Industrial robot rotational flexibility detection device

Abstract

The application discloses a kind of industrial robot rotation flexibility detection equipment, it is related to detection equipment technical field, including moving frame, installation arm and connecting arm, connecting arm is connected with U-shaped frame, U-shaped frame is used to accommodate robot rotating assembly;Detection wheel assembly and limiting wheel assembly are equipped on U-shaped frame, detection wheel assembly includes main roller part and drive part, main roller part is linked by main belt and drives robot rotating assembly forward or reverse, drive part is driven to rotating assembly by screw rod transmission and applies normal pressure;Limiting wheel assembly includes auxiliary roller part, auxiliary roller part is self-adapting to compact rotating assembly outer wall by torsion spring;Detection wheel assembly is also provided with pressure sensor, pressure sensor is connected in drive part transmission path and feedback to control end, control end adjusts normal pressure according to preset loading program, makes friction torque track loading program under the condition of stable friction coefficient, and the flexibility in the process of forward and reverse rotation of rotating assembly is judged by collecting the current signal of main roller part drive motor.

Description

Technical Field

[0001] This invention relates to the field of testing equipment technology, and in particular to a testing device for the rotational flexibility of an industrial robot. Background Technology

[0002] The rotational flexibility of industrial robot joints directly affects their motion accuracy and dynamic performance, making it a crucial indicator for factory inspection and routine maintenance. Existing flexibility testing devices typically apply a constant preload to the joint under test via a loading mechanism, then drive the joint to rotate in a single direction. Flexibility is evaluated by observing the rotation angle or reading the operating status of the drive components. However, this approach has two significant shortcomings: First, the load on joints in actual operation is dynamically changing. For example, handling robots experience sudden increases or decreases in load when gripping and releasing workpieces, and welding and painting robots need to operate under continuous variable load conditions for extended periods. Constant load testing only reflects the joint's performance under a fixed force state and cannot simulate the aforementioned variable load processes, making it difficult to effectively identify defects such as jamming and abnormal damping that only surface under high-load impact or sudden load changes. Second, existing testing methods typically only drive the joint to rotate in one direction, failing to compare the resistance differences between forward and reverse rotation. Factors such as bearing clearance and reducer engagement often lead to inconsistent flexibility in forward and reverse rotation. Testing only in one direction can easily miss directional defects, making it impossible to comprehensively evaluate joint quality. Summary of the Invention

[0003] This application provides an industrial robot rotation flexibility testing device, which solves the technical problem in the prior art that it is difficult to detect the bidirectional flexibility of robot joints under programmable variable load conditions, resulting in the test results not being able to truly reflect the actual working conditions. By setting up a pressure sensor to detect the normal pressure in real time and feeding it back to the control terminal, the control terminal adjusts the loading force in a closed loop according to a preset loading program, and drives the joint to rotate in both directions, thus achieving the technical effect of automatic quantitative detection of the joint's bidirectional flexibility under variable load.

[0004] This application provides an industrial robot rotation flexibility testing device, including a movable frame, a mounting arm, a connecting arm, and a control end. The mounting arm is mounted on the movable frame, and the connecting arm is integrally formed on the mounting arm. A U-shaped frame is provided at the other end of the connecting arm, with one end of the U-shaped frame being a closed end and the other end being an open end, forming a receiving cavity between the closed end and the open end for accommodating the robot rotation component. A detection wheel assembly and a limit wheel assembly are mounted on the U-shaped frame, and the detection wheel assembly and the limit wheel assembly are located in the receiving cavity. An anti-rotation component is also installed at the lower end of the U-shaped frame. The detection wheel assembly and the limit wheel assembly are used to detect and clamp the upper joint of the robot rotation component, and the anti-rotation component is used to clamp the lower joint of the robot rotation component to prevent the lower joint from rotating together with the upper joint when the detection wheel assembly and the limit wheel assembly perform forward and reverse rotation flexibility testing, which would lead to inaccurate test results. The detection wheel assembly includes a pair of main rotating rollers and a pair of drive units. The two main rotating rollers are slidably mounted on the U-shaped frame and close to the closed end of the U-shaped frame. The two drive units are respectively mounted on the top and bottom surfaces of the connecting arm, and the pair of drive units jointly drive the movement of the pair of main rotating rollers. The limit wheel assembly includes a pair of auxiliary rotating rollers. The two auxiliary rotating rollers are respectively mounted on the U-shaped frame and close to the open end of the U-shaped frame. The detection wheel assembly also includes a pressure sensor electrically connected to the control terminal. The pressure sensor is connected in series in the force transmission path of the normal pressure output by the drive unit and is used to detect the normal pressure applied by the main rotating roller to the robot rotating assembly. The control terminal is configured to adjust the normal pressure output by the drive unit according to a preset loading program, so that the normal pressure applied by the main rotating roller to the robot rotating assembly tracks the loading program, and the corresponding friction torque changes with the loading program under the condition of stable friction coefficient.

[0005] It should be noted that the loading process uses methods such as step-like increases, ramp-like increases, or periodic fluctuations to make the normal pressure change over time.

[0006] The mobile frame has a mounting groove on its side near the top. The mounting arm can be installed horizontally or detachably in the mounting groove, so that the receiving cavity of the U-shaped frame on it can accommodate the robot rotating components that are arranged vertically or horizontally.

[0007] The U-shaped frame includes a connecting plate, an upper U-shaped rail, a lower U-shaped rail, and a closing plate; the connecting plate is fixed to the other end face of the connecting arm; the upper U-shaped rail and the lower U-shaped rail are fixed to the upper and lower ends of the connecting plate, respectively; both the upper and lower U-shaped rails have sliding grooves; one end face of the closing plate has multiple slots, the positions of which correspond one-to-one with the opening ends of the upper and lower U-shaped rails, and the closing plate engages with the upper and lower U-shaped rails through the slots.

[0008] The main rotating roller section includes a movable seat, a motor, a main top plate, a main bottom plate, and a main rotating roller; a pair of movable seats are slidably connected in the grooves of the upper and lower U-shaped rails; a motor is fixedly connected to the movable seat on the upper U-shaped rail, and the main top plate is fixedly connected to the bottom surface of the movable seat; the motor is electrically connected to the control terminal; the main bottom plate is fixedly connected to the top surface of the movable seat on the lower U-shaped rail; multiple main rotating rollers are equidistantly rotatably connected between the main top plate and the main bottom plate on the same side; the output end of the motor passes through the main top plate on the same side and is fixedly connected to the shaft of a corresponding main rotating roller; the shafts at the upper ends of the multiple main rotating rollers on the same side are connected by a main belt; the outer surface of the main rotating roller is covered with a layer of elastic material with a high coefficient of friction (such as polyurethane).

[0009] The drive unit includes a base plate, a second motor, a lead screw, and a V-shaped plate. The base plate is installed at the upper and lower ends of the connecting arm. The second motor, which is electrically connected to the control terminal, is mounted on the base plate. The output shaft of the second motor is a lead screw. A vertical plate is fixedly connected to the other end of the base plate, and the other end of the lead screw is rotatably connected to the vertical plate. The V-shaped plate includes two wing plates forming a V shape and a connecting seat. The connecting seat is threaded to the lead screw, and the bottom surface of the connecting seat contacts the mounting surface of the base plate on which the second motor is mounted. The connecting seat is slidably connected to the mounting surface of the base plate. The other ends of the two wing plates located at the upper and lower ends of the connecting arm are fixedly connected to corresponding movable seats. The pressure sensor is located between the end faces of the wing plates of the V-shaped plate that contact the movable seats, and the force-bearing surface of the sensor is in contact with the thrust surface of the wing plates.

[0010] The main top plate and main bottom plate, located on the same side, are both set at an angle, and the angle is the same as that of the wing plate of the V-shaped plate.

[0011] The auxiliary rotating roller section includes a sliding seat, an auxiliary top plate, an auxiliary bottom plate, and auxiliary rotating rollers; a pair of sliding seats are slidably connected in the grooves of the upper and lower U-shaped rails; the bottom surface of the sliding seat on the upper U-shaped rail is rotatably connected to the auxiliary top plate via a torsion spring; the top surface of the sliding seat on the lower U-shaped rail is rotatably connected to the auxiliary bottom plate via a torsion spring, and the torsion springs of the auxiliary top plate and the auxiliary bottom plate rotate in the direction of the detection wheel assembly; multiple auxiliary rotating rollers are equidistantly rotatably connected between the auxiliary top plate and the auxiliary bottom plate on the same side; the upper ends of the multiple auxiliary rotating rollers on the same side are connected by an auxiliary belt; the outer circular surface of the auxiliary rotating rollers is covered with a layer of elastic material with a high coefficient of friction (such as polyurethane).

[0012] The sliding seat also includes a positioning shaft and a positioning cap with external threads on the outer circle; the top surface of the sliding seat is an open structure, and the positioning shaft is fixed to the top surface of the sliding seat; the positioning cap is threaded to the positioning shaft and is in close contact with the upper or lower U-shaped rail.

[0013] Multiple fluorescent bumps are fixed to the outer surface of the secondary belt.

[0014] The lower end of the connecting plate is also fixedly connected to a secondary connecting plate; the anti-rotation component includes a docking plate and two U-shaped surrounding tubes fixedly connected to one end face of the docking plate. The opening ends on the same side of the two U-shaped surrounding tubes are rotatably connected to a limiting plate by a torsion spring, which rotates in the opposite direction to the secondary connecting plate; a rubber plate is fixedly connected to the surface of the limiting plate that contacts the lower joint of the robot rotating component.

[0015] One or more technical solutions provided in this application have at least the following technical effects or advantages: Motor 2 drives the V-shaped plate to move along the mounting surface of the plate base via a lead screw. The thrust of the two wing plates is transmitted to the corresponding moving seats via pressure sensors, pushing the moving seats to slide along the slide groove. This causes the main top plate, main bottom plate, and the main rotating roller between them to move as a whole towards the central axis of the robot's rotating assembly, achieving continuous and precise adjustment of the joint normal pressure. The pressure sensor is connected in series in the force transmission path of the normal pressure output by the drive unit, which can measure the normal pressure applied by the main rotating roller to the robot's rotating assembly in real time and feed the detection signal back to the control terminal. The control terminal adjusts the output of Motor 2 according to the preset loading program, so that the normal pressure applied by the main rotating roller to the robot's rotating assembly tracks the loading program. Under the condition of stable friction coefficient, the corresponding friction torque changes with the loading program, forming a complete closed-loop control. Therefore, inspectors can pre-set loading programs according to the actual working conditions of different types of joints, such as stepped loading, ramp loading, or impact loading, to simulate the operation of joints under light load, heavy load, and sudden load changes. This overcomes the limitation of traditional testing equipment that can only test under constant load, making flexibility testing closer to the real working conditions. In particular, it can expose hidden defects such as jamming and damping changes that only occur in joints under variable load conditions, significantly improving the authenticity and comprehensiveness of the test.

[0016] The output shaft of motor one is fixedly connected to the shaft of a corresponding main rotating roller. Multiple main rotating rollers on the same side are linked by a main belt, and each main rotating roller together drives the robot's rotating assembly to rotate forward or backward. This overcomes the limitation of traditional passive detection methods that cannot continuously rotate 360°, enabling multi-turn, bidirectional continuous detection of the joint. During forward and reverse rotation, the control end collects the current signal of motor one to determine the dexterity. The output torque of motor one is proportional to the current. Because the stiffness of the torsion spring in the auxiliary rotating roller is configured to be much greater than the stiffness requirement corresponding to the deformation caused by the radial dimension deviation of the outer wall of the robot's rotating assembly, the normal pressure is approximately constant, and the frictional torque is constant. Therefore, the change in motor current simply reflects the change in the joint's own resistance torque. By calculating the average current during forward and reverse rotation, the overall damping of the joint, i.e., the dexterity, can be reflected. By comparing the difference between forward and reverse currents, directional asymmetry defects can be detected. By analyzing the current fluctuation amplitude, it can be determined whether there is jamming or raceway damage. By repeatedly testing the current difference at the same location, the lubrication status and wear trend can also be tracked. Compared to the traditional method that relies on manual observation of rotation angles, this solution enables quantitative, real-time, and continuous detection of joint damping, providing clear quantitative indicators for production line quality assessment and significantly improving detection efficiency and consistency.

[0017] The fluorescent bumps on the outer surface of the auxiliary belt can visually display the follow-up status of the auxiliary rotating roller, making it easy to determine whether slippage occurs during the drive process and record the number of slippages; the limit plate in the anti-rotation component is rotatably connected between two U-shaped tubes through a torsion spring. When the lower joint of the joint is in contact with the rubber plate, the opening between the two U-shaped tubes opens and hugs the lower joint, effectively preventing the lower joint from rotating with the test during forward and reverse rotation, ensuring accurate and reliable test results. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural schematic diagram of an industrial robot rotation flexibility testing device according to the present invention; Figure 2 This is a schematic diagram of the lateral clamping state of an industrial robot rotation flexibility detection device according to the present invention; Figure 3 This is a schematic diagram of the upper U-shaped rail of an industrial robot rotation flexibility testing device according to the present invention; Figure 4 This is a schematic diagram of the movable base structure of an industrial robot rotation flexibility detection device according to the present invention; Figure 5 This is a schematic diagram of the fluorescent bump position in an industrial robot rotation flexibility detection device according to the present invention. Figure 6 This is a schematic diagram of the positioning cap structure of an industrial robot rotation flexibility detection device according to the present invention; Figure 7This is a schematic diagram of the position of the limit plate in an industrial robot rotation flexibility detection device according to the present invention.

[0019] In the picture: 100. Movable frame; 101. Mounting slot; 110. Mounting arm; 120. Connecting arm; 130. U-shaped frame; 131. Connecting plate; 1311. Secondary connecting plate; 132. Upper U-shaped rail; 133. Lower U-shaped rail; 134. Enclosure plate; 135. Slide groove; 140. Robot rotating assembly; 150. Docking plate; 151. U-shaped enclosure tube; 160. Limiting plate; 161. Rubber plate; 200. Main rotating roller section; 201. Movable seat; 202. Motor 1; 20 3. Main top plate; 204. Main bottom plate; 205. Main rotating roller; 206. Main belt; 210. Drive unit; 211. Plate seat; 212. Motor II; 213. Lead screw; 214. V-shaped plate; 2141. Wing plate; 2142. Connecting seat; 220. Auxiliary rotating roller unit; 221. Sliding seat; 222. Auxiliary top plate; 223. Auxiliary bottom plate; 224. Auxiliary rotating roller; 225. Auxiliary belt; 2251. Fluorescent bump; 226. Positioning shaft; 227. Positioning cap. Detailed Implementation

[0020] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0021] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] Example 1: As Figures 1 to 7As shown, this application discloses an industrial robot rotation flexibility testing device, including a movable frame 100, a mounting arm 110, a connecting arm 120, and a control terminal. The mounting arm 110 is mounted on the movable frame 100, and the connecting arm 120 is integrally formed on the mounting arm 110. A U-shaped frame 130 is provided at the other end of the connecting arm 120. One end of the U-shaped frame 130 is a closed end, and the other end is an open end, forming a receiving cavity between the closed end and the open end for accommodating a robot rotation assembly 140. A detection wheel assembly and a limit wheel assembly are mounted on the U-shaped frame 130, and the detection wheel assembly and the limit wheel assembly are located in the receiving cavity. An anti-rotation assembly is also installed at the lower end of the U-shaped frame 130. The detection wheel assembly and the limit wheel assembly are used to detect and clamp the upper joint of the robot rotation assembly 140, and the anti-rotation assembly is used to clamp the lower joint of the robot rotation assembly 140 to prevent the lower joint from rotating together with the upper joint when the detection wheel assembly and the limit wheel assembly perform forward and reverse rotation flexibility testing, which would lead to inaccurate test results. The detection wheel assembly includes a pair of main rotating rollers 200 and a pair of drive units 210. The two main rotating rollers 200 are slidably mounted on the U-shaped frame 130 and close to the closed end of the U-shaped frame 130. The two drive units 210 are respectively mounted on the top and bottom surfaces of the connecting arm 120, and the pair of drive units 210 jointly drive the movement of the pair of main rotating rollers 200. The limiting wheel assembly includes a pair of auxiliary rotating rollers 220. The two auxiliary rotating rollers 220 are respectively mounted on the U-shaped frame 130 and close to the open end of the U-shaped frame 130. The detection wheel assembly also includes a pressure sensor electrically connected to the control terminal. The pressure sensor is connected in series in the force transmission path of the normal pressure output by the drive unit 210 and is used to detect the normal pressure applied by the main roller unit 200 to the robot rotation assembly 140. The control terminal is configured to adjust the normal pressure output by the drive unit 210 according to a preset loading program, so that the normal pressure applied by the main roller unit 200 to the robot rotation assembly 140 tracks the loading program, and the friction torque corresponding to the stable friction coefficient changes with the loading program.

[0024] It should be noted that the loading process uses methods such as step-like increases, ramp-like increases, or periodic fluctuations to make the normal pressure change over time.

[0025] The movable frame 100 has a mounting groove 101 on its side near the top. The mounting arm 110 can be installed laterally or detachably in the mounting groove 101, so that the receiving cavity of the U-shaped frame 130 on it can accommodate the robot rotating assembly 140 arranged longitudinally or laterally.

[0026] The U-shaped frame 130 includes a connecting plate 131, an upper U-shaped rail 132, a lower U-shaped rail 133, and a closing plate 134. The connecting plate 131 is fixed to the other end face of the connecting arm 120. The upper U-shaped rail 132 and the lower U-shaped rail 133 are respectively fixed to the upper and lower ends of the connecting plate 131. The upper U-shaped rail 132 and the lower U-shaped rail 133 are each provided with a sliding groove 135. One end face of the closing plate 134 is provided with multiple slots, the positions of which correspond one-to-one with the opening positions of the upper U-shaped rail 132 and the lower U-shaped rail 133. The closing plate 134 is engaged with the upper U-shaped rail 132 and the lower U-shaped rail 133 through the slots.

[0027] The main rotating roller section 200 includes a movable seat 201, a motor 202, a main top plate 203, a main bottom plate 204, and a main rotating roller 205; a pair of movable seats 201 are slidably connected in the grooves 135 of the upper U-shaped rail 132 and the lower U-shaped rail 133; a motor 202 is fixedly connected to the movable seat 201 located on the upper U-shaped rail 132, and the main top plate 203 is fixedly connected to the bottom surface of the movable seat 201; the motor 202 is electrically connected to the control terminal; the movable seat 201 located on the lower U-shaped rail 133... The top surface is fixedly connected to the main bottom plate 204; multiple main rotating rollers 205 are equidistantly rotatably connected between the main top plate 203 and the main bottom plate 204 on the same side; the output end of the motor 202 passes through the main top plate 203 on the same side and is fixedly connected to the shaft of a corresponding main rotating roller 205; the shafts at the upper ends of the multiple main rotating rollers 205 on the same side are connected by a main belt 206; the outer circular surface of the main rotating roller 205 is covered with a layer of elastic material with a high coefficient of friction (such as polyurethane).

[0028] The drive unit 210 includes a base 211, a second motor 212, a lead screw 213, and a V-shaped plate 214. The base 211 is respectively installed on the upper and lower ends of the connecting arm 120. The second motor 212, which is electrically connected to the control terminal, is installed on the base 211. The output shaft of the second motor 212 is the lead screw 213. A vertical plate 215 is also fixedly connected to the other end of the base 211, and the other end of the lead screw 213 is rotatably connected to the vertical plate 215. The V-shaped plate 214 includes two wing plates 2141 forming a V shape and a connecting seat 2142. 2142 is threaded onto the lead screw 213, and the bottom surface of the connecting seat 2142 contacts the mounting surface of the plate seat 211 on which the motor 212 is mounted. The connecting seat 2142 is slidably connected to the mounting surface of the plate seat 211. The other ends of the two wing plates 2141 located at the upper and lower ends of the connecting arm 120 are respectively fixed to the corresponding moving seats 201. The pressure sensor is set between the end faces of the wing plates 2141 of the V-shaped plate 214 that contact the moving seats 201, and the force-bearing surface of the sensor is in contact with the thrust surface of the wing plate 2141.

[0029] The main top plate 203 and the main bottom plate 204, located on the same side, are both set at an angle, and the angle is the same as that of the wing plate 2141 of the V-shaped plate 214.

[0030] The auxiliary rotating roller section 220 includes a sliding seat 221, an auxiliary top plate 222, an auxiliary bottom plate 223, and auxiliary rotating rollers 224. A pair of sliding seats 221 are slidably connected in the grooves 135 of the upper U-shaped rail 132 and the lower U-shaped rail 133. The bottom surface of the sliding seat 221 on the upper U-shaped rail 132 is rotatably connected to the auxiliary top plate 222 via a torsion spring. The top surface of the sliding seat 221 on the lower U-shaped rail 133 is rotatably connected to the auxiliary bottom plate 223 via a torsion spring. The torsion springs of the auxiliary top plate 222 and the auxiliary bottom plate 223 rotate in the direction of the detection wheel assembly. Multiple auxiliary rotating rollers 224 are rotatably connected at equal intervals between the auxiliary top plate 222 and the auxiliary bottom plate 223 on the same side. The upper ends of the multiple auxiliary rotating rollers 224 on the same side are connected by an auxiliary belt 225. The outer circular surface of the auxiliary rotating roller 224 is covered with a layer of elastic material with a high coefficient of friction (such as polyurethane).

[0031] The sliding seat 221 also includes a positioning shaft 226 and a positioning cap 227 with external threads on the outer circle; the top surface of the sliding seat 221 is an open structure, and the positioning shaft 226 is fixedly connected to the top surface of the sliding seat 221; the positioning cap 227 is threadedly connected to the positioning shaft 226 and is in close contact with the upper U-shaped rail 132 or the lower U-shaped rail 133.

[0032] The outer surface of the secondary belt 225 is fixed with multiple fluorescent bumps 2251.

[0033] The lower end of the connecting plate 131 is also fixedly connected to a secondary connecting plate 1311; the anti-rotation component includes a docking plate 150 and two U-shaped surrounding tubes 151 fixedly connected to one end face of the docking plate 150. The opening ends of the two U-shaped surrounding tubes 151 on the same side are rotatably connected to a limiting plate 160 by a torsion spring, which rotates in the opposite direction to the secondary connecting plate 1311; a rubber plate 161 is fixedly connected to the surface of the limiting plate 160 that contacts the lower joint of the robot rotating component 140.

[0034] Specific implementation: First, according to the actual installation orientation of the robot rotating component 140 to be tested, the mounting arm 110 is detachably installed in the mounting slot 101 of the moving frame 100 in a horizontal or vertical manner (it can be fixed by bolts or other means, which will not be described here), so that the receiving cavity of the U-shaped frame 130 can be aligned with and adapted to the robot rotating component 140 arranged in a vertical or horizontal manner, and the sealing plate 134 is removed.

[0035] Then, the robot rotating assembly 140 is inserted, and the sealing plate 134 is installed. The moving frame 100 is pushed to the robot rotating assembly 140 to be tested; then, a pair of auxiliary rotating rollers 220 are rotated outward (i.e., overcoming the torsion spring preload, causing the auxiliary top plate 222, auxiliary bottom plate 223 and their auxiliary rotating rollers 224 to open outward), so that the opening end of the U-shaped frame 130 forms a width that allows the robot rotating assembly 140 to pass through; the moving frame 100 is continued to be pushed, so that the robot rotating assembly 140 enters the receiving cavity through the opening end until the outer circular wall of the upper joint of the robot rotating assembly 140 contacts the main rotating roller 205 of the main rotating roller 200.

[0036] Then, the auxiliary rotating roller 220 is slowly released, and the auxiliary top plate 222 and auxiliary bottom plate 223 are reset under the action of the torsion spring. The auxiliary rotating roller 224 on them is tightly attached to the outer circular wall of the upper joint of the robot rotating assembly 140, forming an adaptive floating clamp. At this time, the outer wall of the lower joint of the robot rotating assembly 140 is attached to the rubber plate 161 of the anti-rotation component and squeezes the limiting plate 160. The limiting plate 160 rotates adaptively under the action of the torsion spring, so that the opening between the two U-shaped tubes 151 opens and hugs the lower joint, thereby preventing the lower joint from rotating along with the upper joint during subsequent forward and reverse rotation detection.

[0037] Next, motor 212 is started. The output shaft of motor 212 drives the lead screw 213 to rotate. The lead screw 213 drives the connecting seat 2142 to move linearly along the mounting surface of the plate seat 211, thereby driving the V-shaped plate 214 to move towards the receiving cavity. The wing plate 2141 of the V-shaped plate 214 presses against the force-bearing surface of the pressure sensor. The pressure sensor transmits the thrust of the wing plate 2141 to the moving seat 201, so that the main top plate 203, the main bottom plate 204 and the main rotating roller 205 between them synchronously move towards the central axis of the robot rotating assembly 140, applying an adjustable compressive force to the robot rotating assembly 140. During this process, the pressure sensor detects the normal pressure applied by the main rotating roller 200 to the robot rotating assembly 140 in real time and feeds it back to the control end. The control end compares the actual normal pressure with the target load curve and adjusts the output of the second motor 212 through PID control so that the normal pressure changes according to the preset loading program. Under the condition of stable friction coefficient, the friction torque T=μFR changes accordingly (including but not limited to stepped loading, ramp loading or impact loading), thereby realizing programmable control of friction force / load.

[0038] After reaching the target load, motor 202 is started. The output shaft of motor 202 drives one main rotating roller 205 fixed to it to rotate. The other main rotating rollers 205 on the same side rotate synchronously through the main belt 206. All the main rotating rollers 205 together drive the upper joint of the robot rotating assembly 140 to rotate in the forward or reverse direction. Since the lower joint is limited and held by the rubber plate 161, it can effectively prevent the lower joint from rotating with the upper joint. It should be noted that this anti-rotation assembly relies on the static friction of the rubber plate 161 to lock the lower joint. For high torque joint detection scenarios, a positioning pin structure can be added to mechanically position the lower joint and prevent the lower joint from slipping.

[0039] During forward and reverse rotation detection, the current signal of motor 202 is collected through the control terminal to determine the flexibility of the robot rotating component 140. The principle is as follows: the output torque of motor 202 is proportional to the current. When the torsion spring clamping force is constant, the friction torque is constant, and the change in motor current simply reflects the change in the resistance torque of the robot joint itself. The stiffness of the torsion spring is configured to be much greater than the stiffness requirement corresponding to the deformation caused by the radial dimension deviation of the outer wall of the robot rotating component 140, so that when the outer circle of the component runs out ±0.1mm, the change in the additional deformation force of the torsion spring relative to the preload is less than 1%, so the normal pressure is approximately constant. The criteria include: calculating the average current for forward / reverse rotation, reflecting the overall damping (i.e., flexibility) of the joint; if it exceeds 120% of the factory standard value (in one embodiment, this threshold is 120%), the damping is too large, requiring lubrication or maintenance; calculating the difference between forward and reverse currents; if it exceeds 15% (in one embodiment, this threshold is 15%), it reflects directional asymmetry, indicating a bearing or reducer malfunction; calculating the fluctuation range of the current (the difference between the maximum and minimum values); if it exceeds 30% of the average value (in one embodiment, this threshold is 30%), there may be jamming or raceway damage; and repeatedly testing the current difference at the same location to reflect the lubrication status and wear trend. Furthermore, before the equipment leaves the factory, pre-... First, the inherent frictional resistance of each rotating bearing in the auxiliary rotating roller section 220 is measured. In subsequent testing and calculation, this inherent resistance is subtracted from the current collected by motor 202 to eliminate the system measurement error caused by the friction of the auxiliary rotating roller 224 itself. Furthermore, during the factory calibration stage of the equipment, in an unloaded state without contact with the rotating component 140 of the robot under test, the no-load current of motor 202 at different set speeds is collected, and the inherent loss current caused by the bearings of the main belt 206 and the main rotating roller 205 is pre-stored in the control terminal. During the formal testing and calculation process, this no-load loss current is subtracted from the sampled current of motor 202 to further eliminate the system measurement error caused by the main side transmission components.

[0040] It should be noted that by checking whether the fluorescent bumps 2251 on the outer surface of the auxiliary belt 225 rotate with it: if the motor 202 is running but the fluorescent bumps 2251 are stationary, it indicates that the auxiliary rotating roller 224 is not rotating synchronously with the robot rotating assembly 140. This may be due to slippage between the robot rotating assembly 140 and the main rotating roller 205, or slippage between the robot rotating assembly 140 and the auxiliary rotating roller 224. The operator can comprehensively judge the type of slippage by combining the motion state of the main rotating roller and manually record the number of slippages as an auxiliary judgment indicator. When slippage is confirmed by observation, the current data collected this time is considered an invalid sample, the control terminal discards the sampled data, and the detection is carried out again. In this embodiment, slippage is identified manually by visual inspection. In another optional embodiment, an angle encoder can be added to collect the rotation angle of the main rotating roller 205 and the rotation angle of the robot rotating assembly 140 respectively. Slippage can be automatically identified by the difference in rotation angles to achieve fully automatic detection. To improve data comparability, the rotational speed of motor 1202 is uniformly set to a fixed value (e.g., 5~10 degrees / second) during routine testing. If the speed is too low, the friction state will be unstable; if it is too high, a significant temperature rise will occur, affecting the data. Before testing, the robot's rotating component 140 should be preheated for several minutes to allow the lubricating grease to reach its working temperature, avoiding inflated data from cold starts that could lead to misjudgments.

[0041] One or more technical solutions provided in this application have at least the following technical effects or advantages: Motor 212 drives V-shaped plate 214 to move along the mounting surface of plate base 211 via lead screw 213. The thrust of the two wing plates 2141 is transmitted to the corresponding moving seats 201 via pressure sensors, pushing the moving seats 201 to slide along the slide groove 135. This causes the main top plate 203, main bottom plate 204, and the main rotating roller 205 between them to move towards the central axis of the robot rotating assembly 140, achieving continuous and precise adjustment of the joint normal pressure. The pressure sensor is connected in series in the force transmission path of the normal pressure output by the drive unit 210, which can measure the normal pressure applied by the main rotating roller 200 to the robot rotating assembly 140 in real time and feed the detection signal back to the control terminal. The control terminal adjusts the output of motor 212 according to the preset loading program, so that the normal pressure applied by the main rotating roller 200 to the robot rotating assembly 140 tracks the loading program. Under the condition of stable friction coefficient, the corresponding friction torque changes with the loading program, forming a complete closed-loop control. Therefore, inspectors can pre-set loading programs according to the actual working conditions of different types of joints, such as stepped loading, ramp loading, or impact loading, to simulate the operation of joints under light load, heavy load, and sudden load changes. This overcomes the limitation of traditional testing equipment that can only test under constant load, making flexibility testing closer to the real working conditions. In particular, it can expose hidden defects such as jamming and damping changes that only occur in joints under variable load conditions, significantly improving the authenticity and comprehensiveness of the test.

[0042] The output shaft of motor 202 is fixedly connected to the shaft of a corresponding main rotating roller 205. Multiple main rotating rollers 205 on the same side are linked by a main belt 206. Each main rotating roller 205 drives the robot rotating assembly 140 to rotate forward or backward, breaking through the limitation of traditional passive detection methods that cannot continuously rotate 360°, and enabling multi-turn, bidirectional continuous detection of the joint. During forward and reverse rotation, the control end collects the current signal of motor 202 to determine the dexterity. The output torque of motor 202 is proportional to the current. Since the stiffness of the torsion spring in the auxiliary rotating roller 220 is configured to be much greater than the stiffness requirement corresponding to the deformation caused by the radial dimension deviation of the outer wall of the robot rotating assembly 140, the normal pressure is approximately constant, and the frictional torque is constant. Therefore, the change in motor current simply reflects the change in the joint's own resistance torque. By calculating the average current during forward and reverse rotation, the overall damping and flexibility of the joint can be reflected. Comparing the current difference between forward and reverse rotations can reveal directional asymmetry defects. Analyzing the current fluctuation amplitude can determine if there is jamming or raceway damage. Repeated testing of the current difference at the same location can also track lubrication status and wear trends. Compared to traditional methods relying on manual observation of rotation angles, this solution achieves quantitative, real-time, and continuous detection of joint damping, providing clear quantitative indicators for production line quality assessment and significantly improving detection efficiency and consistency.

[0043] The fluorescent bumps 2251 on the outer surface of the auxiliary belt 225 can visually display the following state of the auxiliary rotating roller 224, making it easy to determine whether slippage occurs during the drive process and record the number of slippages; the limit plate 160 in the anti-rotation component is rotatably connected between the two U-shaped tubes 151 through a torsion spring. When the lower joint of the joint is in contact with the rubber plate 161, the opening between the two U-shaped tubes 151 opens and hugs the lower joint, effectively preventing the lower joint from rotating along with the forward and reverse detection, ensuring accurate and reliable detection results.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An industrial robot rotational flexibility testing device, characterized in that, The system includes a movable frame (100), a mounting arm (110), a connecting arm (120), and a control terminal. The mounting arm (110) is mounted on the movable frame (100), and the connecting arm (120) is integrally formed on the mounting arm (110). A U-shaped frame (130) is provided at the other end of the connecting arm (120). One end of the U-shaped frame (130) is closed, and the other end is open. A receiving cavity is formed between the closed end and the open end to accommodate the robot rotating assembly (140). A detection wheel assembly and a limit wheel assembly are mounted on the U-shaped frame (130), and the detection wheel assembly and the limit wheel assembly are located in the receiving cavity. An anti-rotation assembly is also installed at the lower end of the U-shaped frame (130). The detection wheel assembly and the limit wheel assembly are used to detect and clamp the upper joint of the robot rotating assembly (140), and the anti-rotation assembly is used to clamp the lower joint of the robot rotating assembly (140). The detection wheel assembly includes a pair of main rotating rollers (200) and a pair of drive units (210). The two main rotating rollers (200) are slidably mounted on the U-shaped frame (130) and close to the closed end of the U-shaped frame (130). The two drive units (210) are respectively mounted on the top and bottom surfaces of the connecting arm (120). The pair of drive units (210) jointly drive the movement of the pair of main rotating rollers (200). The limit wheel assembly includes a pair of auxiliary rotating rollers (220). The two auxiliary rotating rollers (220) are respectively mounted on the U-shaped frame (130) and close to the open end of the U-shaped frame (130). The detection wheel assembly also includes a pressure sensor electrically connected to the control terminal. The pressure sensor is connected in series in the force transmission path of the normal pressure output by the drive unit (210) and is used to detect the normal pressure applied by the main rotating rollers (200) to the robot rotating assembly (140).

2. The industrial robot rotation flexibility testing device according to claim 1, characterized in that, The movable frame (100) has a mounting groove (101) on its side near the top. The mounting arm (110) can be installed laterally or detachably in the mounting groove (101), so that the receiving cavity of the U-shaped frame (130) on it can accommodate the robot rotating assembly (140) arranged longitudinally or laterally.

3. The industrial robot rotation flexibility testing device according to claim 1, characterized in that, The U-shaped frame (130) includes a connecting plate (131), an upper U-shaped rail (132), a lower U-shaped rail (133), and a closing plate (134); the connecting plate (131) is fixed to the other end face of the connecting arm (120); the upper U-shaped rail (132) and the lower U-shaped rail (133) are respectively fixed to the upper and lower ends of the connecting plate (131); the upper U-shaped rail (132) and the lower U-shaped rail (133) are both provided with sliding grooves (135); one end face of the closing plate (134) is provided with multiple slots, the positions of which correspond one-to-one with the opening positions of the upper U-shaped rail (132) and the lower U-shaped rail (133), and the closing plate (134) is engaged with the upper U-shaped rail (132) and the lower U-shaped rail (133) through the slots.

4. The industrial robot rotation flexibility testing device according to claim 3, characterized in that, The main rotating roller section (200) includes a movable seat (201), a motor (202), a main top plate (203), a main bottom plate (204), and a main rotating roller (205); a pair of movable seats (201) are slidably connected in the grooves (135) of the upper U-shaped rail (132) and the lower U-shaped rail (133); a motor (202) is fixedly connected to the movable seat (201) on the upper U-shaped rail (132), and the main top plate (203) is fixedly connected to the bottom surface of the movable seat (201); the motor (202) is electrically connected to the control terminal; the main top plate (203) is fixedly connected to the main top plate (204) on the lower U-shaped rail (132) and the main rotating roller (205). 3) The top surface of the movable seat (201) is fixedly connected to the main base plate (204); multiple main rotating rollers (205) are equidistantly rotatably connected between the main top plate (203) and the main base plate (204) on the same side; the output end of the motor (202) passes through the main top plate (203) on the same side and is fixedly connected to the shaft of a corresponding main rotating roller (205); the shafts at the upper ends of the multiple main rotating rollers (205) on the same side are connected by the main belt (206); the outer surface of the main rotating roller (205) is covered with a layer of elastic material with a high coefficient of friction.

5. The industrial robot rotation flexibility testing device according to claim 4, characterized in that, The drive unit (210) includes a base plate (211), a second motor (212), a lead screw (213), and a V-shaped plate (214); the base plate (211) is installed on the upper and lower ends of the connecting arm (120); the second motor (212), which is electrically connected to the control end, is installed on the base plate (211), and the output shaft of the second motor (212) is the lead screw (213). A vertical plate (215) is also fixedly connected to the other end of the base plate (211), and the other end of the lead screw (213) is rotatably connected to the vertical plate (215); the V-shaped plate (214) includes two wing plates (2141) forming a V shape and a connecting seat (2142); The connecting seat (2142) is threaded onto the lead screw (213), and the bottom surface of the connecting seat (2142) is in contact with the mounting surface of the plate seat (211) on which the second motor (212) is mounted. The connecting seat (2142) is slidably connected to the mounting surface of the plate seat (211). The other ends of the two wing plates (2141) located at the upper and lower ends of the connecting arm (120) are respectively fixed to the corresponding moving seats (201). The pressure sensor is set between the end faces of the wing plate (2141) of the V-shaped plate (214) that are in contact with the moving seat (201), and the force-bearing surface of the sensor is in contact with the thrust surface of the wing plate (2141).

6. The industrial robot rotation flexibility testing device according to claim 5, characterized in that, The main top plate (203) and the main bottom plate (204) located on the same side are both set at an angle, and the angle is the same as that of the wing plate (2141) of the V-shaped plate (214).

7. The industrial robot rotation flexibility testing device according to claim 1, characterized in that, The auxiliary rotating roller section (220) includes a sliding seat (221), an auxiliary top plate (222), an auxiliary bottom plate (223), and an auxiliary rotating roller (224); a pair of sliding seats (221) are slidably connected in the grooves (135) of the upper U-shaped rail (132) and the lower U-shaped rail (133); the bottom surface of the sliding seat (221) located on the upper U-shaped rail (132) is rotatably connected to the auxiliary top plate (222) by a torsion spring; the top surface of the sliding seat (221) located on the lower U-shaped rail (133) is open to the upper U-shaped rail (133). A secondary base plate (223) is rotatably connected by a torsion spring, and the torsion springs of the secondary top plate (222) and the secondary base plate (223) rotate in the direction of the detection wheel assembly; multiple secondary rotating rollers (224) are equidistantly rotatably connected between the secondary top plate (222) and the secondary base plate (223) on the same side; the upper ends of the multiple secondary rotating rollers (224) on the same side are connected by a secondary belt (225); the outer surface of the secondary rotating rollers (224) is covered with a layer of elastic material with a high coefficient of friction.

8. The industrial robot rotation flexibility testing device according to claim 7, characterized in that, The sliding seat (221) also includes a positioning shaft (226) with an external thread on its outer circle and a positioning cap (227); the top surface of the sliding seat (221) is an open structure, and the positioning shaft (226) is fixedly connected to the top surface of the sliding seat (221); the positioning cap (227) is threadedly connected to the positioning shaft (226) and is in close contact with the upper U-shaped rail (132) or the lower U-shaped rail (133).

9. The industrial robot rotation flexibility testing device according to claim 7, characterized in that, The outer surface of the secondary belt (225) is fixed with multiple fluorescent bumps (2251).

10. The industrial robot rotation flexibility testing device according to claim 3, characterized in that, The lower end of the connecting plate (131) is also fixedly connected to a secondary connecting plate (1311); the anti-rotation component includes a docking plate (150) and two U-shaped surrounding tubes (151) fixedly connected to one end face of the docking plate (150). The opening ends of the two U-shaped surrounding tubes (151) on the same side are rotatably connected to a limiting plate (160) by a torsion spring. The torsion spring rotates in the opposite direction to the secondary connecting plate (1311); a rubber plate (161) is fixedly connected to the surface of the limiting plate (160) that contacts the lower joint of the robot rotating component (140).

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