Connecting rod mechanism testing tool and testing method

Abstract

The invention provides a testing tool and a testing method for a connecting rod mechanism, and relates to the technical field of testing tools. The connecting rod mechanism testing tool comprises a frame body, a first displacement mechanism, a second displacement mechanism and a third displacement mechanism. The first displacement mechanism is used for achieving rotation along a first path and a second path, and the plane where the first path is located is perpendicular to the plane where the second path is located. The second displacement mechanism is used for achieving linear motion of the third path. The third displacement mechanism is used for realizing linear motion along a fourth path; the fourth path is perpendicular to the third path; and a fourth moving part in the third displacement mechanism is used for mounting a multi-connecting-rod mechanism. The testing method provided by the invention is applied to the connecting rod mechanism testing tool. According to the link mechanism testing tool and testing method provided by the invention, the technical problem that whether the observation equipment can accurately complete observation cannot be known in the prior art can be solved.

Description

Technical Field

[0001] This invention relates to the field of testing fixture technology, and more specifically, to a testing fixture and method for linkage mechanisms. Background Technology

[0002] In the field of geological observation equipment, all kinds of equipment are emerging. There are devices designed to improve observation accuracy, devices designed to improve convenience, and devices that take both accuracy and convenience into account. However, there is no equipment in the current technology to test observation equipment. Operators have difficulty knowing whether the observation equipment is damaged and has reduced accuracy, or whether the observation equipment can accurately complete the observation. Summary of the Invention

[0003] The technical problem solved by this invention is how to improve the existing technology that cannot determine whether the observation equipment can accurately complete the observation.

[0004] The embodiments of the present invention can be implemented as follows: This invention provides a linkage mechanism testing fixture for testing multi-link mechanisms. The linkage mechanism testing fixture includes: Frame: A first displacement mechanism includes a fixed block, a movable block, and a first driving component. The movable block is movably connected to the fixed block. The driving component is connected to the fixed block and is used to drive the movable block to rotate along a first path and a second path. The plane containing the first path and the plane containing the second path are perpendicular to each other. The second displacement mechanism includes a first moving part, a second moving part, and a second driving component. The first moving part is connected to the movable block, the second moving part is movably connected to the first moving part, and the second driving component is connected to the first moving part and is used to drive the second moving part to move linearly along a third path. The third displacement mechanism includes a third moving part, a fourth moving part, and a third driving assembly. The third moving part is fixedly connected to the second moving part, and the fourth moving part is movably connected to the third moving part. The third driving assembly is connected to the third moving part and is used to drive the fourth moving part to move linearly along a fourth path. The fourth path is perpendicular to the third path. The fourth moving part is used to mount the multi-link mechanism.

[0005] The advantages of the linkage mechanism testing fixture provided by this invention compared to the prior art include: When it is necessary to test the accuracy of a multi-link mechanism, one of the moving structures of the multi-link mechanism is connected to a fourth moving part, and the other moving structure is fixed to the frame. The movement of the fourth moving part can then simulate the movement of the moving structures of the multi-link mechanism. Based on this, by recording the driving distances of the first, second, and third drive components, the movement distance parameters of the fourth moving part can be calculated. Simultaneously, the movement distance parameters of the moving structures connected to the fourth moving part can be measured using sensors on the multi-link mechanism. By comparing these measurements, it can be determined whether the calculated accuracy of the multi-link mechanism meets the requirements. This linkage mechanism testing fixture is simple to assemble and operate, and can quickly complete the accuracy calculation of multi-link mechanisms. It improves upon the technical problem in existing technologies where it is impossible to determine whether the observation equipment can accurately complete the observation, and also improves the efficiency of the calculation.

[0006] Optionally, the first displacement mechanism further includes a first rolling part and a second rolling part, which are spaced apart between the fixed block and the movable block. When the first driving component drives the movable block to move, the movable block rotates around the first rolling part, and the second rolling part rolls between the fixed block and the movable block.

[0007] Optionally, the fixed block is provided with a first positioning hole, and the movable block is provided with a second positioning hole corresponding to the first positioning hole; the first rolling part is spherical, and the first rolling part is inserted into the first positioning hole and the second positioning hole. And / or, the fixing block is provided with a third positioning hole; the second rolling part is spherical, and one side of the second rolling part is inserted into the third positioning hole.

[0008] Optionally, the first displacement mechanism further includes a support portion, the two ends of which abut against the fixed block and the movable block, respectively.

[0009] Optionally, the fixing block is provided with a first mounting hole, the inner diameter of the first mounting hole is larger than the diameter of the support part, and one end of the support part is inserted into the first mounting hole; And / or, the movable block is provided with a second mounting hole, the inner diameter of the second mounting hole is larger than the diameter of the support part, and one end of the support part is inserted into the second mounting hole.

[0010] Optionally, the first drive assembly includes a first support portion, a second support portion, a first drive knob, and a second drive knob; the first support portion is fixedly connected to the fixed block, and the second support portion is fixedly connected to the movable block; the first drive knob is threadedly engaged with the first support portion and passes through the first support portion to abut against the second support portion; the second drive knob is threadedly engaged with the second support portion and passes through the second support portion to abut against the first support portion; the screw-in direction of the first drive knob is perpendicular to the screw-in direction of the second drive knob.

[0011] Optionally, the second moving part is provided with two guide blocks, the first moving part is provided with a sliding block, the sliding block is disposed between the two guide blocks, and the second driving component is used to drive the sliding block to slide between the two guide blocks.

[0012] Optionally, the third moving mechanism further includes a third support portion and a fourth support portion; the third support portion is fixedly connected to the third moving portion, and the fourth support portion is fixedly connected to the fourth moving portion; the third driving component is disposed on the third support portion and abuts against the fourth support portion, and the third driving component is used to push or pull the fourth support portion to move.

[0013] Optionally, the linkage mechanism testing fixture further includes an inclined block, which is fixedly connected to the top of the frame and forms an inclined surface below the inclined block, and the fixing block is fixedly connected to the inclined surface.

[0014] A testing method for the aforementioned linkage mechanism testing fixture, the testing method comprising: Control the operation of at least one of the first drive component, the second drive component, and the third drive component; Obtain the travel distance parameter of at least one completed drive on the first path, the second path, the third path, and the fourth path; The actual movement distance parameter of the fourth moving unit is calculated based on the movement distance parameter. Obtain the displacement parameters detected by the sensors on the multi-link mechanism; The measured movement distance parameter of the part connected to the fourth moving part is calculated based on the displacement parameter; Compare the actual movement distance parameters with the measured movement distance parameters; If the difference between the actual movement distance parameter and the measured movement distance parameter is within a preset range, it indicates that the multi-link mechanism has qualified measurement accuracy. If the difference between the actual moving distance parameter and the measured moving distance parameter is outside the preset range, it indicates that the calculation accuracy of the multi-link mechanism is unqualified.

[0015] The testing method provided by this invention is applied to the above-mentioned linkage mechanism testing fixture. The beneficial effects of this testing method compared to the prior art are the same as the beneficial effects of the above-mentioned linkage mechanism testing fixture compared to the prior art, and will not be repeated here. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the linkage testing fixture provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the first displacement mechanism provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the second displacement mechanism provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the third displacement mechanism provided in the embodiments of this application; Figure 5 This is a flowchart of the testing method provided in the embodiments of this application.

[0018] Icons: Linkage mechanism testing fixture 10, multi-link mechanism 11, moving structure 12, frame 100, first displacement mechanism 200, fixed block 210, moving block 220, first drive assembly 230, first support part 231, second support part 232, first drive knob 233, second drive knob 234, first rolling part 240, second rolling part 250, support part 260, second displacement mechanism 300, first moving part 310, sliding block 311, second moving part 320, guide block 321, second drive assembly 330, third displacement mechanism 400, third moving part 410, fourth moving part 420, third drive assembly 430, third support part 440, fourth support part 450, inclined block 500. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0023] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0024] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0025] Please refer to the following: Figures 1 to 4 This embodiment provides a linkage mechanism testing fixture 10 for calculating the detection accuracy of a multi-link mechanism 11. In other words, it can be used to calculate and determine whether the detection accuracy of the multi-link mechanism 11 meets the requirements. The multi-link mechanism 11 can be a six-bar linkage or other multi-degree-of-freedom linkage mechanism. This linkage mechanism testing fixture 10 can improve the technical problem in the prior art where it is impossible to know whether the observation equipment can accurately complete the observation.

[0026] It should be noted that the multi-link mechanism 11 includes two vertically arranged movable structures 12 and multiple connecting rods disposed between the two movable structures 12. The multiple connecting rods are hinged to the movable structures 12, allowing the two movable structures 12 to move relative to each other. The synchronous movement of the multiple connecting rods reflects the movement of the two movable structures 12. Based on this, sensors are installed on the multiple connecting rods, and the movement of the two movable structures 12 can be measured based on the data detected by the sensors. In other words, the linkage mechanism testing fixture 10 provided in this embodiment is used to detect whether the data measured by the sensors on the connecting rods in the multi-link mechanism 11 meets the accuracy requirements.

[0027] In this embodiment, the linkage mechanism testing fixture 10 includes a frame 100, a first displacement mechanism 200, a second displacement mechanism 300, and a third displacement mechanism 400. The first displacement mechanism 200 includes a fixed block 210, a movable block 220, and a first drive assembly 230. The movable block 220 is movably connected to the fixed block 210. The drive assembly is connected to the fixed block 210 and drives the movable block 220 to rotate along a first path and a second path, wherein the plane containing the first path and the plane containing the second path are perpendicular. The second displacement mechanism 300 includes a first moving part 310, a second moving part 320, and a second drive assembly 330. The first moving part 310 is connected to the movable block 220, the second moving part 320 is movably connected to the first moving part 310, and the second drive assembly 330 is connected to the first moving part 310 and drives the second moving part 320 to move linearly along a third path. The third displacement mechanism 400 includes a third moving part 410, a fourth moving part 420, and a third drive assembly 430. The third moving part 410 is fixedly connected to the second moving part 320, and the fourth moving part 420 is movably connected to the third moving part 410. The third drive assembly 430 is connected to the third moving part 410 and is used to drive the fourth moving part 420 to move linearly along a fourth path. The fourth path is perpendicular to the third path. The fourth moving part 420 is used to mount the multi-link mechanism 11.

[0028] The movement along the first, second, third, and fourth paths can be considered as movement in four degrees of freedom. Of course, in other embodiments, with the first displacement mechanism 200, the second displacement mechanism 300, and the third displacement mechanism 400 already in place, a fourth displacement mechanism can be added to complete the displacement detection and calculation for the fifth path, or more displacement mechanisms can be added to complete the displacement detection and calculation for more degrees of freedom.

[0029] As described above, when it is necessary to test the detection accuracy of the multi-link mechanism 11, one of the moving structures 12 of the multi-link mechanism 11 is connected to the fourth moving part 420, and the other moving structure 12 is fixed to the frame 100. The movement of the fourth moving part 420 can then simulate the movement of the moving structure 12 of the multi-link mechanism 11. Based on this, by recording the driving distances of the first drive assembly 230, the second drive assembly 330, and the third drive assembly 430, the movement distance parameter of the fourth moving part 420 can be calculated. Simultaneously, the measured movement distance parameter of the moving structure 12 connected to the fourth moving part 420 can be measured using sensors on the multi-link mechanism 11. By comparison, it can be determined whether the measurement accuracy of the multi-link mechanism 11 meets the requirements. This linkage mechanism testing fixture 10 is simple to assemble and operate, and can quickly complete the accuracy measurement of the multi-link mechanism 11, improving the technical problem in the prior art where it is impossible to know whether the observation equipment can accurately complete the observation, and also improving the efficiency of the measurement.

[0030] It is worth noting that since the first displacement mechanism 200, the second displacement mechanism 300, and the third displacement mechanism 400 are connected in series, when the first drive component 230 in the first displacement mechanism 200 is running, it will synchronously drive the second displacement mechanism 300 and the third displacement mechanism 400 to move; similarly, when the second drive component 330 is running, it will synchronously drive the third displacement mechanism 400 to move; and when the third drive component 430 is running, it will drive one of the moving structures 12 of the multi-link mechanism 11 to move via the fourth moving part 420. Since the movement mode of the fourth moving part 420 is synchronized with the movement mode of the moving structure 12 of the multi-link mechanism 11, the reliability of the parameters measured by the sensors in the multi-link mechanism 11 can be determined by comparing the movement parameters of the fourth moving part 420 with the measured parameters of the moving structure 12.

[0031] In this embodiment, the first displacement mechanism 200 further includes a first rolling part 240 and a second rolling part 250. The first rolling part 240 and the second rolling part 250 are spaced apart between the fixed block 210 and the movable block 220. When the first driving assembly 230 drives the movable block 220 to move, the movable block 220 rotates around the first rolling part 240, and the second rolling part 250 rolls between the fixed block 210 and the movable block 220. On the one hand, the arrangement of the first rolling part 240 and the second rolling part 250 creates a gap between the fixed block 210 and the movable block 220, which can prevent friction between them from affecting the acquisition of parameters; on the other hand, it can also improve the sensitivity of the relative movement between the fixed block 210 and the movable block 220.

[0032] Furthermore, to ensure the stability of the first rolling part 240, in this embodiment, the fixed block 210 has a first positioning hole, and the movable block 220 has a second positioning hole corresponding to the first positioning hole; the first rolling part 240 is spherical, and the first rolling part 240 is fitted into the first positioning hole and the second positioning hole. The first positioning hole and the second positioning hole provide a limit to the first rolling part 240, ensuring the positional stability of the first rolling part 240 during the rotation of the movable block 220 relative to the fixed block 210, thereby ensuring the accuracy of the data obtained after the first driving assembly 230 completes its driving. And / or, the fixed block 210 has a third positioning hole; the second rolling part 250 is spherical, and one side of the second rolling part 250 is fitted into the third positioning hole. Similarly, the third positioning hole is used to ensure the stability of the second rolling part 250 relative to the fixed block 210, which on the one hand improves the stability of data acquisition, and on the other hand prevents the second rolling part 250 from detaching from the fixed block 210 and the movable block 220.

[0033] When "and / or" is used, it means that only the first and second positioning holes can be provided to restrict the first rolling part 240; or only the third positioning hole can be provided to restrict the second rolling part 250. If the first and second positioning holes are not provided, other methods can be used to restrict the first rolling part 240, such as magnetic attraction. Similarly, if the third positioning hole is not provided, magnetic attraction or other methods can be used to restrict the second rolling part 250. Alternatively, the first, second, and third positioning holes can be provided simultaneously to restrict both the first rolling part 240 and the second rolling part 250.

[0034] It is worth noting that since the plane of the first path is perpendicular to the plane of the second path, it means that during the rotation of the first rolling part 240 around the center, it needs to provide a rotation center axis with multiple different angles. Therefore, the first rolling part 240 is set as a sphere to meet the above requirements. In addition, since the required rotation angle is small during the torsional rotation driven by the first drive assembly 230 and the second drive assembly 330 during the calculation process, the third positioning hole can also satisfy the purpose of restricting the second rolling part 250 and prevent the second rolling part 250 from falling off.

[0035] In this embodiment, to ensure the stability of the fixed block 210 and the movable block 220, the first displacement mechanism 200 further includes a support portion 260, with both ends of the support portion 260 abutting against the fixed block 210 and the movable block 220, respectively. By having the support portion 260 abut against the fixed block 210 and the movable block 220, spontaneous proximity between the fixed block 210 and the movable block 220 can be prevented, ensuring their stability. It is worth noting that since the first drive assembly 230 calculates a small rotation angle required for the drive operation, the support portion 260 does not affect the rotation of the movable block 220.

[0036] Furthermore, to ensure the stability of the support 260, the fixing block 210 has a first mounting hole with an inner diameter larger than the diameter of the support 260, and one end of the support 260 is inserted into the first mounting hole. Alternatively, the movable block 220 has a second mounting hole with an inner diameter larger than the diameter of the support 260, and one end of the support 260 is inserted into the second mounting hole. When "and / or" is used, only the first mounting hole, only the second mounting hole, or both can be provided.

[0037] In this embodiment, the first drive assembly 230 includes a first support portion 231, a second support portion 232, a first drive knob 233, and a second drive knob 234. The first support portion 231 is fixedly connected to the fixed block 210, and the second support portion 232 is fixedly connected to the movable block 220. The first drive knob 233 is threadedly engaged with the first support portion 231 and passes through the first support portion 231 to abut against the second support portion 232. The second drive knob 234 is threadedly engaged with the second support portion 232 and passes through the second support portion 232 to abut against the first support portion 231. The screw-in direction of the first drive knob 233 is perpendicular to the screw-in direction of the second drive knob 234. By turning the first drive knob 233 or the second drive knob 234, the first drive assembly 230 can drive the movable block 220. The threaded design allows for smaller angle rotations, facilitating control. Furthermore, after rotation, the thread provides self-locking, improving stability.

[0038] Optionally, the second moving part 320 is provided with two guide blocks 321, and the first moving part 310 is provided with a sliding block 311. The sliding block 311 is located between the two guide blocks 321, and the second driving assembly 330 is used to drive the sliding block 311 to slide between the two guide blocks 321. The second driving assembly 330 can use hydraulic, electric motor, or linkage pushing structure to drive the sliding block 311.

[0039] Optionally, the third moving mechanism further includes a third support portion 440 and a fourth support portion 450; the third support portion 440 is fixedly connected to the third moving portion 410, and the fourth support portion 450 is fixedly connected to the fourth moving portion 420; a third drive assembly 430 is disposed on the third support portion 440 and abuts against the fourth support portion 450, and the third drive assembly 430 is used to push or pull the fourth support portion 450 to move. The third drive assembly 430 can be a threaded screw-in type or a motor-driven type, etc.

[0040] In this embodiment, the linkage mechanism testing fixture 10 further includes a wedge block 500, which is fixedly connected to the top of the frame 100, and forms an inclined surface below the wedge block 500. A fixing block 210 is fixedly connected to the inclined surface. The wedge block 500 ensures that the overall movement of the first displacement mechanism 200, the second displacement mechanism 300, and the third displacement mechanism 400 is in an inclined state. This facilitates operation by the operator and ensures smooth operation of the first displacement mechanism 200, the second displacement mechanism 300, and the third displacement mechanism 400.

[0041] Based on the linkage mechanism testing fixture 10 provided above, this embodiment also provides a testing method, which can be executed by the linkage mechanism testing fixture 10 to complete the measurement accuracy detection of the multi-link mechanism 11.

[0042] In this embodiment, please refer to Figure 5 The testing methods include: Step S1: Control the operation of at least one of the first drive component 230, the second drive component 330 and the third drive component 430.

[0043] Step S2: Obtain the travel distance parameters of at least one completed drive on the first path, second path, third path and fourth path.

[0044] It should be noted that when using a linkage mechanism calculation device to perform accuracy testing on the multi-link mechanism 11, various forms of testing can be performed based on the first drive assembly 230, the second drive assembly 330, and the third drive assembly 430. For example, only the first drive assembly 230 can be used to drive one degree of freedom to complete the measurement and testing of one degree of freedom; another example is that the first drive assembly 230 and the second drive assembly 330 can be used to drive two or three degrees of freedom to complete the measurement and testing of multiple degrees of freedom; yet another example is that the first drive assembly 230, the second drive assembly 330, and the third drive assembly 430 can be used to drive four degrees of freedom to complete the measurement and testing of multiple degrees of freedom. In other words, one or more parameters can be used for multiple calculations and tests, thereby improving the accuracy of the accuracy test.

[0045] Step S3: Calculate the actual moving distance parameters of the fourth moving unit 420 based on the moving distance parameters.

[0046] Step S4: Obtain the displacement parameters detected by the sensors on the multi-link mechanism 11.

[0047] Step S5: Calculate the measured movement distance parameters of the part connected to the fourth moving part 420 based on the displacement parameters.

[0048] It is worth noting that steps S2 and S3 can be placed after steps S4 and S5. In other words, the acquisition and calculation of the data detected by the sensors on the multi-link mechanism 11 can be completed first, and then the acquisition and calculation of the driving parameters on the linkage mechanism test fixture 10 can be completed.

[0049] Step S6: Compare the actual movement distance parameters with the measured movement distance parameters.

[0050] Step S61: If the difference between the actual moving distance parameter and the measured moving distance parameter is within the preset range, it indicates that the multi-link mechanism 11 has qualified measurement accuracy.

[0051] Step S62: If the difference between the actual moving distance parameter and the measured moving distance parameter is outside the preset range, it indicates that the calculation accuracy of the multi-link mechanism 11 is unqualified.

[0052] Since the fourth moving part 420 and the moving structure 12 on the multi-link mechanism 11 move synchronously, by comparing the actual moving distance parameter of the fourth moving part 420 with the measured moving distance parameter of the moving structure 12 on the multi-link mechanism 11, it can be determined whether the detection accuracy of the sensor on the multi-link mechanism 11 meets the requirements.

[0053] In summary, the linkage mechanism testing fixture 10 and testing method provided in this embodiment can calculate the movement distance parameters of the fourth moving part 420 by recording the driving distances of the first driving component 230, the second driving component 330, and the third driving component 430. Simultaneously, the measured movement distance parameters of the moving structure 12 connected to the fourth moving part 420 can be measured based on the sensors on the multi-link mechanism 11. By comparison, it can be determined whether the measurement accuracy of the multi-link mechanism 11 meets the requirements. This linkage mechanism testing fixture 10 is simple to assemble and operate, and can quickly complete the accuracy measurement of the multi-link mechanism 11, improving the technical problem in the prior art where it is impossible to know whether the observation equipment can accurately complete the observation, and also improving the efficiency of the measurement.

[0054] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A linkage mechanism testing fixture (10) for testing multi-link mechanisms (11), characterized in that, The linkage mechanism testing fixture (10) includes: Frame (100): The first displacement mechanism (200) includes a fixed block (210), a movable block (220), and a first drive assembly (230). The movable block (220) is movably connected to the fixed block (210). The drive assembly is connected to the fixed block (210) and is used to drive the movable block (220) to rotate along a first path and a second path. The plane of the first path and the plane of the second path are perpendicular to each other. The second displacement mechanism (300) includes a first moving part (310), a second moving part (320), and a second drive assembly (330). The first moving part (310) is connected to the movable block (220), the second moving part (320) is movably connected to the first moving part (310), and the second drive assembly (330) is connected to the first moving part (310) and is used to drive the second moving part (320) to move linearly along a third path. The third displacement mechanism (400) includes a third moving part (410), a fourth moving part (420), and a third drive assembly (430). The third moving part (410) is fixedly connected to the second moving part (320), and the fourth moving part (420) is movably connected to the third moving part (410). The third drive assembly (430) is connected to the third moving part (410) and is used to drive the fourth moving part (420) to move linearly along a fourth path. The fourth path is perpendicular to the third path. The fourth moving part (420) is used to mount the multi-link mechanism (11).

2. The linkage mechanism testing fixture (10) according to claim 1, characterized in that, The first displacement mechanism (200) further includes a first rolling part (240) and a second rolling part (250). The first rolling part (240) and the second rolling part (250) are spaced apart between the fixed block (210) and the movable block (220). When the first driving component (230) drives the movable block (220) to move, the movable block (220) rotates around the first rolling part (240) as the center, and the second rolling part (250) rolls between the fixed block (210) and the movable block (220).

3. The linkage mechanism testing fixture (10) according to claim 2, characterized in that, The fixed block (210) has a first positioning hole, and the movable block (220) has a second positioning hole corresponding to the first positioning hole; the first rolling part (240) is spherical, and the first rolling part (240) is inserted into the first positioning hole and the second positioning hole. And / or, a third positioning hole is provided on the fixing block (210); the second rolling part (250) is spherical, and one side of the second rolling part (250) is inserted into the third positioning hole.

4. The linkage mechanism testing fixture (10) according to claim 2, characterized in that, The first displacement mechanism (200) further includes a support (260), the two ends of which abut against the fixed block (210) and the movable block (220), respectively.

5. The linkage mechanism testing fixture (10) according to claim 4, characterized in that, The fixing block (210) has a first mounting hole, the inner diameter of which is larger than the diameter of the support part (260), and one end of the support part (260) is inserted into the first mounting hole. And / or, the movable block (220) is provided with a second mounting hole, the inner diameter of the second mounting hole is larger than the diameter of the support part (260), and one end of the support part (260) is inserted into the second mounting hole.

6. The linkage mechanism testing fixture (10) according to claim 1, characterized in that, The first drive assembly (230) includes a first support portion (231), a second support portion (232), a first drive knob (233), and a second drive knob (234); the first support portion (231) is fixedly connected to the fixed block (210), and the second support portion (232) is fixedly connected to the movable block (220); the first drive knob (233) is threadedly engaged with the first support portion (231) and passes through the first support portion (231) to abut against the second support portion (232); the second drive knob (234) is threadedly engaged with the second support portion (232) and passes through the second support portion (232) to abut against the first support portion (231); the screw-in direction of the first drive knob (233) is perpendicular to the screw-in direction of the second drive knob (234).

7. The linkage mechanism testing fixture (10) according to claim 1, characterized in that, The second moving part (320) is provided with two guide blocks (321), and the first moving part (310) is provided with a sliding block (311). The sliding block (311) is located between the two guide blocks (321), and the second driving component (330) is used to drive the sliding block (311) to slide between the two guide blocks (321).

8. The linkage mechanism testing fixture (10) according to claim 1, characterized in that, The third moving mechanism further includes a third support portion (440) and a fourth support portion (450); the third support portion (440) is fixedly connected to the third moving portion (410), and the fourth support portion (450) is fixedly connected to the fourth moving portion (420); the third drive assembly (430) is disposed on the third support portion (440) and abuts against the fourth support portion (450), and the third drive assembly (430) is used to push or pull the fourth support portion (450) to move.

9. The linkage mechanism testing fixture (10) according to any one of claims 1-8, characterized in that, The linkage mechanism testing fixture (10) also includes a wedge block (500), which is fixedly connected to the top of the frame (100) and forms an inclined surface below the wedge block (500), and the fixing block (210) is fixedly connected to the inclined surface.

10. A testing method, characterized in that, The testing method, applied to the linkage mechanism testing fixture (10) as described in any one of claims 1-9, comprises: Control the operation of at least one of the first drive component (230), the second drive component (330), and the third drive component (430); Obtain the travel distance parameter of at least one completed drive on the first path, the second path, the third path, and the fourth path; The actual movement distance parameter of the fourth moving unit (420) is calculated based on the movement distance parameter; Obtain the displacement parameters detected by the sensors on the multi-link mechanism (11); The measured movement distance parameter of the part connected to the fourth moving part (420) is calculated based on the displacement parameter; Compare the actual movement distance parameters with the measured movement distance parameters; If the difference between the actual moving distance parameter and the measured moving distance parameter is within a preset range, it indicates that the multi-link mechanism (11) has qualified measurement accuracy. If the difference between the actual moving distance parameter and the measured moving distance parameter is outside the preset range, it indicates that the multi-link mechanism (11) has unqualified measurement accuracy.

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