A test stand for linear modules of humanoid robots

Abstract

This invention relates to the technical field of linear module performance testing equipment, specifically a humanoid robot linear module testing platform, including a base box, an equipment base plate mounted on top of the base box, a linear motion device fixedly mounted on the equipment base plate, a motor mounting plate slidably mounted on the linear motion device, a product support fixedly mounted at one end of the linear motion device, and a tension / compression sensor device and a product assembly sequentially mounted on the product support; through a thermally adaptive buffer structure, the buffer stroke and damping magnitude can be automatically adjusted according to oil temperature and impact force, enabling the equipment to actively enhance buffer stiffness and energy absorption effect when the oil temperature rises due to high-frequency and high-intensity testing, achieving adaptive protection with stronger damping as the impact force increases, effectively solving the problems of buffer attenuation and rigid impact in high-frequency testing, and significantly improving the impact resistance and operational stability of the testing platform.

Description

Technical Field

[0001] This invention relates to the field of linear module performance testing equipment, specifically to a humanoid robot linear module testing platform. Background Technology

[0002] As the core actuator for the legs, waist, and joint drive of humanoid robots, the linear module directly affects the motion accuracy, response speed, and operational reliability of humanoid robots through its push-pull force output performance, repeatability, and fatigue stability during long-term reciprocating operation. Therefore, the linear module must undergo comprehensive performance testing through professional testing equipment before leaving the factory, especially the high-frequency reciprocating fatigue test, which is a key step in verifying the long-term operational stability of the module. Existing testing equipment relies solely on simple buffer structures for collision protection when the linear module reciprocates at high speed to its travel limit. This buffering and energy absorption effect is limited, and there is a lack of effective buffer protection mechanisms adapted to high-frequency reciprocating conditions. The inertial impact force generated by the high-speed movement of the module will directly act on the force measuring elements, displacement detection components, and the module body under test, which can easily cause damage to precision detection components and module structures. At the same time, the severe vibration generated by the impact will seriously interfere with the detection accuracy of displacement and force values, significantly reduce the accuracy and repeatability of test data, and shorten the service life of the equipment and the module under test, making it difficult for the equipment to support long-term, continuous, unattended fatigue testing. Therefore, a test bench for linear modules of humanoid robots is proposed to solve the problems of insufficient protection, poor data acquisition stability, and difficulty in adapting to high-frequency fatigue conditions in the dynamic reciprocating test of existing equipment, thereby improving the accuracy and reliability of dynamic performance testing of linear modules and meeting the stringent factory testing requirements of humanoid robots. Summary of the Invention

[0003] To address the problems in existing technologies, this invention provides a humanoid robot linear module test bench, which solves the problems of insufficient protection, poor data acquisition stability, and difficulty in adapting to high-frequency fatigue conditions in existing equipment during dynamic reciprocating testing, thereby improving the accuracy and reliability of dynamic performance testing of linear modules.

[0004] The technical solution adopted by this invention to solve its technical problem is a humanoid robot linear module test platform, including a base box, an equipment base plate installed on the top of the base box, a linear motion device fixedly installed on the equipment base plate, a motor mounting plate slidably mounted on the linear motion device, a product support fixedly installed at one end of the linear motion device, a tension / compression sensor device and a product assembly sequentially installed on the product support, a grating ruler installed on the equipment base plate through grating pads, a reading head moving plate fixedly installed on the motor mounting plate, a reading head fixedly installed on the reading head moving plate, several sets of buffer devices fixedly connected to the side of the motor mounting plate, the buffer devices are arranged around the perimeter of the motor mounting plate, and a pressing seat corresponding to the buffer device is fixedly connected to the equipment base plate, the buffer device moves synchronously with the motor mounting plate and cooperates with the pressing seat to achieve motion buffering.

[0005] Specifically, the buffer device includes a horizontally arranged piston cylinder, a piston plate that is slidably connected inside the piston cylinder, a horizontally arranged piston rod that is fixedly connected to one side of the piston plate, the output end of the piston rod passing through the piston cylinder and fixedly connected to a first extrusion block, the first extrusion block corresponding to the position of the extrusion seat, a number of through holes distributed along the circumference on the piston plate, hydraulic oil filling the piston cylinder, and a compression spring fixedly connected between the side of the piston plate away from the piston rod and the inner wall of the piston cylinder.

[0006] Specifically, the buffer device includes a horizontally arranged cylinder, a sliding plate is sealed and slidably connected inside the cylinder, and a thermally adaptive buffer structure is fixedly connected to one end of the sliding plate. The thermally adaptive buffer structure corresponds to the position of the extrusion seat and adaptively adjusts the buffer stroke and damping effect according to the oil temperature. The inner wall of the end of the cylinder away from the thermal adaptive buffer structure is equipped with a pumping structure. A compression spring is connected between the sliding plate and the pumping structure. The sliding plate is equipped with a first one-way inlet valve. The cylinder is filled with hydraulic oil that can be used for both lubrication and damping. A cooling circulation structure is provided on the bottom plate of the equipment, and the cooling circulation structure is connected between the two ends of the cylinder.

[0007] Specifically, the thermally adaptive buffer structure includes an inner sleeve horizontally fixedly connected to one side of the sliding plate, and an outer sleeve slidably connected to the outer side of the inner sleeve; a vent hole is provided at the end of the inner sleeve away from the sliding plate, and the outer sleeve is connected to the inner sleeve through the vent hole; a sealing ring is fixedly fixed to the outer wall of the outer sleeve, and the sealing ring is slidably fitted with the inner wall of the inner sleeve; both the inner sleeve and the outer sleeve are filled with temperature-sensitive thermal expansion gas; a second extrusion block is fixedly connected to the end of the outer sleeve away from the sliding plate through the cylinder body, and the second extrusion block corresponds to the position of the extrusion seat.

[0008] Specifically, the cooling circulation structure includes a cooling shell that is detachably connected to the upper part of the equipment base plate, and several sets of heat dissipation fins are fixedly provided on the outer side of the cooling shell; One end of the cooling shell is connected to the rear end of the cylinder through a first connector and a pipeline; the other end of the cooling shell is connected to the front chamber of the cylinder near the thermal adaptive buffer structure through a second connector and a pipeline; the upper end of the cooling shell is provided with a connecting connector, which is connected to a liquid storage tank, and the liquid storage tank is filled with dual-purpose lubricating and damping hydraulic oil.

[0009] Specifically, the linear moving device includes a horizontally arranged linear track, on which a slider is slidably connected; a lubrication structure is detachably connected to one side of the slider; The lubrication structure includes a mounting base that is adapted to the shape of the slider, and the mounting base is detachably connected to the slider; a lubricating sponge is embedded on the inner side of the mounting base; a liquid inlet connector is provided on the upper part of the mounting base, and the pump structure is connected to the liquid inlet connector through a pipeline; a lubricating oil inlet channel is opened in the mounting base, and the lubricating oil inlet channel is connected to the upper part of the lubricating sponge.

[0010] Specifically, the pump structure includes a sleeve fixedly connected to the end of the cylinder away from the thermal adaptive buffer structure, and the sleeve is connected to the inside of the cylinder; a sliding column is sealed and slidably connected inside the sleeve, and a sealing extrusion plate is fixedly connected to the end of the sliding column near the cylinder. The two ends of the compression spring are fixedly connected to the sliding plate and the sealing compression plate respectively. A limit ring is fixedly connected inside the cylinder, and the limit ring is in a limiting fit with the sealing compression plate. A second one-way liquid inlet valve is provided on the sealing compression plate. One end of the second one-way liquid inlet valve is connected to the inside of the cylinder, and the other end is connected to the inside of the casing. A return spring is fixedly connected between the sliding column and the inner wall of the casing. The spring force of the return spring is greater than that of the compression spring. A one-way liquid outlet connector is provided at the end of the casing away from the cylinder. The one-way liquid outlet connector is connected to the liquid inlet connector through a pipeline.

[0011] Specifically, the lubricating sponge is made of porous oil-absorbing cotton, and the thickness of the upper lubricating sponge is greater than that of the lower lubricating sponge.

[0012] Specifically, the bottom of the base box is fixedly connected to four anti-slip support feet at its four corners.

[0013] Specifically, a return spring is provided between the inner sleeve and the outer sleeve.

[0014] The beneficial effects of this invention are: The humanoid robot linear module test bench of this invention, through a thermally adaptive buffer structure, can automatically adjust the buffer stroke and damping magnitude according to the oil temperature and impact force. This allows the equipment to actively enhance the buffer stiffness and energy absorption effect when the oil temperature rises due to high-frequency and high-intensity testing, achieving adaptive protection with stronger damping as the impact force increases. This effectively solves the problems of buffer attenuation and rigid impact in high-frequency testing, and significantly improves the impact resistance and operational stability of the test bench.

[0015] The humanoid robot linear module test bench of this invention integrates a buffer device, a cooling circulation structure and a lubrication structure through the same set of lubrication and damping dual-purpose hydraulic oil circuit. The pressure generated by the buffer action drives the oil to flow through the cooling structure to dissipate heat, and at the same time serves as a power source to provide lubrication for the linear track. This realizes the recycling of buffer kinetic energy and frictional heat energy, solves the overheating problem under high-frequency testing, and significantly improves the stability and durability of the equipment operation.

[0016] The humanoid robot linear module test stand described in this invention utilizes a self-driven pump structure with a buffer stroke to achieve automatic oil supply and lubrication without the need for external power sources such as motors and oil pumps. Its pumping frequency and oil volume are automatically matched with the test frequency and impact force. Combined with a sponge lubrication structure that provides full coverage lubrication to the upper surface and sides of the linear track, it ensures that the linear moving device receives sufficient lubrication under any high-speed reciprocating conditions, effectively reducing friction, wear, and abnormal operating noise. It is suitable for the needs of long-term, high-frequency, unattended automated fatigue testing. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a front view of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a top view of the present invention; Figure 4 for Figure 3 A sectional view taken along section AA; Figure 5 This is a schematic cross-sectional view of the piston cylinder structure of the present invention; Figure 6 This is a schematic diagram of the cooling shell structure of the present invention; Figure 7 This is a schematic diagram of the linear track structure of the present invention; Figure 8 This is a cross-sectional structural diagram of the mounting base of the present invention; Figure 9 This is a schematic cross-sectional view of the cylindrical body of the present invention; Figure 10 for Figure 9 Enlarged view of region A; Figure 11 This is a schematic cross-sectional view of the inner sleeve structure of the present invention; Figure 12 for Figure 11 Enlarged view of region B; In the diagram: 1. Base box; 2. Equipment base plate; 3. Motor mounting plate; 4. Product support; 5. Tension / compression sensor device; 6. Product assembly; 7. Grating pad; 8. Grating ruler; 9. Reading head moving plate; 10. Reading head; 11. Extrusion seat; 12. Piston cylinder; 13. Piston plate; 14. Piston rod; 15. First extrusion block; 16. Through hole; 17. Compression spring; 18. Cylinder; 19. Sliding plate; 20. Extrusion spring; 21. First one-way liquid inlet valve; 22. Inner sleeve; 23. Outer sleeve; 24. Vent. 25. Hole; 26. Sealing ring; 27. Second extrusion block; 28. Cooling shell; 29. ​​Heat dissipation fins; 30. First connector; 31. Second connector; 32. Connecting connector; 33. Linear track; 34. Slider; 35. Mounting base; 36. Lubricating sponge; 37. Liquid inlet connector; 38. Lubricating oil inlet channel; 39. Sleeve; 40. Sliding column; 41. Sealing extrusion plate; 42. Limiting ring; 43. Second one-way liquid inlet valve; 44. Return spring; 45. One-way liquid outlet connector; 46. Anti-slip support foot; 47. Retraction spring. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0020] To address the issues of insufficient protection, poor data acquisition stability, and difficulty in adapting to high-frequency fatigue conditions in existing equipment during dynamic reciprocating testing, and to improve the accuracy and reliability of dynamic performance testing of linear modules, as one embodiment of the present invention, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the humanoid robot linear module test platform of the present invention includes a base box 1, an equipment base plate 2 installed on the top of the base box 1, a linear moving device fixedly installed on the equipment base plate 2, a motor mounting plate 3 slidably installed on the linear moving device, a product support 4 fixedly installed at one end of the linear moving device, a tension / compression sensor device 5 and a product assembly 6 sequentially installed on the product support 4, a grating ruler 8 installed on the equipment base plate 2 through a grating pad 7, a reading head moving plate 9 fixedly installed on the motor mounting plate 3, a reading head 10 fixedly installed on the reading head moving plate 9, several sets of buffer devices fixedly connected to the side of the motor mounting plate 3, the buffer devices are arranged around the perimeter of the motor mounting plate 3, and a pressing seat 11 corresponding to the buffer device is fixedly connected to the equipment base plate 2. The buffer device moves synchronously with the motor mounting plate 3 and cooperates with the pressing seat 11 to achieve motion buffering.

[0021] In use, the linear module product assembly 6 to be tested is installed on the product support 4 and connected to the tension and compression sensor device 5. Then, the equipment is started, and the linear movement device drives the motor mounting plate 3 to move back and forth in the horizontal direction. The motor mounting plate 3 synchronously drives the buffer device, the reading head moving plate 9, and the reading head 10 to move synchronously. The reading head 10 and the grating ruler 8 cooperate in real time to collect the displacement data of the linear module. The tension and compression sensor device 5 synchronously collects the push and pull force data to ensure that the test data is true and reliable. Under low frequency and low speed test conditions, the motor mounting plate 3 moves smoothly, and the buffer device does not come into contact with the compression seat 11, only realizing the routine performance test of the linear module to be tested. When the equipment enters the high-frequency, high-speed reciprocating fatigue test condition, the moving speed and inertia of the motor mounting plate 3 increase significantly. The buffer device moves with the motor mounting plate 3 to the end of the stroke and cooperates with the extrusion seat 11 to achieve efficient buffering and energy absorption. It effectively absorbs the inertial impact generated by the high-speed movement of the linear module, and avoids the impact force from acting directly on the tensile and compressive sensors, grating rulers 8 and other precision detection components and the product under test. This greatly reduces vibration interference, improves the accuracy and repeatability of displacement and force detection data, reduces impact damage to precision components and the module under test, and extends the overall service life of the equipment. It solves the technical problems of poor buffering protection, insufficient stability of detection data, and difficulty in adapting to high-frequency reciprocating fatigue testing of traditional testing equipment.

[0022] To achieve a high buffering and energy absorption effect, as one embodiment of the present invention, such as Figure 5 As shown, the present invention also includes a buffer device comprising a horizontally arranged piston cylinder 12, a piston plate 13 being slidably connected inside the piston cylinder 12, a horizontally arranged piston rod 14 being fixedly connected to one side of the piston plate 13, the output end of the piston rod 14 passing through the piston cylinder 12 and being fixedly connected to a first compression block 15, the first compression block 15 being positioned corresponding to the compression seat 11, a plurality of through holes 16 distributed along the circumferential direction being opened on the piston plate 13, the piston cylinder 12 being filled with hydraulic oil, and a compression spring 17 being fixedly connected between the side of the piston plate 13 away from the piston rod 14 and the inner wall of the piston cylinder 12.

[0023] When the equipment enters the high-frequency high-speed reciprocating fatigue test, the movement stroke and motion inertia of the motor mounting plate 3 increase. The buffer device moves with the motor mounting plate 3 to the set stroke position. The first extrusion block 15 and the extrusion seat 11 come into contact with each other and are extruded. The piston rod 14 pushes the piston plate 13 to slide in the piston cylinder 12. The piston plate 13 extrudes the internal hydraulic oil. Under the action of pressure, the hydraulic oil passes through several sets of through holes 16 distributed along the circumferential direction on the piston plate 13. The throttling effect of the oil when passing through the through holes 16 is used to achieve instantaneous deceleration and flexible buffering, which significantly improves the buffering energy absorption effect and effectively reduces the damage of high-speed impact to precision detection elements and linear modules under test. When the first extrusion block 15 disengages from the extrusion seat 11, the compression spring 17 elastically returns to drive the piston plate 13 and piston rod 14 to reset. During the reset process, the hydraulic oil flows back through the through hole 16, allowing the buffer device to quickly return to its initial state. This ensures that the equipment can work continuously and stably in high-frequency reciprocating tests, improves the accuracy and repeatability of test data, and extends the overall service life of the equipment.

[0024] In order to adaptively adjust the buffer stroke and damping magnitude according to oil temperature, as another embodiment of the present invention, such as Figure 9 , Figure 11 As shown, the buffer device includes a horizontally arranged cylinder 18, a sliding plate 19 is slidably connected inside the cylinder 18, and a thermally adaptive buffer structure is fixedly connected to one end of the sliding plate 19. The thermally adaptive buffer structure corresponds to the position of the extrusion seat 11. The thermally adaptive buffer structure adaptively adjusts the buffer stroke and damping effect according to the oil temperature. The inner wall of the end of the cylinder 18 away from the thermal adaptive buffer structure is provided with a pumping structure. A compression spring 20 is connected between the sliding plate 19 and the pumping structure. The sliding plate 19 is provided with a first one-way inlet valve 21. The cylinder 18 is filled with lubricating and damping hydraulic oil. The equipment base plate 2 is provided with a cooling circulation structure, which is connected between the two ends of the cylinder 18.

[0025] During use, under low-frequency and low-speed testing conditions, the equipment moves smoothly, and the thermally adaptive buffer structure does not come into contact with the extrusion seat 11, only completing routine performance testing. When the equipment enters the high-frequency and high-speed reciprocating fatigue test, the motor mounting plate 3 drives the cylinder 18 to move at high speed. The thermal adaptive buffer structure at the end of the cylinder 18 makes contact with the extrusion seat 11, pushing the sliding plate 19 to slide in the cylinder 18. The sliding plate 19 compresses the extrusion spring 20. The elastic deformation of the extrusion spring 20 and the displacement of the sliding plate 19 are used to achieve flexible buffering and energy absorption, improve the buffering effect under high-speed impact, and effectively protect the precision detection components and the linear module under test. During the movement of the sliding plate 19, the lubricating and damping hydraulic oil at the rear end of the cylinder 18 is squeezed backward, and the oil is forced into the cooling circulation structure for heat dissipation and cooling. The cooling circulation structure is always filled with oil. When the oil at the rear end is pressed in, it will simultaneously push the oil that has been cooled in the circulation to flow back to the front end of the cylinder 18, that is, the side of the sliding plate 19 close to the thermal adaptive buffer structure. The oil outlet at the rear end and the oil inlet at the front end are completely synchronized and have equal volume replacement, realizing a closed-loop lossless circulation, avoiding oil shortage, cavitation, and pressure fluctuations, and ensuring continuous and stable buffering and cooling performance. When the thermal adaptive buffer structure disengages from the compression seat 11, the compression spring 20 drives the sliding plate 19 to reset. When the sliding plate 19 resets, the oil at the front end of the cylinder 18 is guided to the rear end of the cylinder 18 through the first one-way inlet valve 21, thus completing the oil reset and storage, which is convenient for the next buffering use. As the equipment operates at high frequency, the temperature of the hydraulic oil will gradually increase. The thermally adaptive buffer structure can adaptively adjust the buffer stroke and damping according to the oil temperature. The higher the frequency of movement and the higher the oil temperature, the longer the buffer stroke and the stronger the damping, forming a protective effect that automatically upgrades with the working conditions. This solves the technical problems of weak buffering effect, easy heat generation and decay, and large impact damage of traditional test benches.

[0026] To avoid the problem of reduced buffering performance due to increased oil temperature under high-frequency operating conditions, for example, such as Figure 9 , Figure 11 , Figure 12 As shown, the present invention also includes the following: the thermally adaptive buffer structure includes an inner sleeve 22 horizontally fixedly connected to one side of the sliding plate 19, and an outer sleeve 23 slidably connected to the outer side of the inner sleeve 22; a vent hole 24 is provided at the end of the inner sleeve 22 away from the sliding plate 19, and the outer sleeve 23 communicates with the inner sleeve 22 through the vent hole 24; a sealing ring 25 is fixedly fixed to the outer wall of the outer sleeve 23, and the sealing ring 25 is slidably fitted with the inner wall of the inner sleeve 22; both the inner sleeve 22 and the outer sleeve 23 are filled with a temperature-sensitive thermal expansion gas; the end of the outer sleeve 23 away from the sliding plate 19 passes through the cylinder 18 and is fixedly connected to a second extrusion block 26, and the second extrusion block 26 corresponds to the position of the extrusion seat 11.

[0027] During use, in the high-frequency, high-speed reciprocating fatigue test, the dual-purpose lubricating and damping hydraulic oil will continuously circulate and be squeezed in the cylinder 18 and dissipate heat through the cooling circulation structure. Due to the continuous accumulation of heat generated by the high-frequency reciprocating motion, even after the cooling circulation structure dissipates heat and cools down, the oil will still have a certain temperature rise and cannot be completely cooled. As the test time increases, the oil temperature will gradually rise. The heated oil enters the front end of the cylinder 18 and continuously wraps the inner sleeve 22 and the outer sleeve 23. The heat is transferred to the temperature-sensitive thermal expansion gas. After the temperature-sensitive thermal expansion gas expands, it forms a uniform and stable thrust between the inner sleeve 22 and the outer sleeve 23 through the vent 24, pushing the outer sleeve 23 to slide outward along the inner sleeve 22. The sealing ring 25 set on the outer wall of the outer sleeve 23 can always maintain the sealing fit between the inner sleeve 22 and the outer sleeve 23, effectively preventing the leakage of the internal temperature-sensitive thermal expansion gas. After the outer sleeve 23 extends, it synchronously drives the second extrusion block 26 to move forward, so that the second extrusion block 26 can contact the extrusion seat 11 in advance. When the second extrusion block 26 is impacted by the extrusion seat 11, it first compresses the temperature-sensitive thermal expansion gas and pushes the temperature-sensitive thermal expansion gas through the vent 24. The elastic deformation and flow of the gas achieve a first-level flexible buffer, which quickly absorbs and weakens the initial impact force. Then the impact force is transmitted backward through the outer sleeve 23 and the inner sleeve 22 as a whole, which pushes the sliding plate 19 to move backward in the cylinder 18 and compress the extrusion spring 20. The elastic deformation of the extrusion spring 20 achieves a second-level rigid buffer. The impact energy is absorbed step by step through the two-level buffer, making the deceleration process more stable and gentle, and avoiding rigid impact and sudden impact. Meanwhile, the faster the equipment moves and the greater the impact force, the more intense the oil circulation and compression, the more obvious the rise in oil temperature, the greater the expansion of the temperature-sensitive thermal expansion gas, the longer the extension length of the outer sleeve 23, and the earlier the intervention of the primary and secondary buffers. Together with the hydraulic oil damping and the elasticity of the compression spring 20, a dynamic adjustment characteristic is formed where the greater the impact force, the stronger the damping effect, and the adaptive increase in buffering force. This significantly improves the overall buffer stiffness and impact resistance, effectively avoids the problem of buffer performance decay caused by oil temperature rise under high-frequency operating conditions, maintains a stable buffering energy absorption effect, further protects the precision detection components and the linear module under test from impact damage, improves the accuracy and stability of test data, and extends the service life of the equipment.

[0028] To avoid excessively high oil temperature leading to a decrease in buffer damping, for example, such as Figure 3 , Figure 6 As shown, the present invention also includes a cooling shell 27 detachably connected to the upper part of the equipment base plate 2, and a plurality of heat dissipation fins 28 are fixedly provided on the outer side of the cooling shell 27. One end of the cooling shell 27 is connected to the rear end of the cylinder 18 via the first connector 29 and the pipeline; the other end of the cooling shell 27 is connected to the front chamber of the cylinder 18 near the thermal adaptive buffer structure via the second connector 30 and the pipeline; the upper end of the cooling shell 27 is provided with a connecting connector 31, which is connected to a liquid storage tank, and the liquid storage tank is filled with dual-purpose lubricating and damping hydraulic oil.

[0029] In use, the cooling shell 27 is connected to the rear end and front end chamber of the cylinder 18 through the first connector 29, the second connector 30 and the corresponding pipes, respectively, forming a complete closed cooling circulation path. The heat dissipation area can be greatly increased through multiple sets of heat dissipation fins 28, so as to achieve continuous and stable cooling of the oil and avoid excessive oil temperature leading to buffer damping attenuation. The upper end of the cooling shell 27 is connected to a liquid storage tank via a connecting joint 31. The liquid storage tank is always filled with dual-purpose lubricating and damping hydraulic oil, which can replenish the oil to the cooling circulation structure and the inside of the cylinder 18 in real time. This effectively compensates for the slight volume changes during the circulation process, ensuring that the cooling shell 27, pipelines and cylinder 18 are always full of oil, ensuring continuous and reliable cooling circulation and buffering action, and further improving the operational stability and service life of the test bench.

[0030] To extend the service life of the linear track 32 and the slider 33, for example, such as Figure 2 , Figure 3 , Figure 7 , Figure 8 As shown, the present invention also includes a linear moving device comprising a horizontally arranged linear track 32, on which a slider 33 is slidably connected; a lubrication structure is detachably connected to one side of the slider 33. The lubrication structure includes a mounting base 34 that is adapted to the shape of the slider 33, and the mounting base 34 is detachably connected to the slider 33; a lubricating sponge 35 is embedded in the inner side of the mounting base 34; a liquid inlet connector 36 is provided on the upper part of the mounting base 34, and the pumping structure is connected to the liquid inlet connector 36 through a pipeline; a lubricating oil inlet channel 37 is opened in the mounting base 34, and the lubricating oil inlet channel 37 is connected to the upper part of the lubricating sponge 35.

[0031] In use, the linear track 32 and slider 33 in the linear moving device cooperate with each other to drive the motor mounting plate 3 to perform high-frequency and rapid reciprocating movement, thereby completing the push-pull force test and displacement detection of the linear module under test. According to the actual working conditions and lubrication requirements, the mounting seat 34 of the lubrication structure can be bolted to the slider 33 so that the mounting seat 34 and the slider 33 move synchronously. When the buffer device is squeezed and the sliding plate 19 moves backward, it will synchronously drive the pump structure to generate pump pressure, which will deliver the dual-purpose lubricating and damping hydraulic oil through the inlet connector 36 to the lubrication oil inlet channel 37 in the mounting base 34. The oil will first enter the upper part of the lubricating sponge 35, so that the upper lubricating sponge 35 can be quickly soaked and absorbed. During the process of the slider 33 reciprocating with the motor mounting plate 3, the mounting base 34 and the lubricating sponge 35 slide synchronously along the linear track 32. The upper lubricating sponge 35 first uniformly lubricates the top surface of the linear track 32. The excess oil overflows downward under the action of gravity and friction, and then soaks the linear track 32. On both sides, the lower lubricating sponge 35 inside the mounting base 34 absorbs and provides secondary uniform lubrication to the sides of the track, achieving full three-sided lubrication of the upper surface and the left and right sides of the linear track 32. This effectively reduces the frictional resistance and wear between the slider 33 and the linear track 32, reduces abnormal noise and jamming, eliminates the need for manual periodic lubrication, significantly improves the stability of the linear motion device, and thus ensures the detection accuracy of the grating ruler 8 and the tension and compression sensor device 5, extends the service life of the linear track 32 and the slider 33, and enables the test bench to meet the requirements of long-term, high-frequency, unattended fatigue testing.

[0032] To ensure that the lubrication supply speed matches the test conditions in real time, and to avoid problems such as insufficient lubrication, increased friction, and rapid wear in the linear motion device during high-speed operation, for example, such as Figure 9 , Figure 10 As shown, the present invention also includes the pump structure comprising a housing 38 fixedly connected to the end of the cylinder 18 away from the thermal adaptive buffer structure, the housing 38 being connected to the interior of the cylinder 18; a sliding column 39 is slidably connected inside the housing 38, and a sealing extrusion plate 40 is fixedly connected to the end of the sliding column 39 near the cylinder 18. The two ends of the compression spring 20 are fixedly connected to the sliding plate 19 and the sealing compression plate 40 respectively. A limit ring 41 is fixedly connected inside the cylinder 18, and the limit ring 41 is in a limiting fit with the sealing compression plate 40. A second one-way liquid inlet valve 42 is provided on the sealing compression plate 40. One end of the second one-way liquid inlet valve 42 is connected to the inside of the cylinder 18, and the other end is connected to the inside of the sleeve 38. A return spring 43 is fixedly connected between the sliding column 39 and the inner wall of the casing 38. The elastic force of the return spring 43 is greater than that of the compression spring 20. A one-way liquid outlet connector 44 is provided at the end of the casing 38 away from the cylinder 18. The one-way liquid outlet connector 44 is connected to the liquid inlet connector 36 through a pipeline.

[0033] When in use, when the buffer action occurs, the sliding plate 19 moves backward and squeezes the compression spring 20. The oil inside the cylinder 18 is forced into the cooling circulation structure to achieve synchronous cooling. At the same time, the compression spring 20 pushes the sealing compression plate 40 and the sliding column 39 to move, so that the lubricating and damping hydraulic oil inside the casing 38 is stably output from the one-way outlet connector 44 to the inlet connector 36 of the lubrication structure, providing real-time lubrication for the linear track 32. After the buffering is completed, the second extrusion block 26 disengages from the extrusion seat 11. The return spring 43, with its greater elastic force than the extrusion spring 20, returns to its original position, driving the sliding column 39 and the sealing extrusion plate 40 back to their original positions. This allows the oil inside the cylinder 18 to be quickly replenished into the casing 38 through the second one-way inlet valve 42, completing the oil reserve before pumping. This ensures that the lubricating oil can be output immediately in the next buffering action. The entire pumping and oil replenishment process requires no external power or electrical control components, enabling stable and reliable automatic oil supply and replenishment. The faster the high-frequency reciprocating motion of the equipment, the more frequent the buffer triggering frequency and the squeezing action, the higher the frequency and the greater the liquid supply of the 38-pump in the casing. The lubrication supply speed is matched with the test conditions in real time, which can effectively avoid problems such as insufficient lubrication, increased friction, and rapid wear when the linear motion device is running at high speed. It can significantly reduce motion resistance and heat loss, improve the operational stability and detection accuracy of the linear motion device, extend the overall service life of the equipment, and ensure that the lubrication strength and test load maintain adaptive coordination, thus meeting the needs of long-term, high-frequency, unattended fatigue testing.

[0034] For example, such as Figure 8 As shown, the present invention also includes a lubricating sponge 35, which is a porous oil-absorbing cotton, and the thickness of the upper lubricating sponge 35 is greater than the thickness of the lower lubricating sponge 35.

[0035] When in use, the upper lubricating sponge is 35mm thicker, which can store more oil and supply oil for a longer period of time. The lower sponge helps to absorb the overflowing oil, achieving uniform lubrication on three sides and improving lubrication stability.

[0036] For example, such as Figure 1 As shown, the present invention also includes anti-slip support feet 45 fixedly connected to the four lower corners of the base box 1.

[0037] During use, the anti-slip support feet 45 at the bottom of the base box 1 can improve the stability of the equipment placement, reduce test vibration and offset, and ensure accurate and reliable test data.

[0038] For example, such as Figure 11 , Figure 12 As shown, the present invention also includes a retraction spring 46 provided between the inner sleeve 22 and the outer sleeve 23.

[0039] During use, when the test stops or the equipment operating load is reduced, the hydraulic oil temperature gradually decreases, and the temperature-sensitive thermal expansion gas inside the inner sleeve 22 and outer sleeve 23 cools and contracts accordingly. The return spring 46 releases its restoring force under elastic action, driving the outer sleeve 23 to automatically and smoothly retract and reset along the inner sleeve 22.

[0040] In use, the linear module under test is installed as product assembly 6 on product support 4 and connected to tension and compression sensor device 5. The test equipment is started, and the linear motion device drives the motor mounting plate 3 to move horizontally back and forth along the linear track 32. The motor mounting plate 3 synchronously drives the reading head 10, the reading head moving plate 9 and the buffer device to move synchronously. The reading head 10 and the grating ruler 8 cooperate in real time to collect displacement data, and the tension and compression sensor device 5 synchronously collects push and pull force data to complete the routine performance test of the linear module under test. Under low-frequency and low-speed test conditions, the motor mounting plate 3 moves smoothly, the first extrusion block 15 of the buffer device does not contact the extrusion seat 11, and the equipment runs smoothly without buffering action. When the equipment enters the high-frequency, high-speed reciprocating fatigue test condition, the inertia of the motor mounting plate 3 increases. The first extrusion block 15 moves with the motor mounting plate 3 to the set stroke and presses against the extrusion seat 11, pushing the piston rod 14 and the piston plate 13 to slide in a sealed manner within the piston cylinder 12. The piston plate 13 extrudes the hydraulic oil and causes the oil to pass through the through hole 16, generating throttling damping, achieving instantaneous deceleration and flexible buffering, effectively absorbing high-speed impact energy. When the first extrusion block 15 disengages from the extrusion seat 11, the compression spring 17 drives the piston plate 13 and the piston rod 14 to quickly reset, and the hydraulic oil flows back to the initial chamber of the piston cylinder 12. The buffer device returns to the standby state, preparing for the next buffering action. The buffer protection of the high-frequency reciprocating test is stably achieved throughout the process, protecting the precision detection components and the linear module under test from impact damage, and ensuring the accuracy and reliability of the test data.

[0041] In another embodiment of the present invention, the linear module to be tested is assembled as product assembly 6 on product support 4 and connected to tension and compression sensor device 5. The device is started so that the linear moving device drives the motor mounting plate 3 to perform high-frequency and high-speed reciprocating motion. The motor mounting plate 3 drives the cylinder 18, the thermal adaptive buffer structure and the reading head 10 to move synchronously. The grating ruler 8 and the reading head 10 collect displacement data in real time, and the tension and compression sensor device 5 collects force data synchronously to realize dynamic performance testing. Under low frequency, low speed or short test duration conditions, when the second extrusion block 26 contacts and extrusion seat 11, conventional buffering is achieved solely by the elastic deformation of the extrusion spring 20 and the throttling damping of the dual-purpose hydraulic oil for lubrication and damping. At this time, the hydraulic oil temperature is low, the thermal adaptive buffering structure does not operate, the outer sleeve 23 remains in its initial state, and the equipment operates smoothly in conventional buffering mode. When the equipment enters a high-frequency or long-term reciprocating fatigue test condition, the dual-purpose lubricating and damping hydraulic oil generates heat due to continuous compression and circulation, and the oil temperature gradually rises. The heat is transferred to the internal temperature-sensitive thermal expansion gas through the inner sleeve 22 and the outer sleeve 23. The gas expands due to heat and pushes the outer sleeve 23 outward along the inner sleeve 22, so that the second extrusion block 26 contacts the extrusion seat 11 in advance, thereby extending the buffer stroke and improving the damping strength. When the second extrusion block 26 is compressed, the elastic deformation of the temperature-sensitive thermal expansion gas completes the first-level flexible buffer, and then the compression spring 20 and hydraulic oil through the sliding plate 19 complete the second-level rigid buffer, forming a two-stage progressive buffer energy absorption, which effectively avoids rigid impact and structural damage caused by high-speed and high-frequency impact. During the buffering action, the sliding plate 19 pushes the hydraulic oil backward, allowing the oil to enter the cooling circulation structure for heat dissipation and cooling. The cooling shell 27 and the heat dissipation fins 28 continuously reduce the oil temperature, and the storage tank replenishes the oil in real time to ensure that the circulation system is always full of oil and without pressure fluctuations. Simultaneously, the squeezing action of the sliding plate 19 synchronously drives the pump structure to work. When the sliding plate 19 moves backward, it pushes the sealing squeezing plate 40 and the sliding column 39 to move through the squeezing spring 20, compressing the lubricating and damping hydraulic oil in the housing 38. The oil is output from the one-way outlet connector 44, sent through the pipeline to the inlet connector 36 of the slider 33, and then enters the upper lubricating sponge 35 through the lubricating oil inlet channel 37. With the reciprocating motion of the slider 33, the top surface and the left and right sides of the linear track 32 are fully covered with lubrication. The higher the test frequency and the longer the running time, the more frequent the pump action and the greater the lubrication volume. The lubrication effect is automatically matched with the high-frequency working conditions. After the second extrusion block 26 disengages from the extrusion seat 11, the return spring 43 first drives the sliding column 39 and the sealing extrusion plate 40 to reset, and the oil in the cylinder 18 is replenished into the casing 38 through the second one-way inlet valve 42 to complete the oil storage. Then, the extrusion spring 20 drives the sliding plate 19 to reset, and the hydraulic oil is returned to the reset through the first one-way inlet valve 21. This achieves the coordinated operation of three functions: adaptive buffering, closed-loop cooling circulation, and self-driven lubrication, which can meet the needs of long-term, high-frequency, and unattended fatigue testing, and significantly improve the stability of test data, equipment reliability, and service life.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A test platform for a humanoid robot linear module, characterized in that, The equipment includes a base box (1), an equipment base plate (2) is installed on the top of the base box (1), a linear motion device is fixedly installed on the equipment base plate (2), a motor mounting plate (3) is slidably installed on the linear motion device, a product support (4) is fixedly installed at one end of the linear motion device, a tension and compression sensor device (5) and a product assembly (6) are installed on the product support (4) in sequence, a grating ruler (8) is installed on the equipment base plate (2) through a grating pad (7), a reading head moving plate (9) is fixedly installed on the motor mounting plate (3), a reading head (10) is fixedly installed on the reading head moving plate (9), several sets of buffer devices are fixedly connected to the side of the motor mounting plate (3), the buffer devices are arranged around the motor mounting plate (3), and a pressing seat (11) corresponding to the buffer device is fixedly connected to the equipment base plate (2). The buffer device moves synchronously with the motor mounting plate (3) and cooperates with the pressing seat (11) to achieve motion buffering.

2. The humanoid robot linear module test stand according to claim 1, characterized in that, The buffer device includes a horizontally arranged piston cylinder (12), a piston plate (13) is slidably connected inside the piston cylinder (12), a horizontally arranged piston rod (14) is fixedly connected to one side of the piston plate (13), the output end of the piston rod (14) passes through the piston cylinder (12) and is fixedly connected to a first extrusion block (15), the first extrusion block (15) is corresponding to the position of the extrusion seat (11), a number of through holes (16) distributed along the circumferential direction are opened on the piston plate (13), the piston cylinder (12) is filled with hydraulic oil, and a compression spring (17) is fixedly connected between the side of the piston plate (13) away from the piston rod (14) and the inner wall of the piston cylinder (12).

3. The humanoid robot linear module test stand according to claim 1, characterized in that, The buffer device includes a horizontally arranged cylinder (18), a sliding plate (19) is sealed and slidably connected inside the cylinder (18), and a thermal adaptive buffer structure is fixedly connected to one end of the sliding plate (19). The thermal adaptive buffer structure corresponds to the position of the extrusion seat (11). The thermal adaptive buffer structure adaptively adjusts the buffer stroke and damping effect according to the oil temperature. The inner wall of the cylinder (18) away from the thermal adaptive buffer structure is provided with a pumping structure. A compression spring (20) is connected between the sliding plate (19) and the pumping structure. A first one-way inlet valve (21) is provided on the sliding plate (19). The cylinder (18) is filled with lubricating and damping hydraulic oil. A cooling circulation structure is provided on the equipment base plate (2). The cooling circulation structure is connected between the two ends of the cylinder (18).

4. The humanoid robot linear module test stand according to claim 3, characterized in that, The thermal adaptive buffer structure includes an inner sleeve (22) horizontally fixedly connected to one side of the sliding plate (19), and an outer sleeve (23) slidably connected to the outer side of the inner sleeve (22); a vent hole (24) is provided at the end of the inner sleeve (22) away from the sliding plate (19), and the outer sleeve (23) is connected to the inner sleeve (22) through the vent hole (24); a sealing ring (25) is fixedly sealed on the outer wall of the outer sleeve (23), and the sealing ring (25) is slidably fitted with the inner wall of the inner sleeve (22); both the inner sleeve (22) and the outer sleeve (23) are filled with temperature-sensitive thermal expansion gas; the end of the outer sleeve (23) away from the sliding plate (19) passes through the cylinder (18) and is fixedly connected to a second extrusion block (26), and the second extrusion block (26) is corresponding to the position of the extrusion seat (11).

5. A humanoid robot linear module test stand according to claim 4, characterized in that, The cooling circulation structure includes a cooling shell (27) that is detachably connected to the upper part of the equipment base plate (2), and a number of heat dissipation fins (28) are fixedly provided on the outer side of the cooling shell (27). One end of the cooling shell (27) is connected to the rear end of the cylinder (18) through the first connector (29) and the pipeline; the other end of the cooling shell (27) is connected to the front chamber of the cylinder (18) near the thermal adaptive buffer structure through the second connector (30) and the pipeline; the upper end of the cooling shell (27) is provided with a connecting connector (31), which is connected to a liquid storage tank, and the liquid storage tank is filled with lubricating and damping hydraulic oil.

6. The humanoid robot linear module test stand according to claim 5, characterized in that, The linear motion device includes a horizontally arranged linear track (32), and a slider (33) is slidably connected on the linear track (32); a lubrication structure is detachably connected to one side of the slider (33); The lubrication structure includes a mounting base (34) that is adapted to the shape of the slider (33), and the mounting base (34) is detachably connected to the slider (33); a lubricating sponge (35) is embedded in the inner side of the mounting base (34); a liquid inlet connector (36) is provided on the upper part of the mounting base (34), and the pump structure is connected to the liquid inlet connector (36) through a pipeline; a lubricating oil inlet channel (37) is opened in the mounting base (34), and the lubricating oil inlet channel (37) is connected to the upper part of the lubricating sponge (35).

7. A humanoid robot linear module test stand according to claim 6, characterized in that, The pump structure includes a housing (38) fixedly connected to the end of the cylinder (18) away from the thermal adaptive buffer structure, the housing (38) being in communication with the inside of the cylinder (18); a sliding column (39) is sealed and slidably connected inside the housing (38), and a sealing extrusion plate (40) is fixedly connected to the end of the sliding column (39) near the cylinder (18). The two ends of the compression spring (20) are fixedly connected to the sliding plate (19) and the sealing compression plate (40) respectively. A limit ring (41) is fixedly connected inside the cylinder (18), and the limit ring (41) is in a limiting fit with the sealing compression plate (40). A second one-way liquid inlet valve (42) is provided on the sealing compression plate (40). One end of the second one-way liquid inlet valve (42) is connected to the inside of the cylinder (18), and the other end is connected to the inside of the casing (38). A return spring (43) is fixedly connected between the sliding column (39) and the inner wall of the casing (38). The elastic force of the return spring (43) is greater than that of the compression spring (20). A one-way liquid outlet connector (44) is provided at the end of the casing (38) away from the cylinder (18). The one-way liquid outlet connector (44) is connected to the liquid inlet connector (36) through a pipeline.

8. A humanoid robot linear module test stand according to claim 7, characterized in that, The lubricating sponge (35) is a porous oil-absorbing cotton, and the thickness of the upper lubricating sponge (35) is greater than that of the lower lubricating sponge (35).

9. A humanoid robot linear module test stand according to claim 8, characterized in that, The bottom of the base box (1) is fixedly connected to four anti-slip support feet (45) at the four corners.

10. A humanoid robot linear module test stand according to claim 4, characterized in that, A retraction spring (46) is provided between the inner sleeve (22) and the outer sleeve (23).

Images