Modularized robot joint testing system

Abstract

The invention discloses a modularized robot joint test system which is characterized in that a rack is fixedly mounted at one end of the top of a test base, a rotating long rod is rotatably mounted at the top of the rack, winding shafts are symmetrically mounted at two ends of the rotating long rod, and traction ropes are wound in the middles of the two winding shafts; light steel mounting blocks are fixedly connected to the bottom ends of the two traction ropes, laser displacement sensors are mounted in the middles of one ends of the two light steel mounting blocks, the laser displacement sensors can move along with the robot joints, the swing amplitude and motion trail of the laser displacement sensors are recorded through the laser capture display screen, and the laser displacement sensors can move along with the robot joints. According to the method, a worker can express the motion trail and amplitude data generated by robot joint testing more conveniently, great convenience is provided for follow-up analysis of testing data, the testing data are more accurate, the motion trail is expressed through the laser trail, and the situation that the motion trail cannot be distinguished by human eyes due to small joint swing errors is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of modular robots, and in particular to a modular robot joint testing system. Background Art

[0002] Modular robots are composed of standard, mutually independent manufacturing modules. Each module has a drive part, power source, etc. Different modules are combined together and controlled by an information control system to form robots with special functions. The high efficiency, precision and low application cost of special robots have been fully reflected in large-scale industrial production. The introduction of modular concepts into robot design has injected new vitality into flexible processing systems. Selecting appropriate modular robot topology relationships and standard modules and quickly forming modular robots is an effective way to shorten the robot design cycle and reduce production costs. Modular robots will become one of the most important equipment in future flexible processing systems. Modular robot joints are a module that integrates reducers, motors, controllers, motor drivers and sensors. They are used to drive or directly serve as the joint structure of robots, making robot design, installation and maintenance convenient. After the robot is assembled, its joints need to be tested to determine its movement and swing.

[0003] However, the current robot joint testing method is inconvenient and relies on human observation with the naked eye. Small gaps and errors cannot be observed, resulting in inaccurate joint test data, which can easily cause errors in subsequent robot use. Therefore, the present invention provides a modular robot joint testing system to meet people's needs. Summary of the Invention

[0004] The present invention provides a modular robot joint testing system, which can effectively solve the problem that the robot joint testing method proposed in the above background technology is inconvenient and relies on manual observation with the naked eye. Small gaps and errors cannot be observed, resulting in inaccurate joint test data, which can easily cause errors in subsequent robot use.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a modular robot joint testing system, comprising a test base, a motion range testing mechanism being installed at one end of the top of the test base;

[0006] The motion range testing mechanism includes a frame;

[0007] A frame is fixedly mounted on one end of the top of the test base, a rotating long rod is rotatably mounted on the top of the frame, and reeling shafts are symmetrically mounted on both ends of the rotating long rod, and a traction rope is wound around the middle of the two reeling shafts;

[0008] The bottom ends of the two traction ropes are fixedly connected to light steel mounting blocks, the middle of one end of the two light steel mounting blocks are installed with laser displacement sensors, the two sides of the two light steel mounting blocks are fixedly connected to elastic straps, and the ends of the elastic straps are fixedly connected to magnetic blocks;

[0009] The two ends of the test base are symmetrically fixed with rotating shafts, the middle parts of the two rotating shafts are rotatably installed with connecting long plates, the top ends of the two connecting long plates are fixedly connected with flip plates, and the middle parts of the two flip plates are embedded with laser capture display screens.

[0010] According to the above technical solution, the laser displacement sensor and the elastic strap are respectively located at both ends of the light steel mounting block, and the two laser displacement sensors face the surfaces of the two laser capture display screens respectively.

[0011] According to the above technical solution, the two flip plates are symmetrically distributed at the two ends of the top of the test base, and the bottom ends of the flip plates are tightly attached to the top end of the test base.

[0012] According to the above technical solution, the end of the rotating long rod is fixedly connected to a metal round block, one end of the top of the frame is fixedly installed with a driving motor, and the output end of the driving motor is fixedly connected to a driving electromagnetic block;

[0013] Both ends of the top of the flip plate are fixedly installed with positioning cylinders, and a buffering soft pad is embedded in the interior of the positioning cylinder. The end of the buffering soft pad is fixedly connected to a movable rod, and the end of the movable rod is fixedly connected to a buffering rubber pad. Both ends of the test base are symmetrically fixed with fixing frames, and a limited fitting block is rotatably installed on the top of the fixing frame, and an L-shaped support block is fixedly connected to one end of the middle of the fixing frame.

[0014] According to the above technical solution, the driving motor and the rotating long rod are located on the same vertical plane, and the driving electromagnetic block and the metal round block are in contact with each other.

[0015] According to the above technical solution, one end of the movable rod is movably embedded in the interior of the positioning cylinder, one end of the limiting fitting block extends to one end of the bottom of the flip plate, and the L-shaped support block is fitted with the bottom end of the limiting fitting block.

[0016] According to the above technical solution, precise frequency detection mechanisms are provided on both sides of the top of the test base;

[0017] The precise frequency detection mechanism includes a fixed vertical plate;

[0018] The two sides of the top of the test base are fixedly installed with fixed vertical plates, and both ends of the fixed vertical plates are symmetrically penetrated by guide round rods, and one end surface of the guide round rods is sleeved with a reset spring, and a movable pressure plate is fixedly connected between the ends of the guide round rods, and a sealing frame is fixedly installed on the edge of the movable pressure plate, a pressing controller is fixedly installed in the middle of the fixed vertical plate, an indicator light is fixedly installed in the middle of the top of the sealing frame, and a protective pad is fixedly bonded to the surface of the movable pressure plate;

[0019] A mounting groove is provided in the middle of the top of the test base, and a vibrator is symmetrically fixedly installed inside the mounting groove. A rough test plate is fixedly connected between the tops of the two vibrators, and a smooth test plate is placed on the top of the rough test plate. Both sides of the smooth test plate are symmetrically fixedly connected with L-shaped connecting blocks.

[0020] According to the above technical solution, the two ends of the return spring are respectively connected to the movable pressure plate and the fixed vertical plate, and the inner wall of the sealing frame is tightly attached to the edge of the fixed vertical plate.

[0021] According to the above technical solution, the end of the pressing controller is fitted with the movable pressing plate, and the signal output end of the pressing controller is connected to the signal input end of the indicator light.

[0022] According to the above technical solution, the length and width of the rough test plate and the smooth test plate are the same as the length and width of the installation groove, and the bottom of the smooth test plate and the rough test plate are both embedded in the interior of the installation groove.

[0023] Compared with the prior art, the present invention has the following beneficial effects: the present invention has a scientific and reasonable structure and is safe and convenient to use:

[0024] 1. A motion amplitude testing mechanism is provided. The light steel mounting block and the robot joint can be bound with elastic straps, so that the laser displacement sensor can move along with the robot joint. The laser capture display is used to record the swing amplitude and motion trajectory of the laser displacement sensor. This makes it easier for staff to express the motion trajectory and amplitude data generated by the robot joint test, greatly facilitating the subsequent analysis of the test data. The test data is more accurate. The use of laser trajectory to express the motion trajectory prevents small joint swing errors from being indistinguishable to the naked eye.

[0025] At the same time, the reel and the rotating long rod can be used to reel in and lengthen the traction rope, which adjusts the position of the light steel mounting block, providing a certain amount of travel space for the laser displacement sensor to move forward with the robot, and it can be reeled in and placed later.

[0026] 2. The rotating shaft and connecting long plate can be used to switch between two states: flipping and laying flat or standing upright on the top of the test base. This provides sufficient operating space for the robot and prevents the flip board and laser capture display from standing upright and occupying space, which makes it inconvenient for workers to place the robot.

[0027] At the same time, the limiting fitting block can be used to fit and limit the flip plate to prevent the flip plate from shaking and tilting and affecting the normal testing process, and the L-shaped support block firmly supports the bottom of the limiting fitting block, making it more convenient and stable to rotate and adjust the position of the limiting fitting block.

[0028] 3. The driving electromagnetic block and the metal round block are adsorbed and fixed to each other to create a connection with the rotating long rod. The rotating long rod can be directly operated by the driving motor to reel in the traction rope, thereby positioning and installing the laser displacement sensor.

[0029] 4. The use of cushioning rubber pads and cushioning soft cotton pads in conjunction with each other provides a certain cushioning protection for the flip board to flip outward and lay flat, preventing the flip board from directly colliding with the ground and generating vibrations that may adversely affect the laser capture display screen, thereby improving the safety of the equipment.

[0030] 5. A precise frequency detection mechanism is set up, and the movable pressure plate and the guide round rod cooperate with each other to control the position of the robot, so that the starting position and the ending position of the robot test are more accurate. The pressing controller and the indicator light are used to monitor the position of the robot to prevent the difference between the starting position and the ending position of the robot test from causing the test result to be wrong, thereby improving the accuracy of the test.

[0031] 6. The smooth test plate and the rough test plate are used in conjunction with each other to provide two different forms of travel environments for the robot motion test, which improves the comprehensiveness of the test and can understand whether different planes have an impact on the robot's joint movement. At the same time, the vibrator can drive the smooth test plate and the rough test plate to vibrate up and down, which is used to evaluate whether the robot joint can maintain stable operation after being subjected to vibrations of different frequencies and amplitudes. It has a wider range of applications and is quick and easy to use.

[0032] In summary, by combining the motion amplitude testing mechanism and the precise frequency detection mechanism, the joint conditions of the robot during movement can be monitored from multiple aspects. The amplitude of joint swing and the motion trajectory can be observed at the same time, and the frequency of joint movement can be accurately analyzed according to the overall movement time and distance. At the same time, the plane of robot movement can be changed, providing a test environment from multiple aspects, and effectively improving the accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0034] In the attached figure:

[0035] Figure 1 It is a structural schematic diagram of the present invention;

[0036] Figure 2 Schematic diagram of the installation structure of the smooth test plate of the present invention;

[0037] Figure 3 This is a schematic diagram of the installation structure of the laser capture display screen of the present invention;

[0038] Figure 4 It is a structural schematic diagram of the motion amplitude testing mechanism of the present invention;

[0039] Figure 5 This is a schematic diagram of the installation structure of the metal round block of the present invention;

[0040] Figure 6 This is a schematic diagram of the installation structure of the soft cushion pad of the present invention;

[0041] Figure 7 It is a structural diagram of the precise frequency detection mechanism of the present invention;

[0042] Figure 8 Schematic diagram of the installation structure of the roughness test plate of the present invention;

[0043] Numbers in the figure: 1, test base;

[0044] 2. Motion range testing mechanism; 201. Frame; 202. Rotating long rod; 203. Reel; 204. Towing rope; 205. Light steel mounting block; 206. Laser displacement sensor; 207. Elastic strap; 208. Magnetic block; 209. Rotating shaft; 210. Connecting long plate; 211. Flip plate; 212. Laser capture display; 213. Metal round block; 214. Driving motor; 215. Driving electromagnetic block; 216. Positioning cylinder; 217. Soft cushion; 218. Movable rod; 219. Rubber cushion; 220. Fixing frame; 221. Limiting and fitting block; 222. L-shaped support block;

[0045] 3. Precision frequency detection mechanism; 301. Fixed vertical plate; 302. Guide round rod; 303. Return spring; 304. Movable pressure plate; 305. Sealing frame; 306. Press controller; 307. Indicator light; 308. Protective pad; 309. Mounting slot; 310. Vibrator; 311. Rough test plate; 312. Smooth test plate; 313. L-shaped connecting block. DETAILED DESCRIPTION

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0047] Example: Figure 1-8 As shown, the present invention provides a technical solution, a modular robot joint testing system, comprising a test base 1, a motion range testing mechanism 2 is installed at one end of the top of the test base 1;

[0048] The motion range testing mechanism 2 includes a frame 201, a rotating long rod 202, a reel 203, a traction rope 204, a light steel mounting block 205, a laser displacement sensor 206, an elastic strap 207, a magnetic block 208, a rotating shaft 209, a connecting long plate 210, a flip plate 211, a laser capture display screen 212, a metal round block 213, a driving motor 214, a driving electromagnetic block 215, a positioning cylinder 216, a cushioning soft pad 217, a movable rod 218, a cushioning rubber pad 219, a fixing frame 220, a limiting fitting block 221, and an L-shaped support block 222.

[0049] One end of the top of the test base 1 is fixedly mounted with a frame 201, and a rotating long rod 202 is rotatably mounted on the top of the frame 201. Reel shafts 203 are symmetrically mounted at both ends of the rotating long rod 202, and a traction rope 204 is wound around the middle of the two reel shafts 203;

[0050] The bottom ends of the two traction ropes 204 are fixedly connected to a light steel mounting block 205. A laser displacement sensor 206 is installed in the middle of one end of each light steel mounting block 205. Elastic straps 207 are fixedly connected to both sides of the two light steel mounting blocks 205. The ends of the elastic straps 207 are fixedly connected to magnetic blocks 208. The laser displacement sensors 206 and the elastic straps 207 are respectively located at the two ends of the light steel mounting block 205. The two laser displacement sensors 206 are respectively facing the surfaces of the two laser capture display screens 212.

[0051] The two ends of the test base 1 are symmetrically fixed with rotating shafts 209, and the middle parts of the two rotating shafts 209 are rotatably installed with connecting long plates 210. The tops of the two connecting long plates 210 are fixedly connected with flip plates 211. The middle parts of the two flip plates 211 are embedded with laser capture display screens 212. The two flip plates 211 are symmetrically distributed at the two ends of the top of the test base 1. The bottom ends of the flip plates 211 are tightly attached to the top of the test base 1. The light steel mounting block 205 and the robot joint can be bound by elastic straps 207, so that the laser displacement sensor 206 can move with the robot joint. The swing amplitude and motion trajectory of the laser displacement sensor 206 are recorded by the laser capture display screen 212, which makes it more convenient for the staff to express the motion trajectory and amplitude data generated by the robot joint test, provides great convenience for the subsequent analysis of the test data, and makes the test data more accurate. The motion trajectory is expressed by laser trajectory to prevent the human eye from being unable to distinguish due to small joint swing errors.

[0052] At the same time, the reel 203 and the rotating rod 202 can be used to reel in and lengthen the traction rope 204, which adjusts the position of the light steel mounting block 205, providing a certain amount of travel space for the laser displacement sensor 206 to move forward with the robot, and it can be reeled in and placed later;

[0053] The end of the rotating long rod 202 is fixedly connected to a metal round block 213. A driving motor 214 is fixedly installed at one end of the top of the frame 201. The output end of the driving motor 214 is fixedly connected to a driving electromagnetic block 215. The driving motor 214 and the rotating long rod 202 are located on the same vertical plane. The driving electromagnetic block 215 and the metal round block 213 are in contact with each other.

[0054] Both ends of the top of the flip plate 211 are fixedly installed with a positioning cylinder 216, and a cushioning soft pad 217 is embedded in the interior of the positioning cylinder 216. The end of the cushioning soft pad 217 is fixedly connected to a movable rod 218, and the end of the movable rod 218 is fixedly connected to a cushioning rubber pad 219. Both ends of the test base 1 are symmetrically fixed with a fixing frame 220, and the top of the fixing frame 220 is rotatably installed with a limited fitting block 221. One end of the middle of the fixing frame 220 is fixedly connected to an L-shaped support block 222. The movable rod 218 is fixedly connected to the end of the cushioning soft pad 217. One end of the positioning cylinder 216 is movably embedded in the interior of the positioning cylinder 216, one end of the limiting fitting block 221 extends to one end of the bottom of the flip plate 211, and the L-shaped support block 222 is fitted with the bottom end of the limiting fitting block 221. The flip plate 211 can be flipped and laid flat or upright on the top of the test base 1 by using the rotating shaft 209 and the connecting long plate 210, so as to provide sufficient operating space for placing the robot and prevent the flip plate 211 and the laser capture display screen 212 from standing upright and occupying space, causing inconvenience to the staff;

[0055] At the same time, the limiting fitting block 221 can be used to fit and limit the flip plate 211 to prevent the flip plate 211 from shaking or tilting and affecting the normal testing process, and the L-shaped support block 222 firmly supports the bottom of the limiting fitting block 221, making it more convenient and stable to rotate and adjust the position of the limiting fitting block 221;

[0056] The driving electromagnetic block 215 and the metal round block 213 are fixed to each other by adsorption, and a connection is established between the rotating long rod 202. The driving motor 214 can directly operate the rotating long rod 202, reel and store the traction rope 204, and play a role in positioning and installing the laser displacement sensor 206.

[0057] The cushioning rubber pad 219 and the cushioning soft cotton pad 217 cooperate with each other to provide a certain cushioning protection for the flip plate 211 when it is flipped outward and laid flat, thereby preventing the flip plate 211 from directly colliding with the ground and generating vibrations that may adversely affect the laser capture display screen 212, thereby improving the safety of the device.

[0058] The two sides of the top of the test base 1 are provided with precise frequency detection mechanisms 3;

[0059] The precise frequency detection mechanism 3 includes a fixed vertical plate 301, a guide rod 302, a return spring 303, a movable pressure plate 304, a sealing frame 305, a pressing controller 306, an indicator light 307, a protective pad 308, a mounting slot 309, a vibrator 310, a rough test plate 311, a smooth test plate 312, and an L-shaped connecting block 313;

[0060] The two sides of the top of the test base 1 are fixedly installed with fixed vertical plates 301, and guide round rods 302 are symmetrically installed at both ends of the fixed vertical plate 301. Return springs 303 are sleeved on the surface of one end of the guide round rods 302, and a movable pressure plate 304 is fixedly connected between the ends of the guide round rods 302. The two ends of the return spring 303 are respectively connected to the movable pressure plate 304 and the fixed vertical plate 301. The inner wall of the sealing frame 306 is tightly attached to the edge of the fixed vertical plate 301, and a sealing frame 305 is fixedly installed on the edge of the movable pressure plate 304. A pressing controller 306 is fixedly installed in the middle of the fixed vertical plate 301, and an indicator light 307 is fixedly installed in the middle of the top of the sealing frame 305. A protective pad 308 is fixedly bonded to the surface of the movable pressure plate 304, and the end of the pressing controller 306 is in contact with the movable pressure plate 304. The signal output end of the pressing controller 306 is connected to the signal input end of the indicator light 307;

[0061] A mounting groove 309 is provided in the middle of the top of the test base 1, and a vibrator 310 is symmetrically fixedly installed inside the mounting groove 309. A rough test plate 311 is fixedly connected between the tops of the two vibrators 310, and a smooth test plate 312 is placed on the top of the rough test plate 311. Both sides of the smooth test plate 312 are symmetrically fixedly connected with L-shaped connecting blocks 313. The length and width of the rough test plate 311 and the smooth test plate 312 are the same as the length and width of the mounting groove 309. The bottom of the smooth test plate 312 and the rough test plate 311 are both embedded in the mounting groove 309. The movable pressing plate 304 and the guide round rod 302 cooperate with each other to control the position of the robot, so that the starting position and the ending position of the robot test are more accurate. The pressing controller 306 and the indicator light 307 are used to monitor the position of the robot to prevent the difference between the starting position and the ending position of the robot test from causing an error in the test result, thereby improving the accuracy of the test;

[0062] By using the smooth test plate 312 and the rough test plate 311 to cooperate with each other, two different types of travel environments are provided for the robot motion test, which improves the comprehensiveness of the test and can understand whether different planes have an impact on the robot's joint movement. At the same time, the vibrator 310 can drive the smooth test plate 312 and the rough test plate 311 to vibrate up and down, which is used to evaluate whether the robot joint can maintain stable operation after being subjected to vibrations of different frequencies and amplitudes. It has a wider range of applications and is convenient and quick to use.

[0063] The working principle and usage process of the present invention are as follows: First, the staff pushes the limiting fitting block 221 upward to rotate it from above and away from the flip plate 211, thereby pulling the flip plate 211 to flip outward from the upright state. The flip plate 211 rotates around the rotation axis 209 until the buffer rubber belt 219 contacts the ground. The movable rod 218 moves toward the inside of the positioning cylinder 216. The buffer rubber pad 219 and the buffer soft pad 217 both play a buffering and protective role, making the flip plate 211 and the laser capture display screen 212 more stable when flipped and laid flat;

[0064] The top of the test base 1 is exposed. The staff takes the modular robot and selects the joint to be tested. The light steel mounting block 205 is placed against the surface of the joint and fastened with the elastic band 207. The magnetic blocks 208 are then fitted together to secure the light steel mounting block 205 and the robot joint. The two laser displacement sensors 206 are then positioned to face the sides.

[0065] The staff selects one end close to the rack 201 and pulls the corresponding guide rod 302 outward. The return spring 303 is compressed, and the movable pressure plate 304 moves toward the fixed vertical plate 301. The movable pressure plate 304 is pressed tightly against the surface of the pressing controller 306. The indicator light 307 lights up. The staff can then place the module robot on the top end of the smooth test plate 312 so that the robot is close to the surface of the protective pad 308 close to the rack 201. The staff then flips the flip plate 211 upward and stands it upright again. The rotating limit fitting block 221 is pressed tightly against the surface of the flip plate 211 to support it.

[0066] Then, the staff controls the module robot to move forward, the robot moves away from the movable pressure plate 304, the return spring 303 extends, so that the pressing controller 306 is no longer pressed, the indicator light 307 is no longer lit, the robot's joints will swing accordingly, and the laser displacement sensor 206 will swing along with the joints. The laser displacement sensor 206 shines outward onto the laser capture display screen 212, and the corresponding motion trajectory is displayed on the laser capture display screen 212;

[0067] When the robot moves, the driving electromagnetic block 215 is powered off so that it no longer attracts the metal round block 213. Then, when the robot moves, the light steel mounting block 205 and the robot joint will pull the traction rope 204 to move forward, and the rotating long rod 202 and the reel 203 will rotate, so that the traction rope 204 is gradually lengthened until the robot moves forward and hits the protective pad 308, pushing the movable pressure plate 304 inward, squeezing the pressing controller 306, and lighting the indicator light 307, stopping the movement of the robot, indicating that a stage of the joint test is completed;

[0068] The staff can analyze the joint motion trajectory and amplitude displayed on the laser capture display screen 212, as well as the time difference between the two indicator lights 307 turning on and off. The time difference between the two indicator lights 307 is the time of robot joint motion. According to the time and the swing amplitude of the joint, the motion frequency of the joint can be analyzed. By integrating the data, the robot joint motion trajectory, motion amplitude and motion frequency can be accurately understood.

[0069] Subsequently, the staff can remove the smooth test plate 312 and make the robot move on the rough test plate 311 to test the movement of the robot joints under different flatness conditions. At the same time, the vibrator 310 can be used to drive the rough test plate 311 and the smooth test plate 312 to vibrate to test whether the movement of the robot joints is affected by the vibration environment. The testing methods and scope are wide-ranging and more convenient to use.

[0070] After the test, the elastic strap 207 and the light steel mounting block 205 are removed from the robot joint, and the driving electromagnetic block 215 can be energized to generate magnetism to adsorb and fix the metal round block 213. The driving motor 214 is used to drive the metal round block 213 and the rotating long rod 202 to rotate, so that the winding shaft 203 will reel and wrap the traction rope 204, and adjust the position of the light steel mounting block 205 and the laser displacement sensor 206.

[0071] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A modular robot joint testing system, comprising a test base (1), characterized in that: A motion amplitude testing mechanism (2) is installed at one end of the top of the test base (1); The motion range testing mechanism (2) comprises a frame (201); A frame (201) is fixedly mounted on one end of the top of the test base (1); a rotating long rod (202) is rotatably mounted on the top of the frame (201); reel shafts (203) are symmetrically mounted on both ends of the rotating long rod (202); and a traction rope (204) is wound around the middle of the two reel shafts (203); The bottom ends of the two traction ropes (204) are fixedly connected to light steel mounting blocks (205), the middle of one end of the two light steel mounting blocks (205) are installed with laser displacement sensors (206), the two sides of the two light steel mounting blocks (205) are fixedly connected to elastic bands (207), and the ends of the elastic bands (207) are fixedly connected to magnetic blocks (208); Rotating shafts (209) are symmetrically fixedly installed at both ends of the test base (1), connecting long plates (210) are rotatably installed in the middle of the two rotating shafts (209), and the top ends of the two connecting long plates (210) are fixedly connected to flip plates (211), and the middle parts of the two flip plates (211) are embedded with laser capture display screens (212).

2. A modular robot joint testing system according to claim 1, characterized in that: The laser displacement sensor (206) and the elastic binding band (207) are respectively located at two ends of the light steel mounting block (205), and the two laser displacement sensors (206) are respectively facing the surfaces of the two laser capture display screens (212).

3. A modular robot joint testing system according to claim 1, characterized in that: The two flip plates (211) are symmetrically distributed at the two ends of the top of the test base (1), and the bottom ends of the flip plates (211) are tightly attached to the top end of the test base (1).

4. A modular robot joint testing system according to claim 1, characterized in that: The end of the rotating long rod (202) is fixedly connected to a metal round block (213), one end of the top of the frame (201) is fixedly installed with a driving motor (214), and the output end of the driving motor (214) is fixedly connected to a driving electromagnetic block (215); Both ends of the top of the flip plate (211) are fixedly installed with positioning cylinders (216), and a buffering soft pad (217) is embedded in the interior of the positioning cylinder (216). The end of the buffering soft pad (217) is fixedly connected to a movable rod (218), and the end of the movable rod (218) is fixedly connected to a buffering rubber pad (219). Both ends of the test base (1) are symmetrically fixedly installed with a fixing frame (220), and a limited position fitting block (221) is rotatably installed on the top of the fixing frame (220), and an L-shaped support block (222) is fixedly connected to one end of the middle part of the fixing frame (220).

5. A modular robot joint testing system according to claim 4, characterized in that: The driving motor (214) and the rotating long rod (202) are located on the same vertical plane, and the driving electromagnetic block (215) and the metal round block (213) are in contact with each other.

6. A modular robot joint testing system according to claim 4, characterized in that: One end of the movable rod (218) is movably embedded in the interior of the positioning cylinder (216), one end of the position-limiting fitting block (221) extends to one end of the bottom of the flip plate (211), and the L-shaped support block (222) fits with the bottom end of the position-limiting fitting block (221).

7. A modular robot joint testing system according to claim 1, characterized in that: Precision frequency detection mechanisms (3) are provided on both sides of the top of the test base (1); The precise frequency detection mechanism (3) comprises a fixed vertical plate (301), a guide round rod (302), and a return spring (303); The two sides of the top of the test base (1) are fixedly installed with fixed vertical plates (301), and the two ends of the fixed vertical plates (301) are symmetrically penetrated by guide round rods (302), and one end surface of the guide round rods (302) is sleeved with a return spring (303), and a movable pressure plate (304) is fixedly connected between the ends of the guide round rods (302), and a sealing frame (305) is fixedly installed on the edge of the movable pressure plate (304), and a pressing controller (306) is fixedly installed in the middle of the fixed vertical plates (301), and an indicator light (307) is fixedly installed in the middle of the top of the sealing frame (305), and a protective pad (308) is fixedly bonded to the surface of the movable pressure plate (304); A mounting groove (309) is provided in the middle of the top of the test base (1), and a vibrator (310) is symmetrically fixedly installed inside the mounting groove (309). A rough test plate (311) is fixedly connected between the tops of the two vibrators (310), a smooth test plate (312) is placed on the top of the rough test plate (311), and both sides of the smooth test plate (312) are symmetrically fixedly connected with L-shaped connecting blocks (313).

8. A modular robot joint testing system according to claim 7, characterized in that: The two ends of the return spring (303) are respectively connected to the movable pressure plate (304) and the fixed vertical plate (301), and the inner wall of the sealing frame (306) is closely attached to the edge of the fixed vertical plate (301).

9. A modular robot joint testing system according to claim 7, characterized in that: The end of the pressing controller (306) is fitted with the movable pressing plate (304), and the signal output end of the pressing controller (306) is connected to the signal input end of the indicator light (307).

10. A modular robot joint testing system according to claim 7, characterized in that: The length and width of the rough test plate (311) and the smooth test plate (312) are the same as the length and width of the installation groove (309), and the bottom of the smooth test plate (312) and the rough test plate (311) are both embedded in the interior of the installation groove (309).

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