Joint actuator offline detection method

Abstract

The invention discloses a joint actuator offline detection method, which is realized by joint actuator offline detection equipment, and comprises the following steps: installing a workpiece and scanning a code to identify information; initializing a sensor; communication is established, and verification before testing is carried out; executing a plurality of performance tests, including frictional resistance, starting torque, torque constant, angle transmission error, return error, repeated positioning precision, hysteretic curve and back clearance, efficiency and reverse dragging torque tests; and finally processing the data and generating a report. According to the detection equipment, automatic butt joint and separation of a joint actuator and a detection shaft are achieved through a sliding platform, a servo motor, a torque sensor and a grating encoder are used for accurately applying and measuring loads, and full-process automatic control is achieved through an upper computer, a PLC and a programmable power supply. The system is high in integration level, is good in automation degree, and can complete the comprehensive performance detection of the joint actuator comprehensively, accurately and efficiently.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of joint actuator detection, and particularly relates to a joint actuator offline detection method. BACKGROUND

[0002] The robot joint actuator is a core power component of a robot system, which integrates a servo motor, a high-precision reducer, a brake, a sensor and the like, and undertakes the key task of converting electric energy into accurate mechanical movement. Performance parameters of the joint actuator, such as output torque, rotation angle accuracy, backlash, efficiency and brake holding capacity, directly determine the motion accuracy, dynamic response, load capacity and overall reliability of the robot. In the high-end field of industrial robots, service robots and even humanoid robots, the performance consistency and long-term durability of the joint actuator are key indicators for evaluating the quality and reliability thereof.

[0003] With the rapid development of humanoid robots, collaborative robots and the like, more stringent technical requirements, such as light weight, high power density, low backlash, high reverse drive efficiency and the like, are put forward for the joint actuator. The traditional industrial planetary reducer is difficult to fully meet the special needs of these frontier applications in terms of weight and backlash control. This trend makes the End of Line (EOL) test of the joint actuator before leaving the factory very important. Through comprehensive and accurate EOL testing, unqualified products can be screened out, the performance consistency of the products leaving the factory can be ensured, and reliable data support can be provided for the iterative optimization of the products.

[0004] However, the offline detection of the joint actuator in the industry currently has the following problems: (1) Low degree of automation: many detection stations still rely on manual clamping, interfacing and testing operations, which not only is low in efficiency, but also is prone to errors caused by human factors, resulting in poor consistency of test results; (2) Single detection item: some detection devices have only single function, and can only test a specific performance (such as torque or rotation speed), and cannot complete comprehensive performance tests including load performance, angle accuracy, brake holding and the like in one station, resulting in complicated detection process and large occupation of production line space; (3) Inaccurate load simulation: when a load needs to be applied for testing, the traditional loading method may not accurately and stably simulate the real working conditions of the joint actuator, affecting the accuracy of torque and angle detection data; (4) Insufficient interfacing accuracy and safety: if there is deviation between the mechanical interfacing between the detection device and the output shaft of the actuator, the test results will be affected, and the product may be damaged; meanwhile, there is insufficient safety protection during the testing process, and there is a certain risk.

[0005] Therefore, an integrated, automated, high-precision and safe joint actuator offline detection method is urgently needed to solve the above problems and meet the needs of modern high-efficiency and high-quality production. SUMMARY

[0006] Therefore, the purpose of the present application is to provide a joint actuator offline detection method that can meet the use requirements of joint actuator offline detection and effectively improve the detection efficiency and accuracy.

[0007] To achieve the above purpose, the present application provides the following technical solutions: A joint actuator offline detection method is realized by using a joint actuator offline detection device, which comprises a rack, and an integrated test system and a joint actuator offline detection device are installed on the rack; The joint actuator offline detection device comprises a workbench, a workpiece clamping assembly and an offline detection assembly are installed on the workbench; the workpiece clamping assembly comprises a sliding platform movable along a first straight guide rail, a workpiece positioning and clamping tool for installing a joint actuator, a workpiece moving and clamping tool corresponding to the workpiece positioning and clamping tool, and a docking shaft connected with the output shaft of the joint actuator; the workpiece moving and clamping tool is movable relative to the workpiece positioning and clamping tool along a direction parallel to the first straight guide rail and is used to control the on-off of the joint actuator; the offline detection assembly comprises a code scanning gun and a rotating shaft parallel to the first straight guide rail, the input end of the rotating shaft is connected with a servo motor, and the output end is provided with a docking end for docking with the docking shaft to apply a load to the joint actuator; the rotating shaft is provided with a transmission brake mechanism, a torque detection mechanism, an angle detection mechanism and a product brake mechanism in sequence along the direction in which the servo motor points to the docking joint; the servo motor is used to drive the rotating shaft to rotate to apply a load to the joint actuator, the torque detection mechanism uses a torque sensor and is used to detect the output torque of the joint actuator, and the angle detection mechanism uses a grating encoder and is used to detect the rotation angle of the output shaft of the joint actuator; the transmission brake mechanism is used to hold or stop the rotating shaft; and the product brake mechanism is used to hold the docking shaft; The integrated test system comprises an upper computer, a PLC controller and a program-controlled power supply; the program-controlled power supply is connected with an electrical connection assembly provided on the workpiece moving and clamping tool to supply power to the joint actuator; the PLC controller is electrically connected with the servo motor to control the load applied to the joint actuator by the offline detection assembly; and the upper computer collects and processes the data detected by the torque detection mechanism and the angle detection mechanism; The method comprises the following steps: Step one: install the joint actuator on the workpiece positioning and clamping tool, scan the joint actuator identification by the code scanning gun, so that the host computer obtains the joint actuator information and loads the corresponding test items and standards; Step two: turn on the external signal sensor switch, so that the host computer can read the data of the torque sensor and the grating encoder; Step three: establish communication with the joint actuator through the CANOpen protocol, read the information of the joint actuator including the firmware version, speed ratio and pole pair number, perform pre-test verification to confirm the matching of the joint actuator and the test items; Step four: according to the preset test item sequence, perform one or more performance tests, the test items include: friction resistance test: collect the output speed and torque of the joint actuator at different speeds, draw the speed-torque curve and fit by least squares method; start-up torque test: slowly increase the torque from 0 until the output shaft starts to rotate, record the torque value at this point; torque constant test: load torque under output end brake state, record torque sensor value and joint actuator current , get torque constant by least squares method; angle transmission error test: load in the positive and negative directions, take test points every set angle value, calculate the angle difference; backlash error test: test position difference in positive and negative directions, calculate the average value; repeat positioning accuracy test: repeat the test position accuracy under different speed conditions, calculate the standard deviation; hysteresis curve and backlash test: draw the hysteresis curve by loading in positive and negative directions, calculate the backlash and servo static stiffness; efficiency test: measure input voltage and current under rated operating conditions, calculate efficiency; reverse drag torque test: measure the reverse start-up torque under non-braking and power-off conditions; Step five: the host computer collects and processes test data, generates a test report and saves it; Step six: initialize the joint actuator offline detection device state, and display the final test results.

[0008] Further, the friction resistance test includes: drive the sliding platform along the first linear guide to separate the joint actuator from the docking end, and control the joint actuator to run stably at different output speeds under the output end empty load state; collect the output speed and torque data of the joint actuator; Draw the speed-torque curve, and adopt least square method to fit to obtain the formula of friction resistance: Wherein: is the no-load friction torque; is the joint actuator output speed; and are constants.

[0009] Further, the starting torque test includes forward and reverse starting torque tests, and the specific steps are: Drive the sliding platform to move along the first linear guide rail to separate the docking shaft from the docking end head, and in the no-load state of the joint actuator output end, control the joint actuator to slowly increase the torque from zero; Real-time acquisition of the speed and torque data of the joint actuator; When it is monitored that the fluctuation of the speed in 1 second continuously exceeds a predetermined threshold value, it is determined that the joint actuator starts to rotate, and the maximum torque value at this moment is recorded as the starting torque value of the test point; Select multiple points in the output shaft positive and negative directions respectively for testing, and take the maximum starting torque value as the test result.

[0010] Further, the torque constant test includes: Drive the sliding platform to move along the first linear guide rail to make the docking shaft and the docking end head docked, and in the condition that the joint actuator output shaft and the rotating shaft are hard connected and the transmission brake mechanism is closed and braked, control the joint actuator to switch to the torque mode; Slowly load from zero to rated torque, while recording the torque value measured by the torque sensor and the current value of the joint actuator ; Calculate the torque constant value by least square method fitting: Wherein: is the output torque of the joint actuator.

[0011] Further, the angle transmission error test includes: Drive the sliding platform to move along the first linear guide rail to make the docking shaft and the docking end head docked; control the joint actuator to apply a preset percentage of rated load by the PLC controller, and control the joint actuator to be in the speed mode and the speed to be set to zero; Read the position value of the grating encoder at the initial time ; Send instructions to control the joint actuator to rotate by a certain angle, and read the position value of the grating encoder after reaching the target position ; ​Calculate the difference value: ; Test at multiple predetermined angle points in forward and reverse directions respectively, calculate the average value of the difference value in each direction , and determine whether the encoder accuracy is qualified according to the average value.

[0012] Further, the return error test includes: Drive the sliding platform to move along the first linear guide rail to make the butt joint shaft and the butt joint head butt joint; Control the joint actuator to return to zero and read the current position; Control the servo motor to apply a preset percentage of rated load to the joint actuator through the PLC controller; Control the joint actuator to rotate forward by a first angle, and record the position value of the grating encoder after reaching the position ; Control it to reverse by a second angle, and then rotate forward by the second angle again, and record the position value of the grating encoder after reaching the position ; Repeat the above movement and recording steps multiple times to calculate the average value: Wherein: is the number of repeated tests; Use the average value as the return error to determine the qualification.

[0013] Further, the repeated positioning accuracy test includes: Drive the sliding platform to move along the first linear guide rail to make the butt joint shaft and the butt joint head butt joint; Control the joint actuator to return to zero; Control the servo motor to apply rated load to the joint actuator through the PLC controller; Under the conditions of 100%, 50%, and 10% rated speed, control the joint actuator to move to multiple predetermined position points in the order of P1→P2→P3→P4→P5 according to the predetermined position sequence, and record the actual position value of the grating encoder at each position point; Repeat multiple cycles; Calculate the repeated positioning accuracy of each position point : Wherein: is the repeated positioning accuracy; is the actual position value of the first cycle; is the actual position value of the first cycle; is the number of cycles; The maximum value is taken as the final repositioning accuracy for qualification.

[0014] Further, the hysteresis curve and backlash test comprises: The product clutch mechanism clutches the docking shaft, and under the condition that the joint actuator output end is braked, the torque mode is controlled; the servo motor is controlled by the PLC controller to apply load to the joint actuator, and the load torque is measured by the torque sensor; The input end torque is controlled to start from zero and slowly loaded in one direction to the positive rated torque , and then slowly loaded in the opposite direction to the negative rated torque , and then loaded in the positive direction to , and finally slowly unloaded; The input end angular displacement corresponding to different load torques during the whole process is recorded, and the output end angular displacement value is obtained according to the theoretical speed ratio , and the torque-angular displacement hysteresis curve is drawn; From the hysteresis curve, the angular displacement median value under +3% rated output torque and -3% rated output torque and , then the backlash is: The servo static stiffness is the ratio of the load torque to the corresponding elastic deformation angular displacement in the hysteresis curve: Wherein: is the servo static stiffness; is half of the rated torque; is the difference between the angular displacement corresponding to the rated torque on the median line and the angular displacement corresponding to 50% rated torque.

[0015] Further, the efficiency test comprises: First, drive the sliding platform to move along the first linear guide rail to separate the docking shaft from the docking end head, and control the joint actuator to run to the rated speed under the rated voltage and no-load condition; Then, drive the sliding platform to move along the first linear guide rail to connect the docking shaft with the docking end head, and gradually load the output end of the joint actuator to the rated torque; Monitor the temperature change, and after the temperature rise is stable, read the input voltage U and input current I of the joint actuator; According to the following formula, the efficiency is calculated: Wherein: is the efficiency of the joint actuator; is the rated speed; is the rated torque.

[0016] Further, the reverse drag torque test comprises: The workpiece moving clamp tool is controlled to move relative to the workpiece positioning clamp along a direction parallel to the first linear guide, and the joint actuator is controlled to be in a non-braking and power-off state; The sliding platform is driven to move along the first linear guide, the butt joint shaft is connected with the butt joint end, the servo motor is controlled by the PLC controller to slowly apply a uniformly increasing torque, and the output end torque value and the motor angle value in the joint actuator are collected in real time; The instantaneous torque value at which the motor angle starts to change is recorded; Multiple tests are performed at different angle points in the positive and negative directions, and the maximum instantaneous torque value recorded in all tests is taken as the reverse starting torque.

[0017] The joint actuator offline detection method has the following beneficial effects: The joint actuator offline detection method of the present application is realized based on a joint actuator offline detection device, and the following technical effects are achieved: (1) High automation and efficiency improvement: the product information is automatically identified by the code scanning gun, the test project and standard are automatically loaded by the upper computer, and the whole process is automatically controlled by combining the PLC controller and the program-controlled power supply, thereby greatly reducing manual operation and improving detection efficiency and consistency; (2) Comprehensive integration of detection projects: multiple performance tests such as friction resistance, starting torque, angle transmission error, return error, repeat positioning accuracy, hysteresis curve and backlash, efficiency and reverse drag torque are integrated on one device, avoiding the complicated process of traditional multi-station detection and saving production line space; (3) Accurate and reliable load simulation: the servo motor is used in combination with the torque sensor and the optical encoder to accurately apply and measure the load, truly simulate the working condition of the joint actuator, and ensure the accuracy of the detection of key parameters such as torque and angle; (4) High safety and precision of butt joint: the sliding platform and the butt joint shaft are designed to realize accurate centering of mechanical butt joint, and the transmission brake and the product brake mechanism are combined to effectively prevent butt joint deviation and accidental movement, thereby improving operation safety and test reliability; (5) Data processing and report generation automation: the upper computer collects and processes test data in real time, and automatically generates a detection report, supports quality traceability and product optimization, and improves production quality management level.

[0018] In summary, the joint actuator offline detection method of the present application solves the problems of low automation, single project, inaccurate load simulation and poor butt joint safety in traditional detection, and significantly improves the comprehensiveness, precision and efficiency of joint actuator offline detection. BRIEF DESCRIPTION OF DRAWINGS

[0019] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration: Figure 1 A schematic diagram of the structure of Embodiment 1 of the joint actuator offline testing equipment; Figure 2 This is a schematic diagram of the integration test system. Figure 3 A schematic diagram of the joint actuator offline testing device; Figure 4 for Figure 3 Top view; Figure 5 for Figure 3 AA section view; Figure 6 This is a schematic diagram of the structure of Embodiment 2 of the joint actuator offline testing equipment; Figure 7 This is an isometric view of the joint actuator offline testing equipment in this embodiment; Figure 8 for Figure 7 Enlarged view of region B; Figure 9 This is a flowchart of Embodiment 3 of the Joint Actuator Offline Detection Method of the present invention; Figure 10 System diagram for torque constant testing; Figure 11 This is a torque-angle hysteresis curve.

[0020] Explanation of reference numerals in the attached figures: 1-Joint actuator; 10-Frame; 11-Control panel; 12-Display; 20-Worktable; 21-Sliding platform; 22-First linear guide; 23-Servo electric cylinder; 24-Contact sensor; 25-Workpiece positioning and clamping fixture; 26-Workpiece moving and clamping fixture; 27-Power connection assembly; 28-Second linear guide; 29-Push-pull quick clamp; 30-Mating shaft; 301-Mating joint; 31-Rotating shaft; 311- 32-Stop hole; 33-Servo motor; 34-Matching end; 35-Transmission brake mechanism; 36-Mounting base; 37-Stop cylinder; 38-Fixed base; 39-Moving base; 40-Diaphragm coupling. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0022] Example 1 like Figure 1 As shown, the joint actuator 1 offline testing equipment of this embodiment includes a frame 10, an integrated testing system mounted on the frame 10, and a joint actuator 1 offline testing device.

[0023] like Figure 2 As shown, the integrated testing system includes a host computer, a PLC controller, and a programmable power supply. The programmable power supply is connected to the power connection component 27 on the workpiece moving clamping fixture 26 to supply power to the joint actuator 1. The PLC controller is electrically connected to the servo motor 32 to control the load applied to the joint actuator 1 by the offline detection component. The host computer is used to collect and process the data detected by the torque detection mechanism 35 and the angle detection mechanism 36, and to determine whether the data is qualified. A control panel 11 and a display 12 are also installed on the frame 10. The display 12 is used to display the detection status and results of the joint actuator 1 in real time.

[0024] like Figures 3-5 As shown, the joint actuator 1 offline detection device includes a worktable 20, on which a workpiece clamping assembly and an offline detection assembly are installed.

[0025] The workpiece clamping assembly includes a sliding platform 21 mounted on a worktable 20 via a first linear guide rail 22. The worktable 20 is equipped with a first drive mechanism for moving the sliding platform 21 along the first linear guide rail 22. In this embodiment, the first drive mechanism is a servo electric cylinder 23 mounted on the worktable 20. The worktable 20 is also equipped with contact sensors 24 located at both ends of the first linear guide rail 22 to limit the travel of the sliding platform 21. The sliding platform 21 is equipped with a workpiece positioning and clamping fixture 25 for mounting the joint actuator 1, a workpiece moving and clamping fixture 26 corresponding to the workpiece positioning and clamping fixture 25, and a docking shaft 30 connected to the output shaft of the joint actuator 1. The end of the docking shaft 30 is provided with a coupling joint 301. In this embodiment, the workpiece positioning and clamping fixture 25 is detachably mounted on the worktable 20. Thus, when performing offline testing on joint actuators 1 of different models and sizes, only the corresponding workpiece positioning and clamping fixture 25 and docking shaft 30 need to be replaced.

[0026] In the embodiment, the sliding platform 21 is provided with a second linear guide rail 28 parallel to the first linear guide rail 22, and the workpiece moving and clamping tool 26 is slidingly and fittingly installed on the second linear guide rail 28. The sliding platform 21 is further provided with a second driving mechanism for driving the workpiece moving and clamping tool 26 to move relative to the workpiece positioning and clamping tool 25. In the embodiment, the second driving mechanism is a push-pull type quick clamp 29, and the push head of the push-pull type quick clamp 29 abuts against the side surface of the workpiece moving and clamping tool 26 away from the workpiece positioning and clamping tool 25. In this way, the push-pull type quick clamp 29 can be used to drive the workpiece moving and clamping tool 26 to move along the second linear guide rail 28 relative to the workpiece positioning and clamping tool 25. The side surface of the workpiece moving and clamping tool 26 facing the workpiece positioning and clamping tool 25 is provided with an electrical connection assembly 27 for docking with the control circuit board of the joint actuator 1, so as to control the on-off of the joint actuator 1.

[0027] The lower line detection assembly includes a rotating shaft 31 installed on the workbench 20 through a bearing seat and parallel to the first linear guide rail 22. The input end of the rotating shaft 31 is connected with a servo motor 32, and the output end is provided with a docking end head 33 for docking with a docking head 301 of the docking shaft 30. The end surface of the docking end head 33 is provided with a docking groove for plug-in cooperation with the docking head 301. In the embodiment, the docking head 301 is a regular hexagonal column, and the docking groove is a matched regular hexagonal groove. The rotating shaft 31 is sequentially provided with a transmission brake mechanism 34, a torque detection mechanism 35, an angle detection mechanism 36 and a product brake mechanism 37 in the direction of the servo motor 32 pointing to the docking end head 33. The servo motor 32 is used to drive the rotating shaft 31 to rotate to apply a load to the joint actuator 1. The torque detection mechanism 35 adopts a torque sensor for detecting the output torque of the joint actuator 1. The angle detection mechanism 36 adopts a grating angle encoder for detecting the rotation angle of the output shaft of the joint actuator 1. The transmission brake mechanism 34 is used to intermittently brake or stop the rotating shaft 31 during testing. The product brake mechanism 37 is used to brake the docking shaft 30 in a specific test item. In the embodiment, the transmission brake mechanism 34 includes a stop cylinder 342 installed on the workbench 20 through a mounting seat 341, a fixed seat 343 and a movable seat 344 are sleeved on the piston rod of the stop cylinder 342, and a spring 345 is arranged between the fixed seat 343 and the movable seat 344. The rotating shaft 31 is sleeved with the piston rod of the stop cylinder 342, and a stop hole 311 penetrating through both ends of the rotating shaft 31 in the radial direction is coaxially arranged.

[0028] In addition, the workbench 20 is provided with a code scanning gun placement station 39 near the side of the workpiece clamping assembly, for placing a code scanning gun 38 for collecting information of the product.

[0029] Embodiment 2 As Figure 6As shown, the joint actuator 1 offline detection device of the embodiment comprises a rack 10, an integrated test system mounted on the rack 10, and a joint actuator 1 offline detection device.

[0030] As shown, the joint actuator 1 offline detection device comprises a workbench 20, on which a workpiece clamping assembly and an offline detection assembly are mounted. Figure 7

[0031] The workpiece clamping assembly comprises a sliding platform 21 mounted on the workbench 20 through a first linear guide rail 22. The workbench 20 is provided with a first driving mechanism (not shown in the figure) for driving the sliding platform 21 to move along the first linear guide rail 22. The workbench 20 is also provided with a contact sensor 24 at each end of the first linear guide rail 22, for limiting the movement stroke of the sliding platform 21. The sliding platform 21 is mounted with a workpiece positioning and clamping tool 25 for mounting the joint actuator 1, a workpiece moving and clamping tool 26 corresponding to the workpiece positioning and clamping tool 25, and a docking shaft 30 connected with the output shaft of the joint actuator 1. The end of the docking shaft 30 is provided with a docking head 301.

[0032] In the embodiment, the sliding platform 21 is provided with a second linear guide rail 28 parallel to the first linear guide rail 22, and the workpiece moving and clamping tool 26 is slidingly fitted on the second linear guide rail 28. The sliding platform 21 is also provided with a second driving mechanism for driving the workpiece moving and clamping tool 26 to move relative to the workpiece positioning and clamping tool 25. In the embodiment, the second driving mechanism is a push-pull type quick clamp 29, and the push head of the quick clamp 29 abuts against the side surface of the workpiece moving and clamping tool 26 away from the workpiece positioning and clamping tool 25. The side surface of the workpiece moving and clamping tool 26 facing the workpiece positioning and clamping tool 25 is provided with an electrical connection assembly 27 for docking with the control circuit board of the joint actuator 1, for controlling the on-off power of the joint actuator 1.

[0033] ​The lower line detection assembly comprises a rotating shaft 31 installed on the workbench 20 through a bearing seat and parallel to the first linear guide rail 22. The input end of the rotating shaft 31 is connected with a servo motor 32, and the output end is provided with a docking end 33 for docking with the docking head 301 of the docking shaft 30. The end face of the docking end 33 is provided with a docking groove matched with the docking head 301. In the embodiment, the docking head 301 is a regular hexagonal column, and the docking groove is a matched regular hexagonal groove. The rotating shaft 31 is sequentially provided with a transmission brake mechanism 34, a torque detection mechanism 35, an angle detection mechanism 36 and a product brake mechanism 37 in the direction of the servo motor 32 pointing to the docking end 33. The servo motor 32 is used to drive the rotating shaft 31 to rotate to apply a load to the joint actuator 1. The torque detection mechanism 35 adopts a torque sensor for detecting the output torque of the joint actuator 1. The angle detection mechanism 36 adopts a grating angle encoder for detecting the rotation angle of the output shaft of the joint actuator 1. The transmission brake mechanism 34 adopts a pneumatic three-jaw chuck 346 for intermittently clamping or stopping the rotating shaft 31 during testing. As shown in Figure 8 the product brake mechanism 37 is composed of a pair of clamping jaws 372 driven by a clamping cylinder 371, and is used to clamp the docking shaft 30 in a specific test item (such as a holding torque test).

[0034] In the embodiment, transmission mechanisms are respectively arranged between the servo motor 32 and the transmission brake mechanism 34, between the transmission brake mechanism 34 and the torque detection mechanism 35, and between the torque detection mechanism 35 and the angle detection mechanism 36, and the transmission mechanisms adopt diaphragm couplings 40.

[0035] The other specific embodiments of the embodiment are the same as or equivalent to those of the embodiment 1, and will not be described in detail.

[0036] Embodiment 3 The joint actuator 1 offline detection method of the embodiment is realized by using the joint actuator 1 offline detection device as described in the embodiment 1 or the embodiment 2. Specifically, as shown in Figure 9 the joint actuator 1 offline detection method of the embodiment comprises the following steps.

[0037] Step one: installation and information input. The operator installs the joint actuator 1 on the workpiece positioning and clamping tool 25, clamps and fixes it by using the workpiece moving and clamping tool 26, and completes the electrical connection through the power connection assembly 27. Then, the code scanning gun 38 is taken from the code scanning gun placing station 39, and the identity (such as a bar code or a two-dimensional code) of the joint actuator 1 is scanned. The host computer obtains the product information accordingly, and automatically loads the test item sequence and the qualification standard corresponding to the joint actuator 1 of the same type.

[0038] Step two: system initialization and sensor readiness. Start the detection program, turn on the external signal sensor switch, enable the host computer to communicate with the torque detection mechanism 35 (torque sensor) and the angle detection mechanism 36 (grating encoder), and ensure that the torque and angle data can be read in real time.

[0039] Step three: communication establishment and pre-test verification. The host computer establishes communication with the joint actuator 1 through the CANOpen communication protocol and reads its internal parameters such as firmware version, reducer speed ratio, motor pole pair number, etc. The system performs matching verification on the information and the preset test items, i.e. confirms the matching of the joint actuator 1 and the test items, confirms whether the joint actuator 1 and the test items are correct, whether the firmware written by the front-end process is correct, and ensures that the test conditions and product specifications are consistent. If there is no problem in detection, the test can be performed.

[0040] Step four: execute the preset performance test sequence. According to the preset test item sequence, one or more performance tests are performed, including friction resistance test, starting torque test, torque constant test, angle transmission error test, return error test, repeated positioning accuracy test, hysteresis curve and backlash test, efficiency test and reverse drag torque test.

[0041] (1) Friction resistance test: collect the output speed and torque of the joint actuator 1 at different speeds, draw the speed-torque curve and fit it by the least square method.

[0042] The driving sliding platform 21 moves along the first linear guide rail 22 to separate the docking shaft 30 from the docking end 33, and the output end of the joint actuator 1 is in an empty load state (before docking). The host computer controls the joint actuator 1 to run stably at different speeds (output shaft speed 1 rad / s, 2 rad / s, 3 rad / s, 4 rad / s, 5 rad / s) through CAN instructions, collects the output speed and torque of the joint actuator 1 through CAN, draws the speed-torque curve, and fits the curve with a slope of k according to the least square method. Specifically, in this embodiment, the friction resistance test includes the following contents: controlling the joint actuator 1 to run stably at different output speeds in the empty load state of the output end; collecting the output speed and torque data of the joint actuator 1 through the CAN bus; drawing the speed-torque curve, and using the least square method to fit the formula representing the friction resistance: Wherein: is the empty load friction torque; is the output speed of the joint actuator 1; and are constants.

[0043] (2) Start torque test: slowly increase the torque from 0 until the output shaft starts to rotate, record the torque value at this point.

[0044] Specifically, the driving sliding platform 21 moves along the first linear guide rail 22 to separate the docking shaft 30 from the docking end 33. The start torque includes a forward start torque and a reverse start torque test. Both the forward start torque test and the reverse start torque test need to select 5 electric potentials at the output end of the joint actuator 1. The torque test is performed at these points, and then the maximum start torque value is taken as the result of the start torque test.

[0045] In this embodiment, the start torque test includes forward and reverse start torque tests. The specific steps are as follows: under the no-load state of the joint actuator 1 output end, control it to slowly increase the torque from zero; real-time acquisition of rotation speed and torque data; when the fluctuation of the rotation speed in 1 second is monitored to exceed the predetermined threshold, it is determined that the joint actuator 1 starts to rotate, and the maximum torque at this moment is recorded as the start torque value of the test point; select multiple points in the positive and negative directions of the output shaft for testing, and take the maximum start torque value as the test result. Specifically, the joint actuator 1 output end is in a no-load state (before docking), and the upper computer controls the joint actuator 1 to slowly increase the torque from 0 until the output shaft starts to rotate. The host computer real-time acquires the rotation speed and torque sent by the joint actuator 1 through CAN. The collected rotation speed is compared for 1s, and when the rotation speed fluctuates continuously for 1s and exceeds the determination threshold, it is considered that the joint actuator 1 overcomes the start torque and starts to rotate. The maximum torque value of the current acquisition is taken as the start torque of the joint actuator 1 at the test point. The start torque test procedures in the positive and negative directions are the same, only the torque direction is reversed.

[0046] (3) Torque constant test: load torque under the output end brake state, record torque sensor value and joint actuator 1 current , get torque constant by least square method.

[0047] Torque constant definition: the ratio of joint actuator 1 output torque to current in FOC control of three-phase brushless motor. At the same time, the torque constant depends on the permanent magnet flux linkage when the pole pair number is fixed. Since it is not a fixed value, different models have differences. It needs to be measured.

[0048] In this embodiment, the torque constant test includes the following contents: drive the sliding platform 21 to move along the first linear guide rail 22 to make the butt joint between the butt joint shaft 30 and the butt joint head 33, under the condition that the joint actuator 1 output shaft is hard connected with the rotating shaft 31 and the transmission brake mechanism 34 is closed, control the joint actuator 1 to switch to the torque mode; slowly load from zero to rated torque, and record the torque value measured by the torque sensor and the current value of the joint actuator 1 ; calculate the torque constant value by least square method : , wherein: is the output torque of the joint actuator 1.

[0049] Specifically, as shown in Figure 10 , after the joint actuator 1 is butt jointed, the joint actuator 1 output shaft is hard connected with the rack, the host computer outputs the brake closing through the modbus instruction, and the joint brake output end is in the braking state. At this time, the joint actuator 1 meets the prerequisite condition for testing the torque constant. The host computer sends the mode through CAN, and the joint mode switching bit is torque mode. Then, from 0, slowly load to rated torque, record the torque value of the torque sensor and the current of the joint actuator 1, and get the value by least square method.

[0050] (4) Angle transmission error test: load, take test points every set angle value in forward and reverse directions, and calculate the angle difference. Specifically, the angle transmission error is defined as the accuracy of testing the encoder of the joint actuator 1.

[0051] In this embodiment, the angle transmission error test includes the following contents: drive the sliding platform 21 to move along the first linear guide rail 22 to make the butt joint between the butt joint shaft 30 and the butt joint head 33; control the servo motor 32 to apply a preset percentage of rated load to the joint actuator 1 through the PLC controller, and control the joint actuator 1 to be in the rotating speed mode and the speed to be set to zero; read the position value of the grating encoder at the initial time ; send instructions to control the joint actuator 1 to rotate a certain angle, read the grating encoder position value after reaching the target position ; calculate the difference value: ; test at multiple predetermined angle points in the forward and reverse directions respectively, calculate the average value of the difference value in each direction , and judge whether the encoder accuracy is qualified according to the average value.

[0052] Specifically, in the present embodiment, the host computer sends a torque instruction to the servo motor 32, loads a 5% load, sets the mode to a speed mode, and sets the speed to 0 RPM; the host computer reads the value of the torque sensor and the value of the angle sensor in real time; the host computer reads the position value of the angle sensor before sending the control instruction , and then sends the rotation angle signal and the speed signal to the joint actuator 1, the joint actuator 1 moves to the position and feeds back the angle signal to the host computer, the host computer reads the position value of the angle sensor at this time , and records and calculates the difference ; every 60° in the forward and reverse directions is taken as a test point, 5 test points are taken in each direction, the difference of each time is calculated, and then the average value is calculated in the forward and reverse directions ; the judgment result is given, whether the difference is qualified or not.

[0053] (5) Return error test: test the position difference in the forward and reverse directions, and calculate the average value. The test purpose is to determine whether the return error of the measured assembly is within the design range.

[0054] The return error test includes the following contents: the driving sliding platform 21 moves along the first linear guide rail 22, so that the butt joint shaft 30 is connected with the butt joint end 33; the joint actuator 1 is controlled to return to zero and the current position is read; the servo motor 32 is controlled by the PLC controller to apply a preset percentage of the rated load to the joint actuator 1; the joint actuator 1 is controlled to rotate forward by a first angle, and the position value of the grating encoder after reaching the position is recorded ; the joint actuator 1 is controlled to rotate reverse by a second angle, and then rotate forward by the second angle again, and the position value of the grating encoder after reaching the position is recorded ; the above movement and recording steps are repeated multiple times, and the average value of multiple times is calculated: wherein: is the number of repeated tests; The average value is taken as the return error for qualification judgment.

[0055] Specifically, in the present embodiment, the host computer sends a zero point setting instruction, the joint actuator 1 is at zero point, and the current position value is read; the host computer sends a 5% rated load torque instruction to the servo motor 32, and the servo motor 32 operates according to the set mode; the host computer sends a control instruction to the joint actuator 1, rotates forward by 180°, and records the position value of the angle sensor after reaching the position ; the host computer sends a reverse rotation 360° instruction, and records the position value of the angle sensor after reaching the position ; after repeating the test five times, the value of is calculated, the average value is taken, the return error is output to the host computer for judgment; whether the average value exceeds the set range is judged.

[0056] (6) Repeatability test: Repeatability test is repeated under different rotating speed conditions, and the standard deviation is calculated. The purpose of the test is to evaluate the repeatability of the joint actuator 1.

[0057] The repeatability test includes the following: drive the sliding platform 21 to move along the first linear guide rail 22, so that the butt joint shaft 30 is connected with the butt joint head 33; control the joint actuator 1 to return to zero point; control the servo motor 32 to apply rated load to the joint actuator 1 through the PLC controller; under the conditions of 100%, 50%, and 10% rated rotating speed, control the joint actuator 1 to move to a plurality of predetermined position points in the order of P1→P2→P3→P4→P5, and record the actual position value of the grating encoder at each position point; repeat the cycle multiple times; calculate the repeatability of each position point Wherein: is the repeatability; is the actual position value of the first cycle; is the actual position value of the first cycle; is the actual position value of the first cycle; is the actual position value of the first cycle; is the cycle number; In this embodiment, the maximum value is taken as the final repeatability for qualification judgment.

[0058] 1) The host computer sends a zero return instruction to return the joint actuator 1 to zero position; 2) The host computer sends a 5% rated load torque instruction to the servo motor 32, and the servo motor 32 operates according to the set mode; 3) The host computer sends a control instruction to the joint actuator 1, and according to the position value in Table 1, the position value of the angle sensor is recorded after reaching the position, and after reaching P5, it returns to P0 position; 4) Repeat step 3, and after 30 tests, calculate the repeatability of each position point ; 5) Determine whether the average value of the repeatability of each position point exceeds the set range.

[0059] The repeatability test conditions are shown in Table 1, wherein P1-P5 are uniformly distributed in the maximum working range of the joint to be tested.

[0060] Table 1 Repeatability test conditions ​That is, in the embodiment, the joint actuator 1 works in the position control mode, a rated load is applied to the output end of the joint actuator 1, and position commands are given in the order of P1→P2→P3→P4→P5 under the conditions of 100%, 50%, and 10% of the rated rotating speed, respectively, starting from the P1 point. After a single cycle, the joint is controlled to return to the P1 point, and the next cycle is started. The test is repeated 10 times at each set rotating speed, and a total of 30 cycles are repeated. The actual position values of the joint at each position command are recorded.

[0061] (7) Hysteresis curve and backlash test: the hysteresis curve is drawn by loading in forward and reverse directions, and the backlash and servo static stiffness are calculated. The test aims to measure the backlash and servo stiffness of the joint actuator 1. The test content is: under the condition that the output end is braked, the displacement of the motor under different torques is obtained by giving a torque to the input end. Specifically, the starting torque of the joint actuator 1 should be <0.05 N.m.

[0062] Specifically, the hysteresis curve and backlash test includes the following contents: the product brake mechanism 37 is used to tightly hold the docking shaft 30, and the joint actuator 1 is controlled to be in the torque mode under the condition that the output end is braked; the servo motor 32 is controlled by the PLC controller to apply a load to the joint actuator 1, and the torque sensor is used to measure the load torque; the input end torque is controlled to start from zero and slowly loaded in one direction to the positive rated torque , then slowly loaded in the reverse direction to the negative rated torque , then slowly loaded in the positive direction to , and finally slowly unloaded; the input end angle changes corresponding to different load torques in the whole process are recorded, and the output end angle change values are calculated according to the theoretical speed ratio , and the torque-angle hysteresis curve is drawn, as shown in Figure 11 ; from the hysteresis curve, the median values of the angles under +3% rated output torque and -3% rated output torque and , then the backlash is: The servo static stiffness is the ratio of the load torque to the corresponding elastic deformation angle in the hysteresis curve: Wherein: is the servo static stiffness; is half of the rated torque; is the difference between the angle corresponding to the rated torque on the median line and the angle corresponding to 50% rated torque.

[0063] (8) Efficiency test: measure input voltage and current under rated operating conditions, and calculate efficiency. The purpose of the test is to test the overall efficiency of the joint actuator 1. The test content is as follows: first, drive the sliding platform 21 to move along the first linear guide rail 22 to separate the docking shaft 30 from the docking end 33, and under the rated voltage and no-load condition, the joint runs to the rated speed. Then, drive the sliding platform 21 to move along the first linear guide rail 22 to connect the docking shaft 30 and the docking end 33, and gradually increase the load at the output end of the joint actuator 1 to the rated torque. After the temperature of the joint actuator 1 stabilizes, read the input voltage U and input current I of the joint actuator 1.

[0064] In this embodiment, the efficiency test includes the following content. Under the rated voltage and no-load condition of the joint actuator 1, control it to run to the rated speed; Gradually load at the output end to the rated torque; Monitor temperature changes, and after the temperature rises stably, read the input voltage U and input current I of the joint actuator 1; Calculate the efficiency according to the following formula: Where: Efficiency of the joint actuator 1; Rated speed; Rated torque.

[0065] (9) Reverse drag torque test: measure the reverse starting torque under non-braking and power-off conditions. The purpose of the test is to identify the maximum reverse starting torque value at the joint actuator 1; the test content is as follows: control the workpiece to move the clamping tool 26 relative to the workpiece positioning tool 25 along a direction parallel to the first linear guide rail 22, and the joint actuator 1 is in a non-braking and power-off condition. Drive the sliding platform 21 to move along the first linear guide rail 22 to connect the docking shaft 30 and the docking end 33, and control the servo motor 32 through the PLC controller to slowly twist the output end of the joint actuator 1 to the torque required at the moment the motor starts in the joint actuator 1, and real-time collect the output end torque value and the motor angle value in the joint actuator 1.

[0066] In this embodiment, the reverse drag torque test includes the following content.

[0067] Control the joint actuator 1 to be in a non-braking and power-off state; Slowly apply a uniformly increasing torque through the load system, and real-time collect the output end torque value and the motor angle value in the joint; Record the instantaneous torque value at which the motor angle starts to change; In the positive and negative directions, multiple tests are performed at different angle points, and the maximum instantaneous torque value recorded in all tests is taken as the reverse starting torque. In this embodiment, 5 tests are performed at different angles in the positive and negative directions, and the maximum value recorded in the 10 tests is taken as the reverse starting torque.

[0068] Step five: data processing and report generation. The host computer automatically collects and processes all test data obtained in step four, compares it with the preset standard, generates a detailed test report (including data, curves, and eligibility conclusions), and saves it to the database.

[0069] Step six: state initialization and result display. After the test is completed, the system controls the actuators (such as the sliding platform 21, the transmission brake mechanism 34, and the product brake mechanism 37) to return to the initial state, and clearly displays the final test result ("pass" or "fail") on the display 12, so that the operator can perform subsequent operations.

[0070] The above-described embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitutions or transformations made by those skilled in the art based on the present application are within the protection scope of the present application. The protection scope of the present application is subject to the claims.

Claims

1. A joint-actuator offline detection method, characterized in that: The joint actuator offline detection device is installed on the workbench and comprises a workpiece clamping assembly and an offline detection assembly; the workpiece clamping assembly comprises a sliding platform movable along a first linear guide rail, a workpiece positioning and clamping tool for mounting the joint actuator, a workpiece moving and clamping tool corresponding to the workpiece positioning and clamping tool, and a docking shaft connected with the output shaft of the joint actuator; the workpiece moving and clamping tool is movable relative to the workpiece positioning and clamping tool along a direction parallel to the first linear guide rail and is used for controlling the on-off of the joint actuator; the offline detection assembly comprises a code scanning gun and a rotating shaft parallel to the first linear guide rail, the rotating shaft is provided with a servo motor at an input end and a docking end head for docking with the docking shaft to apply a load to the joint actuator at an output end; the rotating shaft is sequentially provided with a transmission brake mechanism, a torque detection mechanism, an angle detection mechanism and a product brake mechanism along a direction in which the servo motor points to the docking joint; the servo motor is used to drive the rotating shaft to rotate to apply a load to the joint actuator, the torque detection mechanism adopts a torque sensor and is used to detect the output torque of the joint actuator, and the angle detection mechanism adopts a grating encoder and is used to detect the rotation angle of the output shaft of the joint actuator; the transmission brake mechanism is used to tightly hold or stop the rotating shaft; and the product brake mechanism is used to tightly hold the docking shaft; The integrated test system comprises an upper computer, a PLC controller and a program-controlled power supply; the program-controlled power supply is connected with an electrical connection assembly provided on the workpiece moving and clamping tool to supply power to the joint actuator; the PLC controller is electrically connected with the servo motor to control the load applied to the joint actuator by the offline detection assembly; and the upper computer collects and processes the data detected by the torque detection mechanism and the angle detection mechanism; The method comprises the following steps: Step one: install the joint actuator on the workpiece positioning and clamping tool, scan the joint actuator identifier by the code scanning gun, make the upper computer acquire the joint actuator information and load corresponding test items and standards; Step two: turn on the external signal sensor switch to enable the upper computer to read the data of the torque sensor and the grating encoder; Step three: establish communication with the joint actuator through the CANOpen protocol, read the information of the joint actuator including the firmware version, the speed ratio and the number of pole pairs, perform pre-test verification to confirm the matching of the joint actuator and the test items; Step four: perform one or more performance tests according to a preset test item sequence, the test items comprising: friction resistance test: collect the rotation speed and the torque output by the joint actuator at different rotation speeds, draw a rotation speed-torque curve and fit through the least square method; startup torque test: slowly increase the torque from 0 until the output shaft starts to rotate, and record the torque value at this point; ​ Torque constant test: load torque in output brake state, record torque sensor value and joint actuator current , get torque constant by least square method ; Angle transmission error test: load the load, take test points every set angle value in the positive and negative rotation direction, calculate the angle difference value; Return error test: test the position difference in the positive and negative rotation direction, calculate the average value; Repeated positioning accuracy test: test the position accuracy under different rotation speed conditions, calculate the standard deviation; Hysteresis curve and backlash test: draw the hysteresis curve by loading in the positive and negative rotation direction, calculate the backlash and servo static stiffness; Efficiency test: measure the input voltage and current under the rated working condition, calculate the efficiency; Reverse drag torque test: measure the reverse starting torque under the non-braking and power-off conditions; Step five: the upper computer collects and processes the test data, generates a test report and saves it; Step six: initialize the state of the joint actuator offline detection device, and display the final test result.

2. The joint-actuator offline detection method of claim 1, wherein: The friction resistance test includes: Drive the sliding platform to move along the first linear guide rail to separate the docking shaft from the docking end head, control the joint actuator to run stably at different output rotation speeds in the output end empty state; Collect the output rotation speed and torque data of the joint actuator; Draw the rotation speed-torque curve, and use the least squares method to fit to obtain a formula representing the friction resistance: wherein: is the no-load friction torque; is the joint actuator output angular velocity; and is a constant.

3. The joint-actuator offline detection method of claim 1, wherein: The starting torque test includes positive and negative starting torque tests, and the specific steps are: Drive the sliding platform to move along the first linear guide rail to separate the docking shaft from the docking end head, control the joint actuator to slowly increase the torque from zero in the output end empty state of the joint actuator; Real-time collect the rotation speed and torque data of the joint actuator; When the fluctuation of the rotation speed in continuous 1 second exceeds the predetermined threshold value, it is determined that the joint actuator starts to rotate, and the maximum torque value at this moment is recorded as the starting torque value of the test point; Select multiple points in the positive and negative directions of the output shaft for testing, and take the maximum starting torque value as the test result.

4. The joint-actuator offline detection method of claim 1, wherein: The torque constant test includes: Drive the sliding platform to move along the first linear guide rail to connect the docking shaft and the docking end head, control the joint actuator to switch to the torque mode under the condition that the joint actuator output shaft is hard connected with the rotating shaft and the transmission brake mechanism is closed and braked; Slowly ramp up from zero to rated torque while recording the torque value measured by the torque sensor and the current value of the joint actuator ; calculate the torque constant by least square fit value: wherein: is the output torque of the joint actuator.

5. The joint-actuator offline detection method of claim 1, wherein: The angle transmission error test includes: Drive the sliding platform to move along the first linear guide rail to connect the docking shaft and the docking end head; control the servo motor to apply a predetermined percentage of the rated load to the joint actuator through the PLC controller, and control the joint actuator to be in the rotation speed mode and the speed to be set to zero; Reading an initial position value of a grating encoder ; Send command control joint actuator to rotate a certain angle, to reach the target position after reading the grating encoder position value ; Calculate difference: ; Test at a plurality of predetermined angle points in the forward and reverse directions respectively, and calculate the average of the difference in each direction and determine whether the encoder accuracy is qualified according to the average.

6. The joint-actuator offline detection method of claim 1, wherein: The return error test includes: Drive the sliding platform to move along the first linear guide rail to connect the docking shaft and the docking end head; Control the joint actuator to return to zero and read the current position; Control the servo motor to apply a predetermined percentage of the rated load to the joint actuator through the PLC controller; Control the joint actuator to rotate forward by a first angle, and record the grating encoder position value after reaching the position ; controlling its reverse rotation by a second angle, and then again forward rotation by the second angle, and recording the grating encoder position value after the arrival ; Repeat the above movement and recording steps multiple times to calculate the average value: wherein: n is the number of replicates; Take the average value as the return error for qualification judgment.

7. The joint-actuator offline detection method of claim 1, wherein: The repeated positioning accuracy test includes: Drive the sliding platform to move along the first linear guide rail to connect the docking shaft and the docking end head; Control the joint actuator to return to zero; Control the servo motor to apply a rated load to the joint actuator through the PLC controller; Under the conditions of 100%, 50%, 10% rated speed, control the joint actuator to move to multiple predetermined position points in the order of P1→P2→P3→P4→P5 according to the predetermined position sequence, and record the actual position value of the grating encoder at each position point; Repeat the cycle multiple times; calculating the repeatability of the positioning accuracy at each position point : wherein: is the repeat positioning accuracy; is the first is the real-time position value of the nth cycle; is the first is the real-time position value of the nth cycle; is the number of cycles; Take the maximum value as the final repeated positioning accuracy for qualification judgment.

8. The joint-actuator offline detection method of claim 1, wherein: The hysteresis curve and backlash test includes: Under the condition of braking at the output end of the joint actuator, control it to be in torque mode by using the product brake mechanism to hold the docking shaft; control the servo motor to apply load to the joint actuator by using the PLC controller, and measure the load torque by using the torque sensor; Control input torque is ramped from zero in one direction to positive rated torque and then ramped in the opposite direction to negative rated torque and then ramped in the opposite direction to negative rated torque and then ramped in the opposite direction to negative rated torque Record the input end rotation angle change corresponding to different load torque during the whole process, and convert the output end rotation angle change value according to the theoretical speed ratio Draw the torque-rotation angle hysteresis curve; From the hysteresis curve, the median of the angle of rotation at +3% rated output torque and -3% rated output torque is taken and The backlash is then The servo static stiffness is the ratio of the load torque to the corresponding elastic deformation angle in the hysteresis curve: wherein: is the servo static stiffness; is half of the rated torque; is the difference between the rotation angle corresponding to the rated torque on the median line and the rotation angle corresponding to 50% of the rated torque.

9. The joint-actuator offline detection method of claim 1, wherein: The efficiency test includes: First, drive the sliding platform to move along the first linear guide rail to make the docking shaft and the docking end head disengage, control the joint actuator to run to the rated speed under the condition of rated voltage and no load; Then, drive the sliding platform to move along the first linear guide rail to make the docking shaft and the docking end head connect, gradually load the output end of the joint actuator to the rated torque; Monitor the temperature change, and after the temperature rise stabilizes, read the input voltage U and input current I of the joint actuator; Calculate the efficiency according to the following formula: wherein: is the joint actuator efficiency; is the rated rotational speed; is the rated torque.

10. The joint-actuator offline detection method of claim 1, wherein: The reverse drag torque test includes: Control the workpiece to move the clamping tool relative to the workpiece positioning and clamping tool to move along the direction parallel to the first linear guide rail, control the joint actuator to be in the non-braking and power-off state; Drive the sliding platform to move along the first linear guide rail to make the docking shaft and the docking end head connect, control the servo motor to slowly apply increasing torque by using the PLC controller, and collect the output torque value and the motor angle value in the joint actuator in real time; Record the instantaneous torque value at which the motor angle starts to change; Perform multiple tests at different angle points in the forward and reverse directions, and take the maximum instantaneous torque value recorded in all tests as the reverse starting torque.

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