Humanoid robot joint planetary roller screw multi-dimensional load testing device

Abstract

The invention provides a humanoid robot joint planetary roller screw multi-dimensional load testing device, which relates to the technical field of testing and comprises a radial force simulation device used for simulating radial force on a humanoid robot joint planetary roller screw; the axial force simulation device is used for simulating the axial force on the joint planetary roller screw of the humanoid robot; and the control device is electrically connected with the radial force simulation device and the axial force simulation device. The device integrates a radial force simulation device and an axial force simulation device, one set of equipment completes a lead screw key dimension load test, splicing of multiple pieces of equipment is not needed, the test process is simplified, core components such as humanoid robot joints which need to verify the stress reliability in multiple directions at the same time are adapted, and the function blank of a single force test device is filled up.

Description

Technical Field

[0001] The present invention relates to the field of testing technology, and in particular to a multi-dimensional load testing device for a planetary roller screw of a humanoid robot joint. Background Art

[0002] Humanoid robot joints not only bear torque during motion, but also bending moments due to the robot's multi-position motion. That is, the planetary roller screws in humanoid robot joints bear not only radial forces but also axial forces.

[0003] Current research on planetary roller screws primarily focuses on optimizing structural design, enhancing material properties, and improving processing techniques to improve their performance under single or simple load conditions. However, systematic research on complex, multi-dimensional load conditions is relatively scarce, particularly the lack of effective testing methods and equipment that can realistically simulate the multi-dimensional loads (axial and radial forces) experienced by planetary roller screws during actual humanoid robot operation. Most existing testing equipment is only capable of testing planetary roller screws under single axial or simple radial loads, and is unable to comprehensively and accurately evaluate their overall performance under complex, multi-dimensional load conditions. Summary of the Invention

[0004] The present invention provides a multi-dimensional load testing device for a planetary roller screw of a humanoid robot joint, which is used to solve the technical problem raised in the above background technology that most existing testing equipment can only perform a single axial load or a simple radial load test on the planetary roller screw.

[0005] In order to solve the above technical problems, the present invention discloses a multi-dimensional load testing device for a planetary roller screw of a humanoid robot joint, comprising: A radial force simulation device for simulating radial forces acting on the planetary roller screws of the humanoid robot joints; An axial force simulation device, the axial force simulation device is used to simulate the axial force on the planetary roller screw of the humanoid robot joint; A control device is electrically connected to the radial force simulation device and the axial force simulation device respectively.

[0006] Preferably, the radial force simulation device is a cylinder 2, and the control device is used to control the cylinder 2 to adjust its intake pressure to simulate the target radial load force.

[0007] Preferably, the axial force simulation device is a cylinder 1, and the control device is used to control the cylinder 1 to adjust its intake pressure to simulate the target axial load force.

[0008] Preferably, the air inlets of cylinder 1 and cylinder 2 are both provided with regulating valves, and the outlets of the regulating valves are provided with air pressure sensors 1; and several air pressure sensors 2 are both provided in cylinder 1 and cylinder 2, and the air pressure sensors 2 are used to detect the pressure in the internal chamber of the cylinder.

[0009] Preferably, the regulating valve is a pressure reducing valve.

[0010] Preferably, it also includes: Memory: stores the intake time-standard air pressure detection value curve corresponding to each air pressure sensor in the cylinder under each corresponding test air pressure condition at the outlet of the regulating valve of each cylinder; stores the regulating valve control parameter-regulating valve outlet standard air pressure fitting curve of each regulating valve corresponding to each cylinder under the reference air source pressure condition; The control device includes: A first determination module: determines a number of target intake pressures corresponding to the current load test process of each working cylinder based on a number of load forces required to be output by each working cylinder during the current load test process of the multi-dimensional load testing device; Determining a pre-test air pressure range of the working cylinder corresponding to the current load test process based on a plurality of target intake air pressures of each working cylinder; The first control module is used to control the corresponding working cylinder to perform a pre-test before the current load test of the multi-dimensional load testing device; During the pre-test of the working cylinder, the air source pressure is controlled to be the reference air source pressure. By adjusting the control parameters of the regulating valve of the working cylinder, a fitting curve of the regulating valve control parameters corresponding to the current pre-test process of each working cylinder - the actual air pressure at the regulating valve outlet is obtained. The actual air pressure range of the regulating valve outlet of each working cylinder is the pre-test air pressure range of the corresponding working cylinder; A screening module: screening a plurality of first air pressure values ​​from a fitting curve of a control valve control parameter corresponding to a current pre-test process of a current working cylinder and an actual air pressure at a control valve outlet, and determining a first control valve control parameter corresponding to the fitting curve of a control valve control parameter corresponding to a current pre-test process of a current working cylinder and an actual air pressure at a control valve outlet; Determine a second regulating valve control parameter corresponding to a fitting curve of regulating valve control parameter-regulating valve outlet standard pressure under the condition of a reference air source pressure of the current working cylinder at the first air pressure value; A first calculation module: configured to calculate a regulating valve warning value of a current working cylinder based on an absolute difference between a first regulating valve control parameter of the current working cylinder and a corresponding second regulating valve control parameter; The first warning module is used to issue a warning when the warning value of the regulating valve of the current working cylinder is greater than the corresponding first warning value.

[0011] Preferably, the control device further includes: Pre-test and early warning module: used to determine whether the air pressure status of each working cylinder is abnormal based on pre-test; when the air pressure status of any working cylinder is abnormal, an early warning is issued.

[0012] Preferably, the control device further includes: The second control module is used when the first warning module, pre-test and warning module have no warning. According to the load forces required to be output by each working cylinder in the current load test process and the fitting curve of the regulating valve control parameters corresponding to the current pre-test process - the actual air pressure at the regulating valve outlet, the regulating valve control parameters corresponding to each load force of the working cylinder are determined; During the current load test, the corresponding regulating valve is controlled to operate according to the regulating valve control parameters corresponding to each load force of the working cylinder.

[0013] Preferably, the pre-test and early warning module includes: Control unit: used for controlling the working cylinder to work when the first early warning module does not alarm, so that the outlet air pressure of the corresponding regulating valve is the different target intake air pressure corresponding to the corresponding current load test process until the corresponding load force output action is completed, thereby completing the corresponding air pressure pre-test process. In each pre-test process, the outlet air pressure of the regulating valve is a target intake air pressure. In each air pressure pre-test process, the air pressure sensor 2 is controlled to perform multiple tests to obtain the intake time-actual air pressure detection value curve corresponding to each air pressure sensor 2; A similarity determination unit is configured to compare the intake time-actual air pressure detection value curve corresponding to each air pressure sensor 2 with the intake time-standard air pressure detection value curve corresponding to each air pressure sensor 2 under the corresponding target intake pressure to determine the corresponding similarity; When any similarity is less than the preset value, an early warning is issued.

[0014] Preferably, the pre-test pressure range of each working cylinder corresponding to the current load test process is determined based on the target intake pressure, which is: ; in, The lower limit of the pre-test pressure range of the current working cylinder, The upper limit of the pre-test air pressure range of the current working cylinder; ; ; ; ; in, is the minimum target intake pressure of the current working cylinder, The maximum target intake pressure of the current working cylinder; is the minimum negative error allowed for the cylinder output load force during the pre-test of the current working cylinder, and S is the effective area of ​​the piston of the current working cylinder; is the efficiency of the current working cylinder; The minimum safe intake pressure for the current working cylinder to work normally; The lowest possible pressure fluctuation value in the gas circuit corresponding to the current working cylinder; It is the maximum positive error allowed for the cylinder output load force during the pre-test of the current working cylinder; It is the highest safe intake pressure for the current working cylinder to work normally. It is the maximum pressure fluctuation value that may occur in the gas circuit corresponding to the current working cylinder.

[0015] Compared with the prior art, the present invention has the following beneficial effects: By simulating radial and axial forces separately through cylinders, and accurately adjusting the cylinder intake pressure, the control device can reproduce the complex working conditions of actual loads on robot joints (such as the combined load of axial thrust and radial bending moment during walking and grasping) on ​​demand, solving the problem of disconnection between single-force simulation in traditional tests and actual scenarios, and improving the test's restoration of real loads.

[0016] The inlet pressure reducing valve, outlet pressure sensor 1, and in-cylinder pressure sensor 2 form a closed loop of "pressure regulation and real-time monitoring." The pressure reducing valve stabilizes the air source pressure, while the sensors accurately measure pressure at different locations (air supply pressure after the valve and pressure within the cylinder chamber). The control device dynamically adjusts accordingly, ensuring minimal load force simulation error (e.g., within ±2%), meeting the requirements of high-precision testing of robot joints.

[0017] Integrating radial and axial force simulation devices, one set of equipment can complete the load test of key dimensions of the screw, eliminating the need for multiple devices to be pieced together, simplifying the testing process. It is suitable for core components such as humanoid robot joints that need to verify the reliability of multi-directional forces at the same time, filling the functional gap of a single force testing device.

[0018] The air pressure can be flexibly adjusted to simulate different load levels (such as light load and full load conditions of the joint), helping to quickly verify the performance of the screw under various loads (such as stiffness and fatigue life) during the R&D stage, accelerating the iteration of robot joint design and shortening the R&D cycle.

[0019] The pressure reducing valve, a mature pneumatic component, provides a stable air supply. The control device is electrically connected to the cylinder and sensor, enabling automated control and reducing errors caused by manual intervention. Compared to purely manual or simple test devices, the system offers greater stability, ensuring repeatable and reliable test data.

[0020] The multi-positioned air pressure sensor layout (behind the intake valve and within the cylinder) comprehensively captures detailed information on pressure transmission and chamber changes. Testers can intuitively determine whether the air path is blocked and whether the cylinder seal is intact (for example, abnormal fluctuations in in-cylinder sensor pressure indicate seal failure), facilitating troubleshooting and device maintenance.

[0021] The use of mature pneumatic + electronic control components such as cylinders, pressure reducing valves, and sensors reduces hardware costs compared to complex test systems such as servo hydraulics. The pneumatic system has a simple structure and occupies a small area (suitable for laboratory deployment), taking into account both test accuracy and economy, which is conducive to promotion and application.

[0022] It is not limited to humanoid robot joints. With slight parameter adjustments (such as replacing cylinders with different cylinder diameters and adjusting the pressure reducing valve range), it can be used for similar joint screw testing of industrial robots, collaborative robots, etc., expanding the application scenarios of the device and improving the equipment reuse rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 Schematic diagram of a multi-dimensional load testing device for a humanoid robot joint planetary roller screw according to the present invention. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0026] Example 1, the present invention provides a humanoid robot joint planetary roller screw multi-dimensional load testing device, such as Figure 1 Shown, including: A radial force simulation device for simulating radial forces acting on the planetary roller screws of the humanoid robot joints; An axial force simulation device, the axial force simulation device is used to simulate the axial force on the planetary roller screw of the humanoid robot joint; A control device is electrically connected to the radial force simulation device and the axial force simulation device respectively.

[0027] Preferably, the radial force simulation device is a cylinder 2, and the control device is used to control the cylinder 2 to adjust its intake pressure to simulate the target radial load force.

[0028] Preferably, the axial force simulation device is a cylinder 1, and the control device is used to control the cylinder 1 to adjust its intake pressure to simulate the target axial load force.

[0029] Preferably, regulating valves are provided at the air inlets of cylinder 1 and cylinder 2, and air pressure sensor 1 is provided at the outlet of the regulating valve; several air pressure sensors 2 are provided in cylinder 1 and cylinder 2, and air pressure sensor 2 is used to detect the pressure in the internal chamber of the cylinder; air pressure sensors 2 are arranged at intervals along the stroke direction of the piston chamber (rod chamber) of cylinder 1 and cylinder 2 to monitor the internal pressure distribution.

[0030] Preferably, the regulating valve is a pressure reducing valve.

[0031] The beneficial effects of the above technical solution are: By simulating radial and axial forces separately through cylinders, and accurately adjusting the cylinder intake pressure, the control device can reproduce the complex working conditions of actual loads on robot joints (such as the combined load of axial thrust and radial bending moment during walking and grasping) on ​​demand, solving the problem of disconnection between single-force simulation in traditional tests and actual scenarios, and improving the test's restoration of real loads.

[0032] The inlet pressure reducing valve, outlet pressure sensor 1, and in-cylinder pressure sensor 2 form a closed loop of "pressure regulation and real-time monitoring." The pressure reducing valve stabilizes the air source pressure, while the sensors accurately measure pressure at different locations (air supply pressure after the valve and pressure within the cylinder chamber). The control device dynamically adjusts accordingly, ensuring minimal load force simulation error (e.g., within ±2%), meeting the requirements of high-precision testing of robot joints.

[0033] Integrating radial and axial force simulation devices, one set of equipment can complete the load test of key dimensions of the screw, eliminating the need for multiple devices to be pieced together, simplifying the testing process. It is suitable for core components such as humanoid robot joints that need to verify the reliability of multi-directional forces at the same time, filling the functional gap of a single force testing device.

[0034] The air pressure can be flexibly adjusted to simulate different load levels (such as light load and full load conditions of the joint), helping to quickly verify the performance of the screw under various loads (such as stiffness and fatigue life) during the R&D stage, accelerating the iteration of robot joint design and shortening the R&D cycle.

[0035] The pressure reducing valve, a mature pneumatic component, provides a stable air supply. The control device is electrically connected to the cylinder and sensor, enabling automated control and reducing errors caused by manual intervention. Compared to purely manual or simple test devices, the system offers greater stability, ensuring repeatable and reliable test data.

[0036] The multi-positioned air pressure sensor layout (behind the intake valve and within the cylinder) comprehensively captures detailed information on pressure transmission and chamber changes. Testers can intuitively determine whether the air path is blocked and whether the cylinder seal is intact (for example, abnormal fluctuations in in-cylinder sensor pressure indicate seal failure), facilitating troubleshooting and device maintenance.

[0037] The use of mature pneumatic + electronic control components such as cylinders, pressure reducing valves, and sensors reduces hardware costs compared to complex test systems such as servo hydraulics. The pneumatic system has a simple structure and occupies a small area (suitable for laboratory deployment), taking into account both test accuracy and economy, which is conducive to promotion and application.

[0038] It is not limited to humanoid robot joints. With slight parameter adjustments (such as replacing cylinders with different cylinder diameters and adjusting the pressure reducing valve range), it can be used for similar joint screw testing of industrial robots, collaborative robots, etc., expanding the application scenarios of the device and improving the equipment reuse rate.

[0039] Example 2, based on Example 1, further includes: Memory: stores the intake time-standard air pressure detection value curve corresponding to each air pressure sensor in the cylinder under each corresponding test air pressure condition at the outlet air pressure of the regulating valve of each cylinder (and the outlet air pressure determined by the test is the standard air pressure based on the current cylinder or a cylinder of the same type in the initial use state); stores the regulating valve control parameter-regulating valve outlet standard air pressure fitting curve of each cylinder's corresponding regulating valve under the reference air source pressure condition; The control device includes: A first determination module: determines a number of target intake pressures corresponding to the current load test process of each working cylinder based on a number of load forces required to be output by each working cylinder during the current load test process of the multi-dimensional load testing device; Determining a pre-test air pressure range of the working cylinder corresponding to the current load test process based on a plurality of target intake air pressures of each working cylinder; The first control module is used to control the corresponding working cylinder to perform a pre-test before the current load test of the multi-dimensional load testing device; During the pre-test of the working cylinder, the air source pressure is controlled to be the reference air source pressure. By adjusting the control parameters of the regulating valve of the working cylinder, a fitting curve of the regulating valve control parameters corresponding to the current pre-test process of each working cylinder - the actual air pressure at the regulating valve outlet is obtained. The actual air pressure range of the regulating valve outlet of each working cylinder is the pre-test air pressure range of the corresponding working cylinder; A screening module: screening a plurality of first air pressure values ​​from a fitting curve of a control valve control parameter corresponding to a current pre-test process of a current working cylinder and an actual air pressure at a control valve outlet, and determining a first control valve control parameter corresponding to the fitting curve of a control valve control parameter corresponding to a current pre-test process of a current working cylinder and an actual air pressure at a control valve outlet; Determine a second regulating valve control parameter corresponding to a fitting curve of regulating valve control parameter-regulating valve outlet standard pressure under the condition of a reference air source pressure of the current working cylinder at the first air pressure value; A first calculation module: configured to calculate a regulating valve warning value of a current working cylinder based on an absolute difference between a first regulating valve control parameter of the current working cylinder and a corresponding second regulating valve control parameter; The first warning module is used to issue a warning when the warning value of the regulating valve of the current working cylinder is greater than the corresponding first warning value.

[0040] Based on the target intake air pressure, the pre-test air pressure range of each working cylinder corresponding to the current load test process is determined as follows: ; in, The lower limit of the pre-test pressure range of the current working cylinder, The upper limit of the pre-test air pressure range of the current working cylinder; ; ; ; ; in, is the minimum target intake pressure of the current working cylinder, The maximum target intake pressure of the current working cylinder; is the minimum negative error allowed for the cylinder output load force during the pre-test of the current working cylinder, and S is the effective area of ​​the piston of the current working cylinder; is the efficiency of the current working cylinder; The minimum safe intake pressure for the current working cylinder to work normally; The lowest possible pressure fluctuation value in the gas circuit corresponding to the current working cylinder; It is the maximum positive error allowed for the cylinder output load force during the pre-test of the current working cylinder; It is the highest safe intake pressure for the current working cylinder to work normally. It is the maximum pressure fluctuation value that may occur in the gas circuit corresponding to the current working cylinder.

[0041] The beneficial effects of the above scheme are: By collaboratively constraining the pre-test air pressure range of each cylinder through multiple parameters such as load force error, safety pressure, and pressure fluctuation, a closed loop of "air pressure precision control-cylinder status diagnosis" is established: During the pre-test phase, the pressure range defined by the constraint parameters can accurately identify cylinder anomalies (e.g., air leakage causing pressure to deviate from the pre-test range, seal failure causing pressure fluctuations), enabling preventive assessment of cylinder status before formal testing. The introduction of minimum / maximum safe cylinder inlet pressure provides two-way protection from hardware safety (avoiding damage to the cylinder due to excessive pressure) and data validity (eliminating invalid tests under abnormal pressure). This reduces the risk of distortion in formal tests due to abnormal cylinder status, and simultaneously improves the force simulation accuracy of multi-dimensional load tests (such as load force error ≤±2%) and the reliability of screw performance verification.

[0042] Taking into account the minimum and maximum pressure fluctuations of the gas circuit, the pre-test pressure range can simulate the corresponding pressure changes, whether it is the periodic fluctuation of the factory gas source pressure, the instantaneous pressure shock caused by the rapid start and stop of the robot, or the gas circuit interaction interference during multi-cylinder collaborative testing. The testing process allows us to replicate the air pressure loads that the screw experiences in real-world service scenarios (such as continuous robot operation and dynamic obstacle avoidance), allowing the test results to closely match the actual usage environment and help fully verify the mechanical properties of the screw (such as stiffness attenuation and fatigue life) under multi-dimensional variable load conditions.

[0043] With "target intake pressure → pre-test pressure range → pre-test verification → formal test" as the core link, a full-process quality control system is constructed: the pre-test stage accurately captures the individual characteristics of the cylinder (such as leakage volume, control valve response deviation) and potential problems in the air path (such as abnormal pressure loss caused by pipeline blockage) through the actual air pressure fitting curve; based on the parameter fitting and early warning mechanism of the pre-test data, cylinder status abnormalities (such as pressure fluctuation exceeding the limit, control valve control inaccuracy) can be identified in advance, and systematic troubleshooting can be achieved before the formal load test, ensuring the credibility of the formal test data, and improving the test efficiency (such as reducing the time loss caused by abnormal retesting) and quality (such as the proportion of valid data in the formal test ≥95%) from the source of the process.

[0044] Example 3, based on Example 2, the control device further includes: Pre-test and early warning module: used to determine whether the air pressure status of each working cylinder is abnormal based on pre-test; when the air pressure status of any working cylinder is abnormal, an early warning is issued.

[0045] The control device further comprises: The second control module is used when the first warning module, pre-test and warning module have no warning. According to the load forces required to be output by each working cylinder in the current load test process and the fitting curve of the regulating valve control parameters corresponding to the current pre-test process - the actual air pressure at the regulating valve outlet, the regulating valve control parameters corresponding to each load force of the working cylinder are determined; During the current load test, the corresponding regulating valve is controlled to operate according to the regulating valve control parameters corresponding to each load force of the working cylinder.

[0046] The pre-test and early warning modules include: Control unit: used for controlling the working cylinder to work when the first early warning module does not alarm, so that the outlet air pressure of the corresponding regulating valve is the different target intake air pressure corresponding to the corresponding current load test process until the corresponding load force output action is completed, thereby completing the corresponding air pressure pre-test process. In each pre-test process, the outlet air pressure of the regulating valve is a target intake air pressure. In each air pressure pre-test process, the air pressure sensor 2 is controlled to perform multiple tests to obtain the intake time-actual air pressure detection value curve corresponding to each air pressure sensor 2; A similarity determination unit is configured to compare the intake time-actual air pressure detection value curve corresponding to each air pressure sensor 2 with the intake time-standard air pressure detection value curve corresponding to each air pressure sensor 2 under the corresponding target intake pressure to determine the corresponding similarity; When any similarity is less than the preset value, an early warning is issued.

[0047] The beneficial effects of the above technical solution are: By comparing the similarity of the air pressure curves during the pre-test process, cylinder pressure anomalies (such as air leaks, control valve failures, sensor deviations, etc.) can be identified before load testing, avoiding test failures or equipment damage caused by faulty operation.

[0048] The pre-test and warning module forms dual monitoring with the first warning module. If any module triggers a warning, the system will be suspended to avoid risks under abnormal working conditions (such as mechanical shock caused by a sudden drop in air pressure).

[0049] The second control module uses the "regulating valve control parameter-outlet air pressure fitting curve" obtained in pre-testing to reversely infer the precise regulating valve control parameters based on the target load force, realizing the closed-loop mapping of "load force-air pressure-control parameters" and reducing the error of traditional open-loop control.

[0050] Data support: Assuming that the standard load force F requires air pressure P, the control parameter C can be determined by fitting the curve, so that the deviation between the actual output air pressure and the theoretical value is ≤±0.5%, thereby improving test accuracy.

[0051] For the multiple load forces that the same cylinder needs to output during testing (such as force values ​​in different stroke sections), the system can dynamically adjust the control valve parameters to avoid force fluctuations caused by fixed parameters. This is especially suitable for variable load conditions (such as multi-posture testing of robot joints).

[0052] The pre-test provides a parameter basis for the load test. During the load test, the air pressure curve is continuously monitored (pre-test and early warning module), forming a closed loop of "parameter optimization-real-time verification", reducing the number of debugging iterations and improving test efficiency (for example, the traditional solution requires three debuggings, while this solution can be completed in one).

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multi-dimensional load testing device for planetary roller screws of humanoid robot joints, characterized in that: include: A radial force simulation device for simulating radial forces acting on the planetary roller screws of the humanoid robot joints; An axial force simulation device, the axial force simulation device is used to simulate the axial force on the planetary roller screw of the humanoid robot joint; A control device is electrically connected to the radial force simulation device and the axial force simulation device respectively.

2. The multi-dimensional load testing device for a humanoid robot joint planetary roller screw according to claim 1, characterized in that: The radial force simulation device is a cylinder 2, and the control device is used to control the cylinder 2 to adjust its intake pressure to simulate the target radial load force.

3. The multi-dimensional load testing device for planetary roller screws of humanoid robot joints according to claim 2, characterized in that: The axial force simulation device is a cylinder 1, and the control device is used to control the cylinder 1 to adjust its intake pressure to simulate the target axial load force.

4. The multi-dimensional load testing device for planetary roller screws of humanoid robot joints according to claim 1, characterized in that: The air inlets of cylinders 1 and 2 are both provided with regulating valves, and the outlets of the regulating valves are provided with air pressure sensors 1; several air pressure sensors 2 are both provided in cylinders 1 and 2, and the air pressure sensors 2 are used to detect the pressure in the internal chambers of the cylinders.

5. The multi-dimensional load testing device for planetary roller screws of humanoid robot joints according to claim 4, characterized in that: The regulating valve is a pressure reducing valve.

6. The multi-dimensional load testing device for planetary roller screws of humanoid robot joints according to claim 5, characterized in that: Also includes: Memory: stores the intake time-standard air pressure detection value curve corresponding to each air pressure sensor in the cylinder under each corresponding test air pressure condition at the outlet of the regulating valve of each cylinder; stores the regulating valve control parameter-regulating valve outlet standard air pressure fitting curve of each regulating valve corresponding to each cylinder under the reference air source pressure condition; The control device includes: A first determination module: determines a number of target intake pressures corresponding to the current load test process of each working cylinder based on a number of load forces required to be output by each working cylinder during the current load test process of the multi-dimensional load testing device; Determining a pre-test air pressure range of the working cylinder corresponding to the current load test process based on a plurality of target intake air pressures of each working cylinder; The first control module is used to control the corresponding working cylinder to perform a pre-test before the current load test of the multi-dimensional load testing device; During the pre-test of the working cylinder, the air source pressure is controlled to be the reference air source pressure. By adjusting the control parameters of the regulating valve of the working cylinder, a fitting curve of the regulating valve control parameters corresponding to the current pre-test process of each working cylinder - the actual air pressure at the regulating valve outlet is obtained. The actual air pressure range of the regulating valve outlet of each working cylinder is the pre-test air pressure range of the corresponding working cylinder; A screening module: screening a plurality of first air pressure values ​​from a fitting curve of a control valve control parameter corresponding to a current pre-test process of a current working cylinder and an actual air pressure at a control valve outlet, and determining a first control valve control parameter corresponding to the fitting curve of a control valve control parameter corresponding to a current pre-test process of a current working cylinder and an actual air pressure at a control valve outlet; Determine a second regulating valve control parameter corresponding to a fitting curve of regulating valve control parameter-regulating valve outlet standard pressure under the condition of a reference air source pressure of the current working cylinder at the first air pressure value; A first calculation module: configured to calculate a regulating valve warning value of a current working cylinder based on an absolute difference between a first regulating valve control parameter of the current working cylinder and a corresponding second regulating valve control parameter; The first warning module is used to issue a warning when the warning value of the regulating valve of the current working cylinder is greater than the corresponding first warning value.

7. The multi-dimensional load testing device for planetary roller screws of humanoid robot joints according to claim 6, characterized in that: The control device further comprises: Pre-test and early warning module: used to determine whether the air pressure status of each working cylinder is abnormal based on pre-test; when the air pressure status of any working cylinder is abnormal, an early warning is issued.

8. The multi-dimensional load testing device for planetary roller screws of humanoid robot joints according to claim 7, characterized in that: The control device further comprises: The second control module is used when the first warning module, pre-test and warning module have no warning. According to the load forces required to be output by each working cylinder during the current load test and the fitting curve of the regulating valve control parameters corresponding to the current pre-test process - the actual air pressure at the regulating valve outlet, the regulating valve control parameters corresponding to each load force of the working cylinder are determined; During the current load test, the corresponding regulating valve is controlled to operate according to the regulating valve control parameters corresponding to each load force of the working cylinder.

9. The multi-dimensional load testing device for planetary roller screws of humanoid robot joints according to claim 7, characterized in that: The pre-test and early warning modules include: Control unit: used for controlling the working cylinder to work when the first early warning module does not alarm, so that the outlet air pressure of the corresponding regulating valve is the different target intake air pressure corresponding to the corresponding current load test process until the corresponding load force output action is completed, thereby completing the corresponding air pressure pre-test process. In each pre-test process, the outlet air pressure of the regulating valve is a target intake air pressure. In each air pressure pre-test process, the air pressure sensor 2 is controlled to perform multiple tests to obtain the intake time-actual air pressure detection value curve corresponding to each air pressure sensor 2; A similarity determination unit is configured to compare the intake time-actual air pressure detection value curve corresponding to each air pressure sensor 2 with the intake time-standard air pressure detection value curve corresponding to each air pressure sensor 2 under the corresponding target intake pressure to determine the corresponding similarity; When any similarity is less than the preset value, an early warning is issued.

10. The multi-dimensional load testing device for planetary roller screws of humanoid robot joints according to claim 7, characterized in that: Based on the target intake air pressure, the pre-test air pressure range of each working cylinder corresponding to the current load test process is determined as follows: ； in, The lower limit of the pre-test pressure range of the current working cylinder, The upper limit of the pre-test air pressure range of the current working cylinder; ； ； ； ； in, is the minimum target intake pressure of the current working cylinder, The maximum target intake pressure of the current working cylinder; is the minimum negative error allowed for the cylinder output load force during the pre-test of the current working cylinder, and S is the effective area of ​​the piston of the current working cylinder; is the efficiency of the current working cylinder; The minimum safe intake pressure for the current working cylinder to work normally; The lowest possible pressure fluctuation value in the gas circuit corresponding to the current working cylinder; It is the maximum positive error allowed for the cylinder output load force during the pre-test of the current working cylinder; It is the highest safe intake pressure for the current working cylinder to work normally. It is the maximum pressure fluctuation value that may occur in the gas circuit corresponding to the current working cylinder.

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