Testing device

Abstract

The invention relates to the technical field of testing devices, and particularly provides a testing device. The testing device is used for detecting a master-slave device, the master-slave device comprises a master manipulator and a slave manipulator which have a mapping relation, the testing device can be provided with the master manipulator, the testing device comprises a supporting piece, a guiding piece and a movable piece, the guiding piece is fixed to the supporting piece, and the movable piece is slidably connected with the guiding piece and can move in the extending direction of the guiding piece. And the movable part can be connected with the main hand. The movable part can drive the master manipulator to do linear motion in the extending direction of the guide part, and according to the actual motion of the master manipulator on the guide part and the theoretical motion and the actual motion of the slave manipulator, the control error of the master manipulator to the slave manipulator and the control accuracy of the master manipulator to the slave manipulator can be obtained.

Description

Technical Field

[0001] This application relates to the field of testing device technology, and specifically provides a testing device. Background Technology

[0002] Master-slave control is a design methodology for control systems. Its core lies in establishing a mapping relationship between the master and slave operators and designing corresponding control algorithms to achieve complete master-slave control. In a master-slave control system, the operator performs operations through the master operator, and the master operator's actions are mapped to the slave operator through the control system, thus achieving control over the slave operator. However, when errors occur in the master operator's control of the slave operator, due to the lack of testing equipment, these errors will persist, easily leading to operational accidents. Summary of the Invention

[0003] This application aims to solve the aforementioned technical problem, namely, to solve the problem that there is no detection device capable of detecting control errors between the master and slave hands in a master-slave device.

[0004] This application provides a testing device for testing a master-slave device. The master-slave device includes a master hand and a slave hand with a mapping relationship. The testing device can be equipped with the master hand. The testing device includes: a support member; a guide member fixed to the support member; and a movable member slidably connected to the guide member and movable along the extension direction of the guide member. The movable member can be connected to the master hand.

[0005] In the optional technical solutions of the above-mentioned testing device, a rotating component is also included. The movable component is provided with a guide rail, and the rotating component is rotatably disposed on the movable component along the guide rail. The rotating component can be connected to the main hand.

[0006] In the optional technical solutions of the above-mentioned testing device, multiple rollers are also included. The multiple rollers are arranged in two rows, including a first row of rollers and a second row of rollers. The guide rail is formed between the first row of rollers and the second row of rollers. The rotating member is rotatably disposed between the first row of rollers and the second row of rollers.

[0007] In the optional technical solution of the above-mentioned testing device, the rotating component is provided with an arc-shaped groove. The rotating component includes a first side and a second side. The rotation centers of the first side, the second side, and the arc-shaped groove all coincide with the rotation center of the rotating component. The arc-shaped groove is located between the first side and the second side. The first row of rollers is located in the arc-shaped groove, and the second row of rollers is located on either the first side or the second side.

[0008] In the optional technical solution of the above-mentioned testing device, the testing device further includes a knob, one end of which passes through the arc-shaped groove and is connected to the movable part, so that when the knob is tightened, the other end of the knob presses against the rotating part, and the rotating part is fixed to the movable part. When the knob is loosened, the other end of the knob is separated from the rotating part, and the rotating part can rotate on the movable part.

[0009] In the optional technical solutions of the above-mentioned testing device, there are multiple equally spaced scale lines along the arc length direction of the arc groove. The scale lines are used to mark the angle range corresponding to the arc groove, and the other end of the knob can be pressed as a pointer on the scale line.

[0010] In the optional technical solution of the above-mentioned testing device, a limiting groove is provided on the side of the rotating component facing away from the moving component. The limiting groove is used to cooperate with the main hand for limiting, and the limiting groove is located at the end of the rotating component.

[0011] In the optional technical solution of the above-mentioned testing device, the rotating component is further provided with a mounting bolt. The mounting bolt is located at the edge of the limiting groove and a portion of the mounting bolt covers the top surface of the limiting groove, so that when the main hand is fixed in the limiting groove, the mounting bolt can be pressed against the surface of that part of the main hand.

[0012] In the optional technical solutions of the above-mentioned testing device, the end of the movable component away from the support component is provided with a mounting position, and the main hand can be connected to the mounting position; and / or, the two ends of the rotating component rotating along the guide rail are respectively provided with mounting holes, and the mounting holes are used to install the test piece; and / or, the extension direction of the guide component is perpendicular to the rotation plane of the rotating component.

[0013] In the optional technical solutions of the above-mentioned testing device, the support member has a first groove on the side facing away from the guide member, the first groove being recessed towards the guide member; and / or, the support member has a second groove on the side facing away from the guide member, the second groove being recessed towards the guide member, the second groove being used to cooperate with other equipment so that the support member can be installed on other equipment; and / or, the support member has a side groove penetrating the support member, the side groove being a bolt installation channel so that one end of the bolt can pass through the support member and be fixed to other equipment; and / or, the support member has a limiting part on the side facing away from the guide member, the limiting part being used to cooperate with the mounting part of the main hand for limiting.

[0014] In the optional technical solutions of the above-mentioned testing device, a driving component is also included. The driving component is drivingly connected to the movable component, and the driving component drives the movable component to move along the extension direction of the guide component.

[0015] In the optional technical solution of the above-mentioned testing device, the driving component includes a motor and a lead screw nut. The motor is fixed to the support component, the lead screw nut is parallel to the guide component, the lead screw nut is fixedly connected to the movable component, and the motor can drive the lead screw nut to move along the extension direction of the lead screw nut.

[0016] With the above technical solution, this application can install the master hand on the testing device, and the moving part can drive the master hand to make linear movements along the extension direction of the guide. Based on the actual movement of the master hand on the guide and the theoretical and actual movement of the slave hand, the control error of the master hand on the slave hand and the control accuracy of the master hand on the slave hand can be obtained. Attached Figure Description

[0017] The preferred embodiments of this application are described below with reference to the accompanying drawings, in which:

[0018] Figure 1 This is a first schematic diagram of the test apparatus of this application;

[0019] Figure 2 This is a second schematic diagram of the testing apparatus of this application;

[0020] Figure 3 yes Figure 2 Front view of the test apparatus in the middle;

[0021] Figure 4 yes Figure 3 Enlarged view of point A in the middle;

[0022] Figure 5 This is a bottom view of the support component of the test device of this application;

[0023] Figure 6 This is a schematic diagram of the test device of this application with the main arm installed.

[0024] List of reference numerals in the attached diagram:

[0025] 1. Testing device; 11. Support component; 111. First groove; 112. Second groove; 113. Side groove; 12. Guide component; 13. Movable component; 130. Roller; 131. First row of rollers; 132. Second row of rollers; 133. Mounting position; 134. Guide rail; 14. Rotating component; 141. Arc groove; 142. First side; 143. Second side; 144. Scale line; 145. Limiting groove; 146. Mounting bolt; 1471. First mounting hole; 1472. Second mounting hole; 148. Rotation center of rotating component; 15. Drive component; 151. Lead screw nut; 152. Motor; 16. Knob; 17. Limiting part; 2. Main handle; 21. Rotating part; 22. Connecting part; 23. Mounting part. Detailed Implementation

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. In the following description relating to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The terms “first,” “second,” and similar terms used in this specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. “A plurality of” means two or more.

[0027] Unless otherwise stated, the orientation or positional relationship indicated by "upper", "lower", "top", "bottom", "inner", and "outer" is based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this application and simplifying the description, and is not intended to 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 application.

[0028] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Furthermore, "connection" should be interpreted broadly; 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 a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0029] It should be noted that the reference Figure 2 The x-direction is the extension direction of the guide member 12, which is also the extension direction of the lead screw nut 151. The rotation plane of the rotating member 14 is the yz plane, where the x-direction, y-direction, and z-direction are perpendicular to each other.

[0030] Combination Figure 1 , Figure 2 and Figure 6 This application provides a testing device 1 for detecting master-slave devices. The master-slave devices include a master hand 2 and a slave hand (not shown in the figure) with a mapping relationship. The testing device 1 can be equipped with the master hand 2. The testing device 1 includes a support member 11, a guide member 12 and a movable member 13. The guide member 12 is fixed to the support member 11. The movable member 13 is slidably connected to the guide member 12 and can move along the extension direction of the guide member 12, i.e., the x-direction. The movable member 13 can be connected to the master hand 2.

[0031] The testing device 1 is mainly used to test the accuracy of the mapping relationship between the master and slave hands of a surgical robot. Master-slave control involves motion control such as tool puncture, tool withdrawal, tool rotation grinding, and tool end engagement. Therefore, the mapping relationship between the master hand 2 and the slave hand needs to be particularly accurate. The testing device 1 of this application can be installed and control the movement of the master hand 2. Since the movement of the master hand 2 and the movement of the slave hand have a certain proportional relationship, the slave hand will also perform corresponding movements during the process of the testing device 1 controlling and testing the movement of the master hand 2. Based on the collected actual movement data of the master hand 2 and the theoretical and actual movement data of the slave hand, the error in the mapping relationship between the master hand 2 and the slave hand can be determined, thereby determining the accuracy of the master-slave control relationship. In addition, the master hand 2 can achieve complete control of the slave hand by eliminating errors or adjusting the parameters of the mapping relationship.

[0032] The master hand 2 is mounted on the testing device 1. The movable part 13 can drive the master hand 2 to move linearly along the extension direction of the guide 12. Based on the movement of the master hand 2 on the guide 12 and the movement of the slave hand, the error of the master hand 2 in controlling the slave hand under linear motion can be tested, thereby obtaining the accuracy relationship between the master hand 2 and the slave hand. Therefore, based on the accuracy relationship between the master hand 2 and the slave hand in linear motion, the control accuracy of the master hand 2 on the slave hand in linear motion can be determined.

[0033] It should be noted that when the testing device 1 controls the movement of the main hand 2, it can control the main hand to move as a whole, or it can control the movement of a portion of the main hand 2. This is not limiting; the device can be configured according to the needs of those skilled in the art, and all of the above are within the scope of protection of this application. Furthermore, this application uses the example of the testing device 1 controlling the movement of a portion of the main hand 2.

[0034] In one embodiment, reference continues... Figure 1 and Figure 2 The testing device 1 also includes a drive component 15, which is driven to move the movable component 13 along the extension direction of the guide component 12. By setting the drive component 15, the movement distance of the movable component 13 can be automatically controlled, thereby automatically controlling the movement distance of the main hand 2, making the testing of the movement distance of the main hand 2 more accurate.

[0035] In one embodiment, reference continues... Figure 1 and Figure 2The driving component 15 includes a motor 152 and a lead screw nut 151. The motor 152 is fixed to the support component 11. The lead screw nut 151 is parallel to the guide component 12 and is fixedly connected to the movable component 13. The motor 152 can drive the lead screw nut 151 to move along the extension direction of the lead screw nut 151. Since the lead screw nut 151 is fixed to the movable component 13, when the motor 152 drives the lead screw nut 151 to move, the movable component 13 moves synchronously with the lead screw nut 151. Since the movable component 13 is slidably connected to the guide component 12, the movable component 13 moves linearly along the extension direction of the guide component 12, i.e., the x-direction, driven by the lead screw nut 151 and guided by the guide component 12. Because the lead screw nut 151 is parallel to the guide component 12, the linear movement of the lead screw nut 151 further ensures the stability of the linear movement of the movable component 13 along the guide component 12. In addition, by automatically controlling the movement of the movable part 13 through the motor 152, the movement distance of the movable part 13 and the main hand 2 can be controlled more precisely, and at the same time, it is easier to obtain the movement data of the main hand 2.

[0036] It should be noted that this application automatically controls the movement distance of the main hand 2 by setting the driving component 15. Of course, the movement distance of the moving component 13 along the x-direction can also be manually controlled. The above is not limiting and can be set according to the needs of those skilled in the art. All of the above are within the protection scope of this application.

[0037] In one embodiment, reference is made to... Figure 2 and Figure 3To further test the rotation angle error between the master hand 2 and the slave hand, the testing device 1 also includes a rotating component 14. The movable component 13 is provided with a guide rail 134. The rotating component 14 is rotatably mounted on the movable component 13 along the guide rail 134 and can be connected to the master hand 2. Since the master hand 2 is connected to the rotating component 14, and the rotating component 14 is connected to the movable component 13, the rotating component 14 can follow the movable component 13 along the extension direction of the guide component 12. When only linear motion testing of the master and slave hands is performed, the rotating component 14 is controlled to remain relatively stationary with respect to the movable component 13. When only the rotation angle relationship between the master and slave hands is tested, the movable part 13 and the guide part 12 are kept in relative motion, and the rotating part 14 is controlled to rotate along the guide rail 134. At this time, the master hand 2 follows the rotating part 14. Based on the mapping relationship between the rotation angle of the master hand 2 and the rotation angle of the slave hand, and the actual measurement data, the control error of the master hand 2 on the slave hand in terms of rotation angle, as well as the control accuracy of the master hand 2 on the slave hand's rotation angle, can be obtained. Subsequently, the precise control of the master hand 2 on the slave hand in terms of rotation angle can be achieved by adjusting the parameters of the mapping relationship or eliminating the error. When it is necessary to test both the linear motion and rotation angle relationship between the master and slave hands simultaneously, it is necessary to control the movable part 13 to move along the x-axis and the rotating part 14 to rotate along the yz plane. The above settings can ensure that the testing device 1 can perform both the accuracy test of the master and slave hands regarding linear motion and the accuracy test regarding rotation angle, thereby further ensuring that the testing device 1 can reflect the master hand 2's control on the slave hand in a comprehensive and high-precision manner.

[0038] In one embodiment, reference is made to... Figure 2 The extension direction (x-axis) of guide member 12 is perpendicular to the rotation plane (yz-plane) of rotating member 14. Therefore, during rotation, rotating member 14 will only experience changes in the y and z coordinates, not in the x-axis. Thus, when only the rotation angle of the master and slave hands needs to be tested, only the changes in the y and z directions need to be recorded, further improving the accuracy of the master and slave hand rotation angle test and reducing the difficulty of recording the master and slave hand rotation angle data.

[0039] In one embodiment, reference is made to... Figures 2 to 4 The testing device 1 also includes multiple rollers 130 arranged in two rows, including a first row of rollers 131 and a second row of rollers 132. A guide rail 134 is formed between the first row of rollers 131 and the second row of rollers 132. A rotating member 14 is rotatably disposed between the first row of rollers 131 and the second row of rollers 132. The guide rail 134 is formed between the first row of rollers 131 and the second row of rollers 132 (the guide rail 134 is...). Figure 4The portion indicated by the bold line (i.e., the part between the first row of rollers 131 and the second row of rollers 132) is used to limit the rotation of the rotating member 14, thereby ensuring that the rotating member 14 moves between the guide rails 134. Since the guide rails 134 formed between the first row of rollers 131 and the second row of rollers 132 allow the rotating member 14 to move around the rotation center 148, the guide rails 134 can guide the rotating member 14, thereby allowing the rotating member 14 to move in a circular motion around the rotation center 148. In addition, since the first row of rollers 131 and the second row of rollers 132 are both rotatably mounted on the movable member 13, the first row of rollers 131 and the second row of rollers 132 can facilitate the rotation of the rotating member 14.

[0040] It should be noted that the guide rail 134 can be formed between the first row of rollers 131 and the second row of rollers 132, or it can be in other forms. For example, the guide rail 134 includes an arc-shaped track, which coincides with the rotation center of the rotating member 14. A pulley is provided on the side of the rotating member 14 facing the arc-shaped track. The pulley can slide along the track on the arc-shaped track, thereby causing the rotating member 14 to rotate along the track of the arc-shaped track and also rotate around its own center. The above is not restrictive and can be set according to the needs of those skilled in the art. All of the above are within the protection scope of this application.

[0041] In one embodiment, reference is made to... Figures 2 to 4 The rotating component 14 has an arc-shaped groove 141. The rotating component 14 includes a first side 142 and a second side 143. The rotation centers of the first side 142, the second side 143, and the arc-shaped groove 141 all coincide with the rotation center 148 of the rotating component 14. The arc-shaped groove 141 is located between the first side 142 and the second side 143. The first row of rollers 131 is located within the arc-shaped groove 141, and the second row of rollers 132 is located either on the first side 142 or the second side 143. Taking the second row of rollers 132 located on the second side 143 as an example, after the rotating component 14 rotates a certain angle, because the first row of rollers 131 is located within the arc-shaped groove 141, the first row of rollers 131 will abut against the edge of the arc-shaped groove 141, causing the rotating component 14 to stop moving. Therefore, the first row of rollers 131 located within the arc-shaped groove 141 can limit the rotation angle of the rotating component 14. In addition, the first row of rollers 131 can also limit the rotation of the rotating part 14 in the z-direction, thereby preventing the rotating part 14 from wobbling up and down.

[0042] It should be noted that the first row of rollers 131 and the second row of rollers 132 can also be respectively set on the first side 142 and the second side 143, which can also guide the rotation of the rotating member 14. The above is not restrictive and can be set according to the needs of those skilled in the art. All of the above are within the protection scope of this application.

[0043] In one embodiment, reference continues... Figure 2 and Figure 3 The testing device 1 also includes a knob 16. One end of the knob 16 passes through an arc-shaped groove 141 and connects to the movable part 13, so that when the knob 16 is tightened, the other end of the knob 16 presses against the rotating part 14, and the rotating part 14 is fixed to the movable part 13. When the knob 16 is loosened, the other end of the knob 16 is separated from the rotating part 14, and the rotating part 14 can rotate on the movable part 13. The knob 16 can control the start and stop of the rotation of the rotating part 14 as needed. When the main hand 2 needs to stop moving, the rotating part 14 is controlled to stop moving. At this time, the knob 16 is tightened, thereby fixing the rotating part 14 to the movable part 13. When the main hand 2 needs to rotate, the knob 16 is loosened, thereby controlling the rotation of the rotating part 14.

[0044] In one embodiment, reference continues... Figure 2 and Figure 3 The knob 16 can also be used as a pointer. Multiple equally spaced scale lines 144 are arranged along the arc length of the arc groove 141. The scale lines 144 indicate the angle range corresponding to the arc groove 141. The other end of the knob 16 can be pressed against the scale lines 144 as a pointer. Because the rotating component 14 is affected by the arc groove 141 and the first row of rollers 131 when it rotates, the maximum rotation angle of the rotating component 14 does not exceed the angle corresponding to the arc groove 141. Therefore, a scale line 144 is provided on the edge of the arc-shaped groove 141. The scale line 144 indicates the angular range of the arc-shaped groove 141. When the knob 16 is tightened, the knob 16 acts as a pointer indicating a certain angle on the scale line 144. When it is necessary to rotate the rotating component 14, the knob 16 is loosened. After the rotating component 14 rotates to the correct position, the knob 16 is tightened again. At this time, the knob 16 corresponds to another angle on the scale line 144. The difference between the corresponding angles on the two scale lines 144 can be used to obtain the rotation angle of the rotating component 14. Therefore, the cooperation between the knob 16 and the scale line 144 can accurately control the angle at which the rotating component 14 drives the main hand 2 to rotate.

[0045] In one embodiment, reference is made to... Figure 2 , Figure 3 and Figure 6A limiting groove 145 is provided on the side of the rotating member 14 facing away from the movable member 13. The limiting groove 145 is used to cooperate with the main hand 2 for limiting. The limiting groove 145 is located at the end of the rotating member 14. For ease of explanation, the part of the main hand 2 that is disposed in the limiting groove 145 is called the rotating part 21. The rotating part 21 is disposed in the limiting groove 145. When the main hand 2 needs to rotate, the rotating member 14 is controlled to rotate, so that the rotating part 21 can rotate with the rotating member 14, thereby ensuring the synchronicity of the rotation of the main hand 2 and the rotating member 14.

[0046] In one embodiment, reference is made to... Figure 3 and Figure 6 The rotating component 14 is also provided with a mounting bolt 146. The mounting bolt 146 is located at the edge of the limiting groove 145, and a portion of the mounting bolt 146 covers the top surface of the limiting groove 145. This allows the mounting bolt 146 to press against the surface of the rotating part 21 of the main hand 2 when the rotating part 21 is fixed in the limiting groove 145. The mounting bolt 146 prevents the rotating part 21 from coming out of the limiting groove 145. Therefore, by pressing a portion of the mounting bolt 146 onto the rotating part 21, the stability of the connection between the main hand 2 and the rotating component 14 is ensured.

[0047] In one embodiment, reference is made to... Figure 2 and Figure 6 The movable part 13 has a mounting position 133 at the end furthest from the support member 11, and the main hand 2 can be connected to the mounting position 133. The part where the main hand 2 is mounted to the mounting position 133 is called the connecting part 22. The connecting part 22 ensures that it can move synchronously with the movable part 13 along the x-direction. In addition, the mounting position 133 is located at the end of the movable part 13 furthest from the support member 11, so the mounting position 133 can also support the main hand 2. Furthermore, since the connecting part 22 is connected to the rotating part 21, when the rotating part 21 rotates, it can drive the connecting part 22 to rotate, thereby driving the main hand 2 to rotate.

[0048] It should be noted that when the rotating part 21 is connected to the connecting part 22, since the connecting part 22 is relatively fixed to the mounting position 133, the rotating part 21 can only rotate if it is rotatably connected to the connecting part 22. When it is necessary to test the accuracy relationship between the master hand 2 and the slave hand in linear motion, the movable part 13 is controlled to move along the x-direction. The movable part 13 drives the connecting part 22 to move. At this time, the movement distance of the movable part 13 is the movement distance of the connecting part 22, i.e., the master hand 2. When it is necessary to test the control error of the master hand 2 on the slave hand in rotation angle, the rotating part 14 is controlled to rotate. The rotating part 14 drives the rotating part 21 to rotate. At this time, the rotating part 21 rotates relative to the connecting part 22, and the rotation angle of the rotating part 14 is the rotation angle of the rotating part 21. When it is necessary to test the accuracy relationship between the master hand 2 and the slave hand in both linear motion and rotation angle simultaneously, the movable part 13 and the rotating part 14 are controlled to move simultaneously.

[0049] In one embodiment, reference is made to... Figure 1 , Figure 2 and Figure 5 The support member 11 has a first groove 111 on the side facing away from the guide member 12, and the first groove 111 is recessed towards the guide member 12. The first groove 111 reduces the thickness of the support member 11. When a part needs to be bolted to the side of the support member 11 facing away from the first groove 111, the reduced thickness of the support member 11 means the bolt needs to pass through a smaller area, making installation easier. Additionally, the first groove also serves as a clearance mechanism; when a part of the main arm 2's structure conflicts with the support member 11 in its installation position, the first groove 111 can help to avoid obstructing the main arm 2.

[0050] In one embodiment, reference is made to... Figure 1 , Figure 2 and Figure 5 The support member 11 has a second groove 112 on the side facing away from the guide member 12. The second groove 112 is recessed towards the guide member 12 and is used to cooperate with other equipment so that the support member 11 can be installed on other equipment. When it is necessary to fix the test device 1 to other equipment, the support member 11 is placed on the other equipment, and the second groove 112 engages with the other equipment to limit its position, thereby ensuring the stability of the support member 11 on the other equipment. The principle of facilitating the installation of parts by the position of the support member 11 corresponding to the second groove 112 is the same as that of the first groove 111, and will not be described in detail here.

[0051] In one embodiment, reference is made to... Figure 1 , Figure 2 and Figure 5 The support member 11 is provided with a side groove 113 that passes through the support member 11. The side groove 113 serves as a bolt mounting channel, allowing one end of the bolt to pass through the support member 11 and be fixed to other equipment. When it is necessary to fix the support member 11 to other equipment, the support member 11 needs to be connected to other equipment. Therefore, by providing a side groove 113 on the support member 11, the bolt passes through the side groove 113 and is screwed to connect the support member 11 to other equipment, thereby further ensuring the stability of the connection between the support member 11 and other equipment.

[0052] In one embodiment, combined with Figure 2 , Figure 5 and Figure 6A limiting part 17 is provided on the side of the support member 11 facing away from the guide member 12. The limiting part 17 is used to cooperate with the mounting part 23 of the main hand 2 for limiting. At this time, the mounting part 23 of the main hand 2 is located at the bottom of the support member 11, and the support member 11 and the mounting part 23 are limited and cooperated, which can prevent the mounting part 23 from moving in the x-direction and causing inaccurate motion data testing of the main hand 2.

[0053] In one embodiment, reference is made to... Figure 2 The rotating component 14 has mounting holes at both ends that rotate along the guide rail 134 for mounting the test piece (not shown in the figure). Taking the first mounting hole 1471 and the second mounting hole 1472 as examples, the test pieces can be mounted on both the first mounting hole 1471 and the second mounting hole 1472. Taking the test piece on the first mounting hole 1471 as an example, by testing the initial position and the final position of the test piece in the x, y, and z directions, the motion changes of the master hand 2 in the three directions can be determined. By combining the motion changes of the master hand 2 in the three directions with the motion changes of the slave hand in the three directions, and based on the existing mapping relationship between the master hand 2 and the slave hand, the motion error between the master hand 2 and the slave hand can be obtained. When the test piece on the first mounting hole 1471 is obstructed and its corresponding data cannot be tested, the data of the test piece on the second mounting hole 1472 can be measured, and the accurate motion data of the master hand 2 can be obtained based on the data of the test piece on the second mounting hole 1472. Therefore, setting two test pieces can avoid the problem of not being able to accurately obtain the motion data of the main hand 2 because the test pieces are blocked.

[0054] It should be noted that mounting holes can be provided on the rotating part 14, and the test piece can be installed in the mounting holes. By detecting the initial position and final position of the test piece in the x, y, and z directions, the motion changes of the master hand 2 in the three directions can be determined. Of course, when it is only necessary to detect the control error of the master hand 2 on the slave hand in linear motion, it is only necessary to determine the motion change of the master hand 2 in the x direction. Therefore, mounting holes can also be provided on the movable part 13, and the test piece can be installed in the mounting holes. The motion changes of the master hand 2 in the x direction can be determined by detecting the initial position and final position of the test piece in the x direction. The mounting holes provided on the movable part 13 can be one or more. The above is not limiting and can be set according to the needs of those skilled in the art. All of the above are within the protection scope of this application.

[0055] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A testing device, characterized in that, For testing master-slave devices, the master-slave device includes a master and a slave device with a mapping relationship, the testing device can be equipped with the master device, and the testing device includes: Support components; Guide member, fixed to the support member; The movable component is slidably connected to the guide component and can move along the extension direction of the guide component, and the movable component can be connected to the main hand.

2. The testing apparatus according to claim 1, characterized in that, It also includes a rotating component, the movable component being provided with a guide rail, the rotating component being rotatably disposed on the movable component along the guide rail, and the rotating component being connectable to the main hand.

3. The testing apparatus according to claim 2, characterized in that, It also includes multiple rollers arranged in two rows, including a first row of rollers and a second row of rollers, with the guide rail formed between the first row of rollers and the second row of rollers, and the rotating member rotatably disposed between the first row of rollers and the second row of rollers.

4. The testing apparatus according to claim 3, characterized in that, The rotating component is provided with an arc-shaped groove. The rotating component includes a first side and a second side. The rotation centers of the first side, the second side, and the arc-shaped groove all coincide with the rotation center of the rotating component. The arc-shaped groove is located between the first side and the second side. The first row of rollers is located in the arc-shaped groove, and the second row of rollers is located on either the first side or the second side.

5. The testing apparatus according to claim 4, characterized in that, The testing device also includes a knob, one end of which passes through the arc-shaped groove and is connected to the movable part, so that when the knob is tightened, the other end of the knob presses against the rotating part, and the rotating part is fixed to the movable part. When the knob is loosened, the other end of the knob is separated from the rotating part, and the rotating part can rotate on the movable part.

6. The testing apparatus according to claim 5, characterized in that, There are multiple equally spaced scale lines along the arc length of the arc groove. The scale lines are used to mark the angle range corresponding to the arc groove. The other end of the knob can be used as a pointer pressed against the scale line.

7. The testing apparatus according to any one of claims 2 to 6, characterized in that, The rotating component has a limiting groove on the side facing away from the movable component. The limiting groove is used to cooperate with the main hand for limiting the movement. The limiting groove is located at the end of the rotating component.

8. The testing apparatus according to claim 7, characterized in that, The rotating component is also provided with a mounting bolt, which is located at the edge of the limiting groove and a portion of the mounting bolt covers the top surface of the limiting groove, so that when the main hand part is fixed in the limiting groove, the mounting bolt can be pressed against the surface of that part of the main hand.

9. The testing apparatus according to any one of claims 2 to 6, characterized in that, The movable component has a mounting position at its end away from the support component, and the main hand can be connected to the mounting position; and / or The rotating component has mounting holes at both ends that rotate along the guide rail, and these mounting holes are used to mount the component to be tested; and / or, The extension direction of the guide member is perpendicular to the rotation plane of the rotating member.

10. The testing apparatus according to claim 1, characterized in that, The support member has a first groove on the side facing away from the guide member, and the first groove is recessed towards the guide member; and / or, The support member has a second groove on the side facing away from the guide member. The second groove is recessed towards the guide member and is used to mate with other equipment so that the support member can be installed on other equipment; and / or, The support member is provided with a side groove extending through it, the side groove serving as a bolt mounting channel so that one end of the bolt can pass through the support member and be fixed to other equipment; and / or, The support member has a limiting part on the side opposite to the guide member, and the limiting part is used to cooperate with the mounting part of the main hand for limiting.

11. The testing apparatus according to any one of claims 2 to 6, characterized in that, It also includes a drive component, which is driven to connect with the movable component, and the drive component drives the movable component to move along the extension direction of the guide component.

12. The testing apparatus according to claim 11, characterized in that, The driving component includes a motor and a lead screw nut. The motor is fixed to the support component, the lead screw nut is parallel to the guide component, and the lead screw nut is fixedly connected to the movable component. The motor can drive the lead screw nut to move along the extension direction of the lead screw nut.

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