proposed by the present invention;

[0035] Figure 8 FIG. is a schematic cross-sectional structure diagram of the external housing of a testing device for a humanoid robot proposed by the present invention;

[0036] Figure 9 FIG. is a schematic structural diagram of the first convex block and the second convex block of a testing device for a humanoid robot proposed by the present invention;

[0037] Figure 10Schematic cross-sectional structure diagram of the outer sliding column of a testing device for a humanoid robot proposed by the present invention;

[0038] Figure 11 Schematic cross-sectional structure diagram of the gear member on a testing device for a humanoid robot proposed by the present invention;

[0039] Figure 12 Schematic structure diagram of the pawl of a testing device for a humanoid robot proposed by the present invention;

[0040] Figure 13 Schematic structure diagram of the inclined plane lifting block of a testing device for a humanoid robot proposed by the present invention;

[0041] Figure 14 Schematic detection structure diagram of the arm part of a humanoid robot for a testing device proposed by the present invention.

[0042] In the figure: 1, workpiece to be tested; 2, base; 3, inner ring; 4, outer ring; 5, testing mechanism; 51, inner sliding column; 52, receiving block; 53, first spring; 54, driving block; 55, second spring; 56, impact block; 57, ratchet condition; 571, inclined rack; 572, third spring; 58, clamping member; 581, fixing plate; 582, fourth spring; 583, trapezoidal block; 584, pull rope; 585, fifth spring; 586, arc-shaped block; 59, triangular block; 6, power mechanism; 61, driving motor; 62, direction strip; 63, spiral ring member; 64, sixth spring; 65, trapezoidal plate; 66, stabilizing shaft; 67, transmission shaft; 68, belt; 69, vertical rod; 691, external housing; 692, seventh spring; 693, long strip; 610, fixed support member; 611, cylindrical support member; 612, cylindrical rod; 613, first convex block; 614, second convex block; 615, frame member; 7, self-rotation mechanism; 71, outer sliding column; 72, rack plate; 73, lower connecting gear; 74, connecting cylinder; 75, upper gear member; 76, inner ratchet teeth; 77, pawl; 78, eighth spring; 79, fixed connecting rod; 710, limiting plate; 711, inclined plane lifting block; 712, top parallel plate; 713, rotating plate. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] Please refer to Figures 1-14, A testing device for a humanoid robot, including a workpiece 1 to be tested and a base 2. The top of the base 2 is fixedly connected to the workpiece 1 to be tested. The top of the base 2 is fixedly connected to an inner ring 3, and the top of the base 2 is fixedly connected to an outer ring 4. A testing mechanism 5 is arranged on the top of the base 2. The testing mechanism 5 includes: an inner ring sliding column 51, which is slidably connected to the outer wall of the inner ring 3. The top of the inner ring sliding column 51 is fixedly connected to a receiving block 52. One end of a first spring 53 is fixedly connected to the inner wall of the receiving block 52, and the other end of the first spring 53 is fixedly connected to a driving block 54. One end of a second spring 55 is fixedly connected to the outer wall of the driving block 54, and the other end of the second spring 55 is fixedly connected to an impact block 56. A ratchet condition 57 is arranged on the inner wall of the receiving block 52, and a clamping member 58 is arranged on the inner wall of the inner ring sliding column 51. The top of the driving block 54 is fixedly connected to a triangular block 59; A power mechanism 6 is arranged on the outer wall of the receiving block 52. The power mechanism 6 includes: a driving motor 61, a directional strip 62, a spiral ring member 63, a sixth spring 64, a trapezoidal plate 65, a stabilizing shaft 66, a transmission shaft 67, a belt 68, a vertical rod 69, an external sleeve 691, a seventh spring 692, a long strip rod 693, a fixed support member 610, a cylindrical support member 611, a cylindrical rod 612, a first convex block 613, a second convex block 614, and a frame member 615.

[0045] Both sides of the outer wall of the receiving block 52 are fixedly connected to the fixed support member 610. The outer wall of the fixed support member 610 is fixedly connected to the housing of the driving motor 61. The output shaft of the driving motor 61 is fixedly connected to the directional strip 62. One end of the sixth spring 64 is fixedly connected to the outer wall of the directional strip 62, and the other end of the sixth spring 64 is fixedly connected to the inner wall of the trapezoidal plate 65. The outer wall of the trapezoidal plate 65 is fixedly connected to the spiral ring member 63. One side of the trapezoidal plate 65 away from the spiral ring member 63 is fixedly connected to the stabilizing shaft 66. The transmission shaft 67 is rotatably connected to the inner wall of the fixed support member 610. The outer wall of the transmission shaft 67 is in transmission connection with the output shaft of the driving motor 61 through the belt 68. A vertical rod 69 is arranged on the inner wall of the fixed support member 610. Both sides of the outer wall of the receiving block 52 are fixedly connected to the cylindrical support member 611. The outer wall of the transmission shaft 67 is fixedly connected to the cylindrical rod 612. When the transmission shaft 67 rotates, it drives the cylindrical rod 612. The cylindrical support member 611 is rotatably connected to the cylindrical rod 612, so that the cylindrical rod 612 rotates stably. The outer wall of the cylindrical rod 612 is fixedly connected to the first convex block 613, the outer wall of the cylindrical rod 612 is fixedly connected to the second convex block 614, and the surface of the ratchet condition 57 is fixedly connected to the frame member 615.

[0046] A rotation mechanism 7 is provided at the top of the base 2. The rotation mechanism 7 includes an outer ring sliding column 71. An outer ring 4 is slidably connected to the inner wall of the outer ring sliding column 71. A rack plate 72 is slidably connected to the inner wall of the outer ring sliding column 71. The outer wall of the rack plate 72 is rotatably connected to the outer wall of the stabilizing shaft 66. A lower connecting gear 73 is rotatably connected to the inner wall of the outer ring sliding column 71. A connecting cylinder 74 is fixedly connected to the top of the lower connecting gear 73. An upper gear member 75 is rotatably connected to the outer wall of the connecting cylinder 74. An inner ratchet tooth 76 is fixedly connected to the inner wall of the upper gear member 75. The inner ratchet teeth 76 are installed in a circumferential array. One end of a spring eight 78 is fixedly connected to the inner wall of the connecting cylinder 74. The other end of the spring eight 78 is fixedly connected to a pawl 77. The outer wall of the pawl 77 is slidably connected to the inner wall of the connecting cylinder 74, so that the pawl 77 slides reciprocally stably on the inner wall of the connecting cylinder 74. One end of a fixed connecting rod 79 is fixedly connected to the outer wall of the rack plate 72. The other end of the fixed connecting rod 79 is fixedly connected to a limiting plate 710. An inclined surface lifting block 711 is fixedly connected to the outer wall of the limiting plate 710. A top parallel plate 712 is fixedly connected to the outer wall of the limiting plate 710. A rotating plate 713 is hinged to the top parallel plate 712.

[0047] On the inner outer wall of the outer ring 4, a toothed ring is provided. The outer wall of the driving block 54 is slidably connected to the inner wall of the receiving block 52, so that the driving block 54 can stably perform a reciprocating linear motion on the inner wall of the receiving block 52. The outer wall of the impact block 56 is slidably connected to the inner wall of the receiving block 52, so that the impact block 56 can stably perform a reciprocating linear motion on the inner wall of the receiving block 52. The ratchet condition 57 includes an inclined rack 571 and a third spring 572. One end of the inclined rack 571 and the third spring 572 is fixed, and the other end of the third spring 572 is fixedly connected to the inner wall of the receiving block 52. The outer wall of the inclined rack 571 is slidably connected to the inner wall of the receiving block 52. The cross-section of the triangular block 59 is a right triangle. The inclined rack 571 is clamped with the triangular block 59 downward under the action of the third spring 572. When the driving block 54 drives the triangular block 59 to move in the direction of the impact block 56, the inclined surface of the triangular block 59 abuts against the inclined rack 571, so that the inclined rack 571 reciprocates up and down under the action of the third spring 572. At this time, the inclined rack 571 cannot hinder the movement of the triangular block 59. And when the triangular block 59 moves in the direction away from the impact block 56 at this time, the straight surface of the triangular block 59 will abut against the inclined rack 571. At this time, when the triangular block 59 cannot move in the direction away from the impact block 56, it makes the driving block 54 can only move in the direction of the impact block 56 at this time. The engaging member 58 includes a fixing plate 581. The fixing plate 581 is fixedly connected to the inner wall of the inner ring sliding column 51. One end of a fourth spring 582 is fixedly connected to the outer wall of the fixing plate 581, and the other end of the fourth spring 582 is fixedly connected to a trapezoidal block 583. A groove is provided at the bottom of the impact block 56. The trapezoidal block 583 is initially clamped with the bottom groove of the impact block 56. The trapezoidal block 583 is slidably connected to the inner wall of the inner ring sliding column 51. One end of a pull rope 584 is fixedly connected to the outer wall of the trapezoidal block 583, and the other end of the pull rope 584 is fixedly connected to the inner wall of the inner ring sliding column 51. One end of a fifth spring 585 is fixedly connected to the inner wall of the inner ring sliding column 51, and the other end of the fifth spring 585 is fixedly connected to an arc-shaped block 586. The outer wall of the arc-shaped block 586 is slidably connected to the inner wall of the inner ring sliding column 51. The inner wall of the arc-shaped block 586 is penetrated by the pull rope 584. When the driving block 54 moves in the direction of the impact block 56, the impact block 56 is clamped by the trapezoidal block 583 at this time, so that the second spring 55 is compressed, playing a role of storing energy.

[0048] The direction strip 62 is slidably connected to the inner wall of the spiral ring member 63 and the inner wall of the trapezoidal plate 65, enabling the spiral ring member 63 and the trapezoidal plate 65 to stably slide back and forth on the direction strip 62. A spiral plate is provided on the surface of the spiral ring member 63. The outer wall of the stabilizing shaft 66 passes through and is fixedly supported on the inner wall of the support member 610. The vertical rod member 69 includes an outer sleeve 691. The outer wall of the outer sleeve 691 is fixedly connected to the inner wall of the support member 610. One end of a seventh spring 692 is fixedly connected to the inner wall of the outer sleeve 691, and the other end of the seventh spring 692 is fixedly connected to a long strip rod 693. The outer wall of the long strip rod 693 is slidably connected to the inner wall of the outer sleeve 691, such that under the action of the seventh spring 692, the bottom of the long strip rod 693 abuts against the surface of the spiral ring member 63. When the spiral ring member 63 rotates, the spiral plate on the surface of the spiral ring member 63 will abut against the long strip rod 693, thereby driving the spiral ring member 63 to move away from the drive motor 61. The long strip rod 693 is L-shaped, and the surface of the frame member 615 is slidably connected to the inner wall of the receiving block 52.

[0049] The outer wall of the outer ring sliding column 71 is fixedly connected to the outer wall of the receiving block 52, enabling the entire device to rotate relying on the inner ring 3 and the outer ring 4. The double-rail support improves the stability of the device during rotation. A torsion spring is provided between the rotating plate 713 and the top parallel plate 712.

[0050] A testing process for a humanoid robot includes the following steps:

[0051] Step 1: Fix and install the workpiece 1 to be tested at the central position on the top of the base 2;

[0052] Step 2: Turn on the drive motor 61. The output shaft of the drive motor 61 drives the direction strip 62 to rotate. The direction strip 62 drives the spiral ring 63 and the trapezoidal plate 65 to rotate. The trapezoidal plate 65 first rotates 180° and abuts against the drive block 54, causing it to move towards the impact block 56. When the drive block 54 drives the triangular block 59 to move towards the impact block 56, the inclined surface of the triangular block 59 abuts against the inclined rack 571, causing the inclined rack 571 to reciprocate up and down under the action of the third spring 572. At this time, the inclined rack 571 cannot prevent the triangular block 59 from moving. And when the triangular block 59 moves away from the impact block 56, the straight surface of the triangular block 59 will abut against the inclined rack 571. At this time, the triangular block 59 cannot move away from the impact block 56. At this time, the drive block 54 can only move towards the impact block 56 until the trapezoidal plate 65 rotates 180° and no longer abuts against the drive block 54, causing the drive block 54 to compress the second spring 55 to store energy and stretch the first spring 53 to store energy. At this time, the output shaft of the drive motor 61 drives the transmission shaft 67 to rotate through the belt 68. The transmission shaft 67 drives the cylindrical rod 612 to rotate. When the trapezoidal plate 65 rotates 180°, the cylindrical rod 612 will also rotate 180°. At this time, the cylindrical rod 612 drives the first convex block 613 to abut against the arc-shaped block 586. The arc-shaped block 586 squeezes the bent pull rope 584. After the pull rope 584 is bent, it drives the trapezoidal block 583 to move downward. At this time, the trapezoidal block 583 no longer engages with the impact block 56. The second spring 55 drives the impact block 56 to impact the workpiece 1 to be measured. Then when the drive motor 61 continues to rotate 90°, the cylindrical rod 612 drives the second convex block 614 to abut against the frame member 615 and move it upward. The frame member 615 drives the inclined rack 571 to move upward, causing the inclined rack 571 to no longer engage with the triangular block 59. The first spring 53 drives the drive block 54 to move away from the impact block 56. The drive block 54 drives the second spring 55 and the impact block 56 back to their original positions. In this way, when the drive motor 61 rotates, it can cyclically perform impact tests on the workpiece 1 to be measured. Rotate the position of the inner ring sliding column 51 on the inner ring 3 to impact different positions of the workpiece 1 to be measured, so that different positions of the workpiece 1 to be measured can be tested without frequently disassembling and repositioning the equipment.

[0053] Step 3: The bottom of the long bar 693 is abutted against the surface of the spiral ring part 63 by the spring seven 692. When the spiral ring part 63 rotates, the spiral plate on the surface of the spiral ring part 63 abuts against the long bar 693, driving the spiral ring part 63 to slowly move away from the driving motor 61. While the spiral ring part 63 drives the trapezoidal plate 65 to rotate, it also moves away from the driving motor 61. Since the part of the trapezoidal plate 65 close to the spiral ring part 63 is longer, the distance that the driving block 54 is driven to move when the trapezoidal plate 65 rotates is also getting longer and longer, so that the force accumulated by the spring two 55 each time is also increasing, and the force of the impact block 56 on the workpiece 1 to be measured is also getting larger and larger. This can help evaluate the adaptability and tolerance of the robot to impacts of different intensities, ensure that it can cope with various extreme situations in actual applications, and at the same time can identify the fatigue limit of materials and potential weaknesses of structures, so as to provide a basis for optimizing the design and ensure the stability and safety of the robot in a changing environment;

[0054] Step 4: The trapezoidal plate 65 moves away from the driving motor 61. The driving motor 61 drives the stabilizing shaft 66 to move away from the driving motor 61. The stabilizing shaft 66 drives the rack plate 72 to move away from the driving motor 61. The rack plate 72 drives the upper gear member 75 to rotate forward. At this time, the upper gear member 75 drives the inner ratchet 76 to rotate forward. At this time, the inner ratchet 76 and the pawl 77 slip relative to each other. Therefore, the inner ratchet 76 does not drive the pawl 77 to rotate at this time. The rack plate 72 drives the fixed connecting rod 79 to move away from the driving motor 61. The fixed connecting rod 79 drives the inclined surface lifting block 711 to move away from the driving motor 61 until the long bar 693 moves to the end of the spiral ring member 63, causing the inclined surface of the inclined surface lifting block 711 to abut against the long bar 693, causing the long bar 693 to move upward and push open the rotating plate 713. At this time, the long bar 693 does not abut against the spiral ring member 63. The spring six 64 drives the trapezoidal plate 65 to move towards the driving motor 61. The trapezoidal plate 65 drives the stabilizing shaft 66 to move towards the driving motor 61. The stabilizing shaft 66 drives the rack plate 72 to move towards the driving motor 61. The rack plate 72 drives the upper gear member 75 to rotate reversely. The upper gear member 75 drives the inner ratchet 76 to rotate reversely. The inner ratchet 76 drives the pawl 77 to rotate reversely. The pawl 77 drives the connecting cylinder 74 to rotate reversely. The connecting cylinder 74 drives the lower connecting gear 73 to rotate reversely. The lower connecting gear 73 rotates on the internal gear ring of the outer ring 4, driving the outer ring sliding column 71 to rotate on the outer ring 4, driving the entire device to rotate on the outer ring 4, automatically rotating the position of the impact test, and providing impact assessments from multiple angles and directions. This helps to comprehensively analyze the balance ability and anti-impact performance of the robot in different postures and positions, ensuring that it can cope with diverse external impacts in practical applications; the rack plate 72 drives the fixed connecting rod 79, the limiting plate 710 and the top parallel plate 712 to move towards the driving motor 61, causing the long bar 693 to move relatively on the top parallel plate 712, causing the long bar 693 to return to its original position again, and repeating this cycle for testing.

[0055] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

Claims

1. A testing device for a humanoid robot, comprising a workpiece to be tested (1) and a base (2), characterized in that: The top of the base (2) is fixedly connected to a workpiece to be tested (1), the top of the base (2) is fixedly connected to an inner ring (3), the top of the base (2) is fixedly connected to an outer ring (4), and the top of the base (2) is provided with a testing mechanism (5), the testing mechanism (5) comprising: An inner ring sliding column (51), the inner ring sliding column (51) is slidably connected to the outer wall of the inner ring (3), a receiving block (52) is fixedly connected to the top of the inner ring sliding column (51), one end of a spring 1 (53) is fixedly connected to the inner wall of the receiving block (52), the other end of the spring 1 (53) is fixedly connected to a driving block (54), the outer wall of the driving block (54) is fixedly connected to one end of a spring 2 (55), the other end of the spring 2 (55) is fixedly connected to an impact block (56), a ratchet condition (57) is provided on the inner wall of the receiving block (52), a clamping piece (58) is provided on the inner wall of the inner ring sliding column (51), and a triangular block (59) is fixedly connected to the top of the driving block (54); A power mechanism (6) is arranged on the outer wall of the receiving block (52), and the power mechanism (6) comprises: a driving motor (61), a directional strip (62), a spiral ring (63), a spring six (64), a trapezoidal plate (65), a stabilizing shaft (66), a transmission shaft (67), a belt (68), a vertical rod (69), an external sleeve (691), a spring seven (692), a strip rod (693), a fixed support member (610), a cylindrical support member (611), a cylindrical rod (612), a first protrusion (613), a second protrusion (614), and a frame member (615).

2. A humanoid robot testing device according to claim 1, characterized in that: Both sides of the outer wall of the receiving block (52) are fixedly connected to the fixed support member (610); the outer wall of the fixed support member (610) is fixedly connected to the housing of the driving motor (61); the output shaft of the driving motor (61) is fixedly connected to the direction strip (62); the outer wall of the direction strip (62) is fixedly connected to one end of a spring six (64); the other end of the spring six (64) is fixedly connected to the inner wall of a trapezoidal plate (65); the outer wall of the trapezoidal plate (65) is fixedly connected to the spiral ring member (63); the side of the trapezoidal plate (65) away from the spiral ring member (63) is fixedly connected to a stabilizing shaft (66); the inner wall of the fixed support member (610) is rotatably connected to a transmission shaft (67); the outer wall of the transmission shaft (67) is rotatably connected to the driving motor (61); The output shaft of the motor (61) is connected by a belt (68) for transmission. A vertical rod (69) is provided on the inner wall of the fixed support member (610). Both sides of the outer wall of the receiving block (52) are fixedly connected with cylindrical support members (611). The outer wall of the transmission shaft (67) is fixedly connected with a cylindrical rod (612). When the transmission shaft (67) rotates, the cylindrical rod (612) is driven. The cylindrical support member (611) is rotatably connected to the cylindrical rod (612), so that the cylindrical rod (612) rotates stably. The outer wall of the cylindrical rod (612) is fixedly connected with a first protrusion (613). The outer wall of the cylindrical rod (612) is fixedly connected with a second protrusion (614). The surface of the ratchet condition (57) is fixedly connected with a frame-shaped member (615).

3. A humanoid robot testing device according to claim 2, characterized in that: A self-rotating mechanism (7) is arranged on the top of the base (2), and the self-rotating mechanism (7) comprises an outer ring sliding column (71), the inner wall of the outer ring sliding column (71) is slidably connected to the outer ring ring (4), the inner wall of the outer ring sliding column (71) is slidably connected to the rack plate (72), the outer wall of the rack plate (72) is rotatably connected to the outer wall of the stabilizing shaft (66), the inner wall of the outer ring sliding column (71) is rotatably connected to the lower connecting gear (73), the top of the lower connecting gear (73) is fixedly connected to a connecting cylinder (74), the outer wall of the connecting cylinder (74) is rotatably connected to an upper gear member (75), the inner wall of the upper gear member (75) is fixedly connected to inner ratchet teeth (76), and the inner ratchet teeth (76) are installed in a circular array. One end of a spring eight (78) is fixedly connected to the inner wall of the connecting cylinder (74), and the other end of the spring eight (78) is fixedly connected to a pawl (77). The outer wall of the pawl (77) is slidably connected to the inner wall of the connecting cylinder (74), so that the pawl (77) can stably slide back and forth on the inner wall of the connecting cylinder (74). The outer wall of the rack plate (72) is fixedly connected to one end of a fixed connecting rod (79), and the other end of the fixed connecting rod (79) is fixedly connected to a limiting plate (710). The outer wall of the limiting plate (710) is fixedly connected to an inclined lifting block (711), and the outer wall of the limiting plate (710) is fixedly connected to a top parallel plate (712), and the top parallel plate (712) is hinged to a rotating plate (713).

4. The humanoid robot testing device according to claim 1, characterized in that: The inner outer wall of the outer ring (4) is provided with a gear ring, the outer wall of the driving block (54) is slidably connected to the inner wall of the receiving block (52), so that the driving block (54) can stably reciprocate on the inner wall of the receiving block (52), and the outer wall of the impact block (56) is slidably connected to the inner wall of the receiving block (52), so that the impact block (56) can stably reciprocate on the inner wall of the receiving block (52).

5. The humanoid robot testing device according to claim 1, characterized in that: The ratchet gear (57) comprises an oblique rack (571) and a spring three (572), wherein the oblique rack (571) is fixed to one end of the spring three (572), and the other end of the spring three (572) is fixedly connected to the inner wall of the receiving block (52), and the outer wall of the oblique rack (571) is slidably connected to the inner wall of the receiving block (52). The cross section of the triangular block (59) is a right triangle, and the oblique rack (571) is engaged with the triangular block (59) downward under the action of the spring three (572), and the driving block (54) drives the triangular block (59) toward the impact block ( When the triangular block (59) moves in the direction of the impact block (56), the inclined surface of the triangular block (59) abuts against the inclined rack (571), so that the inclined rack (571) reciprocates up and down under the action of the spring three (572). At this time, the inclined rack (571) cannot hinder the movement of the triangular block (59), and when the triangular block (59) moves in the direction away from the impact block (56), the straight surface of the triangular block (59) abuts against the inclined rack (571). At this time, when the triangular block (59) cannot move in the direction away from the impact block (56), the driving block (54) can only move in the direction of the impact block (56).

6. The humanoid robot testing device according to claim 1, characterized in that: The clamping member (58) comprises a fixing plate (581), wherein the fixing plate (581) is fixedly connected to the inner wall of the inner ring sliding column (51), one end of a spring four (582) is fixedly connected to the outer wall of the fixing plate (581), and the other end of the spring four (582) is fixedly connected to a trapezoidal block (583), a groove is provided at the bottom of the impact block (56), the trapezoidal block (583) is initially clamped with the bottom groove of the impact block (56), the trapezoidal block (583) is slidably connected to the inner wall of the inner ring sliding column (51), and one end of a pull rope (584) is fixedly connected to the outer wall of the trapezoidal block (583). The other end of the pull rope (584) is fixedly connected to the inner wall of the inner ring sliding column (51), and the inner wall of the inner ring sliding column (51) is fixedly connected to one end of the fifth spring (585), and the other end of the fifth spring (585) is fixedly connected to the arc block (586). The outer wall of the arc block (586) is slidably connected to the inner wall of the inner ring sliding column (51), and the inner wall of the arc block (586) is penetrated by the pull rope (584). When the driving block (54) moves in the direction of the impact block (56), the impact block 56 is clamped by the trapezoidal block (583) at this time, so that the second spring (55) is compressed, which plays a role in storing force.

7. A humanoid robot testing device according to claim 2, characterized in that: The directional strip (62) is slidably connected to the inner wall of the spiral ring (63), and the directional strip (62) is slidably connected to the inner wall of the trapezoidal plate (65), so that the spiral ring (63) and the trapezoidal plate (65) can stably slide back and forth on the directional strip (62), a spiral plate is provided on the surface of the spiral ring (63), and the outer wall of the stabilizing shaft (66) penetrates the inner wall of the fixed support (610).

8. The humanoid robot testing device according to claim 2, characterized in that: The vertical rod (69) comprises an external sleeve (691), the outer wall of the external sleeve (691) is fixedly connected to the inner wall of the fixed support (610), one end of a spring (692) is fixedly connected to the inner wall of the external sleeve (691), the other end of the spring (692) is fixedly connected to a long rod (693), the outer wall of the long rod (693) is slidably connected to the inner wall of the external sleeve (691), so that under the action of the spring (692), the bottom of the long rod (693) abuts against the surface of the spiral ring (63), when the spiral ring (63) rotates, the spiral plate on the surface of the spiral ring (63) abuts against the long rod (693), thereby driving the spiral ring (63) to move in a direction away from the drive motor (61), the long rod (693) is L-shaped, and the surface of the frame-shaped member (615) is slidably connected to the inner wall of the receiving block (52).

9. The humanoid robot testing device according to claim 3, characterized in that: The outer wall of the outer ring sliding column (71) is fixedly connected to the outer wall of the receiving block (52), so that the entire device rotates relying on the inner ring 3 and the outer ring 4. The double-track support improves the stability of the device during rotation. A torsion spring is provided between the rotating plate (713) and the top parallel plate (712).

10. A testing process for a humanoid robot, characterized in that: The testing device for a humanoid robot according to any one of claims 1 to 9 further comprises the following steps: Step 1: The workpiece to be measured (1) is fixedly mounted at the center position of the top of the base (2); Step 2: Turn on the drive motor (61), the output shaft of the drive motor (61) drives the direction strip (62) to rotate, the direction strip (62) drives the spiral ring (63) and the trapezoidal plate (65) to rotate, the trapezoidal plate (65) first rotates 180 degrees to contact the drive block (54) and moves in the direction close to the impact block (56), when the drive block (54) drives the triangular block (59) to move in the direction of the impact block (56), the inclined surface of the triangular block (59) contacts the oblique rack (571), so that the oblique rack (571) reciprocates up and down under the action of the spring three (572), and at this time the oblique rack (571) cannot hinder the movement of the triangular block (59). At this time, when the triangular block (59) moves in a direction away from the impact block (56), the straight surface of the triangular block (59) will contact the oblique rack (571), and the triangular block (59) cannot move in a direction away from the impact block (56). At this time, the driving block (54) can only move in the direction of the impact block (56) until the trapezoidal plate (65) rotates 180 degrees and no longer contacts the driving block (54), so that the driving block (54) compresses the spring 2 (55) to store force, and the driving block (54) stretches the spring 1 (53) to store force. At this time, the output shaft of the driving motor (61) drives the transmission shaft (67) to rotate through the belt (68), and the transmission shaft (67) drives the cylindrical rod (6 12) rotates, when the trapezoidal plate (65) rotates 180°, the cylindrical rod (612) also rotates 180°, at which time the cylindrical rod (612) drives the first protrusion (613) to contact the arc-shaped block (586), the arc-shaped block (586) squeezes and bends the drawstring (584), and the drawstring (584) drives the trapezoidal block (583) to move downward after bending. At this time, the trapezoidal block (583) no longer engages the impact block (56), the second spring (55) drives the impact block (56) to impact the workpiece (1) to be measured, and then when the driving motor (61) continues to rotate 90°, the cylindrical rod (612) drives the second protrusion (614) to contact the frame-shaped member (615) to move upward, and the frame The molded part (615) drives the oblique rack (571) to move upward, so that the oblique rack (571) is no longer engaged with the triangular block (59), and the spring 1 (53) drives the driving block (54) to move in a direction away from the impact block (56), and the driving block (54) drives the spring 2 (55) and the impact block (56) to return to their original positions, so that the driving motor (61) can rotate to perform impact tests on the workpiece (1) to be tested in a reciprocating manner, and the position of the inner ring sliding column (51) on the inner ring (3) can be rotated to impact different positions of the workpiece (1) to be tested, so that different positions of the workpiece (1) to be tested can be tested without frequently disassembling and repositioning the equipment; Step 3: The bottom of the long bar (693) is driven by the spring (692) to contact the surface of the spiral ring (63). When the spiral ring (63) rotates, the spiral plate on the surface of the spiral ring (63) contacts the long bar (693), driving the spiral ring (63) to slowly move in a direction away from the drive motor (61). The spiral ring (63) drives the trapezoidal plate (65) to rotate and move in a direction away from the drive motor (61). Since the part of the trapezoidal plate (65) close to the spiral ring (63) is longer, the distance that the driving block (54) is driven to move when the trapezoidal plate (65) rotates is also longer and longer, so that the force accumulated by the spring (55) each time is also more and more, and the force of the impact block 56 on the workpiece (1) to be tested is also greater and greater, which can help evaluate the adaptability and tolerance of the robot to impacts of different intensities, ensuring that it can cope with various extreme situations in practical applications. At the same time, it can identify the fatigue limit of the material and the potential weaknesses of the structure, thereby providing a basis for optimizing the design and ensuring the stability and safety of the robot in a changing environment. Step 4: The trapezoidal plate (65) moves in a direction away from the drive motor (61), and the drive motor (61) drives the stabilizing shaft (66) to move in a direction away from the drive motor (61). The stabilizing shaft (66) drives the rack plate (72) to move in a direction away from the drive motor (61). The rack plate (72) drives the upper gear member (75) to rotate forward. At this time, the upper gear member (75) drives the inner ratchet (76) to rotate forward. At this time, the inner ratchet (76) and the pawl (77) slip against each other. Therefore, at this time, the inner ratchet (76) does not drive the pawl (77) to rotate. The rack plate (72) drives the fixed connecting rod (79) to rotate forward. ) moves in a direction away from the drive motor (61), the fixed connecting rod (79) drives the inclined lifting block (711) to move in a direction away from the drive motor (61), until the long rod (693) moves to the end of the spiral ring (63), so that the inclined surface of the inclined lifting block (711) abuts against the long rod (693), so that the long rod (693) moves upward to push open the rotating plate (713), at this time, the long rod (693) does not abut against the spiral ring (63), the spring six (64) drives the trapezoidal plate (65) to move in the direction of the drive motor (61), and the trapezoidal plate (65) drives the stabilizing shaft (66) ) moves in the direction of the drive motor (61), the stabilizing shaft (66) drives the rack plate (72) to move in the direction of the drive motor (61), the rack plate (72) drives the upper gear member (75) to reverse, the upper gear member (75) drives the inner ratchet (76) to reverse, the inner ratchet (76) drives the pawl (77) to reverse, the pawl (77) drives the connecting cylinder (74) to reverse, the connecting cylinder (74) drives the lower connecting gear (73) to reverse, the lower connecting gear (73) rotates on the inner gear ring of the outer ring (4), drives the outer ring sliding column (71) to rotate on the outer ring (4), and drives the entire device to rotate on the outer ring. The ring (4) rotates to automatically rotate the position of the impact test, thereby providing multi-angle and multi-directional impact assessments, which helps to comprehensively analyze the robot's balance ability and impact resistance in different postures and positions, ensuring that it can cope with a variety of external impacts in practical applications; the rack plate (72) drives the fixed connecting rod (79), the limit plate (710) and the top parallel plate (712) to move in the direction of the drive motor (61), so that the long rod (693) moves relatively on the top parallel plate (712), so that the long rod (693) returns to its original position again, and the test is repeated in this way.

Images