A space robot joint dynamic counter driving performance testing device and method

Abstract

The application provides a kind of space robot joint dynamic counter driving performance test equipment, including workbench, drive unit, first torque sensor and joint to be measured, the drive unit is connected with the output end of the joint to be measured;Code disc is installed on the transmission shaft between the drive unit and the joint to be measured;The first torque sensor is installed between the code disc and the joint to be measured, for measuring the torque of the output end of the joint to be measured;The first torque sensor is fixed on the workbench by first measuring support;The joint to be measured is detachably mounted on the workbench by joint support.The application realizes the integration of steady state and transient counter driving dynamic performance test of space robot joint under the condition that only part of the parts need to be replaced, and realizes the full verification of joint dynamic counter driving performance.

Description

Technical Field

[0001] This invention belongs to the field of space robot joint testing, and in particular relates to a device and method for testing the dynamic anti-drive performance of space robot joints. Background Technology

[0002] With the rapid development of space science and technology and the continuous enrichment of application scenarios, and considering the comprehensive factors of cost and benefit in extraterrestrial exploration, the integrated design of probe landing and movement has become a pressing development requirement. Multiple functional requirements, such as multiple buffering, autonomous movement, retractable deployment, attitude adjustment, and adaptation to complex terrain, have emerged. This places extremely high demands on the active buffering capabilities of space robot joints, i.e., high requirements on their dynamic anti-propulsion performance. Space robot joints are typically constructed by connecting harmonic reducers, planetary reducers, or Rv (reverse drive) to the product's motor. Generally, the dynamic anti-propulsion performance of joints differs significantly from their forward drive performance; therefore, experimental research on the dynamic anti-propulsion performance of space robot joints is essential. Given the extremely high requirements for the dynamic anti-propulsion performance of space robot joints, ground verification testing of the dynamic anti-propulsion performance by relevant institutions is crucial to ensuring the reliable operation of spacecraft in orbit.

[0003] The existing testing equipment has the following shortcomings: 1. The existing testing equipment mainly focuses on the reducers in robot joints and lacks research on the overall performance of the joints, which has significant limitations; 2. The existing equipment can only be used to test the steady-state forward drive and static reverse drive of harmonic reducers, and cannot test the steady-state and transient reverse drive mechanical characteristics of the product, so the testing function is relatively simple; 3. The existing equipment can only detect the mechanical properties of the product during the testing process, and cannot observe the operating temperature of the product or monitor the working status of the product. Summary of the Invention

[0004] In view of this, the present invention aims to provide a test device and method for dynamic anti-drive performance of space robot joints, so as to solve the above-mentioned problems existing in the prior art.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] A space robot joint dynamic anti-drive performance testing device includes a worktable, a drive unit, a first torque sensor, and a joint to be tested. The drive unit is connected to the output end of the joint to be tested. An encoder is mounted on the transmission shaft between the drive unit and the joint to be tested. The first torque sensor is installed between the encoder and the joint to be tested for measuring the torque at the output end of the joint to be tested. The first torque sensor is fixedly mounted on the worktable via a first measuring bracket. The joint to be tested is detachably mounted on the worktable via a joint bracket.

[0007] Furthermore, the drive unit includes a transient release component and an adapter. The adapter is fixedly mounted on the drive shaft on one side of the output end of the joint under test. The transient release component is detachably mounted on the adapter. The transient release component is used to simulate the instantaneous impact force experienced by the output end of the joint under test during actual operation.

[0008] The transient release assembly includes a connecting tube, a first elastic element, and a counterweight. The end of the connecting tube is provided with a connecting plate for connecting to the adapter. The first elastic element is provided on the upper surface of the other end of the connecting tube, and the counterweight is suspended below the first elastic element by a thin rope.

[0009] Furthermore, a stabilizing mechanism is installed in the workbench, which is located below the transient release assembly and is used to limit the rotation angle of the transient release assembly.

[0010] The stabilizing mechanism includes a housing, a first lead screw drive mechanism, a second lead screw drive mechanism, a horizontal baffle, and a vertical baffle. The first lead screw drive mechanism is installed vertically in the housing, and the horizontal baffle is arranged above the housing. The horizontal baffle is parallel to the upper end face of the housing, and the horizontal baffle moves vertically relative to the housing under the drive of the first lead screw drive mechanism.

[0011] The second lead screw drive mechanism is installed horizontally in the box, and the vertical baffle is provided on the side of the box. The vertical baffle is parallel to the side end face of the box, and the vertical baffle moves horizontally relative to the box under the drive of the second lead screw drive mechanism.

[0012] The box is installed inside the workbench; the top of the workbench has a horizontal opening for the horizontal baffle to extend out, and the side has a vertical opening for avoiding the counterweight, and the vertical baffle extends out from the vertical opening;

[0013] The housing is equipped with a first drive motor and a second drive motor for driving the first lead screw drive mechanism and the second lead screw drive mechanism.

[0014] The first lead screw drive mechanism and the second lead screw drive mechanism are worm gear screw jacks; the horizontal baffle and the vertical baffle are respectively fixedly installed on the end of the lead screw of the worm gear screw jack.

[0015] Furthermore, the joint under test includes a reducer and a product motor.

[0016] Furthermore, it also includes a voltage regulator module, which is connected to the product motor and is used to control the voltage of the product motor.

[0017] Furthermore, the joint under test includes a reducer and a tooling motor. The adapter shaft of the tooling motor is connected to a loading device, which is used to simulate the load under the actual working state of the joint under test. A second torque sensor is installed between the input end of the joint under test and the loading device to measure the torque at the input end of the joint under test.

[0018] The second torque sensor is detachably mounted on the worktable via a second measuring bracket;

[0019] The loading device is detachably mounted on the workbench via a loading bracket.

[0020] Furthermore, the loading device is a hysteresis brake.

[0021] Furthermore, the drive unit includes a drive motor and a reducer, the drive motor is connected to the input end of the reducer, and the output end of the reducer is connected to the output end of the joint to be tested;

[0022] The drive motor and the reducer are detachably mounted on the workbench via a drive bracket.

[0023] Furthermore, a temperature sensor is installed on the joint to be tested.

[0024] A method for testing the dynamic anti-drive performance of a space robot joint includes the following steps:

[0025] S1. Install the joint to be tested:

[0026] The joint to be tested is mounted on the joint bracket of the workbench. A tooling motor is installed in the joint to be tested. The output end of the joint to be tested is connected to the output end of the reducer of the drive unit, and the input end of the joint to be tested is connected to the loading device.

[0027] S2. Test the steady-state reverse drive performance of the reducer:

[0028] The drive motor provides active torque to the joint under test, the hysteresis brake provides load to simulate the actual working state, the first torque sensor and the second torque sensor collect the torque at the output and input ends of the joint under test, and the encoder and temperature sensor monitor the running status of the joint under test in real time.

[0029] S3. Replace the product motor:

[0030] Loosen the coupling between the joint under test and the second torque sensor to separate the second torque sensor from the joint under test. Replace the joint under test and replace the tooling motor in the joint under test with the product motor.

[0031] S4. Test the overall steady-state anti-drive performance of the joint under test:

[0032] The drive motor provides active torque to the joint under test, and the product motor operation provides load to simulate the actual working state. The torque at the output end of the joint under test is collected by the first torque sensor, and the running status of the joint under test is monitored in real time by the encoder and temperature sensor.

[0033] S5. Install the transient release component:

[0034] Loosen the coupling between the reducer and the code disk to separate the reducer from the code disk. Install the transient release component on the adapter and raise the horizontal baffle of the stabilizing mechanism to the preset height. Extend the vertical baffle outward to a position where it will not interfere with the counterweight.

[0035] S6. Test the transient counter-drive performance of the joint under test:

[0036] The instantaneous release component is restricted by a horizontal baffle. When rotated at a certain angle, the counterweight falls to simulate the impact force at the output end of the joint under test. At the same time, the torque at the output end of the joint under test is collected by the first torque sensor, the motor current is collected by the test bench and converted into the input torque, the rotational speed at the output end of the joint under test is measured by the encoder, and the operating status of the joint under test is monitored in real time by the temperature sensor. The dynamic mechanical performance of the joint under test is analyzed based on the collected data.

[0037] Compared with existing technologies, the space robot joint dynamic anti-drive performance testing equipment of the present invention has the following advantages:

[0038] (1) The space robot joint dynamic reverse drive performance testing equipment described in this invention can be tested in two states: product motor and tooling motor. It can meet the testing requirements for two test states: reducer and joint as a whole. In the product motor state, by setting a voltage stabilizing module, the problem of voltage rise and product burnout caused by the reducer reverse drive of the product motor shaft is overcome, filling the gap in the existing technology for testing and verifying the dynamic characteristics of the space robot joint as a whole.

[0039] (2) The space robot joint dynamic anti-drive performance testing equipment of the present invention simulates the instantaneous impact force and contact stiffness of the product output end under actual working conditions by setting a transient release component. The transient release component can be disassembled and installed. Under the condition that only some parts need to be replaced, the dynamic performance test of steady state and transient anti-drive of space robot joint is integrated, and the joint dynamic anti-drive performance is fully verified.

[0040] (3) The space robot joint dynamic anti-drive performance testing equipment described in this invention is equipped with not only a torque sensor, but also a temperature sensor and a encoder. It synchronously collects the core internal and external dynamic anti-drive parameters such as product torque, rotation speed, temperature and the torque passively controlled by the joint itself. It can monitor the working status of the product in real time, ensure the normal operation of the product during the test, realize the comprehensiveness of the test conditions and the real-time synchronization of internal and external data collection. The testing equipment is fully functional, safe and reliable. Attached Figure Description

[0041] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0042] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention (the disconnected portion is not shown in the diagram);

[0043] Figure 2 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0044] Figure 3 This is a structural schematic diagram of Embodiment 3 of the present invention (the disconnected portion is not shown in the diagram);

[0045] Figure 4 For the present invention Figure 3 Enlarged view of part A in the middle;

[0046] Figure 5 This is a schematic diagram of the stabilizing mechanism of the present invention.

[0047] In the diagram, 1-drive unit; 101-drive motor; 102-reducer; 2-drive bracket; 3-code disk; 4-first torque sensor; 5-joint bracket; 6-joint to be tested; 601-reducer; 602-tooling motor; 603-product motor; 7-second torque sensor; 8-loading device; 9-loading bracket; 10-display screen; 11-worktable; 12-caster wheel; 13-first measuring bracket; 14-transient release assembly; 1401-elastic element; 1402-connecting pipe; 1403-connecting plate; 1404-adapter seat; 1405-counterweight; 15-stabilizing mechanism; 1501-vertical baffle; 1502-horizontal baffle; 1503-first lead screw drive mechanism; 1504-second lead screw drive mechanism; 1505-box; 16-vertical opening; 17-horizontal opening. Detailed Implementation

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0049] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] Example 1

[0051] This invention provides a space robot joint dynamic anti-drive performance testing device, including a workbench 11, a drive unit 1, a first torque sensor 4, and a joint 6 to be tested. The drive unit 1 is connected to the output end of the joint 6 to be tested. An encoder 3 is installed on the transmission shaft between the drive unit 1 and the joint 6 to be tested. The encoder 3 is used to measure the rotational speed of the joint 6 to be tested, ensuring that the operator can monitor the working status of the joint 6 to be tested in real time. The first torque sensor 4 is installed between the encoder 3 and the joint 6 to be tested, and is used to measure the torque at the output end of the joint 6 to be tested. The encoder 3 is connected to the first torque sensor 4 through a transmission shaft system and a coupling. The first torque sensor 4 is fixedly mounted on the workbench 11 through a first measuring bracket 13. The joint 6 to be tested is detachably mounted on the workbench 11 through a joint bracket 5.

[0052] In this embodiment, the joint under test 6 is composed of a reducer 601 and a product motor 603. The output shaft of the reducer 601 is the output end. The drive unit 1 provides driving torque to the output end of the joint under test 6, and drives the product motor 603 in the reverse direction. The torque of the output end of the joint under test 6 is measured by the first torque sensor 4 to study the dynamic mechanical performance of the space robot joint as a whole in the reverse drive state.

[0053] A voltage stabilizing module is also installed on the workbench 11. This module is connected to the product motor 603 and is used to control the voltage of the product motor 603. During the steady-state reverse drive test, the drive unit 1 drives the reducer 601 to reverse the rotation of the product motor 603 shaft, turning the product motor 603 into a generator. This causes a sharp increase in voltage. The voltage stabilizing module ensures that the product motor 603 maintains a constant voltage output, and excess energy is stored in the module, preventing the product motor 603 from burning out due to the sharp voltage increase.

[0054] The drive unit 1 includes a drive motor 101 and a reducer 102. The output shaft of the drive motor 101 is connected to the input end of the reducer 102 via a coupling, and the output end of the reducer 102 is connected to the output end of the joint 6 to be tested. The drive motor 101 and the reducer 102 are detachably mounted on the worktable 11 via a drive bracket 2.

[0055] A temperature sensor is installed on the joint under test 6. The temperature sensor monitors the product temperature in the test area in real time, which makes it convenient for staff to observe the product temperature and ensures that the joint under test 6 works normally during the test.

[0056] A display screen 10 is installed on the workbench 11 for easy observation by staff. Several casters 12 are installed at the bottom of the workbench 11. The workbench 11 optimizes the layout of each device with full consideration of operability, convenience, and expandability. It can achieve independent control of input and output terminals without interference, rapid voltage stabilization, and real-time synchronous acquisition, automatic summarization, and automatic integration of equipment data and internal and external test data. During the test, it can automatically predict the consistency and pass / fail status of the product based on the success envelope diagram. At the same time, the equipment is equipped with an emergency handling button to prevent product damage caused by accidents and protect the integrity of the product to the greatest extent. The equipment is also equipped with an emergency stop button for product protection in emergency situations; it has log saving and retrieval functions, which can save parameters and retrieve them directly for use next time without re-entering them.

[0057] Example 2

[0058] In this embodiment, the reducer 601 and the tooling motor 602 are connected to form the joint under test 6. The output shaft of the reducer 601 serves as the output end of the joint under test 6, and the adapter shaft of the tooling motor 602 serves as the input end of the joint under test 6. The adapter shaft of the tooling motor 602 is connected to the loading device 8, which is used to simulate the load under the actual working state of the input end of the joint under test 6. A second torque sensor 7 is installed between the input end of the joint under test 6 and the loading device 8 to measure the torque of the input end of the joint under test 6. The second torque sensor 7 is detachably mounted on the worktable 11 via a second measuring bracket. The loading device 8 is detachably mounted on the worktable 11 via a loading bracket 9.

[0059] Specifically, the loading device 8 is a hysteresis brake, which is detachably mounted on the worktable 11 via a loading bracket 9. The input end of the joint under test 6 is connected to the second torque sensor 7 via a transmission shaft and a coupling. The second torque sensor 7 is connected to the hysteresis brake via a coupling. The hysteresis brake can be easily separated from the input end of the joint under test by loosening the coupling.

[0060] In this embodiment, the product motor 603 in the joint under test 6 is replaced with a tooling motor 602. The loading device 8 is connected to the adapter shaft of the tooling motor 602 to provide resistance torque for the reducer 601 of the product joint, simulating the load in the actual operation of the joint. The torque at the output end and input end of the joint is measured by the first torque sensor 4 and the second torque sensor 7. This is mainly used to study the dynamic mechanical performance of the reducer 601 in the space robot joint under the reverse drive state.

[0061] The schemes described in Embodiments 1 and 2 can be used for steady-state anti-drive performance testing of space robot joints. The steady-state anti-drive performance test studies the dynamic characteristics of the joint under test (6) when its output end is subjected to a stable active force and its input end is forced to follow a stable motion. During testing, the test is first conducted with the tooling motor 602 in its current state. Then, the tooling motor 602 is replaced with the product motor 603 for further testing. Simply loosening the coupling between the joint under test (6) and the hysteresis brake quickly disconnects the connection between the hysteresis brake and the joint under test (6), eliminating the need to remove the hysteresis brake.

[0062] Example 3

[0063] Based on Embodiment 1 or Embodiment 2, the drive motor 101 and reducer 102 are replaced with transient release assembly 14, which serves as drive unit 1 to provide driving torque to the output end of the joint under test 6. In actual testing, the connection between reducer 102 and joint under test 6 can be quickly disconnected by simply loosening the coupling between reducer 102 and encoder 3, and drive unit 1 does not need to be removed.

[0064] An adapter 1404 is fixedly mounted on the drive shaft on one side of the output end of the joint under test 6. A transient release component 14 is detachably mounted on the adapter 1404. The transient release component 14 is used to simulate the instantaneous impact force experienced by the output end of the joint under test 6 during actual operation. The transient release component 14 includes a connecting pipe 1402, a first elastic element 1401, and a counterweight 1405. A connecting plate 1403 is provided at one end of the connecting pipe 1402 for connection with the adapter 1404. The first elastic element 1401 is provided on the upper surface of the other end of the connecting pipe 1402, and the counterweight 1405 is suspended below the first elastic element 1401 by a thin rope. During transient reverse drive, the impact force at the product output end is provided by the counterweight 1405 of the transient release component 14. The first elastic element 1401 is used to simulate the stiffness of the robot actuator, thereby simulating the actual contact stiffness of the product. The workbench 11 has a vertical opening 16 on its side to avoid the counterweight 1405, preventing the counterweight 1405 from colliding with the workbench 11 after falling. During testing, the counterweight is released, and its fall drives the drive shaft to rotate through the connecting pipe, thereby providing driving torque to the output end of the joint under test.

[0065] A stabilizing mechanism 15 is installed in the workbench. The stabilizing mechanism 15 is located below the transient release component 14 and is used to limit the rotation angle of the transient release component 14. The stabilizing mechanism 15 includes a housing 1505, a first lead screw drive mechanism 1503, a second lead screw drive mechanism 1504, a horizontal baffle 1502, and a vertical baffle 1501. The first lead screw drive mechanism 1503 is vertically installed in the housing 1505. The horizontal baffle 1502 is located above the housing 1505 and is parallel to the upper surface of the housing 1505. The horizontal baffle 1502 moves vertically relative to the housing 1505 under the drive of the first lead screw drive mechanism 1503. The second lead screw drive mechanism 1504 is horizontally installed in the housing 1505. The vertical baffle 1501 is located on the side of the housing 1505 and is parallel to the side surface of the housing 1505. The vertical baffle 1501 moves horizontally relative to the housing 1505 under the drive of the second lead screw drive mechanism 1504. The housing 1505 is equipped with a first drive motor 101 and a second drive motor 101 for driving the first lead screw drive mechanism 1503 and the second lead screw drive mechanism 1504. The housing 1505 is installed inside the workbench 11; the top of the workbench 11 has a horizontal opening 17 for the horizontal baffle 1502 to extend out, and the vertical baffle 1501 extends out from the vertical opening 16 on the side of the workbench 11. The horizontal baffle 1502 is located below the connecting pipe 1402 of the transient release assembly 14. During testing, the horizontal baffle 1502 rises to a preset height to limit the rotation angle of the transient release assembly 14. The vertical baffle 1501 extends from the vertical opening 16 to prevent interference with the counterweight 1405. After the test, the horizontal baffle 1502 descends to be level with the upper surface of the workbench 11, and the vertical baffle 1501 retracts to be level with the side surface of the workbench 11. The horizontal baffle 1502 and the vertical baffle 1501 seal the horizontal opening 17 and the vertical opening 16, preventing dust and other debris from falling into the workbench 11 and causing contamination. The first lead screw drive mechanism 1503 and the second lead screw drive mechanism 1504 are worm gear screw jacks; the horizontal baffle 1502 and the vertical baffle 1501 are respectively fixed to the end of the lead screw of the worm gear screw jack. The worm gears of the first lead screw drive mechanism 1503 and the second drive mechanism are respectively fixedly connected to the output shafts of the first drive motor 101 and the second drive motor 101. The motor drives the lead screw to move, thereby moving the horizontal baffle 1502 and the vertical baffle 1501. A second elastic element 1401 can be provided on the horizontal baffle 1502 to simulate actual contact stiffness.

[0066] In this embodiment, a transient release component 14 and a stabilizing mechanism 15 are provided for transient anti-drive testing of space robot joints. The transient anti-drive performance mainly studies the dynamic characteristics of the robot joint output end being forced to rotate into a self-stabilizing motion process when subjected to a transient active force at different contact stiffnesses. The transient release component 14 provides the transient impact force and simulated contact stiffness, while the stabilizing mechanism 15 works in conjunction with the transient release component 14 to control the anti-drive angle of the joint 6 under test.

[0067] This invention provides a method for testing the dynamic anti-drive performance of a space robot joint, comprising the following steps:

[0068] S1. Install joint 6 to be tested:

[0069] The joint to be tested 6 is installed on the joint bracket 5 of the workbench 11. The tooling motor 602 is installed in the joint to be tested 6. The output end of the joint to be tested 6 is connected to the output end of the reducer 102 of the drive unit 1. The input end of the joint to be tested 6 is connected to the loading device 8.

[0070] S2. Test the steady-state reverse drive performance of reducer 601:

[0071] The drive motor 101 provides active torque to the joint under test 6, and provides load through the hysteresis brake to simulate the actual working state. The torque at the output and input ends of the joint under test 6 is collected through the first torque sensor 4 and the second torque sensor 7. At the same time, the running status of the joint under test 6 is monitored in real time through the encoder 3 and the temperature sensor.

[0072] S3. Replace product motor 603:

[0073] Loosen the coupling between the joint under test and the second torque sensor to separate the second torque sensor from the joint under test. Replace the joint under test and replace the tooling motor in the joint under test with the product motor.

[0074] S4. Test the overall steady-state anti-drive performance of the joint under test 6:

[0075] The drive motor 101 provides active torque to the joint under test 6, and the product motor 603 provides load to simulate the actual working state. The torque at the output end of the joint under test 6 is collected by the first torque sensor 4, and the running status of the joint under test 6 is monitored in real time by the encoder 3 and the temperature sensor.

[0076] S5. Install the transient release component:

[0077] Loosen the coupling between the reducer 102 and the code disk 3 to separate the reducer 102 from the code disk 3. Install the transient release component 14 on the adapter 1404 to raise the horizontal baffle 1502 of the stabilizing mechanism 15 to the preset height and extend the vertical baffle 1501 outward to a position where it will not interfere with the counterweight 1405.

[0078] S6. Test the transient counter-drive performance of the joint under test:

[0079] The instantaneous release component 14 is restricted by the horizontal baffle 1502. After rotating a certain angle, the counterweight 1405 falls to simulate the impact force at the output end of the joint under test 6. At the same time, the torque at the output end of the joint under test 6 is collected by the first torque sensor 4, the motor current is collected by the test bench and converted into the input torque, the speed of the output end of the joint under test 6 is measured by the encoder 3, and the operating status of the joint under test 6 is monitored in real time by the temperature sensor. The dynamic mechanical performance of the joint under test 6 is analyzed based on the collected data.

[0080] In the several embodiments provided in this application, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the division of units described above is merely a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The aforementioned units may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for testing dynamic counteracting performance of a space robot joint, characterized in that: The application relates to a dynamic counter driving performance testing device for a space robot joint, wherein the testing device comprises a workbench, a driving unit, a first torque sensor and a joint to be tested, the driving unit is connected with the output end of the joint to be tested, and a code disc is arranged on the transmission shaft between the driving unit and the joint to be tested. The first torque sensor is arranged between the code disc and the joint to be tested and used for measuring the torque of the output end of the joint to be tested; the first torque sensor is fixed on the workbench through a first measuring support; and the joint to be tested is detachably arranged on the workbench through a joint support. The driving unit comprises a transient release assembly and an adapter seat, the adapter seat is fixed on the transmission shaft at one side of the output end of the joint to be tested, the transient release assembly is detachably arranged on the adapter seat, and the transient release assembly is used for simulating the instantaneous impact force borne by the output end of the joint to be tested in actual work. The transient release assembly comprises a connecting pipe, a first elastic member and a counterweight, a connecting plate is arranged on the end of the connecting pipe and used for connecting with the adapter seat; the first elastic member is arranged on the upper end face of the other end of the connecting pipe; and the counterweight is hung below the first elastic member through a thin rope. The joint to be tested comprises a reducer and a product motor. The joint to be tested comprises a reducer and a tool motor, the adapter shaft of the tool motor is connected with a loading device, the loading device is used for simulating the load of the joint to be tested in the actual working state; a second torque sensor is arranged between the input end of the joint to be tested and the loading device and used for measuring the torque of the input end of the joint to be tested. The second torque sensor is detachably arranged on the workbench through a second measuring support. The loading device is detachably arranged on the workbench through a loading support. The driving unit comprises a driving motor and a speed reducer, the driving motor is connected with the input end of the speed reducer, and the output end of the speed reducer is connected with the output end of the joint to be tested. The driving motor and the speed reducer are detachably arranged on the workbench through a driving support. The testing method comprises the following steps: S1, installing the joint to be tested: The joint to be tested is arranged on the joint support of the workbench, the tool motor is arranged in the joint to be tested, the output end of the joint to be tested is connected with the output end of the speed reducer of the driving unit, and the input end of the joint to be tested is connected with the loading device; S2, testing the steady-state counter driving performance of the reducer: The driving motor provides the driving torque for the joint to be tested, the magnetic hysteresis brake provides the load to simulate the actual working state, the torque of the output end and the input end of the joint to be tested is collected through the first torque sensor and the second torque sensor, and the running state of the joint to be tested is monitored in real time through the code disc and the temperature sensor; S3, replacing the product motor: The joint to be tested is separated from the second torque sensor by loosening the shaft coupling, the joint to be tested is replaced, and the tool motor in the joint to be tested is replaced by the product motor; S4, testing the steady-state counter driving performance of the joint to be tested as a whole: The driving motor provides a driving torque to the joint to be tested, the product motor operates to provide a load simulating an actual working state, the torque at the output end of the joint to be tested is collected through the first torque sensor, and the running state of the joint to be tested is monitored in real time through the code disc and the temperature sensor; S5, installing a transient release assembly: Loosen the coupling between the speed reducer and the code disc, separate the speed reducer from the code disc, install the transient release assembly on the adapter, lift the horizontal baffle of the stabilizing mechanism to a preset height, and extend the vertical baffle outward to a position that does not interfere with the counterweight; S6, test the transient counterdrive performance of the joint to be tested: The transient release assembly is limited by the horizontal baffle, rotates by a certain angle, and the counterweight falls to simulate the impact force at the output end of the joint to be tested. Meanwhile, the torque at the output end of the joint to be tested is collected through the first torque sensor, the motor current is collected through the test bench to convert into an input end torque, the speed at the output end of the joint to be tested is measured through the code disc, and the running state of the joint to be tested is monitored in real time through the temperature sensor. According to the collected data, the dynamic mechanical properties of the joint to be tested are analyzed.

2. The method of claim 1, wherein: The workbench is provided with a stabilizing mechanism, which is located below the transient release assembly and is used to limit the rotation angle of the transient release assembly; The stabilizing mechanism comprises a box body, a first lead screw driving mechanism, a second lead screw driving mechanism, a horizontal baffle and a vertical baffle. The first lead screw driving mechanism is vertically arranged in the box body. The horizontal baffle is arranged above the box body and is parallel to the upper end surface of the box body. The horizontal baffle moves vertically relative to the box body under the drive of the first lead screw driving mechanism. The second lead screw driving mechanism is horizontally arranged in the box body. The vertical baffle is arranged on the side of the box body and is parallel to the side end surface of the box body. The vertical baffle moves horizontally relative to the box body under the drive of the second lead screw driving mechanism. The box body is installed in the workbench. A horizontal opening is formed in the top of the workbench for the horizontal baffle to extend out. A vertical opening is formed in the side of the workbench for avoiding the counterweight. The vertical baffle extends out from the vertical opening. First and second driving motors are installed on the box body and are used to drive the first and second lead screw driving mechanisms. The first and second lead screw driving mechanisms are worm screw elevators. The horizontal baffle and the vertical baffle are respectively fixed to the end portions of the lead screws of the worm screw elevators.

3. The method of claim 1, wherein: A voltage stabilizing module is further included and is connected with the product motor to control the voltage of the product motor.

4. The method of claim 1, wherein: The loading device is a hysteresis brake.

5. The method of claim 1, wherein: A temperature sensor is installed on the joint to be tested.

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