A robot deep squat jump load performance testing device and method

Abstract

The application provides a robot deep squat jump load performance test device and method, which comprises an assembling mechanism, a loading mechanism and a lifting mechanism. The assembling mechanism comprises a load support and a lifting support. The loading mechanism comprises an adjusting module, a moving load plate and a plurality of load sheets. The lifting mechanism comprises a moving assembly and a transmission connecting column. The moving assembly comprises a guide column, a sliding frame and a robot connecting piece. Compared with the prior art, the application has a compact overall structure and high integration. Through the cooperation of the assembling mechanism, the loading mechanism and the lifting mechanism, the coherent test of the load deep squat performance and the jump performance of the humanoid robot can be simultaneously completed in the same set of equipment, the number of test tool replacement is reduced, the overall test cost is reduced, the test period is shortened, the real stress state and the motion working condition in the actual operation process of the humanoid robot are more fitted, and the authenticity and the reference value of the test result are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of robot testing technology, specifically to a device and method for testing the load performance of a robot squatting and jumping. Background Technology

[0002] In recent years, with the deep integration and iterative breakthroughs of multiple disciplines such as mechanical engineering, electrical engineering, automatic control, artificial intelligence, and biomimetic mechanics, humanoid robots, as a typical representative of high-end intelligent equipment, have become a core research hotspot and key focus of industrial development in the global robotics field. Compared to conventional wheeled and multi-legged robots, humanoid robots possess human-like limb structures and motor capabilities, enabling them to adapt to daily human work scenarios and replace manual labor in high-load and high-risk tasks. They have broad application prospects in fields such as warehousing and logistics, emergency rescue, home services, and industrial collaboration.

[0003] Motion performance and load-bearing capacity are core indicators for evaluating the overall reliability, environmental adaptability, and practical value of humanoid robots. The ability to squat and stand up under load directly reflects the robot's joint torque output, static balance control, and limb load-bearing capacity, while jump height and dynamic stability determine the robot's ability to perform high-dynamic tasks such as obstacle crossing and emergency avoidance. Accurate testing and quantitative evaluation of these two indicators are crucial for humanoid robots to move from laboratory research and development to commercialization. Currently, industry performance testing for humanoid robots mainly focuses on basic movements such as walking and posture maintenance. Specialized testing for load-bearing squats and dynamic jumps still lacks standardized and integrated dedicated equipment, and existing testing methods have many shortcomings. Firstly, the testing fixtures are simplified and fragmented, often using manual setup of supports and hanging weights for load testing. This can only simulate simple movements under fixed loads and cannot achieve stepless adjustment of the load size. It is difficult to adapt to the differentiated testing needs of humanoid robots of different models and load capacities. Furthermore, the uneven application of load during testing can easily cause off-center load damage to the robot joints.

[0004] Secondly, the accuracy of motion displacement and jump height detection is insufficient. Traditional tests rely on manual observation, tape measure measurement or ordinary visual capture, which are easily affected by human error and environmental interference. They cannot achieve real-time, high-precision acquisition of vertical displacement, making it difficult to accurately quantify squat depth and jump height. The test data lacks objectivity and traceability.

[0005] Third, the existing equipment is limited in functionality. It cannot integrate load squatting test and dynamic jump test into one unit. During the test, it is necessary to frequently change the tooling and adjust the work position, which not only lengthens the test cycle and increases the test cost, but also fails to simulate the real working conditions of continuous robot operation. The test results deviate significantly from the actual application scenario.

[0006] In addition, conventional testing technologies lack safety protection mechanisms, which can easily lead to robots falling over, causing limb damage, resulting in significant economic losses and research and development delays.

[0007] Therefore, developing a humanoid robot load squatting and jumping test platform that combines adjustable load, accurate height measurement, safety protection, and integrated testing functions to achieve efficient, accurate, and safe testing of load performance and dynamic jumping performance has become an urgent technical problem to be solved in this field. Summary of the Invention

[0008] Therefore, the technical problem to be solved by the present invention is to overcome the difficulty in the existing technology of testing equipment to combine adjustable load, accurate height measurement, safety protection and integration, and to provide a robot squat jump load performance testing equipment and method.

[0009] To address the aforementioned technical problems, this invention provides a robot squat jump load performance testing device, comprising: an assembly mechanism including a load support and a lifting support; a loading mechanism including an adjustment module, a movable carrier plate, and multiple load plates, wherein the adjustment module is slidably connected to the load support around a first rotation center line, the movable carrier plate is slidably connected to the adjustment module, and the multiple load plates are detachably connected to the movable carrier plate; and a lifting mechanism including a moving component and a transmission connecting column, wherein the moving component includes a guide column, a slide, and a robot connector, the guide column is disposed on the load support and extends vertically, the slide is slidably connected to the guide column, the robot connector is disposed on the slide and detachably connected to the robot under test, one end of the transmission connecting column is connected to the slide, and the other end is slidably connected to the end of the adjustment module around a second rotation center line.

[0010] In one embodiment of the present invention, the lifting mechanism further includes a transmission assembly, which includes a pulley, a transmission belt, a pulley mounting plate, and a tensioning seat. The pulley mounting plate is detachably mounted on the lifting bracket via the tensioning seat. The pulley is mounted on the pulley mounting plate. The end of the transmission belt is sleeved on the pulley and extends in a vertical direction. The slide is connected to the transmission belt.

[0011] In one embodiment of the present invention, the carriage includes a slider and a belt clamp, the slider is slidably connected to the guide post, and the belt clamp is held in place by the transmission belt and moves synchronously with the transmission belt.

[0012] In one embodiment of the present invention, the lifting mechanism further includes a protective component, which includes a speed increaser, an encoder, and a brake. The speed increaser is connected to the pulley, the output shaft of the speed increaser is coaxially connected to the detection shaft of the encoder, and the brake shaft of the brake is coaxially fixed to the output shaft of the speed increaser, so that the rotational motion of the pulley is transmitted to the encoder and the brake via the speed increaser.

[0013] In one embodiment of the present invention, the robot connector includes an extension column, a rotary bearing, and a docking plate. One end of the extension column is connected to the carriage, and the other end is connected to the docking plate through the rotary bearing. The docking plate is connected to the shoulder shell of the robot to be tested.

[0014] In one embodiment of the present invention, the loading mechanism includes a rotary mounting base, a base plate, and an adjustment driver. The rotary mounting base is connected to the load support, the base plate is rotatably connected to the rotary mounting base, the adjustment module is disposed on the base plate, and the transmission connecting column is rotatably connected to the base plate and located at one end of the adjustment module along its length.

[0015] In one embodiment of the present invention, the assembly mechanism includes a base plate, a movable wheel, and a plurality of dampers. The movable wheel is disposed at the bottom of the base plate, the load bracket and the lifting bracket are respectively disposed on the base plate, and the plurality of dampers are disposed at both ends of the lifting bracket in the height direction and are respectively disposed toward the slide.

[0016] In one embodiment of the present invention, the robot squat jump load performance testing device further includes a control mechanism, and the lifting mechanism and the loading mechanism are respectively connected to the control mechanism.

[0017] This invention also provides a method for testing the load performance of a robot squat jump. The method uses the aforementioned robot squat jump load performance testing equipment to test the robot's squat jump performance and load performance. The method includes: Step S1, connecting the robot to be tested to a robot connector, and simultaneously adding an initial load to the robot through a loading mechanism; Step S2, driving the robot to perform a squat jump, during which the load moves along an adjustment module to conduct a preliminary test of the robot's squat jump load performance via an encoder; Step S3, adjusting the load weight in the loading mechanism, and repeating Step S2 to test the robot's squat jump load performance under different load conditions.

[0018] In one embodiment of the present invention, in step S3: when the robot under test is under load, the load is located at the front end of fulcrum O, and the load on the robot is F1 = [M1x(x-l1)+mgx] / (l2+x), where M1 is the total mass of the load plate, m is the load on the robot when the load plate moves to the limit position point A, x is the straight-line distance between fulcrum O and the end of the adjustment module, l1 is the straight-line distance between the load plate and point A, and l2 is the straight-line distance between point A and the robot under test; when the robot under test is under load... When the robot is in a jumping state, the load is located at the rear end of the fulcrum O. The load on the robot is F2 = [mg(LX) - M2g(x-l3)] / (l2+x), where M2 is the total mass of the load plate and the robot under test, L is the total length of the adjustment module, and l3 is the straight-line distance between M2 and point A. When the robot under test is in a squatting state, its farthest dynamic displacement h is SD / i, where S is the rotation angle of the pulley detected by the encoder, D is the pitch circle diameter of the pulley, and i is the speed ratio of the speed increaser.

[0019] The technical solution of the present invention has the following advantages compared with the prior art: The robot squatting and jumping load performance testing equipment and method described in this invention, through a rotatable adjustment module, a sliding mobile carrier plate, and a detachable load plate, can flexibly adjust the applied load and the range of force arm according to the load-bearing limits of different humanoid robots under test. This achieves stepless load adjustment and multi-level adaptive loading, making it compatible with humanoid robots of different sizes and load levels for testing, thus enhancing its versatility. Simultaneously, the guide columns and slides mutually constrain each other to form a vertical limiting and guiding structure, effectively limiting horizontal deviation and lateral swaying of the robot under test during squatting and jumping, avoiding additional lateral forces from interfering with test data, and further improving testing accuracy. Furthermore, the overall mechanical transmission relationship is simple and reliable, the components are highly standardized, assembly is easy, and operational stability is good, with little risk of jamming or malfunction. It can be used for long-term laboratory basic calibration testing and routine sampling inspections in mass production, facilitating large-scale promotion and engineering application.

[0020] Compared with existing technologies, the robot squatting and jumping load performance testing equipment set in this application has a compact overall structure and a high degree of integration. Through the coordinated linkage of the assembly mechanism, loading mechanism and lifting mechanism, it can simultaneously complete the continuous testing of the humanoid robot's load squatting and jumping performance in the same set of equipment, reducing the number of test tool changes, lowering the overall testing cost, shortening the testing cycle, and more closely reflecting the actual force state and motion conditions of the humanoid robot in actual operation, effectively improving the authenticity and reference value of the test results. Attached Figure Description

[0021] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0022] Figure 1 This is a three-dimensional structural diagram of the robot squat jump load performance testing device in a preferred embodiment of the present invention; Figure 2 yes Figure 1 The side view of the robot squat jump load performance testing equipment shown. Figure 3 yes Figure 1 A three-dimensional structural diagram of the loading mechanism and transmission connecting column in the robot squat jump load performance testing equipment shown; Figure 4 yes Figure 1 The diagram shows a three-dimensional structural schematic of the lifting mechanism in the robot squat jump load performance testing equipment. Figure 5 This is a schematic diagram of the load force on the robot under load when the robot is in a load state in another embodiment of the robot squat jump load performance test method of the present invention; Figure 6 yes Figure 5 The diagram shows the load force on the robot when it is in a jumping state in the robot squatting and jumping load performance test method shown.

[0023] Explanation of reference numerals in the accompanying drawings: 100, Assembly mechanism; 110, Base plate; 120, Load support; 130, Lifting support; 131, Damping; 140, Moving wheel; 200, Lifting mechanism; 210, Moving component; 211, Carriage; 2111, Slider; 2112, Belt clamp; 212, Guide column; 213, Robot connector; 2131, Extension column; 2132, Rotary bearing; 2133, Docking plate; 214, Transmission assembly; 2141, Leather... 2142. Pulley; 2143. Drive belt; 2144. Pulley mounting plate; 2145. Tensioner; 220. Protective assembly; 221. Speed ​​increaser; 222. Encoder; 223. Brake; 230. Drive connecting column; 300. Loading mechanism; 310. Rotary mounting base; 320. Base plate; 330. Adjustment module; 340. Moving carrier plate; 350. Load plate; 360. Adjustment driver; 1001. First rotation center line; 1002. Second rotation center line. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0025] Example 1: See Figures 1 to 4 As shown, this embodiment provides a robot squat jump load performance testing device, which includes: an assembly mechanism 100, which includes a load support 120 and a lifting support 130; a loading mechanism 300, which includes an adjustment module 330, a movable carrier plate 340 and multiple load plates 350, wherein the adjustment module 330 is slidably connected to the load support 120 around a first rotation center line 1001, the movable carrier plate 340 is slidably connected to the adjustment module 330, and the multiple load plates 350 are detachably connected to the movable carrier plate 340; and a lifting mechanism 200. The lifting mechanism 200 includes a moving component 210 and a transmission connecting column 230. The moving component 210 includes a guide column 212, a slide 211, and a robot connector 213. The guide column 212 is disposed on the load support 120 and extends vertically. The slide 211 is slidably connected to the guide column 212. The robot connector 213 is disposed on the slide 211 and detachably connected to the robot to be tested. One end of the transmission connecting column 230 is connected to the slide 211, and the other end can be connected to the end of the adjustment module 330 around the second rotation center line 1002.

[0026] In this embodiment, the assembly mechanism 100 serves as the basic support and installation carrier for the entire testing equipment, playing a core role in fixing and supporting the overall testing architecture. The load support 120 provides a stable hinged mounting base for the loading mechanism 300, ensuring the structural stability of the loading mechanism 300 during rotation and adjustment. The lifting support 130 works to realize the vertical spatial layout of the testing equipment, adapting to the assembly and testing needs of robots under test at different heights. At the same time, it coordinates the loading mechanism 300 and the lifting mechanism 200, ensuring the precise relative position and smooth coordinated movement of the two functional mechanisms, providing a solid structural foundation for the overall testing operation.

[0027] Specifically, the assembly mechanism 100 in this embodiment includes a base plate 110, a moving wheel 140, and a plurality of dampers 131. The moving wheel 140 is disposed at the bottom of the base plate 110, the load support 120 and the lifting support 130 are respectively disposed on the base plate 110, and the plurality of dampers 131 are disposed at both ends of the lifting support 130 in the height direction and are respectively disposed toward the slide 211. The base plate 110 is used to centrally support and fix the load support 120, the lifting support 130, and other related components of the whole machine, ensuring the relative installation position and overall coaxiality of each structure during the test, and improving the stability of the equipment operation. The moving wheels 140 arranged at the bottom of the base plate 110 facilitate the on-site transfer and position adjustment of the entire test equipment, reducing the difficulty of equipment layout and relocation. The load support 120 and the lifting support 130 respectively set on the base plate 110 can complete the separate arrangement of the loading link and the lifting guide link according to the functional area, with clear force transmission and compact structural arrangement. Multiple dampers 131 arranged at both ends along the height direction of the lifting support 130 and facing the slide 211 can form a flexible buffer and limit suppression at the extreme stroke position of the slide 211 as it squats or jumps and slides back and forth with the robot, effectively weakening the impact load and resonance disturbance generated by the high-speed movement of the slide 211, effectively avoiding the fatigue damage of the components caused by the slide 211's over-travel hard contact collision lock, and extending the normal reciprocating service life of the basic components of the guide sliding pair.

[0028] In this embodiment, the loading mechanism 300 is mainly used to simulate and precisely adjust the external load borne by the robot under test, adapting to the squatting and jumping performance test requirements of robots with different load capacities. The adjustment module 330, as the core component for load transfer and posture adaptation, can adaptively rotate around the first rotation center line 1001 to match the posture changes of the robot under test during squatting and jumping, avoiding uneven load caused by rigid connection. The movable carrier plate 340 adjusts its own position by sliding to change the load force arm, realizing stepless fine adjustment of the load torque of the robot under test, further refining the load adjustment accuracy. The number of multiple detachable load plates 350 can be flexibly increased or decreased according to test requirements to change the overall load mass and quickly switch between different load levels, realizing dual adjustability of static load mass and dynamic load torque, comprehensively covering the load test conditions of various robots.

[0029] Furthermore, the loading mechanism 300 in this embodiment includes a rotary mounting base 310, a base plate 320, and an adjustment driver 360. The rotary mounting base 310 is connected to the load support 120, the base plate 320 is rotatably connected to the rotary mounting base 310, the adjustment module 330 is disposed on the base plate 320, and the transmission connecting column 230 is rotatably connected to the base plate 320 and located at one end of the adjustment module 330 in the length direction. The rotating mounting base 310 mainly serves as a fixed support, providing a reliable mounting point for the base plate 320 and ensuring the stability of the base plate 320 during rotation. The base plate 320 can not only carry the adjustment module 330, but also rotate flexibly to cooperate with the robot's squatting and jumping movements, adapting to posture changes during the testing process. At the same time, it bears the force transmitted by the transmission connecting column 230, allowing the load to be applied smoothly to the robot. The adjustment driver 360 can provide power for the operation of the adjustment module 330, driving the adjustment module 330 to complete the adjustment of the load size. The transmission connecting column 230 is used to connect the slide 211 of the lifting mechanism 200, linking the movement of the lifting mechanism 200 and the load force of the loading mechanism 300, ensuring that the robot's movement and load application are synchronized. The present invention does not limit the specific type of adjustment driver 360.

[0030] In this embodiment, the lifting mechanism 200 is used to constrain the motion trajectory of the robot under test, transmit the load force, and achieve synchronized motion posture. The guide column 212 is arranged vertically to provide a purely vertical guide limit for the slide 211, preventing horizontal deviation and lateral swaying of the robot under test during squatting and jumping, and ensuring accurate and interference-free test data. The slide 211, as an intermediate transmission component, slides stably along the guide column 212, synchronously driving the robot under test and the transmission connecting column 230 to make vertical movements. The robot connector 213 realizes a detachable and fastened connection between the robot under test and the slide 211, ensuring that the robot and the slide 211 move synchronously and avoiding loosening or disconnection during the test. The transmission connecting column 230 plays a linkage role, with one end moving vertically synchronously with the slide 211, and the other end rotating around the second rotation center line 1002 to adapt to the posture changes of the adjustment module 330, smoothly transmitting the load force of the loading mechanism 300 to the robot under test, and achieving precise synchronization between load application and robot movement.

[0031] Furthermore, the lifting mechanism 200 also includes a transmission assembly 214, which includes a pulley 2141, a transmission belt 2142, a pulley mounting plate 2143, and a tensioning seat 2144. The pulley mounting plate 2143 is detachably mounted on the lifting bracket 130 via the tensioning seat 2144. The pulley 2141 is mounted on the pulley mounting plate 2143. The end of the transmission belt 2142 is sleeved on the pulley 2141 and extends vertically. The slide 211 is connected to the transmission belt 2142. The pulley mounting plate 2143, in conjunction with the tensioning seat 2144, provides fixed support for the pulley 2141. The tensioning seat 2144 can also be used to adjust the position and tighten the transmission belt 2142, preventing slippage or loosening during movement. The pulley 2141, mounted on the pulley mounting plate 2143, works with the transmission belt 2142 to guide its cyclic rotation. One end of the vertically arranged transmission belt 2142 is fitted onto the pulley 2141 and connected to the slide 211, enabling it to move up and down with the robot's squats and jumps. This forms a closed-loop transmission structure with the pulley 2141 and transmission belt 2142, smoothly transmitting the vertical motion stroke. This facilitates subsequent reading of the movement distance and jump height by detection components. The overall structure is simple, easy to assemble and disassemble, and runs smoothly, ensuring synchronized and stable vertical movement with minimal error.

[0032] Furthermore, the slide 211 includes a slider 2111 and a belt clamp 2112. The slider 2111 is slidably connected to the guide post 212, and the belt clamp 2112 is clamped to the transmission belt 2142 and moves synchronously with the transmission belt 2142. The slider 2111 can slide only up and down along the guide post 212, limiting the robot and the slide 211 from swaying left and right, ensuring a vertical motion trajectory and more accurate testing. The belt clamp 2112 is clamped and fixed on the transmission belt 2142, and can move up and down with the transmission belt 2142, locking the slider 2111 and the transmission belt 2142 together, so that the slider 2111 and the slide 211 can rise and fall synchronously with the transmission belt 2142, providing real-time feedback on the robot's squatting depth and jumping height. The overall structure is simple to assemble and disassemble, and the locking is reliable. It can transmit vertical motion and is convenient for later assembly, debugging, and daily maintenance.

[0033] In addition, the lifting mechanism 200 in this embodiment also includes a protective component 220, which includes a speed increaser 221, an encoder 222, and a brake 223. The speed increaser 221 is connected to the pulley 2141, and the output shaft of the speed increaser 221 is coaxially connected to the detection shaft of the encoder 222. The braking shaft of the brake 223 is coaxially fixed to the output shaft of the speed increaser 221, so that the rotational motion of the pulley 2141 is transmitted to the encoder 222 and the brake 223 via the speed increaser 221. The speed increaser 221 amplifies the rotation of the pulley 2141, which facilitates the encoder 222 to more sensitively and accurately collect the rotational data generated by the robot's vertical movement, thereby accurately measuring the robot's squat depth and jump height. It also reduces the load torque transmitted to the brake 223, making the brake 223 more effortless and its response more reliable. The coaxial encoder 222 rotates synchronously with the speed increaser 221, records the rotational stroke in real time and converts it into vertical displacement parameters, realizing online detection of the movement height. The brake 223, which is fixedly installed coaxially with the speed increaser 221, can lock the output shaft in time when abnormal robot movement, excessive force, or loss of control is detected, restricting the pulley 2141 and the transmission belt 2142 from continuing to move, preventing the robot from continuing to fall or jumping unexpectedly. This provides rigid protection for the robot during the test, avoiding overload, fall deformation, and damage to parts from collisions.

[0034] In this embodiment, the robot connector 213 includes an extension column 2131, a rotary bearing 2132, and a docking plate 2133. One end of the extension column 2131 is connected to the slide 211, and the other end is connected to the docking plate 2133 through the rotary bearing 2132. The docking plate 2133 is connected to the shoulder shell of the robot to be tested. In the robot connector 213, the extension column 2131 fixed on the slide 211 serves as a transition support and distance extension, facilitating alignment with the robot's installation position. The rotary bearing 2132 arranged between the extension column 2131 and the docking plate 2133 allows the docking plate 2133 to rotate freely with the robot's forward-leaning shoulder posture during the squat, forming an adaptive rotational degree of freedom. This avoids additional constraints and lateral resistance on the robot, closely matching the robot's actual movement state. The docking plate 2133 connected to the robot's shoulder shell is used to achieve detachable and secure docking, ensuring that the robot and slide 211 move up and down synchronously, with uniform force distribution and simple assembly and disassembly. The overall structure can reliably hold and limit the robot under test to complete the vertical squat and jump tests, while also eliminating interference deviations caused by rigid connections, improving test smoothness and detection accuracy.

[0035] Example 2: This example provides a method for testing the squat jump load performance of a robot. It uses the robot squat jump load performance testing equipment described in Example 1 to test the robot's squat jump performance and load performance, and includes: Step S1: Connect the robot to be tested to the robot connector, and simultaneously add an initial load to the robot to be tested through the loading mechanism; specifically, the robot to be tested is installed and fixed on the robot connector, which can limit the robot assembly, ensure stable position and synchronous movement during the test, and apply an initial load in advance through the loading mechanism to build a basic test condition and form a unified reference benchmark.

[0036] Step S2: Drive the robot under test to perform a squat jump. During this process, the load moves along the adjustment module to conduct a preliminary test of the robot's squat jump load performance through the encoder. Specifically, drive the robot to autonomously complete the squat and jump movements. During the movement, the load moves along the adjustment module to automatically adapt to the robot's pitch changes and take-off and landing posture, avoiding the generation of additional lateral resistance. At the same time, the encoder, which operates in conjunction with the robot, collects the stroke angle data in real time, calculates the squat depth and jump height, and completes the initial performance assessment under basic conditions.

[0037] Step S3: After adjusting the load weight in the loading mechanism, repeat step S2 to test the robot's squatting and jumping load performance under different load conditions. By adjusting the load weight in the loading mechanism, the amount of load applied to the robot is changed, and the squatting and jumping tests are repeated. Multiple load levels can be set from small to large, and the robot's squatting ability and jumping level under light, medium, and heavy load conditions can be measured in turn. By comparing these results, the robot's ultimate load-bearing capacity and actual motion performance can be obtained. The test results are more comprehensive and closer to the actual usage of the robot in work.

[0038] Furthermore, in this embodiment, see Figure 5 and Figure 6As shown, when the robot under test is under load, the load is located at the front end of fulcrum O. The load on the robot is F1 = [M1x(x-l1)+mgx] / (l2+x), where M1 is the total mass of the load plate, m is the load on the robot when the load plate moves to the extreme position point A, x is the straight-line distance between fulcrum O and the end of the adjustment module, l1 is the straight-line distance between the load plate and point A, and l2 is the straight-line distance between point A and the robot under test. Based on the above calculation formula, the actual load on the robot can be calculated in real time according to the total weight of the load plate, the basic load at the extreme position, and the distance between each segment. This ensures that the load is clear, adjustable, and controllable, facilitating the testing of the robot's actual load-bearing performance at different levels. The rotating mounting base, fixed on the load support, stabilizes the overall structure and provides a secure mounting position for the base plate, preventing it from wobbling or veering when rotating. The rotatable, mated base plate supports the adjustment module used for adjusting the load and swings naturally with the robot as it squats and jumps, adjusting the angle according to the robot's movements to distribute the weight evenly on the robot. The adjustment driver mounted on the base plate drives the adjustment module to move back and forth, changing the position of the weight to increase or decrease the load on the robot. The transmission connecting column at one end of the base plate connects the base plate to the carriage on the other, coordinating the robot's vertical movement with the applied load. This ensures that the load changes and moves along with the robot, making the testing process more realistic and the results more accurate.

[0039] Correspondingly, when the robot under test is in a jumping state, the load is located at the rear end of the fulcrum O. The load on the robot is F2=[mg(LX)-M2g(x-l3)] / (l2+x), where M2 is the total mass of the load plate and the robot under test, L is the total length of the adjustment module, and l3 is the straight-line distance between M2 and point A. Thus, based on the overall weight of the load and the robot, the length of the adjustment module, and the spacing between each segment, the actual force borne by the robot during the jump can be calculated in real time. By moving the load backward to offset part of its own weight, the additional pressure during the jump is reduced, and the heavy object is prevented from dragging the robot during the jump, making the measured jump height more realistic and accurate. The rotary mounting base is connected to the load support, mainly serving as a fixed support and providing a reliable mounting point for the substrate, ensuring the stability of the substrate during rotation. The substrate is rotatably connected to the rotary mounting base, which can both carry the adjustment module and flexibly rotate to cooperate with the robot's squatting and jumping movements, adapting to posture changes during testing. At the same time, it bears the force transmitted by the transmission connecting column, allowing the load to be applied smoothly to the robot. The adjustment driver is set on the substrate, providing power for the operation of the adjustment module and driving the adjustment module to complete the adjustment of the load size. The transmission connecting column is rotatably connected to one end of the adjustment module on the substrate, used to connect the slide of the lifting mechanism, linking the movement of the lifting mechanism and the load force of the loading mechanism, ensuring that the robot's movement and load application are synchronized.

[0040] Furthermore, when the robot under test is in a squatting position, its maximum vertical displacement h is SD / i, where S is the pulley rotation angle detected by the encoder, D is the pitch circle diameter of the pulley, and i is the speed ratio of the speed increaser. The above calculation formula can automatically calculate the robot's actual maximum vertical movement distance, i.e., the squatting depth, using the pulley rotation angle, pulley pitch circle diameter, and speed increaser transmission ratio collected by the encoder. This eliminates the need for manual measurement, resulting in faster readings, smaller errors, and more accurate detection. The rotating mounting base is fixed to the load bracket and is used to support and position the base plate, ensuring smooth rotation. The rotatable base plate carries the adjustment module and adaptively swings with the robot during squatting and jumping, reducing motion interference and making the load application more uniform. The adjustment driver provides power to the adjustment module to adjust the counterweight position forward and backward, achieving continuous adjustment of the load. The transmission connecting column links the base plate and the slide, keeping the load changes synchronized with the robot's vertical movement, making the overall testing process more closely resemble real-world working conditions.

[0041] In summary, the robot squatting and jumping load performance testing equipment and method described in this invention, through a rotatable adjustment module, a sliding mobile carrier plate, and a detachable load plate, can flexibly adjust the applied load and the range of force arm according to the load-bearing limits of different humanoid robots under test. This achieves stepless load adjustment and multi-level adaptive loading, making it compatible with humanoid robots of different sizes and load levels for testing, thus enhancing its versatility. Furthermore, the vertical limiting and guiding structure formed by the mutual constraint of the guide columns and the slide effectively limits the horizontal deviation and lateral swaying of the robot under test during squatting and jumping, avoiding additional lateral forces that could interfere with the test data and further improving testing accuracy. The overall mechanical transmission relationship is simple and reliable, the components are highly standardized, assembly is easy, and the operation is stable, with little risk of jamming or malfunction. It is suitable for long-term laboratory basic calibration testing and routine sampling inspections in mass production, facilitating large-scale promotion and engineering application.

[0042] Compared with existing technologies, the robot squatting and jumping load performance testing equipment set in this application has a compact overall structure and a high degree of integration. Through the coordinated linkage of the assembly mechanism, loading mechanism and lifting mechanism, it can simultaneously complete the continuous testing of the humanoid robot's load squatting and jumping performance in the same set of equipment, reducing the number of test tool changes, lowering the overall testing cost, shortening the testing cycle, and more closely reflecting the actual force state and motion conditions of the humanoid robot in actual operation, effectively improving the authenticity and reference value of the test results.

[0043] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A robot squat jump load performance testing device, characterized in that: include: An assembly mechanism, comprising a load-bearing bracket and a lifting bracket; The loading mechanism includes an adjustment module, a movable carrier plate, and multiple load plates. The adjustment module is slidably connected to the load support around a first rotation center line. The movable carrier plate is slidably connected to the adjustment module, and the multiple load plates are detachably connected to the movable carrier plate. The lifting mechanism includes a moving component and a transmission connecting column. The moving component includes a guide column, a carriage, and a robot connector. The guide column is disposed on the load support and extends vertically. The carriage is slidably connected to the guide column. The robot connector is disposed on the carriage and detachably connected to the robot under test. One end of the transmission connecting column is connected to the carriage, and the other end can be connected to the end of the adjustment module around a second rotation center line.

2. The robot squat jump load performance testing device according to claim 1, characterized in that: The lifting mechanism further includes a transmission assembly, which includes a pulley, a transmission belt, a pulley mounting plate, and a tensioning seat. The pulley mounting plate is detachably mounted on the lifting bracket via the tensioning seat. The pulley is mounted on the pulley mounting plate. The end of the transmission belt is sleeved on the pulley and extends vertically. The slide is connected to the transmission belt.

3. The robot squat jump load performance testing device according to claim 2, characterized in that: The carriage includes a slider and a belt clamp. The slider is slidably connected to the guide post, and the belt clamp is held in place by the transmission belt and moves synchronously with the transmission belt.

4. The robot squat jump load performance testing device according to claim 2, characterized in that: The lifting mechanism further includes a protective component, which includes a speed increaser, an encoder, and a brake. The speed increaser is connected to the pulley, and the output shaft of the speed increaser is coaxially connected to the detection shaft of the encoder. The brake shaft of the brake is coaxially fixed to the output shaft of the speed increaser, so that the rotational motion of the pulley is transmitted to the encoder and the brake via the speed increaser.

5. The robot squat jump load performance testing device according to claim 1, characterized in that: The robot connector includes an extension column, a rotary bearing, and a docking plate. One end of the extension column is connected to the carriage, and the other end is connected to the docking plate through the rotary bearing. The docking plate is connected to the shoulder shell of the robot under test.

6. The robot squat jump load performance testing device according to claim 1, characterized in that: The loading mechanism includes a rotary mounting base, a base plate, and an adjustment driver. The rotary mounting base is connected to the load support, the base plate is rotatably connected to the rotary mounting base, the adjustment module is disposed on the base plate, and the transmission connecting column is rotatably connected to the base plate and located at one end of the adjustment module along its length.

7. The robot squat jump load performance testing device according to claim 1, characterized in that: The assembly mechanism includes a base plate, movable wheels, and multiple dampers. The movable wheels are disposed at the bottom of the base plate, the load support and the lifting support are respectively disposed on the base plate, and the multiple dampers are disposed at both ends of the lifting support in the height direction and are respectively disposed towards the slide.

8. The robot squat jump load performance testing device according to claim 1, characterized in that: The robot squat jump load performance testing equipment also includes a control mechanism, and the lifting mechanism and the loading mechanism are respectively connected to the control mechanism.

9. A method for testing the load performance of a robot squat jump, characterized in that: The robot's squat jump performance and load performance are tested using the robot squat jump load performance testing equipment described in any one of claims 1 to 8, which includes: Step S1: Connect the robot to be tested to the robot connector, and simultaneously apply an initial load to the robot to be tested through the loading mechanism; Step S2: Drive the robot under test to perform a squat jump. During this process, the load moves along the adjustment module to conduct a preliminary test of the robot's squat jump load performance through the encoder. Step S3: After adjusting the load weight in the loading mechanism, repeat step S2 to test the robot's squat jump load performance under different load conditions.

10. The method for testing the load performance of a robot squatting jump according to claim 9, characterized in that: In step S3: When the robot under test is under load, the load is located at the front end of the fulcrum O. The load on the robot is F1 = [M1x(x-l1)+mgx] / (l2+x), where M1 is the total mass of the load piece, m is the load on the robot when the load piece moves to the limit position point A, x is the straight distance between the fulcrum O and the end of the adjustment module, l1 is the straight distance between the load piece and point A, and l2 is the straight distance between point A and the robot under test. When the robot under test is in a jumping state, the load is located at the rear end of the fulcrum O. The load on the robot is F2=[mg(LX)-M2g(x-l3)] / (l2+x), where M2 is the total mass of the load piece and the robot under test, L is the total length of the adjustment module, and l3 is the straight-line distance between M2 and point A. When the robot under test is in a squatting position, its farthest dynamic displacement h is SD / i, where S is the rotation angle of the pulley detected by the encoder, D is the pitch circle diameter of the pulley, and i is the speed ratio of the speed increaser.

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