Harmonic reducer performance detection mechanism

Abstract

The application relates to the technical field of harmonic reducer detection, and discloses a harmonic reducer performance detection mechanism, which comprises a base, the top of the base is provided with a driving servo motor, and the power output shaft of the driving servo motor is provided with a left torque sensor. Through the cooperation of the power connection cylinder, the locking cylinder, the locking bolt, the moment slot on the left output shaft and the durability slot, when the locking bolt is screwed into the durability slot, the power connection cylinder is separated from the right output shaft and is in contact with the durability test assembly, the left output shaft can drive the swing arm and the counterweight to reciprocate, and the durability test of the harmonic reducer body is realized; when the locking bolt is screwed into the moment slot, the power connection cylinder is connected with the left output shaft and the right output shaft, the harmonic reducer body can drive the right output shaft to transmit power to the moment motor, torque test is realized, the switching process is simple and fast, the detection period is effectively shortened, and the detection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of harmonic reducer testing technology, specifically to a harmonic reducer performance testing mechanism. Background Technology

[0002] Harmonic reducers, as core components in the field of precision mechanical transmission, are widely used in high-end equipment such as industrial robots, humanoid robots, medical equipment, and precision machine tools due to their advantages of high precision, high rigidity, and small size. They are hailed as the "heart" of these devices. Currently, the global market demand for harmonic reducers continues to rise. Especially with the rapid development of the humanoid robot industry, the market has placed more stringent requirements on the core performance indicators of harmonic reducers, such as torque density, transmission accuracy, and service life. Therefore, it is necessary to test the performance of harmonic reducers.

[0003] Performance testing is a crucial step in the production, R&D, and quality control of harmonic reducers, directly determining the product's pass rate and reliability. Existing performance testing mechanisms for harmonic reducers can only perform one type of test—torque testing or durability testing—requiring the transfer of the reducer to different equipment to complete multiple performance tests. This is cumbersome, inefficient, and also suffers from poorly designed clamping and fixing mechanisms, leading to cumbersome clamping operations. Summary of the Invention

[0004] This invention provides a performance testing mechanism for harmonic reducers, which solves the problems mentioned in the background art.

[0005] This invention provides the following technical solution: a harmonic reducer performance testing mechanism, comprising a base, a drive servo motor on the top of the base, a left torque sensor mounted on the power output shaft of the drive servo motor, a connecting shaft mounted on the end of the left torque sensor away from the drive servo motor, a testing mechanism body mounted on the end of the connecting shaft away from the left torque sensor, a right torque sensor mounted on the end of the testing mechanism body away from the left torque sensor, and a torque motor mounted on the end of the right torque sensor away from the testing mechanism body. The testing mechanism body includes a harmonic reducer clamping mechanism, a durability testing component is installed on the right side of the harmonic reducer clamping mechanism, and the harmonic reducer body is installed in the inner cavity of the harmonic reducer clamping mechanism. The harmonic reducer clamping mechanism includes a fixed base plate, a mounting bracket mounted on the top of the fixed base plate, a connecting rod mounted on the inner wall of the mounting bracket, a connecting bracket mounted on the outer edge of the connecting rod, a clamping plate provided at the end of the connecting bracket away from the mounting bracket, a locking rod slidably connected to the inner wall of the clamping plate, a circular hole opened on the outer edge of the mounting bracket, a transverse groove opened on the inner wall of the circular hole, and a locking block mounted on the outer wall of the locking rod. The detection mechanism body includes a swing arm, the outer wall of which has a sliding hole with a diameter larger than that of the power connecting cylinder, the inner wall of which has a drive groove, the inner wall of which has a drive block slidably connected, the drive block being mounted on the power connecting cylinder, the outer wall of which has an assembly rod, the outer wall of which has a counterweight, and the bottom of which has a support block.

[0006] As a preferred embodiment of the present invention, a limiting cylinder is installed on the outer wall of the mounting bracket, and a limiting rod is slidably connected to the inner wall of the limiting cylinder, and the limiting rod is installed on the clamping plate.

[0007] As a preferred embodiment of the present invention, a locking handle is installed on the outer wall of the locking rod, and a support spring is movably sleeved on the outer wall of the locking rod, the support spring being located between the locking handle and the clamping plate.

[0008] As a preferred embodiment of the present invention, a roller is installed on the outer wall of the connecting rod, and a rubber sleeve is fixedly sleeved on the outer wall of the roller. A plurality of connecting rods, rollers and rubber sleeves are provided, and the harmonic reducer body is in contact with the rubber sleeve.

[0009] As a preferred embodiment of the present invention, the output shaft of the harmonic reducer body is equipped with a left output shaft, the outer wall of the left output shaft is provided with a left connecting groove, a power connecting cylinder is slidably connected to the outer wall of the left output shaft, a left connecting block is installed on the inner wall of the power connecting cylinder, the left connecting block is slidably connected to the left connecting groove, a right output shaft is provided at the end of the power connecting cylinder away from the left output shaft, a right connecting groove is provided on the outer wall of the right output shaft, a right connecting block is installed on the inner wall of the power connecting cylinder, the right connecting block is slidably connected to the right connecting groove.

[0010] As a preferred embodiment of the present invention, a torque groove is formed on the left side of the left output shaft, and a durability groove is formed on the left side of the torque groove.

[0011] As a preferred embodiment of the present invention, a locking cylinder is installed at the end of the power connecting cylinder away from the right output shaft. The outer wall of the locking cylinder is provided with a locking threaded hole, and a locking bolt is threadedly connected to the inner wall of the locking threaded hole.

[0012] As a preferred embodiment of the present invention, a mounting base is installed on the outer wall of the drive servo motor, a left support plate is installed at the bottom of the mounting base, a left handbrake slider is installed at the bottom of the left support plate, a slide rail is slidably connected to the inner wall of the left handbrake slider, the slide rail is installed on the base, a left release screw is threadedly connected to the bottom of the left support plate, a left torque sensor is installed on the left support plate, and the left release screw is installed on the base.

[0013] As a preferred embodiment of the present invention, a right-side support plate is installed at the bottom of the torque motor, a right-side handbrake slider is installed at the bottom of the right-side support plate, a slide rail is slidably connected to the inner wall of the right-side handbrake slider, and a right-side release screw is threadedly connected to the bottom of the right-side support plate, and the right-side release screw is installed on the base.

[0014] The present invention has the following beneficial effects: 1. This harmonic reducer performance testing mechanism, through the cooperation of the power connecting cylinder, locking cylinder, locking bolt, and torque groove and durability groove on the left output shaft, allows the power connecting cylinder to separate from the right output shaft and contact the durability testing component when the locking bolt is screwed into the durability groove. The rotation of the left output shaft can drive the swing arm and counterweight to swing back and forth, realizing the durability test of the harmonic reducer body. When the locking bolt is screwed into the torque groove, the power connecting cylinder is connected to both the left and right output shafts, and the harmonic reducer body can drive the right output shaft axial torque motor to transmit power, realizing torque testing. The switching process is simple and quick, effectively shortening the testing cycle and improving testing efficiency.

[0015] 2. This harmonic reducer performance testing mechanism precisely clamps the harmonic reducer body between the mounting bracket and the clamping plate. The locking rod passes through the fixing hole of the harmonic reducer body and enters the round hole of the mounting bracket. The locking block cooperates with the transverse groove, and locking is achieved by rotating the locking rod. With the elastic support of the support spring, the locking block and the mounting bracket are tightly fitted, effectively preventing the harmonic reducer from loosening or rotating during the testing process and ensuring testing accuracy.

[0016] 3. The harmonic reducer performance testing mechanism, through the setting of connecting rods, rollers and rubber sleeves, can not only reduce the resistance when adjusting the angle of the harmonic reducer body, making it easy for operators to quickly adjust the installation angle of the harmonic reducer and make it accurately fit the testing position, but also effectively protect the surface of the harmonic reducer body through the rubber sleeve, avoiding surface wear during clamping and protecting the integrity of the test piece. Attached Figure Description

[0017] Figure 1 This is a frontal perspective view of the present invention; Figure 2 This is a three-dimensional structural diagram of the back of the present invention; Figure 3 This is a schematic diagram of the main structure of the detection mechanism of the present invention; Figure 4 This is a schematic diagram of the front structure of the harmonic reducer clamping mechanism of the present invention; Figure 5 This is a schematic diagram of the back structure of the harmonic reducer clamping mechanism of the present invention; Figure 6 This is a schematic diagram of the unfolded structure of the harmonic reducer clamping mechanism of the present invention; Figure 7 This is a schematic diagram of the structure of the left output shaft and the power connection cylinder of the present invention; Figure 8 This is a schematic cross-sectional view of the power connection cylinder of the present invention.

[0018] In the diagram: 1. Base; 2. Detection mechanism body; 3. Slide rail; 4. Left support plate; 5. Left handbrake slider; 6. Mounting base; 7. Drive servo motor; 8. Left torque sensor; 9. Connecting shaft; 10. Right torque sensor; 11. Torque motor; 12. Right support plate; 13. Right handbrake slider; 14. Left release screw; 15. Right release screw; 21. Harmonic reducer clamping mechanism; 22. Durability testing components; 23. Harmonic reducer body; 2101. Fixed base plate; 2102. Mounting bracket; 2103. Connecting rod; 2104. Roller; 2105. Rubber sleeve; 2106. Connecting bracket; 2107. Round hole; 2108. Horizontal groove; 2109. Limiting cylinder; 2110. Clamping plate; 2111. Limiting rod; 2112. Locking rod; 21121. Locking handle; 2113. Locking block; 2114. Support spring; 2115. Left output shaft; 2116. Left connecting groove; 2117. Durability groove; 2118. Torque groove; 2119. Power connecting cylinder; 2120. Left connecting block; 2121. Right connecting block; 2122. Right output shaft; 2123. Right connecting groove; 2124. Locking cylinder; 2125. Locking threaded hole; 2126. Locking bolt; 2201, swing arm; 2202, sliding hole; 2203, drive groove; 2204, drive block; 2205, assembly rod; 2206, counterweight block; 2207, support block. Detailed Implementation

[0019] 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.

[0020] Please see Figures 1-8 A harmonic reducer performance testing mechanism includes a base 1, a drive servo motor 7 is provided on the top of the base 1, a left torque sensor 8 is installed on the power output shaft of the drive servo motor 7, a connecting shaft 9 is installed at the end of the left torque sensor 8 away from the drive servo motor 7, a testing mechanism body 2 is installed at the end of the connecting shaft 9 away from the left torque sensor 8, a right torque sensor 10 is installed at the end of the testing mechanism body 2 away from the left torque sensor 8, and a torque motor 11 is installed at the end of the right torque sensor 10 away from the testing mechanism body 2. The testing mechanism body 2 includes a harmonic reducer clamping mechanism 21, a durability testing component 22 is installed on the right side of the harmonic reducer clamping mechanism 21, and a harmonic reducer body 23 is installed in the inner cavity of the harmonic reducer clamping mechanism 21. In the above structure, the harmonic reducer clamping mechanism 21 can clamp and fix the harmonic reducer body 23. The durability test component 22 can switch the detection mode and perform durability testing on the harmonic reducer body 23. Opening the durability test component 22 can realize the torque test of the harmonic reducer body 23.

[0021] The harmonic reducer clamping mechanism 21 includes a fixed base plate 2101, a mounting bracket 2102 mounted on the top of the fixed base plate 2101, a connecting rod 2103 mounted on the inner wall of the mounting bracket 2102, a connecting bracket 2106 mounted on the outer edge of the connecting rod 2103, a clamping plate 2110 provided at the end of the connecting bracket 2106 away from the mounting bracket 2102, a locking rod 2112 slidably connected to the inner wall of the clamping plate 2110, a circular hole 2107 opened on the outer edge of the mounting bracket 2102, a transverse groove 2108 opened on the inner wall of the circular hole 2107, and a locking block 2113 mounted on the outer wall of the locking rod 2112. In the above structure, by placing the harmonic reducer body 23 between the mounting bracket 2102 and the clamping plate 2110, the harmonic reducer body 23 first adheres to the mounting bracket 2102, and then the clamping plate 2110 is pushed towards the mounting bracket 2102, gradually bringing the clamping plate 2110 into contact with the harmonic reducer body 23. At this time, the locking rod 2112 passes through the peripheral fixing hole on the harmonic reducer body 23, and then the locking rod 2112 enters the round hole 2107. At this time, the harmonic reducer body 23 cannot rotate, and the locking block 2113 enters the transverse groove 2108. Then, the locking rod 2112 is moved towards the mounting bracket 2102, and then the locking rod 2112 is rotated 90°, so that the clamping plate 2110 and the mounting bracket 2102 cannot be separated. At this time, the harmonic reducer body 23 is fixed.

[0022] The main body 2 of the detection mechanism includes a swing arm 2201. The outer wall of the swing arm 2201 has a sliding hole 2202. The diameter of the sliding hole 2202 is larger than the diameter of the power connecting cylinder 2119. The inner wall of the sliding hole 2202 has a drive groove 2203. The inner wall of the drive groove 2203 is slidably connected to a drive block 2204. The drive block 2204 is mounted on the power connecting cylinder 2119. An assembly rod 2205 is installed on the outer wall of the swing arm 2201. A counterweight 2206 is installed on the outer wall of the assembly rod 2205. A support block 2207 is provided at the bottom of the counterweight 2206.

[0023] In the above structure, with the swing arm 2201 and counterweight 2206, when the drive block 2204 on the power connecting cylinder 2119 is located in the drive groove 2203, the rotation of the left output shaft 2115 can drive the power connecting cylinder 2119 and the swing arm 2201 to swing. The counterweight 2206 mainly serves as a load. The durability of the harmonic reducer body 23 is tested by swinging the swing arm 2201 and the counterweight 2206. The durability of the harmonic reducer body 23 is tested by 2201 and counterweight 2206. Since the diameter of the sliding hole 2202 is larger than that of the power connecting cylinder 2119, when the power connecting cylinder 2119 rotates, the sliding hole 2202 on the swing arm 2201 will not contact the power connecting cylinder 2119, and there is no friction between the swing arm 2201 and the power connecting cylinder 2119, so that the torque transmission is unaffected and the stability of the test data is improved. The middle part of the support block 2207 is grooved, and the two sides of the groove are horizontal platforms. When no load test is required, the counterweight 2206 is located in the groove on the support block 2207, while the swing arm 2201 is in contact with the horizontal platform. Therefore, the swing arm 2201 will not contact the power connecting cylinder 2119, which improves the rationality of the device.

[0024] In a preferred embodiment: a limiting cylinder 2109 is installed on the outer wall of the mounting bracket 2102, and a limiting rod 2111 is slidably connected to the inner wall of the limiting cylinder 2109. The limiting rod 2111 is installed on the clamping plate 2110.

[0025] In the above structure, by setting the limiting cylinder 2109 and the limiting rod 2111, when the clamping plate 2110 moves, the limiting rod 2111 slides in the limiting cylinder 2109. The cooperation between the limiting rod 2111 and the limiting cylinder 2109 plays a role in limiting the clamping plate 2110, so that the clamping plate 2110 can only move horizontally, and the locking rod 2112 can enter the round hole 2107 more stably.

[0026] In a preferred embodiment: a locking handle 21121 is installed on the outer wall of the locking rod 2112, and a support spring 2114 is movably sleeved on the outer wall of the locking rod 2112, with the support spring 2114 located between the locking handle 21121 and the clamping plate 2110.

[0027] In the above structure, the support spring 2114 can support the locking handle 21121 and the locking rod 2112, so that the locking rod 2112 and the locking handle 21121 are supported by the support spring 2114 towards the clamping plate 2110. At this time, the locking block 2113 and the mounting bracket 2102 are tightly fitted, which improves the connection between the locking rod 2112 and the mounting bracket 2102.

[0028] In a preferred embodiment: a roller 2104 is installed on the outer wall of the connecting rod 2103, and a rubber sleeve 2105 is fixedly sleeved on the outer wall of the roller 2104. There are a plurality of connecting rods 2103, rollers 2104 and rubber sleeves 2105, and the harmonic reducer body 23 is in contact with the rubber sleeve 2105.

[0029] In the above structure, by setting the roller 2104, when the angle of the harmonic reducer body 23 needs to be adjusted, it can be done by rotating the harmonic reducer body 23. At this time, the rotation of the harmonic reducer body 23 will drive the rubber sleeve 2105 and the roller 2104 to rotate on the connecting rod 2103, reducing the resistance when the harmonic reducer body 23 rotates. By setting the rubber sleeve 2105, which is made of rubber, the rubber sleeve 2105 can protect the surface of the harmonic reducer body 23 through contact with the harmonic reducer body 23.

[0030] In a preferred embodiment: the output shaft of the harmonic reducer body 23 is equipped with a left output shaft 2115, the outer wall of the left output shaft 2115 is provided with a left connecting groove 2116, the outer wall of the left output shaft 2115 is slidably connected with a power connecting cylinder 2119, the inner wall of the power connecting cylinder 2119 is equipped with a left connecting block 2120, the left connecting block 2120 is slidably connected with the left connecting groove 2116, the end of the power connecting cylinder 2119 away from the left output shaft 2115 is provided with a right output shaft 2122, the outer wall of the right output shaft 2122 is provided with a right connecting groove 2123, the inner wall of the power connecting cylinder 2119 is equipped with a right connecting block 2121, the right connecting block 2121 is slidably connected with the right connecting groove 2123.

[0031] In the above structure, by moving the power connecting cylinder 2119, when the power connecting cylinder 2119 is separated from the right output shaft 2122, the input power of the torque motor 11 is cut off, and torque testing cannot be performed. At this time, the power connecting cylinder 2119 will come into contact with the durability testing component 22. When the left output shaft 2115 rotates, it can drive the durability testing component 22 to swing back and forth 180°, and durability testing can be performed. Through the setting of the left connecting groove 2116 and the left connecting block 2120 and the right connecting block 2121 and the right connecting groove 2123, when the left output shaft 2115 rotates, it can drive the power connecting cylinder 2119 and the right output shaft 2122 to rotate.

[0032] In a preferred embodiment, a torque groove 2118 is provided on the left side of the left output shaft 2115, and a durability groove 2117 is provided on the left side of the torque groove 2118.

[0033] In the above structure, the durability groove 2117 serves as a fixed groove for durability testing. When the locking cylinder 2124 corresponds to the durability groove 2117, the power connecting cylinder 2119 and the right output shaft 2122 are in a separated state. When the locking cylinder 2124 corresponds to the torque groove 2118, the power connecting cylinder 2119 is in contact with the left output shaft 2115 and the right output shaft 2122. At this time, the left output shaft 2115, the power connecting cylinder 2119, and the right output shaft 2122 can rotate.

[0034] In a preferred embodiment: a locking cylinder 2124 is installed at the end of the power connecting cylinder 2119 away from the right output shaft 2122. The outer wall of the locking cylinder 2124 is provided with a locking threaded hole 2125, and a locking bolt 2126 is threadedly connected to the inner wall of the locking threaded hole 2125.

[0035] In the above structure, by setting the locking bolt 2126, when the locking bolt 2126 is located in the torque groove 2118, the locking cylinder 2124 and the power connecting cylinder 2119 can be locked, and the power connecting cylinder 2119 cannot move. The power connecting cylinder 2119 is connected to the right output shaft 2122 and the left output shaft 2115. When the locking bolt 2126 is located in the durability groove 2117, the power connecting cylinder 2119 is separated from the right output shaft 2122, so that when the left output shaft 2115 rotates, it can drive the power connecting cylinder 2119 to rotate, while the right output shaft 2122 cannot rotate.

[0036] In a preferred embodiment: a mounting base 6 is installed on the outer wall of the drive servo motor 7, a left support plate 4 is installed at the bottom of the mounting base 6, a left handbrake slider 5 is installed at the bottom of the left support plate 4, a slide rail 3 is slidably connected to the inner wall of the left handbrake slider 5, the slide rail 3 is installed on the base 1, a left release screw 14 is threadedly connected to the bottom of the left support plate 4, a left torque sensor 8 is installed on the left support plate 4, and the left release screw 14 is installed on the base 1.

[0037] In the above structure, by rotating the left release screw 14, the left support plate 4 and the left handbrake slider 5 are driven to slide on the slide rail 3, so that the left support plate 4 can drive the mounting base 6, drive servo motor 7, left torque sensor 8 and connecting shaft 9 to move to the left, gradually separating the connecting shaft 9 from the harmonic reducer body 23, so that the harmonic reducer body 23 can be taken out from the harmonic reducer clamping mechanism 21.

[0038] In a preferred embodiment: a right side support plate 12 is installed at the bottom of the torque motor 11, a right side handbrake slider 13 is installed at the bottom of the right side support plate 12, a slide rail 3 is slidably connected to the inner wall of the right side handbrake slider 13, and a right side release screw 15 is threadedly connected to the bottom of the right side support plate 12, and the right side release screw 15 is installed on the base 1.

[0039] In the above structure, by rotating the right-side release screw 15, the right-side support plate 12 and the right-side handbrake slider 13 are moved on the slide rail 3. The movement of the right-side support plate 12 can drive the torque motor 11, the right-side torque sensor 10 and the right-side output shaft 2122 to move, so that the right-side output shaft 2122 can be separated from the power connecting cylinder 2119. At this time, the two ends of the harmonic reducer body 23 are not connected to the right-side output shaft 2122 and the connecting shaft 9. At this time, the harmonic reducer body 23 can be taken out from the harmonic reducer clamping mechanism 21.

[0040] Working principle: During use, the servo motor 7 drives the left torque sensor 8 and the connecting shaft 9 to rotate, thus powering the harmonic reducer body 23. When the drive block 2204 on the power connecting cylinder 2119 is located in the drive groove 2203, the power connecting cylinder 2119 and the drive block 2204 can drive the swing arm 2201 and the counterweight 2206 to swing. At this time, the harmonic reducer body 23 is in a durability test state. When it is necessary to test the resistance load of the harmonic reducer body 23, the power connecting cylinder 2119 is moved to contact the right output shaft 2122. At this time, the harmonic reducer body 23 can drive the left output shaft 2115, power connecting cylinder 2119 and right output shaft 2122 to rotate during operation. The power of the right output shaft 2122 is input to the torque motor 11 through the right torque sensor 10. At this time, the harmonic reducer body 23 can obtain the load torque. When the harmonic reducer body 23 needs to be removed from the harmonic reducer clamping mechanism 21, the right release screw 15 is rotated to drive the left support plate 4 and the left handbrake slider 5 to move on the slide rail 3. The movement of the left support plate 4 drives the mounting base 6, drive servo motor 7, left torque sensor 8 and connecting shaft 9 to move. The movement gradually separates the connecting shaft 9 from the harmonic reducer body 23. Then, the right-side disengagement screw 15 is rotated. This rotation causes the right-side support plate 12 and the right-side handbrake slider 13 to move on the slide rail 3. The movement of the right-side support plate 12 causes the torque motor 11 and the right-side torque sensor 10 to move, gradually separating the right-side output shaft 2122 from the power connecting cylinder 2119. At this point, the torque motor 11 cannot receive power. When installing the harmonic reducer body 23, by placing the harmonic reducer body 23 on the rubber sleeve 2105 and rotating the harmonic reducer body 23, the harmonic... The mounting holes on the reducer body 23 correspond to the locking rod 2112. Then, the clamping plate 2110 is pushed, and the locking rod 2112 passes through the mounting holes on the harmonic reducer body 23. Then, the locking rod 2112 enters the round hole 2107, and the locking block 2113 enters the transverse groove 2108. Then, the locking rod 2112 is pressed, and then the locking rod 2112 is rotated 90°. By relieving the force on the locking handle 21121, the elastic force of the support spring 2114 supports the locking handle 21121, so that the locking block 2113 contacts the mounting bracket 2102. At this time, the harmonic reducer body 23 is installed.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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.

[0042] 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 technical solutions and their equivalents.

Claims

1. A harmonic reducer performance detection mechanism, comprising a base (1), characterized in that: The base (1) is provided with a drive servo motor (7) at the top. A left torque sensor (8) is installed on the power output shaft of the drive servo motor (7). A connecting shaft (9) is installed at the end of the left torque sensor (8) away from the drive servo motor (7). A detection mechanism body (2) is installed at the end of the connecting shaft (9) away from the left torque sensor (8). A right torque sensor (10) is installed at the end of the detection mechanism body (2) away from the left torque sensor (8). A torque motor (11) is installed at the end of the right torque sensor (10) away from the detection mechanism body (2). The testing mechanism body (2) includes a harmonic reducer clamping mechanism (21), a durability testing component (22) is installed on the right side of the harmonic reducer clamping mechanism (21), and a harmonic reducer body (23) is installed in the inner cavity of the harmonic reducer clamping mechanism (21). The harmonic reducer clamping mechanism (21) includes a fixed base plate (2101), a mounting bracket (2102) is installed on the top of the fixed base plate (2101), a connecting rod (2103) is installed on the inner wall of the mounting bracket (2102), a connecting bracket (2106) is installed on the outer edge of the connecting rod (2103), a clamping plate (2110) is provided at the end of the connecting bracket (2106) away from the mounting bracket (2102), a locking rod (2112) is slidably connected to the inner wall of the clamping plate (2110), a round hole (2107) is opened on the outer edge of the mounting bracket (2102), a transverse groove (2108) is opened on the inner wall of the round hole (2107), and a locking block (2113) is installed on the outer wall of the locking rod (2112). The detection mechanism body (2) includes a swing arm (2201), the outer wall of the swing arm (2201) is provided with a sliding hole (2202), the diameter of the sliding hole (2202) is larger than the diameter of the power connecting cylinder (2119), the inner wall of the sliding hole (2202) is provided with a drive groove (2203), the inner wall of the drive groove (2203) is slidably connected with a drive block (2204), the drive block (2204) is installed on the power connecting cylinder (2119), the outer wall of the swing arm (2201) is provided with an assembly rod (2205), the outer wall of the assembly rod (2205) is provided with a counterweight (2206), and the bottom of the counterweight (2206) is provided with a support block (2207).

2. The harmonic reducer performance detection mechanism according to claim 1, characterized in that: The outer wall of the mounting bracket (2102) is fitted with a limiting cylinder (2109), and the inner wall of the limiting cylinder (2109) is slidably connected to a limiting rod (2111), which is mounted on the clamping plate (2110).

3. The harmonic reducer performance detection mechanism according to claim 1, characterized in that: A locking handle (21121) is installed on the outer wall of the locking rod (2112), and a support spring (2114) is movably sleeved on the outer wall of the locking rod (2112). The support spring (2114) is located between the locking handle (21121) and the clamping plate (2110).

4. The harmonic reducer performance testing mechanism according to claim 1, characterized in that: The outer wall of the connecting rod (2103) is fitted with a roller (2104), and the outer wall of the roller (2104) is fixedly fitted with a rubber sleeve (2105). There are several connecting rods (2103), rollers (2104) and rubber sleeves (2105), and the harmonic reducer body (23) is in contact with the rubber sleeves (2105).

5. The harmonic reducer performance testing mechanism according to claim 1, characterized in that: The output shaft of the harmonic reducer body (23) is equipped with a left output shaft (2115). The outer wall of the left output shaft (2115) is provided with a left connecting groove (2116). The outer wall of the left output shaft (2115) is slidably connected with a power connecting cylinder (2119). The inner wall of the power connecting cylinder (2119) is equipped with a left connecting block (2120). The left connecting block (2120) is slidably connected with the left connecting groove (2116). The end of the power connecting cylinder (2119) away from the left output shaft (2115) is provided with a right output shaft (2122). The outer wall of the right output shaft (2122) is provided with a right connecting groove (2123). The inner wall of the power connecting cylinder (2119) is equipped with a right connecting block (2121). The right connecting block (2121) is slidably connected with the right connecting groove (2123).

6. The harmonic reducer performance testing mechanism according to claim 5, characterized in that: A torque groove (2118) is provided on the left side of the left output shaft (2115), and a durability groove (2117) is provided on the left side of the torque groove (2118).

7. The harmonic reducer performance testing mechanism according to claim 5, characterized in that: A locking cylinder (2124) is installed at the end of the power connecting cylinder (2119) away from the right output shaft (2122). The outer wall of the locking cylinder (2124) is provided with a locking thread hole (2125), and the inner wall of the locking thread hole (2125) is threaded with a locking bolt (2126).

8. The harmonic reducer performance testing mechanism according to claim 1, characterized in that: The outer wall of the drive servo motor (7) is equipped with a mounting base (6), the bottom of the mounting base (6) is equipped with a left support plate (4), the bottom of the left support plate (4) is equipped with a left handbrake slider (5), the inner wall of the left handbrake slider (5) is slidably connected with a slide rail (3), the slide rail (3) is installed on the base (1), the bottom of the left support plate (4) is threaded with a left release screw (14), the left torque sensor (8) is installed on the left support plate (4), and the left release screw (14) is installed on the base (1).

9. The harmonic reducer performance testing mechanism according to claim 1, characterized in that: The torque motor (11) has a right side support plate (12) installed at the bottom, and a right handbrake slider (13) is installed at the bottom of the right side support plate (12). The inner wall of the right handbrake slider (13) is slidably connected to a slide rail (3). The bottom of the right side support plate (12) is threadedly connected to a right release screw (15), and the right release screw (15) is installed on the base (1).

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