An impact durability test platform

Abstract

The application provides an impact durability test platform for durability test of a joint motor of a humanoid robot, the impact durability test platform comprising a rack, a connecting rod mechanism and a bearing, the joint motor being installed on the top of the rack; one end of the connecting rod mechanism is connected with the output end of the joint motor, and the output end of the connecting rod mechanism is provided with an impact head; the bearing is installed on the bottom of the rack, and the joint motor drives the impact head to reciprocating swing and impact the bearing through the connecting rod mechanism. In the application, the joint motor is directly driven to completely map the actual driving mode on the humanoid robot; the rotating motion of the joint motor is converted into the reciprocating swing and impact of the impact head on the bearing through the connecting rod mechanism, which can accurately simulate the bottom-touching mode and the high-frequency impact load borne by the joint motor of the humanoid robot in walking, jumping and other actions, solves the problem that the traditional test platform cannot reproduce complex impact working conditions, and improves the authenticity and reliability of the test results.

Description

Technical Field

[0001] This application belongs to the field of robot testing technology, and more specifically, relates to an impact durability testing platform. Background Technology

[0002] In the research and development of humanoid robots, the joint motor, as a core driving component, directly affects the robot's overall service life and operational reliability under high-frequency impact conditions.

[0003] The joint motors of humanoid robots need to withstand dynamic impact loads (such as instantaneous forces during walking and jumping). However, traditional test platforms can only simulate constant loads or slowly varying loads, making it difficult to simulate the complex impact loads that joint motors experience in actual movement. This results in a large deviation between the test results and the actual working conditions, making it impossible to accurately assess the performance degradation law of joint motors under high-frequency impacts. Utility Model Content

[0004] The purpose of this application is to provide an impact durability testing platform to solve the technical problem that traditional testing platforms in the prior art cannot truly reflect the impact conditions of joint motors.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: An impact durability testing platform is provided for durability testing of the joint motors of a humanoid robot. The impact durability testing platform includes a frame, a linkage mechanism, and a support component. The joint motor is mounted on the top of the frame. One end of the linkage mechanism is connected to the output end of the joint motor, and the output end of the linkage mechanism is provided with an impact head. The support component is mounted on the bottom of the frame, and the joint motor drives the impact head to reciprocate and impact the support component through the linkage mechanism.

[0006] Furthermore, the frame includes a base, a support rod, and a mounting platform. One end of the support rod is connected to the base, and the other end of the support rod is connected to the mounting platform. The joint motor is mounted on the mounting platform, and the load-bearing component is mounted on the base.

[0007] Furthermore, the frame also includes wheels, which are disposed at the bottom of the base.

[0008] Furthermore, the linkage mechanism includes a drive rod, a first connecting rod, a second connecting rod, and a swing rod; one end of the drive rod is connected to the output end of the joint motor, and the other end of the drive rod is hinged to the first connecting rod; one end of the second connecting rod is hinged to the frame, and the other end of the second connecting rod is hinged to the first connecting rod, and the second connecting rod is arranged parallel to the drive rod; one end of the swing rod is fixedly connected to the first connecting rod, and the other end of the swing rod is connected to the impact head.

[0009] Furthermore, the impact durability testing platform also includes a clamp, which is mounted on the frame and is used to clamp the joint motor.

[0010] Furthermore, the impact durability testing platform also includes a torque sensor, which is connected to the joint motor and is used to collect the output torque of the joint motor in real time.

[0011] Furthermore, the impact durability testing platform also includes an encoder connected to the joint motor, which is used to acquire the rotational speed of the joint motor in real time.

[0012] Furthermore, the impact durability testing platform also includes a temperature sensor, which is electrically connected to the joint motor and is used to collect the winding temperature of the joint motor in real time.

[0013] Furthermore, the torque sensor, the encoder, and the temperature sensor are electrically connected to the control system of the humanoid robot.

[0014] Furthermore, multiple joint motors can be installed on the frame, and the multiple joint motors are distributed in a circular array; multiple linkage mechanisms are provided, multiple support members are provided, and the linkage mechanisms, the support members and the joint motors are arranged in a one-to-one correspondence.

[0015] The beneficial effects of the impact durability testing platform provided in this application are as follows: Compared with the prior art, this application adopts direct drive of joint motors, which completely maps the actual driving mode on humanoid robots; the rotational motion of the joint motors is converted into the reciprocating swing impact of the impact head on the load-bearing component through the linkage mechanism, which can accurately simulate the bottoming mode of the joint motors of humanoid robots in walking, jumping and other actions and the high-frequency impact loads they bear, evaluate the durability performance of the joint motors under repeated impacts, solve the problem that traditional testing platforms cannot reproduce complex impact conditions, and improve the authenticity and reliability of the test results. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of the impact durability testing platform provided in an embodiment of this application.

[0018] The following are the labeling elements in the figure:

[0019] 100-Frame; 101-Base; 102-Support rod; 103-Mounting platform; 104-Wheel; 105-Reinforcing rib plate;

[0020] 200 - Linkage mechanism; 201 - Drive rod; 202 - First link; 203 - Second link; 204 - Swing rod;

[0021] 300 - Load-bearing component;

[0022] 400-Impact head;

[0023] 500-Joint Motor;

[0024] 600-Clamping fixture. Detailed Implementation

[0025] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0026] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0027] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, 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 application.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0029] Please see Figure 1The impact durability testing platform provided in this application embodiment will now be described. This impact durability testing platform is used for durability testing of the joint motor 500 of a humanoid robot. The impact durability testing platform includes a frame 100, a linkage mechanism 200, and a support member 300. The joint motor 500 is mounted on the top of the frame 100; one end of the linkage mechanism 200 is connected to the output end of the joint motor 500, and the output end of the linkage mechanism 200 is provided with an impact head 400; the support member 300 is mounted on the bottom of the frame 100, and the joint motor 500 drives the impact head 400 to reciprocate and impact the support member 300 through the linkage mechanism 200.

[0030] Compared with the prior art, the impact durability testing platform provided in this application adopts a direct drive by a joint motor 500, which completely maps the actual driving mode on a humanoid robot. The linkage mechanism 200 converts the rotational motion of the joint motor 500 into the reciprocating swing impact of the impact head 400 on the bearing 300. This can accurately simulate the bottoming mode of the humanoid robot's joint motor 500 in walking, jumping and other actions, as well as the high-frequency impact load it bears. It can evaluate the durability performance of the joint motor 500 under repeated impacts, solve the problem that traditional testing platforms cannot reproduce complex impact conditions, and improve the authenticity and reliability of the test results.

[0031] In one embodiment of this application, please refer to Figure 1 The frame 100 includes a base 101, a support rod 102 and a mounting platform 103. One end of the support rod 102 is connected to the base 101 and the other end of the support rod 102 is connected to the mounting platform 103. The joint motor 500 is mounted on the mounting platform 103 and the bearing 300 is mounted on the base 101.

[0032] In this embodiment, the base 101 serves as the supporting foundation of the entire test platform, providing stable support for the equipment; the support rod 102 is made of high-strength alloy material, which has good rigidity and deformation resistance, effectively connecting the base 101 and the mounting platform 103, ensuring the levelness and positional accuracy of the mounting platform 103; the surface of the mounting platform 103 is precision machined and has standardized mounting holes, which can be adapted to different models and sizes of articulated motors 500, improving the versatility of the platform.

[0033] In this embodiment, the support component 300 can adopt a plate-like structure, and its material can be selected from metal, composite materials, or elastic materials that simulate ground characteristics, depending on the test requirements, to simulate the impact stress state of the joint motor under different actual contact environments. The support component 300 is detachably connected to the base 101 by bolts or a quick-change structure, which facilitates the rapid replacement of support components of different materials or hardness according to the test scenario, thereby improving the flexibility of the test platform.

[0034] In one embodiment of this application, please refer to Figure 1 The frame 100 also includes casters 104, which are located at the bottom of the base 101.

[0035] In this embodiment, the traveling wheel 104 adopts a universal wheel structure with a braking function. The load-bearing capacity of a single traveling wheel 104 is not less than 50kg, which facilitates the flexible movement of the test platform between different workstations in the laboratory. After moving into position, the traveling wheel 104 can be locked by the braking device to prevent the platform from shifting during the test. This not only improves the space utilization of the equipment, but also ensures the stability of the test.

[0036] In one embodiment of this application, please refer to Figure 1 The frame 100 also includes reinforcing ribs 105, which are disposed at the bottom of the support rod 102 and connected to the base 101; multiple reinforcing ribs 105 are provided, and the multiple reinforcing ribs 105 are distributed in a ring array on the outer side of the bottom of the support rod 102.

[0037] In this embodiment, by setting the reinforcing ribs 105, the structural strength and stability of the connection between the support rod 102 and the base 101 can be further enhanced, effectively dispersing the stress transmitted from the support rod 102 to the base 101, and preventing deformation or breakage of the connection during long-term load-bearing or impact testing. The circular array distribution design makes the supporting force of the reinforcing ribs 105 on the support rod 102 more uniform, ensuring that the support rod 102 maintains good structural stability when subjected to forces in different directions, thereby improving the impact resistance and service life of the entire frame 100, and providing a more reliable equipment foundation for the impact durability test of the joint motor 500.

[0038] In one embodiment of this application, please refer to Figure 1 The linkage mechanism 200 includes a drive rod 201, a first connecting rod 202, a second connecting rod 203, and a swing rod 204. One end of the drive rod 201 is connected to the output end of the joint motor 500, and the other end of the drive rod 201 is hinged to the first connecting rod 202. One end of the second connecting rod 203 is hinged to the frame 100, and the other end of the second connecting rod 203 is hinged to the first connecting rod 202. The second connecting rod 203 is arranged parallel to the drive rod 201. One end of the swing rod 204 is fixedly connected to the first connecting rod 202, and the other end of the swing rod 204 is connected to the impact head 400.

[0039] In this embodiment, the drive rod 201, the first connecting rod 202, and the second connecting rod 203 together form a parallelogram transmission structure. This structure ensures that the swing rod 204 maintains a preset swing trajectory during movement, preventing misalignment and collision between the impact head 400 and the carrier 300. High-precision bearings are used at the connection points of each connecting rod, combined with a wear-resistant coating, which effectively reduces mechanical losses during transmission and increases the transmission efficiency of the mechanism to over 95%.

[0040] In one embodiment of this application, please refer to Figure 1 The impact durability testing platform also includes a fixture 600, which is mounted on the frame 100 and is used to clamp the joint motor 500.

[0041] In this embodiment, the fixture 600 adopts a modular design, which can be adapted to different models and sizes of articulated motors 500 (such as harmonic geared motors and direct drive motors). By quickly changing the clamping components, it can meet the needs of various testing scenarios. The clamping surface of the fixture 600 is provided with an elastic buffer layer, which can avoid indentation or damage to the motor housing during clamping, while enhancing the stability of clamping.

[0042] In one embodiment of this application, the impact durability testing platform further includes a torque sensor connected to the joint motor 500, which is used to acquire the output torque of the joint motor 500 in real time.

[0043] In this embodiment, by setting up a torque sensor, the dynamic torque changes of the joint motor 500 during the impact process can be monitored in real time. Its measurement range covers 0-50 N·m, with an accuracy class of 0.5 and a sampling frequency of up to 1 kHz, capturing the torque peak and fluctuations at the moment of each impact. The torque sensor adopts a non-contact signal transmission method, avoiding the signal interference problems of traditional wired transmission in high-frequency vibration environments, ensuring the stability and accuracy of data acquisition.

[0044] In one embodiment of this application, the impact durability testing platform further includes an encoder connected to the joint motor 500, which is used to acquire the rotational speed of the joint motor 500 in real time.

[0045] In this embodiment, by setting an encoder, the rotation angle and speed information of the articulated motor 500 can be collected in real time, with a resolution of 1000 lines per revolution. The sampling frequency is synchronized with the torque sensor to ensure that the timestamps of the speed data and torque data correspond accurately. The encoder adopts an incremental encoding method, which can output pulse signals in real time. By decoding the pulse signals through the control system, the instantaneous speed, average speed, and speed fluctuation coefficient of the articulated motor 500 during the impact cycle can be calculated, providing key data support for analyzing the dynamic response characteristics of the motor under impact load.

[0046] In one embodiment of this application, the impact durability testing platform further includes a temperature sensor, which is electrically connected to the joint motor 500 and is used to collect the winding temperature of the joint motor 500 in real time.

[0047] In this embodiment, a temperature sensor is used to monitor the winding temperature change of the joint motor 500 in real time during high-frequency impact testing. The sensor employs a high-precision PT1000 platinum resistance element, with a measurement range covering -50℃ to 200℃, an accuracy of ±0.1℃, and a response time of less than 1 second. The temperature sensor is tightly attached to the motor winding via a high-temperature resistant wire, and the outer layer of the wire is wrapped with a metal shielding mesh to reduce electromagnetic interference, ensuring continuous and stable temperature data acquisition over more than 100,000 impact test cycles. This provides crucial evidence for analyzing the correlation between the motor's temperature rise characteristics and performance degradation.

[0048] In one embodiment of this application, the torque sensor, encoder, and temperature sensor are electrically connected to the control system of the humanoid robot.

[0049] In this embodiment, a humanoid robot-based control system enables fully automated management of the testing process, including impact frequency adjustment (range 0.5Hz-10Hz), impact count setting (supporting 1-1 million continuously adjustable impacts), and real-time monitoring and alarm for test parameters. The control system incorporates a dedicated data acquisition module that synchronously receives multi-dimensional data from torque sensors, encoders, and temperature sensors, with a minimum sampling interval of 1ms, ensuring accurate correlation between impact counts, load waveforms, and motor performance parameters. Through a pre-defined algorithm model, the system can perform real-time analysis of collected data such as torque fluctuations, speed decay, and temperature rise trends, improving the synchronization of data acquisition during testing and providing data support for subsequent motor optimization design.

[0050] In one embodiment of this application, please refer to Figure 1 Multiple articulated motors 500 can be installed on the frame 100, and the multiple articulated motors 500 are arranged in a circular array; multiple linkage mechanisms 200 and multiple bearing members 300 are provided, and the linkage mechanisms 200, bearing members 300 and articulated motors 500 are set in a one-to-one correspondence.

[0051] In this embodiment, a circular array layout enables simultaneous testing of multiple articulated motors 500, effectively improving testing efficiency, and is particularly suitable for batch verification scenarios of humanoid robot articulated motors 500. Each articulated motor 500 is connected to the carrier 300 via an independent linkage mechanism 200, ensuring that vibrations and impacts generated during the testing of a single motor do not interfere with the test data of other motors, thus guaranteeing the data independence and accuracy during parallel testing of multiple motors. This modular design structure also facilitates rapid replacement and debugging of articulated motors 500 according to different models or specifications, greatly shortening the adaptation time of the testing platform and enhancing the versatility and flexibility of the equipment.

[0052] This embodiment uses a harmonic geared motor as the joint motor 500 for durability testing as an example. The process is as follows: First, the harmonic geared motor is fixed to the preset hole position on the mounting platform 103 using a clamp 600. Then, the humanoid robot control system is started, and the impact test parameters are set: impact frequency 5Hz, total number of impacts 100,000, and sampling interval 1ms. After the test starts, the joint motor 500 drives the drive rod 201 to rotate, which drives the pendulum 204 to swing back and forth through the parallelogram linkage mechanism 200. The impact head 400 periodically impacts the bearing 300 at a speed of 5m / s. During this process, the torque sensor collects the output torque in real time (measurement range 0-50N·m), the encoder synchronously records the speed change (resolution 1000 lines / revolution), and the temperature sensor monitors the winding temperature (accuracy ±0.1℃). The data from these three sources are integrated by the control system to generate a dynamic curve. When the test reaches 50,000 cycles, the system automatically triggers mid-term data calibration, comparing the deviation between the initial peak torque (set value 20 N·m) and the current measured value. If the error exceeds ±3%, an early warning mechanism is activated. Throughout the test, the platform position is locked by the braked swivel casters at the bottom of the frame 100 to prevent displacement caused by vibration. After completing 100,000 impacts, the system automatically generates a test report including torque attenuation rate, speed fluctuation coefficient, and temperature rise curve, providing a basis for evaluating motor life and optimizing joint structure.

[0053] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An impact durability testing platform for durability testing of joint motors of a humanoid robot, characterized in that, The impact durability testing platform includes: A frame, wherein the joint motor is mounted on top of the frame; A linkage mechanism, one end of which is connected to the output end of the joint motor, and the output end of the linkage mechanism is provided with an impact head; A support component is installed at the bottom of the frame, and the joint motor drives the impact head to reciprocate and swing to impact the support component through the linkage mechanism.

2. The impact durability testing platform as described in claim 1, characterized in that, The frame includes a base, a support rod, and a mounting platform. One end of the support rod is connected to the base, and the other end of the support rod is connected to the mounting platform. The joint motor is mounted on the mounting platform, and the load-bearing component is mounted on the base.

3. The impact durability testing platform as described in claim 2, characterized in that, The frame also includes wheels, which are located at the bottom of the base.

4. The impact durability testing platform as described in claim 1, characterized in that, The linkage mechanism includes a drive rod, a first link, a second link, and a swing arm; one end of the drive rod is connected to the output end of the joint motor, and the other end of the drive rod is hinged to the first link; one end of the second link is hinged to the frame, and the other end of the second link is hinged to the first link, and the second link is arranged parallel to the drive rod; one end of the swing arm is fixedly connected to the first link, and the other end of the swing arm is connected to the impact head.

5. The impact durability testing platform as described in claim 1, characterized in that, The impact durability testing platform also includes a clamp, which is mounted on the frame and is used to clamp the joint motor.

6. The impact durability testing platform as described in claim 1, characterized in that, The impact durability testing platform also includes a torque sensor, which is connected to the joint motor and is used to collect the output torque of the joint motor in real time.

7. The impact durability testing platform as described in claim 6, characterized in that, The impact durability testing platform also includes an encoder, which is connected to the joint motor and is used to collect the rotational speed of the joint motor in real time.

8. The impact durability testing platform as described in claim 7, characterized in that, The impact durability testing platform also includes a temperature sensor connected to the joint motor, which is used to collect the winding temperature of the joint motor in real time.

9. The impact durability testing platform as described in claim 8, characterized in that, The torque sensor, the encoder, and the temperature sensor are electrically connected to the control system of the humanoid robot.

10. The impact durability testing platform as described in any one of claims 1-9, characterized in that, Multiple joint motors can be installed on the frame, and the multiple joint motors are arranged in a circular array; multiple linkage mechanisms are provided, multiple support members are provided, and the linkage mechanisms, the support members and the joint motors are arranged in a one-to-one correspondence.

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