CN216899603U

CN216899603U - Robot joint testing device

Info

Publication number: CN216899603U
Application number: CN202220588121.2U
Authority: CN
Inventors: 王晓军; 彭俊才; 安然
Original assignee: Feixi Technology Co ltd; Foshan Feixi Robot Technology Co ltd
Current assignee: Feixi Technology Co ltd; Foshan Feixi Robot Technology Co ltd
Priority date: 2022-03-16
Filing date: 2022-03-16
Publication date: 2022-07-05
Anticipated expiration: 2032-03-16

Abstract

The utility model relates to a robot joint testing device.A joint mounting mechanism is used for mounting a joint to be tested; the first counterweight is used for being eccentrically connected to the power output end and is configured to apply bending moment to the joint to be measured through at least partial component force of self gravity; the transmission mechanism comprises an input part and an output part, the input part is connected with the power output end to input power through synchronous rotation, the output part is used for outputting the power, the rotation center of the input part is a first virtual shaft, the rotation center of the output part is a second virtual shaft, and the second virtual shaft is basically vertical to the first virtual shaft; the second counterweight part is eccentrically connected with the output part and is configured to apply torque to the output part through at least partial component force of self gravity so as to be transmitted to the joint to be tested; the torque test piece is used for testing the output torque of the joint to be tested. The device can simulate the scene that the load applies torque and bending moment to the joint, and carry out more comprehensive test to the fluctuation of joint output torque.

Description

Robot joint testing device

Technical Field

The utility model relates to the technical field of robot joint performance testing, in particular to a robot joint testing device.

Background

With the continuous development of modern science and technology, the robot is gradually applied to a plurality of fields, some tedious or dangerous works are completed through the robot instead of manpower, and great convenience is brought to production life. Generally, a robot realizes motion trajectory output with different degrees of freedom through combined motion of a plurality of joints, thereby completing a preset motion. In the working process of the robot, the torque and the bending moment applied to the joint of the robot by the load can affect the stability of the output power of the joint, so that the output torque of the joint fluctuates. If the output torque fluctuation is large, joint vibration may be caused, and large noise is generated, and the joint is easily worn or even damaged. Therefore, it is important to test the loaded output torque fluctuation of the joints before the robot is put into use. In the related art, some devices for testing the fluctuation of the output torque of the joint exist, however, such devices usually only consider the influence of one of the torque or the bending moment applied to the joint by the load on the output torque of the joint, have certain limitations, and cannot better simulate the actual use condition of the joint.

SUMMERY OF THE UTILITY MODEL

Based on the situation, the robot joint testing device provided by the utility model can simultaneously simulate the scene that the load applies torque and bending moment to the joint, is closer to the actual use working condition, and can carry out more comprehensive test on the fluctuation of the joint output torque.

Robot joint testing arrangement for to the joint that awaits measuring tests, the power take off of joint that awaits measuring exports the rotary motion around first virtual axle, includes:

the joint mounting mechanism is used for mounting the joint to be tested;

a bending moment loading mechanism, including a first counterweight member, for being eccentrically connected to the power output end to be driven by a driving member of the joint to be tested to rotate around the first virtual axis, the first counterweight member being configured to apply a bending moment to the joint to be tested by at least a partial component of its own gravity;

the transmission mechanism comprises an input piece and an output piece, the input piece is connected with the power output end to input power through synchronous rotation, the output piece is used for outputting the power, the rotation center of the input piece is the first virtual shaft, the rotation center of the output piece is the second virtual shaft, and the second virtual shaft is basically vertical to the first virtual shaft;

the torque loading mechanism comprises a second counterweight part which is eccentrically connected with the output part so as to rotate together with the output part around the second virtual shaft under the driving of the input part, and the second counterweight part is configured to apply torque to the output part through at least partial component force of self gravity so as to be transmitted to the joint to be tested; and

and the torque testing piece is used for testing the output torque of the joint to be tested.

In one embodiment, the first virtual shaft extends along a vertical direction, the second virtual shaft extends along a horizontal direction, the first counterweight is configured to apply bending moment to the joint to be tested through self gravity, and the second counterweight is configured to apply torque to the output piece through self gravity; wherein, vertical direction is parallel with the direction of gravity, and horizontal direction is located the horizontal plane.

In one embodiment, the input member is an input gear, the output member is an output gear, and the input gear and the output gear form a gear set with the transmission ratio of 1;

the input gear is used for being coaxially connected with the power output end, the first virtual shaft is overlapped with a rotating shaft of the input gear, and the second virtual shaft is overlapped with a rotating shaft of the output gear.

In one embodiment, the torque loading mechanism further comprises a rotating rod extending in the horizontal direction;

output gear coaxial coupling in the dwang, just second counterweight eccentric coupling in the dwang, output gear passes through the dwang drives the second counterweight winds the virtual axle of second rotates.

In one embodiment, along the horizontal direction, the rotating rod extends out from the joint installation mechanism to be tested in a direction away from the first weight part, and the first weight part and the second weight part are respectively located on two sides of the joint installation mechanism to be tested.

In one embodiment, the bending moment loading mechanism further comprises a first connecting piece connected to the power output end, the first connecting piece extends outwards from the joint installation mechanism to be tested, and the first counterweight piece is connected to one end, far away from the joint installation mechanism to be tested, of the first connecting piece.

In one embodiment, the robot joint testing device further comprises a rotating disc, the rotating disc is used for being coaxially connected to the power output end, the first connecting piece comprises a mounting hole and two first connecting arms extending outwards horizontally, the rotating disc is fixedly mounted in the mounting hole, the two first connecting arms are arranged on two sides of the mounting hole in an axial symmetry mode, and the first weight member is connected to one end, far away from the mounting hole, of one of the first connecting arms.

In one embodiment, the first weight member is detachably connected to the first connecting member.

In one embodiment, the torque loading mechanism further comprises a second connecting piece, the second connecting piece extends outwards from one end, far away from the to-be-tested joint installation mechanism, of the rotating rod, and the second counterweight piece is connected to one end, far away from the rotating rod, of the second connecting piece.

In one embodiment, the robotic joint testing device has a first test state, a second test state, and a third test state; in the first test state, the weight of the first weight member is zero, and the weight of the second weight member is greater than zero;

in the second test state, the weight of the first weight member is greater than zero and the weight of the second weight member is zero;

in the third test state, the weight of the first weight member is greater than zero and the weight of the second weight member is greater than zero.

According to the robot joint testing device, the joint installation mechanism can realize the installation of the joint to be tested, and the joint to be tested can output the rotary motion around the first virtual axis. In the bending moment loading mechanism, the first counterweight part can be eccentrically connected to the power output end of the joint to be tested, so that the first counterweight part is driven by the driving part of the joint to be tested to rotate around the first virtual shaft. In the transmission mechanism, the input part is connected with the power output end of the joint to be detected and can synchronously rotate along with the power output end, so that power is input into the transmission mechanism. The power of the input transmission mechanism is output to a second counterweight part connected to the output part through the output part, so that the second counterweight part and the output part rotate around a second virtual shaft perpendicular to the first virtual shaft under the driving of the input part. The first counterweight part is configured to apply bending moment to the joint to be tested through at least part of component force of self gravity, so that when a driving part of the joint works to output torque, the bending moment can be applied to the joint through the first counterweight part, and a use scene that a load applies the bending moment to the joint is simulated. The second counterweight part is configured to apply torque to the output part through at least partial component force of self gravity, so that the torque is transmitted to the joint, and the torque is applied to the joint. Under the scene that the load is considered to apply the bending moment and the torque, the output torque of the joint to be tested is measured through the torque testing piece, and the fluctuation of the output torque of the joint can be tested more comprehensively.

Drawings

Fig. 1 is a schematic structural diagram of a robot joint testing apparatus according to an embodiment of the present invention;

FIG. 2 is a front view of the robotic joint testing device of FIG. 1;

FIG. 3 is a diagram illustrating a state of use of the robot joint testing apparatus of FIG. 1;

fig. 4 is another state diagram of the robot joint testing device in fig. 1.

Reference numerals:

a substrate 110, a supporting frame 120, a first bearing seat 121, and a second bearing seat 122;

a joint mounting plate 210, a joint 220 to be measured, a rotating disc 230, and an extension 231;

a first weight member 310, a first connecting member 320, a first connecting arm 321, a first mounting post 322;

the second weight member 410, the second connecting member 420, the second connecting arm 421, the second mounting post 422, the rotating lever 430;

input 510, output 520;

a first nut 610, a second nut 620.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 and fig. 2, the robot joint testing apparatus according to an embodiment of the present invention may be used to test a joint 220 to be tested, and when the driving member of the joint 220 to be tested works, the driving member may output a rotation motion around a first virtual axis a through a power output end (i.e., an output disc).

The robot joint testing device comprises a joint mounting mechanism, a bending moment loading mechanism, a transmission mechanism, a torque loading mechanism and a torque testing piece. Wherein, joint installation mechanism is used for installing joint 220 that awaits measuring. The bending moment loading mechanism includes a first weight member 310, the first weight member 310 is used for being eccentrically connected to the power output end of the joint 220 to be tested, and when the driving member of the joint 220 to be tested works, the first weight member 310 rotates around the first virtual axis a. The first weight 310 is configured to apply a bending moment to the joint 220 to be tested by at least a partial component of its own weight. The transmission mechanism comprises an input piece 510 and an output piece 520, wherein the input piece 510 is used for being connected with a power output end of the joint 220 to be tested, the input piece 510 can synchronously rotate along with the power output end of the joint 220 to be tested, so that the power output by the power output end is input into the transmission mechanism, the output piece 520 can rotate around a second virtual shaft B under the driving of the input piece 510, and the power of the transmission mechanism is output to the torque loading mechanism, wherein the rotation center of the input piece 510 is a first virtual shaft A, the rotation center of the output piece 520 is a second virtual shaft B, and the second virtual shaft B is basically perpendicular to the first virtual shaft A. Substantially perpendicular herein means perpendicular or an angle between the two approaching 90 degrees, for example, an angle between 80 and 110 degrees is defined as substantially perpendicular. In the following embodiments, for convenience of understanding and description, the second virtual axis B is substantially perpendicular (the included angle is 90 degrees) to the first virtual axis a.

The torque loading mechanism comprises a second weight member 410, the second weight member 410 is eccentrically connected to the output member 520, and the second weight member 410 is capable of rotating with the output member 520 about a second virtual axis B by the input member 510. The second weight 410 is configured to apply a torque to the output member 520 through at least a partial component of its own weight, and the torque can be transmitted to the input member 510, further transmitted to the joint 220 to be tested, and finally applied to the joint 220 to be tested, so as to apply a torque to the joint 220 to be tested through at least a partial component of its own weight of the second weight 410.

The torque test piece is used for testing the output torque of the joint 220 to be tested, and may be installed inside the joint 220 to be tested (i.e., using the torque sensor of the joint 220 to be tested itself), or installed outside the joint 220 to be tested and connected to the output shaft of the joint 220 to be tested.

In this embodiment, the first weight member 310 is configured to apply a bending moment to the joint 220 to be tested through at least a partial component of its own gravity, so that when the driving member of the joint 220 to be tested is operated to output a torque, the first weight member 310 may apply a bending moment to the joint 220 to be tested, thereby simulating a use scenario in which a load applies a bending moment to the joint 220 to be tested. The second weight 410 is configured to apply a torque to the output member 520 through at least a partial component of its own gravity, so as to transmit the torque to the joint 220 to be tested, and thus apply the torque to the joint 220 to be tested, and therefore, when the driving member of the joint 220 to be tested operates to output the torque, the torque may be applied to the joint 220 to be tested through the second weight 410, thereby simulating a use scenario in which a load applies the torque to the joint 220 to be tested. Under the above-mentioned scenario that the load applies bending moment and torque to the joint 220 to be tested, the output torque of the joint 220 to be tested is measured by the torque test piece, so that the fluctuation of the output torque of the joint 220 to be tested in the loading environment can be more comprehensively tested. In addition, in this embodiment, when applying torque, the torque is applied by the self-weight of the second weight 410, which can make the structure of the device simpler and the cost lower than the prior art in which torque is provided by a magnetic powder brake.

Specifically, the robot joint testing device comprises a rack, wherein the rack comprises a base plate 110, a joint mounting mechanism comprises a joint mounting plate 210, the joint mounting plate 210 is fixedly connected to the base plate 110, and a joint 220 to be tested is fixedly mounted on the joint mounting plate 210. Preferably, the joint 220 to be detected is detachably mounted on the joint mounting plate 210, and after the detection of one of the joints 220 to be detected is finished, the other joints can be replaced to continue the detection. For example, in some embodiments, the joint 220 to be tested is fixedly mounted to the joint mounting plate 210 by a threaded fastener such as a screw. In addition, it should be noted that the first balance weight 310 is eccentrically connected to the power output end of the joint 220 to be measured, and an arm of force is formed by the eccentric connection. The term "eccentric connection" means that the first weight member 310 may be directly or indirectly connected to the power output end of the joint 220 to be tested, but the first weight member 310 and the rotation axis (i.e. the first virtual axis a) of the power output end of the joint 220 to be tested do not coincide with each other, and have a distance therebetween. Similarly, the second weight member 410 is eccentrically connected to the output member 520, forming a moment arm by the eccentric connection. By "eccentrically coupled" it is meant that the second weight member 410 may be directly or indirectly coupled to the output member 520, but the second weight member 410 is not coincident with the rotational axis of the output member 520 (i.e., the second virtual axis B) with a distance therebetween.

Specifically, the torque testing part is a sensor installed on the joint 220 to be tested, and is in communication connection with the PC end, the measured data can be transmitted back to the PC end, the PC end further records information such as the weights of the first weight part 310 and the second weight part 410, the one-to-one correspondence relationship between the weights of the weight parts and the output torque is realized through software of the PC end, and a corresponding chart is drawn. This part is only required to be adopted in the prior art, and is not described in detail herein.

Referring to fig. 1 to 2, in some embodiments, the first virtual axis a extends in a vertical direction, the second virtual axis B extends in a horizontal direction, the first weight 310 is configured to apply a bending moment to the joint 220 to be tested by its own weight, and the second weight 410 is configured to apply a torque to the output 520 by its own weight; wherein, vertical direction is parallel with the direction of gravity, and the horizontal direction is located the horizontal plane. Specifically, the up-down direction shown in the drawing is the vertical direction, and the left-right direction is the horizontal direction. The base plate 110 and the joint mounting plate 210 are both horizontal plates, the joint mounting plate 210 is fixedly connected to the top of the base plate 110, and the joint 220 to be tested is fixedly mounted on the top of the joint mounting plate 210. The power output end (i.e., the output disc) of the joint 220 to be tested is located at the top end of the joint, and the first balance weight member 310 and the input member 510 are both directly or indirectly connected to the top end region of the joint 220 to be tested.

In this embodiment, the horizontal distance between the first weight member 310 and the first virtual axis a is a first moment arm of the applied bending moment, and the gravity direction of the first weight member 310 is perpendicular to the first moment arm. At this time, the first weight member 310 may apply a bending moment to the joint 220 to be measured through all of its own weight. The horizontal distance between the second weight member 410 and the second virtual axis B (the horizontal direction component of the distance between the second weight member 410 and the second virtual axis B) is the second force arm of the applied torque, and the gravity direction of the second weight member 410 is perpendicular to the second force arm. At this time, the second weight 410 may apply a torque to the output member 520 through all of its own weight, and transmit the torque to the joint 220 to be tested through the input member 510, so as to apply a torque to the joint 220 to be tested. Of course, in other embodiments, the whole device may be placed by rotating the whole device by a certain angle, for example, rotating the whole device shown in fig. 1 by 45 degrees counterclockwise until the substrate 110 forms an angle of 45 degrees with the horizontal plane, and the right side of the substrate 110 is higher than the left side. It will be appreciated that after rotation, the gravity of the first weight member 310 is not perpendicular to the first force arm, but may be resolved into a component perpendicular to the first force arm, by which a bending moment is applied to the joint 220 to be measured. Similarly, a torque may be applied to the joint 220 to be measured by the component force of the second weight 410. That is, a bending moment or torque may be applied as long as there is a component force in a direction perpendicular to the corresponding moment arm. Of course, the arrangement mode of the view angle shown in fig. 1 is preferred, and at this time, the substrate 110 is directly placed on the horizontal table top, so that the operation is more convenient, the whole height of the whole device is smaller, the gravity center is lower, and the stability is better in the test process. In the following embodiments, the description will be continued based on the arrangement of the view angles shown in fig. 1.

Referring to fig. 1 to 2, in some embodiments, the transmission mechanism includes a gear set with a transmission ratio of 1, the input element 510 is an input gear, the output element 520 is an output gear, the input gear is configured to be coaxially connected with the power output end of the joint 220 to be tested, the first virtual axis a coincides with a rotation axis of the input gear, and the second virtual axis B coincides with a rotation axis of the output gear. Specifically, the input gear and the output gear are both bevel gears and are meshed with each other, the rotating shaft of the input gear extends in the vertical direction, and the rotating shaft of the output gear extends in the horizontal direction. Through the intermeshing of the bevel gears, the conversion of the rotation direction can be realized, and the rotation around the vertical direction output by the power output end of the joint 220 to be tested is converted into the rotation around the horizontal direction. Compared with a mode that a brake and the like are arranged at the upper end or the lower end of the joint 220 to be tested to provide torque, in the embodiment, the whole height of the device can be reduced by switching the rotation direction and then providing the torque, the gravity center is reduced, and the stability of the test process is improved. As is well known to those skilled in the art, under the premise of a certain power, the rotation speed and the torque are in an inverse proportional relationship, and the transmission ratio of the gear set is 1, i.e. it is ensured that the input rotation speed and the output rotation speed of the transmission mechanism are equal, so as to ensure that the torque applied to the output member 520 by the second counterweight member 410 is finally transmitted to the joint 220 to be tested in an equal magnitude. In this way, the torque actually applied to the joint 220 to be tested can be obtained only by calculating the torque applied to the output member 520 by the second weight 410 without conversion. In this embodiment, the gear set includes only two bevel gears, and in other embodiments, a plurality of intermediate gears may also be provided between the input gear and the output gear. In other embodiments, the input gear and the output gear may also be provided as a worm gear assembly.

Referring to fig. 1 to 2, in some embodiments, the torque loading mechanism further includes a rotating rod 430 extending in a horizontal direction, the output gear is coaxially connected to the rotating rod 430, and the second weight member 410 is eccentrically connected to the rotating rod 430, and the output gear drives the second weight member 410 to rotate around the second virtual axis B through the rotating rod 430. Specifically, in the horizontal direction, the output gear is located at one end of the rotating rod 430, and the second weight member 410 is located at the other end. The output gear is sleeved on the outer peripheral surface of the rotating rod 430 and fixedly connected with the outer peripheral surface, and the axis of the rotating rod 430 is the second virtual shaft B. When the output gear rotates, the rotation rod 430 is driven to rotate synchronously, thereby driving the second weight member 410 eccentrically connected to the other end of the rotation rod 430 to rotate around the rotation rod 430. Torque is applied to the rotating rod 430 by the gravity of the second weight 410, and is transmitted to the output gear, and then is transmitted to the joint 220 to be tested through the input gear.

The top of the substrate 110 is fixedly connected with a supporting frame 120, the supporting frame 120 is in an inverted U shape, and the top end of the supporting frame 120 is fixedly provided with a first bearing seat 121 and a second bearing seat 122 which are arranged at intervals along the horizontal direction. The rotating rod 430 is bearing-connected with the first bearing housing 121, and the rotating rod 430 is bearing-connected with the second bearing housing 122, so as to support the rotating rod 430.

In other embodiments, the rotating rod 430 may not be provided, and the second weight member 410 may be eccentrically connected to the output gear. For example, the second weight member 410 is fixed to the right end face of the output gear, and the second weight member 410 is offset from the axis of the output gear in the radial direction of the output gear to achieve eccentricity.

Referring to fig. 1 to 2, in some embodiments, in the horizontal direction, the rotation rod 430 extends out from the joint mounting mechanism to be tested in a direction away from the first weight member 310, and the first weight member 310 and the second weight member 410 are respectively located at two sides of the joint mounting mechanism to be tested. Specifically, the left end of the rotating rod 430 is connected to the output gear, the rotating rod 430 extends out towards the right, the first weight member 310 is located on the left side of the joint 220 to be tested, and the second weight member 410 is located on the right side of the joint 220 to be tested. Two counterweight parts are arranged on two sides, and the distance between the two counterweight parts is far, so that the two counterweight parts can be conveniently disassembled and replaced, and the two counterweight parts are not easy to interfere with each other.

Of course, if the above-mentioned factors are not taken into consideration, in other embodiments, the right end of the rotation lever 430 may be connected to the output gear, the rotation lever 430 may extend to the left beyond the first weight member 310, and the first weight member 310 may be eccentrically connected to the left end of the rotation lever 430.

In some embodiments, the bending moment loading mechanism further includes a first connecting member 320 for connecting to the power output end of the joint 220 to be tested, the first connecting member 320 extends outwards from the mounting mechanism of the joint to be tested, and the first weight member 310 is connected to an end of the first connecting member 320 away from the mounting mechanism of the joint to be tested. Specifically, the first connecting element 320 extends outwards from the top end of the joint 220 to be tested mounted on the joint mounting mechanism to be tested, the inner end of the first connecting element 320 is connected to the power output end of the joint 220 to be tested, and the first counterweight 310 is fixedly mounted at the outer end of the first connecting element 320. The first connecting member 320 is used for supporting the first weight member 310 and forming a first force arm, and the horizontal distance between the inner end and the outer end of the first connecting member 320 is the first force arm. The first connector 320 may have a plate shape, or may have another shape such as a rod shape.

Of course, in other embodiments, the first weight member 310 may not be provided, and the first weight member 310 may be directly and fixedly mounted on the power output end of the joint 220 to be tested, only by ensuring that a distance exists between the first weight member 310 and the first virtual axis a.

In the case of providing the first connecting member 320, in some embodiments, the robot joint testing device further includes a rotating disc 230, the rotating disc 230 is configured to be coaxially connected to the power output end, the first connecting member 320 includes a mounting hole and two first connecting arms 321 extending horizontally outward, the rotating disc 230 is fixedly mounted in the mounting hole, that is, the first connecting member 320 is sleeved on the rotating disc 230 through the mounting hole so as to be fixedly connected to the rotating disc 230, the two first connecting arms 321 are axially symmetrically disposed on two sides of the mounting hole, and the first weight member 310 is connected to one end of one of the first connecting arms 321 away from the mounting hole. Specifically, the rotating disc 230 is fixedly connected to the top end of the output disc of the joint 220 to be tested, and the power output by the joint 220 to be tested is finally output to the outside through the rotating disc 230. The first connecting member 320 is provided with a mounting hole extending in a vertical direction at a central position between a length direction and a width direction thereof. The mounting hole may be a through hole penetrating through the first connector 320 in the vertical direction, and the first connector 320 is sleeved on the rotating disc 230 through the through hole and fixedly connected with the rotating disc. Specifically, the first connector 320 may be fixed to the rotary plate 230 by means of bonding, snapping, or screwing. Or, the mounting hole only penetrates through the first connecting piece 320 in the bottom wall portion area, the bottom of the rotating disc 230 is supported by the bottom wall of the mounting hole, and an opening penetrating through the first connecting piece 320 is formed in the center of the bottom wall of the mounting hole, so that only the opening is required to be capable of allowing a portion, used for being connected with the output disc of the joint 220 to be tested, of the rotating disc 230 to penetrate through. The portion of the rotating disk 230 for connecting with the output disk of the joint 220 to be tested passes downward through the opening and is fixedly connected to the output disk of the joint 220 to be tested. A protrusion 231 protrudes upward from the top of the rotary plate 230, and the output gear is coaxially fixed to the top end of the protrusion 231. When the driving member of the joint 220 to be tested works, the output disc rotates, so as to drive the rotating disc 230 connected with the output disc to rotate, and the extending portion 231 on the rotating disc 230 drives the input gear to rotate.

The first connecting member 320 is a horizontal plate, and two first connecting arms 321 of the first connecting member horizontally extend outward from the rotating plate 230. The first weight member 310 is fixedly installed on top of the outer end of one of the first connecting arms 321. The two first connecting arms 321 are symmetrically arranged, so that the influence of bending moment caused by the gravity of the first connecting arms 321 can be eliminated, and bending moment is provided only by the first weight part 310 with known weight, so that the one-to-one correspondence relationship between the weight of the first weight part 310 and the output torque of the joint 220 to be tested is established. In other embodiments, only one first connecting arm 321 may be provided and installed to horizontally extend outward from one side of the rotating disk 230, and in this embodiment, the contribution of the weight of the first connecting arm 321 to the bending moment may be measured and calculated in advance and considered together with the bending moment generated by the weight of the first weight member 310. In other embodiments, the first connecting member 320 may be disposed with the plate surface inclined with respect to the horizontal plane, for example, the first connecting member 320 extends outward and has a greater height toward the outer side, i.e., the first connecting member 320 has an approximately "V" shape.

Preferably, in some embodiments, the first weight member 310 is detachably connected to the first connecting member 320. The first balance weight part 310 with different weights can be replaced as required by the arrangement, so that bending moments with different sizes are exerted on the joint 220 to be tested. Specifically, the outer end of the first connecting member 320 extends upward to form a first mounting pillar 322, and the first weight member 310 is sleeved on the first mounting pillar 322 and supported by the first connecting member 320. The first nut 610 is threadedly coupled to the first mounting post 322 to fixedly mount the first weight member 310 to the first connector 320. Of course, besides the above-mentioned fixing methods, other common detachable connection methods may be used, for example, fixing by clamping. If the magnitude of the bending moment is required to be changed, the first weight member 310 is removed and replaced with a different weight of the first weight member 310. Alternatively, a plurality of first weight members 310 may be stacked and sleeved on the first mounting post 322, and the bending moment may be adjusted by increasing or decreasing the number of the first weight members 310.

Similar to the connection structure at the first weight member 310, in some embodiments, the torque loading mechanism further includes a second connection member 420, the second connection member 420 extends outward from an end of the rotation rod 430 away from the joint mounting mechanism to be tested, and the second weight member 410 is connected to an end of the second connection member 420 away from the rotation rod 430. Specifically, the second connecting member 420 is fixedly connected to the right end of the rotating rod 430, for example, the second connecting member 420 is sleeved on the right end of the rotating rod 430 and is fixedly connected to the right end of the rotating rod 430. The second connecting member 420 has a similar shape to the first connecting member 320, and the plate surface of the second connecting member 420 is perpendicular to the horizontal direction and includes two second connecting arms 421 symmetrically distributed, wherein a second weight 410 is fixedly mounted on one side of one of the second connecting arms 421 along the horizontal direction. For example, the second weight 410 is fixedly installed on the right side of one of the second connecting arms 421, but may be installed on the left side. The right end surface of the second connecting member 420 extends to the right to form a second mounting post 422, and the second weight member 410 is sleeved on the second mounting post 422. The second nut 620 is threadedly coupled to the second mounting post 422 to fixedly mount the second weight member 410 to the second connector 420. If the magnitude of the applied torque needs to be changed, the second weight member 410 is removed and replaced with a second weight member 410 of a different weight. Or, the second mounting posts 422 may be all sleeved with the plurality of second weight members 410, and the torque load acting on the joint 220 to be measured may be adjusted by increasing or decreasing the number of the second weight members 410.

Referring to fig. 1 to 4, in some embodiments, a robot joint testing device has a first test state, a second test state, and a third test state. In the first test state, the weight of the first weight member 310 is zero and the weight of the second weight member 410 is greater than zero. In the second test condition, the weight of the first weight member 310 is greater than zero and the weight of the second weight member 410 is zero. In the third test condition, the weight of the first weight member 310 is greater than zero and the weight of the second weight member 410 is greater than zero. As previously described, the weights of the first weight member 310 and the second weight member 410 may be adjusted as needed. In a first test state corresponding to the embodiment shown in fig. 4, only the second weight member 410 may be installed, and the first weight member 310 may be removed, at this time, only an application scenario in which a load applies a torque to the joint 220 to be tested is simulated. In a second test state corresponding to the embodiment shown in fig. 3, only the first weight 310 may be installed, and the second weight 410 may be removed, at this time, only an application scenario in which a load applies a bending moment to the joint 220 to be tested is simulated. In a third test state corresponding to the embodiment shown in fig. 1, the first weight 310 and the second weight 410 may be installed at the same time, and at this time, an application scenario in which a load simultaneously applies a bending moment and a torque to the joint 220 to be tested may be simulated. Through the adjustment to two counterweight weights, can realize the simulation of multiple application scene for this testing arrangement's test range is wider.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. Robot joint testing arrangement for to the joint that awaits measuring tests, the power take off end output of joint that awaits measuring is around the rotary motion of first virtual axle, its characterized in that includes:

the joint mounting mechanism is used for mounting the joint to be tested;

2. The robotic joint testing device of claim 1, wherein the first virtual axis extends in a vertical direction and the second virtual axis extends in a horizontal direction, the first weight is configured to apply a bending moment to the joint under test by its own weight, and the second weight is configured to apply a torque to the output by its own weight; wherein, vertical direction is parallel with the direction of gravity, and horizontal direction is located the horizontal plane.

3. The robotic joint testing device of claim 2, wherein the input member is an input gear and the output member is an output gear, the input gear and the output gear forming a gear set having a gear ratio of 1;

4. A robotic joint testing device according to claim 3, wherein the torque loading mechanism further comprises a turning rod extending in the horizontal direction;

5. The robot joint testing device of claim 4, wherein along the horizontal direction, the rotating rod extends out from the joint mounting mechanism to be tested in a direction away from the first weight member, and the first weight member and the second weight member are respectively located at two sides of the joint mounting mechanism to be tested.

6. The robot joint testing device of claim 1, wherein the bending moment loading mechanism further comprises a first connecting member for connecting to the power output end, the first connecting member extends outwards from the joint mounting mechanism to be tested, and the first weight member is connected to one end of the first connecting member, which is far away from the joint mounting mechanism to be tested.

7. The device of claim 6, further comprising a rotating disc, wherein the rotating disc is coaxially connected to the power output end, the first connecting member includes a mounting hole and two first connecting arms extending horizontally outward, the rotating disc is fixedly mounted in the mounting hole, the two first connecting arms are axially symmetrically disposed on two sides of the mounting hole, and the first weight member is connected to one end of one of the first connecting arms, which is far away from the mounting hole.

8. A robotic joint testing device according to claim 6, wherein the first weight member is detachably connected to the first connecting member.

9. The robot joint testing device of claim 5, wherein the torque loading mechanism further comprises a second connecting member, the second connecting member extends outwards from one end of the rotating rod, which is far away from the joint mounting mechanism to be tested, and the second weight member is connected to one end of the second connecting member, which is far away from the rotating rod.

10. A robot joint testing device according to claim 1, characterized in that the robot joint testing device has a first test state, a second test state and a third test state;

in the first test state, the weight of the first weight member is zero, and the weight of the second weight member is greater than zero;