Robot motor testing device

Abstract

A robot motor testing device belongs to the technical field of motor testing. The device comprises a test box, the interior of the test box is rotatably connected with a first reciprocating rotating shaft in a penetrating manner, the top of the first reciprocating rotating shaft is rotatably connected with a connecting disc through a universal ball, the top of the connecting disc is fixedly connected with a test platform, and an installation assembly and a torque sensor are fixedly installed above the test platform. A load variable resistance mechanism is arranged above the test platform, a shaking test mechanism is arranged on the outer wall of the first reciprocating rotating shaft, an emergency simulation mechanism is arranged on the outer wall of the first reciprocating rotating shaft, the load variable resistance mechanism comprises a reciprocating ring arranged on the outer wall of the second reciprocating rotating shaft, and the reciprocating ring is controlled to reciprocate along the outer wall of the second reciprocating rotating shaft; the shaking test mechanism comprises an abutting rod arranged below the test platform, so that the test motor continuously shakes in the test process, and the state of the actual application scene of the test motor is simulated.

Description

Technical Field

[0001] This invention relates to the field of motor testing technology, and in particular to a robot motor testing device. Background Technology

[0002] Robotics technology is increasingly being applied in various fields such as industrial manufacturing, warehousing and logistics, emergency rescue, and even home services. As the core driving component of a robot, the performance, reliability, and lifespan of its joint motors (usually servo motors) directly determine the overall performance of the robot. Therefore, conducting thorough simulation tests on the motors before installation is a crucial step in ensuring the quality and stability of the robot.

[0003] Existing testing equipment for robot motors generally uses traditional static testing methods, which involve fixing the motor to a rigid platform for measurement. This fixed testing method has significant limitations: First, it cannot simulate the continuous vibrations and posture changes faced by robots in complex real-world environments such as bumpy or muddy conditions, making it impossible to assess the motor's anti-interference capabilities. Second, robots operating in complex environments are at risk of being subjected to massive impact loads instantly due to tripping or collisions. Current testing equipment completely fails to consider such extreme situations and cannot simulate the instantaneous impact on the motor when the robot falls. This makes it impossible to verify the motor's overload capacity in the face of unexpected events, the strength of its mechanical structure, and the reliability of its protection mechanisms, creating potential safety hazards for the practical application of robots. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art, and to propose a robot motor testing device.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a robot motor testing device, comprising a test box, wherein a first reciprocating shaft is rotatably connected through the interior of the test box, and a connecting plate is rotatably connected to the top of the first reciprocating shaft via a universal ball joint; a test platform is fixedly connected to the top of the connecting plate; an installation component and a torque sensor are fixedly installed on the top of the test platform; a load variable resistance mechanism is provided on the top of the test platform; a sway testing mechanism is provided on the outer wall of the first reciprocating shaft; an emergency simulation mechanism is provided on the outer wall of the first reciprocating shaft; the installation component is used to fix the outer wall of the test motor; the shaft of the test motor is connected to the input end of the torque sensor; and a second reciprocating shaft is fixedly connected to the output end of the torque sensor via a coupling; a control center is fixedly installed on the side wall of the test box.

[0006] The load resistance mechanism includes a reciprocating ring disposed on the outer wall of the second reciprocating shaft. The reciprocating ring is controlled to move back and forth along the outer wall of the second reciprocating shaft to continuously adjust the resistance encountered when the second reciprocating shaft rotates, thereby performing a load test on the test motor.

[0007] The shaking test mechanism includes a stop bar set below the test platform. The stop bar is controlled to press against the bottom surface of the test platform during the displacement process, so that the test motor shakes continuously during the test to simulate the state of the test motor in the actual application scenario.

[0008] The emergency simulation mechanism includes a reciprocating block installed below the test platform. When the reciprocating block moves back and forth to a designated position, the resistance increases instantaneously, causing the test platform to be impacted, thus simulating an accidental fall test of the robot during application.

[0009] Furthermore, the outer wall of the reciprocating ring is fixedly connected to a fixed frame, and a sliding rod is slidably connected through the inside of the fixed frame. A first spring is fixedly connected to the bottom of the fixed frame, and an extrusion head is fixedly connected to the bottom end of the sliding rod. A groove is opened on the side wall of the fixed frame, and an extrusion plate is slidably connected to the inner wall of the groove. A through slot is opened through the top of the test platform, and a positioning rod is fixedly connected to the inner wall of the through slot. An L-shaped rod is slidably connected to the outer wall of the positioning rod, and a second spring is fixedly connected to the side wall of the L-shaped rod. A fixed plate is fixedly connected to the top of the test platform, and a sloping groove begins at the top of the fixed plate.

[0010] Furthermore, the reciprocating ring is rotatably connected to the reciprocating groove on the outer wall of the second reciprocating shaft, the end of the first spring away from the fixed frame is fixedly connected to the outer wall of the extrusion head, the outer wall of the extrusion head is slidably connected to the inner wall of the inclined groove, one end of the extrusion plate is fixedly connected to the end of the L-shaped rod, the outer wall of the L-shaped rod is slidably connected to the inner wall of the through groove, the end of the second spring away from the L-shaped rod is fixedly connected to the inner wall of the through groove, and the end of the second reciprocating shaft away from the torque sensor is rotatably connected to the top of the fixed plate.

[0011] Furthermore, the shaking test mechanism includes a fixed ring, and a connecting rod is fixedly connected to the outer wall of the fixed ring. A threaded rod is rotatably connected to the inside of the connecting rod through a thread. The outer wall of the abutment is slidably connected to the inside of the threaded rod. A third spring is fixedly connected to one end of the abutment located inside the threaded rod. A knob is fixedly connected to the bottom end of the threaded rod.

[0012] Furthermore, the fixing ring is fixedly connected to the outer wall of the first reciprocating shaft, the end of the abutment rod away from the third spring corresponds to the bottom surface of the test platform, and the end of the third spring away from the abutment rod is fixedly connected to the inside of the threaded rod.

[0013] Furthermore, a limiting rod is slidably connected through the interior of the reciprocating block, and the top of the limiting rod is rotatably connected to the interior of the connecting plate via a universal ball. A first connecting frame is fixedly connected to the outer wall of the reciprocating block, and a second connecting frame is fixedly connected to the outer wall of the reciprocating block. A mounting plate is fixedly connected to the bottom surface of the test platform, and a movable rod is slidably connected through the interior of the mounting plate. A protrusion is fixedly connected to the end of the movable rod, and a fourth spring is fixedly connected to the side of the protrusion facing the mounting plate.

[0014] Furthermore, the reciprocating block is rotatably connected to the reciprocating groove on the outer wall of the first reciprocating shaft, the end slope of the first connecting frame corresponds to the bottom end of the L-shaped rod, the end of the second connecting frame corresponds to the end slope of the mounting plate, and the outer wall of the protrusion is slidably connected to the bottom surface of the test platform.

[0015] Furthermore, a drive motor is fixedly installed at the bottom of the test box, and the end of the first reciprocating shaft away from the connecting plate is fixedly connected to the output shaft of the drive motor.

[0016] Compared with existing technologies, the above solution has the following advantages:

[0017] 1. The extrusion head slides along the inclined groove on its outer wall. Because the inner wall of the inclined groove is designed to be inclined, the extrusion head is squeezed during the sliding process, which drives the slide rod to slide upward along the inside of the fixed frame. At the same time, the first spring is gradually compressed, which generates a gradually increasing force. The force generated by the compression will drive the reciprocating ring through the fixed frame to be applied to the surface of the second reciprocating shaft. Then, when the reciprocating ring slides back, the first spring will be gradually released. The above process will be repeated many times, causing the frictional resistance on the second reciprocating shaft to gradually increase and then decrease. This simulates the real working conditions faced by the robot when its joints repeatedly flex and extend and overcome periodic resistance in actual movement, so as to improve the accuracy and practicality of the test.

[0018] 2. Shaking the testing mechanism causes the threaded rod to rotate synchronously. As the threaded rod rotates, it causes the end of the abutment to press against the bottom of the testing platform. The testing platform, under pressure, will deflect around the first reciprocating axis. Then, the drive motor outputs power, causing the connecting rod to rotate around the fixed ring. At the same time, the connecting rod causes the threaded rod to move synchronously. During this process, the threaded rod causes the end of the abutment to continuously press against the bottom surface of the testing platform, causing the testing platform, the mounting components, and the testing motor to shake in multiple directions. By causing the testing motor to slide simultaneously during the output process, the possible bumpy environment of the robot motor in actual applications is simulated to test the motor's ability to maintain a stable state and torque control under mechanical interference, as well as its anti-interference and robustness.

[0019] 3. As the L-shaped rod slides, it drives the extrusion plate to move synchronously, causing the extrusion plate to slide along the inner wall of the slide groove. Then, when the reciprocating block slides to the top of the reciprocating groove on the surface of the first reciprocating shaft, the first connecting frame will complete the extrusion of the L-shaped rod, causing the side wall of the extrusion plate to extrude against the outer wall of the slide rod, causing the slide rod and the fixed frame to generate a large friction force instantly. As a result, the second reciprocating shaft will be subjected to huge frictional resistance during the movement of the reciprocating ring, in order to simulate the impact load that the joint motor suffers when the robot's moving legs encounter obstacles during actual use.

[0020] When the movable rod is squeezed, it will cause the protrusion to move. Then, during the continuous rotation of the first reciprocating shaft, the end of the abutment will contact the outer inclined surface of the protrusion and slide along its outer wall. After that, when the end of the abutment passes the outer wall of the protrusion, it will disengage from it. Then, the abutment will quickly pop upward and impact the bottom surface of the test platform. This is to simulate the unexpected situation in actual use of the robot, where its moving legs encounter an obstacle and are tripped. This test ensures the quality of the motor and improves the test motor's ability to cope with various scenarios. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure proposed in this invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the test chamber proposed in this invention;

[0023] Figure 3 This is a schematic diagram of the transmission structure of the reciprocating ring and L-shaped rod proposed in this invention;

[0024] Figure 4 This is a schematic diagram of the reciprocating ring and fixed plate structure proposed in this invention.

[0025] Figure 5 This is a schematic diagram of the structural connection between the bump and the structure proposed in this invention;

[0026] Figure 6 This is a schematic diagram of the structural transmission of the first reciprocating shaft and L-shaped rod proposed in this invention;

[0027] Figure 7 This is a schematic diagram of the structural connection between the mounting plate and the protrusion proposed in this invention.

[0028] The labels in the attached diagram are as follows: 1. Test box; 2. First reciprocating shaft; 3. Connecting plate; 4. Test platform; 5. Mounting assembly; 6. Torque sensor; 7. Load variable resistance mechanism; 8. Shaking test mechanism; 9. Emergency simulation mechanism; 10. Second reciprocating shaft; 11. Drive motor; 12. Control center; 701. Reciprocating ring; 702. Fixing frame; 703. Slide rod; 704. First spring; 705. Extrusion head; 706. Slide groove; 707. Extrusion plate; 70 8. L-shaped rod; 709. Through groove; 710. Positioning rod; 711. Second spring; 712. Fixing plate; 713. Inclined groove; 801. Fixing ring; 802. Connecting rod; 803. Threaded rod; 804. Abutment rod; 805. Third spring; 806. Knob; 901. Reciprocating block; 902. Limiting rod; 903. First connecting frame; 904. Second connecting frame; 905. Mounting plate; 906. Movable rod; 907. Protrusion; 908. Fourth spring. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0030] In the description of this invention, it should be understood that the terms "upper," "lower," "top surface," "bottom surface," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are only used to distinguish an entity or operation from another entity or operation, and do not require or imply any actual relationship, order, or relative importance between these entities or operations.

[0031] Example 1, please refer to Figures 1-4A robot motor testing device includes a test box 1. A first reciprocating shaft 2 is rotatably connected through the interior of the test box 1. A connecting plate 3 is rotatably connected to the top of the first reciprocating shaft 2 via a universal ball joint. A test platform 4 is fixedly connected to the top of the connecting plate 3. An installation component 5 and a torque sensor 6 are fixedly installed on the top of the test platform 4. A load variable resistance mechanism 7 is provided on the top of the test platform 4. A shaking test mechanism 8 and an emergency simulation mechanism 9 are provided on the outer wall of the first reciprocating shaft 2. The installation component 5 is used to fix the outer wall of the test motor. The shaft of the test motor is connected to the input end of the torque sensor 6. The output end of the torque sensor 6 is fixedly connected to a second reciprocating shaft 10 via a coupling. A drive motor 11 is fixedly installed at the bottom of the test box 1. The end of the first reciprocating shaft 2 away from the connecting plate 3 is fixedly connected to the output shaft of the drive motor 11. A control center 12 is fixedly installed on the side wall of the test box 1.

[0032] The load variable resistance mechanism 7 includes a reciprocating ring 701 disposed on the outer wall of the second reciprocating shaft 10. A fixed frame 702 is fixedly connected to the outer wall of the reciprocating ring 701, and a slide rod 703 is slidably connected through the inside of the fixed frame 702. A first spring 704 is fixedly connected to the bottom of the fixed frame 702. An extrusion head 705 is fixedly connected to the bottom end of the slide rod 703. A groove 706 is opened on the side wall of the fixed frame 702, and an extrusion plate 707 is slidably connected to the inner wall of the groove 706. A through groove 709 is opened through the top of the test platform 4, and a positioning rod 710 is fixedly connected to the inner wall of the through groove 709. An L-shaped rod 708 is slidably connected to the outer wall of the positioning rod 710, and a second spring 711 is fixedly connected to the side wall of the L-shaped rod 708. A fixed plate 712 is fixedly connected to the top of the test platform 4, and a sloping groove 713 is opened at the top of the fixed plate 712.

[0033] Furthermore, the reciprocating ring 701 is rotatably connected in the reciprocating groove on the outer wall of the second reciprocating shaft 10, the end of the first spring 704 away from the fixed frame 702 is fixedly connected to the outer wall of the extrusion head 705, the outer wall of the extrusion head 705 is slidably connected to the inner wall of the inclined groove 713, one end of the extrusion plate 707 is fixedly connected to the end of the L-shaped rod 708, the outer wall of the L-shaped rod 708 is slidably connected to the inner wall of the through groove 709, the end of the second spring 711 away from the L-shaped rod 708 is fixedly connected to the inner wall of the through groove 709, and the end of the second reciprocating shaft 10 away from the torque sensor 6 is rotatably connected to the top of the fixed plate 712.

[0034] More specifically, testing the performance of motors used in robots is an essential step before installation and use. Through the servo motor performance testing process, potential faults that may occur during use can be continuously discovered. Since the usage scenarios of motors in the field of robotics are quite complex, it is necessary to simulate the states that robots may encounter in reality. When testing the robot test motor, the operation control center 12 is used to control the working state of the electrical components inside the test box 1. First, the test motor is installed on the test platform 4 above the mounting component 5. Then, the input end of the torque sensor 6 is connected to the shaft of the test motor. Then, the second reciprocating shaft 10 is fixedly connected to the output end of the torque sensor 6 through a coupling. Then, the test motor is driven to output, and the second reciprocating shaft 10 is driven to rotate synchronously through the transmission of the torque sensor 6. The torque sensor 6 is used to detect the output torque and speed of the test motor, converting the physical change of torque into a precise electrical signal. After recording and processing, the load capacity performance of the test motor under different working conditions can be judged.

[0035] Since the reciprocating ring 701 is rotatably connected to the reciprocating groove on the outer wall surface of the second reciprocating shaft 10, the rotation of the second reciprocating shaft 10 will cause the reciprocating ring 701 to slide back and forth along its outer wall. At the same time, the reciprocating ring 701 will cause the fixed frames 702 on both sides to move synchronously. Then, the fixed frames 702 will cause the sliding rod 703 to move synchronously. Then, the sliding rod 703 will cause the extrusion head 705 to move, and at the same time, the outer wall of the extrusion head 705 will slide along the inclined groove 713. Since the inner wall of the inclined groove 713 is inclined, the extrusion head 705 is squeezed during the sliding process, and then the sliding rod 703 will slide upward along the inside of the fixed frame 702. At the same time, the first spring 704 will... As the first spring 704 is gradually compressed, it generates an increasing force. This force is applied to the surface of the second reciprocating shaft 10 via the fixed frame 702, causing frictional resistance to the rotation between the reciprocating ring 701 and the second reciprocating shaft 10. When the reciprocating ring 701 slides back, the first spring 704 is gradually released. This process is repeated multiple times, causing the frictional resistance on the second reciprocating shaft 10 to gradually increase and then decrease. This simulates the real working conditions faced by the robot when its joints repeatedly flex and extend and overcome periodic resistance during actual movement, thereby improving the accuracy and practicality of the test.

[0036] Example 2, please refer to Figures 1-5Based on Embodiment 1, in this embodiment, the shaking test mechanism 8 includes a stop rod 804 disposed below the test platform 4. Further, the shaking test mechanism 8 includes a fixed ring 801, and a connecting rod 802 is fixedly connected to the outer wall of the fixed ring 801. A threaded rod 803 is rotatably connected to the inside of the connecting rod 802 through a thread. The outer wall of the stop rod 804 is slidably connected to the inside of the threaded rod 803. A third spring 805 is fixedly connected to one end of the stop rod 804 located inside the threaded rod 803. A knob 806 is fixedly connected to the bottom end of the threaded rod 803. The fixed ring 801 is fixedly connected to the outer wall of the first reciprocating shaft 2. The end of the stop rod 804 away from the third spring 805 corresponds to the bottom surface of the test platform 4. The end of the third spring 805 away from the stop rod 804 is fixedly connected to the inside of the threaded rod 803.

[0037] More specifically, in order to simulate the process of a robot moving with a motor during actual use, where the position of the motor changes while being driven, causing the motor to be in a relatively shaky state in most usage scenarios, when testing the robot's test motor, the cabinet door on the test box 1 is opened and the knob 806 is turned. Then the knob 806 will drive the threaded rod 803 to rotate synchronously. Since the threaded rod 803 and the connecting rod 802 are connected by a threaded rotation, the threaded rod 803 will move upward along the inside of the connecting rod 802 when it rotates. Then the threaded rod 803 will drive the end of the abutment 804 to press against the bottom of the test platform 4. The test platform 4, which is pressed, will deflect around the first reciprocating shaft 2.

[0038] Then, the output is generated by the drive motor 11, which drives the first reciprocating shaft 2 to rotate synchronously. This drives the connecting rod 802 to rotate around the fixed ring 801. At the same time, the connecting rod 802 drives the threaded rod 803 to move synchronously. During this process, the threaded rod 803 drives the end of the abutment 804 to continuously press against the bottom surface of the test platform 4. Then, the test platform 4 drives the mounting component 5 and the test motor to shake in multiple directions. By making the test motor slide simultaneously during the output process, the possible bumpy environment of the robot motor in actual application is simulated to test the motor's ability to maintain a stable state and torque control under mechanical interference, as well as its anti-interference and robustness.

[0039] Example 3, please refer to Figures 1-7Based on Embodiment 2, in this embodiment, the emergency simulation mechanism 9 includes a reciprocating block 901 disposed below the test platform 4. Further, a limiting rod 902 is slidably connected through the interior of the reciprocating block 901, and the top of the limiting rod 902 is rotatably connected to the interior of the connecting plate 3 via a universal ball joint. A first connecting frame 903 is fixedly connected to the outer wall of the reciprocating block 901, and a second connecting frame 904 is also fixedly connected to the outer wall of the reciprocating block 901. A mounting plate 905 is fixedly connected to the bottom surface of the test platform 4. A movable rod 906 is slidably connected through the interior of 905. A protrusion 907 is fixedly connected to the end of the movable rod 906, and a fourth spring 908 is fixedly connected to the side of the protrusion 907 facing the mounting plate 905. A reciprocating block 901 is rotatably connected in the reciprocating groove on the outer wall of the first reciprocating shaft 2. The end slope of the first connecting frame 903 corresponds to the bottom end of the L-shaped rod 708. The end of the second connecting frame 904 corresponds to the end slope of the mounting plate 905. The outer wall of the protrusion 907 is slidably connected to the bottom surface of the test platform 4.

[0040] More specifically, in the actual application of robots, there may be unexpected situations where the mobile outriggers encounter obstacles and trip. During the rotation of the first reciprocating shaft 2, the reciprocating block 901 will move back and forth along the reciprocating groove on the outer wall of the first reciprocating shaft 2. By designing two limiting rods 902, the relative position between the reciprocating block 901 and the test platform 4 can be limited. Then, during the upward movement of the reciprocating block 901, it will drive the first connecting frame 903 and the second connecting frame 904 fixedly connected to its outer wall to move upward synchronously. The two limiting rods 902 will gradually reach the same height, thereby driving the test platform 4 to slowly stabilize. At the same time, the abutment rod 804 will press the threaded rod 803 with the stabilizing force of the test platform 4, and then slide towards the inner wall of the third spring 805.

[0041] Next, the top inclined surface of the first connecting frame 903 will contact the bottom end of the L-shaped rod 708 and then press it. Then, the two L-shaped rods 708 will slide along the outer wall of the positioning rod 710 to the opposite position under the pressure. At the same time, the second spring 711 will be compressed. Then, as the L-shaped rod 708 slides, it will drive the pressing plate 707 to move synchronously, so that the pressing plate 707 slides along the inner wall of the slide groove 706. Then, when the reciprocating block 901 slides to the top of the reciprocating groove on the surface of the first reciprocating shaft 2, the first connecting frame 903 will complete the pressing of the L-shaped rod 708, so that the side wall of the pressing plate 707 presses the outer wall of the slide rod 703, so that the slide rod 703 and the fixed frame 702 will generate a large friction force instantly. As a result, the second reciprocating shaft 10 will be subjected to huge friction resistance during the movement of the reciprocating ring 701, so as to simulate the impact load that the joint motor suffers when the robot's moving legs encounter obstacles during actual use.

[0042] Simultaneously, as the reciprocating block 901 drives the second connecting frame 904 upward, the second connecting frame 904 will contact the inclined end of the movable rod 906 and press it. Then, the pressed movable rod 906 will slide along the other side of the mounting plate 905. At the same time, the movable rod 906 will drive the protrusion 907 to move synchronously, causing the fourth spring 908 to be compressed, thereby displacing the position of the protrusion 907. At this time, as the first reciprocating shaft 2 drives the abutment rod 804 to rotate continuously, the end of the abutment rod 804 will contact the inclined outer wall of the protrusion 907, and then slide along its outer wall, while moving towards... The internal sliding of the threaded rod 803 further compresses the third spring 805. Then, when the end of the abutment rod 804 passes the other side of the protrusion 907 corresponding to the outer wall slope, the abutment rod 804 will disengage from the protrusion 907. Then, the elasticity release of the threaded rod 803 will cause the abutment rod 804 to quickly pop upward. Then, the abutment rod 804 will impact the bottom surface of the test platform 4 to simulate the unexpected situation in actual use of the robot when its moving legs encounter obstacles and are tripped. This test ensures the quality of the motor and improves the test motor's ability to cope with various scenarios.

[0043] The working principle of this invention is as follows: Before installing and using a motor applied to a robot, it is essential to test the motor's performance. Through the servo motor performance testing process, potential faults that may occur during the use of the servo motor can be continuously discovered. Since the application scenarios of motors in the field of robotics are relatively complex, it is necessary to simulate the states that the robot may encounter in reality. When testing the robot test motor, the operation control center 12 is used to control the working state of the electrical components inside the test box 1. First, the test motor is installed on the test platform 4 above the mounting assembly 5. Then, the input end of the torque sensor 6 is connected to the rotating shaft of the test motor. Then, the second reciprocating rotating shaft 10 is fixedly connected to the output end of the torque sensor 6 through a coupling. Then, the test motor is driven to output, and the second reciprocating rotating shaft 10 is driven to rotate synchronously through the transmission of the torque sensor 6. The torque sensor 6 is used to detect the output torque and speed of the test motor, converting the physical change of torque into a precise electrical signal. After recording and processing, the load capacity performance of the test motor under different working conditions can be judged.

[0044] Since the reciprocating ring 701 is rotatably connected to the reciprocating groove on the outer wall surface of the second reciprocating shaft 10, the rotation of the second reciprocating shaft 10 will cause the reciprocating ring 701 to slide back and forth along its outer wall. At the same time, the reciprocating ring 701 will cause the fixed frames 702 on both sides to move synchronously. Then, the fixed frames 702 will cause the sliding rod 703 to move synchronously. Then, the sliding rod 703 will cause the extrusion head 705 to move, and at the same time, the outer wall of the extrusion head 705 will slide along the inclined groove 713. Since the inner wall of the inclined groove 713 is inclined, the extrusion head 705 is squeezed during the sliding process, and then the sliding rod 703 will slide upward along the inside of the fixed frame 702. At the same time, the first spring 704 will... As the first spring 704 is gradually compressed, it generates an increasing force during the compression process. This force is applied to the surface of the second reciprocating shaft 10 via the fixed frame 702, causing frictional resistance to the rotation between the reciprocating ring 701 and the second reciprocating shaft 10. When the reciprocating ring 701 slides back, the first spring 704 is gradually released. This process is repeated multiple times, causing the frictional resistance on the second reciprocating shaft 10 to gradually increase and then decrease. This simulates the real working conditions faced by the robot when its joints repeatedly flex and extend and overcome periodic resistance during actual movement, thereby improving the accuracy and practicality of the test.

[0045] The drive motor 11 outputs power, causing its output shaft to drive the first reciprocating shaft 2 to rotate synchronously. This, in turn, drives the connecting rod 802 to rotate around the fixed ring 801. Simultaneously, the connecting rod 802 drives the threaded rod 803 to move synchronously. During this process, the threaded rod 803 drives the end of the abutment 804 to continuously press against the bottom surface of the test platform 4. This causes the test platform 4 to cause the mounting assembly 5 and the test motor to shake in multiple directions. By making the test motor slide simultaneously during the output process, the possible bumpy environment of the robot motor in actual applications is simulated. This tests the motor's ability to maintain a stable state and torque control under mechanical interference, thereby improving the test motor's comprehensive ability to cope with various scenarios.

[0046] It should be noted that all the devices in this application are common devices on the market, and can be selected according to the needs of specific use. The circuit connection relationship of each device is a simple series and parallel connection circuit. There is no innovation in the circuit connection part. Those skilled in the art can easily implement it. It belongs to the prior art and will not be described in detail.

[0047] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A robot motor testing device, comprising a test chamber (1), characterized in that: The test box (1) is internally connected to a first reciprocating shaft (2), and the top of the first reciprocating shaft (2) is rotatably connected to a connecting plate (3) via a universal ball. The top of the connecting plate (3) is fixedly connected to a test platform (4), and an installation component (5) and a torque sensor (6) are fixedly installed on the top of the test platform (4). A load variable resistance mechanism (7) is provided on the top of the test platform (4). A shaking test mechanism (8) is provided on the outer wall of the first reciprocating shaft (2), and an emergency simulation mechanism (9) is provided on the outer wall of the first reciprocating shaft (2). The installation component (5) is used to fix the outer wall of the test motor. The shaft of the test motor is connected to the input end of the torque sensor (6), and the output end of the torque sensor (6) is fixedly connected to a second reciprocating shaft (10) via a coupling. A control center (12) is fixedly installed on the side wall of the test box (1). The load variable resistance mechanism (7) includes a reciprocating ring (701) disposed on the outer wall of the second reciprocating shaft (10), and controls the reciprocating ring (701) to move back and forth along the outer wall of the second reciprocating shaft (10) to continuously adjust the resistance encountered by the second reciprocating shaft (10) when it rotates; The shaking test mechanism (8) includes a stop rod (804) set below the test platform (4), which controls the stop rod (804) to press against the bottom surface of the test platform (4) during the displacement process, so that the test motor shakes continuously during the test. The emergency simulation mechanism (9) includes a reciprocating block (901) set below the test platform (4). When the reciprocating block (901) is moved back and forth to the designated position, the resistance increases instantaneously, causing the test platform (4) to be impacted.

2. The robot motor testing device according to claim 1, characterized in that, The outer wall of the reciprocating ring (701) is fixedly connected to a fixed frame (702), and a sliding rod (703) is slidably connected through the inside of the fixed frame (702). A first spring (704) is fixedly connected to the bottom of the fixed frame (702), and an extrusion head (705) is fixedly connected to the bottom end of the sliding rod (703). A groove (706) is opened on the side wall of the fixed frame (702), and an extrusion plate (707) is slidably connected to the inner wall of the groove (706). A through groove (709) is opened through the top of the test platform (4), and a positioning rod (710) is fixedly connected to the inner wall of the through groove (709). An L-shaped rod (708) is slidably connected to the outer wall of the positioning rod (710), and a second spring (711) is fixedly connected to the side wall of the L-shaped rod (708). A fixed plate (712) is fixedly connected to the top of the test platform (4), and a sloping groove (713) begins to appear at the top of the fixed plate (712).

3. The robot motor testing device according to claim 2, characterized in that, The reciprocating ring (701) is rotatably connected to the reciprocating groove on the outer wall of the second reciprocating shaft (10). The end of the first spring (704) away from the fixed frame (702) is fixedly connected to the outer wall of the extrusion head (705). The outer wall of the extrusion head (705) is slidably connected to the inner wall of the inclined groove (713). One end of the extrusion plate (707) is fixedly connected to the end of the L-shaped rod (708). The outer wall of the L-shaped rod (708) is slidably connected to the inner wall of the through groove (709). The end of the second spring (711) away from the L-shaped rod (708) is fixedly connected to the inner wall of the through groove (709). The end of the second reciprocating shaft (10) away from the torque sensor (6) is rotatably connected to the top of the fixed plate (712).

4. The robot motor testing device according to claim 3, characterized in that, The shaking test mechanism (8) includes a fixed ring (801), and a connecting rod (802) is fixedly connected to the outer wall of the fixed ring (801). A threaded rod (803) is rotatably connected to the inside of the connecting rod (802) through a thread. The outer wall of the abutment rod (804) is slidably connected to the inside of the threaded rod (803). A third spring (805) is fixedly connected to one end of the abutment rod (804) located inside the threaded rod (803). A knob (806) is fixedly connected to the bottom end of the threaded rod (803).

5. The robot motor testing device according to claim 4, characterized in that, The fixed ring (801) is fixedly connected to the outer wall of the first reciprocating shaft (2), and the end of the abutment (804) away from the third spring (805) corresponds to the bottom surface of the test platform (4). The end of the third spring (805) away from the abutment (804) is fixedly connected to the inside of the threaded rod (803).

6. The robot motor testing device according to claim 5, characterized in that, The reciprocating block (901) is internally slidably connected to a limiting rod (902), and the top of the limiting rod (902) is rotatably connected to the inside of the connecting plate (3) via a universal ball. The outer wall of the reciprocating block (901) is fixedly connected to a first connecting frame (903), and the outer wall of the reciprocating block (901) is fixedly connected to a second connecting frame (904). The bottom surface of the test platform (4) is fixedly connected to a mounting plate (905), and the inside of the mounting plate (905) is internally slidably connected to a movable rod (906). The end of the movable rod (906) is fixedly connected to a protrusion (907), and the side of the protrusion (907) facing the mounting plate (905) is fixedly connected to a fourth spring (908).

7. The robot motor testing device according to claim 6, characterized in that, The reciprocating block (901) is rotatably connected to the reciprocating groove on the outer wall of the first reciprocating shaft (2). The end slope of the first connecting frame (903) corresponds to the bottom end of the L-shaped rod (708). The end of the second connecting frame (904) corresponds to the end slope of the mounting plate (905). The outer wall of the protrusion (907) is slidably connected to the bottom surface of the test platform (4).

8. The robot motor testing device according to claim 7, characterized in that, The test box (1) is fixedly mounted with a drive motor (11) at the bottom, and the end of the first reciprocating shaft (2) away from the connecting plate (3) is fixedly connected to the output shaft of the drive motor (11).

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