Robot joint testing device

Abstract

The utility model relates to a robot joint testing device. The robot joint comprises a first mechanical arm, a connecting joint and a second mechanical arm which are connected in sequence. The robot joint testing device comprises a testing seat, a reciprocating translation mechanism and a traction rope. The testing seat comprises a base, a supporting frame and a pressing mechanism, wherein the supporting frame and the pressing mechanism are located on the base. The pressing mechanism is used for fixing the first mechanical arm. The reciprocating translation mechanism comprises an outer shell and a moving seat capable of reciprocating, the outer shell is fixedly connected to the top end of the supporting frame, and a first linear slot is formed in the upper surface of the outer shell; one end of the traction rope is detachably connected with the second mechanical arm, the other end of the traction rope penetrates through the first linear open groove to be detachably connected with the moving seat, and the moving seat which moves in a reciprocating mode pulls the traction rope to drive the second mechanical arm to swing in a reciprocating mode so as to test the anti-bending service life of the connecting joint of the second mechanical arm.

Description

Technical Field

[0001] The utility model relates to a robot testing device, in particular to a robot joint testing device. Background Art

[0002] Because robotic arms frequently bend and swing during use, joint bending life testing is required during production. This testing aims to verify the reliability of joint connections (for mechanical issues like abnormal noise and looseness) and the reliability of internal cables during extended motion.

[0003] In the prior art, for example, a robot joint testing device disclosed in the utility model patent with authorization announcement number CN219714722U is arranged on the second swing arm through a sleeve, and then the sleeve is driven to move back and forth by a moving rod to drive the second swing arm to swing. During this process, the sleeve needs to move on the second swing arm, so the second sleeve needs to match the second swing arm to be used normally. However, testing cannot be performed on swing arms with irregular shapes or swing arms of different sizes, resulting in greater limitations in the use of the testing device and difficulty in meeting usage requirements. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a robot joint testing device to solve the problem that the existing testing devices have large limitations in use.

[0005] The technical solution adopted by the present invention to solve the above technical problems is a robot joint testing device, wherein the robot joint comprises a first robot arm (401), a connecting joint (402) and a second robot arm (403) connected in sequence, and the robot joint testing device comprises a testing seat (100), a reciprocating translation mechanism (200) and a traction rope (300); the testing seat (100) comprises a base (110), a support frame (101) located on the base (110) and a pressing mechanism, wherein the pressing mechanism is used to fix the first robot arm (401); the reciprocating translation mechanism (200) comprises an outer shell (201) and an inner cavity of the outer shell (201). The invention relates to a reciprocating movable seat (202), wherein the outer shell (201) is fixedly connected to the top end of the support frame (101), and the upper surface of the outer shell (201) is provided with a first linear slot (205); one end of the traction rope (300) is detachably connected to the second mechanical arm (403), and the other end passes through the first linear slot (205) and is detachably connected to the movable seat (202); the reciprocating movable seat (202) pulls the traction rope (300) to drive the second mechanical arm (403) to perform a reciprocating swinging motion, so as to test the bending resistance life of the connection joint (402) of the second mechanical arm (403).

[0006] Optionally, a second linear slot (105) is provided at the top of the base (110), a sliding block (106) is movably connected in the second linear slot (105), a pull rope (108) is connected to the sliding block (106), a positioning block (109) is provided at the end of the second linear slot (105), a reset spring (107) is fixedly connected between the sliding block (106) and the positioning block (109), one end of the pull rope (108) bypasses the positioning block (109) and is detachably connected to the second mechanical arm (403), wherein, during the swinging back of the second mechanical arm (403), the elastic reaction force of the reset spring (107) drives the second mechanical arm (403) to swing downward.

[0007] Optionally, the clamping mechanism includes a fixing seat (102), a clamping bolt (103) and a pressure plate (104), wherein the fixing seat (102) is fixedly connected to the side wall of the support frame (101), the clamping bolt (103) passes through the fixing seat (102) and is rotatably connected to the pressure plate (104), the side wall of the pressure plate (104) is in contact with the outer wall of the support frame (101), and the clamping bolt (103) drives the pressure plate (104) to rise and fall when rotating, wherein the pressure plate (104) is driven downward by the clamping bolt (103) to clamp and fix the first robotic arm (401).

[0008] Optionally, the reciprocating translation mechanism (200) further comprises: a bidirectional lead screw (203) and a servo motor (204), wherein the servo motor (204) is used to drive the bidirectional lead screw (203) to rotate, and the bottom of the movable seat (202) is threadedly connected to the outer wall of the bidirectional lead screw (203), and when the bidirectional lead screw (203) rotates, the movable seat (202) is driven to perform reciprocating lateral movement along the axial direction of the bidirectional lead screw (203).

[0009] Optionally, the bottom of the movable seat (202) is threadedly connected to the bidirectional lead screw (203) via a nut seat.

[0010] Optionally, a winding mechanism is further included, wherein the winding mechanism includes a wheel seat (301) and a winding wheel (302), the top of the movable seat (202) passes through the first linear slot (205) and is fixedly connected to the bottom end of the wheel seat (301), the winding wheel (302) is rotatably connected to the wheel seat (301), the other end of the traction rope (300) is connected to the winding wheel (302), and the winding wheel (302) is used for winding and fixing the traction rope (300).

[0011] Optionally, the side wall of the wheel seat (301) is provided with a mounting slot (304), and a connecting toothed disc (305) is rotatably connected inside the mounting slot (304), one end of the connecting toothed disc (305) is fixedly connected to one end of the winding wheel (302), and a vertically movable inner tooth block (306) is provided above the connecting toothed disc (305), and an adjusting bolt (307) is threadedly inserted into the top of the wheel seat (301), and the bottom of the adjusting bolt (307) extends to the inner cavity of the mounting slot (304) and is rotatably connected to the top of the inner tooth block (306), and the adjusting bolt (307) drives the inner tooth block (306) to rise and fall, wherein, when the inner tooth block (306) is engaged with the outer wall of the connecting toothed disc (305), the rotation of the winding wheel (302) is locked.

[0012] Optionally, the inner tooth block (306) is arc-shaped, and its outer wall fits the inner wall of the mounting slot (304).

[0013] Optionally, a fixed pulley (303) is further included, wherein the fixed pulley (303) is fixedly mounted on one side of the outer shell (201), and the outer wall of the traction rope (300) is arranged in close contact with the outer wall of the fixed pulley (303).

[0014] Optionally, the upper surface of the fixed pulley (303) is higher than the top of the outer shell (201).

[0015] Beneficial effects of the utility model:

[0016] The robot joint testing device of the present invention drives one end of a traction rope to move back and forth through a reciprocating translation mechanism, and then cooperates with the other end of the traction rope to be sleeved on the robotic arm, so as to drive the robotic arm to swing back and forth while being adaptable to robotic arms of various specifications. At the same time, connecting the robotic arm through the traction rope makes it easier to disassemble and assemble, which not only improves the adaptability of the test device, but also makes it more convenient to use, thereby better meeting the use needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the following describes in detail the specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 Schematic diagram of a robot joint testing device according to an embodiment of the present invention.

[0019] Figure 2 yes Figure 1 A schematic diagram of a clamping mechanism according to an embodiment.

[0020] Figure 3 yes Figure 1 A top view of a reciprocating translation mechanism according to an embodiment.

[0021] Figure 4 yes Figure 1 A side view of a reeling mechanism according to an embodiment.

[0022] Figure 5 yes Figure 1 A top view of a base according to an embodiment.

[0023] Reference numerals

[0024] 100 test sockets;

[0025] 101 support frame;

[0026] 102 fixed seat;

[0027] 103 tightening bolt;

[0028] 104 pressure plate;

[0029] 105 second straight line slotting;

[0030] 106 Slide Block;

[0031] 107 return spring;

[0032] 108 pull rope;

[0033] 109 positioning block;

[0034] 110 base;

[0035] 200 reciprocating translation mechanism;

[0036] 201 outer shell;

[0037] 202 mobile seat;

[0038] 203 bidirectional screw;

[0039] 204 servo motor;

[0040] 205 First straight line slotting;

[0041] 300 traction rope;

[0042] 301 wheel seat;

[0043] 302 reel;

[0044] 303 fixed pulley;

[0045] 304 installation slots;

[0046] 305 connecting gear plate;

[0047] 306 internal gear block;

[0048] 307 adjusting bolt;

[0049] 401 First Robotic Arm;

[0050] 402 joints;

[0051] 403 Second Robotic Arm. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0053] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0054] Figure 1 This is a schematic diagram of a robot joint testing device according to an embodiment of the present invention. The robot joint testing device is used to test the bending life of robot joints. Figure 1 As shown, the robot joint includes a first robot arm 401, a connecting joint 402 and a second robot arm 403 connected in sequence.

[0055] The robot joint testing device includes a testing seat 100 , a reciprocating translation mechanism 200 and a traction rope 300 .

[0056] The test socket 100 includes a base 110 , a support frame 101 located on the base 110 , and a clamping mechanism, wherein the clamping mechanism is used to fix the first mechanical arm 401 .

[0057] Figure 2 yes Figure 1 A schematic diagram of a clamping mechanism according to an embodiment of the present invention. Figure 2 As shown, the clamping mechanism includes a fixing seat 102, a clamping bolt 103 and a pressure plate 104. The fixing seat 102 is fixedly connected to the side wall of the support frame 101, and the clamping bolt 103 passes through the fixing seat 102 and is rotatably connected to the pressure plate 104. The side wall of the pressure plate 104 fits with the outer wall of the support frame 101, so that when the clamping bolt 103 rotates, it will not drive the pressure plate 104 to rotate. In this way, when the clamping bolt 103 rotates, it can drive the pressure plate 104 to rise and fall. After the first robotic arm 401 is placed on the base 110, the pressure plate 104 is driven downward by the clamping bolt 103 to clamp and fix the first robotic arm 401, so that the second robotic arm 403 can swing. The stability of the first robotic arm 401 during the test is ensured, which helps to improve the quality of the robot joint test.

[0058] like Figure 1As shown, the reciprocating translation mechanism 200 includes an outer shell 201 , which is fixedly connected to the top of the support frame 101 , and a first linear slot 205 is provided on the upper surface of the outer shell 201 . Figure 3 yes Figure 1 A top view of a reciprocating translation mechanism according to an embodiment. Figure 3 As shown, the reciprocating translation mechanism 200 further includes a reciprocating movable seat 202 located in the inner cavity of the outer shell 201. Figure 1 As shown, one end of the traction rope 300 is detachably connected to the second robotic arm 403, while the other end passes through the first linear slot 205 and is detachably connected to the movable base 202. The reciprocating movable base 202 pulls the traction rope 300, driving the second robotic arm 403 to swing back and forth, thereby testing the bending life of the connecting joint 402 of the second robotic arm 403. Optionally, the swing angle of the second robotic arm 403 can be set as desired. Preferably, the swing angle of the second robotic arm 403 is greater than or equal to 90°.

[0059] Alternatively, as Figure 3 As shown, a servo motor 204 for driving the rotation of a bidirectional lead screw 203 is fixedly connected to the outer wall of the outer shell 201. The servo motor 204 drives the bidirectional lead screw 203 to rotate, and the bottom of the movable base 202 is threadedly connected to the outer wall of the bidirectional lead screw 203. When the bidirectional lead screw 203 rotates, it drives the movable base 202 to reciprocate along the axis of the bidirectional lead screw 203. In this way, the traction effect of the traction rope 300 is combined to drive the joints of the robot arm to swing back and forth continuously, thereby achieving the purpose of testing the robot arm's anti-bending resistance.

[0060] Optionally, the bottom of the movable seat 202 is threadedly connected to the bidirectional lead screw 203 via a nut seat.

[0061] Alternatively, as Figure 1 As shown, the robot joint testing device also includes a fixed pulley 303, which is fixedly mounted on one side of the outer shell 201. The outer wall of the traction rope 300 is arranged to fit in contact with the outer wall of the fixed pulley 303. The fixed pulley 303 can assist in the transmission of the traction rope 300, reducing the friction resistance of the traction rope 300 at the bend position. This not only allows the traction rope 300 to more stably drive the robot arm to swing, but also reduces wear on the traction rope 300, extending its service life.

[0062] Optionally, the upper surface of the fixed pulley 303 is higher than the top of the outer shell 201, further reducing the friction resistance of the traction rope 300 at the bending position.

[0063] Alternatively, as Figure 1As shown, the robot joint testing device also includes a winding mechanism. The winding mechanism is used to wind and fix the traction rope 300, so as to adjust the length of the traction rope 300 to meet the test length requirements. The winding mechanism includes a wheel seat 301 and a winding wheel 302. The winding wheel 302 is rotatably connected to the wheel seat 301. The top of the movable seat 202 passes through the first linear slot 205 and is fixedly connected to the bottom end of the wheel seat 301. One end of the traction rope 300 is detachably connected to the second robotic arm 403, and the other end of the traction rope 300 is connected to the winding wheel 302. In this embodiment, the length of the traction rope 300 can be adjusted by rotating the winding wheel 302 to meet the test length requirements.

[0064] Figure 4 yes Figure 1 A side view of a winding mechanism according to an embodiment. Figure 4 As shown, optionally, a mounting slot 304 is provided on the side wall of the wheel seat 301, and a connecting toothed disc 305 is rotatably connected to the interior of the mounting slot 304. One end of the connecting toothed disc 305 is fixedly connected to one end of the winding wheel 302. A vertically movable inner tooth block 306 is provided above the connecting toothed disc 305. An adjusting bolt 307 is threadedly inserted into the top of the wheel seat 301. The bottom of the adjusting bolt 307 extends into the inner cavity of the mounting slot 304 and is rotatably connected to the top of the inner toothed block 306. The adjusting bolt 307 drives the inner toothed block 306 to rise and fall. When the inner toothed block 306 engages with the outer wall of the connecting toothed disc 305, the rotation of the winding wheel 302 is locked. Optionally, the inner toothed block 306 is arc-shaped, and its outer wall fits the inner wall of the mounting slot 304. In this embodiment, the traction rope 300 is wound and fixed by the winding wheel 302, and the length of the traction rope 300 can be adjusted by rotating the winding wheel 302 so as to meet the test length requirements. At the same time, the adjusting bolt 307 can be rotated to drive the inner tooth block 306 to rise and fall. After the inner side of the inner tooth block 306 is engaged with the outer wall of the connecting tooth disk 305, the locking limit of the rotation of the winding wheel 302 can be achieved, thereby not only fixing one end of the traction rope 300, but also adjusting the length of the traction rope 300 to better meet the test work requirements.

[0065] Figure 5 yes Figure 1 A top view of the base of an embodiment. Figure 5As shown, optionally, a second linear slot 105 is provided at the top of the base 110, a sliding block 106 is movably connected in the second linear slot 105, a pull rope 108 is connected to the sliding block 106, a positioning block 109 is provided at the end of the second linear slot 105, a return spring 107 is fixedly connected between the sliding block 106 and the positioning block 109, and one end of the pull rope 108 is detachably connected to the second mechanical arm 403 by passing around the positioning block 109, wherein, when the second mechanical arm 403 swings, the sliding block 106 can be pulled by the pull rope 108 to move in the linear slot 105, squeezing the return spring 107 to compress and deform. In this way, during the swing back of the second mechanical arm 403, the elastic reaction force of the return spring 107 drives the second mechanical arm 403 to swing downward, making the mechanical arm swing test process more stable and smooth. In addition, the return spring can protect the second mechanical arm from falling due to its own weight, or can reset the second mechanical arm at a uniform speed when the servo motor is not working.

[0066] The robot joint testing device of the present invention drives one end of a traction rope to move back and forth through a reciprocating translation mechanism, and then cooperates with the other end of the traction rope to be sleeved on the robotic arm, so as to drive the robotic arm to swing back and forth while being adaptable to robotic arms of various specifications. At the same time, connecting the robotic arm through the traction rope makes it easier to disassemble and assemble, which not only improves the adaptability of the test device, but also makes it more convenient to use, thereby better meeting the use needs.

[0067] Although the above disclosure discusses some currently useful embodiments of the present invention through various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the spirit and scope of the present invention. For example, although the system components described above can be implemented using hardware devices, they can also be implemented using software solutions, such as installing the described system on an existing server or mobile device.

[0068] Similarly, it should be noted that, in order to simplify the presentation of the present disclosure and thus facilitate understanding of one or more embodiments of the present disclosure, the foregoing descriptions of the embodiments of the present disclosure sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the subject matter of the present disclosure requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single disclosed embodiment.

[0069] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0070] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0071] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. Furthermore, while the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may have been selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of this description. Furthermore, this application should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0072] Hereinafter, embodiments of the present invention will be described based on the accompanying drawings. However, the embodiments shown below are illustrations of robot joint testing devices for embodying the technical ideas of the present invention, and the robot joint testing devices of the present invention are not specifically the following contents. Furthermore, in order to facilitate the understanding of the scope of the claims, this specification assigns numbers corresponding to the components shown in the embodiments to the components shown in the "Claims" and "Contents of the Utility Model" columns. However, the components shown in the claims are by no means specific to the components of the embodiments. In particular, the dimensions, materials, shapes, and relative configurations of the constituent components described in the embodiments, unless specifically described, are not intended to limit the scope of the present invention to these, but are merely illustrative examples.

[0073] However, the dimensions or positional relationships of the components shown in the drawings are sometimes exaggerated for the purpose of clarifying the description. Furthermore, in the following description, for components that are identical or homogeneous, the same name or symbol will be used, and its detailed description will be omitted as appropriate. Furthermore, the various elements constituting the present invention may be in the form of multiple elements being constituted by the same component so that one component serves as multiple elements, or conversely, multiple components sharing the function of one component. In addition, the contents described in some embodiments and implementation methods may also be utilized in other embodiments, implementation methods, etc. In addition, in this specification, "on" is not limited to the case where it is formed in contact with the upper surface, but also includes the case where it is formed separately above, and is also used to include the meaning of the presence of an intervening layer between layers.

[0074] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required characteristics of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of the scope of some embodiments of the present invention are approximate values, in specific embodiments, the settings of such numerical values are as accurate as possible within the feasible range.

[0075] Although the present invention has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present invention, and various equivalent changes or substitutions can be made without departing from the spirit of the present invention. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present invention, they will fall within the scope of the claims of this application.

Claims

1. A robot joint testing device, wherein the robot joint comprises a first robot arm (401), a connecting joint (402) and a second robot arm (403) connected in sequence, characterized in that: include: A test seat (100), a reciprocating translation mechanism (200) and a traction rope (300); The test seat (100) comprises a base (110), a support frame (101) located on the base (110), and a clamping mechanism, wherein the clamping mechanism is used to fix the first mechanical arm (401); The reciprocating translation mechanism (200) comprises an outer shell (201) and a reciprocating movable seat (202) located in an inner cavity of the outer shell (201); the outer shell (201) is fixedly connected to the top end of the support frame (101); and a first linear slot (205) is provided on the upper surface of the outer shell (201); One end of the traction rope (300) is detachably connected to the second robotic arm (403), and the other end passes through the first linear slot (205) and is detachably connected to the movable seat (202). The reciprocating movable seat (202) pulls the traction rope (300) to drive the second robotic arm (403) to swing back and forth, so as to test the bending resistance life of the connecting joint (402) of the second robotic arm (403).

2. The robot joint testing device according to claim 1, characterized in that: A second linear slot (105) is provided at the top of the base (110), a sliding block (106) is movably connected in the second linear slot (105), a pull rope (108) is connected to the sliding block (106), a positioning block (109) is provided at the end of the second linear slot (105), a reset spring (107) is fixedly connected between the sliding block (106) and the positioning block (109), one end of the pull rope (108) passes around the positioning block (109) and is detachably connected to the second mechanical arm (403), wherein, during the swinging back of the second mechanical arm (403), the elastic reaction force of the reset spring (107) drives the second mechanical arm (403) to swing downward.

3. The robot joint testing device according to claim 1, characterized in that: The clamping mechanism includes a fixing seat (102), a clamping bolt (103) and a pressure plate (104); the fixing seat (102) is fixedly connected to the side wall of the support frame (101); the clamping bolt (103) passes through the fixing seat (102) and is rotatably connected to the pressure plate (104); the side wall of the pressure plate (104) is in contact with the outer wall of the support frame (101); when the clamping bolt (103) rotates, the pressure plate (104) is driven to move up and down, wherein the first mechanical arm (401) is clamped and fixed by the clamping bolt (103) driving the pressure plate (104) downward.

4. The robot joint testing device according to claim 1, wherein: The reciprocating translation mechanism (200) further comprises: a bidirectional lead screw (203) and a servo motor (204); the servo motor (204) is used to drive the bidirectional lead screw (203) to rotate; the bottom of the movable seat (202) is threadedly connected to the outer wall of the bidirectional lead screw (203); when the bidirectional lead screw (203) rotates, the movable seat (202) is driven to perform reciprocating transverse movement along the axial direction of the bidirectional lead screw (203).

5. The robot joint testing device according to claim 4, characterized in that: The bottom of the movable seat (202) is threadedly connected to the bidirectional lead screw (203) via a nut seat.

6. The robot joint testing device according to claim 1, wherein: The utility model also includes a winding mechanism, wherein the winding mechanism includes a wheel seat (301) and a winding wheel (302), the top of the movable seat (202) passes through the first linear slot (205) and is fixedly connected to the bottom end of the wheel seat (301), the winding wheel (302) is rotatably connected to the wheel seat (301), the other end of the traction rope (300) is connected to the winding wheel (302), and the winding wheel (302) is used for winding and fixing the traction rope (300).

7. The robot joint testing device according to claim 6, characterized in that: The side wall of the wheel seat (301) is provided with a mounting slot (304), and a connecting toothed disc (305) is rotatably connected inside the mounting slot (304). One end of the connecting toothed disc (305) is fixedly connected to one end of the winding wheel (302). A vertically movable inner tooth block (306) is provided above the connecting toothed disc (305). An adjusting bolt (307) is threadedly inserted into the top of the wheel seat (301). The bottom of the adjusting bolt (307) extends to the inner cavity of the mounting slot (304) and is rotatably connected to the top of the inner tooth block (306). The adjusting bolt (307) drives the inner tooth block (306) to rise and fall. When the inner tooth block (306) is engaged with the outer wall of the connecting toothed disc (305), the rotation of the winding wheel (302) is locked.

8. The robot joint testing device according to claim 7, characterized in that: The inner tooth block (306) is in an arc shape, and its outer wall fits the inner wall of the installation slot (304).

9. The robot joint testing device according to claim 1, wherein: It also includes a fixed pulley (303), which is fixedly mounted on one side of the outer shell (201), and the outer wall of the traction rope (300) is arranged in close contact with the outer wall of the fixed pulley (303).

10. The robot joint testing device according to claim 9, characterized in that: The upper surface of the fixed pulley (303) is higher than the top end of the outer shell (201).

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