Robot joint module testing device
By designing the towing platform and drive shaft assembly, the robot joint module was able to be towed, which simplified the structure of the testing device, reduced costs, and improved testing efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- WUXI LANGDI MEASUREMENT CONTROL TECH
- Filing Date
- 2025-05-08
- Publication Date
- 2026-04-24
AI Technical Summary
Existing robot joint module testing devices are complex in structure and expensive, which limits their widespread use and application.
The design employs a towing platform, tooling base, drive shaft assembly, and monitoring module. Power output and input of the joint module are achieved through a towing drive method, which simplifies the device structure and reduces testing costs.
The structure of the robot joint module testing device has been simplified, the testing cost has been reduced, which is conducive to its popularization and application, and improves testing efficiency and safety.
Smart Images
Figure CN224158441U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of joint module testing technology, and in particular to a robot joint module testing device. Background Technology
[0002] Joint modules are a crucial component of humanoid robots, and their performance directly impacts the robot's overall performance. Currently, the evaluation method for joint modules typically involves using fatigue testing platforms to conduct aging tests on the motors within the module. During the test, parameters such as motor current, voltage, power consumption, and power are monitored to assess the overall performance and dynamic characteristics of the joint module. However, existing robot joint module testing equipment usually includes servo motors, drive components, sensors, and control systems, resulting in a complex overall structure and high cost, which limits the widespread adoption and application of robot joint module testing equipment. Utility Model Content
[0003] The purpose of this invention is to provide a robot joint module testing device to simplify the structure of the robot joint module testing device and reduce testing costs.
[0004] To achieve this objective, the technical solution adopted by this utility model is as follows:
[0005] Robot joint module testing device, including:
[0006] Towing platform;
[0007] The tooling base is provided with at least two tooling bases spaced apart and opposite to each other along the length direction on the dragging platform. The tooling base is used to install the joint module of the robot to be tested. The tooling base is provided with a clamping mechanism, which is configured to fix the joint module to the corresponding tooling base.
[0008] A drive shaft assembly is provided between two oppositely arranged tooling seats, and both ends of the drive shaft assembly can be coaxially connected to the output ends of the joint modules of the two oppositely arranged tooling seats.
[0009] A monitoring module is electrically connected to the joint module to be tested.
[0010] As an optional solution, the drive shaft assembly includes:
[0011] transmission shaft;
[0012] The couplings are respectively installed at both ends of the drive shaft, and the output ends of the joint modules of the two oppositely arranged tooling seats are respectively connected to the corresponding couplings for transmission.
[0013] As an optional solution, the drive shaft assembly further includes:
[0014] Spline sleeve, each of the couplings is equipped with the spline sleeve;
[0015] The spline shaft is coaxially connected to the output end of the joint module mounted on the tooling base. The spline shaft extends into the corresponding spline sleeve and engages with the spline sleeve for transmission.
[0016] As an optional solution, the drive shaft assembly further includes:
[0017] Bearing housing, the bearing housing being disposed on the towing platform;
[0018] The bearings are arranged along the arrangement direction of the two oppositely arranged tooling seats, and two bearings are spaced apart in the bearing seat. The transmission shaft passes through the two bearings in sequence to be rotatably mounted on the bearing seat.
[0019] As an optional solution, the clamping mechanism is a quick clamp, and the tooling base is provided with a plurality of quick clamps along the circumferential direction.
[0020] As an optional solution, the clamping mechanism includes:
[0021] A clamping drive component is provided on the tooling base;
[0022] The clamping plate is connected to the output end of the clamping drive unit so that the clamping plate has a clamping position for clamping the joint module to the tooling seat and a release position for releasing the joint module.
[0023] As an optional feature, the drag platform is equipped with a heat dissipation mechanism configured to reduce the temperature of the joint module during testing.
[0024] As an optional solution, the heat dissipation mechanism is a fan, and each of the tooling seats is provided with a fan on one side, and the fan blows air toward the joint module on the corresponding tooling seat.
[0025] As an optional feature, the towing platform is equipped with a protective cover, which has an openable and closable safety door.
[0026] As an optional feature, a temperature control component is installed inside the protective cover, and the temperature control component is configured to control the temperature inside the protective cover.
[0027] The beneficial effects of this utility model are as follows:
[0028] This invention proposes a robot joint module testing device. Two symmetrically arranged fixtures on a towing platform are used to fix the joint module to be tested via a clamping mechanism. This ensures the two joint modules are symmetrically arranged and connected by a transmission shaft assembly, enabling mutual towing drive between them. A monitoring module monitors parameters such as current and voltage for each joint module. This robot joint module testing device achieves power output and input through mutual towing drive, eliminating the need for additional power output motors and other components. This simplifies the structure of the testing device, reduces testing costs, and promotes its widespread adoption and application. Attached Figure Description
[0029] Figure 1 This is a front view of the robot joint module testing device provided in this embodiment of the utility model;
[0030] Figure 2 This is a schematic diagram of the assembly structure of the tooling base, drive shaft assembly and joint module on the drag platform provided in this embodiment of the utility model;
[0031] Figure 3 This is a schematic diagram of the assembly structure of the tooling base, joint module, spline sleeve, spline shaft and coupling provided in the embodiment of this utility model;
[0032] Figure 4 This is a schematic diagram of the assembly structure of the transmission shaft, bearing housing, and bearing provided in an embodiment of this utility model.
[0033] The component names and labels in the diagram are as follows:
[0034] 100. Joint module;
[0035] 1. Traction platform; 2. Tooling base; 3. Clamping mechanism; 4. Drive shaft; 5. Coupling; 6. Spline sleeve; 7. Spline shaft; 8. Bearing housing; 9. Bearing; 10. End cover; 11. Frame; 12. Protective cover; 13. Fan. Detailed Implementation
[0036] To make the technical problem solved by this utility model, the technical solution adopted, and the technical effect achieved clearer, the technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining this utility model and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this utility model are shown in the accompanying drawings, not all of them.
[0037] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0039] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.
[0040] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.
[0041] Currently, the evaluation method for joint modules typically involves using a fatigue testing platform to conduct aging tests on the motors within the joint module. During the test, parameters such as motor current, voltage, power consumption, and power are monitored to assess the overall performance and dynamic characteristics of the joint module. However, existing robot joint module testing devices usually include servo motors, drive components, sensors, and control systems, resulting in a complex overall structure and high cost, which limits the widespread adoption and application of robot joint module testing equipment.
[0042] To solve the above problems, such as Figure 1 and Figure 2As shown in the figure, this embodiment proposes a robot joint module testing device. The robot joint module testing device includes a dragging platform 1, a fixture base 2, a transmission shaft assembly, and a monitoring module. At least two fixture bases 2 are spaced apart and opposite to each other along the length direction (left and right direction in the figure) on the dragging platform 1. The fixture bases 2 are used to mount the joint modules 100 of the robot to be tested. The fixture bases 2 are provided with clamping mechanisms 3, which are configured to fix the joint modules 100 to the corresponding fixture bases 2. A transmission shaft assembly is provided between the two oppositely arranged fixture bases 2, and both ends of the transmission shaft assembly can be coaxially connected to the output ends of the joint modules 100 of the two oppositely arranged fixture bases 2. The monitoring module is electrically connected to the joint module 100 to be tested. Two symmetrically arranged fixtures 2 on the dragging platform 1 fix the joint module 100 to be tested through a clamping mechanism 3, so that the two joint modules 100 are symmetrically arranged and connected by a transmission shaft assembly, thereby realizing the dragging drive of the two joint modules 100. The current and voltage parameters of the two joint modules 100 are monitored by a monitoring module. In the robot joint module testing device, the power output and input of the joint module 100 are realized by dragging drive, eliminating the need for additional power output motors and other components. This simplifies the structure of the robot joint module testing device, reduces testing costs, and facilitates the popularization and application of robot joint module testing devices.
[0043] It should be noted that reverse drive is a drive testing technology that uses two motors (the motor under test and the auxiliary motor under test) connected to form a closed loop. It is mainly used for motor performance testing, system efficiency verification, and dynamic control scenarios. The motor under test operates in drive mode, outputting torque; the auxiliary motor under test operates in load mode, simulating a load and feeding electrical energy back to the DC bus. Of the motors, one uses speed loop control and the other uses current loop control. Since reverse drive is an existing technology, its operating mode and wiring methods will not be elaborated further.
[0044] In this embodiment, each joint module 100 is equipped with a motor component. Two symmetrically arranged joint modules 100 are wired in a towing drive mode and driven in a towing drive mode through a transmission shaft assembly. The entire test lasts approximately five hours, with a reversal operation every seven minutes. That is, the motor in the first joint module 100 is the motor under test, and the motor in the second joint module 100 is the accompanying motor. After seven minutes of operation, the reversal operation is performed, with the motor in the first joint module 100 acting as the accompanying motor and the motor in the second joint module 100 acting as the motor under test. During the test, the monitoring module collects parameters such as current and voltage of the motor in each joint module 100 through the wiring harness. At the same time, the tester can also visually listen for any abnormal noises from the joint modules 100 during the test. Since the monitoring module is existing technology, its working mode and wiring method will not be described in detail.
[0045] like Figure 1 As shown, the robot joint module testing device includes a platform 11 and a protective cover 12. A dragging platform 1 is mounted on the platform 11, and multiple tooling seats 2 are mounted on the dragging platform 1. These tooling seats 2 are arranged in pairs, spaced apart and opposite to each other along their length. A drive shaft assembly is located between each pair of tooling seats 2, enabling the robot joint module testing device to simultaneously test multiple joint modules 100, thus improving its testing efficiency. The protective cover 12 has an openable and closable safety door, which covers the dragging platform 1 to isolate the tooling seats 2, drive shaft assemblies, and other components of the dragging platform 1 from the external environment, thereby ensuring the stability and safety of the robot joint module testing process. By opening and closing the safety door, the joint modules 100 can be picked up and placed, and the presence of abnormal noises from the joint modules 100 during testing can be monitored.
[0046] Furthermore, a heat dissipation mechanism is provided for the towing platform 1, which is configured to reduce the temperature of the joint module 100 during testing. By setting the heat dissipation mechanism to control the temperature of the joint module 100 during testing, damage caused by abnormal temperature rise during long-term testing is avoided, thus improving the protection of the joint module 100 and the safety of the testing process.
[0047] In this embodiment, the heat dissipation mechanism is a fan 13. Each fixture 2 has a fan 13 on one side, blowing air towards the joint module 100 on the corresponding fixture 2. The fan 13 achieves air cooling for the joint module 100. The fan 13 has a simple structure, is easy to install and use, has low cost, and consumes relatively little power. In other embodiments, a temperature control component can also be installed inside the protective cover 12. This component is configured to control the temperature inside the protective cover 12. The temperature control component can be an air conditioner or other temperature regulating components to precisely adjust the temperature inside the protective cover 12, preventing abnormal temperature rise in the joint module 100 during long-term testing.
[0048] like Figure 2 and Figure 3 As shown, the drive shaft assembly includes a drive shaft 4 and couplings 5. Couplings 5 are mounted on both ends of the drive shaft 4. The output ends of the joint modules 100 of the two oppositely positioned tooling seats 2 are respectively connected to the corresponding couplings 5. Specifically, the output ends (of the internal motors) of both joint modules 100 are connected to the drive shaft 4 via a coupling 5 to efficiently transmit torque between the two joint modules 100, while also compensating for installation deviations between the two joint modules 100, thus improving the stability of the torque transmission process.
[0049] Specifically, such as Figure 3As shown, the drive shaft assembly also includes a splined sleeve 6 and a splined shaft 7, with a splined sleeve 6 installed in each coupling 5. The splined shaft 7 is coaxially connected to the output end of the joint module 100 mounted on the tooling base 2, extending into the corresponding splined sleeve 6 and engaging with it for transmission. The meshing of the splined sleeve 6 and the splined shaft 7 improves the alignment between the output end of the joint module 100 and the drive shaft 4, ensuring the coaxiality of the output ends of the two joint modules 100, the splined sleeve 6, the splined shaft 7, and the drive shaft 4. Simultaneously, the load distribution between the splined sleeve 6 and the splined shaft 7 is more uniform, reducing local stress concentration and enabling the coupling 5 to withstand larger loads and torques, thus improving the connection strength and stability between the coupling 5 and the joint module 100.
[0050] like Figure 2 and Figure 4 As shown, the drive shaft assembly also includes a bearing housing 8 and bearings 9, with the bearing housing 8 mounted on the towing platform 1. Along the arrangement direction of the two opposing tooling seats 2 (left-right direction in the figure), two bearings 9 are spaced apart within the bearing housing 8. The drive shaft 4 passes through the two bearings 9 sequentially for rotatable mounting on the bearing housing 8. The drive shaft 4 is supported and rotatably mounted on the bearing housing 8 by the two bearings 9, ensuring that the drive shaft 4 is coaxially aligned with the output end of the joint module 100 mounted on the tooling seat 2, and enabling stable rotation of the drive shaft 4 within the bearing housing 8, thus improving the stability and reliability of torque transmission during towing.
[0051] Specifically, the bearing housing 8 has a through hole extending along its length, and a bearing bush is installed inside the through hole. The drive shaft 4 passes through the bearing bush and has a left shoulder and a right shoulder. The inner ring of the left bearing 9 is fitted onto the drive shaft 4 and abuts against the left shoulder, while the outer ring of the left bearing 9 is in contact with the inner wall of the through hole. The inner ring of the right bearing 9 is fitted onto the drive shaft 4 and abuts against the right shoulder, while the outer ring of the right bearing 9 is in contact with the inner wall of the through hole. End caps 10 are installed at both ends of the bearing housing 8 by screws. The left end cap 10 presses the outer ring of the left bearing 9 against the left end of the bearing bush, and the right end cap 10 presses the outer ring of the right bearing 9 against the right end of the bearing bush, thus ensuring the stable installation of the two bearings 9 in the bearing housing 8. The two ends of the drive shaft 4 protrude from the corresponding end caps 10.
[0052] In this embodiment, the left joint module 100 is mounted on the left tooling seat 2 via the clamping mechanism 3, and the output end of the left joint module 100 is coaxially connected to one end of the left spline shaft 7 via screws or other means. The other end of the left spline shaft 7 engages with the spline sleeve 6 inside the left coupling 5. The left coupling 5 is connected to the left end of the drive shaft 4 extending from the bearing seat 8, and the right end of the drive shaft 4 extending from the bearing seat 8 is connected to the right coupling 5. The output end of the right joint module 100 is coaxially connected to one end of the right spline shaft 7 via screws or other means. The other end of the right spline shaft 7 engages with the spline sleeve 6 inside the right coupling 5. Then, the two joint modules 100 are wired together in a towing drive manner to form a towing system.
[0053] like Figure 3 As shown, the clamping mechanism 3 is a quick-release clamp, and multiple quick-release clamps are arranged circumferentially on the fixture base 2. The quick-release clamps achieve rapid clamping and releasing operations through the lever principle, ensuring the clamping stability of the joint module 100 on the corresponding fixture base 2, preventing the joint module 100 from shifting or loosening during testing, and improving the stability of the testing process. Furthermore, the quick-release clamp is an industrial clamping device capable of accurate positioning and rapid clamping. By pressing or lifting the handle of the quick-release clamp, the chuck can clamp or release the joint module 100, making operation simple and improving the assembly and disassembly efficiency of the joint module 100 on the fixture base 2.
[0054] The quick clamp in this embodiment can be a vertical quick clamp, a horizontal quick clamp, a pneumatic quick clamp, or a combination of the above three types of quick clamps. The type, quantity, and installation position of the joint module 100 can be flexibly selected according to the structure and clamping requirements of the joint module 100, and no specific limitation is made here.
[0055] In other embodiments, the clamping mechanism 3 includes a clamping drive and a clamping plate, and the tooling base 2 is provided with the clamping drive. The output end of the clamping drive is connected to the clamping plate so that the clamping plate has a clamping position for clamping the joint module 100 in the tooling base 2 and a releasing position for releasing the joint module 100. The clamping drive can be a cylinder, and the output end of the cylinder is connected to the clamping plate to drive the clamping plate to fix the joint module 100 to the corresponding tooling base 2 by pressing.
[0056] The above embodiments merely illustrate the basic principles and characteristics of this utility model. This utility model is not limited to the above embodiments. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.
Claims
1. A robot joint module testing device, characterized in that, include: Towing platform (1); Tooling base (2), at least two tooling bases (2) are spaced apart and opposite to each other along the length direction on the dragging platform (1), the tooling base (2) is used to install the joint module (100) of the robot to be tested; the tooling base (2) is provided with a clamping mechanism (3), the clamping mechanism (3) is configured to fix the joint module (100) to the corresponding tooling base (2); A drive shaft assembly is provided between two oppositely arranged tooling seats (2), and both ends of the drive shaft assembly can be coaxially connected to the output ends of the joint modules (100) of the two oppositely arranged tooling seats (2). A monitoring module is electrically connected to the joint module (100) to be tested.
2. The robot joint module testing device according to claim 1, characterized in that, The drive shaft assembly includes: Drive shaft (4); The coupling (5) is installed at both ends of the drive shaft (4), and the output ends of the joint modules (100) of the two oppositely arranged tooling seats (2) are respectively connected to the corresponding coupling (5) for transmission.
3. The robot joint module testing device according to claim 2, characterized in that, The drive shaft assembly also includes: Spline sleeve (6), each of the couplings (5) is equipped with the spline sleeve (6); The spline shaft (7) is coaxially connected to the output end of the joint module (100) mounted on the tooling base (2). The spline shaft (7) extends into the corresponding spline sleeve (6) and engages with the spline sleeve (6) for transmission.
4. The robot joint module testing device according to claim 3, characterized in that, The drive shaft assembly also includes: Bearing housing (8), the bearing housing (8) is disposed on the towing platform (1); Bearing (9), along the arrangement direction of the two oppositely arranged tool seats (2), two bearings (9) are spaced apart in the bearing seat (8), and the transmission shaft (4) passes through the two bearings (9) in sequence to be rotatably mounted on the bearing seat (8).
5. The robot joint module testing device according to claim 1, characterized in that, The clamping mechanism (3) is a quick clamp, and the tooling base (2) is provided with a plurality of quick clamps along the circumferential direction.
6. The robot joint module testing device according to claim 1, characterized in that, The clamping mechanism (3) includes: The tooling base (2) is provided with the clamping drive component; The clamping plate is connected to the output end of the clamping drive unit so that the clamping plate has a clamping position for clamping the joint module (100) to the tooling seat (2) and a release position for releasing the joint module (100).
7. The robot joint module testing device according to claim 1, characterized in that, The drag platform (1) is provided with a heat dissipation mechanism, which is configured to reduce the temperature of the joint module (100) during testing.
8. The robot joint module testing device according to claim 7, characterized in that, The heat dissipation mechanism is a fan (13), and a fan (13) is provided on one side of each tooling seat (2). The fan (13) blows air toward the joint module (100) on the corresponding tooling seat (2).
9. The robot joint module testing device according to any one of claims 1 to 8, characterized in that, The towing platform (1) is equipped with a protective cover (12), and the protective cover (12) has an openable and closable safety door.
10. The robot joint module testing device according to claim 9, characterized in that, A temperature control component is installed inside the protective cover (12), and the temperature control component is configured to control the temperature inside the protective cover (12).