Testing device for joint modules

Abstract

This utility model belongs to the field of robot component testing technology, specifically relating to a testing device for a joint module (10). The testing device includes a fixed platform (1), a torque sensor (2), and a torque-applying device (3). The mounting references of the first support (11), the second support (12), and the third support (13) are unified on the same axis of the fixed platform (1). Furthermore, the joint module (10) to be tested is mounted on the third support (13). By setting the third support (13) to be slidable on the fixed platform (1), this testing device can break the limitation of the fixed spacing of traditional test benches. Testers can manually adjust the position of the third support (13) with micron-level precision according to the axial length of different models of joint modules (10). This not only saves the trouble of redesigning the fixture, but also greatly shortens the assembly and adjustment cycle when changing the product to be tested, and improves the testing efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of robot component testing technology, specifically relating to a testing device for joint modules. Background Technology

[0002] With the rapid development of robotics technology, the accurate testing of the performance indicators (such as output torque, speed, efficiency, and temperature rise) of joint modules, as the core power unit of robots, has become crucial.

[0003] Existing test benches are mostly fixed structures, with their mounting brackets typically positioned in a fixed location. Due to significant differences in size and axial length among different models of joint modules, existing testing equipment struggles to be compatible with various joint module specifications. Changing the product under test often requires redesigning or substantially altering the fixtures, resulting in low testing efficiency. Utility Model Content

[0004] In view of this, the present invention proposes a testing device for joint modules, which aims to improve the torque testing efficiency of joint modules.

[0005] In a test device for a joint module provided by this utility model, the test device includes a fixed platform, a torque sensor, and a torque-applying device. A first support, a second support, and a third support are arranged along a straight line on the top side of the fixed platform. The third support is configured to be suitable for mounting the joint module to be tested, and the third support is slidably mounted on the fixed platform. The torque sensor is mounted on the second support and has a connecting shaft. One end of the connecting shaft is used to connect to the output end of the joint module. The torque-applying device is mounted on the first support, and its output end is connected to the other end of the connecting shaft.

[0006] Thus, this testing device adopts a "three-point-one-line" linear arrangement, unifying the installation references of the first, second, and third supports on the same axis of the fixed platform. Furthermore, by making the third support a sliding structure on the fixed platform, this device breaks through the limitations of fixed spacing in traditional testing benches. Testers can manually adjust the position of the third support with micron-level precision according to the axial length of different joint modules. This not only eliminates the hassle of redesigning fixtures but also significantly shortens the setup and adjustment cycle when changing products under test, thereby improving testing efficiency.

[0007] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a host computer and an industrial control computer. The host computer is configured to be signal-connected to the joint module and control the output rotation speed of the joint module; the industrial control computer is configured to be communicatively connected to the torque-applying device and control the output torque of the torque-applying device.

[0008] Thus, the system adopts a control architecture where the host computer and the industrial control computer work together. The host computer focuses on the precise scheduling of the operating parameters of the module under test, while the industrial control computer focuses on the closed-loop control of the load. This decoupled design not only improves the system's response speed and control accuracy, but also facilitates subsequent upgrades and customization of the testing algorithm (such as simulating complex operating condition curves), and has good technical scalability.

[0009] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a set of slide rails, a transmission assembly, and two bearing seats. The third support is slidably mounted on the set of slide rails; the transmission assembly includes a lead screw and a nut with threaded drive, the nut being connected to the third support; the two bearing seats are located on the top side of the fixed platform and on both sides of the third support, and the mounting holes of the bearing seats are rotatably engaged with the two ends of the lead screw through bearings; a handwheel is connected to the outer end of the lead screw.

[0010] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes an adapter, a first coupling, and a second coupling. The adapter has a keyway on its first end's circumferential sidewall, and its second end is formed as a prism, which is used to connect to the output end of the joint module. One end of the first coupling is connected to the connecting shaft, and the other end is connected to the first end of the adapter via a flat key. The second coupling connects the connecting shaft and the output end of the torque-applying device.

[0011] Thus, the adapter's combination of prism and keyway design standardizes and simplifies the physical connection with different joint modules, significantly reducing the replacement cost and maintenance difficulty of vulnerable parts. Furthermore, the use of the first and second couplings, which provide cushioning and self-aligning functions, minimizes radial eccentricity and axial tilt caused by installation errors. This not only effectively protects the high-precision torque sensor from lateral force damage but also ensures the authenticity and accuracy of test data, especially under low torque conditions.

[0012] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes two optical axes and a protective cover. The two ends of the optical axes are respectively connected to the top surface of the fixed platform through a fixed base, and the two optical axes are respectively located on the two side edges of the fixed platform and arranged parallel to the connecting axis. The bottom two sides of the protective cover are respectively connected to the two optical axes, and are configured such that by moving along the optical axes, the device between the first support and the third support can be covered inside it.

[0013] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes two pairs of linear bearings, one pair of linear bearings connected to one of the optical axes, and the linear bearings also connected to the bottom edge of the protective cover; wherein the distance between the two linear bearings on the same optical axis does not exceed half the length of the protective cover, and a notch is provided on the bottom edge of the protective cover, the notch being configured to allow the protective cover to move to a point where a portion of its length is outside a linear bearing.

[0014] Thus, the sliding protective cover system designed in this device achieves a balance between "large protective area" and "small footprint" through optical axis guidance and a specific linear bearing spacing design. In particular, the design of the notch at the bottom of the protective cover allows it to move and cover beyond the bearing span within the limited optical axis length. This ensures the physical safety of operators during testing (preventing high-speed rotating parts from flying off) while also ensuring that the operating space is completely cleared when not in testing mode, facilitating installation and debugging.

[0015] In a preferred embodiment of the testing device provided by this utility model, the torque-applying device includes a servo motor and a reducer, the output end of the servo motor is connected to the input end of the reducer, and the output end of the reducer is connected to one end of the connecting shaft.

[0016] Thus, the torque-increasing device, through a combination of a servo motor and a reducer, can provide stable, controllable, and wide-range simulated loads.

[0017] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a bracket, which includes a bracket body and a movable plate. The bracket body is disposed on the top side of the fixed platform, and the movable plate is supported below the torque-applying device. A threaded knob is connected between the bracket body and the movable plate.

[0018] Thus, by using a specially designed bracket to support the torque-applying device from the bottom, the rigidity of the entire cantilever structure is enhanced, effectively suppressing mechanical vibrations under high torque and high speed conditions, thereby ensuring stable operation during the testing process. Furthermore, by setting up a bracket structure with a bracket body, a movable plate, and a threaded knob, this device has the ability to adjust the height of the torque-applying device at the micrometer level. Using the precision transmission of the threaded knob, the height of the movable plate can be finely adjusted to compensate for any slight height difference that may exist between the torque-applying device and the torque sensor, ensuring that the connecting shaft is perfectly horizontal. In addition, when the torque-applying device needs maintenance, disassembly, or replacement with a different specification reducer, simply adjusting the knob quickly adapts to the new installation height, eliminating the need for reprocessing or raising the support, significantly reducing subsequent equipment maintenance and consumable costs. The movable plate supports the torque-applying device from below, and together with the stable connection of the bracket body, it effectively absorbs the mechanical vibrations generated by the torque-applying device when outputting high torque or high speed, suppressing resonance phenomena and improving system stability under dynamic testing.

[0019] In a preferred embodiment of the testing device provided by this utility model, a torque sensor and a torque-applying device are respectively arranged on two parallel straight lines on the top side of the fixed platform, and the torque range of the torque-applying device is greater than that of the other torque-applying device.

[0020] Thus, by arranging two sets of torque-applying devices with different torque ranges in parallel on the fixed platform, this testing device possesses the characteristic of "one machine, multiple functions." The high-torque-range station can be used for performance testing of heavy industrial joints, while the low-torque-range station can be used for precision testing of collaborative robots or lightweight joints. This dual-station layout avoids the cumbersome process of frequently changing large load devices, significantly improving the utilization rate and versatility of the testing platform.

[0021] In a preferred embodiment of the testing device provided by this utility model, the third support includes a flat plate, a vertical plate, two slide blocks, and a nut seat. The vertical plate is connected to the top side of the flat plate and has a mounting surface for connecting the joint module and a through hole. The through hole is configured for connecting the output end of the joint module to the connecting shaft. The two slide blocks are connected to the bottom side of the flat plate and are slidably mounted on a slide rail. The nut seat is connected to the bottom side of the flat plate and located between the two slide blocks, and a nut is disposed within the nut seat.

[0022] Thus, combined with the through-hole design on the upright plate, radial eccentricity and axial tilt caused by installation errors can be eliminated to the greatest extent. In addition, the third support, through the modular combination of the plate, upright plate, slide, and nut seat, has a compact structure and balanced force distribution. Attached Figure Description

[0023] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can more clearly understand the above and other features and advantages of the present invention, in which:

[0024] Figure 1 This is a schematic diagram of the external structure of a preferred embodiment of the testing device in this example.

[0025] Figure 2 This is a schematic diagram of the internal structure of a preferred embodiment of the testing device in this example.

[0026] Figure 3 This is a schematic diagram of the bracket of a preferred embodiment of the testing device in this example.

[0027] Figure 4 This is a schematic diagram of the torque sensor in a preferred embodiment of the testing apparatus of this example.

[0028] Figure 5 This is a schematic diagram of the translation structure of the third support in a preferred embodiment of the testing device of this example.

[0029] Figure 6 This is a schematic diagram of the adapter structure of a preferred embodiment of the testing device in this example.

[0030] Figure 7 This is a schematic diagram of the translation structure of the protective cover in a preferred embodiment of the testing device of this example.

[0031] Figure 8 This is a schematic diagram of the communication relationship of the test device in this embodiment.

[0032] The accompanying figure is labeled as follows:

[0033] 10-Joint Module;

[0034] 1-Fixed platform; 11-First support; 12-Second support;

[0035] 13-Third support; 131-Flat plate; 132-Vertical plate; 133-Slide; 134-Nut seat;

[0036] 14-Bearing housing; 15-Fixed seat;

[0037] 16-Bracket; 161-Bracket body; 162-Modible plate; 163-Threaded knob;

[0038] 2-Torque sensor; 21-Connecting shaft;

[0039] 3-Torque-increasing device; 31-Servo motor; 32-Reducer;

[0040] 41 - Host computer; 42 - Industrial control computer;

[0041] 51-Slide rail; 52-Transmission assembly; 521-Lead screw; 5211-Handwheel; 522-Nut;

[0042] 6-Adapter; 61-Keyway; 62-Pyramidal section;

[0043] 71-First coupling; 72-Second coupling;

[0044] 8-Protective cover; 801-Notch; 81-Optical axis; 82-Linear bearing. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0046] It should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "connection" and "setup" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0047] Furthermore, it should be understood in the description of this application that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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, and therefore should not be construed as a limitation of this application.

[0048] Combination Figure 1 and Figure 2 This embodiment provides a testing device for joint modules, mainly used for accurately measuring performance indicators such as output torque, rotational speed, efficiency, and temperature rise of robot joint modules. The core idea of ​​this device is to solve the coaxiality alignment and size adaptation problems of joint modules of different specifications during testing through a high-precision linear layout and adjustable mounting structure.

[0049] From an overall layout perspective, the testing device includes a stable fixed platform 1, serving as the support base for the entire system. On the top side of the fixed platform 1, a first support 11, a second support 12, and a third support 13 are arranged sequentially along a straight line. This "three-point alignment" ensures that the power input, torque measurement, and the joint module 10 under test are on the same axis geometrically. Specifically, the first support 11 is used to mount the torque-applying device 3 that provides the simulated load, the second support 12 is used to fix the torque sensor 2, and the third support 13 is specifically used to mount the joint module 10 under test.

[0050] To improve testing efficiency, the top side of the fixed platform 1 can be arranged in a dual-station configuration, with a complete set of testing components (each set including a torque sensor 2 and a torque-applying device 3) arranged on two parallel straight lines. By configuring torque-applying devices 3 with different ranges (for example, one torque-applying device 3 has a larger output torque range, and the other has a smaller one), the device can achieve simultaneous compatibility with high-power and lightweight joint modules 10 on a single platform, greatly expanding the testing coverage of the equipment.

[0051] The torque-increasing device 3 is the load source of the system. In this embodiment, the torque-increasing device 3 is composed of a servo motor 31 and a reducer 32. The output end of the servo motor 31 is connected to the input end of the reducer 32. After the torque is increased by the reducer 32, its output end serves as the load output of the entire test device.

[0052] Combination Figure 2 and Figure 3 In a preferred embodiment of the above-mentioned testing device, the testing device further includes a bracket 16, which includes a bracket body 161 and a movable plate 162. The bracket body 161 is disposed on the top side of the fixed platform 1, and the movable plate 162 is supported below the torque-applying device 3. A threaded knob 163 is connected between the bracket body 161 and the movable plate 162.

[0053] Thus, the specially designed bracket 16 provides bottom support for the torque-applying device 3, enhancing the rigidity of the entire cantilever structure and effectively suppressing mechanical vibration under high torque and high speed conditions, thereby ensuring stable operation during the testing process. Furthermore, by setting up the bracket 16 structure with a bracket body 161, a movable plate 162, and a threaded knob 163, this device possesses the ability to adjust the height of the torque-applying device 3 at the micrometer level. Utilizing the precision transmission of the threaded knob 163, the height of the movable plate 162 can be finely adjusted, thereby compensating for any slight height difference that may exist between the torque-applying device 3 and the torque sensor 2, ensuring that the connecting shaft 21 of the torque sensor 2 is completely horizontal.

[0054] Furthermore, when the torque-applying device 3 needs maintenance, disassembly, or replacement with a reducer 32 of different specifications, simply adjusting the threaded knob 163 quickly adapts to the new installation height, eliminating the need for reprocessing or raising the support, significantly reducing subsequent equipment maintenance and consumable costs. The movable plate 162 supports the torque-applying device 3 from below, and together with the stable connection of the bracket body 161, it can effectively absorb the mechanical vibration generated by the torque-applying device 3 when outputting high torque or high speed, suppress resonance, and improve the system stability under dynamic testing.

[0055] Combination Figure 2 and Figure 4 In a preferred embodiment of the aforementioned testing device, the torque sensor 2 is located in the middle of the testing device, and is suspended by a second support 12 or fixed to a base. The torque sensor 2 has a connecting shaft 21 that runs through or extends to both ends, with one end of the connecting shaft 21 facing the torque-applying device 3 and the other end facing the joint module 10 to be tested. When the system is running a dynamometer test, the connecting shaft 21 transmits the power generated by the joint module 10 to the torque-applying device 3, and the torque sensor 2 captures the strain signal on the shaft in real time and converts it into torque data.

[0056] Combination Figure 2 and Figure 5 To accommodate joint modules 10 of different lengths, the third support 13 is designed as a sliding and adjustable structure on the fixed platform 1. Its specific construction includes:

[0057] (1) Support assembly: The third support 13 consists of a horizontal flat plate 131 and a vertical plate 132. The plate 132 has a through hole and a finely machined mounting surface. The joint module 10 is fixed to the mounting surface by a flange or screws, and its output end is connected to the connecting shaft 21 through the through hole.

[0058] (2) Guiding mechanism: A set of parallel slide rails 51 are installed on the fixed platform 1. Two slide blocks 133 are connected to the bottom side of the plate 131. Through the cooperation of the slide blocks 133 and the slide rails 51, the third support 13 can move smoothly along the axial direction.

[0059] (3) Transmission and locking: In order to achieve micron-level displacement control, the device is equipped with a transmission assembly 52. ​​The assembly includes a lead screw 521 and a nut 522. The nut 522 is fixed to the bottom side of the plate 131 by a nut seat 134. The two ends of the lead screw 521 are rotatably connected to the fixed platform 1 by two bearing seats 14. The outer end of the lead screw 521 extends out and is connected to a handwheel 5211.

[0060] Working process: The tester manually rotates handwheel 5211, driving lead screw 521 to rotate. Since nut 522 is restricted to the third support 13, the rotation of lead screw 521 is converted into linear translation of the third support 13. After the position adjustment is completed, the third support 13 is locked by the self-locking property of lead screw 521 or an additional locking handle. This design solves the problems of large errors and inability to fine-tune when manually pushing and pulling the third support 13.

[0061] Combination Figure 2 and Figure 6 In a preferred embodiment of the above-mentioned testing device, the output shaft of the joint module 10 has various forms (such as round shaft, keyway shaft or spline shaft). Therefore, this testing device is designed with a flexible conversion scheme, which mainly includes the adapter 6 and the coupling system.

[0062] One end (second end) of the adapter 6 is machined into a prism 62 (such as a hexagonal prism or a quadrangular prism). This polygonal structure can adapt to various sizes of joint module 10 output end fixtures; a keyway 61 is provided on the side wall of the other end (first end) of the adapter 6.

[0063] The coupling system adopts a two-stage coupling method. One end of the first coupling 71 is connected to the connecting shaft 21 of the torque sensor 2, and the other end is fastened to the first end of the adapter 6 via a flat key. The second coupling 72 is connected between the connecting shaft 21 and the output end of the torque-applying device 3.

[0064] In this embodiment, the frequent disassembly and assembly of the torque sensor 2 shaft is avoided by using the adapter 6 as an intermediary. The keyed connection ensures that no relative slippage occurs during high torque transmission, while the double coupling configuration effectively absorbs minor installation alignment errors and protects the torque sensor 2 from radial force damage.

[0065] Combination Figure 2 and Figure 7 In a preferred embodiment of the aforementioned testing apparatus, considering safety issues during high-speed testing, the apparatus is also equipped with a movable protective cover system 8. For support and guidance, two long optical shafts 81 are arranged along the edges on both sides of the fixed platform 1. The optical shafts 81 are parallel to the connecting shaft 21, and both ends of the optical shafts 81 are connected to the top surface of the fixed platform 1 via a fixed seat 15. Furthermore, the bottom sides of the protective cover 8 are fitted onto the optical shafts 81 via two pairs of linear bearings 82.

[0066] Furthermore, in order to reduce the size of the equipment while ensuring the protected area, the distance between the two linear bearings 82 on the same optical axis 81 is controlled to be within half of the total length of the protective cover 8. A notch 801 is specially provided at the bottom edge of the protective cover 8. The design of this notch 801 allows part of the length of the protective cover 8 to be suspended outside the linear bearings 82 without interference when it is moved to the extreme position.

[0067] Thus, this structure allows the protective cover 8 to move flexibly according to the changes in the test area (between the first support 11 and the third support 13), which can fully cover the rotating parts during large-scale testing and can be quickly pushed open when changing test pieces without occupying additional operating space.

[0068] Combination Figure 2 and Figure 8 This device enables automated testing through the collaboration of a host computer 41 and an industrial control computer 42. The host computer 41 is primarily responsible for communicating with the joint module 10 under test (e.g., via CAN or EtherCAT bus), controlling the joint module 10 to operate at a preset speed, and collecting data such as current and temperature inside the joint module 10. The industrial control computer 42 is specifically responsible for communicating with the servo driver of the torque-applying device 3, controlling the torque-applying device 3 to output precise resistance torque through a closed-loop algorithm. Thus, through the logical linkage between the host computer 41 and the industrial control computer 42, the dynamic load conditions of the joint module 10 on an actual robotic arm can be simulated, such as stepped loading and alternating load testing.

[0069] In summary, the joint module 10 testing device of this embodiment solves the size adaptation problem through the sliding third support 13, solves the range coverage problem through the dual-station design, and ensures testing accuracy through the handwheel 5211, lead screw 521, and precision adapter 6. In practical applications, this solution can also have various modifications, such as replacing the handwheel 5211 with a stepper motor to achieve fully automatic position adjustment; or adding a temperature and humidity sensor to the fixed platform 1 to monitor the impact of the environment on the test. These improvements based on the core concept of this application all fall within the protection scope of this utility model.

[0070] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0071] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A testing device for a joint module, characterized in that include: A fixed platform (1) has a first support (11), a second support (12) and a third support (13) arranged along a straight line on its top side. The third support (13) is configured to be suitable for installing the joint module (10) to be tested, and the third support (13) is slidably disposed on the fixed platform (1). A torque sensor (2) is mounted on the second support (12) and has a connecting shaft (21), one end of which is used to connect to the output end of the joint module (10); A torque-increasing device (3) is mounted on the first support (11), and its output end is connected to the other end of the connecting shaft (21).

2. The test device of claim 1, wherein, Also includes: The host computer (41) is configured to be connected to the joint module (10) via a signal and to control the output rotation speed of the joint module (10); An industrial computer (42) is configured to communicate with the torque-adding device (3) and control the output torque of the torque-adding device (3).

3. The testing apparatus according to claim 1, characterized in that, Also includes: A set of slide rails (51) on which the third support (13) is slidably mounted; The transmission assembly (52) includes a lead screw (521) and a nut (522) with threaded drive engagement, the nut (522) being connected to the third support (13); Two bearing seats (14) are provided on the top side of the fixed platform (1) and located on both sides of the third support (13). The mounting holes of the bearing seats (14) are rotatably engaged with the two ends of the lead screw (521) through bearings. A handwheel (5211) is connected to the outer end of the lead screw (521).

4. The testing apparatus according to claim 1, characterized in that, Also includes: The adapter (6) has a keyway (61) on the circumferential sidewall at its first end and a prism (62) at its second end, which is used to connect to the output end of the joint module (10). The first coupling (71) is connected at one end to the connecting shaft (21) and at the other end to the first end of the adapter (6) via a flat key; A second coupling (72) is connected between the connecting shaft (21) and the output end of the torque-applying device (3).

5. The testing apparatus according to claim 1, characterized in that, Also includes: Two optical axes (81) are connected at both ends to the top surface of the fixed platform (1) via a fixed seat (15), and the two optical axes (81) are located on the two sides of the fixed platform (1) and arranged parallel to the connecting shaft (21). The protective cover (8) is connected to the two optical axes (81) on both sides of its bottom end, and is configured to cover the device between the first support (11) and the third support (13) inside it by moving along the optical axis (81).

6. The testing apparatus according to claim 5, characterized in that, Also includes: Two pairs of linear bearings (82), one pair of linear bearings (82) is connected to one of the optical axes (81), and the linear bearings (82) are also connected to the bottom edge of the protective cover (8); The distance between the two linear bearings (82) on the same optical axis (81) does not exceed half the length of the protective cover (8), and a notch (801) is provided at the bottom edge of the protective cover (8), the notch (801) being configured to allow the protective cover (8) to move to a point where part of its length is outside the linear bearing (82).

7. The testing apparatus according to claim 1, characterized in that, The torque-increasing device (3) includes a servo motor (31) and a reducer (32). The output end of the servo motor (31) is connected to the input end of the reducer (32), and the output end of the reducer (32) is connected to one end of the connecting shaft (21).

8. The testing apparatus according to claim 1, characterized in that, Also includes: A bracket (16) includes a bracket body (161) and a movable plate (162). The bracket body (161) is disposed on the top side of the fixed platform (1), and the movable plate (162) is supported below the torque-applying device (3). A threaded knob (163) is connected between the bracket body (161) and the movable plate (162).

9. The testing apparatus according to claim 1, characterized in that, On the top side of the fixed platform (1), a torque sensor (2) and a torque-applying device (3) are respectively arranged on two parallel straight lines. The torque range of one torque-applying device (3) is greater than that of the other torque-applying device (3).

10. The testing apparatus according to claim 1, characterized in that, The third support (13) includes: Flat plate (131); A vertical plate (132) is connected to the top side of the flat plate (131) and has a mounting surface for connecting the joint module (10) and a through hole, the through hole being configured for connecting the output end of the joint module (10) to the connecting shaft (21). Two slide blocks (133) are connected to the bottom side of the plate (131), and the two slide blocks (133) are slidably mounted on a slide rail (51); A nut seat (134) is connected to the bottom side of the plate (131) and located between two slides (133), and a nut (522) is provided inside the nut seat (134).

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