Test equipment for collaborative robot drive controller board

Abstract

The present invention discloses a test device for a cooperative robot drive controller board, the test device comprises a mounting platform and a test fixture, a test mainboard and a power supply device arranged on the mounting platform, the test fixture has a fixed position; the test mainboard has a first communication interface for outputting a test result and a plurality of functional interfaces that can be electrically connected to the drive controller board under test; the power supply device can supply power to the test mainboard and the drive controller board under test. The present invention simplifies the test method of the drive controller board, thereby facilitating the improvement of the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of drive devices, and in particular to a testing device for a collaborative robot arm drive controller board. Background Art

[0002] A collaborative robot arm is generally composed of multiple joint modules, which include motors, reducers, brakes, magnetic code disks, magnetic encoder boards, joint servo drive controller boards, and joint servo drive power boards, making the collaborative robot arm structurally small in size and with high joint integration.

[0003] The existing method of testing the drive controller board is generally to install the drive controller board on the joint module and then test whether the joint module can operate normally. However, this testing method requires manual repeated disassembly and assembly of the drive controller board, resulting in low testing efficiency. Summary of the invention

[0004] The main purpose of the present invention is to provide a testing device for a collaborative robot arm drive controller board, aiming to solve the technical problem of low efficiency in the existing detection of drive controller boards.

[0005] To achieve the above-mentioned objectives, the present invention proposes a testing device for a collaborative robot arm drive controller board, the testing device comprising a mounting platform and a test fixture, a test main board and a power supply device arranged on the mounting platform, the test fixture having a fixed position; the test main board having a first communication interface for outputting detection results and a plurality of functional interfaces that can be electrically connected to the drive controller board under test; the power supply device can supply power to the test main board and the drive controller board under test.

[0006] Preferably, the functional interface includes a first power input interface located on the test main board, a first power output interface electrically connected to the power input terminal on the drive controller board under test, a voltage acquisition interface electrically connected to the power module on the drive controller board under test, a signal transmission interface electrically connected to the debugging serial port interface on the drive controller board under test, and a pulse output interface electrically connected to the motor Hall interface on the drive controller board under test, and the first power input interface is electrically connected to the power supply device.

[0007] Preferably, the functional interface also includes a second power output interface located on the test main board; the test equipment also includes a first test sub-board and a second test sub-board arranged on the mounting platform, the first test sub-board having a second power input interface electrically connectable to the power supply device and a second communication interface electrically connectable to the first EtherCAT slave communication circuit on the control board of the driver under test; the second test sub-board having a third power input interface electrically connectable to the second power output interface and a third communication interface electrically connectable to the second EtherCAT slave communication circuit on the control board of the driver under test.

[0008] Preferably, the test equipment also includes a third test sub-board arranged on the mounting platform, and the third test sub-board has a fourth communication interface that can be electrically connected to the Tamagawa encoder interface circuit on the control board of the driver under test.

[0009] Preferably, the test device further comprises a burning control board arranged on the mounting platform, and the burning control board can be electrically connected to the external terminal and the burning circuit on the tested drive controller board respectively.

[0010] Preferably, the testing device also includes a slider slidably arranged on the mounting table and movable in a vertical direction, and a magnetic encoding signal sensor located on the slider and electrically connected to a motor magnetic encoding interface circuit on a drive controller under test located on the test fixture, and the slider is located directly above the test fixture.

[0011] Preferably, the mounting platform comprises a test box and a mounting plate arranged on the top surface of the test box, the test fixture is located on the top surface of the test box, the test main board is located inside the test box; and the slider is located on the mounting plate.

[0012] Preferably, the testing device further comprises a driving mechanism disposed on the mounting plate, and an output end of the driving mechanism is connected to the slider to drive the slider to move.

[0013] Preferably, the test fixture has conductive probes electrically connected to the first power output interface, the voltage acquisition interface, the pulse output interface and the first communication interface on the test mainboard respectively.

[0014] Preferably, the test equipment further comprises an identification device which is arranged on the mounting platform and can communicate with an external terminal, and the identification device is used to collect the serial number on the drive controller board under test.

[0015] The testing equipment for the collaborative robot arm drive controller board provided in the embodiment of the present invention can obtain corresponding data through various functional interfaces and automatically judge the working status of the drive controller board under test after placing the drive controller board under test on a test fixture and using a power supply device to respectively power the test main board and the drive controller board under test, thereby simplifying the testing method of the drive controller board and facilitating improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an embodiment of a testing device for a collaborative robot arm drive controller board in the present invention;

[0017] Figure 2 for Figure 1 A schematic diagram of the circuit connection relationship of the test main board, the first test sub-board, the second test sub-board, the third test sub-board, the test adapter board and the drive controller board under test of the test equipment shown in the figure;

[0018] Figure 3 for Figure 2 The structural diagram of the test mainboard shown in;

[0019] Figure 4 for Figure 2 A schematic diagram of the structure of the first test sub-board shown in ;

[0020] Figure 5 for Figure 2 A schematic diagram of the structure of the second test sub-board shown in ;

[0021] Figure 6 for Figure 1 A schematic diagram of a portion of the test equipment shown in FIG.

[0022] Figure 7 for Figure 1 The structural diagram of the test fixture shown in FIG.

[0023] Figure 8 for Figure 1 A schematic diagram of powering the test equipment components shown in;

[0024] Fig. 9 for Figure 2 The connection diagram of the power module test of the drive controller under test is shown in;

[0025] Fig.10 for Figure 2 The connection diagram of the motor Hall interface test of the drive controller under test is shown in;

[0026] Fig.11 for Figure 2 The connection diagram of the motor magnetic encoding interface circuit test of the drive controller under test is shown in;

[0027] Fig.12 for Figure 2 The connection diagram of the EtherCAT slave communication circuit test of the drive controller under test is shown in FIG. DETAILED DESCRIPTION

[0028] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0029] The present invention provides a testing device for a collaborative robot arm drive controller board, such as Figures 1 to 3 As shown, the test equipment includes a mounting platform 100 and a test fixture 200, a test mainboard 300 and a power supply device arranged on the mounting platform 100, wherein the test fixture 200 has a fixing position 210; the test mainboard 300 has a first communication interface 360 ​​for outputting the test results and a plurality of functional interfaces that can be electrically connected to the drive controller board under test; the power supply device can supply power to the test mainboard 300 and the drive controller board under test.

[0030] In this embodiment, the test fixture 200 has a fixing position 210. The fixing position 210 may be in the form of a cavity that is compatible with the drive controller board under test, so as to fix the drive controller board under test. Specifically, a positioning column may be provided in the cavity that can be inserted into the mounting hole on the drive controller board under test.

[0031] The power supply device supplies power to the test mainboard 300 and the driver controller board under test respectively. The specific power supply method can be that the power supply device has two output terminals, which supply power to the test mainboard 300 and the driver controller board under test respectively. It can also be that the power supply device first supplies power to the test mainboard 300, and then the test mainboard 300 is used to supply power to the driver controller board under test. Preferably, the power supply device is an adapter to convert 220V AC power into 12V to power the test mainboard 300, and then the test mainboard 300 is used to power the driver controller board under test. Of course, the power supply device can also be a rechargeable battery (such as a lithium battery) to increase the practicality of the test equipment. At this time, if Figure 1 As shown, a power switch 111 for controlling the on / off of the power supply circuit between the power supply device and the test mainboard 300 may also be provided on the mounting platform 100, thereby facilitating the control of the startup of the test equipment.

[0032] The test mainboard 300 has several functional interfaces that can be electrically connected to the tested drive controller board. After the test mainboard and the tested drive controller board are powered by the power supply device, the parameters or specific signals of each functional module (such as power supply module, encoding module and communication module, etc.) on the tested driver control board can be conveniently collected through each functional interface, so that the test mainboard can compare the parameters or specific signals with the preset parameters or signals, thereby automatically judging the working status of each functional module on the tested drive controller board. Finally, the test mainboard 300 outputs the judgment result through the first communication interface 360, preferably the first communication interface 360 ​​and the external terminal, so as to conveniently display the judgment result. Among them, the way in which the tested drive controller board is electrically connected to each functional interface can be that a conductive contact is correspondingly arranged on the test fixture 200, and the conductive contact can be directly located on the test mainboard 300 (at this time, the function of the test fixture 200 is only to fix the tested drive controller board), or it can be arranged on the test fixture 200, or it can be directly connected by a cable. In this embodiment, by placing the driver controller board under test on the test fixture 200 and using the power supply device to respectively power the test main board 300 and the driver controller board under test, the corresponding data can be obtained through each functional interface and the working status of the driver controller board under test can be automatically determined, thereby simplifying the test method of the driver controller board, which is beneficial to improving the detection efficiency.

[0033] In a preferred embodiment, the functional interface includes a first power input interface 310 located on the test mainboard 300, a first power output interface 320 that can be electrically connected to the power input terminal on the drive controller board under test, a voltage acquisition interface 330 that can be electrically connected to the power module on the drive controller board under test, a signal transmission interface 340 that can be electrically connected to the debugging serial port interface on the drive controller board under test, and a pulse output interface 350 that can be electrically connected to the motor Hall interface on the drive controller board under test. The first power input interface 310 is electrically connected to the power supply device. Among them, the power supply device supplies power to the test mainboard 300 through the first power input interface 310, and uses the first power output interface 320 to supply power to the tested drive controller board. At this time, the voltage acquisition interface 330 obtains the voltage value at the power module on the tested drive controller board, and determines whether the collected voltage value is consistent with the preset voltage value, thereby determining whether the power module on the tested drive circuit board is normal, and outputs the judgment information through the first communication interface 360. At the same time, the temperature detection circuit on the tested drive controller board performs self-test through the AD voltage of its own circuit; the pulse output interface 350 outputs a pulse signal of a preset value to the motor Hall interface on the tested drive controller board, and then the motor Hall interface sends the received pulse signal to the test mainboard 300 through the debugging serial port interface on the tested drive controller board, and uses the test mainboard 300 to compare the data sent by the pulse output interface 350 with the received data, thereby determining whether the motor Hall interface on the tested drive controller board is normal, and output the judgment result through the first communication interface 360. At this time, the first communication interface 360 ​​is preferably connected to an external terminal (such as a computer) and displayed. Of course, it can also be output to a warning light set on the mounting platform 100, such as a red light indicating that the tested drive controller board is abnormal, and a green light indicating that the tested drive controller board is working normally. As for the logic circuit and processor on the test mainboard 300, refer to the existing implementable methods to achieve the above functions, and no detailed description is given here. During the above test, the connection relationship between the various functional interfaces on the test mainboard 300 and the tested drive controller board can be referred to Figure 2 , Figure 3 , Figure 8 , Fig. 9 as well as Fig.10 The arrangement is sufficient and no detailed description is given here.

[0034] In a preferred embodiment, if Figure 2 and Figure 3As shown, the functional interface also includes a second power output interface 370 located on the test main board 300, and the voltage output by the second power output interface 370 is preferably 5V. At the same time, the test equipment also includes a first test sub-board 500 and a second test sub-board 600 arranged on the mounting platform 100, the first test sub-board 500 has a second power input interface 510 electrically connected to the power supply device and a second communication interface 520 electrically connected to the first EtherCAT slave communication circuit on the control board of the driver under test; the second test sub-board 600 has a third power input interface 610 electrically connected to the second power output interface 370 and a second communication interface 520 electrically connected to the second EtherCAT slave communication circuit on the control board of the driver under test. Among them, the voltage input to the third power input interface 610 on the first test sub-board 500 is 24V, and the specific power supply method can be directly using an external power supply, or it can be directly electrically connected to the test main board 300 for power supply, and the voltage input to the second power input interface 510 on the second test sub-board 600 is 5V. At this time, first the first test sub-board 500 communicates with the first EtherCAT slave communication circuit through the second communication interface 520, then the first EtherCAT slave communication circuit communicates with the second EtherCAT slave communication circuit, and finally the second EtherCAT slave communication circuit communicates with the second test sub-board 600 through the third communication interface 620. If the first test sub-board 500 can communicate with the second test sub-board 600 via EtherCAT, that is, the EtherCAT communication on the tested drive controller board is normal, and the result is fed back to the test main board 300. During the above test, the connection relationship between the various functional interfaces on the test main board 300, the first test sub-board 500 and the second test sub-board 600 and the tested drive controller board can be referred to Figure 2 , Figure 3 as well as Fig.12 The arrangement is sufficient and no detailed description is given here.

[0035] In a preferred embodiment, if Figure 2 , Figure 4 and Figure 5 As shown, the test equipment also includes a third test sub-board 700 arranged on the mounting table 100, and the third test sub-board 700 has a fourth communication interface (actually an RS485 interface) which can be electrically connected to the interface circuit of the Tamagawa encoder (actually an RS485 communication circuit) on the driver control board under test. If the RS485 communication is normal, it can be determined that the Tamagawa interface circuit on the driver controller board under test is working normally, and the judgment result can be output to the test main board 300 through the debugging serial port interface on the driver controller board under test.

[0036] In a preferred embodiment, if Figure 7As shown, the test fixture 200 is preferably provided with a conductive probe 220 electrically connected to the functional interfaces (first power output interface 320, voltage acquisition interface 330, pulse output interface 350 and first communication interface 360) on the test main board 300, and the conductive probe 220 can be docked with the corresponding points on the drive controller board under test to achieve electrical connection. Of course, the fixing position 210 can be in the form of a plurality of positioning columns, and the drive controller board under test is fixed by inserting the positioning columns into the interface in the mounting hole on the drive controller board under test.

[0037] In a preferred embodiment, if Figure 2 and Figure 3 As shown, the preferred test equipment also includes a test adapter board 800 disposed on the mounting platform 100. At this time, the functional interfaces (the first power output interface 320, the voltage acquisition interface 330, the pulse output interface 350, and the first communication interface 360) on the above-mentioned test main board 300 are all electrically connected to the tested drive controller board through the test adapter board 800, so that when testing the tested drive controller boards of different specifications, it is only necessary to replace different test adapter boards 800. At this time, the preferred test adapter board 800 is electrically connected to the conductive probe 220 on the test fixture 200, and the specific method can be that the conductive probe 220 is directly welded on the test adapter board 800, and the test fixture 200 has a through hole that is compatible with the conductive probe 220, so that the conductive probe 220 can be inserted into the through hole.

[0038] In a preferred embodiment, the test device further comprises a burning control board arranged on the mounting platform 100, and the burning control board can be electrically connected to the external terminal and the burning circuit on the tested drive controller board, respectively, so as to facilitate automatic writing of a preset program on the tested drive controller board. Specifically, the burning control board is a Jlink burner, so as to perform Jlink burning on the tested drive controller board.

[0039] In a preferred embodiment, if Figure 1 As shown, the preferred test device also includes a display screen 122 disposed on the mounting platform 100, and the display screens 122 are electrically connected to the test mainboard 300. At this time, the preferred number of display screens 122 is two, so that it is convenient to observe whether the voltage value input to the test mainboard 300 and the voltage input to the tested drive controller board are normal through the two display screens 122.

[0040] In a preferred embodiment, the test device further comprises a slider 121 and a magnetic encoding signal sensor 400 located on the slider, wherein the slider 121 is located directly above the test fixture 200 and is slidably connected to the mounting table 100 so as to be movable toward or away from the test fixture 200; the magnetic encoding signal sensor 400 can be electrically connected to the motor magnetic encoding interface circuit on the drive controller under test located on the test fixture 200. The driving slider 121 can be moved automatically or manually, and the magnetic encoding signal sensor 400 can be electrically connected to the drive controller board under test located in the test fixture 200 by forming conductive contacts or pins on the slider 121, so that after the slider 121 moves toward the test fixture 200, the magnetic encoding signal sensor 400 is electrically connected to the drive controller under test located in the test fixture 200 through the conductive contacts or pins. At this time, the number of magnetic encoding signal sensors 400 is preferably set in accordance with the number of motor magnetic encoding interface circuits on the drive controller board under test. In this embodiment, after the motor magnetic encoding interface circuit on the tested drive controller is electrically connected to the magnetic encoding signal sensor 400, the tested drive controller board can obtain the corresponding data, and send the data to the test main board 300 through the debugging serial port interface for judgment, and output the judgment result through the first communication interface 360. During the above test, the connection relationship between each functional interface on the test main board 300 and the magnetic encoding signal sensor 400 and the tested drive controller board can be referred to Figure 2 , Figure 3 as well as Fig.11 The arrangement is sufficient and no detailed description is given here.

[0041] In a preferred embodiment, if Figure 1 and Figure 6 As shown, the preferred mounting platform 100 includes a test box 110 and a mounting plate 120, and the mounting plate 120 is arranged in a vertical state on the top surface of the test box 110. At this time, the slider 121 is located on the mounting plate 120, the test fixture 200 is also located on the top surface of the test box 110 and directly below the slider 121, and the test main board 300 and the above-mentioned first test sub-board 500, second test sub-board 600, third test sub-board 700, test adapter board 800 and burning control board are all located in the internal space of the test box 110. At the same time, it is preferred that both display screens 122 are rotatably connected to the mounting plate 120, so as to facilitate the adjustment of the angle of the display screen 122 to facilitate different users to observe the voltage value. At this time, in order to facilitate the movement of the slider 121 toward the test fixture 200, a reset spring with a preset elastic coefficient can also be provided (to facilitate manual pushing of the slider 121130 to slide), and the two ends of the reset spring are respectively connected to the slider 121 and the mounting plate 120, so that the elastic force of the reset spring is used to drive the slider 121 to move toward the test fixture 200.

[0042] Furthermore, the test box 110 preferably includes a box body and a box cover, and one side of the box cover is hinged to one side of the box body, and can rotate around the hinge to seal the open end of the box body. At this time, the mounting plate 120 and the fixture are both located on the box cover. Among them, the test box 110 may also include a fixing structure to facilitate fixing the box cover to the box body, such as by screws or hanging. In this embodiment, the box cover is connected to the box body by hinged connection, so as to facilitate the installation and maintenance of the test mainboard 300 and the like located in the box body.

[0043] In a preferred embodiment, if Figure 1 As shown, the preferred test device also includes a driving mechanism 900 disposed on the mounting plate 120. At this time, the driving slider 121 can be driven to move manually (such as a connecting rod mechanism) or automatically (such as a lead screw assembly + motor). In this embodiment, the preferred driving mechanism 900 includes a handle hinged to the mounting plate 120 at one end and a connecting rod hinged to the handle and the slider 121 at both ends, so that the slider 121 can be driven to move by moving the handle.

[0044] In a preferred embodiment, if Figure 1 As shown, in order to facilitate the recording of the test information of the tested drive controller board, it is preferred that the mounting platform 100 is also provided with an identification device 112 that can communicate with an external terminal. The specific device can be arranged according to the numbering information style set on the tested drive controller board. If the numbering information is a QR code, a barcode or a digital string, a barcode scanner corresponding to the numbering information style can be used. Among them, the way in which the identification device 112 communicates with the external terminal can be to first transmit the scanned information to the test mainboard 300, and then the test mainboard 300 associates the numbering information with the test information of the tested drive controller board and sends it to the external terminal, so as to help avoid the situation where the numbering information does not match the test information. At the same time, it can also be that the identification device 112 is directly connected to the external terminal, so that the numbering information of the tested drive controller board is directly sent to the external terminal. Of course, the identification device 112 can also be set separately, and it is not necessarily set on the mounting platform 100.

[0045] The above are only partial or preferred embodiments of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A test device for a collaborative robot arm drive controller board, characterized in that: It comprises a mounting platform and a test fixture, a test main board, a first test sub-board, a second test sub-board, a test adapter board and a power supply device arranged on the mounting platform, wherein the test fixture has a fixing position, and the fixing position is composed of a plurality of positioning posts which can be inserted into the mounting holes on the tested drive controller board; the test main board has a first communication interface for outputting the test results and a plurality of functional interfaces which can be electrically connected to the tested drive controller board, and the functional interfaces include a second power output interface located on the test main board; the first test sub-board has a second power input interface which can be electrically connected to the power supply device and a second communication interface which can be electrically connected to the first EtherCAT slave communication circuit on the tested drive control board; The second test sub-board has a third power input interface electrically connected to the second power output interface and a third communication interface electrically connected to the second EtherCAT slave communication circuit on the tested driver control board; a conductive probe electrically connected to the functional interface is welded on the test adapter board, and the test fixture has a through hole adapted to the conductive probe, the conductive probe is inserted into the through hole and exposed on the same side of the test fixture as the positioning column, and the conductive probe is used to dock with the corresponding point on the tested driver controller board, so that the functional interface is electrically connected to the tested driver controller board through the test adapter board, and the test adapter board is replaced due to different specifications of the tested driver controller boards; The power supply device can supply power to the test main board and the tested drive controller board.

2. The test device according to claim 1, characterized in that The functional interface includes a first power input interface located on the test main board, a first power output interface that can be electrically connected to the power input terminal on the drive controller board under test, a voltage acquisition interface that can be electrically connected to the power module on the drive controller board under test, a signal transmission interface that can be electrically connected to the debugging serial port interface on the drive controller board under test, and a pulse output interface that can be electrically connected to the motor Hall interface on the drive controller board under test, and the first power input interface is electrically connected to the power supply device.

3. The testing device according to claim 1, characterized in that It also includes a third test sub-board arranged on the mounting platform, and the third test sub-board has a fourth communication interface that can be electrically connected to the Tamagawa encoder interface circuit on the driver control board under test.

4. The testing device according to claim 1, characterized in that It also includes a burning control board arranged on the mounting platform, and the burning control board can be electrically connected to the external terminal and the burning circuit on the tested drive controller board respectively.

5. The testing device according to claim 1, characterized in that It also includes a slider which is slidably arranged on the mounting table and can move in a vertical direction, and a magnetic encoding signal sensor which is located on the slider and can be electrically connected to a motor magnetic encoding interface circuit on a drive controller under test located on the test fixture, and the slider is located directly above the test fixture.

6. The testing device according to claim 5, characterized in that The mounting platform includes a test box and a mounting plate arranged on the top surface of the test box, the test fixture is located on the top surface of the test box, the test main board is located inside the test box; and the slider is located on the mounting plate.

7. The testing device according to claim 6, characterized in that It also includes a driving mechanism arranged on the mounting plate, wherein an output end of the driving mechanism is connected to the slider to drive the slider to move.

8. The testing device according to claim 1, characterized in that It also includes an identification device which is arranged on the installation platform and can communicate with an external terminal. The identification device is used to collect the serial number on the drive controller board under test.

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