A fatigue testing device for master hand control grips

Abstract

This invention provides a fatigue testing device for a master hand control clamp, relating to the field of medical device technology. The fatigue testing device for a master hand control clamp includes a linear reciprocating motion mechanism, a fatigue testing component, and a fixed base. The fixed base is used to mount the master hand control clamp. The linear reciprocating motion mechanism is connected to the fatigue testing component and is used to drive the fatigue testing component to perform linear reciprocating motion in a direction approaching or away from the fixed base. The fatigue testing component includes a first test piece and a second test piece. The first test piece is used to apply force to the pressing handle of the master hand control clamp during the reciprocating motion, and the second test piece is used to switch the position of the clutch switch of the master hand control clamp during the reciprocating motion. Compared with the prior art, the fatigue testing device for a master hand control clamp of this invention has higher fatigue testing efficiency and avoids the influence of subjective factors, effectively ensuring the safety and effectiveness of the product.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a fatigue test device for master control clamps. BACKGROUND

[0002] With the development of medical technology, intelligent surgical robots have been developed and rapidly popularized due to their advantages such as small incision and less bleeding. In a robot-assisted surgical system, the rotation and clamping actions of tools such as forceps and scissors are completed by corresponding mapping of master control clamps. The master control clamp is electrically connected with a robot slave end execution tool, and the position and attitude of the master control clamp in space movement are detected, and then the position and attitude of the operating master are mapped to the slave end execution tool through kinematic calculation, so that the slave end execution tool can reproduce the human hand action in real time to complete the corresponding operation.

[0003] In the process of using an intelligent surgical robot, the handle on the master control clamp will be pressed repeatedly several times, and at the same time, the clutch switch on the master control clamp will also be toggled several times in order to change the surgical field. The quality of the product is related to the success or failure of the operation, and before the product is shipped, the items that affect its safety and effectiveness need to be tested, and the fatigue performance test of the handle and clutch switch of the master control clamp is a very critical item. However, the current fatigue performance test is mostly simulated by repeated use of human hands, and the judgment mode is subjective and the test efficiency is low. SUMMARY

[0004] The problem to be solved by the present application is how to provide a fatigue test device for master control clamps with high test efficiency, which can reliably guarantee the safety and effectiveness of the product.

[0005] The present application provides a fatigue test device for master control clamps, comprising: a linear reciprocating motion mechanism, a fatigue test assembly and a fixed seat, the fixed seat is used for installing the master control clamp, the linear reciprocating motion mechanism is connected with the fatigue test assembly and is used for driving the fatigue test assembly to make linear reciprocating motion in the direction of approaching or moving away from the fixed seat; the fatigue test assembly comprises a first test piece and a second test piece, the first test piece is used for applying force to the pressing handle of the master control clamp during reciprocating motion, and the second test piece is used for switching the position of the clutch switch of the master control clamp during reciprocating motion.

[0006] The fatigue test device for master control clamps provided by the present application has the following beneficial effects compared with the prior art, but is not limited thereto:

[0007] The fatigue test device for the master hand control clamp has the advantages that the fatigue test efficiency of the master hand control clamp is higher, and the influence of subjective factors is avoided, thereby effectively ensuring the safety and effectiveness of the product.

[0008] Optionally, the linear reciprocating motion mechanism comprises a power assembly and a transmission assembly, one end of the transmission assembly is in driving connection with the power assembly, the power assembly is used for driving the transmission assembly to move linearly reciprocatingly towards or away from the fixed seat, and the fatigue test assembly is connected to the other end of the transmission assembly away from the power assembly.

[0009] Optionally, the transmission assembly comprises a first support seat, a flange bearing and a transmission feeding shaft, the flange bearing is installed on the first support seat, the transmission feeding shaft is arranged through the flange bearing, the fatigue test assembly is connected to the other end of the transmission feeding shaft away from the power assembly, and the power assembly is in driving connection with the transmission feeding shaft.

[0010] Optionally, the transmission assembly further comprises a mounting seat, a transmission fixed wheel and a spring, the mounting seat is connected to the other end of the transmission feeding shaft close to the power assembly, the transmission fixed wheel is rotationally connected to the mounting seat, the spring is sleeved on the transmission feeding shaft, one end of the spring abuts against the mounting seat, and the other end of the spring abuts against the flange bearing.

[0011] The power assembly comprises a second support seat, a motor and a cam, the motor is installed on the second support seat, the cam is connected to the output end of the motor, and the outer peripheral wall of the cam is tangent to the outer peripheral wall of the transmission fixed wheel.

[0012] Optionally, the fatigue test device for the master hand control clamp further comprises a base, the fixed seat, the first support seat and the second support seat are arranged on the base in a spaced manner, and the first support seat is located between the fixed seat and the second support seat.

[0013] Optionally, the fatigue testing assembly further comprises a testing body, the first testing piece comprises a U-shaped frame and a horizontal fixed wheel, the U-shaped frame comprises two oppositely arranged side plates and a middle plate connected between the two side plates, the middle plate is connected to the testing body, and the horizontal fixed wheel is rotatably connected between the two side plates and used to rollingly contact the pressing handle.

[0014] Optionally, the second testing piece comprises a body part and a hook structure connected to one end of the body part, the body part is connected to the testing body away from the hook structure, and the hook structure is used to contact the on-off switch.

[0015] Optionally, the main hand control clamp further comprises a control clamp body, one end of the pressing handle is hingedly connected to the control clamp body, a first reset spring is arranged between the pressing handle and the control clamp body, the horizontal fixed wheel is used to apply a force to the pressing handle to realize rotation of the pressing handle relative to the control clamp body about a hinged center, and the pressing handle is used to be automatically reset by the first reset spring after the horizontal fixed wheel removes the force applied to the pressing handle.

[0016] The on-off switch is movably arranged on the control clamp body, a second reset spring is arranged between the on-off switch and the control clamp body, the hook structure is used to apply a force to the on-off switch to realize movement of the on-off switch relative to the control clamp body, and the on-off switch is used to be automatically reset by the second reset spring after the hook structure removes the force applied to the on-off switch.

[0017] Optionally, the main hand control clamp further comprises a connecting seat connected to one end of the control clamp body, a first threaded hole is formed in the connecting seat, a second threaded hole corresponding to the first threaded hole is formed in the fixing seat, and the first threaded hole and the second threaded hole are connected by a threaded connecting piece to fix the connecting seat relative to the fixing seat.

[0018] Optionally, the fatigue testing device for the main hand control clamp further comprises a third supporting seat and a vertical fixed wheel, the vertical fixed wheel is rotatably connected to the third supporting seat, the fatigue testing assembly further comprises an upper guide plate and a lower guide plate, the upper guide plate and the lower guide plate are arranged in a spaced-apart manner and located on the same side of the testing body, the vertical fixed wheel is located between the upper guide plate and the lower guide plate, and the vertical fixed wheel rollingly contacts the upper guide plate and the lower guide plate, respectively. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Structure diagram of the fatigue testing device for the main hand control clampFigure 1 ;

[0020] Figure 2 Structure diagram of fatigue testing device for master hand control clamp according to an embodiment of the present application Figure 2 ;

[0021] Figure 3 Structure diagram of fatigue testing device for master hand control clamp according to an embodiment of the present application Figure 3 ;

[0022] Figure 4 Structure diagram of master hand control clamp according to an embodiment of the present application

[0023] Figure 5 Different state diagrams of master hand control clamp according to an embodiment of the present application installed on fatigue testing assembly.

[0024] Explanation of reference signs:

[0025] 1, fatigue testing assembly; 11, first testing piece; 111, U-shaped frame; 112, horizontal fixed wheel; 12, second testing piece; 121, body part; 122, hook structure; 13, testing body; 14, upper guide plate; 15, lower guide plate; 2, fixed seat; 3, power assembly; 31, second support seat; 32, motor; 33, cam; 4, transmission assembly; 41, first support seat; 42, flange bearing; 43, transmission feeding shaft; 44, mounting seat; 45, transmission fixed wheel; 46, spring; 5, base; 6, master hand control clamp; 61, pressing handle; 62, clutch switch; 63, control clamp body; 64, connecting seat; 7, third support seat; 8, vertical fixed wheel. DETAILED DESCRIPTION

[0026] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0027] In the description of the present application, the directions or position relationships indicated by "up", "down", "left", "right", "top", "bottom", "front", "back", "inner" and "outer" are based on the directions or position relationships shown in the drawings, and are only for the convenience of describing the present application, and are not intended to indicate or imply that the devices must have a particular direction, be constructed and operated in a particular direction, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0028] In the description of the present application, unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] In the description of the present application, the description of the terms "embodiment", "one embodiment" and "one embodiment" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or embodiment are included in at least one embodiment or embodiment of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or embodiment. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or embodiments in a suitable manner.

[0030] Moreover, the Z axis in the drawing represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis (that is, the arrow of the Z axis points to) represents up, and the negative direction of the Z axis (that is, the direction opposite to the positive direction of the Z axis) represents down; The X axis in the drawing represents the horizontal direction, that is, the left and right position, and the positive direction of the X axis (that is, the arrow of the X axis points to) represents left, and the negative direction of the X axis (that is, the direction opposite to the positive direction of the X axis) represents right; The Y axis in the drawing represents the longitudinal direction, that is, the front and rear position, and the positive direction of the Y axis (that is, the arrow of the Y axis points to) represents front, and the negative direction of the Y axis (that is, the direction opposite to the positive direction of the Y axis) represents rear.

[0031] It should be noted that the aforementioned Z axis, X axis and Y axis represent the meaning only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0032] As shown in Figures 1 to 4 The fatigue test device for the master hand control clamp of the embodiment of the present application comprises a linear reciprocating mechanism, a fatigue test assembly 1 and a fixed seat 2, the fixed seat 2 is used for mounting a master hand control clamp 6, the linear reciprocating mechanism is connected to the fatigue test assembly 1 and is used for driving the fatigue test assembly 1 to make linear reciprocating motion in the direction of approaching or moving away from the fixed seat 2; the fatigue test assembly 1 comprises a first test piece 11 and a second test piece 12, the first test piece 11 is used for applying force to the pressing handle 61 of the master hand control clamp 6 during reciprocating motion, and the second test piece 12 is used for switching the position of the on-off switch 62 of the master hand control clamp 6 during reciprocating motion.

[0033] In this embodiment, in conjunction with the appendix Figures 1 to 4 As shown, in use, the main hand control clip 6 is installed on the fixed base 2, so that the position of the main hand control clip 6 is fixed relative to the fixed base 2. Then, the fatigue testing component 1 can be driven by the linear reciprocating motion mechanism in the direction of approaching or moving away from the fixed base 2 (see attached diagram). Figure 1 The device performs a linear reciprocating motion (in the X-axis direction). The first test piece of the fatigue testing assembly applies force to the pressing handle on the main hand control clamp during this reciprocating motion, allowing for repeated pressing of the handle to perform fatigue testing. Simultaneously, the second test piece of the fatigue testing assembly switches the position of the clutch switch on the main hand control clamp during this reciprocating motion, allowing for repeated switching of the clutch switch's position to perform fatigue testing on the clutch switch itself. Compared to existing technologies, the fatigue testing device for the main hand control clamp of this invention offers higher efficiency in fatigue testing and avoids the influence of subjective factors, effectively ensuring the safety and effectiveness of the product.

[0034] Optionally, the linear reciprocating motion mechanism includes a power component 3 and a transmission component 4. One end of the transmission component 4 is drivenly connected to the power component 3. The power component 3 is used to drive the transmission component 4 to perform linear reciprocating motion in a direction close to or away from the fixed base 2. The fatigue testing component 1 is connected to the end of the transmission component 4 away from the power component 3.

[0035] In this embodiment, the linear reciprocating motion mechanism includes a power component 3 and a transmission component 4. The power component 3 and transmission component 4 can be mechanical structures that convert rotary motion into linear motion. For example, a worm gear transmission mechanism: composed of a worm and a worm wheel. The worm wheel has a set of helical teeth that mesh with the threads on the worm. When the worm rotates, the helical teeth drive the worm wheel to perform linear motion. A ball screw transmission mechanism: a structure that achieves linear motion by the rolling of balls between the screw and the guide rail. A gear transmission mechanism: composed of a gear and a rack. When the gear rotates, the rack is pulled to perform linear motion.

[0036] Optionally, the transmission assembly 4 includes a first support base 41, a flange bearing 42, and a transmission feed shaft 43. The flange bearing 42 is mounted on the first support base 41, and the transmission feed shaft 43 passes through the flange bearing 42. The fatigue testing assembly 1 is connected to the end of the transmission feed shaft 43 away from the power assembly 3, and the power assembly 3 is drivenly connected to the transmission feed shaft 43.

[0037] In this embodiment, in conjunction with the appendix Figure 1 and attached Figure 2 As shown, the upper part of the first support 41 (attached) Figure 1A through hole is provided in the Z-axis direction, wherein the flange bearing 42 can be installed in the through hole of the first support 41, and the transmission feed shaft 43 is disposed through the flange bearing 42. The transmission feed shaft 43 can move relative to the flange bearing 42 under the action of external force, that is, the power component 3 can drive the fatigue test component 1 to move under the action of the transmission feed shaft 43.

[0038] Optionally, the transmission assembly 4 further includes a mounting base 44, a transmission fixed wheel 45, and a spring 46. The mounting base 44 is connected to one end of the transmission feed shaft 43 near the power assembly 3. The transmission fixed wheel 45 is rotatably connected to the mounting base 44. The spring 46 is sleeved on the transmission feed shaft 43, with one end of the spring 46 abutting against the mounting base 44 and the other end abutting against the flange bearing 42.

[0039] The power assembly 3 includes a second support base 31, a motor 32 and a cam 33. The motor 32 is mounted on the second support base 31, and the cam 33 is connected to the output end of the motor 32. The outer peripheral wall of the cam 33 is tangent to the outer peripheral wall of the transmission fixed wheel 45.

[0040] In this embodiment, in conjunction with the appendix Figure 1 and attached Figure 2 As shown, the mounting base 44 can be bolted to one end of the transmission feed shaft 43 near the power assembly 3. The mounting base 44 is U-shaped, with its open end facing the power assembly 3. The transmission fixed wheel 45 is rotatably connected to the open end of the mounting base 44 via a rotating shaft. A spring 46 is sleeved on the transmission feed shaft 43, with one end of the spring 46 abutting against the mounting base 44 and the other end abutting against the flange bearing 42. The motor 32 of the power assembly 3 is mounted on the second support base 31. The cam 33 is connected to the output end of the motor 32, and the outer peripheral wall of the cam 33 is tangent to the outer peripheral wall of the transmission fixed wheel 45. Thus, during the process of the motor 32 driving the cam 33 to rotate, the protrusion on the cam 33 will push the transmission fixed wheel 45 towards the direction closer to the fixed base 2 (see attached diagram). Figure 1 The X-axis moves in the opposite direction, and at the same time, the transmission feed shaft 43 drives the fatigue test assembly 1 to move toward the fixed seat 2. During this process, the spring 46 is compressed, and then the cam 33 continues to rotate so that the protrusion on the cam 33 separates from the transmission fixed wheel 45. At this time, under the action of the spring force of the spring 46, the transmission feed shaft 43 drives the fatigue test assembly 1 to reset, thus realizing the linear reciprocating motion of the fatigue test assembly 1.

[0041] Optionally, the fatigue testing device for the main hand control clamp further includes a base 5, wherein the fixed base 2, the first support base 41 and the second support base 31 are spaced apart on the base 5, and the first support base 41 is located between the fixed base 2 and the second support base 31.

[0042] In this embodiment, in conjunction with the appendix Figure 1 and attached Figure 2 As shown, the fixed base 2, the first support base 41 and the second support base 31 can be connected to the base 5 at intervals by bolts, wherein the first support base 41 is located between the fixed base 2 and the second support base 31.

[0043] Optionally, the fatigue testing assembly 1 further includes a test body 13. The first test piece 11 includes a U-shaped frame 111 and a horizontal fixed wheel 112. The U-shaped frame 111 includes two oppositely arranged side plates and an intermediate plate connected between the two side plates. The intermediate plate is connected to the test body 13. The horizontal fixed wheel 112 is rotatably connected between the two side plates and is used to make rolling contact with the pressing handle 61.

[0044] In this embodiment, in conjunction with the appendix Figures 1 to 4 As shown, the test body 13 can be a rectangular plate structure, which can be bolted to the end of the transmission feed shaft 43 near the fixed seat 2. The first test piece 11 includes a U-shaped frame 111 and a horizontal fixed wheel 112. The U-shaped frame 111 includes two oppositely arranged side plates and an intermediate plate connected between the two side plates. The U-shaped frame 111 can be connected to one side of the test body 13 through the intermediate plate. The horizontal fixed wheel 112 can be rotatably connected between the two side plates through a rotating shaft. The horizontal fixed wheel 112 is used to contact the pressing handle 61. During the reciprocating motion of the fatigue test assembly 1, the horizontal fixed wheel 112 can apply force to the pressing handle 61, that is, the pressing handle 61 is pressed by the horizontal fixed wheel 112.

[0045] Optionally, the second test piece 12 includes a body portion 121 and a hook structure 122 connected to one end of the body portion 121. The end of the body portion 121 away from the hook structure 122 is connected to the test body 13. The hook structure 122 is used to contact the clutch switch 62.

[0046] In this embodiment, in conjunction with the appendix Figures 1 to 4 As shown, the second test piece 12 includes a body part 121 and a hook structure 122 connected to one end of the body part 121. The second test piece 12 can be an L-shaped plate structure, that is, the body part 121 is the long part of the L-shaped plate and the hook structure 122 is the short part of the L-shaped plate. The end of the body part 121 away from the hook structure 122 can be bolted to the test body 13. The hook structure 122 is used to contact the clutch switch 62. During the reciprocating motion of the fatigue test assembly 1, the second test piece 12 can simulate a human hand hooking the clutch switch 62 for testing.

[0047] In other embodiments, the second test piece 12 is detachably connected with the on-off switch 62, for example, after the main hand control clamp 6 is fixedly installed, the second test piece 12 is bolted with the on-off switch 62, and in the process of reciprocating movement of the fatigue test assembly 1, the second test piece 12 can drive the on-off switch 62 to switch between the on / off positions. After the test is completed, the bolt between the second test piece 12 and the on-off switch 62 is first disassembled, and then the main hand control clamp 6 can be disassembled.

[0048] Optionally, the main hand control clamp 6 comprises a control clamp body 63, one end of the pressing handle 61 is hinged to the control clamp body 63, a first reset spring is arranged between the pressing handle 61 and the control clamp body 63, the horizontal fixed wheel 112 is used to apply a force to the pressing handle 61 to realize rotation of the pressing handle 61 relative to the control clamp body 63 around the hinge center, and after the horizontal fixed wheel 112 cancels the force applied to the pressing handle 61, the pressing handle 61 is used to automatically reset through the first reset spring;

[0049] The on-off switch 62 is movably arranged on the control clamp body 63, a second reset spring is arranged between the on-off switch 62 and the control clamp body 63, the hook structure 122 is used to apply a force to the on-off switch 62 to realize movement of the on-off switch 62 relative to the control clamp body 63, and after the hook structure 122 cancels the force applied to the on-off switch 62, the on-off switch 62 is used to automatically reset through the second reset spring.

[0050] In this embodiment, as shown in Figure 4, one end of the pressing handle 61 is hinged to the control clamp body 63, and a first return spring (not shown in the figure) is provided between the pressing handle 61 and the control clamp body 63. During the reciprocating motion of the fatigue testing component 1, the horizontal fixed wheel 112 can apply a force to the pressing handle 61 to realize that the pressing handle 61 rotates relative to the control clamp body 63 around the hinge center. After the horizontal fixed wheel 112 removes the force applied to the pressing handle 61, the pressing handle 61 can automatically return to its original position through the first return spring. The clutch switch 62 is movably mounted on the control clamp body 63. For example, the clutch switch 62 can switch between the open and closed positions. A second return spring is provided between the clutch switch 62 and the control clamp body 63. During the reciprocating motion of the fatigue testing assembly 1, the hook structure 122 can apply a force to the clutch switch 62 to move the clutch switch 62 relative to the control clamp body 63 (the clutch switch 62 switches between the open and closed positions). After the hook structure 122 removes the force applied to the clutch switch 62, the clutch switch 62 is automatically reset by the second return spring.

[0051] Optionally, the master control clamp 6 further includes a connecting seat 64, which is connected to one end of the control clamp body 63. The connecting seat 64 has a first threaded hole, and the fixing seat 2 has a second threaded hole corresponding to the first threaded hole. The first threaded hole and the second threaded hole are used to connect through a threaded connector to fix the connecting seat 64 relative to the fixing seat 2.

[0052] In this embodiment, in conjunction with the appendix Figure 3 and attached Figure 4 As shown, a connecting seat 64 is provided at one end of the control clamp body 63. The connecting seat 64 has a first threaded hole, and the fixing seat 2 has a second threaded hole corresponding to the first threaded hole. The connecting seat 64 can be fixed relative to the fixing seat 2 by engaging with the first threaded hole on the connecting seat 64 and the second threaded hole on the fixing seat 2 through threaded connectors (such as screws).

[0053] Optionally, the fatigue testing device for the main hand control clamp further includes a third support base 7 and a vertical fixed wheel 8. The vertical fixed wheel 8 is rotatably connected to the third support base 7. The fatigue testing assembly 1 further includes an upper guide plate 14 and a lower guide plate 15. The upper guide plate 14 and the lower guide plate 15 are spaced apart vertically and located on the same side of the test body 13. The vertical fixed wheel 8 is located between the upper guide plate 14 and the lower guide plate 15, and the vertical fixed wheel 8 makes rolling contact with the upper guide plate 14 and the lower guide plate 15 respectively.

[0054] In this embodiment, in conjunction with the appendix Figure 2 and attached Figure 3 As shown, the third support 7 can be bolted to the base 5, and the vertical fixed wheel 8 can be rotatably connected to the third support 7 via a rotating shaft. An upper guide plate 14 and a lower guide plate 15 are connected at intervals on the test body 13. The vertical fixed wheel 8 is located between the upper guide plate 14 and the lower guide plate 15, and the vertical fixed wheel 8 contacts the upper guide plate 14 and the lower guide plate 15 respectively. The vertical fixed wheel 8 can ensure that the fatigue test assembly 1 can slide smoothly during the reciprocating test.

[0055] In addition, combined with the appendix Figure 5 As shown, the main hand control clip 6 and the fatigue test component 1 can be fully verified in terms of structure and size. During installation and disassembly, the main hand control clip 6 can be cleverly installed in a limited space without disassembling the fatigue test component 1.

[0056] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0057] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A fatigue testing device for a master hand control grip, characterized by, The utility model relates to a fatigue test device for main hand control clamp, including: Linear reciprocating mechanism, fatigue test assembly (1) and fixed seat (2), the fixed seat (2) is used for installing main hand control clamp (6) on, linear reciprocating mechanism connects fatigue test assembly (1) and is used for driving fatigue test assembly (1) linear reciprocating movement along the direction close to or away from fixed seat (2);Fatigue test assembly (1) includes first test piece (11) and second test piece (12), first test piece (11) is used for exerting force to the pressing handle (61) of main hand control clamp (6) in the reciprocating process, and second test piece (12) is used for switching the position of clutch switch (62) of main hand control clamp (6) in the reciprocating process;Fatigue test assembly (1) still includes test body (13), and first test piece (11) includes U-shaped frame (111) and horizontal fixed wheel (112), U-shaped frame (111) includes two opposite side plates and the intermediate plate connected between two side plates, the intermediate plate is connected on test body (13), and horizontal fixed wheel (112) is rotatably connected between two side plates, and horizontal fixed wheel (112) is used for rolling contact with pressing handle (61);Second test piece (12) includes body part (121) and the hook structure (122) connected to one end of body part (121), and the end, away from hook structure (122), of body part (121) is connected to test body (13), and hook structure (122) is used for contacting with clutch switch (62).

2. The fatigue testing device for master hand control grips of claim 1, wherein, Linear reciprocating mechanism includes power assembly (3) and transmission assembly (4), one end of transmission assembly (4) is drivingly connected with power assembly (3), power assembly (3) is used for driving transmission assembly (4) linear reciprocating movement along the direction close to or away from fixed seat (2), and fatigue test assembly (1) is connected to one end, away from power assembly (3), of transmission assembly (4).

3. The fatigue testing device for master hand control grips of claim 2, wherein, Transmission assembly (4) includes first support seat (41), flange bearing (42) and transmission feed shaft (43), flange bearing (42) is installed on first support seat (41), transmission feed shaft (43) is arranged through flange bearing (42), fatigue test assembly (1) is connected to one end, away from power assembly (3), of transmission feed shaft (43), and power assembly (3) is drivingly connected with transmission feed shaft (43).

4. The fatigue testing device for master hand control grips of claim 3, wherein, Transmission assembly (4) still includes mounting seat (44), transmission fixed wheel (45) and spring (46), mounting seat (44) is connected to one end, close to power assembly (3), of transmission feed shaft (43), transmission fixed wheel (45) is rotatably connected on mounting seat (44), spring (46) is sleeved on transmission feed shaft (43), and one end of spring (46) is abutted with mounting seat (44), and the other end is abutted with flange bearing (42); The power assembly (3) comprises a second support base (31), a motor (32) and a cam (33), the motor (32) is installed on the second support base (31), the cam (33) is connected to the output end of the motor (32), and the outer peripheral wall of the cam (33) is tangent to the outer peripheral wall of the transmission fixed wheel (45).

5. The fatigue testing device for master hand control grips of claim 4, wherein, Further comprising a base (5), the fixed seat (2), the first support base (41) and the second support base (31) are arranged on the base (5) in a spaced manner, and the first support base (41) is located between the fixed seat (2) and the second support base (31).

6. The fatigue testing device for master hand control grips of claim 1, wherein, The main hand control clamp (6) comprises a control clamp body (63), one end of the pressing handle (61) is hinged to the control clamp body (63), a first reset spring is arranged between the pressing handle (61) and the control clamp body (63), and the horizontal fixed wheel (112) is used for applying a force to the pressing handle (61) to realize rotation of the pressing handle (61) relative to the control clamp body (63) around the hinge center, and after the horizontal fixed wheel (112) removes the force applied to the pressing handle (61), the pressing handle (61) is used for automatic reset through the first reset spring; The clutch switch (62) is movably arranged on the control clamp body (63), a second reset spring is arranged between the clutch switch (62) and the control clamp body (63), and the hook structure (122) is used for applying a force to the clutch switch (62) to realize movement of the clutch switch (62) relative to the control clamp body (63), and after the hook structure (122) removes the force applied to the clutch switch (62), the clutch switch (62) is used for automatic reset through the second reset spring.

7. The fatigue testing device for master hand control grips of claim 6, wherein, The main hand control clamp (6) further comprises a connecting seat (64), one end of the connecting seat (64) is connected to the control clamp body (63), a first threaded hole is formed in the connecting seat (64), a second threaded hole corresponding to the first threaded hole is formed in the fixed seat (2), and the first threaded hole and the second threaded hole are connected through a threaded connecting piece to fix the connecting seat (64) relative to the fixed seat (2).

8. The fatigue testing device for master hand control grips of claim 1, wherein, Further comprising a third support base (7) and a vertical fixed wheel (8), the vertical fixed wheel (8) is rotatably connected to the third support base (7), the fatigue test assembly (1) further comprises an upper guide plate (14) and a lower guide plate (15), the upper guide plate (14) and the lower guide plate (15) are arranged in a spaced manner and located on the same side of the test body (13), the vertical fixed wheel (8) is located between the upper guide plate (14) and the lower guide plate (15), and the vertical fixed wheel (8) is in rolling contact with the upper guide plate (14) and the lower guide plate (15) respectively.

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