A modular robot joint testing system

Abstract

This invention discloses a modular robot joint testing system. A frame is fixedly mounted at one end of the test base. A rotating rod is rotatably mounted on the top of the frame, with winding shafts symmetrically mounted at both ends of the rotating rod. Traction ropes are wound around the middle of both winding shafts, and light steel mounting blocks are fixedly connected to the bottom ends of both traction ropes. Laser displacement sensors are mounted at the middle of one end of each of the two light steel mounting blocks. The laser displacement sensors of this invention can move along with the robot joints. A laser capture display screen records the amplitude and trajectory of the laser displacement sensors' swing, making it easier for operators to express the motion trajectory and amplitude data generated by the robot joint tests. This greatly facilitates subsequent analysis of the test data, resulting in more accurate test data. Using laser trajectories to express the motion trajectory prevents minor joint swing errors from being indistinguishable to the naked eye.

Description

Technical Field

[0001] This invention relates to the field of modular robot technology, specifically a modular robot joint testing system. Background Technology

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

[0003] However, current robot joint testing methods are inconvenient and rely on manual visual observation, which makes it impossible to observe subtle differences and errors, resulting in inaccurate joint test data and easy to cause errors during subsequent robot use. Therefore, this invention provides a modular robot joint testing system to meet people's needs. Summary of the Invention

[0004] This invention provides a modular robot joint testing system, which can effectively solve the problems of inconvenience in the robot joint testing methods mentioned in the background art, and the inability to observe small differences and errors by relying on human eyes, resulting in inaccurate joint test data and easy to cause errors in subsequent robot use.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a modular robot joint testing system, including a test base, wherein a motion amplitude testing mechanism is installed at one end of the top of the test base;

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

[0007] A frame is fixedly installed at one end of the top of the test base. A rotating rod is rotatably installed on the top of the frame. Rewinding shafts are symmetrically installed at both ends of the rotating rod, and traction ropes are wound around the middle of both rewinding shafts.

[0008] Both of the two traction ropes are fixedly connected to a light steel mounting block at their bottom ends. A laser displacement sensor is installed in the middle of one end of each of the two light steel mounting blocks. Elastic straps are fixedly connected to both sides of each of the two light steel mounting blocks. A magnetic block is fixedly connected to the end of each elastic strap.

[0009] The test base has symmetrical rotating shafts fixedly installed at both ends, and a connecting plate is rotatably installed in the middle of each of the two rotating shafts. A flip plate is fixedly connected to the top of each of the two connecting plates, and a laser capture display screen is embedded in the middle of each of the two flip plates.

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

[0011] According to the above technical solution, the two flip plates are symmetrically distributed at both ends of the top of the test base, and the bottom end of the flip plate is in close contact with the top end of the test base.

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

[0013] Positioning cylinders are fixedly installed at both ends of the top of the flip plate. Buffer pads are embedded inside the positioning cylinders. Movable rods are fixedly connected to the ends of the buffer pads. Buffer rubber pads are fixedly connected to the ends of the movable rods. Fixing frames are symmetrically fixedly installed at both ends of the test base. Limiting blocks are rotatably installed on the top of the fixing frames. An L-shaped support block is fixedly connected to one end of the middle of the fixing frames.

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

[0015] According to the above technical solution, one end of the movable rod is movably embedded inside 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, a precise frequency detection mechanism is provided on both sides of the top of the test base;

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

[0018] The test base has two fixed vertical plates fixedly installed on its top sides. Guide rods are symmetrically installed through both ends of the fixed vertical plates. A return spring is sleeved on one end of each guide rod. A movable pressure plate is fixedly connected between the ends of the guide rods. A sealing frame is fixedly installed on the edge of the movable pressure plate. A press controller is fixedly installed in the middle of the fixed vertical plate. An indicator light is fixedly installed in the top center of the sealing frame. A protective pad is fixedly bonded to the surface of the movable pressure plate.

[0019] The test base has a mounting groove in the middle of its top end. Vibrators are symmetrically fixedly installed inside the mounting groove. A rough test plate is fixedly connected between the top ends of the two vibrators. A smooth test plate is placed on the top end of the rough test plate. L-shaped connecting blocks are symmetrically fixedly connected to both sides of the smooth test plate.

[0020] According to the above technical solution, the two ends of the reset 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 press controller is in contact with the movable pressure plate, and the signal output end of the press 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 mounting groove, and the bottom of the smooth test plate and the rough test plate are both embedded inside the mounting groove.

[0023] Compared with the prior art, the beneficial effects of the present invention are: 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. Elastic straps can be used to bind the light steel mounting block to the robot joint, allowing the laser displacement sensor to move with the robot joint. The laser capture display screen records the amplitude and trajectory of the laser displacement sensor's swing, making it easier for staff to express the motion trajectory and amplitude data generated by the robot joint test. This greatly facilitates the subsequent analysis of the test data, making the test data more accurate. Using 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 traction rope can be wound up and unwound using the winding shaft and rotating rod, which plays a role in adjusting 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 wound up and placed later.

[0026] 2. The rotating shaft and connecting plate can be used to switch between two states: flipping the flip plate to lie flat and standing it upright on top of the test base. This provides sufficient operating space for placing the robot and prevents the flip plate and laser capture display screen from taking up space and causing inconvenience for the staff.

[0027] Meanwhile, the limiting and fitting block can be used to fit and limit the flip plate, preventing the flip plate from shaking or tilting and affecting the normal testing process. The L-shaped support block provides stable support to the bottom of the limiting and fitting block, making it easier and more stable to rotate and adjust the position of the limiting and fitting block.

[0028] 3. By using the mutual attraction and fixation of the driving electromagnetic block and the metal circle block, a connection is formed with the rotating rod. The rotating rod can be directly operated by the driving motor to reel in and store the traction rope, and it also plays a role in positioning and installing the laser displacement sensor.

[0029] 4. The use of cushioning rubber pads and cushioning soft cotton pads in combination provides a certain degree of cushioning protection when the flip plate is flipped outward and laid flat, preventing the flip plate from directly colliding with the ground and causing vibrations that could adversely affect the laser capture display screen, thus improving the safety of the equipment.

[0030] 5. Equipped with a precise frequency detection mechanism, the robot's position is controlled by the cooperation of a movable pressure plate and a guide rod, making the start and end positions of the robot test more accurate. The robot's position is monitored by a press controller and indicator lights to prevent errors in test results due to differences between the start and end positions, thus improving the accuracy of the test.

[0031] 6. By using smooth and rough test plates in combination, two different types of travel environments are provided for robot motion testing, which improves the comprehensiveness of the test. It can be seen whether different planes have an impact on the robot's joint movement. At the same time, the vibrator can drive the smooth and rough test plates to vibrate up and down, which can be used to evaluate whether the robot joints 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.

[0032] In summary, by combining the motion amplitude testing mechanism and the precise frequency detection mechanism, the joint status of the robot during movement can be monitored from multiple aspects. The amplitude of joint swing and the motion trajectory can be observed simultaneously. Furthermore, the frequency of joint movement can be accurately analyzed based on the overall movement time and distance. At the same time, the plane of robot movement can be changed, providing a testing environment from multiple perspectives and effectively improving the accuracy of the test. Attached Figure Description

[0033] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0034] In the attached diagram:

[0035] Figure 1 This is a schematic diagram of the structure of the present invention;

[0036] Figure 2 This is a 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 This is a 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 circular block of the present invention;

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

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

[0042] Figure 8 This is a schematic diagram of the installation structure of the roughness test plate of the present invention;

[0043] Numbered in the diagram: 1. Test base;

[0044] 2. Motion amplitude testing mechanism; 201. Frame; 202. Rotating rod; 203. Rewind shaft; 204. Traction rope; 205. Light steel mounting block; 206. Laser displacement sensor; 207. Elastic strap; 208. Magnetic block; 209. Rotating shaft; 210. Connecting plate; 211. Flipping plate; 212. Laser capture display screen; 213. Metal round block; 214. Drive motor; 215. Drive electromagnetic block; 216. Positioning cylinder; 217. Buffer pad; 218. Movable rod; 219. Buffer rubber pad; 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 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. Roughness test plate; 312. Smoothness test plate; 313. L-shaped connecting block. Detailed Implementation

[0046] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended 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, including a test base 1, and a motion amplitude testing mechanism 2 is installed at one end of the top of the test base 1;

[0048] The motion amplitude testing mechanism 2 includes a frame 201, a rotating long rod 202, a winding shaft 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 drive motor 214, a drive 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] A frame 201 is fixedly installed at one end of the top of the test base 1. A rotating rod 202 is rotatably installed on the top of the frame 201. A winding shaft 203 is symmetrically installed at both ends of the rotating rod 202. A traction rope 204 is wound around the middle of both winding shafts 203.

[0050] The bottom ends of the two traction ropes 204 are fixedly connected to light steel mounting blocks 205. Laser displacement sensors 206 are installed in the middle of one end of the two light steel mounting blocks 205. Elastic straps 207 are fixedly connected to both sides of the two light steel mounting blocks 205. Magnetic blocks 208 are fixedly connected to the ends of the elastic straps 207. The laser displacement sensors 206 and elastic straps 207 are located at both ends of the light steel mounting blocks 205. The two laser displacement sensors 206 face the surfaces of the two laser capture displays 212.

[0051] The test base 1 has symmetrically fixed rotating shafts 209 at both ends. A connecting plate 210 is rotatably installed in the middle of each of the two rotating shafts 209. A flip plate 211 is fixedly connected to the top of each of the two connecting plates 210. A laser capture display screen 212 is embedded in the middle of each of the two flip plates 211. The two flip plates 211 are symmetrically distributed at both ends of the top of the test base 1. The bottom end of the flip plate 211 is close to the top of the test base 1. The light steel mounting block 205 can be bound to the robot joint using elastic straps 207, so that the laser displacement sensor 206 can move with the robot joint. The laser capture display screen 212 records the amplitude and trajectory of the laser displacement sensor 206 swing, which makes it easier for the staff to express the motion trajectory and amplitude data generated by the robot joint test. This provides great convenience for subsequent analysis of the test data, making the test data more accurate. The laser trajectory is used to express the motion trajectory, preventing small joint swing errors from being indistinguishable to the naked eye.

[0052] At the same time, the winding shaft 203 and the rotating rod 202 can be used to wind up and lengthen the traction rope 204, which plays an adjustment role in the position of the light steel mounting block 205, and provides a certain travel space for the laser displacement sensor 206 to move forward with the robot, and can be wound up and placed later.

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

[0054] Positioning cylinders 216 are fixedly installed at both ends of the top of the flip plate 211. Buffer pads 217 are embedded inside the positioning cylinders 216. Movable rods 218 are fixedly connected to the ends of the buffer pads 217, and buffer rubber pads 219 are fixedly connected to the ends of the movable rods 218. Fixing frames 220 are symmetrically fixedly installed at both ends of the test base 1. Limiting blocks 221 are rotatably installed on the top of the fixing frames 220. An L-shaped support block 222 is fixedly connected to one end of the middle of the fixing frame 220. Movable rods 218... One end of the device is movably embedded inside the positioning cylinder 216, and one end of the limiting and fitting block 221 extends to one end of the bottom of the flip plate 211. The L-shaped support block 222 fits into the bottom end of the limiting and fitting block 221. The flip plate 211 can be flipped flat and placed vertically on the top of the test base 1 using the rotating shaft 209 and the connecting long plate 210. This provides sufficient operating space for placing the robot and prevents the flip plate 211 and the laser capture display screen 212 from occupying space and causing inconvenience for the staff.

[0055] Meanwhile, the limiting and fitting block 221 can be used to fit and limit the flip plate 211, preventing the flip plate 211 from shaking or tilting and affecting the normal testing process. The L-shaped support block 222 supports and stabilizes the bottom of the limiting and fitting block 221, making it easier and more stable to rotate and adjust the position of the limiting and fitting block 221.

[0056] The drive electromagnetic block 215 and the metal round block 213 are attracted and fixed to each other, and a connection is formed with the rotating long rod 202. The drive motor 214 can directly operate the rotating long rod 202, and the traction rope 204 is wound up and stored. The laser displacement sensor 206 is positioned and installed.

[0057] The use of buffer rubber pad 219 and buffer soft cotton pad 217 in combination provides a certain buffer protection for the flip plate 211 to flip outward and lay flat, preventing the flip plate 211 from directly colliding with the ground and causing vibration that would have an adverse effect on the laser capture display screen 212, thus improving the safety of the equipment.

[0058] The test base 1 has a precision frequency detection mechanism 3 on both sides of its top end;

[0059] The precision 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 press controller 306, an indicator light 307, a protective pad 308, a mounting groove 309, a vibrator 310, a roughness test plate 311, a smoothness test plate 312, and an L-shaped connecting block 313.

[0060] A fixed vertical plate 301 is fixedly installed on both sides of the top of the test base 1. A guide rod 302 is symmetrically installed through both ends of the fixed vertical plate 301. A return spring 303 is sleeved on one end of each guide rod 302. A movable pressure plate 304 is fixedly connected between the ends of the guide 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. A sealing frame 305 is fixedly installed on the edge of the movable pressure plate 304. A press controller 306 is fixedly installed in the middle of the fixed vertical plate 301. 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. The end of the press controller 306 is attached to the movable pressure plate 304. The signal output terminal of the press controller 306 is connected to the signal input terminal of the indicator light 307.

[0061] A mounting groove 309 is provided in the middle of the top of the test base 1. Vibrators 310 are 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. L-shaped connecting blocks 313 are symmetrically fixedly connected to both sides of the smooth test plate 312. 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 embedded inside the mounting groove 309. The position of the robot is controlled by the cooperation of the movable pressure plate 304 and the guide rod 302, so that the starting and ending positions of the robot test are more accurate. The robot position is monitored by the press controller 306 and the indicator light 307 to prevent the difference between the starting and ending positions of the robot test from causing test result errors and improve the accuracy of the test.

[0062] By using the smooth test plate 312 and the rough test plate 311 in conjunction, two different types of travel environments are provided for robot motion testing, which improves the comprehensiveness of the test. It can be understood 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 joints 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 this invention are as follows: First, the operator pushes the limiting and fitting block 221 upward, causing it to rotate from above and move away from the flip plate 211. Then, the flip plate 211 is pulled to flip outward from the vertical position. The flip plate 211 rotates around the rotating shaft 209 until the buffer rubber belt 219 contacts the ground. The movable rod 218 will move into the positioning cylinder 216. Both the buffer rubber pad 219 and the buffer soft pad 217 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] Exposing the top of the test base 1, the staff takes the modular robot, selects the joint to be tested, attaches the light steel mounting block 205 tightly to the surface of the joint, binds it with the elastic strap 207, and fixes the magnetic blocks 208 together, fixing the light steel mounting block 205 to the robot joint, so that the two laser displacement sensors 206 face to the sides respectively.

[0065] The operator selects one end near the frame 201 and pulls the corresponding guide rod 302 outward. The reset spring 303 is compressed, and the movable pressure plate 304 moves towards the fixed vertical plate 301. The movable pressure plate 304 presses tightly against the surface of the press controller 306, and the indicator light 307 lights up. The operator can then place the modular 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 near the frame 201. The operator then flips the flip plate 211 back up and stands it upright. The rotation limit fitting block 221 is pressed tightly against the surface of the flip plate 211 to support it.

[0066] Then, the staff controls the robot to move. The robot moves away from the movable pressure plate 304, the reset spring 303 extends, so that the pressing controller 306 is no longer squeezed, the indicator light 307 no longer lights up, the robot's joints will swing accordingly, the laser displacement sensor 206 will swing 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] Furthermore, when the robot moves, the power to the drive electromagnetic block 215 is cut off, so that it no longer attracts the metal round block 213. As the robot moves, the light steel mounting block 205 and the robot joint will pull the traction rope 204 to move forward. The rotating rod 202 and the winding shaft 203 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, pressing the controller 306, squeezing the indicator light 307, stopping the robot's movement, indicating that a stage test of the joint is over.

[0068] Based on the joint movement trajectory and amplitude displayed on the laser capture display screen 212, as well as the time difference between the on and off of the two indicator lights 307, the staff can analyze the joint movement frequency according to the time and the joint swing amplitude. By integrating the data, the staff can accurately understand the robot joint movement trajectory, movement amplitude and movement frequency.

[0069] Subsequently, staff can remove the smooth test plate 312 and allow the robot to move on the rough test plate 311 to test the robot's joint movement 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 robot's joint movement is affected by the vibration environment. The testing methods and ranges are wide and diverse, and the use is more convenient.

[0070] After the test, the elastic strap 207 and the light steel mounting block 205 are removed from the robot joint. The drive electromagnetic block 215 can be energized to generate magnetism to attract and fix the metal block 213. The drive motor 214 drives the metal block 213 and the rotating rod 202 to rotate, so that the winding shaft 203 will wind 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 descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope 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 amplitude testing mechanism (2) includes a frame (201); A frame (201) is fixedly installed at one end of the top of the test base (1). A rotating rod (202) is rotatably installed on the top of the frame (201). A winding shaft (203) is symmetrically installed at both ends of the rotating rod (202). A traction rope (204) is wound around the middle of both winding shafts (203). The bottom ends of the two traction ropes (204) are fixedly connected to light steel mounting blocks (205), and laser displacement sensors (206) are installed in the middle of one end of the two light steel mounting blocks (205). Elastic straps (207) are fixedly connected to both sides of the two light steel mounting blocks (205), and magnetic blocks (208) are fixedly connected to the ends of the elastic straps (207). The test base (1) is symmetrically fixed with rotating shafts (209) at both ends. A connecting plate (210) is rotatably installed in the middle of each of the two rotating shafts (209). A flip plate (211) is fixedly connected to the top of each of the two connecting plates (210). A laser capture display screen (212) is embedded in the middle of each of the two flip plates (211). The test base (1) is provided with a precision frequency detection mechanism (3) on both sides of the top. The precise frequency detection mechanism (3) includes a fixed vertical plate (301), a guide rod (302), and a reset spring (303); The test base (1) has two fixed vertical plates (301) fixedly installed on both sides of the top. Guide rods (302) are symmetrically installed through both ends of the fixed vertical plates (301). A reset spring (303) is sleeved on one end of each guide rod (302). A movable pressure plate (304) is fixedly connected between the ends of the guide rods (302). A sealing frame (305) is fixedly installed on the edge of the movable pressure plate (304). A press controller (306) is fixedly installed in the middle of the fixed vertical plate (301). 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). The test base (1) has a mounting groove (309) in the middle of its top end. Vibrators (310) are symmetrically fixed inside the mounting groove (309). A rough test plate (311) is fixedly connected between the top ends of the two vibrators (310). A smooth test plate (312) is placed on the top end of the rough test plate (311). L-shaped connecting blocks (313) are symmetrically fixedly connected to both sides of the smooth test plate (312).

2. The modular robot joint testing system according to claim 1, characterized in that, The laser displacement sensor (206) and the elastic strap (207) are located at both ends of the light steel mounting block (205), and the two laser displacement sensors (206) face the surfaces of the two laser capture displays (212).

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

4. The modular robot joint testing system according to claim 1, characterized in that, A metal block (213) is fixedly connected to the end of the rotating rod (202), and a drive motor (214) is fixedly installed at one end of the top of the frame (201). A drive electromagnetic block (215) is fixedly connected to the output end of the drive motor (214). Positioning cylinders (216) are fixedly installed at both ends of the top of the flip plate (211). A cushioning soft pad (217) is embedded inside the positioning cylinder (216). A movable rod (218) is fixedly connected to the end of the cushioning soft pad (217). A cushioning rubber pad (219) is fixedly connected to the end of the movable rod (218). Fixing frames (220) are symmetrically fixedly installed at both ends of the test base (1). A limiting fitting block (221) is rotatably installed on the top of the fixing frame (220). 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 drive motor (214) and the rotating rod (202) are located on the same vertical plane, and the drive 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 inside 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).

7. A modular robot joint testing system according to claim 1, characterized in that, The two ends of the reset spring (303) are connected to the movable pressure plate (304) and the fixed vertical plate (301) respectively, and the inner wall of the sealing frame (306) is tightly attached to the edge of the fixed vertical plate (301).

8. A modular robot joint testing system according to claim 1, characterized in that, The end of the press controller (306) is in contact with the movable pressure plate (304), and the signal output end of the press controller (306) is connected to the signal input end of the indicator light (307).

9. A modular robot joint testing system according to claim 1, 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 mounting groove (309), and the bottom of the smooth test plate (312) and the rough test plate (311) are both embedded inside the mounting groove (309).

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