A testing device for robot joint performance

Abstract

The present invention relates to the field of robot joint technology, and specifically discloses a testing device for robot joint performance, comprising a base, two vertical plates installed at the center of the top of the base, a clamping mechanism provided between the two vertical plates, a mobile column connected to the top of the base via two first electric telescopic rods, a mobile frame provided between the two mobile columns, a plurality of counterweights provided inside the mobile frame, a pushing mechanism provided at the top of the mobile frame, a connecting frame provided at the bottom of the mobile frame, an elastic sealing cover provided between the mobile frame and the connecting frame, and a driving mechanism provided at the bottom of the mobile frame. In this invention, through the provided pushing mechanism, a plurality of counterweights can be automatically installed on the top of the two second mounting plates in sequence, which facilitates the testing of loads of different weights at the rotating end of the robot joint, avoids manual disassembly and assembly of a plurality of counterweights, and can meet people's demand for rapid testing of the performance of large quantities of robot joints.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joints, and in particular to a testing device for robot joint performance. Background Art

[0002] Robotic joints are a key component of a robot's mechanical structure. They connect the robot's various components, enabling various movements and posture changes. They are the foundation for a robot's flexible manipulation and motion capabilities. Depending on the form of movement and function, robot joints can be categorized as revolute joints, mobile joints, ball joints, and Hooke's joints. Revolute joints are one of the most common joint types in robots, widely used in areas such as the robot's arms and waist.

[0003] Since the robot's rotary joint needs to have the function of rotation, it is necessary to test the output torque of the joint under different loads to verify whether it meets the design specifications; when performing load testing on the rotating end of the joint, the staff is required to manually disassemble and assemble the counterweight blocks of different weights to the rotating end of the joint in turn to ensure that the test data is highly accurate. However, manual disassembly and assembly of multiple configuration blocks is labor-intensive and cumbersome. When multiple robot joints need to be tested, the test efficiency will be affected, and it cannot meet people's demand for rapid performance testing of large quantities of robot joints. Summary of the Invention

[0004] In view of the defects in the prior art, the present invention provides a testing device for robot joint performance.

[0005] A testing device for robot joint performance includes a base, two vertical plates are installed at the center of the top of the base, a clamping mechanism for clamping and fixing the robot joint to be tested is provided between the two vertical plates, the top of the base is connected to a moving column through two first electric telescopic rods, a moving frame is provided between the two moving columns, a plurality of counterweights are provided inside the moving frame, a pushing mechanism for pushing the counterweights downward is provided on the top of the moving frame, a connecting frame is provided at the bottom of the moving frame, an elastic sealing cover is installed between the moving frame and the connecting frame, and a driving mechanism for driving the elastic sealing cover to extend downward is installed at the bottom of the moving frame.

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

[0007] Optionally, a first mounting plate is installed on the top of the robot joint through multiple bolt threads, and the outer walls on both sides of the first mounting plate are connected to the second mounting plate through two third electric telescopic rods. The tops of the two second mounting plates are provided with placement grooves that are compatible with the bottom end of the counterweight block, and the surfaces of the two second electric telescopic rods and the third electric telescopic rod are respectively covered with a first elastic protective cover and a second elastic protective cover.

[0008] Optionally, screw rods are rotatably mounted inside the two moving columns, moving blocks are threadedly mounted on the outer walls of the two screw rods, and the moving frame is rotatably mounted between the two moving blocks.

[0009] Optionally, three rectangular grooves are opened inside the movable frame, and multiple counterweights are placed on the top of one of the rectangular grooves located in the middle position. Three discharge ports are opened inside one of the rectangular grooves, and two sealing plates are rotatably installed inside the three discharge ports.

[0010] Optionally, the pushing mechanism includes two first sliding grooves opened on the outer walls on both sides of the moving frame, a first slider is installed inside the two first sliding grooves, a first moving rod is installed on the end of the two first sliders away from the first sliding groove, a second sliding groove is opened on the outer wall on the side where the two first moving rods are close to each other, and a second slider is installed inside the two second sliding grooves.

[0011] Optionally, a second movable rod is installed at one end of the two second sliding blocks away from the second slide groove, a first double-headed screw is rotatably installed inside the two second movable rods, two first movable seats are threadedly installed on the outer walls of the two first double-headed screws, and push plates are rotatably installed at the bottom ends of the two first movable seats.

[0012] Optionally, the driving mechanism includes two rotating plates rotatably installed at the bottom end of the movable frame, a second double-headed screw is rotatably installed inside the two rotating plates, a second movable seat is threadedly installed on the outer walls of the two second double-headed screws, and a first rotating block is rotatably installed inside the two second movable seats.

[0013] Optionally, a rectangular plate is provided below the two rotating plates, a blocking block is installed on one side outer wall of the two rectangular plates, two second rotating blocks are rotatably installed on the top of the two rectangular plates, the two first rotating blocks are connected to the second rotating blocks close to them through a fourth electric telescopic rod, and the surfaces of the two fourth electric telescopic rods are covered with a third elastic protective cover.

[0014] Optionally, the bottom ends of the two rectangular plates are magnetically fixed to the connecting frame through a preset first electromagnet, a connecting groove adapted to the connecting frame is provided on the top of the base, electric push rods are installed on the outer walls on both sides of the connecting frame, and the telescopic ends of the two electric push rods are installed with second clamps for clamping and fixing the robot joints.

[0015] The beneficial effects of the present invention are embodied in:

[0016] 1. In this invention, through the setting of the pushing mechanism, multiple counterweights of different weights can be automatically installed on the top of the two second mounting plates in turn, which is convenient for testing loads of different weights at the rotating end of the robot joint, avoiding manual disassembly and assembly of multiple counterweights, and can meet people's needs for rapid testing of the performance of large quantities of robot joints.

[0017] 2. In this invention, after the load test of different weights on the rotating end of the robot joint, the fallen counterweight block can be manually or a preset manipulator to replace it on the top of the moving frame, and the push plates of the two pushing mechanisms are respectively clamped and limited on both sides of the corresponding counterweight block, and the two first sliders are controlled in turn to move toward the center position inside the corresponding first slide groove, so as to push the corresponding counterweight block to fall downward from the middle discharge port and collide with the rotating end of the robot joint, so as to test whether the robot joint has the ability to resist impact interference during operation.

[0018] 3. In this invention, since an elastic sealing cover is provided between the movable frame and the connecting frame, before the above-mentioned test of the anti-impact interference capability of the robot joint by means of the downward falling counterweight, the elastic sealing cover can be driven to unfold by means of the mutual cooperation between multiple components of the driving mechanism to shield and protect the top of the base, so that when the counterweight falls downward and collides with the surface of the robot joint, the scattered counterweight can be limited to avoid falling from the top of the base to other areas, thereby improving the protection of the personal safety of relevant personnel around.

[0019] 4. In this invention, after the connecting frame is connected to the connecting groove, the telescopic ends of the two electric push rods are controlled to extend together, driving the two second clamping plates to further clamp and limit the bottom end of the robot joint. On the one hand, it can improve the stability of the robot joint during the impact interference test, and on the other hand, it can improve the limiting and fixing effect of the bottom end of the connecting frame, ensuring that the stability of the connecting frame is not affected during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0021] Figure 1 This is a schematic diagram of the overall structure of a testing device for robot joint performance proposed by the present invention;

[0022] Figure 2Schematic diagram of the structure of the two screw rods, the second electric telescopic rod and the third electric telescopic rod in the present invention;

[0023] Figure 3 It is a structural diagram of the mobile frame in the present invention;

[0024] Figure 4 It is a cross-sectional view of the structure of the elastic sealing cover in the present invention;

[0025] Figure 5 It is a structural schematic diagram of multiple blocking plates and rectangular grooves in the present invention;

[0026] Figure 6 for Figure 5 Structural diagram from another angle;

[0027] Figure 7 Schematic diagram of the structure of the driving mechanism of the present invention;

[0028] Figure 8 It is a structural diagram of the connection frame in the present invention;

[0029] Figure 9 It is a structural schematic diagram of the pushing mechanism in the present invention.

[0030] In the accompanying drawings, 1 is a base; 2 is a first electric telescopic rod; 3 is a moving column; 4 is a connecting groove; 5 is a vertical plate; 6 is a first clamping plate; 7 is a first mounting plate; 8 is a second mounting plate; 9 is a moving block; 10 is a moving frame; 11 is a connecting frame; 12 is a screw rod; 13 is a second electric telescopic rod; 14 is a third electric telescopic rod; 15 is an elastic sealing cover; 16 is a first slide groove; 17 is a counterweight; 18 is a first moving rod; 19 is a second moving rod ; 20. Push plate; 21. Rectangular groove; 22. Sealing plate; 23. Rotating plate; 24. Rectangular plate; 25. Second double-headed screw; 26. Second moving seat; 27. First rotating block; 28. Second rotating block; 29. ​​Sealing block; 30. Third elastic protective cover; 31. Electric push rod; 32. Second splint; 33. First slider; 34. Second slide groove; 35. Second slider; 36. First double-headed screw; 37. First moving seat. DETAILED DESCRIPTION

[0031] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0032] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0033] like Figures 1-9As shown, a testing device for robot joint performance includes a base 1, two vertical plates 5 are installed at the center of the top of the base 1, and a clamping mechanism for clamping and fixing the robot joint to be tested is provided between the two vertical plates 5. The top of the base 1 is connected to a mobile column 3 via two first electric telescopic rods 2. A mobile frame 10 is provided between the two mobile columns 3. A plurality of counterweights 17 are provided inside the mobile frame 10. A pushing mechanism for pushing the counterweights 17 downward is provided at the top of the mobile frame 10. A connecting frame 11 is provided at the bottom of the mobile frame 10. An elastic sealing cover 15 is installed between the mobile frame 10 and the connecting frame 11. A driving mechanism for driving the elastic sealing cover 15 to extend downward is installed at the bottom of the mobile frame 10. During the extension and retraction process, the telescopic ends of the two first electric telescopic rods 2 can push the two mobile columns 3 to move up and down on the top of the base 1 for adjustment.

[0034] As a technical optimization solution of the present invention, a second electric telescopic rod 13 is rotatably mounted inside each of the two vertical plates 5. The telescopic ends of the two second electric telescopic rods 13 are each mounted with a first clamping plate 6. The two first clamping plates 6 jointly clamp and secure the robot joint. The telescopic ends of the two second electric telescopic rods 13 extend together, driving the two first clamping plates 6 toward each other, thereby clamping and securing the robot joint to be tested. First drive motors are pre-installed on the outer walls of the two vertical plates 5 on the side facing away from each other. The output ends of the two first drive motors are respectively connected to the two second electric telescopic rods 13, thereby driving the two second electric telescopic rods 13 and the first clamping plates 6 for rotational adjustment.

[0035] As a technical optimization solution of the present invention, a first mounting plate 7 is mounted on the top of the robot joint via multiple threaded bolts. The outer walls of both sides of the first mounting plate 7 are connected to a second mounting plate 8 via two third electric telescopic rods 14. The tops of the two second mounting plates 8 are each provided with a placement slot that mates with the bottom end of the counterweight 17. The surfaces of the two second electric telescopic rods 13 and the third electric telescopic rod 14 are respectively covered with a first elastic protective cover and a second elastic protective cover. The first mounting plate 7 and the second mounting plate 8 are connected to the rotating end of the top of the robot joint to facilitate subsequent rotational load testing of the robot joint. The two third electric telescopic rods 14 disposed between the two second mounting plates 8 and the first mounting plate 7 can be adjusted in length and retract as the telescopic ends of the two third electric telescopic rods 14 extend and retract, driving the distance between the second mounting plates 8 and the first mounting plate 7 to adjust. This allows for adjustment of the length of the added load swing arm during subsequent rotational load testing of the robot joint, thereby adjusting the output torque and speed of the rotating end of the robot joint, making the rotational load testing of the robot joint more comprehensive.

[0036] As a technical optimization solution of the present invention, the interiors of the two moving columns 3 are both rotatably mounted with screw rods 12, the outer walls of the two screw rods 12 are both threadedly mounted with moving blocks 9, and the moving frame 10 is rotatably mounted between the two moving blocks 9. A second drive motor is preset at the top of the two moving columns 3, and the output ends of the two second drive motors are respectively connected to the top ends of the two screw rods 12, thereby driving the two screw rods 12 to rotate inside the corresponding moving columns 3, and driving the moving blocks 9 on the outer walls of the two screw rods 12 to move and adjust; and a third drive motor is preset inside one of the moving blocks 9, and the output end of the third drive motor is connected to the rotating part of one end of the moving frame 10, thereby driving the moving frame 10 to rotate and adjust between the two moving blocks 9.

[0037] As a technical optimization solution of the present invention, three rectangular slots 21 are defined within the movable frame 10. Multiple counterweights 17 are placed at the top of one of the centrally located rectangular slots 21. Three material discharge ports are defined within one of the rectangular slots 21, and two sealing plates 22 are rotatably mounted within each of the three discharge ports. Multiple first drive devices are pre-set at the bottom end of the movable frame 10. The output ends of the multiple first drive devices are respectively connected to the rotating portions of one end of the corresponding sealing plates 22, thereby driving the multiple sealing plates 22 to rotate and adjust at the bottom end of the movable frame 10.

[0038] As a technical optimization solution of the present invention, the pushing mechanism includes two first chutes 16 opened on the outer walls on both sides of the moving frame 10, and a first slider 33 is installed inside the two first chutes 16. The first moving rod 18 is installed on the end of the two first sliders 33 away from the first chutes 16. A second chute 34 is opened on the outer wall on the side close to the two first moving rods 18, and a second slider 35 is installed inside the two second chutes 34. Two first linear motors are preset inside the two first chutes 16. The two first linear motors can drive the two first sliders 33 to move back and forth inside the corresponding first chutes 16, and drive the corresponding first moving rods 18 to move and adjust on both sides of the moving frame 10; the two second chutes 34 are preset inside the two second linear motors. The two second linear motors can drive the two second sliders 35 to move back and forth inside the corresponding second chutes 34.

[0039] As a technical optimization solution of the present invention, a second movable rod 19 is installed at one end of each of the two second sliders 35 away from the second slide slot 34. A first double-headed screw 36 is rotatably installed inside each of the two second movable rods 19. Two first movable seats 37 are threadedly installed on the outer walls of the two first double-headed screws 36. The bottom ends of the two first movable seats 37 are rotatably installed with push plates 20. A second driving device is preset on the outer wall of one side of the two second movable rods 19. The output ends of the two second driving devices are respectively connected to one end of the two first double-headed screws 36, thereby driving the two first double-headed screws 36 to rotate inside the corresponding second movable rod 19, thereby driving the two first movable seats 37 on the outer walls thereof to move toward or away from each other. A third driving device is preset inside each of the two first movable seats 37. The output ends of the two third driving devices are respectively connected to the rotating parts of the two push plates 20, thereby driving the two push plates 20 to rotate and adjust at the bottom ends of the corresponding first movable seats 37.

[0040] As a technical optimization solution of the present invention, the driving mechanism includes two rotating plates 23 rotatably mounted at the bottom end of the moving frame 10, and a second double-headed screw 25 is rotatably mounted inside the two rotating plates 23. The outer walls of the two second double-headed screws 25 are threadedly mounted with a second moving seat 26, and the interiors of the two second moving seats 26 are rotatably mounted with a first rotating block 27. The output ends of two first driving devices preset at the bottom end of the moving frame 10 are respectively connected to the rotating parts of one end of the two rotating plates 23, thereby driving the two rotating plates 23 to rotate and adjust at the bottom end of the moving frame 10; a fourth driving device is preset inside the two rotating plates 23, and the output ends of the two fourth driving devices are respectively connected to one end of the two second double-headed screws 25, thereby driving the two second double-headed screws 25 to rotate inside the corresponding rotating plates 23; thereby driving the two second moving seats 26 to move and adjust in the direction of approaching or moving away from each other.

[0041] As a technical optimization solution of the present invention, a rectangular plate 24 is provided below the two rotating plates 23, and a blocking block 29 is installed on the outer wall of one side of the two rectangular plates 24. Two second rotating blocks 28 are rotatably installed on the top of the two rectangular plates 24. The two first rotating blocks 27 are connected to the second rotating blocks 28 close to them through the fourth electric telescopic rod, and the surfaces of the two fourth electric telescopic rods are covered with a third elastic protective cover 30. When the two second movable seats 26 move in the direction of approaching each other, they can drive the two first rotating blocks 27, the fourth electric telescopic rod and the second rotating block 28 to rotate together in the direction of approaching each other, thereby pushing the rectangular plate 24 to move in the direction away from the rotating plate 23, until the two fourth electric telescopic rods are rotated to the vertical state, the telescopic ends of the two fourth electric telescopic rods can be controlled to extend, pushing the rectangular plate 24 to move and adjust to a farther distance; when the two second movable seats 26 move in the direction of moving away from each other, they can drive the two first rotating blocks 27, the fourth electric telescopic rod and the second rotating block 28 to rotate together in the direction of moving away from each other, thereby driving the rectangular plate 24 to move and adjust in the direction close to the rotating plate 23, until the rectangular plate 24 moves to a suitable position in the direction close to the rotating plate 23, at this time the rotating plate 23 can drive the rectangular plate 24 to rotate upward together, thereby driving the blocking block 29 on one side of the rectangular plate 24 to block one of the rectangular grooves 21 above it.

[0042] As a technical optimization solution of the present invention, the bottom ends of the two rectangular plates 24 are magnetically fixed to the connecting frame 11 via a preset first electromagnet. The top of the base 1 is provided with a connecting slot 4 that is compatible with the connecting frame 11. Electric push rods 31 are installed on the outer walls of both sides of the connecting frame 11. The telescopic ends of the two electric push rods 31 are installed with second clamping plates 32 for clamping and fixing the robot joints. After the two rectangular plates 24 are magnetically attracted to the connecting frame 11 below by the preset first electromagnet, the driving mechanism can drive the connecting frame 11 to move and adjust below the movable frame 10. A sealing strip is provided on the inner wall of the connecting slot 4. After the bottom end of the connecting frame 11 is inserted into the connecting slot 4, the sealing strip ensures that the connecting frame 11 is tightly abutted with the connecting slot 4, achieving a sealing effect. In conjunction with the preset second electromagnet inside the connecting slot 4, the bottom end of the connecting frame 11 can be magnetically fixed, preventing the connecting frame 11 from separating from the connecting slot 4.

[0043] In this embodiment, the first elastic protective cover, the second elastic protective cover and the third elastic protective cover 30 are respectively provided to shield and protect the second electric telescopic rod 13, the third electric telescopic rod 14 and the fourth electric telescopic rod to prevent them from being damaged by water, mud and sand during use; and relevant shielding and protection facilities are also provided on the surfaces of the two second double-headed screws 25 to prevent the two second double-headed screws 25 from being damaged by water and mud during use; and the relevant drive motors and drive devices used to drive the components to rotate are all waterproof and sealed to ensure that they can be used normally in water mixed with mud and sand; the elastic sealing cover 15 is waterproof and retractable, which is convenient for adjusting to different lengths during use, and its waterproof performance is not affected when adjusted to different lengths.

[0044] In the present invention, when it is necessary to test the relevant performance of the robot joint, the robot joint to be tested is placed between the two first clamping plates 6 through the preset loading manipulator on the front of the device, and the telescopic ends of the two second electric telescopic rods 13 are extended together to drive the two first clamping plates 6 to clamp and fix the robot joint. Then, the first mounting plate 7 is connected to the rotating end of the top of the robot joint through multiple bolts, so that when the rotating end of the robot joint rotates, it will drive the first mounting plate 7 and the two second mounting plates 8 to rotate together. Since there is a hole between the first mounting plate 7 and the two second mounting plates 8, The two third electric telescopic rods 14 are connected so that they can be used as a rotating swing arm. With the help of the extension and retraction of the telescopic ends of the two third electric telescopic rods 14, the length of the swing arm can be adjusted, and a plurality of counterweights 17 of the same volume but different weights are placed on the top of the moving frame 10. The two moving blocks 9 and the moving frame 10 are driven downward together by the two screw rods 12, and the two blocking plates 22 at both ends of one of the rectangular slots 21 are controlled to rotate downward and open until the moving frame 10 moves to the top of the two second mounting plates 8 and abuts against each other. Then, the two first sliders 33 are used to move the two moving blocks 9 and the moving frame 10 away from each other in the corresponding first slide groove 16. The two first double-headed screws 36 are used to rotate to drive the two push plates 20 to move in the direction of approaching each other and clamp the two counterweights 17 on both sides. With the help of the two first sliders 33, the two counterweights 17 continue to move in the direction of moving away from each other inside the corresponding first chute 16, which can drive the two counterweights 17 to move to the top of the corresponding discharge port. With the help of the two push plates 20, the two counterweights 17 are clamped and limited on both sides of the counterweights 17, so that the two counterweights 17 fall downward from the two discharge ports on the top of the two second mounting plates 8 and are placed. The third electromagnet preset inside the mounting plate 8 can magnetically fix the two counterweights 17 respectively. At this time, during the rotation of the rotating end of the robot joint, it can synchronously drive the first mounting plate 7 and the two second mounting plates 8 and the added load counterweight 17 to rotate together, and at the same time control one of the second electric telescopic rods 13 to rotate inside the vertical plate 5, driving the two first clamping plates 6 and the clamped robot joint to rotate and adjust together on the top of the base 1, simulating the use scenario of the robot pipe joint driving the load to rotate at different angles, thereby improving the comprehensiveness of the load test of the rotating end of the robot joint;

[0045] While the robot joint rotating end drives the first mounting plate 7 and the two second mounting plates 8 and their added load counterweights 17 to rotate, it can also control the telescopic ends of multiple third electric telescopic rods 14 to extend together to achieve the effect of adjusting the swing arm length, so that the output torque and speed of the rotating end of the robot joint can be adjusted accordingly. Moreover, when it is necessary to add counterweights 17 of different weights, the two first clamping plates 6 can be controlled to drive the robot joint to rotate downward 90 degrees, and the third electromagnets inside the two second mounting plates 8 can be controlled to cut off power, so that two of the counterweights 17 can fall downward accordingly. Then, the above steps can be repeated with the help of the pushing mechanism to move the subsequent counterweights 17 so that they automatically fall from the top of the moving frame 10 to the top of the two second mounting plates 8, and loads of different weights at the rotating end of the robot joint are tested, further improving the comprehensiveness of the robot joint rotation load test.

[0046] After the load test of different weights on the rotating end of the robot joint, the fallen counterweight 17 can be manually or pre-set by the manipulator to be replaced on the top of the moving frame 10, and the connection between the first mounting plate 7 and the rotating end of the robot joint can be released, and one of the two blocking plates 22 at the bottom of the middle discharge port can be controlled to rotate downward and open. Since the discharge port is just above the clamped and fixed robot joint, the pushing plates 20 of the two pushing mechanisms can be used to clamp and limit the corresponding counterweight 17 on both sides respectively, and the two first sliders 33 can be controlled in turn to move toward the center position inside the corresponding first slide groove 16, so as to push the corresponding counterweight 17 to fall downward from the middle discharge port and collide with the rotating end of the robot joint to test whether the robot joint has qualified the ability to resist impact interference during operation.

[0047] During this process, the two first clamping plates 6 can also be used to drive the robot joints to rotate and adjust, so that the upper counterweight block 17 can impact different parts of the robot joints in turn;

[0048] The telescopic ends of the two first electric telescopic rods 2 can also be used to push the two moving columns 3, the moving frame 10 and other components upward to a higher position, so that the counterweight block 17 can also fall down from different heights to impact the robot joints, further improving the comprehensiveness of the test of the robot joints' anti-impact interference ability.

[0049] Since an elastic sealing cover 15 is provided between the moving frame 10 and the connecting frame 11, before the above-mentioned test of the anti-impact interference ability of the robot joint by means of the counterweight block 17 falling downward, the first electromagnets at the bottom ends of the two rectangular plates 24 are controlled to be energized and started, so that they are both magnetically fixed to the top end of the connecting frame 11. At this time, the top end of the connecting frame 11 can be connected to the driving mechanism for support, and as the two screw rods 12 drive the moving frame 10 to move downward, the connecting frame 11 is driven downward together until the bottom end of the connecting frame 11 is plugged into the connecting slot 4, matching the connecting slot. The second electromagnet preset inside 4 can magnetically fix the connection frame 11 entering the connection slot 4. As the two screw rods 12 reverse, the movable frame 10 moves downward, and the telescopic ends of the two first electric telescopic rods 2 extend upward, which can drive the elastic sealing cover 15 to expand upward, shielding and protecting the top of the base 1. When the counterweight block 17 falls downward and collides with the joint surface of the robot, the scattered counterweight block 17 can be limited to prevent it from falling from the top of the base 1 to other areas, thereby improving the protection of the personal safety of relevant personnel nearby;

[0050] After the above-mentioned connecting frame 11 is connected to the connecting groove 4, the telescopic ends of the two electric push rods 31 are controlled to extend together, driving the two second clamping plates 32 to further clamp and limit the bottom end of the robot joint. On the one hand, it can improve the stability of the robot joint during the impact interference test, and on the other hand, it can improve the limiting and fixing effect of the bottom end of the connecting frame 11, ensuring that the stability of the connecting frame 11 is not affected during use.

[0051] If the robot joint is unable to rotate at the rotating end during the above-mentioned rotation load test and anti-impact interference process, the two first clamping plates 6 can be controlled to maintain the vertical clamping and fixing of the robot joint. After the two driving mechanisms push the connecting frame 11 downward to a position close to the robot joint, the telescopic ends of the two electric push rods 31 are controlled to extend together, driving the two second clamping plates 32 to clamp and fix the robot joint, and releasing the clamping limit of the two first clamping plates 6 on the robot joint. As the two driving mechanisms drive the connecting frame 11 to move upward to a position higher than the two vertical plates 5, the moving frame 10 is controlled to move between the two The moving blocks 9 rotate backward clockwise, and then control the two driving mechanisms to drive the connecting frame 11 to move downward. After the connecting frame 11 moves downward to a suitable height, the clamping and fixation of the robot joints by the two second clamping plates 32 are released, so that the robot joints that fail the test can be automatically unloaded and placed at the rear of the device, which is convenient for subsequent staff to quickly identify the unqualified robot joints at the rear of the device, and avoid continuing to use the loading robot arm to pick up the unqualified robot joints and place them in the front of the device, and mix them with other qualified robot joints, which makes it inconvenient for subsequent staff to quickly distinguish them.

[0052] After the robot joint's anti-impact interference capability is tested, the magnetic attraction between the second electromagnet and the bottom of the connecting frame 11 can be released, so that the elastic sealing cover 15 can be elastically reset upward for a distance, causing a gap between the connecting frame 11 and the base 1. After the scattered counterweights 17 are taken out manually or by a robot and placed on the top of the movable frame 10, the connecting frame 11 is connected and fixed to the connecting slot 4, and the second electromagnet is controlled to continue to be magnetically fixed to the bottom of the connecting frame 11. Then, the two second double-headed screws 25 are controlled to rotate, driving the two second movable seats 26 to move in opposite directions until the two rectangular plates 24 move to a suitable position in the direction close to the rotating plate 23. At this time, the two rotating plates 23 can drive the rectangular plate 24 to rotate upward together, thereby driving the blocking block 2 on one side of the rectangular plate 24. 9 is used to block one of the rectangular slots 21 above it, and with the multiple counterweights 17 and three groups of blocking plates 22 placed inside the rectangular slot 21 in the center, the three rectangular slots 21 inside the moving frame 10 can be blocked, so that there is only a partial gap inside the moving frame 10, and one group of blocking plates 22 located in the center is controlled to rotate downward to open, so that the external preset blower output end pipe for discharging mud and sand can be inserted into the discharge port in the center, so that the wind force containing mud and sand transported to the inside of the elastic sealing cover 15 acts on the surface of the robot joint, and the wind force entering the elastic sealing cover 15 can be discharged outward through the gap, so as to simulate the special use environment of the robot in the external wind and sand, test the sealing performance of the robot joint, and ensure that it can still work normally in harsh environment.

[0053] After testing the sealing performance of the robot joints, the external preset water-spraying nozzle is inserted into the discharge port in the center, so that the nozzle can spray water toward the surface of the robot joints to simulate the scenario of the robot being used in rainy weather outside and test the IP waterproof level of the robot joints; at this time, the water sprayed by the nozzle into the elastic sealing cover 15 can also flush the inner wall of the elastic sealing cover 15, which is convenient for the subsequent use of the elastic sealing cover 15.

[0054] At the same time, the nozzle continues to spray water into the elastic sealing cover 15 until the water level is higher than the robot joint. At this time, the water and mud inside the elastic sealing cover 15 can mix with each other to form a mud-water mixture, and the robot joints continue to operate in the mud-water mixture, which can simulate the scene of the robot being immersed in water when working underwater, further improving the comprehensiveness and accuracy of the test of the waterproof sealing performance of the robot joints.

[0055] During the test of the operation of the above-mentioned robot joint in the mud-water mixture, the two screw rods 12 can be controlled to rotate synchronously, driving the moving frame 10 and other components to move downward between the two moving columns 3 until the moving frame 10 moves downward to a water surface position close to the inside of the elastic sealing cover 15. First, the two rotating plates 23 are controlled to drive the corresponding rectangular plates 24 to rotate downward, and the two sealing plates 22 are used to block two of the rectangular grooves 21. Then, the two second sliders 35 are controlled to move downward together inside the corresponding second slide grooves 34, driving the bottom ends of the two push plates 20 to pass downward through the corresponding rectangular grooves 21 and enter the mud-water mixture. The two push plates 20 are controlled to rotate 90 degrees themselves, and the two first sliders 33 are controlled to move back and forth inside the corresponding first slide grooves 16, so that multiple push plates 20 can push the mud-water mixture inside the elastic sealing cover 15 back and forth. With the rotation of multiple push plates 20, the scenario of the robot joint being used in flowing mud-water can be simulated, and the waterproof sealing performance of the robot joint can be tested more comprehensively.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A testing device for robot joint performance, comprising a base (1), characterized in that: Two vertical plates (5) are installed at the center of the top of the base (1), and a clamping mechanism for clamping and fixing the robot joint to be tested is provided between the two vertical plates (5). The top of the base (1) is connected to a moving column (3) through two first electric telescopic rods (2). A moving frame (10) is provided between the two moving columns (3). A plurality of counterweight blocks (17) are provided inside the moving frame (10). A pushing mechanism for pushing the counterweight blocks (17) downward is provided at the top of the moving frame (10). A connecting frame (11) is provided at the bottom of the moving frame (10). An elastic sealing cover (15) is installed between the moving frame (10) and the connecting frame (11). A driving mechanism for driving the elastic sealing cover (15) to extend downward is installed at the bottom of the moving frame (10); A second electric telescopic rod (13) is rotatably mounted inside the two vertical plates (5), and a first clamping plate (6) is mounted on the telescopic ends of the two second electric telescopic rods (13), and the two first clamping plates (6) jointly clamp and fix the robot joint; The top of the robot joint is mounted with a first mounting plate (7) via a plurality of bolt threads, and the outer walls on both sides of the first mounting plate (7) are connected to the second mounting plate (8) via two third electric telescopic rods (14), and the tops of the two second mounting plates (8) are provided with placement grooves adapted to the bottom ends of the counterweight blocks (17), and the surfaces of the two second electric telescopic rods (13) and the third electric telescopic rod (14) are respectively covered with a first elastic protective cover and a second elastic protective cover; Three rectangular slots (21) are provided inside the movable frame (10), and a plurality of counterweights (17) are placed on the top of one of the rectangular slots (21) located in the middle. Three discharge openings are provided inside one of the rectangular slots (21), and two blocking plates (22) are rotatably installed inside the three discharge openings.

2. A testing device for robot joint performance according to claim 1, characterized in that: The interiors of the two moving columns (3) are both rotatably mounted with screw rods (12), the outer walls of the two screw rods (12) are both threadedly mounted with moving blocks (9), and the moving frame (10) is rotatably mounted between the two moving blocks (9).

3. A testing device for robot joint performance according to claim 1, characterized in that: The pushing mechanism includes two first chute grooves (16) opened on the outer walls on both sides of the moving frame (10), the first sliders (33) are installed inside the two first chute grooves (16), the first moving rods (18) are installed on the ends of the two first sliders (33) away from the first chute grooves (16), the second chute grooves (34) are opened on the outer walls on the sides where the two first moving rods (18) are close to each other, and the second sliders (35) are installed inside the two second chute grooves (34).

4. A testing device for robot joint performance according to claim 3, characterized in that: The second moving rod (19) is installed at one end of the two second sliding blocks (35) away from the second sliding groove (34), and the first double-headed screw (36) is rotatably installed inside the two second moving rods (19). The outer walls of the two first double-headed screws (36) are threadedly installed with two first moving seats (37), and the bottom ends of the two first moving seats (37) are rotatably installed with push plates (20).

5. The testing device for robot joint performance according to claim 1, characterized in that: The driving mechanism comprises two rotating plates (23) rotatably mounted at the bottom end of the moving frame (10), a second double-headed screw (25) being rotatably mounted inside the two rotating plates (23), a second moving seat (26) being threadedly mounted on the outer walls of the two second double-headed screws (25), and a first rotating block (27) being rotatably mounted inside the two second moving seats (26).

6. A testing device for robot joint performance according to claim 5, characterized in that: A rectangular plate (24) is provided below the two rotating plates (23), a blocking block (29) is installed on one side outer wall of the two rectangular plates (24), two second rotating blocks (28) are rotatably installed on the top of the two rectangular plates (24), the two first rotating blocks (27) are connected to the second rotating blocks (28) adjacent to them through a fourth electric telescopic rod, and the surfaces of the two fourth electric telescopic rods are both covered with a third elastic protective cover (30).

7. A testing device for robot joint performance according to claim 6, characterized in that: The bottom ends of the two rectangular plates (24) are magnetically fixed to the connecting frame (11) through a preset first electromagnet, a connecting groove (4) adapted to the connecting frame (11) is provided on the top of the base (1), electric push rods (31) are installed on the outer walls of both sides of the connecting frame (11), and the telescopic ends of the two electric push rods (31) are installed with second clamping plates (32) for clamping and fixing the robot joints.

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