A testing device for a servo driver and its testing method

Abstract

The present invention relates to the technical field of servo drive testing, and specifically relates to a testing device and a testing method for a servo drive, including a frame, and further including: two groups of movable conveying rollers, which are distributed left and right on the frame; an opening and closing control mechanism, which is arranged on the frame; a plurality of fixed conveying rollers, which are arranged on the frame and evenly distributed on the front and rear sides of the two groups of movable conveying rollers; a lifting plate, a lifting mechanism is connected between the lifting plate and the frame; a support plate, the support plate is hinged to the lifting plate; a flipping mechanism, which is arranged on the lifting plate; a centering and clamping mechanism, which is arranged on the support plate. The present invention can automatically convey and test the servo drive, and can conveniently collect the servo drives with abnormal test results uniformly, greatly improving the testing speed of the servo drive and reducing the labor cost.

Description

Technical Field

[0001] The present invention relates to the technical field of servo drive testing, and particularly to a testing device and a testing method for a servo drive. Background Art

[0002] A servo drive is a controller used to control a servo motor. Its function is similar to that of an inverter acting on an ordinary AC motor and is part of a servo system. It is mainly applied to high-precision positioning systems and controls the servo motor in three ways: position, speed, and torque to achieve high-precision positioning of the transmission system.

[0003] A servo drive is usually equipped with various interfaces, such as USB interfaces, RS485 / 232 interfaces, analog interfaces, digital interfaces, Ethernet interfaces, encoder interfaces, etc. The existence of these interfaces enables the servo drive to better meet the requirements of an automated control system and improve the overall performance and stability of the system. To ensure the normal use of the servo drive, during the production process, it is necessary to test each interface on the servo drive.

[0004] The current testing method is to manually insert the connector of the testing mechanism into the corresponding interface to check whether the signal can be correctly transmitted. However, the manual testing method has problems of low work efficiency and high labor intensity of workers, and cannot meet the requirements of automatically conveying the servo drive, automatically testing it, and facilitating the collection of servo drives with abnormal tests. For this reason, we have proposed a testing device and a testing method for a servo drive to well solve the above drawbacks. Summary of the Invention

[0005] The purpose of the present invention is to provide a testing device and a testing method for a servo drive to solve the problems raised in the above background art.

[0006] The present invention is achieved through the following technical solutions: A testing device for a servo drive includes a frame, and further includes:

[0007] Two groups of movable conveying rollers, which are distributed left and right on the frame;

[0008] An opening and closing control mechanism, which is arranged on the frame and is used to control the two groups of movable conveying rollers to move away from and close to each other;

[0009] A number of fixed conveying rollers, which are installed on the frame and evenly distributed on the front and back sides of the two groups of movable conveying rollers. Each group of movable conveying rollers and each fixed conveying roller cooperate with each other to form a continuous conveying surface; when the two groups of movable conveying rollers move away from each other to the limit position, a through opening is formed between the two groups of movable conveying rollers, and the horizontal length of the servo drive placed horizontally on the conveying surface is greater than the horizontal length of the through opening.

[0010] A lifting plate, a lifting mechanism is connected between the lifting plate and the frame;

[0011] A support plate, the support plate is hinged on the lifting plate;

[0012] A flipping mechanism, the flipping mechanism is arranged on the lifting plate and is used to flip the support plate along the hinge;

[0013] An aligning and clamping mechanism, the aligning and clamping mechanism is arranged on the support plate and is used to clamp the servo driver;

[0014] A testing mechanism, the testing mechanism is arranged on the frame.

[0015] Optionally, a telescopic groove is formed in the movable conveying roller, a transmission shaft rotatably connected to the frame and movably inserted into the telescopic groove, a groove is axially formed in the transmission shaft, and a rib fixedly connected to the movable conveying roller along the axial direction and movably inserted into the groove is provided on the movable conveying roller.

[0016] Optionally, the opening and closing control mechanism includes a bidirectional lead screw rotatably connected to the frame through the cooperation of a bearing and a shaft seat, and a first driving component for driving the bidirectional lead screw to rotate is arranged on the frame; thread sleeves are respectively helically engaged on two thread sections with different thread directions of the bidirectional lead screw, and a connecting plate is fixedly connected to the top of each thread sleeve;

[0017] The two connecting plates are respectively located below two groups of movable conveying rollers, a connecting sleeve is rotatably connected to each movable conveying roller, and a connecting rod is fixedly connected between each connecting sleeve and the corresponding connecting plate.

[0018] Optionally, an annular notch is formed at the end of the movable conveying roller close to the transmission shaft, and the connecting sleeve is rotatably connected to the annular notch so that the outer surface of the connecting sleeve is lower than the outer surface of the movable conveying roller.

[0019] Optionally, the lifting plate includes a vertical plate arranged in the vertical direction, a horizontal plate fixedly connected to the top of the vertical plate in the horizontal direction, and a hollow tube fixedly connected to the side of the horizontal plate away from the vertical plate, and the support plate is hinged to the hollow tube.

[0020] Optionally, the lifting mechanism includes a cylinder installed on the frame, the output end of the cylinder is fixedly connected to the vertical plate, and a receiving groove adapted to the cylinder is formed in the vertical plate.

[0021] Optionally, the flipping mechanism includes a rotating shaft rotatably connected in the hollow tube, both ends of the rotating shaft extend out of the hollow tube, and a second driving component for driving the rotating shaft to rotate is installed on the vertical plate;

[0022] Linkage rods are fixedly connected to both ends of the rotating shaft, and fixed shafts are fixedly connected between each linkage rod and the supporting plate; arc-shaped sliding grooves are fixedly connected to the front and rear sides of the vertical plate, and each fixed shaft slides in the corresponding arc-shaped sliding groove, and the central axis of each arc-shaped sliding groove coincides with the central axis of the rotating shaft.

[0023] Optionally, the projection of the supporting plate in the vertical plane is L-shaped, and the projection of the supporting plate in the horizontal plane is comb-shaped.

[0024] Optionally, the centering and clamping mechanism includes a fixed shell fixed to the bottom of the supporting plate, two iron blocks slide in the fixed shell, clamping plates that extend out of the fixed shell are fixedly connected to the sides of the two iron blocks away from each other, each clamping plate is L-shaped and is respectively located on the front and rear sides of the supporting plate; an electromagnet located between the two iron blocks is installed in the fixed shell, and a return spring is connected between the electromagnet and each iron block.

[0025] The present invention also proposes a test method for a servo driver, including the following steps:

[0026] Step 1: In the initial state, the two groups of movable conveying rollers are close to each other, and each movable conveying roller rotates synchronously with each fixed conveying roller to convey the servo driver placed horizontally on the conveying surface;

[0027] Step 2: When the horizontally placed servo driver is conveyed onto the two groups of movable conveying rollers, each movable conveying roller and each fixed conveying roller stop rotating; the two groups of movable conveying rollers are controlled to move away from each other until a through opening is formed through the opening and closing control mechanism;

[0028] Step 3: The lifting plate is driven to move upward through the lifting mechanism until the supporting plate contacts the horizontally placed servo driver, and then the horizontally placed servo driver is clamped through the centering and clamping mechanism;

[0029] Step 4: The lifting plate continues to move upward, and at the same time, the supporting plate is driven to rotate clockwise by 90° through the flipping mechanism to stand up the horizontally placed servo driver;

[0030] Step 5: The lifting plate continues to move upward so that the connector in the test mechanism is inserted into the interface on the top surface of the stood-up servo driver;

[0031] Step 6: Perform testing through the test mechanism;

[0032] Step 7: When the test result is normal, the lifting plate moves downward, and at the same time, the flipping mechanism drives the supporting plate to rotate counterclockwise by 90°, and then the centering and clamping mechanism releases the servo driver to horizontally place the stood-up servo driver on the two groups of movable conveying rollers; then each movable conveying roller and each fixed conveying roller rotate synchronously to convey the horizontally placed servo driver to the next test process;

[0033] Step 8: When the test result is abnormal, the lifting plate moves downward, driving the erected servo drive to move downward through the through-port; then, the turning mechanism drives the pallet to continue rotating counterclockwise until it reaches the limit position, so that the erected servo drive is tilted; finally, the centering and clamping mechanism releases the tilted servo drive, and the servo drive with abnormal test results can be removed for collection.

[0034] Compared with the prior art, the present invention provides a test device and a test method for a servo drive, having the following beneficial effects:

[0035] 1. By providing movable conveying rollers and fixed conveying rollers, since the movable conveying rollers and the fixed conveying rollers cooperate with each other to form a continuous conveying surface, the servo drive can be automatically conveyed.

[0036] 2. By providing an opening and closing control mechanism and a through-port, when it is necessary to convey the servo drive, the two groups of movable conveying rollers are brought closer to each other through the opening and closing control mechanism, so that there is a large contact area between the movable conveying rollers and the servo drive, and thus the stability of the conveyance can be ensured.

[0037] When it is necessary to test the servo drive, the two groups of movable conveying rollers are separated from each other through the opening and closing control mechanism to form a through-port, so that other components can pass through the through-port and drive the servo drive to approach the test mechanism.

[0038] 3. By providing a lifting plate, a pallet, a turning mechanism and a centering and clamping mechanism, in the normal state, the lifting plate, the pallet, the turning mechanism and the centering and clamping mechanism are located below the conveying surface; when it is necessary to test the servo drive, after the lifting plate moves upward through the through-port, the horizontally placed servo drive is erected through the cooperation of the pallet, the centering and clamping mechanism and the turning mechanism, so that the connector in the test mechanism can be inserted into the interface on the top surface of the erected servo drive, and thus the servo drive can be automatically tested.

[0039] When the test result is abnormal, the lifting plate moves downward, driving the erected servo drive to move downward through the through-port, then tilting the erected servo drive, and finally releasing the tilted servo drive, and the servo drive with abnormal test results can be removed for collection.

[0040] 4. The present invention can automatically convey and test the servo drive, and can conveniently collect the servo drives with abnormal test results uniformly, greatly improving the test speed of the servo drive and reducing the labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a state diagram of the present invention with the servo drive horizontally placed on the conveying surface;

[0042] Figure 2 The state diagram of lifting the horizontally placed servo driver in the present invention;

[0043] Figure 3 The state diagram of erecting the servo driver in the present invention;

[0044] Figure 4 The state diagram of tilting the servo driver in the present invention;

[0045] Figure 5 The top view of the conveying surface of the present invention;

[0046] Figure 6 The structural schematic diagram of the through port of the present invention;

[0047] Figure 7 The structural schematic diagram of the flipping mechanism of the present invention;

[0048] Figure 8 The structural schematic diagram of the bottom surface of the pallet of the present invention;

[0049] Figure 9 The structural schematic diagram of the centering and clamping mechanism of the present invention;

[0050] Figure 10 The cross-sectional schematic diagram of the movable conveying roller of the present invention.

[0051] In the figure: 1, frame; 2, movable conveying roller; 3, opening and closing control mechanism; 301, bidirectional lead screw; 302, first driving component; 303, threaded sleeve; 304, connecting plate; 305, connecting sleeve; 306, connecting rod; 4, fixed conveying roller; 5, through port; 6, lifting plate; 601, vertical plate; 602, horizontal plate; 603, hollow tube; 7, lifting mechanism; 8, pallet; 9, flipping mechanism; 901, rotating shaft; 902, second driving component; 903, linkage rod; 904, fixed shaft; 905, arc-shaped chute; 10, centering and clamping mechanism; 1001, fixed shell; 1002, iron block; 1003, clamping plate; 1004, electromagnet; 1005, return spring; 11, testing mechanism; 12, telescopic groove; 13, transmission shaft; 14, groove; 15, convex rib; 16, annular notch; 17, accommodating groove. Specific embodiments

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] Embodiment 1: Please refer toFigures 1 to 10 , a test device for a servo drive, including a frame 1, which provides support and installation space for other components in the device. This embodiment also includes: two groups of movable conveying rollers 2, an opening and closing control mechanism 3, a plurality of fixed conveying rollers 4, a lifting plate 6, a support plate 8, a flipping mechanism 9, a centering clamping mechanism 10 and a testing mechanism 11, which are used for automatic conveying and automatic testing of the servo drive, and for facilitating the collection of servo drives with abnormal tests. Among them, the testing mechanism 11 includes a connecting seat and a tester, the connecting seat is L-shaped, the connecting seat is fixedly connected to the frame 1, the tester is arranged on the top wall of the connecting seat, and the connector of the tester is located on the lower surface of the top wall of the connecting seat, which is used to connect to the interface of the servo drive to test the function of the drive.

[0054] Two groups of movable conveying rollers 2 are distributed on the frame 1, and each group of movable conveying rollers 2 is composed of a number of movable conveying rollers 2 distributed at equal intervals. In this embodiment, a telescopic groove 12 is provided in the movable conveying roller 2, and a transmission shaft 13 that is movably inserted into the telescopic groove 12 is rotatably connected to the frame 1, and the movable conveying roller 2 can move along the axial direction of the transmission shaft 13, so as to adjust the spacing between the two groups of movable conveying rollers 2. A groove 14 is provided in the axial direction of the transmission shaft 13, and a convex rib 15 that is movably inserted into the groove 14 is fixedly connected to the movable conveying roller 2 in the axial direction. Through the cooperation of the groove 14 and the convex rib 15, the movable conveying roller 2 can only be telescopic along the axial direction of the transmission shaft 13, and cannot rotate relative to the transmission shaft 13. Therefore, when the transmission shaft 13 rotates, it can drive the movable conveying roller 2 in the contracted state or the expanded state to rotate synchronously.

[0055] The opening and closing control mechanism 3 is specifically introduced as follows:

[0056] The opening and closing control mechanism 3 is arranged on the frame 1, and is used to control the two groups of movable conveying rollers 2 to move away from and approach each other. Specifically, the opening and closing control mechanism 3 includes a bidirectional screw rod 301 that is rotatably connected to the frame 1 through a bearing and a shaft seat, and the bidirectional screw rod 301 is parallel to the movable conveying roller 2 and is located below the movable conveying roller 2. A first driving component 302 for driving the bidirectional screw rod 301 to rotate is arranged on the frame 1, and the first driving component 302 includes a servo motor installed on the frame 1, and the servo motor is connected to the bidirectional screw rod 301 through chain transmission, gear transmission or other transmission methods, so that the bidirectional screw rod 301 can be driven to rotate forward or reverse.

[0057] Threaded sleeves 303 are helically engaged with two threaded sections of different helix directions on both ends of the bidirectional lead screw 301. Connecting plates 304 are fixedly connected to the tops of the respective threaded sleeves 303. When the bidirectional lead screw 301 rotates forward or backward, the two connecting plates 304 can be driven to approach or move away from each other through the threaded sleeves 303. The two connecting plates 304 are respectively located below the two groups of movable conveyor rollers 2. Connecting sleeves 305 are rotatably connected to the respective movable conveyor rollers 2. The movable conveyor rollers 2 can rotate within the connecting sleeves 305, while the connecting sleeves 305 do not rotate. Connecting rods 306 are fixedly connected between the respective connecting sleeves 305 and the corresponding connecting plates 304. When the bidirectional lead screw 301 rotates forward or backward, the two threaded sleeves 303 approach or move away from each other, thereby driving the two connecting plates 304 to approach or move away from each other, and further driving the two groups of movable conveyor rollers 2 to approach or move away from each other through the cooperation of the connecting rods 306 and the connecting sleeves 305.

[0058] It should be added that an annular notch 16 is formed at the end of the movable conveyor roller 2 close to the transmission shaft 13. The connecting sleeve 305 is rotatably connected to the annular notch 16, so that the outer surface of the connecting sleeve 305 is lower than the outer surface of the movable conveyor roller 2, so that the servo driver placed horizontally on the conveying surface is not easily in contact with the connecting sleeve 305, and thus the normal conveying of the servo driver is not easily affected.

[0059] In this embodiment, a number of fixed conveyor rollers 4 are installed on the frame 1 and are evenly distributed on the front and rear sides of the two groups of movable conveyor rollers 2. The respective movable conveyor rollers 2 and the fixed conveyor rollers 4 cooperate to form a continuous conveying surface. It should be added that the power transmission between the fixed conveyor rollers 4 and the movable conveyor rollers 2 can be realized by means such as chain drive, belt drive or gear drive, so that the fixed conveyor rollers 4 and the movable conveyor rollers 2 can run synchronously. This is the prior art and will not be elaborated here. When the two groups of movable conveyor rollers 2 move away from each other to the limit position, a through opening 5 is formed between the two groups of movable conveyor rollers 2. The horizontal length of the servo driver placed horizontally on the conveying surface is greater than the horizontal length of the through opening 5. Therefore, the horizontally placed servo driver cannot pass through the through opening 5 normally.

[0060] A lifting mechanism 7 is connected between the lifting plate 6 and the frame 1. In this embodiment, the lifting plate 6 includes a vertical plate 601 arranged in the vertical direction. A horizontal plate 602 arranged in the horizontal direction is fixedly connected to the top of the vertical plate 601. A hollow tube 603 is fixedly connected to the side of the horizontal plate 602 away from the vertical plate 601. The support plate 8 is hinged to the hollow tube 603. With this structure of the lifting plate 6, it is convenient to connect with other components in the device. The lifting mechanism 7 includes a cylinder installed on the frame 1, and the output end of the cylinder is fixedly connected to the vertical plate 601. When the cylinder works, it can drive the vertical plate 601 to move upward or downward. A receiving groove 17 adapted to the cylinder is formed on the vertical plate 601. In the normal state, the cylinder contracts into the receiving groove 17, so as to avoid occupying extra space and causing the device to be too large in volume.

[0061] It should be noted that the support plate 8 is hinged to the lifting plate 6, so the support plate 8 can rotate along the hinge. The projection of the support plate 8 in the vertical plane is L-shaped. When the support plate 8 is flipped, it can support the bottom of the erected servo driver through the L-shape. The projection of the support plate 8 in the horizontal plane is comb-shaped, which is convenient to pass through the gap between the movable conveying rollers 2.

[0062] The following is a specific introduction to the flipping mechanism 9:

[0063] The flipping mechanism 9 is arranged on the lifting plate 6 and is used to flip the support plate 8 along the hinge. Specifically, the flipping mechanism 9 includes a rotating shaft 901 rotatably connected in the hollow tube 603. Both ends of the rotating shaft 901 extend outside the hollow tube 603. A second driving component 902 for driving the rotating shaft 901 to rotate is installed on the vertical plate 601. The structure of the second driving component 902 is the same as that of the first driving component 302 and is used to drive the rotating shaft 901 to rotate forward and backward.

[0064] Linking rods 903 are fixedly connected to both ends of the rotating shaft 901, and fixed shafts 904 are fixedly connected between the respective linking rods 903 and the support plate 8. Arc-shaped sliding grooves 905 are fixedly connected to the front and rear sides of the vertical plate 601, and the respective fixed shafts 904 slide in the corresponding arc-shaped sliding grooves 905. The central axes of the respective arc-shaped sliding grooves 905 coincide with the central axis of the rotating shaft 901. When the second driving component 902 drives the rotating shaft 901 to rotate, it can drive the fixed shaft 904 to slide in the arc-shaped sliding groove 905 through the linking rod 903. Since the fixed shaft 904 is fixed to the support plate 8, it can drive the support plate 8 to flip, and thus can flip the servo driver placed horizontally on the support plate 8 upright, or tilt the erected servo driver.

[0065] The following is a specific introduction to the middle clamping mechanism 10:

[0066] The centering and clamping mechanism 10 is arranged on the pallet 8 and is used to clamp the servo driver. Specifically, the centering and clamping mechanism 10 includes a fixed housing 1001 fixed to the bottom of the pallet 8. Two iron blocks 1002 slide in the fixed housing 1001. On the sides of the two iron blocks 1002 away from each other, there are clamping plates 1003 fixedly connected and extending out of the fixed housing 1001. Each clamping plate 1003 is L-shaped and is located on the front and back sides of the pallet 8 respectively. An electromagnet 1004 is installed in the fixed housing 1001 between the two iron blocks 1002, and a return spring 1005 is connected between the electromagnet 1004 and each iron block 1002. When the electromagnet 1004 is energized, a magnetic attraction force is generated, driving the two iron blocks 1002 to approach the electromagnet 1004, and further driving the two clamping plates 1003 to approach each other to center and clamp the servo driver. When the electromagnet 1004 is de-energized, each iron block 1002 resets under the action of the return spring 1005, so that the clamping plates 1003 can loosen the servo driver.

[0067] Embodiment 2: The present invention also proposes a test method for a servo driver, which is applicable to the test equipment for the servo driver in Embodiment 1, and includes the following steps:

[0068] Step 1: In the initial state, the two groups of movable conveying rollers 2 approach each other, and each movable conveying roller 2 rotates synchronously with each fixed conveying roller 4 to convey the servo driver placed horizontally on the conveying surface, as Figure 1 shown; at this time, the structure of the conveying surface is as Figure 5 shown;

[0069] Step 2: When the horizontally placed servo driver is conveyed onto the two groups of movable conveying rollers 2, each movable conveying roller 2 and each fixed conveying roller 4 stop rotating; the two groups of movable conveying rollers 2 are controlled by the opening and closing control mechanism 3 to move away from each other until a through opening 5 is formed. At this time, the structure of the conveying surface is as Figure 6 shown;

[0070] Since the horizontal length of the through opening 5 is less than the horizontal length of the horizontally placed servo driver, the servo driver can always be located on the conveying surface.

[0071] Step 3: The lifting plate 6 is driven by the lifting mechanism 7 to move upward until the pallet 8 contacts the horizontally placed servo driver, and then the horizontally placed servo driver is clamped by the centering and clamping mechanism 10, as Figure 2 shown;

[0072] Step 4: The lifting plate 6 continues to move upward, and at the same time, the pallet 8 is driven by the flipping mechanism 9 to rotate clockwise by 90° to erect the horizontally placed servo driver;

[0073] Step 5: The lifting plate 6 continues to move upward so that the connector in the test mechanism 11 is inserted into the interface on the top surface of the erected servo driver, asFigure 3 as shown

[0074] Step Six: Conduct testing through the testing mechanism 11;

[0075] Step Seven: When the test result is normal, the lifting plate 6 moves downward. Meanwhile, the flipping mechanism 9 drives the supporting plate 8 to rotate counterclockwise by 90°. Then, the centering and clamping mechanism 10 releases the servo driver, so as to horizontally place the erected servo driver on the two groups of movable conveying rollers 2. Then, each movable conveying roller 2 and each fixed conveying roller 4 rotate synchronously to convey the horizontally placed servo driver to the next testing process;

[0076] Step Eight: When the test result is abnormal, the lifting plate 6 moves downward, driving the erected servo driver to move downward through the through - opening 5. Then, the flipping mechanism 9 drives the supporting plate 8 to continue rotating counterclockwise until the limit position, so that the erected servo driver is tilted, as Figure 4 shown. Finally, the centering and clamping mechanism 10 releases the tilted servo driver, and the servo driver with abnormal test results can be removed for collection.

[0077] It should be added that when it is necessary to test the interface on the top surface of the servo driver in the horizontal state, directly drive the horizontally placed servo driver to move upward, and there is no need to flip the servo driver. When the test result is abnormal, then make the horizontally placed servo driver stand up so that the servo driver with abnormal test results can pass through the through - opening 5.

[0078] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non - exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to this process, method, article or device. Without more limitations, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0079] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A test device for a servo driver, comprising a frame (1), characterized in that, It further includes: Two groups of movable conveying rollers (2), which are distributed left and right on the frame (1); An opening and closing control mechanism (3), which is arranged on the frame (1) and is used to control the two groups of movable conveying rollers (2) to move away from each other and approach each other; A number of fixed conveying rollers (4), which are installed on the frame (1) and are evenly distributed on the front and rear sides of the two groups of movable conveying rollers (2). Each group of movable conveying rollers (2) and each fixed conveying roller (4) cooperate with each other to form a continuous conveying surface; when the two groups of movable conveying rollers (2) move away from each other to the limit position, a through opening (5) is formed between the two groups of movable conveying rollers (2), and the horizontal length of the servo driver placed horizontally on the conveying surface is greater than the horizontal length of the through opening (5); A lifting plate (6), and a lifting mechanism (7) is connected between the lifting plate (6) and the frame (1); A support plate (8), and the support plate (8) is hinged to the lifting plate (6); A flipping mechanism (9), which is arranged on the lifting plate (6) and is used to flip the support plate (8) along the hinge; A centering and clamping mechanism (10), which is arranged on the support plate (8) and is used to clamp the servo driver; A testing mechanism (11), which is arranged on the frame (1); The lifting plate (6) includes a vertical plate (601) arranged in the vertical direction. A horizontal plate (602) arranged in the horizontal direction is fixedly connected to the top of the vertical plate (601). A hollow tube (603) is fixedly connected to the side of the horizontal plate (602) far from the vertical plate (601), and the support plate (8) is hinged to the hollow tube (603); The flipping mechanism (9) includes a rotating shaft (901) rotatably connected in the hollow tube (603). Both ends of the rotating shaft (901) extend outside the hollow tube (603). A second driving component (902) for driving the rotating shaft (901) to rotate is installed on the vertical plate (601); Linking rods (903) are fixedly connected to both ends of the rotating shaft (901). Fixed shafts (904) are fixedly connected between each linking rod (903) and the support plate (8); Arc-shaped sliding grooves (905) are fixedly connected to the front and rear sides of the vertical plate (601). Each fixed shaft (904) slides in the corresponding arc-shaped sliding groove (905), and the central axes of each arc-shaped sliding groove (905) coincide with the central axis of the rotating shaft (901).

2. The test device for a servo driver according to claim 1, characterized in that: A telescopic groove (12) is formed in the movable conveying roller (2). A transmission shaft (13) that is rotatably connected to the frame (1) and is movably inserted into the telescopic groove (12) is provided. A groove (14) is axially formed in the transmission shaft (13). A convex rib (15) that is axially fixedly connected to the movable conveying roller (2) and is movably inserted into the groove (14) is provided.

3. The test device for a servo driver according to claim 2, characterized in that: The opening and closing control mechanism (3) includes a bidirectional lead screw (301) rotatably connected to the frame (1) through the cooperation of a bearing and a shaft seat, and a first driving assembly (302) for driving the bidirectional lead screw (301) to rotate is arranged on the frame (1); thread sleeves (303) are respectively helically engaged on two thread sections with different helix directions of the bidirectional lead screw (301), and a connecting plate (304) is fixedly connected to the top of each thread sleeve (303); The two connecting plates (304) are respectively located below the two groups of movable conveying rollers (2). A connecting sleeve (305) is rotatably connected to each movable conveying roller (2), and a connecting rod (306) is fixedly connected between each connecting sleeve (305) and the corresponding connecting plate (304).

4. The testing device for a servo driver according to claim 3, wherein: An annular notch (16) is formed at the end of the movable conveying roller (2) close to the transmission shaft (13), and the connecting sleeve (305) is rotatably connected to the annular notch (16) so that the outer surface of the connecting sleeve (305) is lower than the outer surface of the movable conveying roller (2).

5. The testing device for a servo driver according to claim 1, characterized in that: The lifting mechanism (7) includes a cylinder installed on the frame (1), the output end of the cylinder is fixedly connected to the vertical plate (601), and a receiving groove (17) adapted to the cylinder is formed on the vertical plate (601).

6. The test device for a servo driver according to claim 1, characterized in that: The projection of the support plate (8) in the vertical plane is L-shaped, and the projection of the support plate (8) in the horizontal plane is comb-shaped.

7. The test device for a servo driver according to claim 1, characterized in that: The centering and clamping mechanism (10) includes a fixed shell (1001) fixed to the bottom of the support plate (8). Two iron blocks (1002) slide in the fixed shell (1001). Clamping plates (1003) which are movably extended outside the fixed shell (1001) are fixedly connected to the sides of the two iron blocks (1002) away from each other. Each clamping plate (1003) is L-shaped and is respectively located on the front and rear sides of the support plate (8); an electromagnet (1004) located between the two iron blocks (1002) is installed in the fixed shell (1001), and a return spring (1005) is connected between the electromagnet (1004) and each iron block (1002).

8. A testing method for a servo driver, applicable to the testing equipment of the servo driver according to any one of claims 1-7, characterized in that: It includes the following steps: Step 1: In the initial state, the two groups of movable conveying rollers (2) are close to each other, and each movable conveying roller (2) rotates synchronously with each fixed conveying roller (4) to convey the servo driver placed horizontally on the conveying surface; Step 2: When the horizontally placed servo driver is conveyed onto the two groups of movable conveying rollers (2), each movable conveying roller (2) and each fixed conveying roller (4) stop rotating; the opening and closing control mechanism (3) is used to control the two groups of movable conveying rollers (2) to move away from each other until a through opening (5) is formed; Step 3: The lifting mechanism (7) drives the lifting plate (6) to move upward until the support plate (8) contacts the horizontally placed servo driver, and then the horizontally placed servo driver is clamped by the centering and clamping mechanism (10); Step 4: The lifting plate (6) continues to move upward, and at the same time, the support plate (8) is driven by the flipping mechanism (9) to rotate clockwise by 90° to stand up the horizontally placed servo driver; Step 5: The lifting plate (6) continues to move upward so that the connector in the testing mechanism (11) is inserted into the interface on the top surface of the stood-up servo driver; Step Six: Conduct tests through the testing mechanism (11); Step Seven: When the test result is normal, the lifting plate (6) moves downward. Meanwhile, the flipping mechanism (9) drives the support plate (8) to rotate counterclockwise by 90°. Then, the centering and clamping mechanism (10) releases the servo driver, so as to horizontally place the erected servo driver on the two groups of movable conveying rollers (2). Then, each movable conveying roller (2) and each fixed conveying roller (4) rotate synchronously to convey the horizontally placed servo driver to the next testing process; Step Eight: When the test result is abnormal, the lifting plate (6) moves downward, driving the erected servo driver to move downward through the through-hole (5). Then, the flipping mechanism (9) drives the support plate (8) to continue rotating counterclockwise until it reaches the limit position, so that the erected servo driver is inclined. Finally, the centering and clamping mechanism (10) releases the inclined servo driver, and the servo driver with abnormal test results can be removed and collected.

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