Robot joint facing physical access type sudden change inertia testing device and method

Abstract

This invention discloses a physical access-based abrupt change in inertia testing device and method for robot joints, belonging to the field of robot joint performance testing technology. The device includes a joint mounting base, a variable inertia module support base, a jaw-type electromagnetic clutch, and a symmetrical slider-type inertia adjustment component. The symmetrical slider-type inertia adjustment component uses cross-shaped mounting arms in conjunction with a belt to form a diamond-shaped transmission structure, driving two symmetrical sliders to synchronously approach or move away from the rotation axis. The method achieves rapid and rigid engagement and disengagement of the additional inertia branch with the joint output end by controlling the clutch to engage or disengage at preset times, and dynamically adjusts the slider position before and after engagement, as well as during engagement, to continuously adjust the inertia amplitude. This invention can realistically simulate the equivalent abrupt change in rotational inertia caused by changes in connection relationships during joint operation, providing standardized experimental conditions for robot joint dynamic performance testing and control algorithm robustness verification.

Description

Technical Field

[0001] This invention relates to the field of robot joint performance testing technology, and more specifically to a physical access-based abrupt change in inertia testing device and method for robot joints. Background Technology

[0002] Robot joints are the core execution units of a robot system, and their dynamic performance directly affects the overall motion accuracy, stability, and interaction safety. During operations such as gripping and placing objects, configuration switching, and the connection or disengagement of external mechanisms, the mass distribution and connection relationships of the joint's output-end connecting components change, leading to sudden increases or decreases in the equivalent moment of inertia. Therefore, it is necessary to construct testing devices and methods capable of simulating sudden changes in moment of inertia for joint dynamic performance testing and control algorithm robustness verification.

[0003] The existing testing methods have the following main shortcomings:

[0004] First, most existing test platforms use fixed links, inertia disks or counterweights to provide equivalent rotational inertia, or adjust the inertia through continuously variable inertia mechanisms, which makes it difficult to simulate the step-like inertia mutation caused by rapid changes in connection relationships.

[0005] Second, some platforms apply braking torque or disturbance torque to the joint under test by loading elements. The simulated object is mainly external load disturbance, which is not the same as the actual connection or disconnection of the inertia component at the joint output end.

[0006] Third, some platforms adjust the rotational inertia by manually and suddenly changing the inertia disk or counterweight, making it difficult to accurately control the timing and process of the abrupt change, resulting in poor experimental repeatability. Furthermore, some devices struggle to adjust the inertia magnitude after it has been connected, making it impossible to simulate the continued changes in mass distribution after connection.

[0007] Fourth, if rigid transmission mechanisms such as lead screws and racks are used as slider adjustment mechanisms, although position adjustment can be achieved, their body mass and rotational inertia are usually large, which can significantly increase the basic inertia of the additional inertia branch, making it difficult for the test device to cover small sudden inertia conditions, and also reducing the resolution of adjusting the inertia amplitude by changing the slider position.

[0008] Therefore, it is necessary to propose a physical access-type abrupt inertia testing device and method for robot joints, which enables the additional inertia branch to be quickly connected to or disconnected from the output end of the robot joint under test during the test. It also allows for the preset abrupt inertia amplitude before the additional inertia is connected and the connection inertia to be dynamically adjusted after connection. This provides repeatable and quantifiable experimental conditions for the analysis of robot joint dynamic characteristics and the robustness verification of control algorithms. Summary of the Invention

[0009] In view of this, the present invention provides a physical access-based abrupt change in inertia testing device and method for robot joints, aiming to solve the above-mentioned technical problems.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: A physical access-based abrupt inertia testing device for robot joints includes: A joint mounting base is used to mount the joint of the robot under test, and the output end of the joint of the robot under test is coaxially and fixedly connected to a first connector. A variable inertia module support base, wherein a second connecting member is rotatably connected to the upper part of the variable inertia module support base, the second connecting member is coaxially arranged with the first connecting member, and a jaw-type electromagnetic clutch is connected between the second connecting member and the first connecting member. A symmetrical slider-type inertia adjustment assembly includes: an additional inertia mounting arm, a motor mounting arm, a slider drive motor, a belt, and sliders. The middle portion of the additional inertia mounting arm is fixed to the end of a second connecting member away from the first connecting member. First driven pulleys are rotatably connected to both ends of the additional inertia mounting arm. The middle portion of the motor mounting arm is fixed to the middle portion of the additional inertia mounting arm and is arranged intersecting the additional inertia mounting arm. A second driven pulley is rotatably connected to one end of the motor mounting arm. The slider drive motor is mounted at the other end of the motor mounting arm, and a drive pulley is connected to the power output shaft of the slider drive motor. The belt is sleeved on the outside of the drive pulley, the two first driven pulleys, and the second driven pulley, forming a rhomboid structure. Two sliders are used, each fixed to opposite sides of the rhomboid structure formed by the belt, allowing the belt to drive the two sliders to move closer together and further apart.

[0011] Through the above technical solution, this invention achieves rapid and rigid engagement and disengagement of the symmetrical slider inertia adjustment component and the joint output end via a toothed electromagnetic clutch. This realistically simulates the step-like sudden increase or decrease in equivalent rotational inertia caused by changes in load connection during joint operation. A diamond-shaped transmission structure, formed by the cross-arranged additional inertia mounting arms and motor mounting arms in conjunction with a belt, drives the two symmetrical sliders to synchronously approach or move away from the rotation axis, achieving continuous adjustment of the abrupt inertia amplitude while maintaining center-of-mass balance. This provides repeatable and quantifiable experimental conditions for dynamic performance testing of robot joints under abrupt inertia conditions and robustness verification of control algorithms.

[0012] Preferably, the above-mentioned physical access-type abrupt inertia testing device for robot joints further includes an initial inertia component. The initial inertia component includes an initial inertia mounting arm. The center of the initial inertia mounting arm is fixed between the output end of the robot joint under test and the first connector. Both ends of the initial inertia mounting arm are connected to an initial inertia disk via a support shaft.

[0013] Preferably, in the above-mentioned physical access-type abrupt inertia testing device for robot joints, the number of initial inertia disks on the support shaft is adjustable.

[0014] Preferably, in the above-mentioned physical access-type abrupt inertia testing device for robot joints, both the joint mounting base and the abrupt inertia module support base are L-shaped plate frame structures, and the top of the L-shaped plate frame structure has a mounting shaft hole.

[0015] Preferably, in the above-mentioned physical access-type abrupt inertia testing device for robot joints, the jaw clutch includes a first jaw engagement component and a second jaw engagement component. The first jaw engagement component is fixedly connected to the first connecting component, and the second jaw engagement component is fixedly connected to the second connecting component. The opposing end faces of the first jaw engagement component and the second jaw engagement component are respectively provided with mutually compatible end face teeth. When the jaw clutch is energized, the first jaw engagement component and the second jaw engagement component form a rigid torque transmission connection through the meshing of the end face teeth.

[0016] Preferably, in the above-mentioned physical access-type abrupt inertia testing device for robot joints, the axis of the power output shaft of the slider drive motor is parallel to the axis of the second connector, the power supply cable and control cable of the slider drive motor are led out from the tail end of the motor mounting arm, and the rotation angle range of the robot joint under test is ±360°.

[0017] Preferably, the above-mentioned physical access-type abrupt inertia testing device for robot joints further includes a control system, which is connected to the robot joint under test, the jaw clutch electromagnetic clutch, and the slider drive motor. The control system is used to control the robot joint under test to execute a preset test trajectory, control the slider drive motor to drive the two sliders to move to a preset position, and control the jaw clutch electromagnetic clutch to engage or disengage at a preset time.

[0018] Preferably, in the above-mentioned physical access-type abrupt inertia testing device for robot joints, both the additional inertia mounting arm and the motor mounting arm are lightweight aluminum alloy support structures.

[0019] Preferably, in the above-mentioned physical access-type abrupt inertia testing device for robot joints, the additional inertia mounting arm and the motor mounting arm are arranged in a cross shape, and the length of the additional inertia mounting arm is greater than the length of the motor mounting arm, and the masses of the two sliders are equal.

[0020] This invention also provides a physical access-based abrupt inertia testing method for robot joints, employing the aforementioned physical access-based abrupt inertia testing device for robot joints, and comprising the following steps: The robot joint under test is mounted on the joint mounting base, and the first connector is coaxially fixed to the output end of the robot joint under test. The second connector is rotatably connected to the upper part of the variable inertia module support base, so that the second connector is coaxially arranged with the first connector, and the first connector and the second connector are connected by a dog clutch electromagnetic clutch. The slider drive motor drives the belt drive to move the two sliders synchronously to the preset position, and the target sudden change in inertia amplitude is set. Control the joints of the robot under test to execute a preset test trajectory and collect joint motion data; At a preset abrupt change moment, the dog clutch is engaged, making the second connector rigidly connected to the first connector. The additional inertia mounting arm is connected to the output end of the joint of the robot under test, and the equivalent rotational inertia of the system undergoes a step change. The jaw clutch is controlled to disengage at a preset disengagement time, causing the second connecting piece to disconnect from the first connecting piece, and the system's equivalent rotational inertia is restored.

[0021] Through the above technical solution, this invention achieves precise control of the amplitude, timing, and disengagement of abrupt inertia by presetting the slider position and clutch engagement time, ensuring the repeatability of the experiment. Through a complete process of basic inertia operation—rapid access to additional inertia—dynamic adjustment of inertia after access—additional inertia disengagement test, it can comprehensively simulate the step-like sudden increase and decrease in equivalent rotational inertia caused by changes in structural connection relationships during actual robot joint operation. Simultaneously, this method can simulate multiple inertia change conditions in a single test without manual disassembly and reassembly of the inertia disk. Combined with synchronous data acquisition, it provides a standardized testing method for comprehensively evaluating the position tracking, torque control, transient response, vibration suppression, and robustness of the control algorithm of the robot joint under test under abrupt inertia conditions.

[0022] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a physical access-type abrupt inertia testing device and method for robot joints, which has the following beneficial effects: 1. By using a toothed electromagnetic clutch to achieve rapid rigid engagement and disengagement of the additional inertia with the joint output end, it can realistically simulate the step-like sudden increase or decrease of the equivalent rotational inertia caused by changes in the load connection relationship during joint operation, which is different from the test method that only applies external disturbance torque.

[0023] 2. The diamond-shaped transmission structure formed by the cross-shaped additional inertia mounting arms and the motor mounting arms in conjunction with the belt drives two symmetrical sliders to move synchronously closer to or away from the axis of rotation. While maintaining the balance of the center of mass and reducing the vibration of rotational imbalance, it realizes the continuous adjustment of the amplitude of sudden inertia. The inertia amplitude can be preset before the clutch engages and the input inertia can continue to be dynamically adjusted after engagement.

[0024] 3. The use of belt drive and lightweight aluminum alloy support structure effectively reduces the basic rotational inertia of the adjustment mechanism itself, so that the inertia adjustment mainly comes from the change of slider position, which improves the testing capability and inertia adjustment resolution under small inertia change conditions.

[0025] 4. It can simulate the complete working condition sequence of basic inertia operation - rapid access of additional inertia - continued change of inertia after access - disengagement of additional inertia, which is closer to the inertia change process caused by structural changes in the actual operation of robot joints. It can also cooperate with the control system to synchronously collect joint status and control data, providing repeatable and quantifiable experimental conditions for dynamic performance testing of robot joints and robustness verification of control algorithms. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 A schematic diagram of the physical access-type abrupt inertia testing device for robot joints provided by the present invention. Figure 2 This is a schematic diagram of the other side of the physical access-type abrupt inertia testing device for robot joints provided by the present invention. Figure 3 This is a schematic diagram of the joint mounting base portion provided by the present invention; Figure 4 This is a schematic diagram of the structure of the variable inertia module support base provided by the present invention; Figure 5 This is a schematic diagram of the symmetrical slider inertia adjustment component provided by the present invention.

[0028] in: 1-Joint mounting base; 2-Variable inertia module support base; 3-Symmetrical slider inertia adjustment component; 4-Joint of the robot under test; 5-First connector; 6-Second connector; 7-Gnawing electromagnetic clutch; 8-Initial inertia component; 31-Additional inertia mounting arm; 32-Motor mounting arm; 33-Slider drive motor; 34-Belt; 35-Slider; 36-First driven pulley; 37-Second driven pulley; 38-Driving pulley; 81 - Initial inertia mounting arm; 82 - Support shaft; 83 - Initial inertia disk. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] See appendix Figure 1 To be continued Figure 5 This invention discloses a physical access-based abrupt change in inertia testing device and method for robot joints.

[0031] like Figure 1 and Figure 2 As shown, the device mainly includes a joint mounting base 1, a variable inertia module support base 2, a symmetrical slider-type inertia adjustment component 3, a joint of the robot under test 4, a first connector 5, a second connector 6, a jaw-type electromagnetic clutch 7, and an initial inertia component 8.

[0032] The joint mounting base 1 is used to fix the joint 4 of the robot under test. The joint mounting base 1 is an L-shaped plate frame structure with a mounting shaft hole at the top. The robot joint 4 under test is mounted on the joint mounting base 1 through the mounting shaft hole, and the output end of the robot joint 4 under test is in a freely rotatable state. The output end of the robot joint 4 under test is coaxially fixedly connected to the first connector 5.

[0033] The variable inertia module support base 2 is also an L-shaped plate frame structure, with a mounting shaft hole at the top. The upper part of the variable inertia module support base 2 is rotatably connected to the second connecting member 6 via a bearing. The second connecting member 6 is coaxially arranged with the first connecting member 5. A jaw-type electromagnetic clutch 7 is connected between the second connecting member 6 and the first connecting member 5.

[0034] like Figure 3As shown, the initial inertia assembly 8 includes an initial inertia mounting arm 81, the center of which is fixed between the output end of the joint 4 of the robot under test and the first connecting member 5. Both ends of the initial inertia mounting arm 81 are connected to initial inertia disks 83 via support shafts 82. The number of initial inertia disks 83 on the support shafts 82 can be adjusted according to testing needs; for example, one or more initial inertia disks 83 can be mounted on each support shaft 82 according to the required basic equivalent rotational inertia. The initial inertia assembly 8 is used to provide a basic equivalent rotational inertia for the joint 4 of the robot under test when the jaw clutch 7 is disengaged. If the joint under test does not require initial rotational inertia, the initial inertia assembly 8 can be omitted.

[0035] like Figure 4 and Figure 5 As shown, the symmetrical slider-type inertia adjustment assembly 3 includes an additional inertia mounting arm 31, a motor mounting arm 32, a slider drive motor 33, a belt 34, and a slider 35. The middle part of the additional inertia mounting arm 31 is fixedly connected to the end of the second connecting member 6 away from the first connecting member 5. First driven pulleys 36 are rotatably connected to both ends of the additional inertia mounting arm 31. The middle part of the motor mounting arm 32 is fixedly connected to the middle part of the additional inertia mounting arm 31 and is arranged crosswise with the additional inertia mounting arm 31. In this embodiment, using... Figure 5 Taking the illustrated configuration as an example: the additional inertia mounting arm 31 extends horizontally, and the motor mounting arm 32 extends vertically, forming a cross shape. The length of the additional inertia mounting arm 31 is greater than the length of the motor mounting arm 32. A second driven pulley 37 is rotatably connected to one end of the motor mounting arm 32, and a slider drive motor 33 is mounted on the other end of the motor mounting arm 32. A drive pulley 38 is connected to the power output shaft of the slider drive motor 33. The axis of the power output shaft of the slider drive motor 33 is parallel to the axis of the second connecting member 6.

[0036] A belt 34 is fitted around the outside of the driving pulley 38, the two first driven pulleys 36, and the second driven pulley 37, forming a rhomboid structure. Two sliders 35 are fixed to opposite sides of the rhomboid structure formed by the belt 34. When the slider drive motor 33 drives the driving pulley 38 to rotate, the belt 34 drives the two first driven pulleys 36 and the second driven pulley 37, causing them to rotate simultaneously. The two sliders 35 fixed to opposite sides of the belt 34 move synchronously closer or further apart under the belt's influence. The two sliders 35 have equal mass and are symmetrically arranged about the rotation axis of the robot joint 4 under test. In this embodiment, the additional inertia mounting arm 31 and the motor mounting arm 32 both use lightweight aluminum alloy support structures, and the belt 34 uses a lightweight annular synchronous belt to reduce the basic rotational inertia of the adjustment mechanism itself.

[0037] The jaw clutch 7 includes a first jaw engagement component and a second jaw engagement component (not shown in the figure). The first jaw engagement component is fixedly connected to the first connecting component 5, and the second jaw engagement component is fixedly connected to the second connecting component 6. The opposing end faces of the first and second jaw engagement components are respectively provided with mutually compatible end face teeth. When the jaw clutch 7 is energized and engaged, the first and second jaw engagement components form a rigid torque transmission connection through the meshing of the end face teeth; when the jaw clutch 7 is de-energized and disengaged, the first and second jaw engagement components disengage, and the torque transmission path between the first connecting component 5 and the second connecting component 6 is broken. When the jaw clutch 7 is disengaged, the additional inertia mounting arm 31, the motor mounting arm 32, and all components thereon are independently supported by the variable inertia module support seat 2 through bearings and do not participate in the movement of the output end of the robot joint 4 under test; when the jaw clutch 7 is engaged, the symmetrical slider-type inertia adjustment component 3 forms a rigid connection with the output end of the robot joint 4 under test and rotates together with the robot joint 4 under test.

[0038] The power supply and control cables for the slider drive motor 33 are led out from the tail end of the motor mounting arm 32. Since the rotation angle range of the joint 4 of the robot under test is usually within ±360°, ordinary power supply and control cables can be used, and there will be no problem of cable tangling.

[0039] The device also includes a control system: the control system is connected to the robot joint 4 under test, the jaw clutch electromagnetic clutch 7, and the slider drive motor 33. The control system controls the robot joint 4 under test to execute a preset test trajectory (such as a step trajectory, sine trajectory, multi-frequency sine trajectory, or actual robot joint motion trajectory), controls the slider drive motor 33 to drive the two sliders 35 to move to a preset position to set the target abrupt change in inertia amplitude, and controls the jaw clutch electromagnetic clutch 7 to engage or disengage at a preset time. The control system is also used to synchronously collect data such as the angle, angular velocity, output torque, control input, slider 35 position, and clutch status of the robot joint 4 under test.

[0040] The method for performing abrupt inertia testing using the above-described device is explained in detail below: First, the robot joint 4 under test is mounted on the joint mounting base 1, allowing the output end of the robot joint 4 to rotate freely. The first connector 5 is then coaxially fixed to the output end of the robot joint 4 under test. If a basic inertia test is required, the center of the initial inertia mounting arm 81 of the initial inertia assembly 8 is fixed between the output end of the robot joint 4 under test and the first connector 5, and a corresponding number of initial inertia disks 83 are mounted on the support shaft 82 according to the test requirements.

[0041] Next, the second connecting member 6 is rotatably connected to the upper part of the variable inertia module support 2, so that the second connecting member 6 is coaxially arranged with the first connecting member 5, and the first connecting member 5 and the second connecting member 6 are connected by a jaw-type electromagnetic clutch 7. At this time, the additional inertia mounting arm 31, the motor mounting arm 32 and all components thereon are independently supported by the variable inertia module support 2, and do not rotate with the joint 4 of the robot under test when the jaw-type electromagnetic clutch 7 is not engaged.

[0042] Then, based on the required abrupt change in inertia amplitude for the test, the control system controls the slider drive motor 33 to drive the belt 34, causing the two sliders 35 to move synchronously to the preset position. The equivalent rotational inertia generated by the two sliders 35 can be expressed as:

[0043] in, J s The equivalent moment of inertia generated by the two sliders 35. m s The mass of a single slider, r s This is the distance from the centroid of a single slider to the rotation axis of joint 4 of the robot under test. When both sliders 35 synchronously approach the rotation axis, r s The reduced moment of inertia results in a smaller equivalent moment of rotation after connection; when the two sliders 35 move away from the axis of rotation simultaneously... r s The increase results in a larger equivalent moment of inertia after connection.

[0044] Next, the control system controls the robot under test joint 4 to execute the preset test trajectory. During this stage, the jaw-type electromagnetic clutch 7 remains disengaged, and the symmetrical slider-type inertia adjustment component 3 does not participate in the output end movement of the robot under test joint 4. The robot under test joint 4 only drives the initial inertia component 8. The control system synchronously collects data such as the angle, angular velocity, output torque, and control input of the robot under test joint 4 as reference data under the basic inertia condition.

[0045] When the joint 4 of the robot under test reaches the preset abrupt change moment, the control system sends an engagement command to the jaw-type electromagnetic clutch 7, which is then energized and engaged. The first jaw engagement member and the second jaw engagement member mesh through their end face teeth, and the first connecting member 5 and the second connecting member 6 form a rigid torque transmission connection. At this time, the symmetrical slider-type inertia adjustment component 3 quickly switches from its original state of independent support and non-participation in motion to a state of rigid connection with the output end of the joint 4 of the robot under test and rotating together. Because the symmetrical slider-type inertia adjustment component 3 is physically connected to the output end of the joint 4 of the robot under test at the moment of engagement, the equivalent rotational inertia of the system increases abruptly, thus forming a physically connected abrupt inertia condition. The control system synchronously records the clutch engagement moment and the joint response data before and after engagement.

[0046] With the jaw-type electromagnetic clutch 7 engaged, the control system continues to control the robot joint 4 under test to run along a preset trajectory. Depending on the test requirements, the control system can also continue to control the slider drive motor 33 to drive the two sliders 35 to synchronously move closer to or away from the axis of rotation while engaged, causing the equivalent moment of inertia after engagement to continue to increase or decrease. This is used to simulate the condition where the mass distribution of the joint output end connection mechanism continues to change after engagement.

[0047] When testing the condition of a sudden decrease in equivalent rotational inertia, the control system controls the jaw-type electromagnetic clutch 7 to de-energize and disengage at a preset disengagement time. The first jaw engagement component and the second jaw engagement component disengage, and the symmetrical slider-type inertia adjustment component 3 no longer rotates with the output end of the robot joint 4 under test. The robot joint 4 under test then drives only the initial inertia component 8 to run, and the system's equivalent rotational inertia rapidly decreases from the larger inertia in the engaged state to the initial equivalent rotational inertia, thus forming the condition of a sudden decrease in equivalent rotational inertia.

[0048] After the test, the control system calculates dynamic performance indicators such as position tracking error, torque response error, overshoot, and recovery time of the robot joint 4 under test under conditions of sudden increase in inertia, sudden decrease in inertia, and continued change in inertia after engagement, based on the collected data such as joint angle, angular velocity, output torque, control input, clutch engagement time, clutch disengagement time, and slider position. These indicators are used to evaluate the dynamic performance and robustness of the robot joint 4 under test and its control algorithm under sudden change in inertia conditions.

[0049] Through the above process, this embodiment can achieve rapid connection and disconnection of the symmetrical slider-type inertia adjustment component and continuous inertia adjustment after connection without replacing the robot joint 4 body or manually disassembling the inertia disk, thereby simulating the equivalent rotational inertia step change at the joint output end. Compared with the method of only applying external disturbance torque, this embodiment changes the connection relationship between the symmetrical slider-type inertia adjustment component and the joint output end, allowing the additional inertia to truly participate in or withdraw from the joint movement, and can more directly simulate the equivalent rotational inertia change caused by the change in structural connection relationship. At the same time, through the lightweight annular synchronous belt adjustment mechanism arranged in a cross shape and the symmetrical double slider structure, the basic inertia of the additional inertia branch (i.e., the symmetrical slider-type inertia adjustment component in this embodiment) is reduced, while the inertia adjustment range, rotational balance and test repeatability are improved.

[0050] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0051] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A physical access-based abrupt change in inertia testing device for robot joints, characterized in that, include: Joint mounting base (1), the joint mounting base (1) is used to mount the robot joint (4) under test, and the output end of the robot joint (4) under test is coaxially fixedly connected to the first connector (5); A variable inertia module support base (2) is rotatably connected to the upper part of the variable inertia module support base (2). The second connecting member (6) is coaxially arranged with the first connecting member (5). A toothed electromagnetic clutch (7) is connected between the second connecting member (6) and the first connecting member (5). A symmetrical slider-type inertia adjustment assembly (3) includes: an additional inertia mounting arm (31), a motor mounting arm (32), a slider drive motor (33), a belt (34), and a slider (35); the middle part of the additional inertia mounting arm (31) is fixed to the end of the second connecting member (6) away from the first connecting member (5), and the two ends of the additional inertia mounting arm (31) are respectively rotatably connected to a first driven pulley (36); the middle part of the motor mounting arm (32) is fixed to the middle part of the additional inertia mounting arm (31) and is arranged crosswise with the additional inertia mounting arm (31), and one end of the motor mounting arm (32) is rotatably connected to a first driven pulley (36). Two driven pulleys (37), the slider drive motor (33) is mounted on the other end of the motor mounting arm (32), and the drive pulley (38) is connected to the power output shaft of the slider drive motor (33); the belt (34) is sleeved on the outside of the drive pulley (38), the two first driven pulleys (36) and the second driven pulley (37), so that the belt (34) forms a rhombus structure; there are two sliders (35), and the two sliders (35) are respectively fixed on the two opposite sides of the rhombus structure formed by the belt (34), so that the transmission of the belt (34) can drive the two sliders (35) to move closer and further away.

2. The physical access-type abrupt change in inertia testing device for robot joints according to claim 1, characterized in that, It also includes an initial inertia assembly (8), which includes an initial inertia mounting arm (81). The center of the initial inertia mounting arm (81) is fixed between the output end of the joint (4) of the robot under test and the first connector (5). Both ends of the initial inertia mounting arm (81) are connected to an initial inertia disk (83) via a support shaft (82).

3. The physical access-type abrupt inertia testing device for robot joints according to claim 2, characterized in that, The number of initial inertia disks (83) on the support shaft (82) is adjustable.

4. The physical access-type abrupt inertia testing device for robot joints according to claim 1, characterized in that, Both the joint mounting base (1) and the variable inertia module support base (2) are L-shaped plate frame structures, and the top of the L-shaped plate frame structure has a mounting shaft hole.

5. The physical access-type abrupt change in inertia testing device for robot joints according to claim 1, characterized in that, The toothed electromagnetic clutch (7) includes a first toothed engagement component and a second toothed engagement component. The first toothed engagement component is fixedly connected to the first connecting component (5), and the second toothed engagement component is fixedly connected to the second connecting component (6). The opposing end faces of the first toothed engagement component and the second toothed engagement component are respectively provided with mutually compatible end face teeth. When the toothed electromagnetic clutch (7) is energized, the first toothed engagement component and the second toothed engagement component form a rigid torque transmission connection through the meshing of the end face teeth.

6. The physical access-type abrupt inertia testing device for robot joints according to claim 1, characterized in that, The axis of the power output shaft of the slider drive motor (33) is parallel to the axis of the second connector (6). The power supply cable and control cable of the slider drive motor (33) are led out from the tail end of the motor mounting arm (32). The rotation angle range of the robot joint (4) under test is ±360°.

7. A physical access-type abrupt inertia testing device for robot joints according to claim 1, characterized in that, It also includes a control system, which is connected to the robot joint (4) under test, the toothed electromagnetic clutch (7) and the slider drive motor (33) respectively. The control system is used to control the robot joint (4) under test to execute a preset test trajectory, control the slider drive motor (33) to drive the two sliders (35) to move to a preset position, and control the toothed electromagnetic clutch (7) to engage or disengage at a preset time.

8. The physical access-type abrupt inertia testing device for robot joints according to claim 1, characterized in that, Both the additional inertia mounting arm (31) and the motor mounting arm (32) are lightweight aluminum alloy support structures.

9. A physical access-type abrupt inertia testing device for robot joints according to claim 1, characterized in that, The additional inertia mounting arm (31) and the motor mounting arm (32) are arranged in a cross shape, and the length of the additional inertia mounting arm (31) is greater than the length of the motor mounting arm (32), and the two sliders (35) have the same mass.

10. A physical access-based abrupt inertia testing method for robot joints, characterized in that, The physical access-type abrupt inertia testing device for robot joints as described in any one of claims 1-9 includes the following steps: The robot joint (4) to be tested is mounted on the joint mounting base (1), and the first connector (5) is coaxially fixed to the output end of the robot joint (4) to be tested; The second connector (6) is rotatably connected to the upper part of the variable inertia module support base (2), so that the second connector (6) and the first connector (5) are arranged coaxially, and the first connector (5) and the second connector (6) are connected by a dog clutch electromagnetic clutch (7). The control slider drive motor (33) drives the belt (34) to drive the two sliders (35) to move synchronously to the preset position and set the target sudden change in inertia amplitude; Control the joints (4) of the robot under test to execute the preset test trajectory and collect joint motion data; At a preset abrupt change moment, the toothed electromagnetic clutch (7) is engaged, so that the second connector (6) is rigidly connected to the first connector (5), and the additional inertia mounting arm (31) is connected to the output end of the joint (4) of the robot under test, and the equivalent rotational inertia of the system undergoes a step change. At a preset disengagement time, the jaw-type electromagnetic clutch (7) is controlled to disengage, so that the second connecting piece (6) is disconnected from the first connecting piece (5), and the system's equivalent rotational inertia is restored.

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