Robot joint testing tool and testing method thereof
By designing test components with adjustable pitch angles and loads, the problems of insufficient applicability and simulation capabilities of existing tooling are solved, enabling more accurate joint performance evaluation and lower modification costs. It is suitable for testing robot joints of various sizes and models.
Patent Information
- Application Number
- CN202511564938.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-30
- Publication Date
- 2026-02-03
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing robot joint testing fixtures have limited applicability and are difficult to simulate the actual working conditions of joints under different pitch postures and dynamic load changes, resulting in deviations between test results and actual working conditions. Furthermore, when replacing different models of joints, redesign or modification is required, increasing costs and time.
An adjustable pitch angle and load test assembly was designed, including a detachable mounting plate, an electric actuator, an air pump, and a flow meter. The joints are flexibly fixed and the load is adjusted through threaded connections and a liquid tubing system to simulate different angle and load variations.
It improves the accuracy and reliability of test results, adapts to joints of different sizes and models, reduces modification costs, enables more realistic evaluation of joint performance under complex working conditions, and improves the versatility of tooling.
Smart Images
Figure CN121453359A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robot joint testing, in particular to a robot joint testing tool and a testing method thereof. BACKGROUND
[0002] In the production and assembly process of motor vehicles such as electric vehicles, industrial robots are widely used, and the performance of robot joints, as the core components for achieving precise actions, is crucial. Robot joint testing tools are special devices used to verify the performance, reliability and safety of joints. The core function of the joint testing tool is to simulate the actual working scenario of the joint, identify design or manufacturing defects in advance through systematic testing, and ensure that the joint meets the working requirements of the robot.
[0003] The commonly used robot joint testing tool currently usually adopts the following structure: the fixed shaft of the joint is fixed by a mounting base, a connecting rod and a counterweight are installed on the output shaft of the joint, and a torque sensor is connected to the output shaft. When the joint output shaft rotates, the connecting rod drives the counterweight to rotate, and the torque sensor detects the force of the joint in real time.
[0004] However, the existing testing tool has the following limitations: a set of tooling is usually only suitable for one or a few fixed sizes of robot joints. When different types of joints are replaced, it is often necessary to redesign, manufacture or make large-scale modifications to the tooling, resulting in prolonged testing period and increased cost.
[0005] In addition, in the actual operation process of the robot joint, multiple joints on the same mechanical arm need to work cooperatively, and the mechanical arm will bend, deflect and perform other actions according to the task requirements, so that each joint is often in different pitch and tilt attitudes in actual work. However, under the existing testing conditions, the robot joint can only be maintained at a few fixed angles such as horizontal and vertical, and it is difficult to simulate the stress state and motion behavior of the joint under different pitch attitudes in actual operation. This limitation leads to deviations between the test results and the actual working conditions.
[0006] At the same time, the load applied in the current test is usually a fixed value, that is, it is realized by hanging a fixed weight counterweight on the output end of the joint. Since the load cannot be adjusted in real time during the test, it is difficult to simulate the dynamic change of the load in actual operation, and therefore it is difficult to effectively evaluate the response speed, stability and durability of the joint under complex working conditions such as sudden change and gradual change of the load.
[0007] Therefore, a robot joint testing tool and a testing method thereof are proposed. SUMMARY
[0008] The purpose of the present application is to provide a robot joint testing tool and a testing method thereof to solve the problems raised in the background.
[0009] To achieve the above objectives, the present invention provides the following technical solution: a robot joint testing fixture and its testing method, comprising a robot joint body, the robot joint body being composed of a joint fixed axis and a joint output axis, and further comprising a testing component, the testing component comprising a testing table, the testing table being disposed at the bottom of the joint fixed axis and the joint output axis, a base being fixedly connected to the top of the testing table, a rotating shaft being rotatably connected to each end of the top of the base, a threaded shaft being fixedly connected to each of the two rotating shafts at their ends that are far apart from each other, a nut being threadedly connected to each of the two threaded shafts, a rotating block being fixedly connected to the side of the two rotating shafts that are close to each other, and a mounting plate being fixedly connected to the top of the rotating block by bolts, the mounting plate being fixedly connected to the joint fixed axis by bolts.
[0010] Furthermore, a mounting plate two is bolted to the end of the joint output shaft away from the joint fixed shaft. A support plate is bolted to the mounting plate two. A guide rod is fixedly connected to the side of the support plate away from the mounting plate two. A threaded screw is rotatably connected to the side of the support plate away from the mounting plate two. An adjusting plate is threadedly connected to the threaded screw. The adjusting plate is slidably connected to the guide rod. A counterweight barrel is fixedly connected to the adjusting plate. A pressure plate is slidably connected inside the counterweight barrel. A rubber sleeve is fixedly connected to the pressure plate. The side of the rubber sleeve away from the pressure plate is fixedly connected to the inner wall of the counterweight barrel. A miniature air pump is fixedly connected to the outer wall of the barrel. A liquid pipe is fixedly connected to the side of the counterweight barrel away from the miniature air pump. A support rod is set on one side of the test table. An electric push rod is fixedly connected to the top of the support rod. The telescopic shaft of the electric push rod faces upward. A frame plate is fixedly connected to the end of the telescopic shaft of the electric push rod. A bearing is fixedly connected to the frame plate. The bearing has an outer ring and an inner ring. An extension block is fixedly connected to the inner ring of the bearing. The liquid pipe is slidably connected to the extension block. Two pressure rods are symmetrically threaded on the extension block. A mass flow meter is fixedly connected to the top of the frame plate. A control panel is fixedly connected to the test table.
[0011] Furthermore, the mounting plate is detachably connected to the joint fixing shaft by bolts, and the mounting plate is detachably connected to the rotating block by bolts.
[0012] Furthermore, mounting plate two is detachably connected to the joint output shaft by bolts, and mounting plate two is detachably connected to the support plate by bolts.
[0013] Furthermore, the nut and the base are press-fitted together.
[0014] Furthermore, the pressure plate fits tightly against the inner wall of the counterweight barrel, and a fluid supply device is connected to the end of the liquid pipe away from the counterweight barrel. A rubber pad is installed at the end of the pressure rod located inside the extension block, and the rubber pad of the pressure rod is squeezed and fitted with the liquid pipe.
[0015] A method for testing robot joints includes the following steps: Step 1: Select matching mounting plate 1 and mounting plate 2 according to the joint size of the robot to be tested; fix mounting plate 1 between the rotating block and the joint fixing axis with bolts, and fix mounting plate 2 between the joint output axis and the support plate to complete the joint fixation.
[0016] Further, in step two: rotate the hand joint to the required test angle, causing the mounting plate, rotating block, and rotating shaft to rotate on the base; after the angle is determined, tighten the nut on the threaded shaft, and fix the joint angle by pressing and limiting the nut against the base. Step 3: Loosen the adjusting plate bolts, rotate the threaded screw, adjust the position of the adjusting plate and counterweight bucket under the limit of the guide rod, and tighten the bolts again after confirming the position; start the electric push rod to raise the frame plate and bearing to the same height as the joint, pull the liquid pipe to leave a margin, and then tighten the pressure rod on the extension block to fix the liquid pipe.
[0017] Further, in step four: drive the fluid supply device to inject water into the counterweight barrel through the liquid pipe. The mass flow meter transmits the volume and weight data of the water to the control panel. The control panel simultaneously controls the micro air pump to discharge gas from the airbag, so that the pressure plate is in contact with the water surface. Start the robot joint, and the joint output shaft drives the counterweight barrel to rotate. The dynamic load is simulated by adjusting the water injection volume.
[0018] Step 5: After the test is completed, stop the joint operation and cut off the water supply; remove the bolts on mounting plate one and mounting plate two, remove the joint to be tested, and then repeat the operation to test other joints.
[0019] Compared with the prior art, the beneficial effects of the present invention are: Firstly, in existing testing processes, robot joints can usually only maintain a few fixed angles such as horizontal or vertical, making it difficult to simulate the force and operation state of joints under different pitch postures in actual work. This results in deviations between test results and actual working conditions, which may mask performance defects that occur at specific angles.
[0020] By operating the testing components, users can adjust the pitch angle of the robot joints during testing, simulating joint testing at different angles. This allows for a more comprehensive simulation of various joint postures during actual operation, enabling more accurate detection of joint performance at different angles, identification of potential performance defects, and improvement of the accuracy and reliability of test results.
[0021] Secondly, the load applied during existing tests is usually a fixed value, achieved by suspending a counterweight of fixed weight at the joint output end. The load cannot be adjusted in real time during the test, making it difficult to simulate the dynamic changes in load during actual operation. Therefore, it is impossible to effectively evaluate the response speed, stability, and durability of the joint under complex working conditions such as sudden load changes and gradual load changes.
[0022] By running the testing components, the function of real-time counterweight adjustment was achieved, simulating dynamic load changes during actual use. This allows the test to more realistically reflect the load changes of the joint in actual operation, thereby effectively evaluating the joint's response speed, stability, and durability under complex conditions such as sudden and gradual load changes, providing a more comprehensive and accurate basis for joint performance evaluation.
[0023] Thirdly: In practical use, the distance between the load end and the joint of a robot joint will vary depending on the work task and scenario. By running the test component, the distance between the load end and the joint can be freely adjusted during the robot joint test, thereby more accurately simulating various situations of the robot joint in actual work and making the test results closer to the real working conditions.
[0024] Fourthly: Existing test fixtures are usually only suitable for one or a few fixed-size robot joints. When changing to different models of joints, the fixtures need to be redesigned, manufactured or extensively modified, which leads to longer testing cycles and increased costs.
[0025] By testing the operation of the components, it can adapt to robot joints of different sizes and models, and provide stable support for robot joints of different sizes and models, greatly improving the versatility of the tooling. Attached Figure Description
[0026] Figure 1 This is a three-dimensional schematic diagram of the overall device of the present invention; Figure 2 This is a cross-sectional schematic diagram of the joint fixing shaft, mounting plate, and other structures of the present invention. Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle; Figure 4 For the present invention Figure 2 Enlarged view of point B in the middle; Figure 5 For the present invention Figure 2 Enlarged view of point C in the middle; Figure 6 This is a cross-sectional schematic diagram of the frame plate, bearings, and other structures of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of point D; Figure 8 This is a cross-sectional schematic diagram of the threaded shaft, nut, and other structures of the present invention; Figure 9 For the present invention Figure 8 Enlarged diagram of point E in the middle.
[0027] In the picture: 11. Joint fixation axis; 12. Joint output axis; 21. Test table; 22. Base; 23. Rotating shaft; 24. Threaded shaft; 25. Nut; 26. Rotating block; 27. Mounting plate one; 28. Mounting plate two; 29. Support plate; 210. Guide rod; 211. Threaded screw; 212. Adjusting plate; 213. Counterweight barrel; 214. Pressure plate; 215. Rubber sleeve; 216. Miniature air pump; 217. Liquid pipe; 218. Support rod; 219. Electric push rod; 220. Frame plate; 221. Bearing; 222. Extension block; 223. Pressure rod; 224. Mass flow meter; 225. Control panel. Detailed Implementation
[0028] 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 protection scope of the present invention.
[0029] The embodiments provided by this invention: Example 1: Please refer to Figures 1 to 9As shown, a robot joint testing fixture includes a robot joint body, which consists of a joint fixed shaft 11 and a joint output shaft 12. It also includes a testing assembly, which includes a testing table 21 located at the bottom of the joint fixed shaft 11 and the joint output shaft 12. A base 22 is fixedly connected to the top of the testing table 21. A rotating shaft 23 is rotatably connected to each end of the top of the base 22. A threaded shaft 24 is fixedly connected to the ends of the two rotating shafts 23 that are far apart from each other. A nut 25 is threaded to the end of each threaded shaft 24 that extends out of the base 22. The two rotating shafts 23 are close to each other. A rotating block 26 is fixedly connected to the side of the joint shaft 12. A mounting plate 27 is bolted to the top of the rotating block 26. The mounting plate 27 is bolted to the joint fixing shaft 11. A mounting plate 28 is bolted to the end of the joint output shaft 12 away from the joint fixing shaft 11. A support plate 29 is bolted to the mounting plate 28. A guide rod 210 is fixedly connected to the side of the support plate 29 away from the mounting plate 28. A threaded screw 211 is rotatably connected to the side of the support plate 29 away from the mounting plate 28. An adjusting plate 212 is threaded onto the threaded screw 211. 1. A fixing nut is threaded onto the outer surface of both the upper and lower surfaces of the adjusting plate 212. The adjusting plate 212 is slidably connected to the guide rod 210. A counterweight barrel 213 is fixedly connected to the adjusting plate 212. A pressure plate 214 is slidably connected inside the counterweight barrel 213. A rubber sleeve 215 is fixedly connected to the pressure plate 214. The side of the rubber sleeve 215 away from the pressure plate 214 is fixedly connected to the inner wall of the counterweight barrel 213. A miniature air pump 216 is fixedly connected to the outer wall of the counterweight barrel 213. A liquid pipe 217 is fixedly connected to the side of the counterweight barrel 213 away from the miniature air pump 216. A support rod 218 is provided on one side of the test table 21. The bottom of the support rod 218 can be installed on the ground through screw holes. The top of the support rod 218 is fixedly connected to an electric push rod 219. The telescopic shaft of the electric push rod 219 faces upward. The telescopic shaft end of the electric push rod 219 is fixedly connected to a frame plate 220. A bearing 221 is fixedly connected to the frame plate 220. The bearing 221 is divided into an outer ring and an inner ring. An extension block 222 is fixedly connected to the inner ring of the bearing 221. The liquid pipe 217 is slidably connected to the extension block 222. Two pressure rods 223 are symmetrically threaded on the extension block 222. A mass flow meter 224 is fixedly connected to the top of the frame plate 220. A control panel 225 is fixedly connected to the test table 21.
[0030] In existing technologies, to facilitate connection with other structures, robot joints typically have threaded holes on their joint fixing shaft 11 and joint output shaft 12. Mounting plate 1 27 is detachably connected to the joint fixing shaft 11 and the rotating block 26 via bolts. This allows users to select a suitable mounting plate 27 for the robot joint size being tested, ensuring the versatility of the test components. Mounting plate 28 is detachably connected to the joint output shaft 12 and the support plate 29 via bolts. This also allows users to select a suitable mounting plate 28 for the robot joint size being tested, ensuring the versatility of the test components.
[0031] Among them, nut 25 is pressed together with base 22.
[0032] Specifically, the pressure plate 214 fits tightly with the inner wall of the counterweight barrel 213, dividing the interior of the counterweight barrel 213 into two independent sealed cavities. The pressure plate 214, rubber sleeve 215, and counterweight barrel 213 together form a complete airbag, while the micro air pump 216 is responsible for filling and releasing the airbag.
[0033] Specifically, the end of the liquid pipe 217 furthest from the counterweight tank 213 is connected to a water supply device. It should be noted that the liquid pipe 217 supplies water into the counterweight tank 213 to increase the load on the robot's joints during testing.
[0034] Specifically, the end of the liquid pipe 217 furthest from the counterweight barrel 213 passes through the inner ring of the bearing 221 and the extension block 222. The side of the liquid pipe 217 extending out of the extension block 222 is fixedly connected to the mass flow meter 224, and the end of the liquid pipe 217 extending out of the mass flow meter 224 is externally connected to a water pump and a water supply device. The mass flow meter 224 is a known existing technology and has the following characteristics: it can measure the instantaneous flow rate, cumulative flow rate, temperature, density, and other indicators of a fluid, and can directly measure the fluid mass. The measurement accuracy is not affected by temperature, pressure, density, or viscosity. Furthermore, there is an electrical connection between the mass flow meter 224 and the control panel 225; specifically, the fluid mass measured by the mass flow meter 224, i.e., the volumetric weight of the water flowing into the counterweight barrel 213, can be directly displayed on the control panel 225. It should be noted that there is an electrical connection between the control panel 225 and the micro air pump 216. That is, the control panel 225 electrically controls the micro air pump 216 to inflate or deflate the air bladder inside the counterweight barrel 213. Specifically, since the volume of the counterweight barrel 213 is fixed, after the control panel 225 receives the signal of the volume and weight of the water inside the counterweight barrel 213 calculated by the mass flow meter 224, the control panel 225 controls the micro air pump 216 in real time to ensure that the expansion state of the air bladder inside the counterweight barrel 213 is such that no matter how much water volume or weight is added to the counterweight barrel 213, the pressure plate 214 always adheres to the water surface inside the counterweight barrel 213.
[0035] Wherein: a rubber pad is provided at one end of the pressure rod 223 that penetrates into the extension block 222, and the rubber pad of the pressure rod 223 is squeezed and fitted with the liquid pipe 217.
[0036] In the initial state of the detection component, i.e. before the robot joints are tested, the states of each structure within the detection component are as follows: Both nuts 25 are threaded onto their corresponding threaded shafts 24, and both nuts 25 are pressed against the base 22. The rotating block 26 is not bolted to the mounting plate 1 27, and the mounting plate 1 27 is not bolted to the joint fixing shaft 11. The mounting plate 28 is not bolted to the support plate 29, and the mounting plate 28 is not bolted to the joint output shaft 12. The air bladder composed of the pressure plate 214 and the rubber sleeve 215 is filled with gas, causing the pressure plate 214 to press against the inner wall of the counterweight barrel 213 near the liquid pipe 217. That is, the interior of the counterweight barrel 213 is filled with air, and the telescopic end of the electric push rod 219 is not extended. The two pressure rods 223 are not threaded onto the extension block 222, and the rubber pads of the two pressure rods 223 are not in contact with the liquid pipe 217.
[0037] When the detection component is running, i.e. when robot joint testing is required, the detection component operates as follows: At this point, the user selects mounting plate two 28 and mounting plate one 27 that match the joint fixing axis 11 and joint output axis 12, based on the size of the robot joint to be tested. The user then bolts mounting plate one 27 to the rotating block 26. Afterwards, the user bolts the joint fixing axis 11 onto mounting plate one 27, thus securing the robot joint. Simultaneously, the user bolts mounting plate two 28 to the end of the joint output axis 12 furthest from the joint fixing axis 11 and to the support plate 29. The user has now completed the installation and fixation of the robot joint. The joint fixing axis 11 is fixed by mounting plate one 27, while the joint output axis 12 is connected to the counterweight barrel 213 via mounting plate two 28 and adjusting plate 212.
[0038] After completion, the user adjusts the rotation angle of the mounting plate 27 on the base 22. The user holds the robot joint and rotates it to the desired test angle. This causes the joint fixing shaft 11 to drive the mounting plate 27 to rotate on the base 22. At this time, the mounting plate 27 drives the rotating block 26 to rotate synchronously on the base 22, causing the rotating block 26 to drive the rotating shafts 23 at both ends to rotate on the base 22. When the robot joint is rotated to the user's desired test angle, the user tightens the two nuts 25, so that the two nuts 25 are respectively pressed against the top ends of the base 22. At this time, the rotating block 26 is limited by the friction provided by the tightening of the nuts 25, so that the rotation positions of the rotating block 26, the mounting plate 27, and the robot joint on the base 22 are fixed. At this time, the user has completed the adjustment of the pitch rotation angle of the robot joint.
[0039] At this time, the user drives the telescopic shaft of the electric push rod 219 to extend. As the telescopic shaft of the electric push rod 219 extends, the electric push rod 219 drives the bearing 221 to move upward. When the bearing 221 moves to the height of the robot joint, the telescopic shaft of the electric push rod 219 stops extending, thus fixing the position of the bearing 221 at the same height as the robot joint. The function is as follows: when the robot joint is tested, the joint output shaft 12 will rotate, thereby driving the liquid pipe 217 to rotate. When the liquid pipe 217 rotates, the end of the liquid pipe 217 near the joint output shaft 12 will rotate with the joint output shaft 12 as the center of rotation, while the end of the liquid pipe 217 near the bearing 221 will rotate with the bearing 221 as the center of rotation. At this time, adjusting the bearing 221 to the same horizontal plane as the robot joint before the joint output shaft 12 rotates can ensure that both ends of the liquid pipe 217 are on the same horizontal plane when rotating, avoiding uncontrollable rotation of the liquid pipe 217.
[0040] Meanwhile, the user can loosen the bolts on the adjusting plate 212 by screwing them in. Then, the user can rotate the threaded screw 211. As the threaded screw 211 rotates, the adjusting plate 212 tends to deflect along the thread of the threaded screw 211. However, under the sliding limit guidance of the guide rod 210, the adjusting plate 212 can only move vertically along the guide rod 210. That is, the user can adjust the position of the adjusting plate 212 and the counterweight bucket 213 on the guide rod 210 by rotating the threaded screw 211. After the position is adjusted, the user can tighten the two fixing nuts on the threaded screw 211 until they are close to the adjusting plate 212, thereby clamping and fixing the adjusting plate 212 on the threaded screw 211, thus fixing and limiting the position of the adjusting plate 212 on the guide rod 210. As the position of the adjustment plate 212 is adjusted, the distance between the counterweight bucket 213 and the robot joint can be freely adjusted by the user. That is, the user can adjust the distance between the load end and the robot joint by adjusting the position of the adjustment plate 212, thereby simulating the actual working conditions.
[0041] After completion, the user can move the liquid pipe 217 within the extension block 222 and bearing 221 by pulling it, ensuring sufficient clearance between the liquid pipe 217 and the counterweight barrel 213. This is to prevent the liquid pipe 217 from being pulled due to insufficient length when rotating with the joint output shaft 12. After adjustment, the user screws the two pressure rods 223 onto the extension block 222, causing the two pressure rods 223 to abut and lock the liquid pipe 217, thereby fixing the liquid pipe 217 in position within the bearing 221.
[0042] After completion, the user drives the robot joints to operate. As the robot joints move, the joint output shaft 12 begins to rotate. With the rotation of the joint output shaft 12, the joint output shaft 12 drives the counterweight tank 213 to rotate synchronously via the adjusting plate 212. At this time, the counterweight tank 213 rotates around the joint output shaft 12 as its rotation center. With the rotation of the counterweight tank 213, the counterweight tank 213 drives the liquid pipe 217 to rotate synchronously. The liquid pipe 217, on the bearing 221, drives the inner ring of the bearing 221 and the extension block 222 to rotate synchronously. As the joint output shaft 12 continues to rotate, the user can add water to the counterweight tank 213 to increase the load on the robot joint during testing, as detailed below: The user can drive the fluid supply device to add water to the counterweight tank 213 through the liquid pipe 217. The water gradually increases in the chamber of the counterweight tank 213, that is, the weight of the counterweight tank 213 gradually increases. Then the load on the robot joint during operation test will also increase accordingly. The user can adjust the amount of water inside the counterweight tank 213 to adjust the load on the robot joint during operation test in real time, thereby simulating the dynamic changes of load in actual operation. The user can adjust the water carrying capacity to simulate complex working conditions such as sudden load changes and gradual changes.
[0043] During the process of adding water into the counterweight tank 213, the mass flow meter 224 measures the volume and weight of the water passing through in real time and displays the obtained water volume and mass on the control panel 225. Simultaneously, after receiving the signals from the mass flow meter 224 measuring the volume and weight of the water inside the counterweight barrel 213, the control panel 225 controls the micro air pump 216 in real time. The micro air pump 216 adjusts the threaded screw 211 and the adjusting plate 212 to form the gas filling status inside the air bladder. That is, under the control of the control panel 225, the micro air pump 216 discharges an equal volume of gas from the air bladder in real time according to the volume of water entering the counterweight barrel 213, causing the air bladder to gradually contract. As the water in the counterweight barrel 213 gradually increases, the air bladder inside the counterweight barrel 213 gradually contracts. During this process, the pressure plate 214 always stays in contact with the water surface inside the counterweight barrel 213, so that the liquid inside the counterweight barrel 213 will not be disturbed due to rotation or external force during the rotation of the counterweight barrel 213, thus ensuring the stability of the counterweight barrel 213.
[0044] After the robot joint inspection is completed, the user can detach the robot joint by removing mounting plate 27 and mounting plate 28. The user can then repeat the above operation to inspect the remaining robot joints.
[0045] In summary, by monitoring the operation of the component, the following beneficial effects can be achieved: Firstly, in existing testing processes, robot joints can usually only maintain a few fixed angles such as horizontal or vertical, making it difficult to simulate the force and operation state of joints under different pitch postures in actual work. This results in deviations between test results and actual working conditions, which may mask performance defects that occur at specific angles.
[0046] By operating the testing components, users can adjust the pitch angle of the robot joints during testing, simulating joint testing at different angles. This allows for a more comprehensive simulation of various joint postures during actual operation, enabling more accurate detection of joint performance at different angles, identification of potential performance defects, and improvement of the accuracy and reliability of test results.
[0047] Secondly, the load applied during existing tests is usually a fixed value, achieved by suspending a counterweight of fixed weight at the joint output end. The load cannot be adjusted in real time during the test, making it difficult to simulate the dynamic changes in load during actual operation. Therefore, it is impossible to effectively evaluate the response speed, stability, and durability of the joint under complex working conditions such as sudden load changes and gradual load changes.
[0048] By running the testing components, the function of real-time counterweight adjustment was achieved, simulating dynamic load changes during actual use. This allows the test to more realistically reflect the load changes of the joint in actual operation, thereby effectively evaluating the joint's response speed, stability, and durability under complex conditions such as sudden and gradual load changes, providing a more comprehensive and accurate basis for joint performance evaluation.
[0049] Thirdly: In practical use, the distance between the load end and the joint of a robot joint will vary depending on the work task and scenario. By running the test component, the distance between the load end and the joint can be freely adjusted during the robot joint test, thereby more accurately simulating various situations of the robot joint in actual work and making the test results closer to the real working conditions.
[0050] Fourthly: Existing test fixtures are usually only suitable for one or a few fixed-size robot joints. When changing to different models of joints, the fixtures need to be redesigned, manufactured, or extensively modified, which leads to longer testing cycles and increased costs.
[0051] By testing the operation of the components, it can adapt to robot joints of different sizes and models, and provide stable support for robot joints of different sizes and models, greatly improving the versatility of the tooling.
[0052] Example 2: A robot joint testing method, comprising the following steps: Step 1: Select matching mounting plate 1 27 and mounting plate 28 according to the joint size of the robot to be tested; fix mounting plate 1 27 between rotating block 26 and joint fixing shaft 11 with bolts, and fix mounting plate 28 between joint output shaft 12 and support plate 29 to complete joint fixing.
[0053] Step 2: Rotate the hand joint to the required test angle, causing the mounting plate 27, rotating block 26 and rotating shaft 23 to rotate on the base 22; after the angle is determined, tighten the nut 25 on the threaded shaft 24, and fix the joint angle by pressing and limiting the nut 25 against the base 22. Step 3: Loosen the bolts of the adjusting plate 212, rotate the threaded screw 211, and adjust the position of the adjusting plate 212 and the counterweight barrel 213 under the limit of the guide rod 210. After confirming, tighten the bolts again; start the electric push rod 219 to raise the frame plate 220 and the bearing 221 to the same height as the joint, pull the liquid pipe 217 to leave a margin, and then tighten the pressure rod 223 on the extension block 222 to fix the liquid pipe 217.
[0054] Step 4: Drive the fluid supply device to inject water into the counterweight tank 213 through the liquid pipe 217. The mass flow meter 224 transmits the volume and weight data of the water to the control panel 225. The control panel 225 synchronously controls the micro air pump 216 to release the gas from the airbag, so that the pressure plate 214 is in contact with the water surface. Start the robot joint. The joint output shaft 12 drives the counterweight tank 213 to rotate. The dynamic load is simulated by adjusting the water injection volume.
[0055] Step 5: After the test is completed, stop the joint operation and cut off the water supply; remove the bolts on mounting plate 1 27 and mounting plate 2 28, remove the joint to be tested, and then repeat the operation to test other joints.
[0056] It should be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0057] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A robot joint testing fixture, comprising a robot joint body, the robot joint body being composed of a joint fixed axis (11) and a joint output axis (12), characterized in that: It also includes a test assembly, which includes a test table (21). The test table (21) is set at the bottom of the joint fixation shaft (11) and the joint output shaft (12). A base (22) is fixedly connected to the top of the test table (21). A rotating shaft (23) is rotatably connected to each end of the top of the base (22). A threaded shaft (24) is fixedly connected to the ends of the two rotating shafts (23) that are far apart from each other. A nut (25) is threadedly connected to each of the two threaded shafts (24). A rotating block (26) is fixedly connected to the side of the two rotating shafts (23) that are close to each other. A mounting plate (27) is fixedly connected to the top of the rotating block (26) by bolts. The mounting plate (27) is fixedly connected to the joint fixation shaft (11) by bolts.
2. The robot joint testing fixture according to claim 1, characterized in that: The end of the joint output shaft (12) away from the joint fixing shaft (11) is fixedly connected to the mounting plate two (28) by bolts. The mounting plate two (28) is fixedly connected to the support plate (29) by bolts. The side of the support plate (29) away from the mounting plate two (28) is fixedly connected to the guide rod (210). The side of the support plate (29) away from the mounting plate two (28) is rotatably connected to the threaded screw (211). The threaded screw (211) is threadedly connected to the adjusting plate (212). The adjusting plate (212) is slidably connected to the guide rod (210). The adjusting plate (212) is fixedly connected to the counterweight barrel (213). The counterweight barrel (213) is slidably connected to the pressure plate (214). The pressure plate (214) is fixedly connected to the rubber sleeve (215). The side of the rubber sleeve (215) away from the pressure plate (214) is fixedly connected to the inner wall of the counterweight barrel (213). The outer side of the counterweight barrel (213) is fixedly connected to the pressure plate (214). A micro air pump (216) is fixedly connected to the wall. A liquid pipe (217) is fixedly connected to the side of the counterweight bucket (213) away from the micro air pump (216). A support rod (218) is provided on one side of the test table (21). An electric push rod (219) is fixedly connected to the top of the support rod (218). The telescopic shaft of the electric push rod (219) faces upward. A frame plate (220) is fixedly connected to the end of the telescopic shaft of the electric push rod (219). A bearing (221) is fixedly connected to the frame plate (220). The bearing (221) is divided into an outer ring and an inner ring. An extension block (222) is fixedly connected to the inner ring of the bearing (221). The liquid pipe (217) is slidably connected to the extension block (222). Two pressure rods (223) are symmetrically threaded on the extension block (222). A mass flow meter (224) is fixedly connected to the top of the frame plate (220). A control panel (225) is fixedly connected to the test table (21).
3. The robot joint testing fixture according to claim 1, characterized in that: Mounting plate 1 (27) is detachably connected to joint fixing shaft (11) by bolts, and mounting plate 1 (27) is detachably connected to rotating block (26) by bolts.
4. The robot joint testing fixture according to claim 2, characterized in that: Mounting plate 2 (28) is detachably connected to joint output shaft (12) by bolts, and mounting plate 2 (28) is detachably connected to support plate (29) by bolts.
5. A robot joint testing fixture according to claim 2, characterized in that: The nut (25) is pressed into the base (22).
6. The robot joint testing fixture according to claim 2, characterized in that: The pressure plate (214) fits tightly against the inner wall of the counterweight barrel (213). The end of the liquid pipe (217) away from the counterweight barrel (213) is connected to a fluid supply device. The end of the pressure rod (223) located inside the extension block (222) is equipped with a rubber pad. The rubber pad of the pressure rod (223) is squeezed and fitted with the liquid pipe (217).
7. A method for testing robot joints, characterized in that: Using the robot joint testing fixture described in claims 1-6, The steps include: Step 1: Select matching mounting plate 1 (27) and mounting plate 2 (28) according to the joint size of the robot to be tested; fix mounting plate 1 (27) between the rotating block (26) and the joint fixing shaft (11) with bolts, and fix mounting plate 2 (28) between the joint output shaft (12) and the support plate (29) to complete the joint fixing.
8. A robot joint testing method according to claim 7, characterized in that: Step 2: Rotate the hand joint to the required test angle, causing the mounting plate (27), rotating block (26) and rotating shaft (23) to rotate on the base (22); after the angle is determined, tighten the nut (25) on the threaded shaft (24), and fix the joint angle by squeezing and limiting the nut (25) and the base (22). Step 3: Loosen the bolts of the adjusting plate (212), rotate the threaded screw (211), adjust the position of the adjusting plate (212) and the counterweight bucket (213) under the limit of the guide rod (210), and tighten the bolts again after confirming the position; start the electric push rod (219) to raise the frame plate (220) and bearing (221) to the same height as the joint, pull the liquid pipe (217) to leave a margin, and tighten the pressure rod (223) on the extension block (222) to fix the liquid pipe (217).
9. A robot joint testing method according to claim 7, characterized in that: Step 4: Drive the fluid supply device to inject water into the counterweight barrel (213) through the liquid pipe (217). The mass flow meter (224) transmits the volume and weight data of the water to the control panel (225). The control panel (225) synchronously controls the micro air pump (216) to discharge the gas in the airbag, so that the pressure plate (214) is in contact with the water surface. Start the robot joint. The joint output shaft (12) drives the counterweight barrel (213) to rotate. The dynamic load is simulated by adjusting the water injection volume. Step 5: After the test is completed, stop the joint operation and cut off the water supply; remove the bolts on mounting plate one (27) and mounting plate two (28), remove the joint to be tested, and then repeat the operation to test other joints.