Load performance detection device for six-degree-of-freedom mechanical arm

Abstract

The invention relates to the technical field of mechanical arm performance detection, and particularly provides a six-degree-of-freedom mechanical arm load performance detection device. The device comprises a load frame of a [-shaped frame structure, a plurality of weight blocks with standard weights are horizontally stacked in the load frame side by side, and a side clamping mechanism used for clamping the plurality of weight blocks side by side is assembled on the load frame. The top end of the load frame is fixedly provided with two hanging assemblies which are horizontally and symmetrically distributed, and the bottom of the load frame is provided with a bearing part which is in butt joint fit with the two hanging assemblies; the device provided by the invention can be used as load weights suspended and fixed at an execution end to carry out gravity load performance test on the six-degree-of-freedom mechanical arm, so that eccentric load caused by movement of each load weight in actual test is avoided, adverse interference in test is greatly reduced, the test stability is improved, and in addition, the test efficiency is improved. Through the modular gravity load assembly design, the convenience, standardization and safety of load loading are improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arm performance detection, and specifically proposes a six-degree-of-freedom mechanical arm load performance detection device. Background Art

[0002] A six-degree-of-freedom robot is a robot system that can achieve six independent dimensions of motion on its end effector. These six degrees of freedom usually include three for positioning (linear movement along the X, Y, and Z axes) and three for orientation (rotation around the X, Y, and Z axes). The six-degree-of-freedom configuration enables the robot to flexibly reach almost any position in three-dimensional space and operate tools or objects at the desired angle and posture. It is widely used in various fields of automated operations.

[0003] After the six-degree-of-freedom robotic arm is manufactured, it is necessary to conduct various performance tests, including gravity load tests. The gravity load test can verify the maximum load capacity of the six-degree-of-freedom robotic arm during actual work, verify the displacement positioning accuracy and stability, and provide a basis for safe production use. In the existing testing process, a heavy object is mounted on the execution end of the six-degree-of-freedom robotic arm and the weight of the heavy object is gradually increased to conduct the test, which usually includes static load tests and dynamic load tests. In particular, when performing dynamic load tests, the existing tests have the following problems.

[0004] 1) When testing by gradually increasing the load, the weights are generally not effectively fixed, that is, the weights are independent of each other. During dynamic testing, the weights will move randomly with the movement posture, which in turn affects the stability during the test.

[0005] 2) Since the added load weight is not effectively fixed and can be moved at will, the overall center of gravity of the load is in dynamic change, which increases the impact of the eccentric load on the test.

[0006] 3) Random mounting increases the load gravity, making the load increase non-standard and non-uniform. In addition, the possibility of the load falling during the dynamic test increases, increasing the insecurity during the test. Summary of the invention

[0007] In order to solve the above problems, the present invention provides a six-degree-of-freedom robotic arm load performance detection device, which is used to solve the problems mentioned in the above background technology.

[0008] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme to achieve: a six-degree-of-freedom robotic arm load performance detection device. During detection, the detection device is suspended and fixed on the execution end of the six-degree-of-freedom robotic arm. The device includes a load frame with a U-shaped frame structure. The load frame is used to stack several standard weight blocks horizontally and in parallel. The load frame is equipped with a side clamping mechanism for clamping multiple weight blocks in parallel.

[0009] Two hanging components that are horizontally symmetrically distributed are fixed to the top of the load frame, and a receiving portion that is docked with the two hanging components is provided at the bottom of the load frame; when the two load frames are vertically docked, the lower load frame can be positioned and hung on the receiving portion at the bottom of the upper load frame through the hanging component at the top.

[0010] The side clamping mechanism includes two side clamping plates installed in a load frame for horizontal relative sliding. The load frame is equipped with an adjustment component for adjusting the distance between the two side clamping plates. Under the adjustment of the adjustment component, multiple weight blocks clamped between the two side clamping plates are distributed as a whole in the center position of the load frame.

[0011] Preferably, the load frame includes a bottom plate and two side plates horizontally connected to the bottom plate; the weight block is in sliding contact between the two side plates; the side clamping plate is slidably installed between the two side plates, and the hanging assembly is fixed between the top ends of the two side plates.

[0012] Preferably, the two side panels are correspondingly installed with the adjustment components, a vertical slide rail is centrally arranged on the side panel, and horizontal guide holes are symmetrically opened on the side panels on both sides of the vertical slide rail, and the two horizontal guide holes are matched with the two side clamping plates in a one-to-one correspondence; slider pins are symmetrically fixed on both sides of the side clamping plates, and the side clamping plates are slidably installed on the two horizontal guide holes in relative positions on the two side panels through two slider pins that pass through them in a one-to-one correspondence; the adjustment component includes a sliding hinge seat slidably installed on the vertical slide rail, and two connecting rods are hinged on the sliding hinge seat, and the other ends of the two connecting rods are hinged on the two slider pins on the same side in a one-to-one correspondence; the sliding hinge seat is also equipped with a locking component that is locked with the vertical slide rail.

[0013] Preferably, the hanging assembly includes a guide seat fixed between the top ends of the two side plates, a guide rod is horizontally slidably mounted on the guide seat, a hanging frame hung with the receiving part is fixed to the end of the guide rod, and a reset spring is connected between the hanging frame and the guide seat.

[0014] Preferably, the guide seat includes a horizontal plate fixed horizontally between the top ends of the two side plates, and a guide rod sleeve slidingly matched with the guide rod is fixed on the horizontal plate; a hanging plug plate is horizontally fixed on the hanging frame; the receiving part includes a ground block fixed to the bottom end of the base plate, a hanging groove for the hanging plug plate to be plugged in is provided between the ground block and the base plate, and a positioning groove snap-fitted with the guide rod sleeve is provided at the bottom end of the ground block.

[0015] Preferably, a pressure plate cavity is provided on the end surface of the sliding hinge seat facing the vertical slide rail; the locking assembly includes a screw threadedly rotatably connected to the sliding hinge seat and a pressure plate fixed at one end of the screw, the pressure plate is circular, and the pressure plate slides in cooperation with the pressure plate cavity.

[0016] Preferably, the vertical slide rail has a rectangular plug hole extending vertically downward from the top, the pressure plate and the rectangular plug hole are centrally arranged relative to the vertical slide rail, and the diameter of the pressure plate is larger than the horizontal width of the rectangular plug hole; the weight block can pass through the rectangular plug hole and be inserted into the load frame.

[0017] Preferably, two hanging rings are fixed on the outer side wall of the side plate, and the two hanging rings are horizontally symmetrically distributed on both sides of the vertical slide rail.

[0018] The above technical scheme has the following advantages or beneficial effects: The present invention provides a six-degree-of-freedom robotic arm load performance detection device, which can be used as a load weight suspended and fixed at the execution end to perform a gravity load performance test on the six-degree-of-freedom robotic arm. A load frame is provided on which standard weight blocks can be gradually placed, and a side clamp mechanism for fixing multiple weight blocks in parallel is installed on the load frame. The position can be locked after each load increase, so that the load constitutes a fixed whole and the overall load is in a centered state, avoiding the movement of each load weight to form an eccentric load during actual testing, greatly reducing adverse interference during testing, and improving the stability of the test. In addition, the load frames can be vertically positioned and hung to meet the loading requirements of gradually increasing load gravity. Through the modular gravity load assembly design, the convenience, standardization and safety of load loading are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention and its features, configurations and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts throughout the drawings, which are not drawn to scale, with emphasis on illustrating the subject matter of the present invention.

[0020] Figure 1 It is a three-dimensional structural schematic diagram of a six-degree-of-freedom mechanical arm load performance detection device provided by the present invention.

[0021] Figure 2It is a top view of a six-degree-of-freedom mechanical arm load performance detection device provided by the present invention.

[0022] Figure 3 It is a three-dimensional structural diagram of the fixed assembly of the load frame and two guide seats.

[0023] Figure 4 It is a three-dimensional structure diagram of the weight block.

[0024] Figure 5 It is a three-dimensional structural diagram of the side clamping mechanism.

[0025] Figure 6 It is a docking state diagram of two devices in a vertically suspended docking state.

[0026] In the figure: 1. load frame; 11. bottom plate; 12. side plate; 121. vertical slide rail; 122. rectangular plug hole; 123. horizontal guide hole; 124. hanging ring; 13. anchor block; 131. hanging groove; 132. positioning groove; 2. weight block; 3. side clamping mechanism; 31. side clamping plate; 311. slider pin; 32. adjustment assembly; 321. sliding hinge seat; 3211. pressure plate cavity; 322. connecting rod; 323. locking assembly; 3231. screw rod; 3232. pressure plate; 4. hanging assembly; 41. guide seat; 411. cross plate; 412. guide rod sleeve; 42. guide rod; 43. hanging frame; 431. hanging plug plate; 432. hand plate; 44. reset spring. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] A six-degree-of-freedom mechanical arm load performance detection device, the detection device provided by the present invention is used to perform load performance detection on the six-degree-of-freedom mechanical arm, and the detection device is used as a heavy load in actual detection. During detection, the detection device is suspended and fixed on the execution end of the six-degree-of-freedom mechanical arm, and is used for static load testing and dynamic load testing. Figure 1 and Figure 3As shown, the detection device includes a load frame 1 with a U-shaped frame structure. The load frame 1 serves as the main structure of the device and is a plastic frame formed by integral injection molding. Due to the properties of its material, the load frame 1 has advantages such as anti-drop, corrosion resistance, and wear resistance, making it easy to store and use for a long time. This load frame 1 includes a bottom plate 11 and two side plates 12 integrally formed horizontally and oppositely on the bottom plate 11. A vertical slide rail 121 is centrally arranged on the side plate 12, and the lower end of the vertical slide rail 121 is closed. Two hanging rings 124 are fixed to the outer side wall of the side plate 12 by screws, and the two hanging rings 124 are horizontally symmetrically distributed on both sides of the vertical slide rail 121. Equal-length metal suspension rods can be hooked on the four hanging rings 124 of the load frame 1, and the four metal suspension rods can be hinged to the same hinge block. During detection, the hinge block can be butt-jointed and fixed to the execution end of the six-degree-of-freedom robotic arm to achieve the suspension and fixation of the heavy object load.

[0030] As Figure 1 and Figure 4 shown, several standard-weight weight blocks 2 are horizontally arranged side by side in the load frame 1. In this embodiment, the weight blocks 2 are square blocks made of stainless steel and have a rated standard weight. When the weight blocks 2 are placed in the load frame 1, the weight blocks 2 are in sliding contact between the two side plates 12. Therefore, the two side plates 12 have a lateral limiting effect on the weight blocks 2. During actual detection, the weight blocks 2 will be placed one by one according to the needs of the detection process to increase the overall gravity of the load end. Using standard-weight weight blocks 2 to gradually increase the load is more conducive to detecting and verifying the variation law of various data of the six-degree-of-freedom robotic arm with the increase of the gravity load during the gravity load test.

[0031] To avoid the random movement of the weight blocks 2 during dynamic load testing and the generation of a large eccentric load due to the movement, which may affect the final test results. Therefore, as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the load frame 1 is equipped with a side clamping mechanism 3 for clamping a plurality of weight blocks 2 in parallel. The side clamping mechanism 3 includes two side clamping plates 31 horizontally and relatively slidably installed in the load frame 1. The load frame 1 is equipped with an adjustment component 32 for adjusting the distance between the two side clamping plates 31. The two adjustment components 32 are installed on the two side plates 12 in a one-to-one correspondence. The side plates 12 are symmetrically provided with horizontal guide holes 123 on both sides of the vertical slide rail 121. The two horizontal guide holes 123 are matched with the two side clamping plates 31 in a one-to-one correspondence. The side clamping plates 31 are also made of plastic material. Sliding block pins 31 are symmetrically fixed on both sides of the side clamping plates 31 by screws. 1, the side clamping plate 31 is slidably installed on two horizontal guide holes 123 at relative positions on the two side plates 12 through two slider pins 311 correspondingly one by one; the adjustment component 32 includes a sliding hinge seat 321 slidably installed on the vertical slide rail 121, and two connecting rods 322 are hinged on the sliding hinge seat 321, and the other ends of the two connecting rods 322 are hinged on the two slider pins 311 located on the same side one by one; the sliding hinge seat 321 is also equipped with a locking component 323 that is locked with the vertical slide rail 121. During the inspection, in order to facilitate the placement of the weight block 2 into the load frame 1, a rectangular plug hole 122 is provided on the vertical slide rail 121 vertically downward from the top, and a certain distance is reserved between the lower end of the rectangular plug hole 122 and the bottom plate 11 to ensure that the side plate 12 is located below the rectangular plug hole 122 to limit the weight block 2. The horizontal width of the rectangular plug hole 122 is greater than the thickness of the weight block 2, and the weight block 2 can pass through the rectangular plug hole 122 and be inserted into the load frame 1; a pressure plate cavity 3211 is provided on the end surface of the sliding hinge seat 321 facing the vertical slide rail 121; the locking assembly 323 includes a screw rod 3231 threadedly rotatably connected to the sliding hinge seat 321 and a pressure plate 3231 welded to one end of the screw rod 3231. 32, the pressure plate 3232 is circular, the pressure plate 3232 and the pressure plate cavity 3211 are slidably matched, and the pressing surface of the pressure plate 3232 is roughened; the pressure plate 3232 and the rectangular plug hole 122 are both arranged centrally relative to the vertical slide rail 121, and the diameter of the pressure plate 3232 is larger than the horizontal width of the rectangular plug hole 122; when the required number of weight blocks 2 are placed in the load frame 1, the entire row of weight blocks 2 can be clamped by two side clamps 31, and by turning the screw 3231, the pressure plate 3232 is pressed against the side wall of the vertical slide rail 121, and the relative fixation between the sliding hinge seat 321 and the vertical slide rail 121 is achieved by friction, so that the tension state of the opposite side clamp 31 is maintained by the connecting rod 322. After being clamped by the side clamping mechanism 3, on the one hand, the entire row of weight blocks 2 is confined between the two side plates 12, and on the other hand, it is clamped between the two side clamping plates 31. Therefore, multiple weight blocks 2 are fixedly placed in the load frame 1 and are located in the center of the load frame 1 as a whole, thereby avoiding the deviation of the weight blocks 2 during dynamic testing, ensuring the stability of the test, and basically eliminating the influence of eccentric load on the test.

[0032] It should be added that, when the relative distance between the two side clamping plates 31 is adjusted to the minimum, the distance is smaller than the thickness of a single weight block 2 , so a single inserted weight block can also be clamped in the center.

[0033] like Figure 1 , Figure 2 , Figure 3 and Figure 6 As shown, since a single load frame 1 can only hold a certain number of weight blocks 2, when a single load frame 1 fully loaded with weight blocks 2 cannot meet the load gravity requirement of the actual test, the device provided by the present invention can be vertically suspended and assembled in sequence to increase the test load; two horizontally symmetrically distributed hanging components 4 are fixed to the top of the load frame 1, and a receiving portion that docks with the two hanging components 4 is provided at the bottom of the load frame 1; when the two load frames 1 are vertically docked, the lower load frame 1 can be positioned and hung on the receiving portion at the bottom of the upper load frame 1 through the top hanging component 4. The hanging assembly 4 includes a guide seat 41, which includes a horizontal plate 411 fixed horizontally between the top ends of the two side plates 12 by screws, and two guide rod sleeves 412 are welded on the horizontal plate 411; the two guide rod sleeves 412 are both horizontally slidably mounted with guide rods 42, and the guide rods 42 are axially along the sliding direction of the side clamping plate 31. A hanging frame 43 is fixed between the ends of the two guide rods 42 away from the vertical slide rail 121 by screws, and a reset spring 44 is sleeved on the guide rod 42, and the two ends of the reset spring 44 are respectively fixed to the guide rod The sleeve 412 and the hanging frame 43, a hanging plug plate 431 is horizontally welded on the hanging frame 43. In order to facilitate the hand-held load frame 1 during testing and to facilitate the horizontal pulling of the hanging frame 43, a hand-held plate 432 is also welded on the hanging frame 43; the receiving part includes a ground block 13 integrally formed and fixed to the bottom end of the base plate 11, and a hanging groove 131 for the hanging plug plate 431 to be plugged in is provided between the ground block 13 and the base plate 11, and a positioning groove 132 for clamping and cooperating with the guide rod sleeve 412 is provided at the bottom end of the ground block 13.

[0034] When performing suspension docking of multiple load frames 1, the load frame 1 without the weight block 2 is lifted to the bottom of the load frame 1 fully loaded with the weight block 2 by carrying two hand plates 432, and the two hanging frames 43 on the lifted load frame 1 are simultaneously pulled apart, so that the suspended load frame 1 is placed between the two hanging frames 43 of the lifted load frame 1, so that the positioning groove 132 at the bottom of the upper load frame 1 is snapped onto the guide rod sleeve 412 on the lower load frame 1, and then, the hanging plug plates 431 on the two hanging frames 43 are plugged into the hanging groove 131, thereby completing the suspension docking, the plug-in cooperation of the two hanging plug plates 431 and the hanging groove 131, and the snap-in cooperation between the guide rod sleeve 412 and the positioning groove 132, realize the horizontal and vertical positioning of the upper and lower load frames 1, so that the docked device is directly below the upper device.

[0035] It should be noted that, in order to facilitate real-time acquisition of test values, the six-degree-of-freedom robotic arm used for testing is equipped with a tester or sensor for testing gravity, torque, displacement, speed and other parameters by default. The corresponding sensor can be specifically installed at the execution end of the robotic arm and at each joint of the robotic arm; before the test, the test instrument is calibrated and the mechanical state of the tested robotic arm is checked to ensure that the robotic arm is in good working condition before the test. The tested six-degree-of-freedom robotic arm itself has corresponding design parameters, and its design parameters can be obtained through digital simulation testing; the detection device provided by the present invention is intended to perform actual gravity load testing to verify the actual load performance and load stability of the six-degree-of-freedom robotic arm.

[0036] No matter it is a static load test or a dynamic load test, the test load weight needs to be gradually increased during the test. When only a single load frame 1 is required, the test load weight can be changed by placing a corresponding weight block 2 in the single load frame 1, and the weight block 2 can be directly placed in the load frame 1; when multiple load frames 1 are required, a corresponding number of load frames 1 can be hung and docked, and a corresponding weight block 2 can be placed in the bottom load frame 1 to reach the maximum design load. In the process of gradually increasing the test load weight, when placing a weight block 2 into a load frame 1 that is not located at the top, the weight block 2 can be inserted into the load frame through the rectangular plug hole 122.

[0037] When conducting a static load test, the detection device provided by the present invention is hung and fixed at the execution end of the six-degree-of-freedom robotic arm, and the load weight is gradually increased from a smaller weight to the maximum design load. Under different load weights, the posture of the six-degree-of-freedom robotic arm is changed multiple times and stays in each posture for a certain period of time to observe the overall state of the six-degree-of-freedom robotic arm under the corresponding load and in the corresponding posture, and to verify the ability of each joint and the execution end to withstand the corresponding load.

[0038] When conducting dynamic load tests, the load weight is also gradually increased from a smaller one to the maximum design load. Under different load weights, displacement is performed according to the same set motion path. Under different loads, the actual movement status of the six-degree-of-freedom robotic arm is recorded to verify the corresponding speed, displacement speed, displacement accuracy and motion stability of each joint and the actuator.

[0039] Through the comprehensive feedback of test data, it is shown that the six-degree-of-freedom robotic arm is in static and dynamic working states under different gravity loads to verify its execution accuracy, stability and reliability.

[0040] The present invention provides a six-degree-of-freedom mechanical arm load performance detection device, which can be used as a load weight suspended and fixed on the execution end to perform a gravity load performance test on the six-degree-of-freedom mechanical arm. A load frame 1 is provided on which standard weight blocks 2 can be gradually placed, and a side clamp mechanism 3 for fixing multiple weight blocks 2 in parallel is installed on the load frame 1. The position can be locked after each load increase, so that the load constitutes a fixed whole, and the overall load is in a centered state, avoiding the movement of each load weight to form an eccentric load during actual testing, greatly reducing adverse interference during testing, and improving the stability of the test. In addition, the load frames 1 can be vertically positioned and hung to meet the loading requirements of gradually increasing load gravity. Through the modular gravity load assembly design, the convenience, standardization and safety of load loading are improved.

[0041] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0042] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0043] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can make many possible changes and modifications without departing from the technical solution of the present invention, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A six-degree-of-freedom mechanical arm load performance detection device, suspended and fixed at the execution end of the six-degree-of-freedom mechanical arm, characterized in that: The device includes a load frame (1) in a C-shaped frame structure. Inside the load frame (1), several standard-weight weight blocks (2) are horizontally stacked side by side. A side clamping mechanism (3) for clamping multiple weight blocks (2) side by side is assembled on the load frame (1). Two horizontally symmetrically distributed hanging components (4) are fixed at the top of the load frame (1). A receiving portion for docking and cooperating with the two hanging components (4) is provided at the bottom of the load frame (1). When two load frames (1) are vertically docked, the lower load frame (1) can be positioned and hung on the receiving portion at the bottom of the upper load frame (1) through the hanging components (4) at the top. The side clamping mechanism (3) includes two side clamping plates (31) horizontally and relatively slidably installed inside the load frame (1). An adjusting component (32) for adjusting the distance between the two side clamping plates (31) is assembled on the load frame (1). Under the adjustment of the adjusting component (32), multiple weight blocks (2) clamped between the two side clamping plates (31) are integrally distributed at the central position of the load frame (1).

2. A six-degree-of-freedom mechanical arm load performance detection device according to claim 1, characterized in that: The load frame (1) includes a bottom plate (11) and two side plates (12) horizontally and relatively connected to the bottom plate (11). The weight blocks (2) are in sliding contact between the two side plates (12). The side clamping plates (31) are slidably installed between the two side plates (12), and the hanging components (4) are fixed between the tops of the two side plates (12).

3. A six-degree-of-freedom mechanical arm load performance detection device according to claim 2, characterized in that: The adjusting component (32) is correspondingly installed on both of the two side plates (12). A vertical slide rail (121) is centrally provided on the side plate (12). Horizontal guide holes (123) are symmetrically opened on both sides of the vertical slide rail (121) on the side plate (12). The two horizontal guide holes (123) are in one-to-one correspondence and cooperation with the two side clamping plates (31). Slider pins (311) are symmetrically fixed on both sides of the side clamping plate (31). The side clamping plate (31) is slidably installed on the two horizontal guide holes (123) at the relative positions on the two side plates (12) through the two slider pins (311) in one-to-one correspondence. The adjusting component (32) includes a sliding hinge seat (321) slidably installed on the vertical slide rail (121). Two connecting rods (322) are hinged on the sliding hinge seat (321). The other ends of the two connecting rods (322) are correspondingly hinged on the two slider pins (311) on the same side. A locking component (323) for locking with the vertical slide rail (121) is also assembled on the sliding hinge seat (321).

4. A six-degree-of-freedom mechanical arm load performance detection device according to claim 2, characterized in that: The hanging component (4) includes a guide seat (41) fixed between the tops of the two side plates (12). A guide rod (42) is horizontally slidably installed on the guide seat (41). A hanging frame (43) for hanging with the receiving portion is fixed at the end of the guide rod (42). A return spring (44) is connected between the hanging frame (43) and the guide seat (41).

5. A six-degree-of-freedom mechanical arm load performance detection device according to claim 4, characterized in that: The guide seat (41) comprises a horizontal plate (411) fixed horizontally between the top ends of the two side plates (12), a guide rod sleeve (412) slidably matched with the guide rod (42) being fixed on the horizontal plate (411); a hanging plug plate (431) is fixed horizontally on the hanging frame (43); the receiving portion comprises a foot block (13) fixed at the bottom end of the bottom plate (11), a hanging groove (131) for the hanging plug plate (431) to be plugged in is provided between the foot block (13) and the bottom plate (11), and a positioning groove (132) for snap-fitting with the guide rod sleeve (412) is provided at the bottom end of the foot block (13).

6. A six-degree-of-freedom mechanical arm load performance detection device according to claim 3, characterized in that: A pressure plate cavity (3211) is provided on the end surface of the sliding hinge seat (321) facing the vertical slide rail (121); the locking assembly (323) comprises a screw rod (3231) rotatably connected to the sliding hinge seat (321) and a pressure plate (3232) fixed to one end of the screw rod (3231); the pressure plate (3232) is circular and slidably cooperates with the pressure plate cavity (3211).

7. A six-degree-of-freedom mechanical arm load performance detection device according to claim 6, characterized in that: The vertical slide rail (121) is provided with a rectangular plug hole (122) extending vertically downward from the top; the pressure plate (3232) and the rectangular plug hole (122) are both arranged centrally relative to the vertical slide rail (121); and the diameter of the pressure plate (3232) is greater than the horizontal width of the rectangular plug hole (122); the weight block (2) can pass through the rectangular plug hole (122) and be inserted into the load frame (1).

8. The six-degree-of-freedom mechanical arm load performance detection device according to claim 3, characterized in that: Two hanging rings (124) are fixed on the outer side wall of the side plate (12), and the two hanging rings (124) are horizontally symmetrically distributed on both sides of the vertical slide rail (121).

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