A multi-working-condition humanoid robot joint module comprehensive test table and a test method thereof

Abstract

The application discloses a kind of multi-working-condition humanoid robot joint module comprehensive test table and its testing method, belong to robot test technical field, it includes: fixed installation platform, multi-working-condition environment simulation component, temperature monitoring and pressure regulating component, brake component, performance monitoring component, endurance and performance test component and test switching component;Through host computer control multi-working-condition environment simulation component and temperature monitoring and pressure regulating component provide low temperature, high temperature or vacuum test environment for the joint module to be measured;The output end of the joint module to be measured is connected with the endurance crank of endurance crank sliding slot guide rod mechanism in endurance and performance test component or the transmission of performance counter-thrust mechanism counter-thrust servo motor;The endurance crank rotation drives guide sleeve sliding groove piece up and down movement, the endurance spring periodic energy storage and release, realize the working condition simulation of dynamic variable torque loading and dynamic variable bending moment loading to joint module;The brake component can simulate the external brake and locked-rotor working condition when joint module is used.

Description

Technical Field

[0001] This invention belongs to the field of robot testing technology, specifically relating to a comprehensive test bench for joint modules of a multi-condition humanoid robot and its testing method. Background Technology

[0002] With the rapid development of humanoid robot technology, it is gradually expanding its application to complex working conditions such as industrial manufacturing and special operations. The integrated joint module (i.e., the joint module) is the core component connecting the various limb structures of the humanoid robot. Its durability, reliability and performance level directly determine the overall stability, performance and service life of the robot.

[0003] In practical use (e.g., during robot running, jumping, and carrying), joint modules must withstand complex alternating loads and high-frequency start-stop impacts over extended periods. They also require high torque output and dynamic response, as well as long-term continuous operation in environments such as low outdoor temperatures, high industrial temperatures, and vacuum. Under these complex conditions, the motor drive system and reduction transmission system within the joint module are prone to failure due to thermal deformation and material fatigue, directly leading to performance degradation or even complete failure. Therefore, establishing a durability and performance testing platform for humanoid robot joint modules that can realistically simulate various complex service conditions is crucial for improving the reliability and engineering application level of humanoid robot joint modules.

[0004] Currently, existing joint module test benches typically only perform single-function tests such as output torque, no-load efficiency, or simple life cycles under normal temperature conditions. Furthermore, the test environment provided differs significantly from actual service conditions, lacking the ability to simulate high-temperature, low-temperature, and vacuum environments. They are unable to perform dynamic loading tests under various conditions, making it difficult to accurately assess the performance stability and life characteristics of joint modules under complex service conditions. In addition, existing joint module test benches usually separate durability testing and performance testing, requiring the testing process to be completed on different equipment. This results in complex testing procedures, inconsistent operating conditions, and affects test results.

[0005] Therefore, developing a joint module test bench that can effectively simulate various operating conditions such as high temperature, low temperature, and vacuum environment, and can simultaneously perform dynamic loading life durability testing and performance testing is an urgent problem for technicians in this field. Summary of the Invention

[0006] The purpose of this invention is to solve the problem that most joint module test benches in the above-mentioned technical field cannot effectively simulate the various working conditions of joint modules, such as high temperature, low temperature, and vacuum environment, while performing dynamic loading durability and performance tests. Therefore, this invention provides a multi-working-condition humanoid robot joint module comprehensive test bench and its testing method.

[0007] The technical solution adopted in this invention is as follows:

[0008] A multi-condition humanoid robot joint module integrated test bench includes: a fixed mounting platform 1 and the joint module 21 to be tested, a braking component 4, a performance monitoring component 5, and a durable crank slide guide rod mechanism 60 on it.

[0009] The durable crank slide guide rod mechanism 60 includes a durable bracket 600, a longitudinal guide rod 600a, a durable crank 601, a guide sleeve slide part 606, a load unit 607, and a durable spring.

[0010] The durable crank 601 includes a crank input shaft 602, a crank arm 603, a crank pin 604, and a sliding bushing 605;

[0011] The durable bracket 600 is axially connected to the crank input shaft 602 at the front and fixed to the longitudinal guide rod 600a at the rear.

[0012] The crank input shaft 602 and the crank pin 604 are vertically fixed to different side end faces of the crank arm 603.

[0013] The guide sleeve slide groove 606 is longitudinally slidably connected to the longitudinal guide rod 600a, and has left and right long slide grooves 606a on it.

[0014] A sliding bushing 605 is fitted onto the crank pin 604, and the sliding bushing 605 slides in the long sliding groove 606a.

[0015] The durable spring includes an upper durable spring 608 and a lower durable spring 609, which can be used alone or simultaneously. When in use, they are respectively sleeved on the longitudinal guide rod 600a and respectively located above and below the guide sleeve groove 606.

[0016] The upper durable spring 608 is a compression spring, and the lower durable spring 609 is a tension spring;

[0017] One end of the durable spring is fixedly connected to the end of the longitudinal guide rod 600a, and the other end is fixedly connected to the guide sleeve groove 606;

[0018] The load unit 607 is fixedly connected to the guide sleeve groove 606.

[0019] The rotation of the crank input shaft 602 will cause the crank arm 603 to swing in a circular motion, and the sliding bushing 605 will slide back and forth in the long sliding groove 606a, thereby driving the guide sleeve sliding groove 606 to move up and down along the longitudinal guide rod 600a.

[0020] When the guide sleeve slide 606 reciprocates, the durable spring periodically stores and releases energy, causing the guide sleeve slide 606 and the sliding bushing 605 to be subjected to varying vertical loads.

[0021] The output end of the joint module 21 under test is connected to the crank input shaft 602. As the position of the sliding bushing 605 changes within the long sliding groove 606a, the output end of the joint module 21 under test is subjected to dynamic variable torque loading.

[0022] When the crank input shaft 602 is directly connected to the output end of the joint module 21 under test in a cantilever manner, the output end of the joint module 21 under test is also subjected to dynamic bending moment loading.

[0023] When the crank arm 603 swings to a vertically downward position, the durable spring is in a state of minimum deformation.

[0024] A spring preload actuator 608a is provided between the durable spring and the end of the longitudinal guide rod 600a;

[0025] The telescopic end of the spring preload driver 608a extends and retracts to adjust the preload state of the durable spring, thereby adjusting the load range provided by the durable spring.

[0026] The test bench is also equipped with a performance matching mechanism 61 and a switching screw slide 70;

[0027] The performance-assisted towing mechanism 61 includes a towing servo motor 61a and a towing reducer 61b, and the output end of the towing servo motor 61a is connected to the towing reducer 61b in a transmission connection.

[0028] The test switching assembly 7 includes a switching screw slide 70 and a switching servo motor 74. A drag reducer 61b and a durability bracket 600 are fixedly connected to the switching slide plate 73 of the switching screw slide 70.

[0029] The test bench is also equipped with a multi-condition environment simulation component 2, which includes a sealed insulation box 20, a heat exchange vacuum pump 22, a hot and cold air intake component 23, a vacuum isolation mechanism 24, and a sealed shaft 25.

[0030] The joint module 21 to be tested is fixed inside the insulation cavity 20d inside the sealed insulation box 20;

[0031] The sealed heat-insulating box 20 is provided with a heat exchange air inlet 201 on the lower side and a heat exchange air outlet 202 on the upper side;

[0032] The heat exchange outlet 202 is connected to the heat exchange vacuum pump 22, and the heat exchange inlet 201 is connected to the output port of the three-way pump valve 23c in the hot and cold air inlet assembly 23.

[0033] The hot and cold air intake assembly 23 includes a hot air pump 23a, a cold air pump 23b, and a three-way pump switching valve 23c.

[0034] The hot air pump 23a and the cold air pump 23b are respectively connected to the two input ports of the three-way pump switching valve 23c;

[0035] A porous rectifier plate 203 is fixedly connected to the inner side of the heat exchange inlet 201;

[0036] The vacuum isolation mechanism 24 is used to regulate the connection and cut-off between the heat exchange inlet 201 and the insulation cavity 20d;

[0037] The output end of the joint module 21 under test is fixedly connected to the sealed transmission shaft 25d of the sealed shaft part 25;

[0038] The sealed drive shaft 25d passes sequentially through the brake shaft 40 of the brake assembly 4 and the performance monitoring assembly 5, and is then connected to the durable crank slide guide rod mechanism 60 or the performance drag mechanism 61.

[0039] The test switching assembly 7 is used to switch the transmission connection between the sealed drive shaft 25d and the durable crank 601 of the durable crank slide guide rod mechanism 60 or the drag reducer 61b of the performance drag mechanism 61.

[0040] The temperature monitoring and pressure regulating component 3 includes a temperature sensor 30, a low-pressure intake valve 31, a high-pressure exhaust valve 32, and a pressure sensor 33, wherein the temperature sensor 30 and the pressure sensor 33 are fixedly connected to the insulation cavity 20d.

[0041] The low-pressure intake valve 31 and the high-pressure exhaust valve 32 are installed on the sealed insulation box 20 and communicate with the insulation cavity 20d inward.

[0042] The low-pressure air inlet valve 31 is connected to an external drying air pump, which can replenish the insulation cavity 20d with dry air or nitrogen.

[0043] The heat exchange vacuum pump 22 is used to assist in the discharge of gas in the heat insulation cavity 20d through the heat exchange outlet 202 or to quickly create a vacuum.

[0044] The dry air pump connected to the low-pressure air inlet valve 31 is used for the back pressure after the heat preservation chamber 20d is evacuated. It is also used to introduce dry air or nitrogen into the heat preservation chamber 20d before switching between vacuum, high temperature and low temperature modes, to assist in the discharge of gas, and then to introduce hot air, introduce cold air or perform vacuuming operations.

[0045] The hot and cold air intake assembly 23 pumps cold or hot air at a set temperature into the insulation cavity 20d through the three-way pump switching valve 23c, and assists in the discharge of gas. The gas in the insulation cavity 20d undergoes rapid convection heat exchange, causing the temperature to gradually rise or fall. Before the temperature reaches the set value, the flow rate of the pumped cold or hot air is increased.

[0046] Once the temperature reaches the set value, the heat exchange vacuum pump 22 is turned off, the pump flow rate is reduced, or intermittent ventilation is performed. During this process, if the air pressure is too high, it will be discharged through the high-pressure exhaust valve 32, so that the insulation chamber 20d maintains a constant temperature state of high or low temperature.

[0047] The braking assembly 4 includes a brake shaft 40, a damped brake disc 41, and a dual-damped head braking mechanism 42.

[0048] The damping brake disc 41 is fixedly connected to the brake shaft 40, and its rear end is connected to the monitoring transmission shaft 52 of the performance monitoring component 5.

[0049] The dual-damping head braking mechanism 42 includes a positive and negative threaded lead screw 44, a brake slide rail 45, a brake motor 46, and a brake damping head 49;

[0050] The brake motor 46 drives the positive and negative threaded screw 44 to rotate in both directions, causing the brake damping heads 49 on both sides of the damping brake disc 41 to slide along the brake slide rail 45 and contact the two sides of the damping brake disc 41 to generate braking force.

[0051] The test bench also includes a host computer, and all electronic components in the test bench are electrically connected to the host computer and controlled by the host computer.

[0052] The performance monitoring component 5 includes an encoder 51, a monitoring drive shaft 52, a torque and speed sensor 53, and one or more of a vibration sensor, a thermocouple, and an infrared thermal imager.

[0053] The monitoring drive shaft 52 is connected to the input shaft of the torque and speed sensor 53.

[0054] Another objective of this invention is to provide a testing method for a multi-condition humanoid robot joint module integrated test bench, which specifically includes:

[0055] Step S1. Set the test environment conditions:

[0056] Step S2. Switching between durability test and performance test: The switching servo motor 74 drives the switching slide 73 to move, so that the monitoring transmission shaft 52 is connected to the crank input shaft 602 or the drag shaft of the drag reducer 61b, and the auxiliary switching between durability test and performance test is performed.

[0057] Step S3. Perform dynamic loading durability test: Start the output drive of the joint module 21 under test to drive the durability crank 601 to rotate continuously, driving the guide sleeve slide 606 to move up and down along the longitudinal guide rod 600a; the sliding bushing 605 is continuously subjected to vertical dynamic load under the periodic energy storage and release action of the guide sleeve slide 606 and the durability spring, so that the output end of the joint module 21 under test is subjected to dynamic loading.

[0058] Step S4. Perform performance test: Start the towing servo motor 61a, and apply the set parameters to the joint module 21 under test through the towing reducer 61b;

[0059] Step S5. External braking and stall test: Start the brake motor 46 to drive the positive and negative threaded screws 44 to rotate, so that the brake damping heads 49 on both sides contact the damping brake disc 41 to generate braking force, and perform partial braking, full braking or stall test as needed;

[0060] Step S6. Performance monitoring and data analysis: Real-time test data is collected through various sensors and a power analyzer, and the collected data is transmitted to the host computer; the host computer processes and analyzes the speed, angle, torque, temperature, vibration and power data to obtain the transmission performance, durability, thermal characteristics and reliability results of the joint module 21 under test;

[0061] The setting of test environment conditions in step S1 includes setting the target temperature, target air pressure and test mode in the host computer according to the test requirements;

[0062] During high-temperature testing, the hot air pump 23a is activated to introduce hot air into the insulation cavity 20d;

[0063] During the low-temperature test, the cold air pump 23b is started to introduce cold air into the insulation cavity 20d;

[0064] During the vacuum test, the vacuum isolation mechanism 24 is closed and the heat exchange vacuum pump 22 is started to evacuate the insulation chamber 20d.

[0065] The temperature sensor 30 and the air pressure sensor 33 monitor the state inside the insulation cavity in real time for 20 days, and regulate the air pressure through the low-pressure air inlet valve 31 and the high-pressure air outlet valve 32.

[0066] This invention provides a comprehensive test bench and testing method for multi-condition humanoid robot joint modules, belonging to the field of robot testing technology. It includes: a fixed mounting platform, a multi-condition environment simulation component, a temperature monitoring and pressure regulation component, a braking component, a performance monitoring component, a durability and performance testing component, and a test switching component. The multi-condition environment simulation component and the temperature monitoring and pressure regulation component, controlled by a host computer, provide low-temperature, high-temperature, or vacuum testing environments for the joint module under test. The output end of the joint module under test is connected to the durability crank of the durability crank-slide guide rod mechanism or the dragging servo motor of the performance dragging mechanism in the durability and performance testing component. The rotation of the durability crank drives the guide sleeve slide to move up and down, and the durability spring periodically stores and releases energy, realizing the simulation of dynamic variable torque loading and dynamic variable bending moment loading on the joint module. The braking component can simulate the external braking and stall conditions of the joint module under test during use.

[0067] In summary, the beneficial effects and advantages of this invention compared with the prior art are as follows:

[0068] 1) The durability crank slide guide rod mechanism of the present invention can be used for durability testing under dynamic loading. During the rotation of the durability crank, the drive guide sleeve slide part reciprocates, causing the durability spring to periodically store and release energy. At the same time, the sliding bushing reciprocates in the long slide groove to bear the continuously changing vertical load, forming dynamic variable torque loading and dynamic variable bending moment loading at the output end of the joint module under test, which truly simulates the complex alternating load conditions of the robot joint module in use.

[0069] 2) The durable crank slide guide rod mechanism of the present invention is equipped with a durable spring and a spring preload driver. Compared with the traditional cantilever counterweight loading method, the preload state of the durable spring can be adjusted online by the spring preload driver, so as to realize the real-time adjustment of the loading amplitude, improve the testing efficiency and working condition coverage.

[0070] 3) The multi-condition environment simulation component and temperature monitoring and pressure regulation component of the present invention realize the simulation of high temperature, low temperature and vacuum test environment of the joint module under test. Through the coordinated control of the hot and cold air intake component, the heat exchange vacuum pump and the temperature monitoring and pressure regulation component, the joint module test environment can be quickly switched and stabilized, which can realistically simulate the working state of the joint module in complex service environment.

[0071] 4) The braking component of the present invention has the function of simulating and testing external braking and stall conditions. Combined with encoder, torque and speed sensor and vibration and temperature monitoring device, it realizes the performance monitoring, life assessment and degradation analysis of joint module under braking, stall and complex environmental conditions.

[0072] 5) This invention integrates durability testing and performance testing on the same testing platform. The test switching component enables rapid switching between the durability crank slide guide rod mechanism and the performance drag mechanism. Life durability testing and performance testing can be completed without disassembling the joint module under test, thereby improving testing efficiency and ensuring the consistency of test conditions and the reliability of test results.

[0073] Therefore, the present invention can effectively solve the problems of incomplete working condition simulation and fragmented testing process in the existing joint module test bench. Attached Figure Description

[0074] Figure 1 This is a schematic diagram of the overall structure of a multi-condition humanoid robot joint module integrated test bench according to the present invention;

[0075] Figure 2 This is a three-dimensional structural diagram of the multi-condition environment simulation component in the multi-condition humanoid robot joint module integrated test bench of the present invention;

[0076] Figure 3 This is a schematic diagram of the inner and outer three-dimensional structure of the sealed insulation box of the multi-condition environment simulation component in the multi-condition humanoid robot joint module integrated test bench of the present invention.

[0077] Figure 4 This is a schematic diagram showing the installation positions of the joint module under test and the temperature monitoring and pressure regulating components inside the sealed insulated box of the multi-condition humanoid robot joint module comprehensive test bench of the present invention.

[0078] Figure 5 This is a schematic diagram showing the installation positions of the vacuum isolation mechanism and temperature monitoring and voltage regulation components in a multi-condition humanoid robot joint module integrated test bench of the present invention.

[0079] Figure 6 This is a schematic diagram of the vacuum isolation mechanism of the multi-condition environment simulation component in the multi-condition humanoid robot joint module integrated test bench of the present invention.

[0080] Figure 7 This is a schematic diagram illustrating the working principle of the multi-condition environment simulation component in the multi-condition humanoid robot joint module integrated test bench of the present invention;

[0081] Figure 8 This is a schematic diagram of the specific structure of the sealed shaft part in the multi-condition humanoid robot joint module integrated test bench of the present invention;

[0082] Figure 9 This is a three-dimensional structural diagram of the braking component in a multi-condition humanoid robot joint module integrated test bench according to the present invention;

[0083] Figure 10This is a schematic diagram of the specific structure of the braking component in the multi-condition humanoid robot joint module integrated test bench of the present invention;

[0084] Figure 11 This is a schematic diagram of the transmission structure from the performance monitoring component to the durability and performance testing component in a multi-condition humanoid robot joint module integrated test bench of the present invention.

[0085] Figure 12 This is a three-dimensional structural diagram of the test switching component in a multi-condition humanoid robot joint module integrated test bench of the present invention;

[0086] Figure 13 This is a schematic diagram of the specific structure of the durable crank slide guide rod mechanism in the multi-condition humanoid robot joint module integrated test bench of the present invention;

[0087] Figure 14 This is a schematic diagram of the specific structure of the durable crank in the durable crank slide guide rod mechanism of the multi-condition humanoid robot joint module integrated test bench of the present invention;

[0088] Figure 15 This is a schematic diagram of the load unit structure of the durable crank slide guide rod mechanism in the multi-condition humanoid robot joint module integrated test bench of the present invention.

[0089] Figure 16 This is a schematic diagram of the durability testing process of a multi-condition humanoid robot joint module integrated test bench according to the present invention.

[0090] Figure 17 This is a schematic diagram illustrating the working principle of the durability crank slide guide rod mechanism in the durability test of a multi-condition humanoid robot joint module integrated test bench of the present invention.

[0091] Figure 18 This is a schematic diagram of the working process of the performance-supporting dragging mechanism in the performance testing of a multi-condition humanoid robot joint module integrated testing platform of the present invention.

[0092] Figure 19 This is a three-dimensional structural schematic diagram of the durable crank slide guide rod mechanism in Embodiment 2 of the multi-condition humanoid robot joint module integrated test bench of the present invention;

[0093] Figure 20 This is a schematic diagram of the installation position and working principle of the spring preload driver in Embodiment 3 of the multi-condition humanoid robot joint module integrated test bench of the present invention.

[0094] In the attached diagram:

[0095] 1. Fixed mounting platform; 10. Transition coupling; 11. Transition drive shaft; 12. Transition bearing housing; 13. Input coupling; 14. Monitoring coupling; 15. Output coupling;

[0096] 2. Multi-condition environment simulation components; 20. Sealed insulation box; 20a. Insulation box body; 20b. Insulation box cover; 20c. Insulation sealing ring; 20d. Insulation cavity; 201. Heat exchange inlet; 201a. Flow diffusing chute; 202. Heat exchange outlet; 202a. Flow converging chute; 202b. Transition chute; 203. Porous rectifier plate; 203a. Pinhole; 21. Joint module under test; 21a. Module mounting base; 21b. Module output plate; 22. Heat exchange vacuum pump; 22a. Pumping pipe; 23. Hot and cold air inlet components; 23a. Heat 23b. Air pump; 23c. Three-way pump changer valve; 23d. Inlet heat insulation pipe; 23e. Hot air heat insulation pipe; 23f. Cold air heat insulation pipe; 24. Vacuum isolation mechanism; 24a. Isolation ring platform; 24b. Sealing slide plate; 24c. Isolation sealing ring; 24d. Slide rail platform; 24e. Slide rail groove; 24f. Slide plate driver; 24g. Connecting ring; 25. Sealing shaft; 25a. Sealing groove; 25b. Lubrication channel; 25c. Sealing bearing; 25d. Sealing drive shaft; 25e. Limiting platform; 25f. Elastic washer; 25g. Positioning sleeve;

[0097] 3. Temperature monitoring and pressure regulation components; 30. Temperature sensor; 31. Low-pressure intake valve; 32. High-pressure exhaust valve; 33. Pressure sensor;

[0098] 4. Braking assembly; 40. Brake shaft; 41. Damped brake disc; 41a. Damping ring; 42. Double-damped head braking mechanism; 43. Brake base; 44. Positive and negative threaded screw; 45. Brake slide rail; 46. Brake motor; 46a. Transmission bevel gear I; 46b. Transmission bevel gear II; 47. Brake slider I; 48. Brake slider II; 49. Brake damping head; 49a. Longitudinal damping groove;

[0099] 5. Performance monitoring components; 50. Encoder mount; 51. Encoder; 51a. Encoder stator; 51b. Encoder rotor; 52. Monitoring drive shaft; 53. Torque-speed sensor; 54. Torque mounting bracket;

[0100] 6. Durability and performance testing components; 60. Durable crank slide guide rod mechanism; 600. Durability bracket; 600a. Longitudinal guide rod; 600b. End cap; 600c. Crank bearing housing; 601. Durable crank; 602. Crank input shaft; 602a. Keyway; 603. Crank arm; 603a. Keyway; 604. Crank pin; 605. Sliding bushing; 606. Guide sleeve slide component; 606a. Long slide; 606b. Guide sleeve; 607. Load unit; 607a. Counterweight; 607b. Counterweight column; 607c. Positioning plate; 607d. Positioning pin; 607e. Locking head; 608. Upper durable spring; 609. Lower durable spring; 608a. Spring preload actuator;

[0101] 61. Performance-oriented towing mechanism; 61a. Towing servo motor; 61b. Towing reducer; 61c. Towing mounting platform;

[0102] 7. Test the switching components; 70. Switch the lead screw slide; 71. Switch the lead screw; 72. Switch the slide rail; 73. Switch the slide plate; 74. Switch the servo motor. Detailed Implementation

[0103] To make the above advantages and features of the present invention more clearly understood, the present invention will be clearly and completely described in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments described below are only a part of all embodiments of the present invention, and not all embodiments.

[0104] Example 1:

[0105] A multi-condition humanoid robot joint module integrated test bench includes: a fixed mounting platform 1, a multi-condition environment simulation component 2, a temperature monitoring and voltage regulation component 3, a braking component 4, a performance monitoring component 5, a durability and performance testing component 6, and a test switching component 7.

[0106] The multi-condition environment simulation component 2 is fixedly connected to the fixed mounting platform 1, and the joint module 21 to be tested is fixedly installed in its heat insulation cavity 20d, providing a low temperature, high temperature or vacuum test environment for the joint module 21 to be tested.

[0107] The temperature monitoring and pressure regulating component 3 is used to monitor and regulate the temperature and air pressure of the joint module 21 under test within the insulation cavity for 20 days.

[0108] The braking component 4 can brake the output of the joint module 21 under test;

[0109] The output end of the joint module 21 under test is connected to the durability crank slide guide rod mechanism 60 or the performance drag mechanism 61 of the durability and performance test component 6.

[0110] The durability and performance testing component 6 includes a durability crank slide guide rod mechanism 60 for durability testing and a performance matching mechanism 61 for performance testing. The test switching component 7 can assist in switching between the two (i.e., assist in switching between durability testing and performance testing).

[0111] The durable crank slide guide rod mechanism 60 includes a durable bracket 600, a longitudinal guide rod 600a, a crank bearing seat 600c, a durable crank 601, a guide sleeve slide part 606, a load unit 607, and an upper durable spring 608.

[0112] The durable bracket 600 has a crank bearing seat 600c fixed to the front middle part, and longitudinal guide rods 600a fixed to the left and right sides of the rear part.

[0113] The durable crank 601 includes a crank input shaft 602, a crank arm 603, a crank pin 604, and a sliding bushing 605;

[0114] The middle part of the crank input shaft 602 is connected to the crank bearing seat 600c limiting shaft;

[0115] The keyway 602a at the rear end of the crank input shaft 602 is connected to the keyway 603a at one end of the crank arm 603, and the two are fixed together by screws; the other end of the crank arm 603 is vertically fixed to the crank pin 604; the crank input shaft 602 and the crank pin 604 are vertically fixed to different end faces at both ends of the crank arm 603.

[0116] The inner ring of the sliding bushing 605 is fixedly connected to the crank pin 604, and its outer ring can rotate relative to the inner ring.

[0117] The guide sleeve slide 606 is provided with a long slide groove 606a in the left and right direction, and guide sleeves 606b are provided on both sides of the long slide groove 606a.

[0118] The guide sleeve sliding groove 606 is longitudinally slidably connected to the longitudinal guide rod 600a through the guide sleeve 606b;

[0119] The sliding bushing 605 of the durable crank 601 is slidably engaged in the long groove 606a of the guide sleeve groove 606;

[0120] A durable spring 608 is sleeved on the upper side of the longitudinal guide rod 600a, and its end is fixedly connected to the end plate 600b.

[0121] The upper durable spring 608 is a compression spring, one end of which is fixedly connected to the end plate 600b, and the other end is fixedly connected to the guide sleeve 606b.

[0122] The left and right ends of the guide sleeve slide 606 are symmetrically fixed to the load unit 607.

[0123] In the durable crank slide guide rod mechanism 60, the rotation of the crank input shaft 602 of the durable crank 601 will drive the crank arm 603 to swing in a circular motion, and the sliding bushing 605 will slide back and forth in the long slide groove 606a, thereby driving the guide bushing slide part 606 to move up and down along the longitudinal guide rod 600a.

[0124] The axis of the crank pin 604 is always parallel to the axis of the crank input shaft 602 in space;

[0125] When the crank arm 603 swings circumferentially to a vertical downward position (i.e., when the guide sleeve slide 606 moves to its lowest side), the upper durable spring 608 is in a minimum compression state.

[0126] When the guide sleeve slide 606 reciprocates up and down, the upper durable spring 608 alternately enters the state of compression and energy storage and compression and energy release, providing the guide sleeve slide 606 with a changing vertical load.

[0127] When the durable crank 601 rotates in a circular motion, its sliding bushing 605 is subjected to a vertically downward dynamic load.

[0128] As the position of the sliding bushing 605 changes within the long sliding groove 606a, the crank input shaft 602 of the durable crank 601 is subjected to dynamic variable torque loading with alternating forward and reverse directions, thus realizing that the output end of the joint module 21 under test is subjected to dynamic variable torque loading.

[0129] When the crank input shaft 602 of the durability crank 601 is disconnected from the crank bearing housing 600c and directly connected to the output end of the joint module 21 under test (when the crank input shaft 602 is a cantilever shaft), the durability crank slide guide rod mechanism 60 enables the output end of the joint module 21 under test to simultaneously bear dynamic variable torque loading and dynamic variable bending moment loading, which is used for multi-condition durability testing.

[0130] The multi-condition environment simulation component 2 includes a sealed insulation box 20, a heat exchange vacuum pump 22, a hot and cold air intake component 23, a vacuum isolation mechanism 24, and a sealed shaft 25.

[0131] The sealed insulated box 20 includes an insulated box body 20a and an insulated box cover 20b, which are sealed and fixed together by an insulated sealing ring 20c, forming an insulated cavity 20d inside.

[0132] The joint module 21 to be tested is fixedly connected to the heat preservation cavity 20d through the module mounting base 21a;

[0133] The lower side of the heat preservation box body 20a is provided with a heat exchange air inlet 201 and a flow diffusing inclined groove 201a from the outside to the inside, and the upper side is provided with a flow converging inclined groove 202a, a transition groove 202b and a heat exchange air outlet 202 from the inside to the outside.

[0134] The heat exchange outlet 202 is connected to the heat exchange vacuum pump 22 via a suction pipe 22a.

[0135] The heat exchange inlet 201 is connected to one end of the inlet heat insulation pipe 23d of the hot and cold air inlet assembly 23;

[0136] The hot and cold air intake assembly 23 includes a hot air pump 23a, a cold air pump 23b, and a three-way pump switching valve 23c.

[0137] The hot air pump 23a and the cold air pump 23b are respectively connected to the two input ports of the three-way pump switching valve 23c through the hot air insulation pipe 23e and the cold air insulation pipe 23f.

[0138] The output port of the three-way pump switching valve 23c is connected to the other end of the air inlet heat insulation pipe 23d;

[0139] The inner side of the flow-expanding inclined groove 201a is fixed with a porous rectifier plate 203, and the porous rectifier plate 203 is provided with an array of needle-shaped holes 203a, so that the airflow pumped in by the hot and cold air intake assembly 23 can enter the heat preservation cavity 20d evenly.

[0140] The vacuum isolation mechanism 24 is located between the heat exchange inlet 201 and the insulation cavity 20d, and can block the connection between the two.

[0141] The vacuum isolation mechanism 24 includes an isolation ring platform 24a, a sealing slide plate 24b, an isolation sealing ring 24c, a slide rail platform 24d, a slide rail groove 24e, a slide plate driver 24f, and a connecting ring 24g.

[0142] The partition ring 24a is located on the lower inner wall of the insulated box body 20a, and its upper end is fixedly connected to the annular partition sealing ring 24c.

[0143] The slide rails 24d on the left and right sides of the partition ring platform 24a are slidably connected to the slide rail grooves 24e on the left and right sides of the sealing slide plate 24b, that is, the lower end face of the sealing slide plate 24b is slidably connected to the upper end of the partition ring platform 24a.

[0144] The slide plate driver 24f is fixed to the lower inner wall of the insulation box body 20a. Its output end is fixed to the connecting rings 24g on the left and right sides of the sealing slide plate 24b. It can drive the sealing slide plate 24b to slide relative to the partition ring platform 24a, thereby realizing the connection and cut-off control between the heat exchange inlet 201 and the insulation cavity 20d.

[0145] The output end of the joint module 21 under test is fixedly connected to the module output disk 21b, and is sequentially connected to the sealing shaft 25, the brake shaft 40 of the brake assembly 4, the performance monitoring assembly 5 and the durability and performance testing assembly 6.

[0146] The temperature monitoring and pressure regulation component 3 includes a temperature sensor 30, a low-pressure air inlet valve 31, a high-pressure exhaust valve 32, and a pressure sensor 33, which are used to monitor and regulate the temperature and pressure of the joint module 21 under test within the insulation cavity 20 days.

[0147] The temperature sensor 30 is fixed to the cover 20b of the insulation box and is located inside the insulation cavity 20d. It monitors the temperature inside the insulation cavity 20d during operation.

[0148] The low-pressure intake valve 31 and the high-pressure exhaust valve 32 are installed on the insulated box cover 20b, and both are equipped with air pressure sensors 33 on their inner sides.

[0149] When the pressure sensor 33 inside the high-pressure exhaust valve 32 detects that the pressure in the insulation cavity is higher than the set threshold, the high-pressure exhaust valve 32 is opened to exhaust the air.

[0150] The low-pressure air inlet valve 31 is connected to a drying air pump on the outside, which can replenish the insulation cavity 20d with dry air or nitrogen.

[0151] The heat exchange vacuum pump 22 can slowly or quickly extract the gas in the insulation cavity 20d through the converging inclined groove 202a, the transition groove 202b, the heat exchange outlet 202, and the extraction pipe 22a, thereby achieving auxiliary discharge or rapid vacuuming of the gas in the insulation cavity 20d.

[0152] The low-pressure air inlet valve 31 and the drying air pump on its outer side are used to break the vacuum and return pressure after the heat preservation chamber has been evacuated for 20 days.

[0153] The low-pressure air inlet valve 31 and the drying air pump on its outside can also be used for preliminary heat exchange before the insulation cavity 20d switches between high temperature, low temperature and vacuum modes (i.e., to avoid direct contact between cold air and hot air in the insulation cavity 20d, which can prevent condensation and frost). Dry and room temperature air or nitrogen is introduced into the insulation cavity 20d, and the heat exchange vacuum pump 22 is used to assist in the discharge of gas in the insulation cavity 20d.

[0154] The rate at which the gas is assisted to be discharged from the insulation cavity 20d is controlled by the monitoring value of the pressure sensor 33;

[0155] The hot and cold air intake assembly 23 pumps cold or hot air at a set temperature into the insulation cavity 20d through the three-way pump switching valve 23c via the intake heat insulation pipe 23d, the heat exchange air inlet 201, and the expansion groove 201a. The heat exchange vacuum pump 22 assists in the discharge of gas from the insulation cavity 20d, thereby achieving rapid convection heat exchange of gas in the insulation cavity 20d, causing the temperature in the insulation cavity 20d to gradually increase or decrease.

[0156] Increase the flow rate of cold or hot air pumped in before the temperature reaches the set value; after the temperature reaches the set value, turn off the heat exchange vacuum pump 22, reduce the pump flow rate or intermittently ventilate. During this process, if the air pressure is too high, it will be discharged through the high-pressure exhaust valve 32, thereby keeping the insulation cavity in a constant temperature state of high or low temperature within 20 days.

[0157] The sealed shaft portion 25 includes a sealed bearing 25c, a sealed drive shaft 25d, an elastic washer 25f, and a positioning sleeve 25g;

[0158] The main body 20a of the heat preservation box is provided with sealing grooves 25a on both the inner and outer sides of the output end of the joint module 21 to be tested;

[0159] The two sealing grooves 25a are connected by a lubrication channel 25b, and the sealing grooves 25a are all filled with interference-fitted sealed bearings 25c.

[0160] The sealed drive shaft 25d passes through the lubrication channel 25b and is fixedly connected to the inner ring of the sealed bearings 25c on both sides.

[0161] An elastic washer 25f is provided between the limiting platform 25e on the outer side of the sealed drive shaft 25d and the outer sealed bearing 25c. The inner side of the platform is axially limited and sealed to the inner ring of the inner sealed bearing 25c by means of the positioning sleeve 25g and another elastic washer 25f.

[0162] The outer diameter of the middle part of the sealed drive shaft 25d is smaller than the inner diameter of the lubrication channel 25b, and the space between them is filled with sealing grease, thereby achieving self-lubricating sealed transmission.

[0163] The inner end of the sealed drive shaft 25d is fixedly connected to the output end of the joint module 21 under test through the module output disk 21b, and its outer end is connected to the brake shaft 40 of the brake assembly 4.

[0164] The braking assembly 4 includes a brake shaft 40, a damped brake disc 41, and a dual-damped head braking mechanism 42.

[0165] The damping brake disc 41 is coaxially fixed on the brake shaft 40, and its rear end is connected to the transition transmission shaft 11 via the transition coupling 10.

[0166] The transition drive shaft 11 is axially connected to the transition bearing seat 12, and the transition bearing seat 12 is fixedly connected to the fixed mounting platform 1 by its lower side bracket.

[0167] The dual-damping head braking mechanism 42 includes a brake base 43, a positive and negative threaded screw 44, a brake slide rail 45, a brake motor 46, a brake slider I 47, a brake slider II 48, and a brake damping head 49;

[0168] The brake base 43 is fixedly connected to the fixed mounting platform 1;

[0169] The brake base 43 is connected to the front and rear shafts of the positive and negative threaded screws 44, and brake slide rails 45 are provided on its left and right sides, which are parallel to the rotating shafts of the positive and negative threaded screws 44.

[0170] The brake slider I 47 and brake slider II 48 are slidably connected to both sides of the brake slide rail 45, and the middle parts of the two are respectively engaged with the threads on the front and rear sides of the positive and negative threaded screw 44;

[0171] The brake motor 46 is fixedly connected to the rear side of the brake base 43, and its output shaft is fixedly connected to the transmission bevel gear I 46a;

[0172] The rear end of the positive and negative threaded screw 44 is fixedly connected to the transmission bevel gear II 46b. The transmission bevel gear I 46a meshes with the transmission bevel gear II 46b, that is, the brake motor 46 can drive the positive and negative threaded screw 44 to rotate.

[0173] Brake damping heads 49 are symmetrically fixed to the upper ends of brake slider I 47 and brake slider II 48 on the front and rear sides.

[0174] The brake damping heads 49 on the front and rear sides are arranged perpendicular to the front and rear end faces of the damping brake disc 41, and longitudinal damping grooves 49a are provided on them.

[0175] Damping rings 41a are provided on both the front and rear end faces of the damping brake disc 41, and the damping rings 41a are arranged in a multi-ring structure with the same center.

[0176] When the positive and negative threaded screw 44 rotates in both directions, it can drive the brake slider I 47 and brake slider II 48 to move closer to or further away from each other, so as to realize the synchronous contact (braking state) and separation of the longitudinal damping groove 49a of the brake damping heads 49 on both sides and the damping rings 41a at both ends of the damping brake disc 41.

[0177] Therefore, the dual-damping head braking mechanism 42 in the braking assembly 4 can brake and lock the rotation of the brake shaft 40, which can brake the output of the joint module 21 under test, and is used for external braking and simulation and testing of stall conditions.

[0178] In practical use, the damping brake disc 41 and brake damping head 49 can be replaced periodically to ensure the stable operation of the braking assembly 4.

[0179] The performance monitoring component 5 includes an encoder mounting base 50, an encoder 51, a monitoring drive shaft 52, a torque and speed sensor 53, and a torque mounting bracket 54.

[0180] The encoder mounting base 50 is fixedly connected to the fixed mounting platform 1 by the lower bracket, and is axially connected to the monitoring transmission shaft 52.

[0181] The encoder 51 includes an encoder stator 51a and an encoder rotor 51b, wherein the encoder stator 51a is fixedly connected to the rear side of the encoder mounting base 50, and the encoder rotor 51b is coaxially fixedly connected to the monitoring transmission shaft 52.

[0182] When the monitoring drive shaft 52 rotates, the encoder stator 51a and encoder rotor 51b rotate relative to each other to record the rotation angle and speed.

[0183] The front end of the monitoring drive shaft 52 is connected to the transition drive shaft 11 via the input coupling 13, and its rear end is connected to the input shaft of the torque and speed sensor 53 via the monitoring coupling 14.

[0184] The torque and speed sensor 53 is fixed to the fixed mounting platform 1 via the torque mounting bracket 54 on its lower side.

[0185] The performance-assisted towing mechanism 61 includes a towing servo motor 61a, a towing reducer 61b, and a towing mounting platform 61c.

[0186] The drag servo motor 61a is fixedly connected to the fixed mounting platform 1 via the drag mounting platform 61c.

[0187] The output end of the drag servo motor 61a is connected to the drag reducer 61b, which can amplify the output torque.

[0188] The output shaft of the torque and speed sensor 53 is connected via the output coupling 15 to the crank input shaft 602 of the durable crank 601 in the durable crank slide guide rod mechanism 60 or the drag shaft drive of the drag reducer 61b in the performance drag mechanism 61.

[0189] The test switching component 7 includes a switching lead screw slide 70 and a switching servo motor 74;

[0190] The switching screw slide 70 is fixedly connected to the fixed mounting platform 1;

[0191] The switching servo motor 74 drives the switching screw 71 of the switching screw slide 70 to rotate, thereby driving the switching slide plate 73 on it to move back and forth along the switching slide rail 72.

[0192] The left and right sides of the switching slide plate 73 are respectively fixed to the drag mounting platform 61c and the durable bracket 600.

[0193] This enables rapid auxiliary switching of the output coupling 15 with the crank input shaft 602 or the drive reducer 61b, thereby enabling switching between durability testing and performance testing.

[0194] The load unit 607 of the durable crank slide guide rod mechanism 60 includes a counterweight block 607a, a counterweight column 607b, a positioning disk 607c, and a locking head 607e.

[0195] The counterweight column 607b is symmetrically fixed to the left and right sides of the guide sleeve sliding groove 606.

[0196] The counterweight column 607b is pin-shaped and has a positioning groove in the vertical direction.

[0197] A counterweight block 607a and a positioning disk 607c are sequentially mounted on the counterweight column 607b.

[0198] The positioning plate 607c is limited to sliding contact with the positioning groove of the counterweight column 607b through its positioning boss (it can only slide up and down relative to each other and cannot rotate relative to each other in the circumferential direction).

[0199] The lower end of the positioning disk 607c is set with a positioning pin 607d, which locks the circumferential rotation of the counterweight block 607a.

[0200] The upper end of the counterweight column 607b is fixed to the locking head 607e by a screw, and the locking head locks the up and down sliding of the positioning plate 607c and the counterweight block 607a.

[0201] Therefore, in actual use, the load value provided by the load unit 607 can be quickly adjusted by simply replacing the counterweight 607a and the locking head 607e in the load unit 607.

[0202] Example 2:

[0203] See appendix Figure 19 The difference between this embodiment and embodiment 1 is that a lower durability spring 609 is also sleeved on the lower side of the longitudinal guide rod 600a;

[0204] The lower durability spring 609 is a tension spring, one end of which is fixedly connected to the durability bracket 600, and the other end is fixedly connected to the guide sleeve 606b of the guide sleeve groove 606.

[0205] When the crank arm 603 swings in a circular motion to a vertical position, the lower durable spring 609 is in a minimum tension state; when the guide sleeve slide 606 moves up and down reciprocally, the lower durable spring 609 alternately enters a tension energy storage state and a tension energy release state, providing the guide sleeve slide 606 with a variable load.

[0206] In this embodiment, the upper durable spring 608 and the lower durable spring 609 are provided simultaneously. In some other embodiments, only the lower durable spring 609 is provided, which can also realize the function of the durable crank slide guide rod mechanism 60 in this invention.

[0207] Example 3:

[0208] See appendix Figure 20The difference between this embodiment and embodiment 1 is that the end plate 600b fixed to the end of the longitudinal guide rod 600a is replaced with a spring preload driver 608a, that is, the upper end of the upper durable spring 608 is connected to the telescopic end of the spring preload driver 608a.

[0209] When the crank arm 603 swings circumferentially to a vertical downward position (i.e., when the guide sleeve slide 606 moves to its lowest side), the upper durable spring 608 is in a minimum compression state.

[0210] In this embodiment, the telescopic end of the spring preload driver 608a can be extended or retracted to adjust the minimum compression state of the upper durable spring 608, which means adjusting the preload (compression) state of the upper durable spring 608.

[0211] When the guide sleeve slide 606 moves up and down reciprocally, the upper durable spring 608 provides real-time adjustable load range for the guide sleeve slide 606.

[0212] Therefore, the spring preload driver 608a can adjust the preload state of the upper durable spring 608 to achieve real-time load variation of the durable crank 601; and compared with the traditional cantilever counterweight system, this embodiment can effectively reduce the replacement of counterweights, thereby reducing downtime during testing.

[0213] Example 4:

[0214] In this embodiment, by installing a heating and cooling device in the transition tank 202b, the gas extracted by the heat exchange vacuum pump 22 is kept within the allowable operating range of the heat exchange vacuum pump 22 after passing through the heating and cooling device, thereby improving the applicability of the heat exchange vacuum pump 22.

[0215] Example 5:

[0216] In this embodiment, the performance monitoring component 5 further includes an acceleration vibration sensor, a thermocouple or an infrared thermal imager, and a power analyzer;

[0217] The acceleration vibration sensor can monitor the working status of the joint module 21 under test, the durable crank slide guide rod mechanism 60 and the performance dragging mechanism 61.

[0218] The thermocouple or infrared thermal imager can monitor the operating temperature rise of the towing servo motor 61a in the towing mechanism 61.

[0219] The power analyzer can analyze and calculate the output power of the joint module 21 under test.

[0220] In practical use, this invention can be appropriately adjusted according to the testing requirements of the joint module 21 under test:

[0221] The joint module 21 under test can be a harmonic joint module, a planetary joint module, or a cycloidal joint module. In addition, depending on the output power of the joint module 21 under test, the durable crank slide guide rod mechanism 60 and the performance matching mechanism 61 can be replaced accordingly (adjusting the model of the matching servo motor 61a and the matching reducer 61b).

[0222] Furthermore, the electronic components in the device of the present invention (including the joint module 21 under test, sensors, encoders, drivers, actuators, etc.) are all electrically connected to the host computer and controlled by the host computer.

[0223] In practical applications, the host computer can establish a performance degradation model of the joint module based on long-term operating data, thereby assessing and predicting wear of the reducer, increased transmission clearance, output performance degradation and failure in the joint module, and thus completing the performance and reliability evaluation and analysis of the joint module under test.

[0224] The working principle and testing method of the multi-condition humanoid robot joint module integrated test bench of the present invention are as follows:

[0225] The working principle of the multi-condition humanoid robot joint module integrated test bench of the present invention, taking Example 1 as an example:

[0226] 1) The working principle of the durability crank slide guide rod mechanism 60 for dynamic loading durability testing of the output end of the joint module 21 under test:

[0227] The rotation of the crank input shaft 602 of the durable crank 601 will cause the crank arm 603 to swing in a circular motion, and the sliding bushing 605 will slide back and forth in the long sliding groove 606a, thereby driving the guide sleeve sliding groove 606 to move up and down along the longitudinal guide rod 600a.

[0228] When the guide sleeve slide 606 moves up and down reciprocally, the upper durable spring 608 alternately enters the state of compression and energy storage and compression and energy release, providing the guide sleeve slide 606 with a vertical variable load.

[0229] When the durable crank 601 rotates in a circular motion, its sliding bushing 605 is subjected to a vertically downward dynamic load. As the position of the sliding bushing 605 changes within the long sliding groove 606a, the crank input shaft 602 of the durable crank 601 is subjected to a dynamic variable torque load that alternates between positive and negative.

[0230] When the crank input shaft 602 of the durability crank 601 is directly connected to the output end of the joint module 21 under test (i.e., when the crank input shaft 602 is a cantilever shaft), the durability crank slide guide rod mechanism 60 can realize dynamic variable torque loading at the output end of the joint module 21 under test, and can also realize dynamic variable bending moment loading, for multi-condition durability testing.

[0231] 2) The working principle of the multi-condition environment simulation component 2 and the temperature monitoring and voltage regulation component 3 in providing low temperature, high temperature and vacuum testing environments for the joint module 21 under test:

[0232] The heat exchange vacuum pump 22 can help discharge the gas in the heat-insulating cavity 20d through the heat exchange outlet 202 or quickly create a vacuum.

[0233] The hot and cold air intake assembly 23 pumps cold or hot air at a set temperature into the insulation cavity 20d through the three-way pump switching valve 23c and the heat exchange air intake port 201. During this process, the heat exchange vacuum pump 22 provides the auxiliary function of gas discharge, realizing rapid convection heat exchange of the gas in the insulation cavity 20d, so that the temperature in the insulation cavity 20d gradually increases or decreases.

[0234] Increase the flow rate of cold or hot air pumped in before the temperature reaches the set value; once the temperature reaches the set value, reduce the flow rate of pumping in or intermittently ventilate (if the air pressure is too high, it will be discharged through the high-pressure exhaust valve 32), thereby maintaining a constant temperature state of high or low temperature inside the chamber.

[0235] The low-pressure inlet valve 31 is connected to an external drying air pump for breaking the vacuum and back pressure after the insulation chamber 20d is evacuated. It can also be used for preliminary heat exchange when the insulation chamber 20d switches between vacuum, high temperature and low temperature modes (to avoid direct contact between cold air and hot air in the insulation chamber 20d, and to prevent condensation and frost).

[0236] Before switching modes, dry and room temperature air or nitrogen is introduced into the insulation cavity 20d, and the gas in the insulation cavity 20d is assisted in being discharged using the heat exchange vacuum pump 22. Then, cold air, hot air, or vacuuming operations are performed to provide a low temperature, high temperature, or vacuum testing environment for the joint module 21 under test.

[0237] 3) The braking component 4 brakes the output end of the joint module 21 under test, simulating the working principle of external braking and stall conditions when the joint module is in use:

[0238] The brake motor 46 drives the positive and negative threaded screw 44 to rotate in both directions, so as to realize the synchronous contact and separation of the brake damping heads 49 on both sides and the damping brake disc 41, thereby braking and locking the rotation of the brake shaft 40.

[0239] The present invention discloses a testing method for a multi-condition humanoid robot joint module integrated testing platform. Taking the multi-condition humanoid robot joint module integrated testing platform in Example 1 as an example, the specific method is as follows:

[0240] The electronic components (including the joint module 21 under test, sensors, encoders, drivers, actuators, etc.) in the test bench of this invention are all electrically connected to the host computer and controlled by the host computer;

[0241] Step S0. Installation of the joint module to be tested:

[0242] The joint module 21 to be tested is installed in the insulation cavity 20d, and the output end of the joint module 21 to be tested is connected to the sealed transmission shaft 25d, the braking component 4, the performance monitoring component 5 and the durability and performance testing component 6 through the module output disk 21b.

[0243] Step S1. Setting up the test environment conditions:

[0244] Set the target temperature, target air pressure, and test mode in the host computer according to the test requirements;

[0245] When conducting high-temperature tests, the hot air pump 23a is activated to introduce hot air into the insulation cavity 20d;

[0246] When conducting a low-temperature test, the cold air pump 23b is activated to introduce cold air into the insulation cavity 20d;

[0247] When performing a vacuum test, the vacuum isolation mechanism 24 is closed and the heat exchange vacuum pump 22 is started to evacuate the insulation cavity 20d.

[0248] The temperature sensor 30 and the air pressure sensor 33 monitor the state of the insulation cavity in real time for 20 days, and regulate the air pressure through the low-pressure air inlet valve 31 and the high-pressure air outlet valve 32.

[0249] Step S2. Switching between durability testing and performance testing:

[0250] The switching slide 73 is driven to move by the test switching component 7, so that the output coupling 15 is connected to the crank input shaft 602 of the durability crank 601 or the drag shaft of the drag reducer 61b in the performance drag mechanism 61, so as to switch between durability test and performance test.

[0251] Step S3. Perform a dynamic loading endurance test:

[0252] Start the test joint module 21 to drive the durable crank 601 to rotate continuously;

[0253] The crank pin 604 drives the sliding bushing 605 to slide back and forth in the long sliding groove 606a, and drives the guide sleeve sliding groove 606 to move up and down along the longitudinal guide rod 600a.

[0254] The sliding bushing 605 is continuously subjected to vertical dynamic load under the periodic energy storage and release action of the guide sleeve groove 606 and the durability spring, so that the output end of the joint module 21 under test is subjected to dynamic loading, thereby realizing the life durability test under different working conditions.

[0255] Step S4. Perform performance testing:

[0256] Start the towing servo motor 61a, and apply a set speed and set torque to the joint module 21 under test through the towing reducer 61b; obtain the output torque, transmission efficiency, response characteristics and dynamic performance parameters of the joint module 21 under test under different working conditions;

[0257] Step S5. External braking and stall test:

[0258] The start brake motor 46 drives the positive and negative threaded screws 44 to rotate, so that the brake damping heads 49 on both sides gradually contact the damping brake disc 41 to generate braking force.

[0259] According to the test requirements, partial braking, full braking or stall tests are performed, and the output characteristics, temperature rise characteristics and vibration characteristics of the joint module 21 under the test are recorded under braking and stall conditions.

[0260] Step S6. Performance monitoring and data analysis (Example 5):

[0261] Test data is collected in real time using encoder 51, torque and speed sensor 53, acceleration and vibration sensor, thermocouple and power analyzer, and the collected data is transmitted to host computer.

[0262] The host computer processes and analyzes the data on rotation speed, rotation angle, torque, temperature, vibration and power to obtain the transmission performance, durability, thermal characteristics and reliability evaluation results of the joint module 21 under test;

[0263] Furthermore, a performance degradation model of the joint module 21 under test can be established based on the test data, and its performance indicators, life prediction results and failure risk analysis report can be output.

Claims

1. A comprehensive test bench for joint modules of a multi-condition humanoid robot, characterized in that, include: Fixed mounting platform (1) and the joint module (21), braking assembly (4), performance monitoring assembly (5) and durable crank slide guide rod mechanism (60) on it. The durable crank slide guide rod mechanism (60) includes a durable bracket (600), a longitudinal guide rod (600a), a durable crank (601), a guide sleeve slide part (606), a load unit (607), and a durable spring; The durable crank (601) includes a crank input shaft (602), a crank arm (603), a crank pin (604), and a sliding bushing (605). The durable bracket (600) is connected to the crank input shaft (602) at the front and to the longitudinal guide rod (600a) at the rear. The crank input shaft (602) and the crank pin (604) are vertically fixed to the different side end faces of the crank arm (603); The guide sleeve slide groove (606) is longitudinally slidably connected to the longitudinal guide rod (600a), and has left and right long slide grooves (606a) on it. A sliding bushing (605) is fitted onto the crank pin (604), and the sliding bushing (605) slides in the long groove (606a); The durable spring includes an upper durable spring (608) and a lower durable spring (609), which are detachably sleeved on the longitudinal guide rod (600a) and respectively located above and below the guide sleeve groove (606); The guide sleeve slide part (606) is also provided with a load unit (607).

2. The multi-condition humanoid robot joint module integrated test bench according to claim 1, characterized in that: The upper durable spring (608) is a compression spring, and the lower durable spring (609) is a tension spring.

3. The multi-condition humanoid robot joint module integrated test bench according to claim 2, characterized in that: A spring preload actuator (608a) is provided between the durable spring and the end of the longitudinal guide rod (600a).

4. A multi-condition humanoid robot joint module integrated test bench according to any one of claims 1 to 3, characterized in that: The test bench is also equipped with a performance matching mechanism (61) and a test switching component (7). The performance-assisted towing mechanism (61) includes a towing servo motor (61a) and a towing reducer (61b), with the output end of the towing servo motor (61a) being connected to the towing reducer (61b) in a transmission connection. The test switching assembly (7) includes a switching screw slide (70) and a switching servo motor (74). A drag reducer (61b) and a durability bracket (600) are fixedly connected to the switching slide plate (73) of the switching screw slide (70).

5. A multi-condition humanoid robot joint module integrated test bench according to claim 4, characterized in that: The test bench is also equipped with a multi-condition environment simulation component (2), including a sealed heat preservation box (20), a heat exchange vacuum pump (22), a hot and cold air intake component (23), a vacuum isolation mechanism (24), and a sealed shaft (25). The joint module (21) to be tested is fixed inside the heat preservation cavity (20d) inside the sealed heat preservation box (20); The sealed heat-insulating box (20) has a heat exchange inlet (201) on the lower side and a heat exchange outlet (202) on the upper side. The heat exchange outlet (202) is connected to the heat exchange vacuum pump (22), and the heat exchange inlet (201) is connected to the output port of the three-way pump valve (23c) in the hot and cold air inlet assembly (23); The hot and cold air intake assembly (23) includes a hot air pump (23a), a cold air pump (23b), and a three-way pump switching valve (23c). The hot air pump (23a) and the cold air pump (23b) are respectively connected to the two inlet ports of the three-way pump switching valve (23c); A perforated rectifier plate (203) is fixedly connected to the inner side of the heat exchange inlet (201); The vacuum isolation mechanism (24) is used to regulate the connection and cut-off between the heat exchange inlet (201) and the insulation cavity (20d); The output end of the joint module (21) under test is fixedly connected to the sealed drive shaft (25d) of the sealed shaft part (25); The sealed drive shaft (25d) passes through the brake shaft (40) of the brake assembly (4) and the performance monitoring assembly (5) in sequence, and then is connected to the durable crank slide guide rod mechanism (60) or the performance drag mechanism (61).

6. The multi-condition humanoid robot joint module integrated test bench according to claim 5, characterized in that: The integrated test bench is also equipped with a temperature monitoring and pressure regulation component (3), including a temperature sensor (30), a low-pressure intake valve (31), a high-pressure exhaust valve (32), and a pressure sensor (33), wherein the temperature sensor (30) and the pressure sensor (33) are fixed in the heat preservation cavity (20d); The low-pressure intake valve (31) and high-pressure exhaust valve (32) are installed on the sealed insulation box (20) and communicate with the insulation cavity (20d) inward; The low-pressure air inlet valve (31) is connected to an external drying air pump, which can replenish dry air or nitrogen into the insulation cavity (20d); The braking assembly (4) includes a brake shaft (40), a damped brake disc (41), and a dual-damped head braking mechanism (42). The damping brake disc (41) is fixedly connected to the brake shaft (40), and its rear end is connected to the monitoring drive shaft (52) of the performance monitoring component (5). The dual-damping head braking mechanism (42) includes a positive and negative threaded screw (44), a brake slide rail (45), a brake motor (46), and a brake damping head (49). The brake motor (46) drives the positive and negative threaded screw (44) to rotate in both directions, so that the brake damping heads (49) on both sides of the damping brake disc (41) slide along the brake slide rail (45) and contact the two sides of the damping brake disc (41) to generate braking force.

7. A comprehensive test bench for multi-condition humanoid robot joint modules according to claim 6, characterized in that: The heat exchange vacuum pump (22) is used to assist in the discharge of gas in the heat insulation cavity (20d) through the heat exchange outlet (202) or to quickly create a vacuum. The dry air pump connected to the low-pressure inlet valve (31) is used for the back pressure after the heat preservation chamber (20d) is evacuated. It is also used to introduce dry air or nitrogen into the heat preservation chamber (20d) before switching between vacuum, high temperature and low temperature modes, to assist in the discharge of gas, and then to introduce hot air, introduce cold air or perform vacuuming operation. The cold and hot air intake assembly (23) pumps cold or hot air at a set temperature into the insulation cavity (20d) through the three-way pump switching valve (23c) to assist in the discharge of gas. The gas in the insulation cavity (20d) undergoes rapid convection heat exchange, causing the temperature to gradually rise or fall. Before the temperature reaches the set value, the flow rate of the pumped cold or hot air is increased. Once the temperature reaches the set value, the heat exchange vacuum pump (22) is turned off, the pump flow rate is reduced or intermittent ventilation is performed. During this process, if the air pressure is too high, it will be discharged through the high-pressure exhaust valve (32) to keep the insulation cavity (20d) in a constant temperature state of high or low temperature.

8. A comprehensive test bench for multi-condition humanoid robot joint modules according to claim 7, characterized in that: It also includes a host computer; the performance monitoring component (5) includes an encoder (51), a monitoring drive shaft (52), a torque and speed sensor (53), and one or more of a vibration sensor, a thermocouple, and an infrared thermal imager; The monitoring drive shaft (52) is connected to the input shaft of the torque and speed sensor (53).

9. The testing method for a multi-condition humanoid robot joint module integrated test bench as described in claim 8, comprising: Step S1. Set the test environment conditions; Step S2. Switching between durability test and performance test: The switching servo motor (74) drives the switching slide (73) to move, monitors the transmission connection between the transmission shaft (52) and the crank input shaft (602) or the drag reducer (61b), and performs auxiliary switching between durability test and performance test. Step S3. Perform dynamic loading durability test: Start the output drive of the joint module under test (21) to drive the durability crank (601) to rotate continuously, driving the guide sleeve slide (606) to move up and down along the longitudinal guide rod (600a); the sliding bushing (605) is continuously subjected to vertical dynamic load under the periodic energy storage and release action of the guide sleeve slide (606) and the durability spring, and the output end of the joint module under test (21) is subjected to dynamic loading; Step S4. Perform performance test: Start the towing servo motor (61a) and apply the set parameters to the joint module (21) under test through the towing reducer (61b); Step S5. External braking and stall test: Start the brake motor (46) to drive the positive and negative threaded screws (44) to rotate, and the brake damping heads (49) on both sides contact the damping brake disc (41) to generate braking force, so as to realize partial braking, full braking or stall test; Step S6. Performance monitoring and data analysis: Real-time test data is collected through various sensors and power analyzer, and the collected data is transmitted to the host computer; the host computer processes and analyzes the speed, angle, torque, temperature, vibration and power data to obtain the transmission performance, durability, thermal characteristics and reliability results of the joint module (21) under test.

10. The test method according to claim 9, characterized in that: The setting of test environment conditions in step S1 includes setting the target temperature, target air pressure and test mode in the host computer according to the test requirements; During high-temperature testing, the hot air pump (23a) is activated to introduce hot air into the insulation cavity (20d); During the low-temperature test, the cold air pump (23b) is started to introduce cold air into the insulation cavity (20d); During the vacuum test, the vacuum isolation mechanism (24) is closed and the heat exchange vacuum pump (22) is started to evacuate the insulation chamber (20d); The temperature sensor (30) and the air pressure sensor (33) monitor the state inside the insulation cavity (20d) in real time, and regulate the air pressure through the low-pressure air inlet valve (31) and the high-pressure air outlet valve (32).

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