High-low temperature mechanical arm joint separation and butt joint test device

Abstract

The invention discloses a high-low-temperature mechanical arm joint separation and butt joint test device which comprises a bottom frame, a horizontal pushing structure, a vertical pushing structure, a zero-gravity structure, a quick connecting device simulation piece and a guide rail assembly. The zero-gravity structure is arranged on the bottom frame, and the zero-gravity structure is used for hoisting the quick connection device simulation piece; a first rapid reaction device male is arranged on one side of the rapid connection device simulation piece, a first rapid reaction device female corresponding to the first rapid reaction device male is arranged on the horizontal pushing structure, and the horizontal pushing structure enables the first rapid reaction device female to be separated from the first rapid reaction device male; a second rapid reaction device female is arranged at the bottom of the rapid connection device simulation piece, a second rapid reaction device male corresponding to the second rapid reaction device female is arranged on the vertical pushing structure, and the vertical pushing structure enables the second rapid reaction device male to be separated from the second rapid reaction device female. The butt joint and separation stability and durability of the mechanical arm joint under the vacuum high and low temperature are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of maintenance tools, and in particular relates to a high and low temperature manipulator joint separation and docking test device. Background Art

[0002] In the aerospace field, the temperature difference in the space environment is extremely large. When the manipulator performs tasks such as satellite assembly and maintenance in such an environment, the joints must be able to stably separate and dock under alternating high and low temperatures, otherwise the task may fail. At present, there is insufficient systematic research on the separation and docking of joints under high and low temperature environments. Existing equipment often cannot accurately simulate complex high and low temperature working conditions and the true separation and docking state of the manipulator joints. Therefore, there is an urgent need for a high and low temperature manipulator joint separation and docking test device to provide a basis for optimizing the manipulator design and improving its reliability under high and low temperature environments. Summary of the Invention

[0003] In view of this, the present invention aims to propose a high and low temperature manipulator joint separation and docking test device to solve at least one technical problem in the background art. The device can generate sufficient power through the drive of the motor to horizontally and vertically move the manipulator joint, and ensure the stability and durability of the docking and separation of the manipulator joint under vacuum, high and low temperatures.

[0004] To achieve the above object, the technical solution of the present invention is realized as follows: A high and low temperature manipulator joint separation and docking test device simulates the separation and docking test of the manipulator joint under high and low temperatures through the way of electromechanical-thermal coupling. The docking and separation of the manipulator joint are simulated by driving the bevel gear and ball screw in the special manipulator joint maintenance device through the drive motor; the separation of the manipulator joint in the horizontal and vertical directions is simulated by the horizontal guide rail and zero-gravity unloading in the vertical direction; to ensure the reliable operation of the vacuum, high and low temperature motor, a combined active and passive thermal design idea is adopted for the motor and mechanism, and heating sheets are used as the heating components for active heating, and multiple layers of heat insulation components are wrapped outside for heat insulation and heat preservation.

[0005] A high and low temperature manipulator joint separation and docking test device includes a chassis, a horizontal pushing structure, a vertical pushing structure, a zero-gravity structure, a quick connection device simulation, and a guide rail assembly; The zero-gravity structure is arranged on the chassis, and the zero-gravity structure hoists the quick connection device simulation; one side of the quick connection device simulation is provided with a first quick response device male, and the horizontal pushing structure is provided with a first quick response device female corresponding to the first quick response device male, and the horizontal pushing structure separates the first quick response device female from the first quick response device male; The bottom of the quick connection device simulator is provided with a second quick reaction device female, and the vertical pushing structure is provided with a second quick reaction device male corresponding to the second quick reaction device female. The vertical pushing structure separates the second quick reaction device male from the second quick reaction device female.

[0006] Furthermore, the horizontal pushing structure and the vertical pushing structure are arranged on both sides of the zero-gravity structure and are arranged on the chassis; the guide rail assembly is installed on the base and is arranged below the zero-gravity structure. The guide rail assembly is provided with a horizontal support assembly, and the base is provided with a vertical support assembly; The horizontal support assembly is arranged on one side of the quick connection device simulator, and the vertical support assembly is arranged below the quick connection device simulator.

[0007] Furthermore, the horizontal pushing structure includes a horizontal base, a first motor, a first transmission shaft, and a first robotic arm maintenance assembly; The horizontal base is arranged on the chassis. The installation end of the first motor is arranged on the horizontal base. The output end of the first motor is connected to the first transmission shaft through a first coupling; the first coupling is connected to the first robotic arm maintenance assembly; the first robotic arm maintenance assembly is connected to the first quick reaction device female.

[0008] Furthermore, the first robotic arm maintenance assembly includes a first follower mechanism and a first separation mechanism; the first follower mechanism is connected to the first separation mechanism, and the first follower mechanism is installed on the chassis; The first separation mechanism includes a first fixed frame, a first driving bevel gear, a first driven bevel gear, and a first ball screw; The first transmission shaft is connected to the first driving bevel gear. The first driving bevel gear meshes with the first driven bevel gear, and the first driven bevel gear drives the first ball screw to rotate; The first ball screw is arranged perpendicular to the first transmission shaft; The first ball screw drives the first large ring to move; the first fixed frame is provided with a sliding groove capable of accommodating the first large ring. The first large ring is connected to the first follower mechanism, the first large ring is connected to the first quick reaction device female, and the first quick reaction device female is connected to the horizontal support assembly; The first fixed frame is connected to the first small ring; the first small ring is connected to the first quick reaction device male, and the first quick reaction device male is connected to the quick connection device simulator.

[0009] Furthermore, the first follower structure includes a first follower plate and a first L-shaped follower rod; The first follower plate is connected to the first large ring. The first follower plate is connected to the vertical end of the first L-shaped follower rod. The horizontal end of the first L-shaped follower rod is slidably arranged in the first collar. The first collar is installed on the chassis, and one side of the first collar is connected to the vertical pushing structure through a first connecting ring.

[0010] Furthermore, the vertical driving structure includes a vertical base, a second motor, a second transmission shaft, and a second robotic arm maintenance assembly; The vertical base is disposed on the chassis, the mounting end of the second motor is disposed on the vertical base, and the output end of the second motor is connected to the second transmission shaft through a second coupling; the second coupling is connected to the second robotic arm maintenance assembly; The second robotic arm maintenance assembly is connected to the second quick response device male connector.

[0011] Furthermore, the second robotic arm maintenance assembly includes a second follower mechanism and a second separation mechanism; the second follower mechanism is connected to the second separation mechanism, and the second follower mechanism is mounted on the chassis; The second separation mechanism includes a second fixing frame, a second driving bevel gear, a second driven bevel gear, and a second ball screw; The second transmission shaft is connected to the second driving bevel gear, the second driving bevel gear meshes with the second driven bevel gear, and the second driven bevel gear drives the second ball screw to rotate; The second ball screw is disposed perpendicular to the second transmission shaft; The second ball screw drives the second small ring to move vertically upward; the second fixing frame is provided with a sliding groove capable of accommodating the second small ring, and the second follower mechanism is disposed at the bottom of the second fixing frame; The second small ring is connected to the second quick response device female connector, the second quick response device female connector is connected to the quick connection device simulation component, the second fixing frame is connected to the second large ring; the second large ring is connected to the second quick response device male connector, and the second quick response device male connector is connected to the vertical support assembly; The vertical support assembly includes a vertical support. The vertical base is disposed on the chassis, and the second quick response device male connector is disposed on the vertical base. The second quick response device female connector is a symmetric arc-shaped support seat, and the second quick response device male connector corresponds to the second quick response device female connector.

[0012] Furthermore, the second follower mechanism includes a second follower plate and a second L-shaped follower rod; the second follower plate is disposed at the vertical end of the second L-shaped follower rod; The second follower plate is connected to the first quick response device female connector through a second connection ring; The horizontal end of the second L-shaped follower rod is slidably disposed within a second collar, and the second collar is mounted on the chassis and is disposed below the second fixing frame.

[0013] Furthermore, the horizontal support assembly includes a horizontal slider and an annular plate; The annular plate is disposed above the horizontal slider, and the horizontal slider is slidably disposed on the guide rail assembly; The zero-gravity structure includes a zero-gravity support and a hoisting assembly. The zero-gravity support is disposed on the chassis, and the hoisting assembly is disposed on the zero-gravity support.

[0014] Furthermore, the hoisting assembly includes a fixed pulley block, a universal hook, and a counterweight. The fixed pulley block is arranged below the zero-gravity bracket. A lifting rope is provided on the fixed pulley block. One end of the lifting rope is connected to the universal hook, and the other end is connected to the counterweight. The weight of the counterweight corresponds to the weight of the quick-connection device mock-up.

[0015] Compared with the prior art, the high and low temperature robotic arm joint separation and docking test device of the present invention has the following advantages: Through multiple repeated tests, this application can simulate separation and docking operations under different working conditions and environmental conditions, effectively verify the reliability and stability of the robotic arm joints during long-term use, discover potential problems in advance and solve them, and reduce the failure risk in actual applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 is a front schematic view of a high and low temperature robotic arm joint separation and docking test device according to an embodiment of the present invention; Figure 2 is a back schematic view of a high and low temperature robotic arm joint separation and docking test device according to an embodiment of the present invention; Figure 3 is a schematic view of a zero-gravity bracket of a high and low temperature robotic arm joint separation and docking test device according to an embodiment of the present invention; Figure 4 is a schematic view of a first robotic arm maintenance component according to an embodiment of the present invention; Figure 5 is a schematic view of a horizontal bracket assembly according to an embodiment of the present invention; Figure 6 is a schematic view of a motor control system framework according to an embodiment of the present invention; Figure 7 is a schematic view of a temperature monitoring system according to an embodiment of the present invention.

[0017] Description of the reference numerals: 1. Underframe; 2. Guide rail assembly; 3. Zero-gravity bracket; 4. Horizontal bracket assembly; 5. Vertical support assembly; 6. First quick response device female; 7. Second quick response device male; 8. First robotic arm maintenance assembly; 9. Second robotic arm maintenance assembly; 10. First motor; 11. Second motor; 12. First coupling; 13. Second coupling; 14. First transmission shaft; 15. Second transmission shaft; 16. Quick connection device simulation part; 17. Aluminum profile bracket; 18. Universal hook; 19. Fixed pulley block; 20. Counterweight; 21. First L-shaped follower rod; 22. First fixed bracket; 23. Mains electricity; 24. Power distribution unit of control system; 25. Controller; 26. Motion control card; 27. Power distribution unit of second motor; 28. Power distribution unit of first motor; 29. Driver of second motor; 30. Driver of first motor; 31. First quick response device male; 32. Second quick response device female; 33. First large ring; 34. First small ring; 35. First follower plate; 36. First collar; 37. First connecting ring; 38. Second follower plate; 39. Second L-shaped follower rod; 40. Second large ring; 41. Second small ring; 42. Second collar. Detailed implementation mode

[0018] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0019] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0020] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0022] A high and low temperature robotic arm joint separation and docking test device includes a chassis 1, a horizontal pushing structure, a vertical pushing structure, a zero-gravity structure, a quick-connection device simulator 16, and a guide rail assembly 2. The zero-gravity structure is arranged on the chassis 1, and the zero-gravity structure hoists the quick-connection device simulator 16. On one side of the quick-connection device simulator 16, there is a male first quick-response device 31, and on the horizontal pushing structure, there is a female first quick-response device 6 corresponding to the male first quick-response device 31. The horizontal pushing structure separates the female first quick-response device 6 from the male first quick-response device 31. At the bottom of the quick-connection device simulator 16, there is a female second quick-response device 32, and on the vertical pushing structure, there is a male second quick-response device 7 corresponding to the female second quick-response device 32. The vertical pushing structure separates the male second quick-response device 7 from the female second quick-response device 32.

[0023] The zero-gravity bracket 3 is installed on the chassis 1 and is used to offset its gravity through a counterweight 20 after the quick-connection device simulator 16 is installed to achieve zero gravity. The female first quick-response device 6 is installed on the first robotic arm maintenance assembly 8. After the male first quick-response device 31 on the quick-connection device simulator 16 is docked in place, six pins on it quickly rebound to fix it.

[0024] The male second quick-response device 7 is installed on the second robotic arm maintenance assembly 9. After the female second quick-response device 32 on the quick-connection device simulator 16 is docked in place, six pins on it quickly rebound to fix it.

[0025] The horizontal pushing structure and the vertical pushing structure are arranged on both sides of the zero-gravity structure and are arranged on the chassis 1. The guide rail assembly 2 is installed on the base and is arranged below the zero-gravity structure. A horizontal support assembly 4 is provided on the guide rail assembly 2, and a vertical support assembly is provided on the base. The horizontal support assembly 4 is arranged on one side of the quick-connection device simulator 16, and the vertical support assembly 5 is arranged below the quick-connection device simulator 16.

[0026] The horizontal pushing structure includes a horizontal base, a first motor 10, a first transmission shaft 14, and a first robotic arm maintenance assembly 8; the horizontal base is disposed on the chassis 1, the mounting end of the first motor 10 is disposed on the horizontal base, and the output end of the first motor 10 is connected to the first transmission shaft 14 through a first coupling 12; the first coupling 12 is connected to the first robotic arm maintenance assembly 8; the first robotic arm maintenance assembly 8 is connected to the first quick response device female 6.

[0027] The first robotic arm maintenance assembly 8 includes a first follower mechanism and a first separating mechanism; the first follower mechanism is connected to the first separating mechanism, and the first follower mechanism is mounted on the chassis 1; the first separating mechanism includes a first fixing frame 22, a first driving bevel gear, a first driven bevel gear, and a first ball screw; the first transmission shaft 14 is connected to the first driving bevel gear, the first driving bevel gear meshes with the first driven bevel gear, and the first driven bevel gear drives the first ball screw to rotate; the first ball screw is disposed perpendicular to the first transmission shaft 14; the first ball screw drives the first large ring 33 to move; the first fixing frame 22 is provided with a sliding groove capable of accommodating the first large ring 33, the first large ring 33 is connected to the first follower mechanism, the first large ring 33 is connected to the first quick response device female 6, the first quick response device female 6 is connected to the horizontal support assembly 4; the first fixing frame 22 is connected to the first small ring 34; the first small ring 34 is connected to the first quick response device male 31, and the first quick response device male 31 is connected to the quick connection device simulation part 16.

[0028] The first follower structure includes a first follower plate 35 and a first L-shaped follower rod 21; the first follower plate 35 is connected to the first large ring 33, the first follower plate 35 is connected to the vertical end of the first L-shaped follower rod 21, the horizontal end of the first L-shaped follower rod 21 is slidably disposed in the first collar 36, the first collar 36 is mounted on the chassis 1, and one side of the first collar 36 is connected to the vertical pushing structure through a first connecting ring 37.

[0029] The vertical pushing structure includes a vertical base, a second motor 11, a second transmission shaft 15, and a second robotic arm maintenance assembly 9. The vertical base is arranged on the chassis 1. The installation end of the second motor 11 is arranged on the vertical base. The output end of the second motor 11 is connected to the second transmission shaft 15 through a second coupling 13. The second coupling 13 is connected to the second robotic arm maintenance assembly 9. The second robotic arm maintenance assembly 9 is connected to the second quick reaction device female 7. The second robotic arm maintenance assembly 9 includes a second follower mechanism and a second separation mechanism. The second follower mechanism is connected to the second separation mechanism and is installed on the chassis 1. The second separation mechanism includes a second fixed frame, a second driving bevel gear, a second driven bevel gear, and a second ball screw. The second transmission shaft 15 is connected to the second driving bevel gear. The second driving bevel gear meshes with the second driven bevel gear. The second driven bevel gear drives the second ball screw to rotate. The second ball screw is arranged perpendicular to the second transmission shaft 15. The second ball screw drives the second small ring 41 to move vertically upward. The second fixed frame is provided with a sliding groove capable of accommodating the second small ring 41. The second follower mechanism is arranged at the bottom of the second fixed frame. The second small ring 41 is connected to the second quick reaction device female 32. The second quick reaction device female 32 is connected to the quick connection device simulation part 16. The second fixed frame is connected to the second large ring 40. The second large ring 40 is connected to the second quick reaction device male 7. The second quick reaction device male 7 is connected to the vertical support assembly 5. The vertical support assembly includes a vertical support. The vertical base is arranged on the chassis 1. The second quick reaction device male 7 is arranged on the vertical base. The second quick reaction device female 32 is a symmetric arc-shaped support seat. The second quick reaction device male 7 corresponds to the second quick reaction device female 32. The second quick reaction device female 32 can move upward along the second quick reaction device male 7.

[0030] The second follower mechanism includes a second follower plate 38 and a second L-shaped follower rod 39. The second follower plate 38 is arranged at the vertical end of the second L-shaped follower rod 39. The second follower plate 38 is connected to the first quick reaction device female 6 through a second connecting ring. The horizontal end of the second L-shaped follower rod 39 is slidably arranged in a second collar 42. The second collar 42 is installed on the chassis 1 and is arranged below the second fixed frame.

[0031] The horizontal support assembly 4 includes a horizontal slider and an annular plate. The annular plate is arranged above the horizontal slider. The horizontal slider is slidably arranged on the guide rail assembly 2. The zero-gravity structure includes a zero-gravity support 3 and a hoisting assembly. The zero-gravity support 3 is arranged on the chassis 1. The hoisting assembly is arranged on the zero-gravity support 3.

[0032] The hoisting assembly includes a fixed pulley block 19, a universal hook 18, and a counterweight 20. The fixed pulley block 19 is arranged below the zero-gravity bracket 3. A hoisting rope is provided on the fixed pulley block 19. One end of the hoisting rope is connected to the universal hook 18, and the other end is connected to the counterweight 20. The weight of the counterweight 20 corresponds to the weight of the quick-connection device mock-up 16.

[0033] The mains power supply 23 is electrically connected to the power distribution unit 24 of the control system, the power distribution unit of the second motor 11, and the power distribution unit of the first motor 10 respectively; the power distribution unit 24 of the control system is electrically connected to the controller 25 and the motion control card 26 respectively, and the controller 25 and the motion control card 26 are electrically connected; the power distribution unit of the second motor 11 is electrically connected to the driver of the second motor 11, and the power distribution unit of the first motor 10 is electrically connected to the driver of the first motor 10. The motion control card 26 is electrically connected to the driver of the second motor 11 and the driver of the first motor respectively; the driver of the second motor 11 is electrically connected to the second motor 11, and the driver of the first motor is electrically connected to the first motor 10.

[0034] The mains power supply 23, which is the total power supply of the entire motor control system, provides power for the power distribution unit of the control system, the power distribution unit of the second motor 11, and the power distribution unit of the first motor 10; The power distribution unit of the control system, which converts the mains power supply voltage of the mains power supply 23 into the working voltages required by the controller 25 and the motion control card 26; The controller 25, which is the control unit of the motor control system, sends control instructions to the motion control card 26 according to the programmable control program to achieve the coordinated motion control of the second motor 11 and the first motor 10; The motion control card 26, which receives the control instructions of the controller 25 and directly manages the driver of the second motor 11 and the driver of the first motor 10; The power distribution unit of the second motor 11, which converts the mains power supply voltage of the mains power supply 23 into the working voltage required by the second motor 11; The power distribution unit of the first motor 10, which converts the mains power supply voltage of the mains power supply 23 into the working voltage required by the first motor 10; The driver of the second motor 11, which executes the driving instructions of the motion control card 26 to drive the position, speed, start-stop, and corresponding protection functions of the second motor 11, The driver of the first motor 10, which executes the driving instructions of the motion control card 26 to drive the position, speed, start-stop, and corresponding protection functions of the first motor 10. The control system of the present application adopts the existing PLC technology.

[0035] In a specific implementation, the first motor 10 drives the first coupling 12 and the first transmission shaft 14 through the output shaft, and further drives the rotation of the first rotating shaft on the first robotic arm maintenance assembly 8. The internal lead screw drive separation mechanism is used to move horizontally. At this time, the first large ring 33 drives the first quick response device female 6 to move away from the quick connection device simulation part 16. The first small ring 34 and the quick connection device simulation part 16 are fixed by the first pin. At this time, the first L-shaped follower rod 21 moves horizontally within the first collar 36. At the same time, the second L-shaped follower rod 39 moves away from the quick connection device simulation part 16 along with the first quick response device female 6, driving the horizontal support assembly 4 to move along the guide rail assembly 2. At this time, the separation in the horizontal direction is completed. At this time, the first pin is removed to separate the first small ring 34 from the quick connection device simulation part 16.

[0036] The second motor 11 drives the second coupling 13 and the second transmission shaft 15 through the output shaft. The second transmission shaft 15 drives the second driving bevel gear to move, and the second driving bevel gear drives the second driven bevel gear to rotate. The second driven bevel gear drives the second ball screw to rotate. The second ball screw drives the second small ring 41 to move vertically upward. The second small ring 41 drives the second quick response device female 32 to move vertically upward. The second quick response device female 32 drives the quick connection device simulation part 16 to move vertically upward, thereby completing the separation in the vertical direction.

[0037] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A high and low temperature robotic arm joint separation and docking test device, characterized in that: It includes a chassis, a horizontal pushing structure, a vertical pushing structure, a zero-gravity structure, a quick-connection device simulation part, and a guide rail assembly; The zero-gravity structure is arranged on the chassis, and the zero-gravity structure hoists the quick-connection device simulation part; on one side of the quick-connection device simulation part, there is a first quick-response device male, and on the horizontal pushing structure, there is a first quick-response device female corresponding to the first quick-response device male, and the horizontal pushing structure separates the first quick-response device female from the first quick-response device male; At the bottom of the quick-connection device simulation part, there is a second quick-response device female, and on the vertical pushing structure, there is a second quick-response device male corresponding to the second quick-response device female, and the vertical pushing structure separates the second quick-response device male from the second quick-response device female.

2. The high and low temperature manipulator joint separation and docking test device according to claim 1, characterized in that: The horizontal pushing structure and the vertical pushing structure are arranged on both sides of the zero-gravity structure and are arranged on the chassis; the guide rail assembly is installed on the base and is arranged below the zero-gravity structure, and there is a horizontal support assembly on the guide rail assembly, and a vertical support assembly on the base; The horizontal support assembly is arranged on one side of the quick-connection device simulation part, and the vertical support assembly is arranged below the quick-connection device simulation part.

3. The high and low temperature manipulator joint separation and docking test device according to claim 1, characterized in that: The horizontal pushing structure includes a horizontal base, a first motor, a first transmission shaft, and a first robotic arm maintenance assembly; The horizontal base is arranged on the chassis, the installation end of the first motor is arranged on the horizontal base, the output end of the first motor is connected to the first transmission shaft through a first coupling; the first coupling is connected to the first robotic arm maintenance assembly; the first robotic arm maintenance assembly is connected to the first quick-response device female.

4. A high and low temperature manipulator joint separation and docking test device according to claim 3, characterized in that: The first robotic arm maintenance assembly includes a first follow-up mechanism and a first separation mechanism; the first follow-up mechanism is connected to the first separation mechanism, and the first follow-up mechanism is installed on the chassis; The first separation mechanism includes a first fixed frame, a first driving bevel gear, a first driven bevel gear, and a first ball screw; The first transmission shaft is connected to the first driving bevel gear, the first driving bevel gear meshes with the first driven bevel gear, and the first driven bevel gear drives the first ball screw to rotate; The first ball screw is arranged perpendicular to the first transmission shaft; The first ball screw drives the first large ring to move; on the first fixed frame, there is a sliding groove that can make the first large ring, the first large ring is connected to the first follow-up mechanism, the first large ring is connected to the first quick-response device female, and the first quick-response device female is connected to the horizontal support assembly; The first fixed frame is connected to the first small ring; the first small ring is connected to the first quick-response device male, and the first quick-response device male is connected to the quick-connection device simulation part.

5. A high and low temperature robotic arm joint separation and docking test device according to claim 4, characterized in that: The first follow-up structure includes a first follow-up plate and a first L-shaped follow-up rod; The first follow-up plate is connected to the first large ring, the first follow-up plate is connected to the vertical end of the first L-shaped follow-up rod, the horizontal end of the first L-shaped follow-up rod is slidably arranged in the first collar, the first collar is installed on the chassis, and one side of the first collar is connected to the vertical pushing structure through a first connecting ring.

6. The high and low temperature manipulator joint separation and docking test device according to claim 4, characterized in that: The vertical pushing structure includes a vertical base, a second motor, a second transmission shaft, and a second robotic arm maintenance assembly; The vertical base is arranged on the chassis, the mounting end of the second motor is arranged on the vertical base, and the output end of the second motor is connected to the second transmission shaft through the second coupling; the second coupling is connected to the second robotic arm maintenance assembly; The second robotic arm maintenance assembly is connected to the second quick response device male.

7. A high and low temperature manipulator joint separation and docking test device according to claim 6, characterized in that: The second robotic arm maintenance assembly includes a second follower mechanism and a second separation mechanism; the second follower mechanism is connected to the second separation mechanism, and the second follower mechanism is arranged on the chassis; The second separation mechanism includes a second fixed frame, a second driving bevel gear, a second driven bevel gear, and a second ball screw; The second transmission shaft is connected to the second driving bevel gear, the second driving bevel gear meshes with the second driven bevel gear, and the second driven bevel gear drives the second ball screw to rotate; The second ball screw is arranged perpendicular to the second transmission shaft; The second ball screw drives the second small ring to move vertically upward; the second fixed frame is provided with a sliding groove capable of accommodating the second small ring, and the second follower mechanism is arranged at the bottom of the second fixed frame; The second small ring is connected to the second quick response device female, the second quick response device female is connected to the quick connection device simulation part, the second fixed frame is connected to the second large ring; the second large ring is connected to the second quick response device male, and the second quick response device male is connected to the vertical support assembly; The vertical support assembly includes a vertical support, the vertical base is arranged on the chassis, and the second quick response device male is arranged on the vertical base, The second quick response device female is a symmetric arc-shaped support seat.

8. A high and low temperature robotic arm joint separation and docking test device according to claim 6, characterized in that: The second follower mechanism includes a second follower plate and a second L-shaped follower rod; the second follower plate is arranged at the vertical end of the second L-shaped follower rod; The second follower plate is connected to the first quick response device female through the second connection ring; The horizontal end of the second L-shaped follower rod is slidably arranged in the second collar, and the second collar is arranged on the chassis and is arranged below the second fixed frame.

9. The separation and docking test device for the high and low temperature robotic arm joint according to claim 1, characterized in that: The horizontal support assembly includes a horizontal slider and an annular plate; The annular plate is arranged above the horizontal slider, and the horizontal slider is slidably arranged on the guide rail assembly; The zero-gravity structure includes a zero-gravity support and a hoisting assembly. The zero-gravity support is arranged on the chassis, and the hoisting assembly is arranged on the zero-gravity support.

10. The separation and docking test device for the high and low temperature robotic arm joint according to claim 1, characterized in that: The hoisting assembly includes a fixed pulley set, a universal hook, and a counterweight. The fixed pulley set is arranged below the zero-gravity support. A lifting rope is provided on the fixed pulley set. One end of the lifting rope is connected to the universal hook, and the other end is connected to the counterweight. The weight of the counterweight corresponds to the weight of the quick connection device simulation part.

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