CN218035642U - Test equipment of joint module - Google Patents

Abstract

The application provides test equipment of a joint module, wherein a first end of a torque sensing device is connected with a shaft of the joint module, and a second end of the torque sensing device is connected with a shaft of a load simulation device; the motion controller is respectively and electrically connected with the load simulation device, the joint module, the upper computer and the torque sensing device. The motion controller can control the load simulation device and the joint module to move according to motion parameters issued by the upper computer, and obtains characteristic parameters acquired by the torque sensing device in the motion process of the joint module and the load simulation device; the upper computer can obtain the characteristic parameters reported by the motion controller, generate the characteristic curve of the joint module according to the characteristic parameters, automatically complete the performance test of the joint module, and effectively improve the test efficiency.

Description

Test equipment of joint module

Technical Field

The application relates to the technical field of robot joint module performance testing, in particular to testing equipment for a joint module.

Background

With the development of robotics, robots are applied more and more widely, and play more and more important roles in the industrial field and in people's daily life. The performance of the robot is related to the performance of the robot joint module, and therefore, in order to ensure that the joint module can stably operate under the control of the driving device, the performance of the robot joint module needs to be tested. However, the performance test of the joint module still remains in the manual test stage at present, and the test efficiency is low.

SUMMERY OF THE UTILITY MODEL

In view of this, the present application is directed to provide a testing apparatus for a joint module, so as to solve the problem in the prior art that performance detection for the joint module still remains in a manual detection stage, and detection efficiency is low.

The technical scheme provided by the application is as follows:

the application provides test equipment of joint module, includes: the device comprises a motion controller, a torque sensing device, a load simulation device and an upper computer;

the first end of the torque sensing device is connected with the joint module through a shaft, and the second end of the torque sensing device is connected with the load simulation device through a shaft;

the motion controller is respectively electrically connected with the load simulation device and the joint module and is used for controlling the load simulation device and the joint module to operate according to preset motion parameters;

the motion controller is also electrically connected with the torque sensing device and is used for acquiring characteristic parameters acquired by the torque sensing device in the running process of the load simulation device;

the motion controller is also electrically connected with the upper computer, and the upper computer is used for acquiring the characteristic parameters reported by the motion controller and generating the characteristic curve of the joint module according to the characteristic parameters.

As an optional embodiment, the testing apparatus for a joint module described above further includes a regulated power supply;

the first end of the stabilized voltage supply is electrically connected with the joint module and used for supplying power to the joint module and acquiring power consumption parameters of the joint module; the electricity utilization parameters at least comprise a working voltage value of the joint module and a working current value of the joint module;

and the second end of the stabilized voltage power supply is electrically connected with the motion controller and is used for sending the power utilization parameters of the joint module to the motion controller, so that the motion controller can report the power utilization parameters of the joint module to the upper computer.

As an optional embodiment, the test equipment for the joint module further includes a signal forwarding device;

and the motion controller is in data communication with the torque sensing device, the load simulation device, the stabilized voltage power supply and the upper computer respectively through the signal forwarding equipment.

As an optional embodiment, in the test equipment for a joint module, the motion controller performs data communication with the torque sensing device through an RS485 bus;

the motion controller is in data communication with the load simulation device and the stabilized voltage power supply through a CAN bus;

and the motion controller is in data communication with the upper computer through the Ethernet.

As an optional embodiment, in the test equipment for a joint module described above, the motion controller performs data communication with the joint module through a CAN bus.

As an optional embodiment, in the test equipment for a joint module described above, the load simulation device is a magnetic powder loading device or a servo loading device.

As an optional embodiment, in the testing apparatus for a joint module described above, the magnetic powder loading device includes a magnetic powder brake and a magnetic powder controller;

the magnetic powder controller is electrically connected with the magnetic powder brake and the motion controller respectively;

and the magnetic powder brake is connected with the second end shaft of the torque sensing device.

As an optional implementation manner, in the test equipment for a joint module described above, the servo loading device includes a servo motor and a servo driver;

the servo driver is electrically connected with the servo motor and the motion controller respectively;

and the servo motor is connected with the second end shaft of the torque sensing device.

As an optional embodiment, the test equipment for the joint module further includes a first coupling and a second coupling;

the first end of the torque sensing device is connected with the joint module shaft through the first coupler, and the second end of the torque sensing device is connected with the load simulation device shaft through the second coupler.

As an optional embodiment, the testing apparatus for a joint module further includes a fixing bracket;

the joint module and the load simulation device are both arranged on the fixing support.

In the test equipment for the joint module, a first end of a torque sensing device is connected with the joint module through a shaft, and a second end of the torque sensing device is connected with a load simulation device through a shaft; the motion controller is respectively and electrically connected with the load simulation device, the joint module, the upper computer and the torque sensing device. The motion controller can control the load simulation device and the joint module to move according to motion parameters issued by the upper computer, and obtains characteristic parameters acquired by the torque sensing device in the motion process of the joint module and the load simulation device; the upper computer can obtain the characteristic parameters reported by the motion controller, generate the characteristic curve of the joint module according to the characteristic parameters, automatically complete the performance test of the joint module, and effectively improve the test efficiency.

Furthermore, the motion controller is used for uniformly issuing motion parameters to the load simulation device and the joint module, and uniformly controlling the motion states of the load simulation device and the joint module, so that the test progress of the load simulation device and the test progress of the joint module are the same, the test precision is improved, and the reliability of the test result is ensured.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a circuit block diagram of a testing apparatus for a joint module according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a testing apparatus for a joint module according to an embodiment of the present disclosure;

fig. 3 is a torque characteristic curve of a magnetic powder loading device according to an embodiment of the present application;

fig. 4 is a time-rotation speed characteristic curve corresponding to a joint module according to an embodiment of the present disclosure;

fig. 5 is a circuit block diagram of another testing device for a joint module according to an embodiment of the present disclosure;

fig. 6 is a circuit block diagram of another testing device for a joint module according to an embodiment of the present disclosure;

fig. 7 is a circuit block diagram of another testing apparatus for a joint module according to an embodiment of the present disclosure.

Detailed Description

The embodiment of the application provides a test equipment of joint module, and this test equipment of joint module not only can accomplish the capability test of joint module voluntarily, improves efficiency of software testing, can also improve the measuring accuracy, guarantees the reliability of test result.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application provides a test device of a joint module, which is shown in fig. 1 and fig. 2 and comprises a motion controller 11, a torque sensing device 12, a load simulation device 13 and an upper computer 10; a first end of the torque sensing device 12 is connected with the joint module 20 through a shaft, and a second end of the torque sensing device 12 is connected with the load simulation device 13 through a shaft; the motion controller 11 is electrically connected with the load simulator 13, the torque sensing device 12, the joint module 20 and the upper computer 10 respectively.

Specifically, the load simulator 13 is configured to simulate the load of the joint module 20. Since the joint module 20 and the load simulator 13 are coaxially connected by the connecting shaft, the load simulator 13 can be controlled to output a braking torque as a load applied to the joint module 20 through the connecting shaft. The load simulator 13 may be a magnetic powder loading device or a servo loading device, which is not limited in this embodiment.

The motion controller 11 is a dedicated controller that controls the operation mode of the motor. In the embodiment, the motion controller 11 can control the load simulator 13 and the joint module 20 to operate according to preset motion parameters. The motion parameters include a target rotation speed parameter that controls the rotation speed of the joint module 20 and a target braking torque parameter that controls the load simulator 13 to be able to output the target braking torque.

In the actual test process, the motion controller 11 controls the operation processes of the load simulator 13 and the joint module 20 according to the target rotation speed parameter and the target braking torque parameter as follows:

the motion controller 11 outputs the first target brake torque parameter to control the load simulator 13 to be able to output the first target brake torque when operating in accordance with the first target brake torque parameter. The motion controller 11 outputs the changed target rotational speed parameter and controls the joint module 20 to operate according to the changed target rotational speed parameter. The target rotating speed parameter changes once every preset duration, and the target rotating speed parameter changes from 0 in an increasing manner according to a first preset step length until the target rotating speed parameter increases to the maximum rotating speed of the joint module 20.

The target braking torque parameter output by the motion controller 11 is changed from the first target braking torque parameter according to a certain rule, so that the braking torque output by the load simulation device 13 can be changed according to a second preset step length, the load simulation device 13 outputs the braking torque each time the braking torque is changed, the motion controller 11 repeatedly executes the step of outputting the changed target rotating speed parameter and controlling the joint module 20 to operate according to the changed target rotating speed parameter until the braking torque output by the load simulation device 13 reaches the nominal maximum load torque of the joint module.

For example, if the nominal rotation speed range of the joint module 20 is [0, 20], the first preset step is 5, the preset time period is 20 seconds, the first target braking torque is 0, the nominal load torque range of the joint module 20 is [0, 500], and the second preset step is 100, the motion controller 11 controls the operation of the load simulator 13 and the joint module 20 according to the target rotation speed parameter and the target braking torque parameter as follows:

step one, the motion controller 11 outputs a first target braking torque parameter, and controls the braking torque output by the load simulator 13 to be 0.

And step two, the motion controller 11 outputs the changed target rotating speed parameter and controls the joint module 20 to operate according to the changed target rotating speed parameter. Wherein, the target rotating speed parameter changes once every 20 seconds, and the corresponding target rotating speed parameter values are respectively 0,5, 10, 15 and 20.

And step three, the motion controller 11 outputs a second target braking torque parameter, and controls the braking torque output by the load simulation device 13 to be 100.

And step four, repeatedly executing the step two.

And step five, the motion controller 11 outputs a third target braking torque parameter, and controls the braking torque output by the load simulation device 13 to be 200.

And step six, repeatedly executing the step two.

And step seven, the motion controller 11 outputs a fourth target braking torque parameter and controls the braking torque output by the load simulator 13 to be 300.

And step eight, repeatedly executing the step two.

And step nine, the motion controller 11 outputs a fifth target braking torque parameter, and controls the braking torque output by the load simulator 13 to be 400.

And step ten, repeatedly executing the step two.

Step eleven, the motion controller 11 outputs a sixth target braking torque parameter, and controls the braking torque output by the load simulator 13 to be 500.

And step twelve, repeatedly executing the step two.

And step thirteen, finishing when the braking torque output by the load simulation device 13 reaches the maximum load torque 500 which is nominal by the joint module.

The load simulator 13 is generally a servo loading device or a magnetic powder loading device, and a person skilled in the art can refer to a torque characteristic curve of the servo loading device or the magnetic powder loading device to determine a corresponding target braking torque parameter when the servo loading device or the magnetic powder loading device outputs different braking torques, thereby controlling the braking torque output by the load simulator 13 to change according to a second preset step length.

For example, fig. 3 shows a torque characteristic curve of a magnetic particle loading device, wherein the X-axis is a voltage signal, i.e. a target braking torque parameter, and the Y-axis is a target braking torque parameter corresponding to the braking torque output by the magnetic particle loading device. If the load simulator 13 adopts the magnetic powder loading device, a person skilled in the art can determine a target braking torque parameter corresponding to the magnetic powder loading device outputting different braking torques by looking up the curve shown in fig. 3, thereby controlling the braking torque output by the magnetic powder loading device to change according to a second preset step length.

In this embodiment, the motion controller 11 issues commands in a unified manner, so that the motion controller 11 controls the joint module 20 to move according to the target rotation speed parameter, and controls the load simulator 13 to move according to the target braking torque parameter. The mode of uniformly issuing the command by the motion controller 11 can ensure that the target rotating speed parameter is issued to the joint module 20 and the target braking torque parameter is issued to the load simulator 13 at the same time, so that the time delay between the load simulator 13 and the joint module 20 is reduced, and the testing precision is improved.

The first preset step, the second preset step, the preset duration and the first target braking torque may be set according to actual conditions, and this embodiment is not limited.

It should be noted that the motion controller 11 is a device that converts a predetermined control scheme, a planning command, and the like into a desired mechanical motion under a complicated condition, and realizes precise position control, speed control, acceleration control, and torque or force control of the mechanical motion.

In this embodiment, the target rotation speed parameter and the target braking torque parameter may be input to the motion controller 11, so that the motion controller 11 controls the joint module 20 to move according to the target rotation speed parameter, and controls the load simulator 13 to move according to the target braking torque parameter. The step of controlling the motion of the joint module 20 according to the target rotation speed parameter and controlling the motion of the load simulator 13 according to the target braking torque parameter, which are executed by the motion controller 11, are important functions that are often used in the prior art of the motion controller 11, and are very mature prior art, and it is not necessary for those skilled in the art to expend creativity.

The torque sensing device 12 is arranged on a connecting shaft between the load simulator 13 and the joint module 20 and is used for acquiring torque on the connecting shaft between the load simulator 13 and the joint module 20, namely actual output torque of the joint module 20; and is also used for acquiring the rotating speed of the connecting shaft between the load simulator 13 and the joint module 20, namely the actual rotating speed of the joint module 20.

Illustratively, the torque sensing device 12 includes a torque sensor, a torque collector, and a mating cable, through which the torque sensor and the torque collector are electrically connected. The torque sensor is arranged on a connecting shaft between the load simulation device 13 and the joint module 20 and used for acquiring the actual output torque and the actual rotating speed of the joint module 20, the actual output torque and the actual rotating speed acquired by the torque sensor are converted into digital signals by the torque acquisition instrument, and the actual output torque and the actual rotating speed are converted into the digital signals to be sent to the motion controller 11.

In the embodiment of the application, the motion controller 11 controls the load simulator 13 and the joint module 20 through the motion parameters, and simultaneously obtains the characteristic parameters collected by the torque sensor 12, including the actual output torque and the actual rotation speed of the joint module 20, and reports the actual output torque and the actual rotation speed to the upper computer 10. For example, the torque sensing device 12 may report the actual output torque and the actual rotation speed to the upper computer 10 in real time, or may report the actual output torque and the actual rotation speed generated in the time period to the upper computer 10 in a packed manner every other preset time period, which is not limited in this embodiment.

It should be noted that the control method involved in the process of acquiring the data information by the motion controller 11 and reporting the data information to the upper computer 10 is a relatively conventional prior art, and a person skilled in the art can obtain the data information without expending creative efforts, which is not described in this embodiment.

The upper computer 10 can generate a characteristic curve of the joint module 20 according to the actual output torque and the actual rotation speed of the joint module 20, including generating a time-rotation speed characteristic curve according to the actual rotation speed of the joint module 20, generating a torque-rotation speed characteristic curve according to the actual rotation speed and the actual output torque of the joint module 20, generating a time-torque characteristic curve according to the actual output torque of the joint module 20, and the like, which are not described in detail in this embodiment.

Fig. 4 shows a time-rotation speed characteristic curve corresponding to the joint module 20.

It should be noted that it is also a very conventional prior art that the upper computer 10 generates the characteristic curve according to the acquired data, and a person skilled in the art can obtain the characteristic curve without consuming the creative power, which is not described in this embodiment.

In addition, the target rotation speed parameter and the target braking torque parameter may be input to the motion controller 11, or the target rotation speed parameter and the target braking torque parameter may be input to the upper computer 10, and the upper computer 10 issues the target rotation speed parameter and the target braking torque parameter to the motion controller 11, which is not limited in this embodiment.

In the test equipment of the joint module in the above embodiment, the first end of the torque sensing device 12 is connected with the joint module 20 by a shaft, and the second end of the torque sensing device 12 is connected with the load simulator 13 by a shaft; the motion controller 11 is electrically connected with the load simulation device 13, the joint module 20, the upper computer 10 and the torque sensing device 12 respectively. The motion controller 11 can control the load simulator 13 and the joint module 20 to move according to motion parameters issued by the upper computer 10, and obtains characteristic parameters collected by the torque sensing device 12 in the motion process of the joint module 20 and the load simulator 13; the upper computer 10 can obtain the characteristic parameters reported by the motion controller 11, generate the characteristic curve of the joint module 20 according to the characteristic parameters, automatically complete the performance test of the joint module 20, and effectively improve the test efficiency.

Further, in the above embodiment, the motion controller 11 is used to issue the motion parameters to the load simulator 13 and the joint module 20 in a unified manner, and control the motion states of the load simulator 13 and the joint module 20 in a unified manner, so that the test progress of the load simulator 13 and the test progress of the joint module 20 are the same, and thus the test precision is improved, and the reliability of the test result is ensured.

As an alternative implementation manner, as shown in fig. 5, in another embodiment of the present application, it is disclosed that the testing apparatus for a joint module of the foregoing embodiment further includes a regulated power supply 14, a first end of the regulated power supply 14 is electrically connected to the joint module 20, and a second end of the regulated power supply 14 is electrically connected to the motion controller 11.

Specifically, one end of the regulated power supply 14 electrically connected to the joint module 20 is used for supplying power to the joint module 20 and acquiring power consumption parameters of the joint module 20; the power consumption parameters of the joint module 20 at least include the working voltage value of the joint module 20 and the working current value of the joint module 20.

And one end of the stabilized voltage power supply 14, which is electrically connected with the motion controller 11, is used for sending the electricity utilization parameters of the joint module 20 to the motion controller 11. The motion controller 11 reports the power utilization parameters of the joint module 20 to the upper computer 10.

For example, if the power consumption parameters of the joint module include a working voltage value and a working current value, the upper computer may generate an efficiency-rotation speed curve of the joint module 20 and an efficiency-torque curve of the joint module 20 according to the reported power consumption parameters.

Wherein, the formula for calculating the efficiency value of the joint module 20 is as follows:

in the above equation, P represents an efficiency value of the joint module 20, T represents an actual output torque of the joint module 20, R represents an actual rotation speed of the joint module 20, U represents an operating voltage value of the joint module 20, and I represents an operating current value of the joint module 20.

As described in the above embodiments, it is a very conventional prior art that the upper computer 10 generates the characteristic curve according to the acquired data, and a person skilled in the art can obtain the characteristic curve without expending creative efforts, which is not described in detail in this embodiment.

In the embodiment of the application, the voltage-stabilizing power supply 14, the torque sensing device 12, the load simulation device 13 and the joint module 20 are uniformly controlled by the motion controller 11, and the motion controller 11 can uniformly issue instructions and collect data, so that the test precision can be improved, and the reliability of the test result can be ensured.

As an alternative implementation manner, as shown in fig. 6, in another embodiment of the present application, it is disclosed that the test equipment for a joint module according to the above embodiment further includes a signal forwarding equipment 15, and the motion controller 11 performs data communication with the torque sensing device 12, the load simulator 13, the upper computer 10, and the regulated power supply 14 through the signal forwarding equipment 15.

Illustratively, the signal forwarding device 15 may employ a switch. The motion controller 11 is connected to the torque sensor 12, the load simulator 13, the upper computer 10, and the regulated power supply 14 through an exchange, and performs data communication through Ethernet (Ethernet). Therefore, the number of lines can be reduced, and potential safety hazards are reduced.

As an alternative implementation manner, it is disclosed in another embodiment of the present application that the joint module 20 to be tested is not specially equipped with a connection interface of the signal forwarding device 15, so if the signal forwarding device 15 is used to implement communication between the joint module 20 and the motion controller 11, the connection interface needs to be specially arranged at the joint module 20, which increases the workload of testing the joint module 20.

Based on this, in the embodiment of the present application, in order to avoid an increase in workload during the test of the joint module 20, the joint module 20 and the motion controller 11 may be connected using a CAN bus, as shown in fig. 6.

As an alternative implementation, in another embodiment of the present application, it is disclosed that, as shown in fig. 7, the motion controller 11 communicates data with the torque sensing device 12 through an RS485 bus; the motion controller 11 performs data communication with the load simulation device 13 through a CAN bus; the motion controller 11 performs data communication with the upper computer 10 through the ethernet; the motion controller 11 communicates data with the regulated power supply 14 via the CAN bus.

Furthermore, a CANopen communication protocol may be used between the motion controller 11 and the load simulation apparatus 13, so as to improve stability of data transmission.

In the above embodiment, by such an arrangement, the motion controller 11 can perform data communication with the torque sensing device 12, the load simulator 13, and the regulated power supply 14 through the connection lines, thereby effectively improving the quality of data transmission.

As an alternative implementation, as shown in fig. 7, in order to avoid an increase in workload during the test of the joint module 20, the joint module 20 and the motion controller 11 may be connected using a CAN bus.

As an optional implementation manner, the load simulation device 13 of the above embodiment is a magnetic powder loading device or a servo loading device.

Further, under the condition that load analogue means 13 is magnetic particle loading device, the magnetic particle loading device of this embodiment includes magnetic particle brake and magnetic particle controller, and the magnetic particle controller is connected with magnetic particle brake and motion controller 11 electricity respectively, and magnetic particle brake is connected with the second end axle of moment of torsion sensing device 12.

For example, the magnetic powder loading device generally further includes a mating cable, and the magnetic powder brake and the magnetic powder controller are electrically connected through the mating cable.

Specifically, the motion controller 11 may output a 0-10V control signal as a target braking torque parameter, and the magnetic powder controller correspondingly outputs a 0-2A control current after acquiring the 0-10V control signal, where the control current is used to control the magnetic powder brake to output a braking torque, so as to apply the braking torque as a load to the torque sensing device 12 and the joint module 20.

Further, in the case that the load simulator 13 is a servo loading device, the servo loading device of the present embodiment includes a servo motor and a servo controller, the servo controller is electrically connected to the servo motor and the motion controller 11, respectively, and the servo motor is connected to the second end shaft of the torque sensing device 12.

Specifically, the motion controller 11 may output a control signal as a target braking torque parameter, and the servo controller outputs a corresponding control current after obtaining the control signal, where the control current is used to control the servo motor to output a braking torque, so as to apply the braking torque as a load to the torque sensing device 12 and the joint module 20.

Compared with a magnetic powder loading device, the servo loading device has the characteristics of high loading precision, quick response and random curve loading. Based on this, the embodiment of the present application preferably employs a servo loading device as the load simulator 13.

As an optional implementation manner, the motion controller 11 can also detect the temperature of the joint module 20, and when detecting that the temperature of the joint module 20 reaches the preset temperature threshold, in order to avoid damage to the joint module 20, the test of the joint module 20 may be suspended.

As an alternative implementation, as shown in fig. 2, the testing apparatus of the joint module 20 of the above embodiment includes a first coupling 16 and a second coupling 17. A first end of the torque sensing device 12 is connected with the joint module 20 through a first coupler 16, and a second end of the torque sensing device 12 is connected with the load simulator 13 through a second coupler 17.

Specifically, in the present embodiment, the rotating shaft 201 of the joint module 20 and the rotating shaft of the torque sensing device 12 are connected by the first coupling 16; the rotation axis of the load simulator 13 and the rotation axis of the torque sensing device 12 are connected by a second coupling 17.

As an alternative implementation manner, as shown in fig. 2, the test equipment of the joint module of the above embodiment includes a fixed bracket, and the joint module 20 and the load simulator 13 are both disposed on the fixed bracket. Illustratively, as shown in fig. 2, the fixing bracket of the present embodiment may include a first fixing bracket 18 and a second fixing bracket 19, wherein the first fixing bracket 18 is used for supporting the fixed joint module 20, and the second fixing bracket 19 is used for supporting the fixed load simulator 13.

In the above embodiment, by providing the fixing bracket, the joint module 20, the load simulator 13, the torque sensor 12 and other devices can be effectively supported, and vibration during the test process can be reduced.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The modules and sub-modules in the device and terminal of each embodiment of the application can be combined, divided and deleted according to actual needs, and the features described in each embodiment can be replaced or combined.

In the several embodiments provided in the present application, it should be understood that the disclosed terminal and apparatus may be implemented in other manners. For example, a module or sub-module may be divided into only one logical function, and an actual implementation may have another division, for example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules or sub-modules described as separate components may or may not be physically separate, and the components described as modules or sub-modules may or may not be physical modules or sub-modules, may be located in one place, or may be distributed on a plurality of network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules or sub-modules in the embodiments of the present application may be integrated into one processing module, or each module or sub-module may exist alone physically, or two or more modules or sub-modules are integrated into one module.

Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrases "comprising one of \8230;" does not exclude the presence of additional like elements in an article or device comprising the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A test equipment of joint module characterized in that includes: the device comprises a motion controller, a torque sensing device, a load simulation device and an upper computer;

the first end of the torque sensing device is connected with the joint module shaft, and the second end of the torque sensing device is connected with the load simulation device shaft;

the motion controller is respectively electrically connected with the load simulation device and the joint module and is used for controlling the load simulation device and the joint module to operate according to preset motion parameters;

the motion controller is also electrically connected with the torque sensing device and is used for acquiring characteristic parameters acquired by the torque sensing device in the running process of the load simulation device;

the motion controller is also electrically connected with the upper computer, and the upper computer is used for acquiring the characteristic parameters reported by the motion controller and generating the characteristic curve of the joint module according to the characteristic parameters.

2. The testing apparatus of a joint module according to claim 1, further comprising a regulated power supply;

the first end of the stabilized voltage supply is electrically connected with the joint module and used for supplying power to the joint module and acquiring power consumption parameters of the joint module; the electricity utilization parameters at least comprise a working voltage value of the joint module and a working current value of the joint module;

and the second end of the stabilized voltage supply is electrically connected with the motion controller and is used for sending the power utilization parameters of the joint module to the motion controller so that the motion controller can report the power utilization parameters of the joint module to the upper computer.

3. The testing apparatus of a joint module according to claim 2, further comprising a signal forwarding apparatus;

and the motion controller is in data communication with the torque sensing device, the load simulation device, the stabilized voltage power supply and the upper computer respectively through the signal forwarding equipment.

4. The test equipment of a joint module according to claim 2, wherein the motion controller is in data communication with the torque sensing device through an RS485 bus;

the motion controller is in data communication with the load simulation device and the stabilized voltage power supply through a CAN bus;

and the motion controller is in data communication with the upper computer through the Ethernet.

5. The test apparatus for a joint module according to claim 1, wherein the motion controller is in data communication with the joint module through a CAN bus.

6. The testing apparatus of a joint module according to claim 1, wherein the load simulator is a magnetic powder loading device or a servo loading device.

7. The testing apparatus of a joint module according to claim 6, wherein the magnetic powder loading device comprises a magnetic powder brake and a magnetic powder controller;

the magnetic powder controller is electrically connected with the magnetic powder brake and the motion controller respectively;

and the magnetic powder brake is connected with the second end shaft of the torque sensing device.

8. The test equipment of a joint module according to claim 6, wherein the servo loading device comprises a servo motor and a servo driver;

the servo driver is electrically connected with the servo motor and the motion controller respectively;

and the servo motor is connected with the second end shaft of the torque sensing device.

9. The test apparatus for a joint module according to claim 1, further comprising a first coupling and a second coupling;

the first end of the torque sensing device is connected with the joint module shaft through the first coupler, and the second end of the torque sensing device is connected with the load simulation device shaft through the second coupler.

10. The testing apparatus of a joint module according to any one of claims 1-9, further comprising a fixing bracket;

the joint module and the load simulation device are both arranged on the fixing support.

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