Load characteristic testing device for frameless torque motor of humanoid robot

Abstract

The invention relates to the technical field of motor load testing, in particular to a humanoid robot frameless torque motor load characteristic testing device which comprises a frame body and fixing rods axially, symmetrically and fixedly mounted at the top of the frame body, and further comprises a base detachably mounted at the top of the frame body; the stator is detachably mounted in the base; the limiting seat is arranged in the base; the rotor is arranged in the limiting seat and is movably arranged in the stator; the output motor is mounted at the bottom of the frame body and outputs torque for the rotor; the two ends of the lifting plate movably sleeve the outer sides of the fixed rods; the multiple pressing rods are movably arranged at the bottom of the lifting plate in an annular array mode; the adjusting assembly is arranged in the lifting plate and used for driving the multiple pressing rods to coaxially expand or contract. According to the humanoid robot frameless torque motor load characteristic testing device, the position of the pressing rod can be adjusted through the adjusting assembly, stators of various models and different sizes can be pressed and limited, and the stability in the testing process is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor load testing, in particular to a frameless torque motor load characteristic testing device for humanoid robots. BACKGROUND

[0002] Humanoid robots need to simulate human actions and behaviors, and require motors with high precision, high response, low energy consumption and other characteristics to achieve more flexible and accurate joint movement. As the "power heart" of the joints of humanoid robots, frameless torque motors need to perform well in power output, explosive force and endurance, lightweight and energy efficiency. During production, the torque performance of the rotor and stator of the frameless motor needs to be detected to determine the torque characteristics of the motor.

[0003] During the detection process, the rotor and stator need to be fitted and installed on the test platform first, and then the stator is compressed and fixed to ensure that the stator remains stable during the rotor test. After the motor is powered on, the stator magnetic field generates an electromagnetic force on the rotor winding, forming an electromagnetic torque (i.e. motor output torque). This torque overcomes the resistance of the rotor itself (such as friction resistance and load resistance) to drive the rotor to start accelerating or maintain uniform rotation. A torque sensor is connected between the rotor and the motor. When the motor outputs torque, the torque is transmitted to the elastic element (such as a metal elastic shaft or an elastic disc) inside the sensor, and then transmitted to the rotor, so that the output torque data of the rotor is obtained to analyze whether the rotor performance meets the standard. However, different sizes of stators need to be tested during the test process, and the size and diameter of the stator are different, so the compression assembly corresponding to the different sizes of the stator needs to be replaced, which increases the investment cost of the factory. Secondly, replacing the compression assembly will also delay a certain amount of time and affect the test efficiency. SUMMARY

[0004] Therefore, it is necessary to provide a humanoid robot frameless torque motor load characteristic testing device capable of compressing and limiting multiple sizes of stators.

[0005] The humanoid robot frameless torque motor load characteristic testing device provided by the present application comprises a frame body and a fixed rod axially symmetrically fixedly installed on the top of the frame body, and further comprises: a base detachably installed on the top of the frame body; a stator detachably installed in the base; a limiting seat arranged in the base; a rotor arranged in the limiting seat and movably arranged in the stator; an output motor installed at the bottom of the frame body to output torque to the rotor; Lifting plate, both ends of the movable sleeve set outside the fixed rod; Compression rod, annular array movable set in the bottom of the lifting plate, set multiple; Adjusting assembly, set in the lifting plate, for driving multiple compression rod coaxial expansion or contraction.

[0006] In one embodiment, the adjusting assembly includes a circular groove opened in the center of the lifting plate, a disc is rotatably arranged in the circular groove, a plurality of curved grooves are annularly arranged on the disc, the number of the curved grooves is the same as the number of the compression rods, and the top of the compression rod is in sliding connection with the curved groove.

[0007] In one embodiment, the top of the disc is fixedly provided with a rotating shaft, one end of the rotating shaft away from the disc is movably penetrated through the top of the lifting plate, and the other end of the rotating shaft is fixedly sleeved with a cylinder.

[0008] In one embodiment, the outer side of the rotating shaft is movably sleeved with a fixed block, the fixed block is fixedly connected with the top of the lifting plate, a horizontal groove is opened in the fixed block, a horizontal rod is fixedly arranged in the horizontal groove, a limiting frame is movably sleeved outside the horizontal rod, a plurality of clamping grooves are annularly arranged outside the cylinder, and one end of the limiting frame is movably connected with the clamping groove.

[0009] In one embodiment, one end of the fixed block is fixedly provided with a fixed cylinder, a reset spring is fixedly arranged in the fixed cylinder, the top of the reset spring is fixedly provided with a movable column, and one end of the movable column away from the reset spring is fixedly connected with one end of the limiting frame away from the clamping groove.

[0010] In one embodiment, a plurality of sliding columns are annularly fixedly arranged on the top of the lifting plate, a plurality of rotating rings are linearly movably sleeved outside the sliding columns, and adjacent rotating rings are spaced apart at a certain distance.

[0011] In one embodiment, a plurality of moving grooves are annularly arranged on the top of the lifting plate, a moving block is slidably arranged in the moving groove, the bottom of the moving block is fixedly connected with the top of the compression rod, a connecting rod is fixedly arranged on the top of the moving block, one end of the connecting rod is fixedly connected with an arc-shaped block, the arc-shaped block is in sliding connection with the sliding column, an arc-shaped groove is opened on the surface of the arc-shaped block, a limiting rod is fixedly arranged on the inner side of the rotating ring, and the limiting rod is in sliding connection with the arc-shaped groove.

[0012] In one embodiment, a fixed ring is fixedly arranged on one side of the sliding column, a limiting hole is opened in the fixed ring, the fixed ring is slidably and closely arranged with the rotating ring, a limiting ball is arranged on one side of the rotating ring, and the limiting ball is movably connected with the limiting hole.

[0013] In one of the embodiments, a circular ring is fixedly arranged in the limiting hole, a top rod is movably arranged through the center of the circular ring, and the top rod is movably abuts against the limiting ball at one end.

[0014] In one of the embodiments, a slanted groove is formed at the end of the top rod away from the limiting ball, a vertical plate is fixedly arranged on one side of the lifting plate, a plurality of moving rods are movably arranged in linear array on the vertical plate, a notch is formed at the end of the moving rod close to the top rod, the notch movably abuts against the slanted groove, the moving rods are connected together by a push plate at the end away from the notch, a plurality of limiting springs are arranged on the push plate, and the limiting springs are fixedly connected with the vertical plate at one end.

[0015] The above-mentioned frameless torque motor load characteristic testing device for humanoid robots can adjust the position of the pressing rod through the adjusting assembly, can press and limit the stators of various models and sizes to ensure the stability during the testing process, can control the moving distance of the pressing rod by the linkage of the rotation of the rotating ring and the moving distance of the pressing rod and the moving block, and can keep the stable state after the rotating ring rotates through the clamping of the limiting ball and the limiting hole, so that the operator can confirm whether the moving distance of the pressing rod meets the requirements by identifying the rotating number of the rotating ring. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the structure of the rotor in the present application; Figure 3 It is a schematic diagram of the structure of the lifting plate in the present application; Figure 4 It is Figure 3 It is an enlarged schematic diagram of part A in the present application; Figure 5 It is a schematic diagram of the structure of the adjusting assembly in the present application; Figure 6 It is a schematic diagram of the structure of the clamping groove in the present application; Figure 7 It is a schematic diagram of the structure of the reset spring in the present application; Figure 8 It is a schematic diagram of the structure of the limiting rod in the present application; Figure 9 It is the structural schematic view of the mobile rod in the application; Figure 10 It is the structural schematic view of the mobile rod in the application; Figure 9 It is the enlarged schematic view of part B in the application; Figure 11 It is the structural schematic view of the limiting ball in the application; Figure 12 It is the structural schematic view of the positioning spring in the application.

[0018] Reference signs: 1, frame; 2, fixed rod; 3, base; 4, stator; 5, limiting seat; 6, rotor; 7, output motor; 8, adjusting assembly; 81, round groove; 82, disc; 83, curved groove; 9, lifting plate; 91, mobile groove; 10, pressing rod; 11, rotating shaft; 12, cylinder; 121, clamping groove; 13, fixed block; 131, horizontal groove; 14, horizontal rod; 15, limiting frame; 16, fixed cylinder; 17, return spring; 18, movable column; 19, sliding column; 20, rotating ring; 21, mobile block; 22, connecting rod; 23, arc-shaped block; 231, arc-shaped groove; 24, limiting rod; 25, fixed ring; 251, limiting hole; 26, limiting ball; 27, ring; 28, jacking rod; 281, inclined groove; 29, positioning spring; 30, vertical plate; 31, mobile rod; 311, notch; 32, limiting spring; 33, push plate. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be clearly and completely explained in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0020] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly on the other component or there can be a middle component. When a component is referred to as "connected to" another component, it can be directly connected to the other component or there can be a middle component. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the specification of the present application are only for the purpose of illustration, and do not indicate the only implementation.

[0021] Furthermore, the terms "first", "second", "third", etc. are used herein for descriptive purposes only and should not be construed as indicating or implying relative importance or an ordered sequence. Thus, features referring to "first", "second" etc. can include at least one of the features, explicitly or implicitly.

[0022] In the present application, unless otherwise explicitly specified and limited, the "on", "under", "above" and "below" of a first feature to a second feature can mean that the first feature is in direct contact with the second feature, or the first feature is in indirect contact with the second feature through an intermediate medium. Moreover, the "on", "above" and "below" of a first feature to a second feature can mean that the first feature is directly above or obliquely above the second feature, or only means that the first feature is horizontally higher than the second feature. The "on", "above" and "below" of a first feature to a second feature can mean that the first feature is directly below or obliquely below the second feature, or only means that the first feature is horizontally lower than the second feature.

[0023] Unless otherwise defined, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the specification of the present application includes any and all combinations of one or more related listed items.

[0024] The following will be described in conjunction with Figures 1-12 The human-shaped robot frameless torque motor load characteristic testing device of the present application is described.

[0025] As Figures 1-5 shown, in one embodiment, the human-shaped robot frameless torque motor load characteristic testing device comprises a frame body 1 and an axial symmetric fixed rod 2 fixedly installed on the top of the frame body 1, and further comprises: a base 3 detachably installed on the top of the frame body 1; a stator 4 detachably installed inside the base 3; a limiting seat 5 arranged inside the base 3; a rotor 6 arranged inside the limiting seat 5 and movably arranged inside the stator 4; an output motor 7 installed at the bottom of the frame body 1 to output torque for the rotor 6; a lifting plate 9 movably sleeved at both ends outside the fixed rod 2; a plurality of compression rods 10 arranged in an annular array at the bottom of the lifting plate 9; an adjusting assembly 8 arranged in the lifting plate 9 for coaxially expanding or contracting the plurality of compression rods 10.

[0026] Specifically, the base 3 is screwed and installed on the top of the frame body 1, the limiting seat 5 is also installed in the base 3, the stator 4 is installed in the base 3, the rotor 6 is installed on the limiting seat 5, the stator 4 is arranged outside the rotor 6, the lifting plate 9 can move up and down relative to the fixed rod 2, the lifting plate 9 can be driven by a cylinder, one end of the lifting plate 9 is connected with the cylinder, and the lifting plate 9 can move up and down relative to the fixed rod 2 under the action of the cylinder; when the stator 4 and other components are all installed, the downward movement of the lifting plate 9 drives the downward movement of the pressing rods 10, the number of the pressing rods 10 is set to be multiple, and three are designed in this application; the bottom of the pressing rod 10 abuts against the stator 4, the stator 4 is annular, and the abutment between the pressing rod 10 and the stator 4 can guarantee the stability of the stator 4 in the test process; then the output motor 7 is powered, the torque sensor is installed between the output motor 7 and the rotor 6 on the frame body 1, after the output motor 7 is powered, the magnetic field of the stator 4 generates electromagnetic force on the winding of the rotor 6, forming electromagnetic torque (i.e. output torque of the output motor 7). This torque overcomes the resistance (such as friction resistance and load resistance) of the rotor 6 itself, drives the rotor 6 to start accelerating rotation from static state, or maintains uniform speed rotation, when the output motor 7 outputs torque, the torque is sequentially transmitted to the elastic element (such as a metal elastic shaft or an elastic disc) in the sensor, and then transmitted to the rotor 6 by the elastic element, so that the output torque data of the rotor 6 is obtained, to analyze whether the performance of the rotor 6 meets the standard. The base 3, the stator 4, the limiting seat 5 and the rotor 6 are used in matching, if different models of the rotor 6 need to be tested, then these components need to be replaced, the diameters of different models of the stator 4 are different, and in the prior art, the lifting plate 9 and the pressing rod 10 are usually replaced to adapt to another model of the stator 4, so that it is relatively time-consuming to operate, in this application, the adjustment assembly 8 can drive multiple pressing rods 10 to expand or shrink coaxially, the center points between the three pressing rods 10 remain unchanged, so that corresponding adjustment is made according to different models of the stator 4, without the need to replace the lifting plate 9 and the pressing rod 10, the investment cost is reduced, and the test efficiency is improved.

[0027] Referring to Figure 5 In this embodiment, the adjustment assembly 8 includes a circular groove 81 formed in the center of the lifting plate 9, and a disc 82 is rotationally arranged in the circular groove 81, a plurality of curve grooves 83 are annularly arranged on the disc 82, the number of the curve grooves 83 is same as that of the pressing rods 10, and the top of the pressing rod 10 is slidably connected with the curve groove 83.

[0028] Specifically, when the position of the pressing rod 10 needs to be adjusted, the disc 82 is rotated, the rotation of the disc 82 in the circular groove 81 drives the curve groove 83 to rotate, so that the movement of the pressing rod 10 is realized, multiple pressing rods 10 synchronously expand outward or shrink inward, so that the position of the pressing rod 10 can be changed, the edges of different sizes of the stator 4 can be corresponded, and multiple models of the stator 4 can be limited, so that the investment cost is reduced.

[0029] Referring toFigure 3 and Figure 5 As shown in

[0030] Specifically, the rotation of the cylinder 12 can drive the rotation of the rotating shaft 11 and the disc 82, and the rotation of the disc 82 can realize the movement of the pressing rod 10, which facilitates the pressing and positioning of the stator 4 of different sizes. The cylinder 12 and the rotating shaft 11 extend outside the lifting plate 9, which can be manually rotated by the operator, and no motor, sensor or other electronic equipment needs to be added, thereby saving costs.

[0031] As shown in Figures 5-7 In this embodiment, the rotating shaft 11 is movably sleeved with a fixed block 13, the fixed block 13 is fixedly connected with the top of the lifting plate 9, a horizontal groove 131 is formed in the fixed block 13, a horizontal rod 14 is fixedly arranged in the horizontal groove 131, a limiting frame 15 is movably sleeved with the horizontal rod 14 outside, a plurality of clamping grooves 121 are annularly arranged outside the cylinder 12, and one end of the limiting frame 15 is movably connected with the clamping groove 121.

[0032] Specifically, when the cylinder 12 does not need to be rotated to adjust the position of the pressing rod 10, one end of the limiting frame 15 is clamped with one of the clamping grooves 121, at this time, the cylinder 12 is in a state of being unable to rotate, which can avoid the change of the position of the pressing rod 10 caused by the mistaken rotation of the cylinder 12. When the cylinder 12 needs to be rotated, the limiting frame 15 is rotated to make one end of the limiting frame 15 no longer clamped with the clamping groove 121, the limiting frame 15 is rotated relative to the horizontal rod 14 arranged in the horizontal groove 131, the horizontal rod 14 provides a supporting action, and after one end of the limiting frame 15 is disengaged from the clamping groove 121, the cylinder 12 is in a rotatable state, which facilitates the adjustment of the position of the pressing rod 10, and the fixed block 13 provides a supporting action.

[0033] As shown in Figure 7 In this embodiment, the fixed block 13 is fixedly provided with a fixed cylinder 16 at one end, the fixed cylinder 16 is fixedly provided with a reset spring 17, the reset spring 17 is fixedly provided with a movable column 18 at the top, and one end of the movable column 18 away from the reset spring 17 is fixedly connected with one end of the limiting frame 15 away from the clamping groove 121.

[0034] Specifically, when the cylinder 12 does not need to be rotated, one end of the limiting frame 15 is clamped with the clamping groove 121, and the reset spring 17 is in a normal extension state; when the position of the pressing rod 10 needs to be adjusted, the end of the limiting frame 15 close to the movable column 18 is pressed downward, which drives the movable column 18 to move downward along the fixed cylinder 16 to compress the reset spring 17, and the end of the limiting frame 15 close to the clamping groove 121 is tilted upward and no longer clamped with the clamping groove 121, at this time, the cylinder 12 can be rotated, and when the cylinder 12 is rotated to the end, the pressure applied to the limiting frame 15 is released, and under the action of the reset spring 17, the movable column 18 moves upward, drives the limiting frame 15 to rotate, and makes the other end clamped with one of the clamping grooves 121 again, at this time, the cylinder 12 is in a state of being unable to rotate, and the pressing rod 10 is also unable to move, which can ensure that the pressing rod 10 and the stator 4 do not deviate during abutting and limiting, and the abutting stability is ensured.

[0035] Referring to Figure 3 and Figure 4 , in the embodiment, a plurality of sliding columns 19 are fixedly arranged in an annular array on the top of the lifting plate 9, a plurality of rotating rings 20 are movably sleeved on the outside of the sliding columns 19 in a linear array, and adjacent rotating rings 20 are spaced apart by a certain distance.

[0036] Specifically, the stator 4 has multiple models, and the moving distance of the pressing rod 10 is long or short and corresponds to different models of the stator 4, and the side of the rotating ring 20 can be fixedly connected with a label, and the label is initially horizontally placed, when the pressing rod 10 moves a distance, the first rotating ring 20 is rotated, and the rotating ring 20 rotates relative to the sliding column 19 to drive the corresponding label to rotate, at this time, the distance of the pressing rod 10 corresponds to one of the models of the stator 4, the model of the stator 4 can be corresponded with the position of the flipped label to form a table, and the operator can obtain the moving distance of the pressing rod 10 according to the flipped label, and check whether it matches the model of the stator 4 to be tested according to the table, which is suitable for use in an environment without adding sensors and other electronic instruments, can reduce the cost, and the position adjustment of the pressing rod 10 is realized by manually rotating the cylinder 12 and the rotating shaft 11, and whether the pressing rod 10 moves to the specified position is known by the flipping of the label.

[0037] Referring to Figure 3 , Figure 4 and Figures 8-9 , in the embodiment, a plurality of moving grooves 91 are arranged in an annular array on the top of the lifting plate 9, a moving block 21 is slidably arranged in the moving groove 91, the bottom of the moving block 21 is fixedly connected with the top of the pressing rod 10, a connecting rod 22 is fixedly arranged on the top of the moving block 21, one end of the connecting rod 22 is fixedly connected with an arc-shaped block 23, the arc-shaped block 23 is slidably connected with the sliding column 19, an arc-shaped groove 231 is arranged on the surface of the arc-shaped block 23, a limiting rod 24 is fixedly arranged on the inside of the rotating ring 20, and the limiting rod 24 is slidably connected with the arc-shaped groove 231.

[0038] Specifically, the movement of the pressing rod 10 drives the movement of the top moving block 21 along the movement groove 91, the movement of the connecting rod 22, and the movement of the arc-shaped block 23 along the sliding column 19. During the movement of the arc-shaped block 23 along the sliding column 19 to the edge of the lifting plate 9, the pressing rod 10 is expanded to adapt to a larger diameter stator 4. During the movement of the arc-shaped block 23, the arc-shaped groove 231 will sequentially contact the limiting rods 24 arranged on the inner wall of the plurality of rotating rings 20, which can drive the plurality of rotating rings 20 to rotate clockwise by 90 degrees in sequence. Through the rotation of the rotating ring 20 and the corresponding signboard, the movement distance of the pressing rod 10 can be directly displayed, which is convenient for the operator to know whether the pressing rod 10 has moved to the preset position. Because the operator cannot intuitively understand whether the pressing rod 10 has moved to the position by rotating the cylindrical body 12 and the rotating shaft 11, if the first rotating ring 20 has been rotated to the end and the expansion distance of the pressing rod 10 is not enough, continuing to rotate the cylindrical body 12 and the rotating shaft 11 can realize the continuous movement of the arc-shaped block 23 along the sliding column 19, driving the second, third, and other rotating rings 20 to flip until the pressing rod 10 reaches the preset position.

[0039] Referring to Figures 9-11 In the embodiment, the sliding column 19 is fixedly arranged on one side of the rotating ring 20 with a fixed ring 25, the fixed ring 25 is provided with a limiting hole 251, the fixed ring 25 is arranged in sliding fit with the rotating ring 20, and the rotating ring 20 is provided with a limiting ball 26 which is movably connected with the limiting hole 251.

[0040] Specifically, when the rotating ring 20 rotates clockwise relative to the sliding column 19 under the cooperation of the arc-shaped groove 231 and the limiting rod 24, the limiting ball 26 is in a compressed state in the initial state. During the rotation of the rotating ring 20, the limiting ball 26 is in a compressed state under the extrusion of the inner wall of the fixed ring 25. When the rotating ring 20 drives the limiting ball 26 to rotate to be aligned with the limiting hole 251, the limiting ball 26 loses the extrusion of the limiting hole 251 and is connected. At this time, the rotating ring 20 is in a state of being unable to move, and the corresponding signboard is also in a state of being unable to move, which is convenient for the operator to check. After positioning, each flipped signboard is a "fixed counting unit". The operator can directly calculate the displacement based on the "number of static signboards", without the need to repeatedly confirm the state, and the error is greatly reduced.

[0041] Referring to Figures 10-12 In the embodiment, a circular ring 27 is fixedly arranged in the limiting hole 251, a top rod 28 is movably arranged at the center of the circular ring 27, one end of the top rod 28 is movably connected with the limiting ball 26, and the top rod 28 is fixedly connected with the circular ring 27 through a positioning spring 29.

[0042] Specifically, when the limiting ball 26 needs to be disengaged from the limiting hole 251, the top rod 28 is pushed inward along the limiting hole 251, and the top rod 28 at one end drives the limiting ball 26 so that it is no longer engaged with the limiting hole 251. During this process, the positioning spring 29 is compressed. After the limiting ball 26 is no longer engaged with the limiting hole 251, the pushing force on the top rod 28 is removed, and the top rod 28 is driven back to the initial position under the action of the positioning spring 29. The circular ring 27 provides support for the positioning spring 29.

[0043] Referring to Figures 9-10 In the embodiment shown, a slanted groove 281 is formed at the end of the top rod 28 away from the limiting ball 26. A vertical plate 30 is fixedly arranged on one side of the lifting plate 9. A plurality of moving rods 31 are linearly arranged and movably penetrated through the vertical plate 30. A notch 311 is formed at the end of the moving rod 31 close to the top rod 28. The notch 311 movably abuts against the slanted groove 281. The ends of the plurality of moving rods 31 away from the notch 311 are connected together through a push plate 33. A plurality of limiting springs 32 are arranged on the push plate 33, and one end of the limiting spring 32 is fixedly connected with the vertical plate 30.

[0044] Specifically, after the limiting ball 26 is engaged with the limiting hole 251, the corresponding rotating ring 20 cannot rotate. If the pressing rod 10 needs to be moved inward to adapt to a smaller diameter stator 4, the engagement between the limiting ball 26 and the limiting hole 251 needs to be disengaged. At this time, the push plate 33 is moved in the direction close to the vertical plate 30. The movement of the push plate 33 drives the plurality of moving rods 31 to move horizontally. The end of the moving rod 31 provided with the notch 311 abuts against the slanted groove 281 formed on the top rod 28, which drives the top rod 28 to move inward to the limiting hole 251, so that the limiting ball 26 is no longer engaged with the limiting hole 251. During this process, the limiting spring 32 and the positioning spring 29 are compressed. The engagement between the plurality of limiting balls 26 and the plurality of limiting holes 251 can be disengaged. The operation is convenient and fast. After the engagement between the limiting ball 26 and the limiting hole 251 is disengaged, the arc-shaped block 23 can slide in the reverse direction along the surface of the sliding column 19 to the preset position. No force is applied to the push plate 33. Under the action of the limiting spring 32, the push plate 33 and the plurality of moving rods 31 move in the reverse direction to the initial position.

[0045] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as the combinations of the technical features do not contradict each other, they should be considered as falling within the scope of the present disclosure.

[0046] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A humanoid robot frameless torque motor load characteristic testing device, comprising a frame and a fixing rod axially symmetrically fixedly mounted on the top of the frame, characterized in that: Also includes: A base, detachably mounted on the top of the frame; A stator is detachably mounted inside the base; A limiting seat, arranged inside the base; A rotor is arranged in the limiting seat and is movably arranged inside the stator; an output motor, mounted at the bottom of the frame, for outputting torque to the rotor; A lifting plate, with both ends movably sleeved on the outside of the fixed rod; The pressure rods are movably arranged in a circular array at the bottom of the lifting plate, and the number of the pressure rods is set to be multiple; The adjustment component is arranged in the lifting plate and is used for driving the plurality of pressure rods to coaxially expand or contract.

2. The humanoid robot frameless torque motor load characteristic testing device according to claim 1, characterized in that: The adjustment component includes a circular groove opened in the center of the lifting plate, a disc is rotatably arranged in the circular groove, a plurality of curved grooves are opened in a circular array on the disc, the number of the curved grooves is the same as the number of the pressure rods, and the top of the pressure rod is slidably connected to the curved grooves.

3. The humanoid robot frameless torque motor load characteristic testing device according to claim 2, characterized in that: A rotating shaft is fixedly provided on the top of the disc. One end of the rotating shaft away from the disc movably passes through the top of the lifting plate and a cylinder is fixedly sleeved on the end thereof.

4. The humanoid robot frameless torque motor load characteristic testing device according to claim 3, characterized in that: A fixed block is provided on the outer side of the rotating shaft, and the fixed block is fixedly connected to the top of the lifting plate. A transverse groove is provided on the fixed block, and a transverse rod is fixedly provided in the transverse groove. A limiting frame is provided on the outer side of the transverse rod, and a plurality of slots are provided in an annular array on the outer side of the cylinder, and one end of the limiting frame is movably engaged with the slot.

5. The humanoid robot frameless torque motor load characteristic testing device according to claim 4, characterized in that: A fixing cylinder is fixedly provided at one end of the fixing block, a return spring is fixedly provided in the fixing cylinder, a movable column is fixedly provided on the top of the return spring, and the end of the movable column away from the return spring is fixedly connected to the end of the limiting frame away from the card slot.

6. The humanoid robot frameless torque motor load characteristic testing device according to claim 2, characterized in that: A plurality of sliding columns are fixedly provided in a circular array on the top of the lifting plate, and a plurality of rotating rings are movably sleeved in a linear array outside the sliding columns, with a certain distance between adjacent rotating rings.

7. The humanoid robot frameless torque motor load characteristic testing device according to claim 6, characterized in that: The top annular array of the lifting plate is provided with a plurality of movable grooves, a movable block is slidably arranged in the movable groove, the bottom of the movable block is fixedly connected to the top of the pressure rod, a connecting rod is fixedly provided on the top of the movable block, one end of the connecting rod is fixedly connected to an arc block, the arc block is slidably connected to the sliding column, an arc groove is provided on the surface of the arc block, a limiting rod is fixedly provided on the inner side of the rotating ring, and the limiting rod is slidably connected to the arc groove.

8. The humanoid robot frameless torque motor load characteristic testing device according to claim 7, characterized in that: The sliding column is located on one side of the rotating ring and is fixed with a fixing ring. A limiting hole is provided on the fixing ring. The fixing ring and the rotating ring are slidingly fitted together. A limiting ball is provided on one side of the rotating ring, and the limiting ball is movably engaged with the limiting hole.

9. The humanoid robot frameless torque motor load characteristic testing device according to claim 8, characterized in that: A circular ring is fixedly provided in the limiting hole, a push rod is movably provided at the center of the circular ring, one end of the push rod is movably abutted against the limiting ball, and the push rod and the circular ring are fixedly connected via a positioning spring.

10. The humanoid robot frameless torque motor load characteristic testing device according to claim 9, characterized in that: The push rod is provided with an oblique groove at one end away from the limiting ball, the lifting plate is fixedly provided with a vertical plate on one side of the movable groove, a plurality of movable rods are movably arranged in a linear array on the vertical plate, a notch is provided at one end of the movable rod close to the push rod, the notch is movably abutted against the oblique groove, and the ends of the plurality of movable rods away from the notch are connected together by a push plate, a plurality of limit springs are provided on the push plate, and one end of the limit spring is fixedly connected to the vertical plate.

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