Hydraulic joint testing system and working method thereof

Abstract

The invention relates to a hydraulic joint testing system and a working method thereof. The system comprises a driving device, a load simulation device, a sensor detection device and a control analysis device, the load simulation device provides corresponding load torque, the driving device controls the hydraulic joints and provides power for the hydraulic joints, the sensing detection device collects motion parameters of the hydraulic joints, and then the control analysis device analyzes the performance of the hydraulic joints according to the motion parameters and the load torque of the joints. And finally, integrating the performance parameters, and outputting the integrated performance parameters as a final test result. Compared with the prior art, the dynamic performance of the hydraulic joint can be tested, and the test result is high in precision and high in reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of measurement and control, and in particular, to a hydraulic joint test system and its working method. Background Art

[0002] Due to their high power density, compact structure, and strong environmental adaptability, hydraulic systems are widely used in various mechanical equipment such as manipulators, robots, and construction machinery. Hydraulic joints are important actuators of such mechanical equipment and have the characteristics of large torque, high response speed, and small-space rotational motion. Their static and dynamic characteristics will directly affect the motion performance of the entire robot. Especially in the joint applications of hydraulic robots, the dynamic explosive force and response speed of rotary hydraulic joints are very important.

[0003] Traditional hydraulic actuator test systems, such as the invention patent with the publication number CN105571648B, achieve the performance test of each joint by cooperating a test platform for testing the performance of robot joints with a linkage guide rail assembly. During the test, by simulating the load of the robot joint to be tested, various parameters of the robot joint performance can be measured at one time. However, it mainly tests linear motion components such as hydraulic cylinders, and for the test of swing cylinders, it mainly tests their static torque performance, rotational accuracy characteristics, etc., and there are few tests on their response speed, explosive force, and motion acceleration, etc., which are difficult to meet the test requirements of such performance parameters of joints for hydraulic robots. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a hydraulic joint test system and its working method.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to one aspect of the present invention, a hydraulic joint test system is provided. The system includes a driving device, a load simulation device, a sensor detection device, and a control and analysis device; the hydraulic joint 4 to be tested is arranged in the load simulation device, the driving device is connected to the hydraulic joint 4 to control it and provide power; the sensor detection module is fixed on the load simulation device and is used to detect the motion parameters of the hydraulic joint 4; the control and analysis device includes a host computer and an industrial computer, wherein the industrial computer is electrically connected to the driving module, the sensor detection module, the load simulation module, and the host computer respectively.

[0007] As a preferred technical solution, the driving device is composed of a hydraulic pump station 10 and an accumulator 9, and the hydraulic components therein are connected through pipelines.

[0008] As a preferred technical solution, the hydraulic components in the hydraulic pump 10 station include a motor 11, a hydraulic pump 10, an electro-hydraulic servo valve 8, a relief valve 12, a high-pressure filter 13, and a return oil filter; the motor 11, the hydraulic pump 10, the high-pressure filter 13, the electro-hydraulic servo valve 8, and the low-pressure filter 14 are connected in series in sequence, the other end of the electro-hydraulic servo valve 8 is connected to the hydraulic joint 4, the high-pressure filter 13 and the low-pressure filter 14 are connected via the relief valve 12, and there is also a branch between the high-pressure filter 13 and the electro-hydraulic servo valve 8, and this branch is connected to an accumulator 9.

[0009] As a preferred technical solution, the load simulation device is modularly assembled according to the installation position and movement requirements of the robot hydraulic joint 4 to be tested.

[0010] As a preferred technical solution, the sensor detection device includes a pressure sensor 6, a high-precision angle encoder 3, and an accelerometer 7.

[0011] According to another aspect of the present invention, there is provided a method for testing a hydraulic joint, which is applied to a hydraulic joint testing system as described above. In this method, a corresponding load torque is provided by the load simulation device. First, the hydraulic joint 4 is controlled by the driving device and power is provided for it. Then, the sensing and detection device collects the motion parameters of the hydraulic joint 4. Next, the control and analysis device uses these joint motion parameters and the load torque to analyze the performance of the hydraulic joint 4, so as to obtain the performance parameters of the joint. Finally, these performance parameters are integrated and output as the final test result.

[0012] As a preferred technical solution, that the driving device controls and provides power specifically means that: the pump station and the accumulator 9 provide energy supply for the hydraulic joint 4, and the electro-hydraulic servo valve 8 provides dynamic control for the hydraulic joint 4.

[0013] As a preferred technical solution, the joint motion parameters include the hydraulic joint angle, angular velocity, angular acceleration, and hydraulic joint pressure information; the joint performance parameters include explosive power, tracking performance, response speed, and output torque.

[0014] As a preferred technical solution, among the joint motion parameters, the hydraulic joint angle information is detected by the angle encoder 3, and based on its angle information, the joint angular velocity and angular acceleration information are calculated using the accelerometer 7, and the hydraulic joint 4 pressure information is collected through the pressure sensor 6.

[0015] As a preferred technical solution, the test result also includes a comparison result, and the process of obtaining this comparison result is: first, a mathematical model of the robot is established in the upper computer, then the mathematical model is simulated to obtain simulation data, and finally the simulation data is compared and analyzed with the motion parameters of the hydraulic joint 4 to obtain the comparison result.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. A hydraulic joint test system in the present invention includes a driving device, a load simulation device, a sensor detection device, and a control and analysis device; the hydraulic joint to be tested is arranged in the load simulation device, and the driving device is connected to the hydraulic joint to control it and provide power; the sensor detection module is fixed on the load simulation device for detecting the motion parameters of the hydraulic joint; the control and analysis device includes a host computer and an industrial computer, wherein the industrial computer is electrically connected to the driving module, the sensor detection module, the load simulation module, and the host computer respectively. This system can provide power through a high-flow and high-response hydraulic system, collect the motion parameters of the hydraulic joint through sensors such as pressure sensors, high-precision angle encoders, and accelerometers 7, with relatively high measurement accuracy, and can analyze and obtain data such as the explosive force, tracking performance, response speed, and output torque of the joint. Compared with traditional hydraulic test systems, this hydraulic joint test system measures a rich variety of physical quantities and has accurate test results. This system can output more real and reliable measurement data to achieve the dynamic performance test of the hydraulic joint.

[0018] 2. In the present invention, the load simulation device is modularly assembled according to the installation position and action requirements of the robot hydraulic joint to be tested. Its load simulation device is a replaceable modular structure, which enables this system to be widely applicable to different test requirement scenarios, with stronger flexibility and better conforming to actual applications.

[0019] 3. The test results in the present invention also include a comparison result. The process of obtaining this comparison result is as follows: First, establish a mathematical model of the robot in the host computer, then simulate this mathematical model to obtain simulation data, and finally compare and analyze this simulation data with the motion parameters of the hydraulic joint to obtain the comparison result. In the host computer, according to the established mathematical model, the measured data and the simulation data can be analyzed and compared to obtain the demand expectation of the robot joint, and it can be judged whether the hydraulic joint to be tested can meet the static and dynamic performance requirements. Through comparison and analysis with the mathematical model, its test results are more intelligent and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of the hydraulic joint test system in the present invention;

[0021] Figure 2 is a schematic structural diagram of the driving device in the embodiment;

[0022] Figure 3 is a schematic structural diagram of the load simulation device in the embodiment;

[0023] In the figure, 1 is a fixed bracket, 2 is a thigh bracket, 3 is an angle encoder, 4 is a hydraulic joint, 5 is a calf bracket, 6 is a pressure sensor, 7 is an accelerometer, 8 is an electro-hydraulic servo valve, 9 is an accumulator, 10 is a hydraulic pump, 11 is a motor, 12 is a relief valve, 13 is a high-pressure filter, and 14 is a low-pressure filter. Detailed implementation mode

[0024] 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 part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0025] Due to its large power density, compact structure, and strong environmental adaptability, the hydraulic system is widely used in various mechanical equipment such as manipulators, robots, and construction machinery. The hydraulic joint is an important actuator of such mechanical equipment, with the characteristics of large torque, high response speed, and small-space rotational motion. Its static and dynamic characteristics will directly affect the motion performance of the entire robot. Especially in the application of the joints of hydraulic robots, the dynamic explosive force and response speed of rotational hydraulic joints are very important. Therefore, it is very necessary to conduct experimental tests on hydraulic joints.

[0026] Traditional hydraulic actuator test systems mainly test linear motion components such as hydraulic cylinders. For the test of swing cylinders, mainly their static torque performance, rotational accuracy characteristics, etc. are tested, and less tests are conducted on their response speed, explosive force, and motion acceleration, etc. It is difficult to meet the experimental test requirements of such performance parameters of joints for hydraulic robots.

[0027] Embodiment 1

[0028] In this embodiment, a hydraulic joint test system is applied. The structure of this system is as Figure 1 shown, including a driving device, a load simulation device, a sensor detection device, and a control and analysis device; the hydraulic joint 4 to be tested is arranged in the load simulation device.

[0029] This test system provides power through a driving device with large flow and high response, collects the joint motion performance through sensors such as a pressure sensor 6, a high-precision angle encoder 3, and an accelerometer 7, provides a load torque by simulating the structure of the robot's leg or arm, and at the same time, the modular joint loading structure is also convenient for disassembling and assembling other load simulation devices, which can meet the high-precision, large-torque, and high-frequency response performance test requirements of different hydraulic robots for joints.

[0030] In this embodiment, the driving device is connected to the hydraulic joint 4, and the driving device controls it and provides power; the structure of the driving device is asFigure 2 As shown, its driving device consists of a hydraulic pump 10 station and an accumulator 9, and each hydraulic component therein is directly connected through pipelines. The hydraulic components in the hydraulic pump 10 station include a motor 11, a hydraulic pump 10, an electro-hydraulic servo valve 8, a relief valve 12, a high-pressure filter 13, and a return oil filter; the motor 11, the hydraulic pump 10, the high-pressure filter 13, the electro-hydraulic servo valve 8, and a low-pressure filter 14 are connected in series in sequence. The other end of the electro-hydraulic servo valve 8 is connected to a hydraulic joint 4. Between the high-pressure filter 13 and the low-pressure filter 14, they are connected through the relief valve 12. There is also a branch between the high-pressure filter 13 and the electro-hydraulic servo valve 8, and this branch is connected to the accumulator 9.

[0031] In this embodiment, the driving device provides energy supply for the hydraulic joint 4 through a pump station and the accumulator 9, and provides dynamic control for the hydraulic joint 4 through the electro-hydraulic servo valve 8; the accumulator 9 and the motor pump need to meet the maximum movement flow rate and pressure requirements of the hydraulic joint 4, and the electro-hydraulic servo valve 8 needs to meet the movement control response speed and frequency requirements of the hydraulic joint 4. The hydraulic drive system is connected to an industrial computer / PC through a controller, and the actions of each component and valve are controlled through upper computer software.

[0032] In this embodiment, the hydraulic pump 10 and the accumulator 9 provide hydraulic pressure and flow supply for the hydraulic joint 4, and the electro-hydraulic servo valve 8 performs dynamic rotation control on the hydraulic joint 4.

[0033] In this embodiment, the sensor detection module is fixed on the load simulation device and is used to detect the motion parameters of the hydraulic joint 4; the sensor detection device includes a pressure sensor 6, a high-precision angle encoder 3, and an accelerometer 7. The sensor detection device detects the angle information of the hydraulic joint 4 through the high-precision angle encoder 3, provides feedback for the control of the servo valve, and at the same time can calculate and record the joint angular velocity and angular acceleration information. Through the pressure sensor 6, the pressure information during the movement of the hydraulic joint 4 can be tested and recorded, and then the output torque can be calculated. Through the accelerometer 7, the vibration situation and acceleration situation during the movement of the hydraulic joint 4 can be tested and recorded, and then its movement smoothness and maximum explosive force can be judged; at the same time, the sensor monitoring device can modularly expand the type and quantity of sensors according to the requirements of the measured physical quantities. The various types of sensors are transmitted to an industrial computer / PC through an acquisition module, and the upper computer can analyze the situation of each physical quantity and make an analysis and judgment.

[0034] In this embodiment, the load simulation device is modularly assembled according to the installation position and motion requirements of the robot hydraulic joint 4 to be tested. This enables the system to be widely applicable to different test requirement scenarios, with stronger flexibility and better conforming to actual applications. The load simulation device can simulate the leg or arm joint structure of the robot to provide a certain motion load for the hydraulic joint 4 and simulate the actual situation as much as possible. The simulation of the knee joint of the robot leg specifically includes a thigh bracket 2, a calf bracket 5, a connecting flange of the hydraulic joint 4, a reserved position for sensor installation, etc.

[0035] In this embodiment, the load simulation device simulates the leg joint of the robot, and its specific structure is as Figure 3 shown. It includes a fixed bracket 1, a thigh bracket 2, a calf bracket 5, a connecting flange of the hydraulic joint 4, and a reserved installation position for the sensor. By driving the rotation of the hydraulic joint 4 through the hydraulic drive system, the thigh bracket 2 can be fixed, and different weights can be fixed on the calf bracket 5. Thus, the rotation angle, angular velocity, motion acceleration, motion smoothness, and vibration conditions of the calf can be measured according to the accelerometer 7 and the high-precision angle encoder 3. At the same time, the degree of freedom of the calf end can also be controlled to move in one direction up and down, and weights are added at the end. When the joint rotates, the thigh and the calf rotate towards or away from each other simultaneously, and the static lifting load of the joint can be measured.

[0036] In this embodiment, the control and analysis device includes a host computer and an industrial computer. Among them, the industrial computer is electrically connected to the drive module, the sensor detection module, the load simulation module, and the host computer respectively. The monitoring and analysis software of the host computer can monitor and control the motion of the hydraulic joint 4 in real time, and at the same time analyze the measured data to obtain performance parameters such as joint explosive force, tracking performance, response speed, and output torque, and judge whether it meets the joint motion requirements of the robot according to the robot mathematical model. In this embodiment, the control and analysis device establishes a closed-loop control model of the hydraulic joint 4 through sensor data, and at the same time can compare and analyze the sensor data with the simulation data of the mathematical model to judge and analyze the performance requirements of the hydraulic joint 4.

[0037] To sum up, this hydraulic joint test system provides power through a high-flow and high-response drive device, collects the motion parameters of the hydraulic joint 4 through sensors such as pressure sensors, high-precision angle encoders, and accelerometers, with relatively high measurement accuracy. It can analyze and obtain data such as joint explosive force, tracking performance, response speed, and output torque. Compared with traditional hydraulic test systems, this hydraulic joint test system measures a rich variety of physical quantities, has accurate test results, can output more real and reliable measurement data, and realizes the dynamic performance test of hydraulic joints.

[0038] Embodiment 2

[0039] In this embodiment, a hydraulic joint testing method is applied. In this method, a corresponding load torque is provided by a load simulation device. First, the driving device controls the hydraulic joint 4 and provides power for it. Then, the sensing and detection device collects the motion parameters of the hydraulic joint 4. Next, the control and analysis device uses these joint motion parameters and the load torque to analyze the performance of the hydraulic joint 4, thereby obtaining the performance parameters of the joint. Finally, these performance parameters are integrated and output as the final test result.

[0040] In this embodiment, the driving device controls and provides power specifically means that: the pump station and the accumulator 9 provide energy supply for the hydraulic joint 4, and the electro-hydraulic servo valve 8 provides dynamic control for the hydraulic joint 4.

[0041] In this embodiment, the joint motion parameters include the hydraulic joint angle, angular velocity, angular acceleration, and hydraulic joint pressure information; the joint performance parameters include explosive force, tracking performance, response speed, and output torque. Among them, the hydraulic joint angle information is detected by the angle encoder 3, and the joint angular velocity and angular acceleration information are calculated based on its angle information. The hydraulic joint pressure information is collected by the pressure sensor 6.

[0042] In this embodiment, the driving device is connected to the hydraulic joint 4, and the driving device controls and provides power for it; the structure of the driving device is as Figure 2 shown. Its driving device consists of a hydraulic pump 10 station and an accumulator 9, and each hydraulic component therein is directly connected through pipelines. The hydraulic components in the hydraulic pump 10 station include a motor 11, a hydraulic pump 10, an electro-hydraulic servo valve 8, a relief valve 12, a high-pressure filter 13, and a return oil filter; the motor 11, the hydraulic pump 10, the high-pressure filter 13, the electro-hydraulic servo valve 8, and the low-pressure filter 14 are connected in series in sequence. The other end of the electro-hydraulic servo valve 8 is connected to the hydraulic joint 4. The high-pressure filter 13 and the low-pressure filter 14 are connected through the relief valve 12, and there is also a branch between the high-pressure filter 13 and the electro-hydraulic servo valve 8, and this branch is connected to the accumulator 9.

[0043] In this embodiment, the driving device provides energy supply for the hydraulic joint 4 through the pump station and the accumulator 9, and provides dynamic control for the hydraulic joint 4 through the electro-hydraulic servo valve 8; the accumulator 9 and the motor pump need to meet the maximum motion flow and pressure requirements of the hydraulic joint 4, and the electro-hydraulic servo valve 8 needs to meet the motion control response speed and frequency requirements of the hydraulic joint 4. The hydraulic drive system is connected to the industrial computer / PC through the controller, and the actions of each component and valve are controlled through the upper computer software.

[0044] In this embodiment, the hydraulic pump 10 and the accumulator 9 provide hydraulic pressure and flow supply for the hydraulic joint 4, and the electro-hydraulic servo valve 8 performs dynamic rotation control on the hydraulic joint 4.

[0045] In this embodiment, the sensor detection module is fixed on the load simulation device and is used to detect the motion parameters of the hydraulic joint 4; the sensor detection device includes a pressure sensor 6, a high-precision angle encoder 3 and an accelerometer 7. The sensor detection device detects the angle information of the hydraulic joint through the high-precision angle encoder 3 to provide feedback for the control of the servo valve. At the same time, the joint angular velocity and angular acceleration information can be recorded by calculation. The pressure information during the movement of the hydraulic joint 4 can be tested and recorded through the pressure sensor 6, and then the output torque can be calculated. The vibration and acceleration of the hydraulic joint 4 during the movement can be tested and recorded through the accelerometer 7, and then the motion stability and maximum explosive force can be determined. At the same time, the sensor monitoring device can modularly expand the type and quantity of sensors according to the needs of measuring physical quantities. The various sensors are transmitted to the industrial computer / PC through the acquisition module, and the upper computer can analyze the conditions of each physical quantity and make analysis and judgment.

[0046] In this embodiment, the load simulation device is modularly assembled according to the installation position and motion requirements of the robot hydraulic joint 4 to be tested. This makes the system widely applicable to different test demand scenarios, more flexible and more suitable for practical applications. The load simulation device can simulate the leg or arm joint structure of the robot, provide a certain motion load for the hydraulic joint 4, and simulate the actual situation as much as possible. The simulation of the robot leg knee joint specifically includes the thigh bracket 2, the calf bracket 5, the hydraulic joint 4 connection flange, the sensor installation reserved position, etc.

[0047] In this embodiment, the load simulation device simulates the leg joints of the robot, and its specific structure is as follows: Figure 3 As shown, it includes a fixed bracket 1, a thigh bracket 2, a calf bracket 5, a connection flange of a hydraulic joint 4 and a reserved installation position for a sensor. The hydraulic joint 4 is driven to rotate by a hydraulic drive system, and the thigh bracket 2 can be fixed, and different weights can be fixed on the calf bracket 5, so that the rotation angle, angular velocity, motion acceleration, motion stability and vibration of the calf can be measured according to the accelerometer 7 and the high-precision angle encoder 3; at the same time, the degree of freedom of the calf end can be controlled in one direction of up and down movement, and the mass at the end can be increased. When the joint rotates, the thigh and the calf rotate in the same direction or in the opposite direction, and the static lifting load of the joint can be measured.

[0048] In this embodiment, the control analysis device includes a host computer and an industrial control computer. Among them, the industrial control computer is electrically connected to the drive module, the sensor detection module, the load simulation module, and the host computer respectively. The monitoring and analysis software of the host computer can monitor the movement of the hydraulic joint 4 in real time, and at the same time analyze the measurement data to obtain performance parameters such as joint explosive force, tracking performance, response speed, and output torque, and judge whether it meets the joint movement requirements of the robot according to the robot mathematical model. In this embodiment, the control analysis device establishes a closed-loop control model of the hydraulic joint 4 through sensor data, and at the same time can judge and analyze the performance requirements of the hydraulic joint 4 by comparing and analyzing the sensor data with the simulation data of the mathematical model.

[0049] In this embodiment, the test results also include comparison results. The process of obtaining the comparison results is as follows: First, establish a mathematical model of the robot in the host computer, then simulate the mathematical model to obtain simulation data, and finally compare and analyze the simulation data with the movement parameters of the hydraulic joint 4 to obtain the comparison results. According to the established mathematical model, analyze and compare the measurement data and the simulation data to obtain the expected requirements of the robot joints, and judge whether the hydraulic joint 4 to be tested can meet the static and dynamic performance requirements. By comparing and analyzing with the mathematical model, the test results are made more intelligent and reliable.

[0050] To sum up, this hydraulic joint test method provides power through a high-flow and high-response drive device, collects the movement parameters of the hydraulic joint through sensors such as pressure sensors, high-precision angle encoders, and accelerometers, and has a high measurement accuracy. It can analyze and obtain data such as joint explosive force, tracking performance, response speed, and output torque. Compared with traditional hydraulic test systems, this hydraulic joint test system measures a rich variety of physical quantities, has accurate test results, can output more real and reliable measurement data, and realizes the dynamic performance test of the hydraulic joint.

[0051] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A hydraulic joint testing system, characterized in that: The system comprises a driving device, a load simulation device, a sensor detection device and a control analysis device; the hydraulic joint (4) to be tested is arranged in the load simulation device, the driving device is connected to the hydraulic joint (4), controls it and provides power; the sensor detection device is fixed on the load simulation device, and is used to detect the motion parameters of the hydraulic joint (4); the control analysis device comprises a host computer and an industrial computer, wherein the host computer is used for the upper-level calculation process and is connected to the industrial computer, and the industrial computer is connected to the driving device via a controller and is used to control the driving device; and is also connected to the sensor detection device via a collection module and is used to collect data.

2. A hydraulic joint testing system according to claim 1, characterized in that: The driving device is composed of a hydraulic pump station, an accumulator (9) and an electro-hydraulic servo valve (8). The hydraulic pump station and the accumulator (9) provide energy supply for the hydraulic joint (4), and the electro-hydraulic servo valve (8) provides dynamic control for the hydraulic joint (4). The accumulator and the motor pump meet the maximum motion flow and pressure requirements of the hydraulic joint, and the electro-hydraulic servo valve meets the motion control response speed and frequency requirements of the hydraulic joint.

3. A hydraulic joint testing system according to claim 2, characterized in that: The hydraulic components in the hydraulic pump station 10 include an electric motor (11), a hydraulic pump (10), an electro-hydraulic servo valve (8), a relief valve (12), a high-pressure filter (13) and an oil return filter; the electric motor (11), the hydraulic pump (10), the high-pressure filter (13), the electro-hydraulic servo valve (8) and the low-pressure filter (14) are sequentially connected in series, the other end of the electro-hydraulic servo valve (8) is connected to the hydraulic joint (4), the high-pressure filter (13) and the low-pressure filter (14) are connected via the relief valve (12), and a branch is also provided between the high-pressure filter (13) and the electro-hydraulic servo valve (8), and the branch is connected to the accumulator (9).

4. A hydraulic joint testing system according to claim 1, characterized in that: The load simulation device is used to simulate the leg or arm structure of a robot, and comprises a joint bracket and a hydraulic joint connection flange. A position for installing a sensor detection device is reserved on the load simulation device. The load simulation device is modularly assembled according to the installation position and action requirements of the robot hydraulic joint (4) to be tested.

5. A hydraulic joint testing system according to claim 1, characterized in that: The control and analysis device includes a host computer, an industrial computer, an acquisition module and a controller, wherein the host computer is a host computer monitoring and analysis software, the industrial computer acquires the motion parameters detected by the sensor detection device and transmits them to the host computer, which is used by the host computer for data analysis process, and the analysis results are then transmitted to the controller via the industrial computer to control the hydraulic drive system.

6. A hydraulic joint testing system according to claim 1, characterized in that: The sensor detection device comprises a pressure sensor (6), a high-precision angle encoder (3) and an accelerometer (7), wherein the angle encoder (3) is used to collect hydraulic joint angle information, the accelerometer (7) is used to calculate joint angular velocity and angular acceleration information based on its angle information, and the pressure sensor (6) is used to collect hydraulic joint pressure information.

7. A method for testing a hydraulic joint, characterized in that: The method is applied to a hydraulic joint testing system as described in any one of claims 1 to 6. In the method, a load simulation device provides a corresponding load torque. First, a control signal is inputted to a driving device by a control analysis device to control the hydraulic joint (4) and provide power for it. Then, the motion parameters of the hydraulic joint (4) are collected by a sensing detection device and fed back to the control analysis device. Next, the control analysis device uses these motion parameters and load torque to analyze the performance of the hydraulic joint (4) to obtain the performance parameters of the joint. Finally, these performance parameters are integrated and output as the final test result.

8. A hydraulic joint testing method according to claim 7, characterized in that: The specific process of inputting signals from the control and analysis device to the drive device is as follows: after the host computer performs a data analysis process, its analysis results are converted into control signals via the industrial computer and transmitted to the controller, which controls the actions of each component and valve to control the hydraulic drive system.

9. A hydraulic joint testing method according to claim 7, characterized in that: The joint motion parameters include hydraulic joint angle, angular velocity, angular acceleration, and hydraulic joint pressure information; The joint performance parameters include explosive force, tracking performance, response speed and output torque.

10. A hydraulic joint testing method according to claim 7, characterized in that: The test results also include comparison results, and the process of obtaining the comparison results is as follows: first, a mathematical model of the robot is established in the host computer, then the mathematical model is simulated to obtain simulation data, and finally the simulation data is compared and analyzed with the motion parameters of the hydraulic joint (4) to obtain the comparison results.

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