Humanoid robot frameless torque motor cogging back electromotive force testing device

Abstract

The invention relates to the technical field of counter electromotive force testing, in particular to a humanoid robot frameless torque motor cogging counter electromotive force testing device which comprises a composite protection transmission mechanism arranged between a servo motor and a torque sensor, and the composite protection transmission mechanism is used for transmitting power between the servo motor and the torque sensor. The composite protection transmission mechanism comprises a main transmission disc, a transmission block assembly, an adjustable driven disc assembly and a movement compensation coupling assembly. Double safety protection is achieved through ultraspeed centrifugal breaking and overload shearing breaking of the composite protection transmission mechanism, the abnormal overspeed threshold value is flexibly adjusted by means of the adjustable driven disc assembly so as to adapt to a multi-rotating-speed detection scene, and axial movement is counteracted by means of the movement compensation coupling assembly so that the detection precision of the cogging torque and the counter electromotive force can be ensured.

Description

Technical Field

[0001] This invention relates to the field of back EMF testing technology, specifically to a back EMF testing device for the cogging gears of a frameless torque motor for a humanoid robot. Background Technology

[0002] Humanoid robots need to simulate human movements and behaviors, requiring motors to possess characteristics such as high precision, high response, and low energy consumption to achieve more flexible and precise joint movements. Frameless torque motors, as the "power heart" of humanoid robot joints, need to excel in power output, explosive force and endurance, lightweight design, and energy efficiency. Therefore, frameless torque motors must undergo rigorous performance testing before leaving the factory. Among these tests, cogging torque testing directly affects the stability of motor operation (avoiding joint movement jamming) and energy efficiency (reducing unnecessary power loss), while back EMF testing determines the accuracy of motor control (avoiding joint movement delay or overshoot). Both are core testing items.

[0003] During the production of frameless motors, the cogging torque between the rotor and stator needs to be detected using a cogging torque detection device to ensure the stability, efficiency, and reliability of motor operation. Simultaneously, back EMF detection is used to assess the control stability and the reliability of performance monitoring. However, existing cogging torque detection devices have several technical limitations, making it difficult to meet the high-precision testing requirements of frameless torque motors for humanoid robots. In existing devices, the transmission structure between the servo motor and the torque sensor is mostly a simple coupling, which can only transmit power and cannot simultaneously cope with the two types of risks: "abnormal overspeed" and "power chain overload". If the servo motor suddenly loses control and overspeeds, the high-speed rotating power will be directly transmitted to the torque sensor and the motor under test, causing the torque sensor accuracy to drift and the frameless motor rotor to be damaged due to centrifugal force. If the rotor jams during the test and causes overload, the transmission structure cannot cut off the power in time, which can easily cause the servo motor to stall and burn out or the elastic shaft of the torque sensor to break. The overspeed protection thresholds of existing devices are mostly fixed values ​​preset by the factory and cannot be adjusted according to the detection speed. When detecting frameless motors at high speeds, the fixed thresholds are prone to falsely triggering the protection, resulting in detection interruption. When detecting at low speeds, the thresholds are too sensitive and cannot respond to overspeed risks in a timely manner, making it difficult to meet the actual needs of frameless torque motors that require detection at both high and low speeds. Summary of the Invention

[0004] In order to overcome the above-mentioned technical problems, the purpose of this invention is to provide a frameless torque motor cogging back EMF testing device for humanoid robots, so as to solve the problem of lack of overload and overspeed protection mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A frameless torque motor cogging back EMF testing device for humanoid robots includes a servo motor, a torque sensor, and a motor detection base. The servo motor is connected to the torque sensor, and one end of the torque sensor is connected to the motor detection base. Starting the servo motor drives the rotor of the frameless torque motor on the motor detection base to rotate. The torque sensor detects the cogging torque. A composite protection transmission mechanism is provided between the servo motor and the torque sensor. This mechanism transmits power between the servo motor and the torque sensor and achieves overspeed cutoff, overload cutoff, and axial movement compensation. The composite protection transmission mechanism includes a main transmission disk, a transmission block assembly, an adjustable driven disk assembly, and an axial movement compensation coupling assembly. The main transmission disk is connected to the servo motor and is connected to the transmission block assembly via a sliding groove. When the main transmission disk overspeeds, the transmission block assembly disconnects the power. The transmission block assembly includes a shear pin, which disconnects during overload. The adjustable driven disk assembly contains an axial movement compensation coupling assembly, which includes a meshing spline sleeve and a spline shaft. The spline sleeve is connected to an axial reset component.

[0006] Preferably, the top of the main drive disk is connected to an upper sleeve via a thread, the upper sleeve is rotatably connected to an inner output shaft, and the transmission block assembly is provided in six groups, which are arranged in a ring between the main drive disk and the adjustable driven disk assembly.

[0007] Preferably, the adjustable driven disk assembly includes an inner ring, a middle ring, and an outer ring. A spline sleeve is fixedly connected to the inner wall of the inner ring, and the inner ring, middle ring, and outer ring are provided with sliding grooves for the corresponding transmission block assemblies. The inner ring is connected to the middle ring, and the middle ring is connected to the outer ring by screws.

[0008] Preferably, the spline sleeve can move axially along the spline shaft and maintain meshing transmission, an inner output shaft is fixedly connected inside the spline shaft, and the end of the inner output shaft away from the spline shaft is fixedly connected to the working end of the torque sensor.

[0009] Preferably, the axial reset component includes a spring and upper and lower rings, with the spring connected between the upper and lower rings. The upper ring is fixedly connected to the inner output shaft, and the lower ring is fixedly connected to the spline sleeve. The axial reset component is used to reset the axially misaligned spline sleeve.

[0010] Preferably, the adjustable driven disk assembly changes the length of the slide groove by adjusting the connection state of the inner ring, middle ring, and outer ring.

[0011] Preferably, the transmission block assembly further includes a lower block seat, an upper block seat, and a buffer pad, wherein the shear pin connects the lower block seat and the upper block seat, and the buffer pad is sleeved outside the shear pin and located between the lower block seat and the upper block seat.

[0012] Preferably, the spline sleeve and the spline shaft are engaged by an involute spline.

[0013] Preferably, the grooves on the inner ring, middle ring and outer ring are all T-shaped, and the upper seat of the transmission block assembly is provided with a corresponding T-shaped slider. The T-shaped slider slides in conjunction with the T-shaped groove to limit the axial displacement of the transmission block assembly.

[0014] Preferably, the servo motor is connected to the adjustable driven disk assembly slide groove during high-speed detection, and the outer ring or the middle ring is selectively moved upward to disconnect the slide groove during low-speed or medium-speed detection.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This device employs a dual design of "overspeed centrifugal cut-off + overload shear cut-off" in its composite protection transmission mechanism to specifically address two core risks in testing: When the servo motor experiences abnormal overspeed, the main transmission disc swings the transmission block assembly to disconnect the power, preventing high-speed rotation from damaging the frameless torque motor rotor and torque sensor; when the power chain is overloaded (e.g., rotor jamming), the shear pin inside the transmission block assembly precisely breaks, completely interrupting the power and preventing damage to the servo motor, torque sensor, and motor under test due to overload impact. Simultaneously, the buffer pad absorbs the impact force, reducing component wear. The adjustable driven plate assembly, through the detachable connection and sliding groove adjustment of the inner, middle, and outer rings, can flexibly change the abnormal overspeed threshold according to the detection requirements: the sliding groove is connected during high-speed detection to avoid false triggering of protection; the sliding groove is disconnected during low-speed and medium-speed detection to ensure timely interruption of overspeed. It can adapt to the detection requirements of frameless torque motors at different speeds without replacing the entire transmission structure, greatly improving the versatility and flexibility of the device. The spline sleeve and spline shaft meshing structure of the axial movement compensation coupling assembly can maintain power transmission during axial movement. Combined with the spring reset function of the axial reset component, it can cancel the axial movement of the servo motor or transmission link in real time, avoid the distortion of tooth cogging torque detection caused by uneven air gap between the stator and rotor of the frameless torque motor, and prevent back EMF waveform distortion. This ensures the detection accuracy of tooth cogging torque and back EMF data, meeting the high-precision performance evaluation requirements of humanoid robot motors. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic cross-sectional view of the present invention; Figure 3 This is a schematic diagram of the composite protection transmission mechanism of the present invention; Figure 4 This is a schematic diagram of the internal structure of the composite protection transmission mechanism of the present invention; Figure 5 This is a partial cross-sectional structural schematic diagram of the composite protection transmission mechanism of the present invention; Figure 6 This is a schematic diagram of the structure after the middle ring and outer ring of the present invention have been moved upwards; Figure 7 This is an exploded structural diagram of the composite protective transmission mechanism of the present invention. Figure 8 This is a schematic diagram of the transmission block assembly of the present invention; Figure 9 This is a cross-sectional structural diagram of the transmission block assembly of the present invention.

[0017] In the diagram: 11. Servo motor; 12. Torque sensor; 13. Motor detection base; 02. Composite protection transmission mechanism; 21. Main transmission disc; 22. Transmission block assembly; 221. Lower block seat; 222. Upper block seat; 223. Shear pin; 224. Buffer pad; 23. Adjustable driven disc assembly; 231. Inner ring; 232. Middle ring; 233. Outer ring; 24. Wobbling compensation coupling assembly; 241. Spline sleeve; 242. Spline shaft; 243. Axial reset component; 244. Inner output shaft; 25. Upper housing. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] One embodiment provided by the present invention: refer to Figures 1-2 As shown, the frameless torque motor cogging back EMF testing device for a humanoid robot includes a servo motor 11. The servo motor 11 is connected to a torque sensor 12, and one end of the torque sensor 12 is connected to a motor detection base 13. By starting the servo motor 11, the rotor of the frameless torque motor on the motor detection base 13 is driven to rotate, allowing the torque sensor 12 to detect the cogging torque generated by the rotor rotation. A composite protection transmission mechanism 02 for transmission is provided between the servo motor 11 and the torque sensor 12. The composite protection transmission mechanism 02 is connected between the working end of the servo motor 11 and the working end of the torque sensor 12. refer to Figures 3-7As shown, the composite protection transmission mechanism 02 includes a main transmission disk 21 and an adjustable driven disk assembly 23. The working end of the servo motor 11 is fixedly connected to the bottom of the main transmission disk 21. A transmission block assembly 22 is slidably connected between the main transmission disk 21 and the adjustable driven disk assembly 23 through a slide groove. The main transmission disk 21 is used to drive the adjustable driven disk assembly 23 to rotate through the transmission block assembly 22. When the main transmission disk 21 rotates at overspeed, the transmission block assembly 22 is centrifugally swung outward along the radial direction, thereby disengaging the adjustable driven disk assembly 23 from the transmission block assembly 22 and disconnecting the power transmission between the main transmission disk 21 and the adjustable driven disk assembly 23. refer to Figures 3-7 As shown, the transmission block assembly 22 includes a lower block seat 221 and an upper block seat 222. A shear pin 223 and a buffer pad 224 are provided between the lower block seat 221 and the upper block seat 222. The shear pin 223 is connected in the lower block seat 221 and the upper block seat 222. The buffer pad 224 is sleeved on the outside of the shear pin 223. The shear pin 223 is used to break under shear force when the entire power chain is overloaded. refer to Figures 3-7 As shown, the adjustable driven disk assembly 23 is provided with a axial movement compensation coupling assembly 24. The axial movement compensation coupling assembly 24 is used to transmit power between the adjustable driven disk assembly 23 and the working end of the torque sensor 12, and to reduce the axial movement of the motor detection seat 13. The axial movement compensation coupling assembly 24 includes a spline sleeve 241, which meshes with a spline shaft 242. An inner output shaft 244 is fixedly connected inside the spline shaft 242. An axial reset component 243 is connected to the top of the spline sleeve 241. The axial reset component 243 is connected between the inner output shaft 244 and the spline sleeve 241, and is used to reset the spline sleeve 241.

[0020] refer to Figures 3-7 As shown, the top of the main drive disk 21 is connected to an upper sleeve 25 by a thread. The upper sleeve 25 is rotatably connected to the inner output shaft 244. The drive block assembly 22 is provided with six sets, and the six sets of drive block assemblies 22 are distributed in a ring between the drive block assembly 22 and the adjustable driven disk assembly 23.

[0021] refer to Figure 4 and Figure 5 As shown, the adjustable driven disk assembly 23 includes an inner ring 231, a middle ring 232, and an outer ring 233. The adjustable driven disk assembly 23 is used to fix a spline sleeve 241 to the inner wall of the inner ring 231. The inner ring 231, the middle ring 232, and the outer ring 233 are provided with sliding grooves corresponding to the transmission block assembly 22. The inner ring 231 and the middle ring 232 are connected by screws, and the middle ring 232 and the outer ring 233 are connected by screws.

[0022] refer to Figure 5 and Figure 6 As shown, the adjustable driven disk assembly 23 is designed to adjust the speed required for detecting the cogging torque of a frameless motor, thereby adjusting the upper limit threshold for abnormal overspeed. When a higher speed is required for detecting the frameless torque motor, the inner ring 231, middle ring 232, and outer ring 233 are connected by their bottom grooves. Under centrifugal force, the transmission block assembly 22 can slide completely between the main transmission disk 21 and the adjustable driven disk assembly 23. At this time, because it is a high-speed detection, abnormal overspeed will not be monitored. However, when detecting the frameless torque motor... When the frame torque motor is being tested at low or medium speed, the outer ring 233 or the outer ring 233 and the middle ring 232 are selectively moved upwards to disconnect the bottom slide groove. In this way, when the motor below is abnormally overspeeding, the high-speed rotating main drive disk 21 centrifugally swings the transmission block assembly 22 radially. When the transmission block assembly 22 disengages from the slide groove of the middle ring 232 or the outer ring 233, the rotation of the main drive disk 21 cannot be transmitted to the adjustable driven disk assembly 23, thereby isolating the abnormally overspeeding servo motor 11 and protecting the frameless torque motor being tested above.

[0023] refer to Figure 5 As shown, the spline sleeve 241 can still ensure power transmission even when it moves axially on the spline shaft 242. The end of the inner output shaft 244 away from the spline shaft 242 is fixedly connected to the working end of the torque sensor 12. The axial reset component 243 includes a spring and upper and lower rings, with the spring connected between the upper and lower rings. The upper ring is fixedly connected to the inner output shaft 244, and the lower ring is fixedly connected to the spline sleeve 241. The axial reset component 243 is used to reset the axially moved spline sleeve 241.

[0024] Working principle: In the detection of cogging torque of frameless torque motor, the frameless torque motor is first placed on the motor detection base 13. The control detection device presses down on the stator in the frameless motor, while the rotor directly contacts the rotor seat in the motor detection base 13. The rotor seat is connected to the working end of the torque sensor 12 through the connecting shaft at the bottom. The torque sensor 12 has two working ends. The other working end of the torque sensor 12 is connected to the composite protection transmission mechanism 02. The bottom of the composite protection transmission mechanism 02 is connected to the working end of the servo motor 11.

[0025] When the test begins, the servo motor 11 starts and transmits power to the rotor on the motor test base 13 through the composite protection transmission mechanism 02 and the torque sensor 12, causing it to rotate. During rotation, the cogging torque value will be detected by the torque sensor 12 in this power chain, and thus reflected to the test terminal to obtain the cogging torque data of this frameless motor. During the test, if it is necessary to complete the back EMF test simultaneously, the back EMF signal can be led out through the stator wiring interface on the motor test base 13 (corresponding to the stator UVW winding of the frameless torque motor). After the signal is processed by the acquisition circuit, it is transmitted to the test terminal synchronously with the cogging torque data of the torque sensor 12, realizing the joint detection of cogging torque and back EMF, and comprehensively evaluating the performance of the frameless torque motor.

[0026] During high-speed testing, the inner ring 231, middle ring 232, and outer ring 233 of the adjustable driven disk assembly 23 are tightly connected by screws, and the corresponding slide grooves of the transmission block assembly 22 are completely connected. The power output from the servo motor 11 drives the main transmission disk 21 to rotate, and the main transmission disk 21 drives the adjustable driven disk assembly 23 to rotate synchronously through six sets of ring-shaped transmission block assemblies 22. At this time, the transmission block assembly 22 can slide freely along the complete slide groove under the action of centrifugal force. Since high-speed testing does not require monitoring of abnormal overspeed, the power is smoothly transmitted to the inner output shaft 244 through the spline sleeve 241 and spline shaft 242 of the axial displacement compensation coupling assembly 24, and then transmitted to the torque sensor 12 through the inner output shaft 244, ultimately driving the frameless torque motor rotor on the motor detection base 13 to rotate.

[0027] To switch to low-speed or medium-speed detection, first loosen the connecting screws between the middle ring 232 and the outer ring 233, or between the inner ring 231 and the middle ring 232. Selectively move the outer ring 233, or the outer ring 233 and the middle ring 232 upwards according to the required speed, disengaging the sliding groove of the adjustable driven disk assembly 23—leaving only the inner ring 231 sliding groove, or partially retaining the sliding grooves of the inner ring 231 and the middle ring 232. When the servo motor 11 operates at the set low or medium speed, the main drive disk 21 drives the adjustable driven disk assembly 23 to rotate via the transmission block assembly 22. The power is transmitted to the torque sensor 12 via the axial displacement compensation coupling assembly 24. The rotor on the motor detection base 13 rotates smoothly, and the torque sensor 12 continuously collects cogging torque data to ensure detection accuracy in low-speed scenarios.

[0028] If the servo motor 11 suddenly experiences abnormal overspeed, the main drive disk 21's speed increases sharply, generating a significant increase in centrifugal force, directly causing the transmission block assembly 22 to slide radially outward. Because the sliding groove of the adjustable driven disk assembly 23 has disengaged, the transmission block assembly 22, after sliding to the end of the groove, immediately disengages from the middle ring 232 or outer ring 233, and the power transmission between the main drive disk 21 and the adjustable driven disk assembly 23 is instantly interrupted. At this time, the rotors on the adjustable driven disk assembly 23, the axial displacement compensation coupling assembly 24, the torque sensor 12, and the motor detection base 13 are no longer driven by the abnormally overspeeding servo motor 11, preventing damage to the frameless torque motor rotor from high-speed rotation and preventing distortion of the cogging torque detection data caused by overspeed.

[0029] If the rotor on the motor testing seat 13 becomes stuck during the testing process, or if an internal fault in the frameless torque motor causes an overload of the entire power chain, the shear pin 223 in the transmission block assembly 22 will be subjected to shearing force exceeding the design threshold. When the shearing force reaches the breaking limit of the shear pin 223, the shear pin 223 will break directly, the lower block seat 221 and the upper block seat 222 of the transmission block assembly 22 will separate, the main transmission disk 21 will be unable to drive the adjustable driven disk assembly 23 to rotate through the transmission block assembly 22, the power chain will be completely interrupted, and the servo motor 11, torque sensor 12 and frameless torque motor will be protected from overload impact; at the same time, the buffer pad 224 in the transmission block assembly 22 can absorb part of the impact force at the moment of overload, reduce the rigid collision between the lower block seat 221 and the upper block seat 222, and reduce the risk of component damage.

[0030] During the entire testing process, if axial movement occurs in the servo motor 11 or the power transmission link, the axial movement compensation coupling assembly 24 will immediately take effect. The axial movement causes the spline sleeve 241 to slide axially along the spline shaft 242. At this time, the spline sleeve 241 and the spline shaft 242 remain engaged, ensuring uninterrupted power transmission. Simultaneously, the axial reset component 243 at the top of the spline sleeve 241 is compressed or stretched. The spring inside the axial reset component 243 generates a reverse elastic force, pushing the spline sleeve 241 back to its initial position. This reduces the impact of axial movement on the motor testing seat 13, ensures the uniformity of the air gap between the rotor and stator of the frameless torque motor, avoids stator-rotor scraping or back EMF waveform distortion caused by axial movement, and ensures the accuracy of the test data.

[0031] After the test, the servo motor 11 stops, and the adjustable driven disk assembly 23 and the axial displacement compensation coupling assembly 24 stop operating synchronously with the power chain. The axial reset component 243 drives the spline sleeve 241 to fully reset to its initial position. Loosen the stator clamping structure on the motor test seat 13, remove the frameless torque motor that has been tested, and you can proceed to the testing process of the next frameless torque motor. If the overload protection is triggered during the test, the broken shear pin 223 in the transmission block assembly 22 must be replaced first to ensure that the overload protection function of the composite protection transmission mechanism 02 is normal during subsequent tests.

[0032] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A frameless torque motor cogging back EMF testing device for humanoid robots, comprising a servo motor, a torque sensor, and a motor detection base, wherein the servo motor is connected to the torque sensor, one end of the torque sensor is connected to the motor detection base, starting the servo motor can drive the rotor of the frameless torque motor on the motor detection base to rotate, and the torque sensor detects the cogging torque, characterized in that: A composite protection transmission mechanism is provided between the servo motor and the torque sensor. The composite protection transmission mechanism is used to transmit power between the servo motor and the torque sensor and realize overspeed cut-off, overload cut-off and axial movement compensation. The composite protection transmission mechanism includes a main transmission disc, a transmission block assembly, an adjustable driven disc assembly, and a axial movement compensation coupling assembly. The main drive plate is connected to a servo motor and is connected to the adjustable driven plate assembly via a slide groove to a transmission block assembly. When the main drive plate overspeeds, the transmission block assembly disconnects the power. The transmission block assembly includes a shear pin, which disconnects when overloaded. The adjustable driven disk assembly includes a axial movement compensation coupling assembly, which includes a meshing spline sleeve and a spline shaft, and the spline sleeve is connected to an axial reset component.

2. The frameless torque motor back EMF testing device for humanoid robots according to claim 1, characterized in that: The top of the main drive disc is connected to an upper sleeve via a thread. The upper sleeve is rotatably connected to the inner output shaft. The transmission block assembly consists of six groups, which are arranged in a ring between the main drive disc and the adjustable driven disc assembly.

3. The frameless torque motor back EMF testing device for humanoid robots according to claim 1, characterized in that: The adjustable driven disc assembly includes an inner ring, a middle ring, and an outer ring. A spline sleeve is fixedly connected to the inner wall of the inner ring, and the inner ring, middle ring, and outer ring are all provided with sliding grooves for the corresponding transmission block assemblies. The inner ring is connected to the middle ring, and the middle ring is connected to the outer ring by screws.

4. The frameless torque motor back EMF testing device for humanoid robots according to claim 1, characterized in that: The spline sleeve can move axially along the spline shaft and maintain meshing transmission. An inner output shaft is fixedly connected inside the spline shaft, and the end of the inner output shaft away from the spline shaft is fixedly connected to the working end of the torque sensor.

5. The frameless torque motor back EMF testing device for humanoid robots according to claim 1, characterized in that: The axial reset component includes a spring and upper and lower rings. The spring is connected between the upper and lower rings. The upper ring is fixedly connected to the inner output shaft, and the lower ring is fixedly connected to the spline sleeve. The axial reset component is used to reset the axially misaligned spline sleeve.

6. The frameless torque motor back EMF testing device for humanoid robots according to claim 1, characterized in that: The adjustable driven disk assembly changes the length of the slide groove by adjusting the connection state of the inner ring, middle ring, and outer ring.

7. The frameless torque motor back EMF testing device for humanoid robots according to claim 1, characterized in that: The transmission block assembly also includes a lower block seat, an upper block seat, and a buffer pad. The shear pin connects the lower block seat and the upper block seat, and the buffer pad is sleeved outside the shear pin and located between the lower block seat and the upper block seat.

8. The frameless torque motor back EMF testing device for humanoid robots according to claim 1, characterized in that: The spline sleeve and the spline shaft are engaged by involute splines.

9. The frameless torque motor back EMF testing device for humanoid robots according to claim 1, characterized in that: The grooves on the inner ring, middle ring and outer ring are all T-shaped. The upper seat of the transmission block assembly is provided with a corresponding T-shaped slider. The T-shaped slider slides in conjunction with the T-shaped groove to limit the axial displacement of the transmission block assembly.

10. The frameless torque motor back EMF testing device for humanoid robots according to claim 6, characterized in that: When the servo motor is used for high-speed detection, the adjustable driven disk assembly is connected to the slide groove. When the servo motor is used for low-speed or medium-speed detection, the outer ring or the middle ring is selectively moved upward to disconnect the slide groove from the outer ring.

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