A robot joint performance testing device
The modularly designed robot joint performance testing device integrates joint, reducer, and motor testing, solving the problems of high cost, large footprint, and cumbersome operation of existing equipment, and achieving an efficient and flexible testing solution.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGDONG OCEAN UNIVERSITY
- Filing Date
- 2025-10-21
- Publication Date
- 2026-07-21
AI Technical Summary
The existing robot joint testing equipment has a separate design, which results in high equipment purchase costs, large footprint, cumbersome operation, and difficulty in quickly adapting to test objects with different specifications and installation interfaces.
The modular design integrates the testing functions of joints, reducers and motors into the same testing platform. The movable support system and replaceable conversion plate enable quick replacement and precise positioning. The small clearance fit between the key at the bottom of the support and the straight groove of the base plate ensures coaxiality accuracy.
It reduces equipment purchase costs, minimizes floor space, improves testing efficiency and accuracy, enables rapid adaptation to test objects of different sizes and interfaces, and has strong scalability.
Smart Images
Figure CN224535396U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robot testing technology, specifically relating to a robot joint performance testing device. Background Technology
[0002] Robot joints are the core components of a robot, and their performance directly determines the robot's motion accuracy, rigidity, and stability. Robot joints are typically integrated from servo motors, reducers, and related sensing elements. Therefore, rigorous performance testing of the joint as a whole and its core components (such as motors and reducers) is essential and a key step in ensuring the overall quality of the robot.
[0003] Currently, testing of motors, reducers, and complete joints is typically conducted on separate, dedicated test benches. For example, there are dedicated test benches for motors, reducers, and joints. This fragmented testing system has several drawbacks: First, it requires multiple independent test equipment sets, leading to high equipment purchase costs, large footprints, and stringent requirements for the testing site. Second, switching between different test objects necessitates reinstalling, debugging, or even replacing the test platform, resulting in cumbersome operations, long test preparation times, and overall low efficiency. Third, existing dedicated test benches are usually designed for specific models or size ranges of components, lacking flexibility and making it difficult to quickly adapt to test objects of different specifications and installation interfaces, thus limiting their application scope.
[0004] Therefore, there is an urgent need in this field for an integrated testing device that can overcome the above-mentioned shortcomings and achieve a fast, flexible, efficient and cost-effective testing solution. Utility Model Content
[0005] The purpose of this utility model embodiment is to provide a robot joint performance testing device, which integrates the testing functions of joints, reducers and motors on the same testing platform through modular design, breaking through the dependence on independent dedicated testing stations, thereby solving at least one of the technical problems involved in the background art.
[0006] To solve the above-mentioned technical problems, this utility model is implemented as follows: This utility model embodiment provides a robot joint performance testing device, including: The profile frame is equipped with adjustable feet and casters at the bottom; The base plate is fixed to the profile frame; Two parallel linear guide rails are fixed to the base plate, and a protective cover is slidably mounted on the linear guide rails. The drive mechanism, mounted on the base plate, includes a first servo motor, a first coupling, a first torque and speed sensor, and a second coupling connected coaxially in sequence. The loading mechanism, mounted on the base plate and arranged opposite to the driving mechanism, includes a second servo motor, a third coupling, a second torque and speed sensor, and a fourth coupling connected coaxially in sequence. A joint support is mounted on the base plate and located between the drive mechanism and the loading mechanism; A conversion plate, which can be interchangeably mounted on the joint bracket, is used to mount the joint, reducer or motor to be tested; The drive mechanism and the loading mechanism are respectively mounted on the base plate by a movable bracket system. The bracket system enables the drive mechanism and the loading mechanism to move and lock in position in a direction parallel to the axis of the drive mechanism and the loading mechanism.
[0007] Optionally, the support system includes: A first servo motor bracket is used to fix the first servo motor; A first torque speed sensor bracket is used to fix the first torque speed sensor; The second servo motor bracket is used to fix the second servo motor. The second torque speed sensor bracket is used to fix the second torque speed sensor. Each bracket has a bracket groove at its bottom, and a key is fitted into the bracket groove; the base plate has a straight groove that fits the key with a small clearance, so that each bracket can move along the straight groove.
[0008] Optionally, each bracket is provided with a waist-shaped through groove, and the base plate is provided with multiple threaded holes along the direction of the straight groove; the fastening screw passes through the waist-shaped through groove and engages with the threaded hole to lock the bracket to the base plate.
[0009] Optionally, the range of motion of the bracket can be extended by screwing the fastening screw into different threaded holes outside the length range of the waist-shaped through groove.
[0010] Optionally, each bracket is provided with a bracket positioning hole for positioning in conjunction with the boss feature on the servo motor or torque speed sensor; the symmetry tolerance between the center line of the bracket positioning hole and the center surface of the bracket groove is 0.02mm, and the distance tolerance between the center line of the bracket positioning hole and the bottom surface of the bracket is ±0.02mm.
[0011] Optionally, the conversion plate is positioned by a gap fit between its conversion plate boss and the bracket positioning hole on the joint bracket, and is fixed by screws.
[0012] Optionally, the conversion plate is provided with a conversion plate positioning hole for positioning by clearance matching with the joint boss of the joint to be tested, or the positioning feature on the reducer or motor.
[0013] Optionally, the profile frame is also equipped with an electrical cabinet, a power meter, and an emergency stop button.
[0014] Optionally, the end of the linear guide rail is provided with a limiting block to prevent the slider from disengaging.
[0015] Optionally, the protective cover is provided with a handle.
[0016] Compared with the prior art, the robot joint performance testing device provided by this utility model has the following significant advantages: (1) Integration and low cost: Through modular design, the testing functions of joints, reducers and motors are integrated into the same testing platform, breaking the dependence on independent dedicated testing benches. This effectively reduces equipment purchase costs, reduces equipment footprint, and improves site utilization.
[0017] (2) High efficiency and high flexibility: The drive mechanism and loading mechanism are fixed with a movable bracket system. Combined with a quick-change conversion plate, when switching between different test objects (joints, reducers, motors), there is no need to replace the entire platform or perform complex recalibration. Only the bracket position needs to be adjusted and the conversion plate needs to be replaced, which significantly improves the test efficiency and can quickly adapt to test objects of different sizes and installation interfaces.
[0018] (3) High test accuracy and reliability: The key at the bottom of the bracket and the straight groove of the base plate with a small clearance fit, as well as the precision positioning design between the bracket positioning hole and the servo motor / sensor boss, together ensure the coaxiality accuracy between the drive mechanism, the loading mechanism and the test object, thereby ensuring the accuracy of the measurement of parameters such as torque and speed and the reliability of the test results.
[0019] (4) Good expandability: The straight groove design on the base plate, together with the waist-shaped through groove and multiple sets of threaded holes on the bracket, not only allows stepless adjustment within a certain range, but also allows the length limitation of the waist-shaped groove to be broken by selecting different threaded holes for fixing, providing convenient expansion capability for future testing of larger-sized components. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 A schematic diagram of the overall structure of the robot joint performance testing device provided by this utility model; Figure 2A schematic diagram of the assembly structure of the execution component of the robot joint performance testing device provided by this utility model; Figure 3 This is a schematic diagram of the exploded structure of the joint installation provided by this utility model; Figure 4 An exploded view of the joint bracket provided by this utility model. Detailed Implementation
[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.
[0022] The terms "first," "second," etc., used in the specification and claims of this utility model are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this utility model can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, the first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0023] Please see Figure 1 As shown, this utility model embodiment provides a robot joint performance testing device, including a profile frame 400, a base plate 100, a linear guide rail 810, a drive mechanism 200, a loading mechanism 300, a joint support 600, and a conversion plate 500.
[0024] The profile frame 400 is assembled from aluminum profiles, and its bottom is equipped with a height-adjustable base and casters. When the device needs to be moved, the base rises so that the casters contact the ground; when it needs to be fixed for testing, the base lowers and makes stable contact with the ground.
[0025] The profile frame 400 is also equipped with auxiliary equipment such as an electrical cabinet 910, a power meter 920, and an emergency stop button 930.
[0026] The base plate 100 is fixed to the profile frame 400.
[0027] Two parallel linear guide rails 810 are fixed to the base plate 100. A protective cover 820 is slidably mounted on the linear guide rails 810. A handle 830 is provided on the protective cover 820 for easy pulling by the operator.
[0028] The end of the linear guide 810 is provided with a limiting block to prevent the slider from disengaging.
[0029] Combined Figure 2 As shown, the core execution components of the test platform are mounted on the base plate 100. The drive mechanism 200 is mounted on the base plate 100 and includes a first servo motor M2, a first coupling C1, a first torque and speed sensor Q2, and a second coupling C2 connected coaxially in sequence. The first servo motor M2 is fixed to the first servo motor bracket 210 with screws, and the first torque and speed sensor Q2 is positioned on the first torque and speed sensor bracket 220 using two cylindrical pins.
[0030] The loading mechanism 300 is mounted on the base plate 100 and arranged opposite to the drive mechanism 200. It includes a second servo motor M3, a third coupling C3, a second torque and speed sensor Q3, and a fourth coupling C4, which are coaxially connected in sequence. The second servo motor M3 is fixed to the second servo motor bracket 310 with screws, and the second torque and speed sensor Q3 is positioned on the second torque and speed sensor bracket 320 using two cylindrical pins.
[0031] The drive mechanism 200 and the loading mechanism 300 are respectively mounted on the base plate 100 by a movable bracket system. The bracket system enables the drive mechanism 200 and the loading mechanism 300 to move and lock in position in a direction parallel to the axis of the drive mechanism 200 and the loading mechanism 300.
[0032] Furthermore, the support system includes: The first servo motor bracket 210 is used to fix the first servo motor M2; The first torque speed sensor bracket 220 is used to fix the first torque speed sensor Q2; The second servo motor bracket 310 is used to fix the second servo motor M3; The second torque speed sensor bracket 320 is used to fix the second torque speed sensor Q3; Combined Figure 4 As shown, each bracket (210, 220, 310, 320) has a bracket groove 620 at its bottom, and the key 001 is fitted into the bracket groove 620. The base plate 100 has a straight groove 110 that fits with the key 001 with a small clearance, so that each bracket can move precisely along the direction of the straight groove 110 (i.e., the axial direction of the drive / loading mechanism).
[0033] Each bracket has a waist-shaped through groove 630, and the base plate 100 has multiple threaded holes along the direction of the straight groove 110. Fastening screws pass through the waist-shaped through groove 630 and engage with the threaded holes to lock the bracket onto the base plate 100. Tightening the screws fixes the bracket to the base plate 100; loosening the screws allows the bracket to move along the straight groove 110.
[0034] The waist-shaped through groove 630 itself provides a range of movement. By screwing the fastening screw into different threaded holes outside the length range of the waist-shaped through groove 630, the length limitation of the waist-shaped groove can be overcome, enabling a wider range of movement and enhancing the adaptability of the device.
[0035] To ensure coaxiality accuracy, each bracket is provided with a bracket positioning hole 610 for positioning in conjunction with the boss features on the servo motor or torque and speed sensor; the symmetry tolerance between the center line of the bracket positioning hole 610 and the center surface of the bracket groove 620 is 0.02mm, and the distance tolerance between the center line of the bracket positioning hole 610 and the bottom surface of the bracket is ±0.02mm.
[0036] The installation structure of the object under test is as follows Figure 3 As shown. The joint bracket 600 is disposed on the base plate 100 and located between the drive mechanism 200 and the loading mechanism 300.
[0037] The conversion plate 500 can be interchangeably mounted on the joint bracket 600 for mounting the joint 700, reducer, or motor to be tested.
[0038] Furthermore, the conversion plate 500 is positioned by the conversion plate boss 510 on it engaging with the bracket positioning hole 610 on the joint bracket 600, and is fixed by screws.
[0039] The conversion plate 500 has a conversion plate positioning hole 520, which is used to perform positioning by clearance matching with the joint boss 710 of the joint 700 to be tested, or the positioning feature on the reducer or motor. When the test object is a reducer or motor, the conversion plate 500 with the corresponding positioning hole 520 can be replaced according to its interface form (boss or positioning pin), thereby realizing quick changeover.
[0040] The working principle of this utility model is as follows: When testing joint 700: Loosen the bracket fastening screws of drive mechanism 200, move the entire drive mechanism 200 to the left to make room for joint 700, and then lock it. Loosen the bracket fastening screws of loading mechanism 300, move it to the right, connect the fourth coupling C4 to the output shaft of joint 700, and then lock it. Torque loading and reverse drive tests of the joint can then be performed.
[0041] During the test of the reducer: the drive mechanism 200 moves to the right, connecting to the reducer input shaft via the second coupling C2; the loading mechanism 300 moves to the left, connecting to the reducer output shaft via the fourth coupling C4. After locking, the reducer efficiency and other tests can be performed.
[0042] When testing the motor, there are two configurations depending on the motor size and torque. For motors with higher torque, the installation method is similar to that of the test joint; the motor is fixed on the conversion plate 500, and its output shaft is connected to the loading mechanism 300. For motors with lower torque, they can be fixed on the right side of the conversion plate 500 (output shaft facing left). In this case, the loading mechanism 300 needs to be moved to the right to make way, while the drive mechanism 200 moves to the left to connect with the motor output shaft for testing.
[0043] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0044] Furthermore, it should be noted that the scope of the methods and systems in the embodiments of this utility model is not limited to performing functions in the order shown or discussed. It may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
[0045] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.
Claims
1. A robot joint performance testing device, characterized in that, include: The profile frame (400) is equipped with adjustable feet and casters at the bottom; The base plate (100) is fixed to the profile frame (400); Two parallel linear guide rails (810) are fixed on the base plate (100), and a protective cover (820) is slidably disposed on the linear guide rails (810). The drive mechanism (200) is mounted on the base plate (100) and includes a first servo motor (M2), a first coupling (C1), a first torque and speed sensor (Q2) and a second coupling (C2) connected coaxially in sequence. The loading mechanism (300) is mounted on the base plate (100) and arranged opposite to the drive mechanism (200). It includes a second servo motor (M3), a third coupling (C3), a second torque and speed sensor (Q3), and a fourth coupling (C4) that are coaxially connected in sequence. A joint support (600) is disposed on the base plate (100) and located between the drive mechanism (200) and the loading mechanism (300); A conversion plate (500) is replaceably mounted on the joint bracket (600) for mounting the joint (700), reducer, or motor to be tested; The drive mechanism (200) and the loading mechanism (300) are respectively mounted on the base plate (100) by a movable bracket system. The bracket system enables the drive mechanism (200) and the loading mechanism (300) to move and lock in a direction parallel to the axis of the drive mechanism (200) and the loading mechanism (300).
2. The testing apparatus according to claim 1, characterized in that, The support system includes: The first servo motor bracket (210) is used to fix the first servo motor (M2). The first torque speed sensor bracket (220) is used to fix the first torque speed sensor (Q2). The second servo motor bracket (310) is used to fix the second servo motor (M3); The second torque speed sensor bracket (320) is used to fix the second torque speed sensor (Q3); Each bracket has a bracket groove (620) at its bottom, and a key (001) is fitted into the bracket groove (620). The base plate (100) has a straight groove (110) that fits with the key (001) with a small clearance, so that each bracket can move along the straight groove (110).
3. The testing apparatus according to claim 2, characterized in that, Each bracket is provided with a waist-shaped through groove (630), and the base plate (100) is provided with multiple threaded holes along the direction of the straight groove (110); the fastening screw passes through the waist-shaped through groove (630) and engages with the threaded hole to lock the bracket onto the base plate (100).
4. The testing apparatus according to claim 3, characterized in that, The range of motion of the bracket can be extended by screwing the fastening screw into different threaded holes outside the length range of the waist-shaped through groove (630).
5. The testing apparatus according to claim 2, characterized in that, Each bracket is provided with a bracket positioning hole (610) for positioning in conjunction with the boss feature on the servo motor or torque speed sensor; the symmetry tolerance between the center line of the bracket positioning hole (610) and the center surface of the bracket groove (620) is 0.02mm, and the distance tolerance between the center line of the bracket positioning hole (610) and the bottom surface of the bracket is ±0.02mm.
6. The testing apparatus according to claim 1, characterized in that, The conversion plate (500) is positioned by a gap fit between the conversion plate boss (510) on it and the bracket positioning hole (610) on the joint bracket (600), and is fixed by screws.
7. The testing apparatus according to claim 6, characterized in that, The conversion plate (500) is provided with a conversion plate positioning hole (520) for positioning in cooperation with the joint boss (710) of the joint to be tested (700), or the positioning feature on the reducer or motor.
8. The testing apparatus according to claim 1, characterized in that, The profile frame (400) is also equipped with an electrical cabinet (910), a power meter (920), and an emergency stop button (930).
9. The testing apparatus according to claim 1, characterized in that, The end of the linear guide (810) is provided with a limiting block to prevent the slider from disengaging.
10. The testing apparatus according to claim 1, characterized in that, The protective cover (820) is provided with a handle (830).