Joint actuator off-line detection method

Abstract

The application discloses a kind of joint actuators offline detection methods, using joint actuators offline detection equipment is realized, including: installation workpiece and scan code identification information;Initialize sensor;Establish communication and carry out pre-test check;Execute multiple performance tests, including friction resistance, starting torque, torque constant, angle transmission error, back error, repeat positioning accuracy, hysteresis curve and backlash, efficiency and anti-drag torque test;Finally process data and generate report.The detection equipment realizes the automatic docking and separation of joint actuator and detection shaft through sliding platform, accurately applies and measures load using servo motor, torque sensor and grating encoder, and realizes full-process automatic control through host computer, PLC controller and program-controlled power supply.The application has high integration, good automation, and can comprehensively, accurately and efficiently complete the comprehensive performance detection of joint actuator.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of joint actuator detection, and particularly relates to a joint actuator offline detection method. BACKGROUND

[0002] The robot joint actuator is a core power component of a robot system, integrates a servo motor, a high-precision reducer, a brake and a sensor, and undertakes the key task of converting electric energy into accurate mechanical movement. Performance parameters such as output torque, rotation angle accuracy, backlash, efficiency and brake holding capacity directly determine the motion accuracy, dynamic response, load capacity and overall reliability of the robot. In the high-end field of industrial robots, service robots and even humanoid robots, the performance consistency and long-term durability of the joint actuator are the key indicators for evaluating the quality and reliability.

[0003] With the rapid development of humanoid robots, collaborative robots and other industries, more stringent technical requirements such as lightweight, high power density, low backlash, high reverse drive efficiency are put forward for the joint actuator. The traditional industrial planetary reducer has been difficult to fully meet the special needs of these frontier applications in terms of weight and backlash control. This trend makes the End of Line (EOL) test of the joint actuator before leaving the factory very important. Through comprehensive and accurate EOL testing, unqualified products can be screened out to ensure the performance consistency of the products leaving the factory, and reliable data support can be provided for the iterative optimization of the products.

[0004] However, the current offline detection of joint actuators in the industry generally has the following problems:

[0005] (1) Low degree of automation: many detection stations still rely on manual clamping, interfacing and testing operations, which not only has low efficiency, but also is prone to errors caused by human factors, resulting in poor consistency of test results;

[0006] (2) Single detection project: some detection devices have single functions and can only test a specific performance (such as torque or speed), and cannot complete comprehensive performance tests including load performance, angle accuracy, brake holding, etc. in one station, resulting in a complicated detection process and large production line space occupation;

[0007] (3) Inaccurate load simulation: when a load needs to be applied for testing, the traditional loading method may not be able to accurately and stably simulate the real working conditions of the joint actuator, affecting the accuracy of the torque and angle detection data;

[0008] (4) Insufficient docking accuracy and safety: If there is a deviation in the mechanical docking between the testing equipment and the actuator output shaft, it will not only affect the test results, but may also damage the product; at the same time, the safety protection measures during the test are insufficient, which poses a certain risk.

[0009] Therefore, there is an urgent need for an integrated, automated, high-precision, and safe method for detecting the off-line operation of joint actuators to address the aforementioned pain points and meet the demands of modern, high-efficiency, and high-quality production. Summary of the Invention

[0010] In view of this, the purpose of the present invention is to provide a method for detecting the decommissioning of joint actuators, which can meet the requirements for detecting the decommissioning of joint actuators and can effectively improve the detection efficiency and accuracy.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] A method for detecting the decommissioning of a joint actuator is implemented using a joint actuator decommissioning detection device, which includes a frame on which an integrated testing system and a joint actuator decommissioning detection device are mounted.

[0013] The joint actuator offline detection device includes a worktable, on which a workpiece clamping assembly and an offline detection assembly are mounted. The workpiece clamping assembly includes a sliding platform movable along a first linear guide rail. The sliding platform is equipped with a workpiece positioning clamping fixture for mounting the joint actuator, a workpiece moving clamping fixture corresponding to the workpiece positioning clamping fixture, and a docking shaft connected to the output shaft of the joint actuator. The workpiece moving clamping fixture can move relative to the workpiece positioning clamping fixture in a direction parallel to the first linear guide rail and is used to control the power supply to and from the joint actuator. The offline detection assembly includes a barcode scanner and a rotating shaft parallel to the first linear guide rail. The input end is connected to a servo motor, and the output end is provided with a docking head for docking with the docking shaft to apply a load to the joint actuator. Along the direction from the servo motor to the docking head, the rotating shaft is sequentially provided with a transmission brake mechanism, a torque detection mechanism, an angle detection mechanism, and a product brake mechanism. The servo motor drives the rotating shaft to rotate and apply a load to the joint actuator. The torque detection mechanism uses a torque sensor to detect the output torque of the joint actuator. The angle detection mechanism uses a grating encoder to detect the rotation angle of the output shaft of the joint actuator. The transmission brake mechanism is used to clamp or stop the rotating shaft. The product brake mechanism is used to clamp the docking shaft.

[0014] The integrated testing system includes a host computer, a PLC controller, and a programmable power supply; the programmable power supply is connected to the power connection component on the workpiece moving clamping fixture to supply power to the joint actuator; the PLC controller is electrically connected to the servo motor to control the load applied to the joint actuator by the offline detection component; the host computer collects and processes the data detected by the torque detection mechanism and the angle detection mechanism;

[0015] The method includes the following steps:

[0016] Step 1: Install the joint actuator on the workpiece positioning and clamping fixture, and scan the joint actuator's identification mark with the barcode scanner so that the host computer can obtain the joint actuator information and load the corresponding test items and standards;

[0017] Step 2: Turn on the external signal sensor switch so that the host computer can read the data from the torque sensor and the grating encoder;

[0018] Step 3: Establish communication with the joint actuator via the CANOpen protocol, read information from the joint actuator including firmware version, speed ratio, and number of pole pairs, perform pre-test verification, and confirm the compatibility of the joint actuator with the test item;

[0019] Step 4: Perform one or more performance tests according to the preset test item sequence. The test items include:

[0020] Friction resistance test: The speed and torque output of the joint actuator were collected at different speeds, the speed-torque curve was plotted and fitted by the least squares method;

[0021] Start-up torque test: Slowly increase the torque from 0 until the output shaft starts to rotate, and record the torque value at that point;

[0022] Torque constant test: Apply torque while braking at the output end, and record the torque sensor value and the joint actuator current. The torque constant is obtained by the least squares method. ;

[0023] Angle transmission error test: Apply load, take test points at set angle values ​​in both forward and reverse directions, and calculate the angle difference;

[0024] Backlash error test: Test the position difference in both forward and reverse directions and calculate the average value;

[0025] Repeatability test: Repeat the position accuracy test under different rotation speeds and calculate the standard deviation;

[0026] Hysteresis curve and backlash test: Hysteresis curves are plotted by applying forward and reverse loading, and backlash and servo static stiffness are calculated;

[0027] Efficiency test: Measure the input voltage and current under rated operating conditions and calculate the efficiency;

[0028] Reverse starting torque test: Measure the reverse starting torque under non-braking and power-off conditions;

[0029] Step 5: The host computer collects and processes the test data, generates a test report, and saves it;

[0030] Step 6: Initialize the joint actuator offline detection device status and display the final test results.

[0031] Furthermore, the frictional resistance test includes:

[0032] The drive sliding platform moves along the first linear guide rail, causing the docking shaft to disengage from the docking end, and controlling the joint actuator to operate stably at different output speeds in the no-load state at the output end;

[0033] Collect the output speed and torque data of the joint actuator;

[0034] Plot the speed-torque curve and use the least squares method to fit it to obtain the formula characterizing the frictional resistance:

[0035]

[0036] in: This is the no-load friction torque; Output rotational speed to the joint actuator; and It is a constant.

[0037] Furthermore, the starting torque test includes forward and reverse starting torque tests, with the specific steps as follows:

[0038] Drive the sliding platform to move along the first linear guide rail, so that the docking shaft is disengaged from the docking end. In the no-load state of the joint actuator output end, control the joint actuator to slowly increase the torque from zero.

[0039] Real-time acquisition of speed and torque data of the joint actuator;

[0040] When the rotational speed fluctuation exceeds the predetermined threshold within 1 second, it is determined that the joint actuator starts to rotate, and the maximum torque value at this moment is recorded as the starting torque value of the test point.

[0041] Multiple points were selected in both the positive and negative directions of the output shaft for testing, and the maximum starting torque value obtained was taken as the test result.

[0042] Furthermore, the torque constant test includes:

[0043] The drive sliding platform moves along the first linear guide rail to connect the docking shaft and the docking end. Under the condition that the joint actuator output shaft and the rotating shaft are rigidly connected and the transmission brake mechanism is closed and braking, the joint actuator is controlled to switch to torque mode.

[0044] Slowly load the torque from zero to the rated torque, while simultaneously recording the torque value measured by the torque sensor and the current value of the joint actuator. The torque constant was calculated by fitting using the least squares method. value:

[0045]

[0046] in: This is the output torque of the joint actuator.

[0047] Furthermore, the angle transmission error test includes:

[0048] The sliding platform is driven to move along the first linear guide rail to connect the docking shaft and the docking end; the servo motor is controlled by the PLC controller to apply a preset percentage of the rated load to the joint actuator, and the joint actuator is controlled to be in speed mode with the speed set to zero.

[0049] Read the position value of the raster encoder during initial reading ;

[0050] Sending commands to control the joint actuator to rotate a certain angle, and reading the position value from the grating encoder after reaching the target position. ;

[0051] Calculate the difference: ;

[0052] Tests were conducted at multiple predetermined angle points in both the forward and reverse directions, and the average value of the differences in each direction was calculated. And judge whether the encoder accuracy is qualified based on the average value.

[0053] Furthermore, the retrace error test includes:

[0054] Drive the sliding platform to move along the first linear guide rail to connect the docking shaft and the docking end;

[0055] Control the joint actuator to return to the zero point and read the current position;

[0056] The PLC controller controls the servo motor to apply a preset percentage of the rated load to the joint actuator;

[0057] Control the joint actuator to rotate forward by the first angle, and record the position value of the grating encoder after it reaches the correct position. ;

[0058] Control it to reverse the second angle, then rotate it clockwise again to the second angle, and record the position value of the grating encoder after it is in position. ;

[0059] Repeat the above movement and recording steps multiple times, and calculate the average value of the multiple times:

[0060]

[0061] in: This represents the number of times the test was repeated.

[0062] The average value is used as the return error for qualification judgment.

[0063] Furthermore, the repeatability accuracy test includes:

[0064] Drive the sliding platform to move along the first linear guide rail to connect the docking shaft and the docking end;

[0065] Control the joint actuator to return to zero;

[0066] The servo motor is controlled by a PLC controller to apply the rated load to the joint actuator.

[0067] Under the conditions of 100%, 50%, and 10% of the rated speed, the joint actuator is controlled to move cyclically to multiple predetermined position points in the predetermined position sequence: P1→P2→P3→P4→P5, and the actual position value of the grating encoder is recorded at each position point.

[0068] Repeat the loop multiple times;

[0069] Calculate the repeatability of each location point :

[0070]

[0071] in: To ensure repeatability and accuracy; For the first The actual position value in the next cycle; For the first The actual position value in the next cycle; This represents the number of loop iterations.

[0072] The maximum value is taken as the final repeatability accuracy for qualification judgment.

[0073] Furthermore, the hysteresis curve and backlash test include:

[0074] The product's brake mechanism is used to hold the docking shaft, and under the condition of braking at the output end of the joint actuator, it is controlled to be in torque mode; the servo motor is controlled by the PLC controller to apply load to the joint actuator, and the load torque is measured by the torque sensor.

[0075] The control input torque is started from zero and slowly applied in one direction until it reaches the positive rated torque. Then, slowly apply the load in the reverse direction to the negative rated torque. Then load forward to Finally, it uninstalls slowly;

[0076] Record the input angle change corresponding to different load torques throughout the process, and calculate the output angle change value based on the theoretical speed ratio. Plot the torque-rotation angle hysteresis curve;

[0077] From the hysteresis curve, take the median angle at +3% and -3% rated output torque. and Then the back gap is:

[0078]

[0079] The servo static stiffness is the ratio of the load torque to the corresponding elastic deformation angle in the hysteresis curve:

[0080]

[0081] in: Servo static stiffness; Half of the rated torque; It is the difference between the rotation angle corresponding to the rated torque on the median line and the rotation angle corresponding to 50% of the rated torque.

[0082] Furthermore, the efficiency test includes:

[0083] First, drive the sliding platform to move along the first linear guide rail, so that the docking shaft is disengaged from the docking end. Under rated voltage and no-load conditions, control the joint actuator to run to the rated speed.

[0084] Then, the drive sliding platform moves along the first linear guide rail, so that the docking shaft is docked with the docking end, and the rated torque is gradually applied to the output end of the joint actuator.

[0085] Monitor temperature changes, and after the temperature rise stabilizes, read the input voltage U and input current I of the joint actuator;

[0086] Calculate the efficiency using the following formula:

[0087]

[0088] in: For joint actuator efficiency; Rated speed; This is the rated torque.

[0089] Furthermore, the anti-drag torque test includes:

[0090] The workpiece movement clamping fixture moves relative to the workpiece positioning clamping fixture in a direction parallel to the first linear guide rail, and the joint actuator is controlled to be in a non-braking and power-off state.

[0091] The sliding platform is driven to move along the first linear guide rail, so that the docking shaft is docked with the docking end. The servo motor is controlled by the PLC controller to slowly apply a uniformly increasing torque, and the output torque value and the motor angle value in the joint actuator are collected in real time.

[0092] Record the instantaneous torque value at which the motor angle begins to change;

[0093] Multiple tests were conducted at different angles in both directions, and the maximum instantaneous torque value recorded in all tests was taken as the reverse starting torque.

[0094] The beneficial effects of this invention are as follows:

[0095] The joint actuator offline detection method of the present invention, implemented based on a joint actuator offline detection device, achieves the following technical effects:

[0096] (1) High degree of automation and efficiency improvement: The product information is automatically identified by the barcode scanner, the test items and standards are automatically loaded by the host computer, and the PLC controller and programmable power supply are combined to realize full automation control, which greatly reduces manual operation and improves testing efficiency and consistency;

[0097] (2) Comprehensive integration of testing items: Multiple performance tests such as frictional resistance, starting torque, angle transmission error, return error, repeatability, hysteresis curve and back clearance, efficiency and anti-drag torque are integrated on one machine, avoiding the cumbersome process of traditional multi-station testing and saving production line space.

[0098] (3) Accurate and reliable load simulation: The use of a servo motor in conjunction with a torque sensor and a grating encoder can accurately apply and measure the load, realistically simulate the working conditions of the joint actuator, and ensure the accuracy of detection of key parameters such as torque and angle;

[0099] (4) High safety and precision of docking: Through the design of sliding platform and docking shaft, precise alignment of mechanical docking is achieved. Combined with transmission brake and product brake mechanism, docking deviation and accidental movement are effectively prevented, improving operation safety and test reliability.

[0100] (5) Automated data processing and report generation: The host computer collects and processes test data in real time and automatically generates test reports, supporting quality traceability and product optimization, and improving the level of production quality management.

[0101] In summary, the joint actuator offline detection method of the present invention solves the problems of low automation, single project, inaccurate load simulation and poor docking safety in traditional detection, and significantly improves the comprehensiveness, accuracy and efficiency of joint actuator offline detection. Attached Figure Description

[0102] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0103] Figure 1 A schematic diagram of the structure of Embodiment 1 of the joint actuator offline testing equipment;

[0104] Figure 2 This is a schematic diagram of the integration test system.

[0105] Figure 3 A schematic diagram of the joint actuator offline testing device;

[0106] Figure 4 for Figure 3 Top view;

[0107] Figure 5 for Figure 3 AA section view;

[0108] Figure 6 This is a schematic diagram of the structure of Embodiment 2 of the joint actuator offline testing equipment;

[0109] Figure 7 This is an isometric view of the joint actuator offline testing equipment in this embodiment;

[0110] Figure 8 for Figure 7 Enlarged view of region B;

[0111] Figure 9 This is a flowchart of Embodiment 3 of the Joint Actuator Offline Detection Method of the present invention;

[0112] Figure 10 System diagram for torque constant testing;

[0113] Figure 11 This is a torque-angle hysteresis curve.

[0114] Explanation of reference numerals in the attached figures:

[0115] 1-Joint actuator; 10-Frame; 11-Control panel; 12-Display; 20-Worktable; 21-Sliding platform; 22-First linear guide; 23-Servo electric cylinder; 24-Contact sensor; 25-Workpiece positioning and clamping fixture; 26-Workpiece moving and clamping fixture; 27-Power connection assembly; 28-Second linear guide; 29-Push-pull quick clamp; 30-Mating shaft; 301-Mating joint; 31-Rotating shaft; 311- 32-Stop hole; 33-Servo motor; 34-Matching end; 35-Transmission brake mechanism; 36-Mounting base; 37-Stop cylinder; 38-Fixed base; 39-Moving base; 40-Diaphragm coupling. Detailed Implementation

[0116] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0117] Example 1

[0118] like Figure 1 As shown, the joint actuator 1 offline testing equipment of this embodiment includes a frame 10, an integrated testing system mounted on the frame 10, and a joint actuator 1 offline testing device.

[0119] like Figure 2 As shown, the integrated testing system includes a host computer, a PLC controller, and a programmable power supply. The programmable power supply is connected to the power connection component 27 on the workpiece moving clamping fixture 26 to supply power to the joint actuator 1. The PLC controller is electrically connected to the servo motor 32 to control the load applied to the joint actuator 1 by the offline detection component. The host computer is used to collect and process the data detected by the torque detection mechanism 35 and the angle detection mechanism 36, and to determine whether the data is qualified. A control panel 11 and a display 12 are also installed on the frame 10. The display 12 is used to display the detection status and results of the joint actuator 1 in real time.

[0120] like Figures 3-5 As shown, the joint actuator 1 offline detection device includes a worktable 20, on which a workpiece clamping assembly and an offline detection assembly are installed.

[0121] The workpiece clamping assembly includes a sliding platform 21 mounted on a worktable 20 via a first linear guide rail 22. The worktable 20 is equipped with a first drive mechanism for moving the sliding platform 21 along the first linear guide rail 22. In this embodiment, the first drive mechanism is a servo electric cylinder 23 mounted on the worktable 20. The worktable 20 is also equipped with contact sensors 24 located at both ends of the first linear guide rail 22 to limit the travel of the sliding platform 21. The sliding platform 21 is equipped with a workpiece positioning and clamping fixture 25 for mounting the joint actuator 1, a workpiece moving and clamping fixture 26 corresponding to the workpiece positioning and clamping fixture 25, and a docking shaft 30 connected to the output shaft of the joint actuator 1. The end of the docking shaft 30 is provided with a coupling joint 301. In this embodiment, the workpiece positioning and clamping fixture 25 is detachably mounted on the worktable 20. Thus, when performing offline testing on joint actuators 1 of different models and sizes, only the corresponding workpiece positioning and clamping fixture 25 and docking shaft 30 need to be replaced.

[0122] In this embodiment, the sliding platform 21 is provided with a second linear guide rail 28 parallel to the first linear guide rail 22, and the workpiece moving clamping fixture 26 is slidably mounted on the second linear guide rail 28. The sliding platform 21 is also provided with a second driving mechanism for driving the workpiece moving clamping fixture 26 to move relative to the workpiece positioning clamping fixture 25. In this embodiment, the second driving mechanism is a push-pull quick clamp 29, whose push head abuts against the side of the workpiece moving clamping fixture 26 facing away from the workpiece positioning clamping fixture 25. Thus, the push-pull quick clamp 29 can be used to drive the workpiece moving clamping fixture 26 to move relative to the workpiece positioning clamping fixture 25 along the second linear guide rail 28. The side of the workpiece moving clamping fixture 26 facing the workpiece positioning clamping fixture 25 is provided with a power connection component 27 that interfaces with the control circuit board of the joint actuator 1 for controlling the power supply to and from the joint actuator 1.

[0123] The offline detection assembly includes a rotating shaft 31 mounted on a workbench 20 via a bearing housing and parallel to the first linear guide rail 22. A servo motor 32 is connected to the input end of the rotating shaft 31, and a docking end 33 is provided at the output end for docking with a docking connector 301 of the docking shaft 30. The end face of the docking end 33 has a docking groove for inserting into the docking connector 301. In this embodiment, the docking connector 301 is a regular hexagonal prism, and the docking groove is a matching regular hexagonal slot. A transmission brake mechanism 34, a torque detection mechanism 35, an angle detection mechanism 36, and a product brake mechanism 37 are sequentially arranged on the rotating shaft 31 along the direction from the servo motor 32 to the docking end 33. The servo motor 32 drives the rotating shaft 31 to rotate, applying a load to the joint actuator 1. The torque detection mechanism 35 uses a torque sensor to detect the output torque of the joint actuator 1. The angle detection mechanism 36 uses a grating angle encoder to detect the rotation angle of the output shaft of the joint actuator 1. The transmission brake mechanism 34 is used to clamp or stop the rotating shaft 31 during test intervals. The product brake mechanism 37 is used to clamp the docking shaft 30 in specific test items. In this embodiment, the transmission brake mechanism 34 includes a stop cylinder 342 mounted on the workbench 20 via a mounting base 341. A fixed seat 343 and a movable seat 344 are sleeved on the piston rod of the stop cylinder 342, and a spring 345 is provided between the fixed seat 343 and the movable seat 344. The rotating shaft 31 is sleeved with a stop hole 311 coaxial with the piston rod of the stop cylinder 342 and radially penetrating both ends therethrough.

[0124] In addition, a barcode scanner placement station 39 is provided on the side of the workbench 20 near the workpiece clamping assembly, for placing barcode scanners 38 for collecting information from the product.

[0125] Example 2

[0126] like Figure 6 As shown, the joint actuator 1 offline testing equipment of this embodiment includes a frame 10, an integrated testing system mounted on the frame 10, and a joint actuator 1 offline testing device.

[0127] like Figure 7 As shown, the joint actuator 1 offline detection device includes a worktable 20, on which a workpiece clamping assembly and an offline detection assembly are installed.

[0128] The workpiece clamping assembly includes a sliding platform 21 mounted on a worktable 20 via a first linear guide 22. The worktable 20 is equipped with a first drive mechanism (not shown) for driving the sliding platform 21 to move along the first linear guide 22. The worktable 20 is also equipped with contact sensors 24 located at both ends of the first linear guide 22 to limit the travel of the sliding platform 21. The sliding platform 21 is equipped with a workpiece positioning and clamping fixture 25 for mounting the joint actuator 1, a workpiece moving and clamping fixture 26 corresponding to the workpiece positioning and clamping fixture 25, and a docking shaft 30 connected to the output shaft of the joint actuator 1. The end of the docking shaft 30 is provided with a coupling joint 301.

[0129] In this embodiment, the sliding platform 21 is provided with a second linear guide rail 28 parallel to the first linear guide rail 22, and the workpiece moving clamping fixture 26 is slidably mounted on the second linear guide rail 28. The sliding platform 21 is also provided with a second driving mechanism for driving the workpiece moving clamping fixture 26 to move relative to the workpiece positioning clamping fixture 25. In this embodiment, the second driving mechanism is a push-pull quick clamp 29, whose push head abuts against the side of the workpiece moving clamping fixture 26 facing away from the workpiece positioning clamping fixture 25. The side of the workpiece moving clamping fixture 26 facing the workpiece positioning clamping fixture 25 is provided with a power connection component 27 that interfaces with the control circuit board of the joint actuator 1 for controlling the power supply to and from the joint actuator 1.

[0130] The offline detection assembly includes a rotating shaft 31 mounted on a workbench 20 via a bearing housing and parallel to the first linear guide rail 22. A servo motor 32 is connected to the input end of the rotating shaft 31, and a docking end 33 is provided at the output end for docking with a docking connector 301 of the docking shaft 30. The end face of the docking end 33 has a docking groove for inserting into the docking connector 301. In this embodiment, the docking connector 301 is a regular hexagonal prism, and the docking groove is a matching regular hexagonal slot. A transmission brake mechanism 34, a torque detection mechanism 35, an angle detection mechanism 36, and a product brake mechanism 37 are sequentially arranged on the rotating shaft 31 along the direction from the servo motor 32 to the docking end 33. The servo motor 32 drives the rotating shaft 31 to rotate, applying a load to the joint actuator 1. The torque detection mechanism 35 uses a torque sensor to detect the output torque of the joint actuator 1. The angle detection mechanism 36 uses a grating angle encoder to detect the rotation angle of the output shaft of the joint actuator 1. The transmission brake mechanism 34 employs a pneumatic three-jaw chuck 346, used to clamp or stop the rotating shaft 31 during test intervals. Figure 8 As shown, the product's brake mechanism 37 is composed of a clamping cylinder 371 driving a pair of grippers 372, used to clamp the docking shaft 30 in specific test items (such as holding torque test).

[0131] In this embodiment, transmission mechanisms are respectively provided between the servo motor 32 and the transmission brake mechanism 34, between the transmission brake mechanism 34 and the torque detection mechanism 35, and between the torque detection mechanism 35 and the angle detection mechanism 36. The transmission mechanisms adopt diaphragm couplings 40.

[0132] Other specific implementation methods in this embodiment are the same as or equivalent to those in Embodiment 1, and will not be described again.

[0133] Example 3

[0134] The method for detecting the decommissioning of the joint actuator 1 in this embodiment is implemented using the joint actuator 1 decommissioning detection equipment as described in Embodiment 1 or Embodiment 2. Specifically, as shown in... Figure 9 As shown, the offline detection method for the joint actuator 1 in this embodiment includes the following steps.

[0135] Step 1: Installation and Information Entry. The operator installs the articulated actuator 1 onto the workpiece positioning and clamping fixture 25, and clamps it securely using the workpiece moving clamping fixture 26, while simultaneously establishing an electrical connection via the power connection component 27. Then, the operator retrieves the barcode scanner 38 from the barcode scanner placement station 39 and scans the identification mark (such as a barcode or QR code) of the articulated actuator 1. The host computer then obtains the product information based on this and automatically loads the test item sequence and acceptance criteria corresponding to this model of articulated actuator 1.

[0136] Step 2: System Initialization and Sensor Readiness. Start the detection program, turn on the external signal sensor switch, and establish a communication link between the host computer and the torque detection mechanism 35 (torque sensor) and the angle detection mechanism 36 (grating encoder) to ensure real-time reading of torque and angle data.

[0137] Step 3: Communication Establishment and Pre-Test Verification. The host computer establishes communication with joint actuator 1 via the CANOpen communication protocol, reading its internal parameters such as firmware version, reducer speed ratio, and motor pole pair count. The system performs a compatibility verification against preset test items, confirming the compatibility of joint actuator 1 with the test items, verifying the correctness of joint actuator 1 and the test items, and confirming the correctness of the firmware flashed in the front-end process, ensuring that the test conditions are consistent with the product specifications. If no problems are found during the verification, testing can proceed.

[0138] Step 4: Execute the preset performance test sequence. Perform one or more performance tests according to the preset test item sequence. Test items include friction resistance test, starting torque test, torque constant test, angle transmission error test, return error test, repeatability accuracy test, hysteresis curve and backlash test, efficiency test, and anti-drag torque test.

[0139] (1) Friction resistance test: The speed and torque output of the joint actuator 1 were collected at different speeds, the speed-torque curve was plotted and fitted by the least squares method.

[0140] The sliding platform 21 is driven to move along the first linear guide rail 22, causing the docking shaft 30 to disengage from the docking end 33. The output of the joint actuator 1 is controlled to be in an unloaded state (before docking). The host computer uses CAN commands to allow the joint actuator 1 to operate stably at different speeds (output shaft speeds of 1 rad / s, 2 rad / s, 3 rad / s, 4 rad / s, and 5 rad / s). The output speed and torque data transmitted by the joint actuator 1 via CAN are collected, and a speed-torque curve is plotted. Simultaneously, a curve with a slope of k is fitted using the least squares method. Specifically, in this embodiment, the friction resistance test includes the following: controlling the joint actuator 1 to operate stably at different output speeds in an unloaded state at the output end; collecting the output speed and torque data transmitted by the joint actuator 1 via the CAN bus; plotting the speed-torque curve; and using the least squares method to fit the formula characterizing the friction resistance.

[0141]

[0142] in: This is the no-load friction torque; Output rotational speed for joint actuator 1; and It is a constant.

[0143] (2) Start-up torque test: Start from 0 and slowly increase the torque until the output shaft starts to rotate. Record the torque value at that point.

[0144] Specifically, the drive sliding platform 21 moves along the first linear guide rail 22, causing the docking shaft 30 to disengage from the docking end 33. The starting torque includes forward starting torque and reverse starting torque tests. Both forward and reverse starting torque tests require selecting 5 potentials at the output end of the joint actuator 1, performing torque tests at these points, and then using the maximum starting torque value as the result of the starting torque test.

[0145] In this embodiment, the starting torque test includes forward and reverse starting torque tests. The specific steps are as follows: With the joint actuator 1 output under no-load conditions, it is controlled to slowly increase torque from zero; speed and torque data are collected in real time; when the speed fluctuation exceeds a predetermined threshold within one second, it is determined that the joint actuator 1 has started rotating, and the maximum torque value at this instant is recorded as the starting torque value at that test point; multiple points are selected in both the forward and reverse directions of the output shaft for testing, and the maximum starting torque value obtained is used as the test result. Specifically, with the joint actuator 1 output under no-load conditions (before docking), the host computer commands the joint actuator 1 to slowly increase torque from 0 via CAN until the output shaft is detected to start rotating. The host computer collects the speed and torque transmitted by the joint actuator 1 via CAN in real time. The collected speed data is compared continuously within one second. When the speed fluctuation exceeds the judgment threshold within one second, it is considered that the joint actuator 1 has overcome the starting torque and started rotating. The maximum collected torque value is used as the starting torque of the joint actuator 1 at that test point. The forward and reverse starting torque test processes are consistent, only the torque direction is reversed.

[0146] (3) Torque constant test: Apply torque under braking condition at the output end, and record the torque sensor value and the current of joint actuator 1. The torque constant is obtained by the least squares method. .

[0147] Torque constant definition: The output torque of joint actuator 1 is related to the current in the FOC control of the three-phase brushless motor. The ratio of the two values, and the torque constant, when the number of pole pairs is fixed, depends on the permanent magnet flux linkage. Since it is not a fixed value, it varies between different models. Actual measurement is required.

[0148] In this embodiment, the torque constant test includes the following: The sliding platform 21 is driven to move along the first linear guide rail 22, connecting the docking shaft 30 to the docking end 33. With the output shaft of the joint actuator 1 rigidly connected to the rotating shaft 31 and the transmission brake mechanism 34 closed for braking, the joint actuator 1 is controlled to switch to torque mode. The torque is slowly increased from zero to the rated torque, while simultaneously recording the torque value measured by the torque sensor and the current value of the joint actuator 1. The torque constant was calculated by fitting using the least squares method. value:

[0149]

[0150] in: The output torque of joint actuator 1.

[0151] Specifically, such as Figure 10As shown, after joint actuator 1 is docked, its output shaft is rigidly connected to the test bench. The host computer outputs a brake closure via Modbus commands, and the joint brake output is in a braking state. At this time, joint actuator 1 meets the prerequisite for testing the torque constant. The host computer switches the joint mode to torque mode via CAN transmission mode. Then, starting from 0, the torque is slowly increased to the rated torque, and the torque value of the torque sensor and the current of joint actuator 1 are recorded. Obtained by least squares method value.

[0152] (4) Angle transmission error test: Apply load and take test points at set angle values ​​in both forward and reverse directions, and calculate the angle difference. Specifically, the angle transmission error is defined as the accuracy of the encoder of the test joint actuator 1.

[0153] In this embodiment, the angle transmission error test includes the following: driving the sliding platform 21 to move along the first linear guide rail 22, so that the docking shaft 30 and the docking end 33 are docked and connected; controlling the servo motor 32 through the PLC controller to apply a preset percentage rated load to the joint actuator 1, and controlling the joint actuator 1 to be in speed mode and the speed set to zero; reading the position value of the grating encoder at the initial time. Send a command to control joint actuator 1 to rotate a certain angle, and after reaching the target position, read the position value from the grating encoder. Calculate the difference: Tests were conducted at multiple predetermined angle points in both the forward and reverse directions, and the average value of the difference in each direction was calculated. And judge whether the encoder accuracy is qualified based on the average value.

[0154] Specifically, in this embodiment, the host computer sends a torque command to the servo motor 32, loads it with 5% load, sets the mode to speed mode, and sets the speed to 0 RPM; the host computer reads the values ​​of the torque sensor and the angle sensor in real time; before issuing the command, the host computer reads the position value of the angle sensor. Then, it sends rotation angle and speed signals to joint actuator 1. After joint actuator 1 moves to the position, it sends an angle signal back to the host computer, which then reads the position value of the angle sensor at that time. Record and calculate the difference. Take a test point every 60° in both the forward and reverse directions, with 5 test points in each direction. Calculate the difference for each test point, and then calculate the average for both forward and reverse directions. Provide the evaluation result, indicating whether the difference is acceptable.

[0155] (5) Backlash error test: The position difference is measured in both forward and reverse directions, and the average value is calculated. The purpose of the test is to determine whether the backlash error of the assembly under test is within the design range.

[0156] The return error test includes the following: driving the sliding platform 21 to move along the first linear guide rail 22 to connect the docking shaft 30 and the docking end 33; controlling the joint actuator 1 to return to the zero point and reading the current position; controlling the servo motor 32 to apply a preset percentage rated load to the joint actuator 1 through the PLC controller; controlling the joint actuator 1 to rotate clockwise by a first angle and recording the position value of the grating encoder after it is in place. Control it to reverse the second angle, then rotate it forward again to the second angle, and record the position value of the grating encoder after it reaches the correct position. Repeat the above movement and recording steps multiple times, and calculate the average value of the multiple times:

[0157]

[0158] in: This represents the number of times the test was repeated.

[0159] The average value is used as the return error for qualification judgment.

[0160] Specifically, in this embodiment, the host computer sends a zero-point setting command to place the joint actuator 1 at the zero point and reads the current position value; the host computer sends a 5% rated load torque command to the servo motor 32, and the servo motor 32 operates according to the set mode; the host computer sends a control command to the joint actuator 1 to rotate 180° clockwise, and records the position value of the angle sensor after reaching the position. The host computer sends a 360° reverse rotation command, and after reaching the target position, sends a 360° forward rotation command, recording the position value of the angle sensor. After repeating the test five times, calculate... The value is taken as the average value, and the hysteresis error is output to the host computer for judgment; it is judged whether the average value exceeds the set range.

[0161] (6) Repeatability test: The position accuracy is repeatedly tested under different rotational speeds, and the standard deviation is calculated. The purpose of the test is to evaluate the repeatability of joint actuator 1.

[0162] The repeatability test includes the following steps: The sliding platform 21 is driven to move along the first linear guide rail 22, connecting the docking shaft 30 to the docking end 33; the joint actuator 1 is controlled to return to zero; the servo motor 32 is controlled by the PLC controller to apply a rated load to the joint actuator 1; under 100%, 50%, and 10% rated speed conditions, the joint actuator 1 is controlled to move cyclically to multiple predetermined position points in a predetermined sequence: P1→P2→P3→P4→P5, and the actual position value of the grating encoder is recorded at each position point; this cycle is repeated multiple times; the repeatability of each position point is calculated. :

[0163]

[0164] in: To ensure repeatability and accuracy; For the first The actual position value in the next cycle; For the first The actual position value in the next cycle; This represents the number of loop iterations.

[0165] In this embodiment, the maximum value is taken as the final repeatability accuracy for qualification judgment.

[0166] 1) The host computer sends a return-to-zero command to return joint actuator 1 to the zero position;

[0167] 2) The host computer sends a 5% rated load torque command to the servo motor 32, and the servo motor 32 operates according to the set mode;

[0168] 3) The host computer sends control commands to the joint actuator 1. According to the position values ​​in Table 1 below, after reaching the position, the position value of the angle sensor is recorded. After the position reaches P5, it returns to the P0 position.

[0169] 4) Repeat step 3, and calculate the repeatability of each location point after 30 tests. ;

[0170] 5) Determine and calculate the repeatability of each location point. Does the average value exceed the set range?

[0171] The repeatability accuracy test conditions are shown in Table 1, where P1-P5 are positions evenly distributed within the maximum working range of the tested joint.

[0172] Table 1 Repeatability Accuracy Test Conditions

[0173]

[0174] In this embodiment, the joint actuator 1 operates in position control mode. A rated load is applied to the output of the joint actuator 1, and position commands are given starting from point P1 in the order of P1→P2→P3→P4→P5 under conditions of 100%, 50%, and 10% of the rated speed. After a single cycle, the joint is controlled to return to point P1, and the next cycle begins. Each set speed is repeated 10 times, for a total of 30 cycles, and the actual position value of the joint under each position command is recorded.

[0175] (7) Hysteresis Curve and Backlash Test: Hysteresis curves are plotted by applying forward and reverse loading, and backlash and servo static stiffness are calculated. The purpose of the test is to measure the backlash and servo stiffness of joint actuator 1. The test content is: under the braking condition at the output end, the displacement of the motor is obtained under different torques given at the input end. Specifically, the starting torque of joint actuator 1 should be <0.05Nm.

[0176] Specifically, the hysteresis curve and backlash test includes the following: Using the product's brake mechanism 37 to clamp the docking shaft 30, and controlling the joint actuator 1 to be in torque mode under braking conditions at the output end; controlling the servo motor 32 to apply a load to the joint actuator 1 via the PLC controller, and measuring the load torque using a torque sensor; controlling the input torque to start from zero and slowly load it in one direction to the positive rated torque. Then, slowly apply the load in the reverse direction to the negative rated torque. Then load forward to Finally, the load is slowly unloaded; the input angle change corresponding to different load torques is recorded throughout the process, and the output angle change value is calculated based on the theoretical speed ratio. Plot the torque-angle hysteresis curve, such as... Figure 11 As shown; from the hysteresis curve, take the median angle at +3% and -3% of the rated output torque. and Then the back gap is:

[0177]

[0178] Servo static stiffness is the ratio of the load torque to the corresponding elastic deformation angle in the hysteresis curve:

[0179]

[0180] in: Servo static stiffness; Half of the rated torque; It is the difference between the rotation angle corresponding to the rated torque on the median line and the rotation angle corresponding to 50% of the rated torque.

[0181] (8) Efficiency Test: Measure the input voltage and current under rated operating conditions and calculate the efficiency. The purpose of the test is to test the overall efficiency of the joint actuator 1. The test content is as follows: First, drive the sliding platform 21 to move along the first linear guide rail 22, so that the docking shaft 30 is disengaged from the docking end 33. Under rated voltage and no-load conditions, the joint runs to the rated speed. Then, drive the sliding platform 21 to move along the first linear guide rail 22, so that the docking shaft 30 is docked with the docking end 33. Gradually increase the load at the output end of the joint actuator 1 to the rated torque. After the joint actuator 1 reaches temperature equilibrium, read the input voltage U and input current I of the joint actuator 1.

[0182] In this embodiment, the efficiency test includes the following:

[0183] Under the rated voltage and no-load conditions, the joint actuator 1 is controlled to run to the rated speed;

[0184] Gradually apply the rated torque to the output end;

[0185] Monitor temperature changes, and after the temperature rise stabilizes, read the input voltage U and input current I of joint actuator 1;

[0186] Calculate the efficiency using the following formula:

[0187]

[0188] in: For the efficiency of joint actuator 1; Rated speed; This is the rated torque.

[0189] (9) Reverse starting torque test: Measure the reverse starting torque under non-braking and power-off conditions. The purpose of the test is to identify the maximum reverse starting torque value at the joint actuator 1; the test content is as follows: control the workpiece moving clamping fixture 26 to move relative to the workpiece positioning clamping fixture 25 in a direction parallel to the first linear guide 22, with the joint actuator 1 under non-braking and power-off conditions. Drive the sliding platform 21 to move along the first linear guide 22, so that the docking shaft 30 docks with the docking end 33. Control the servo motor 32 through the PLC controller to slowly twist the output end of the joint actuator 1 to the torque required for the instantaneous start of the motor in the joint actuator 1, and collect the output torque value and the motor angle value in the joint actuator 1 in real time.

[0190] In this embodiment, the anti-drag torque test includes the following:

[0191] Control joint actuator 1 to be in a non-braking and power-off state;

[0192] The load system slowly applies a uniformly increasing torque, and the output torque value and the motor angle value within the joint are collected in real time.

[0193] Record the instantaneous torque value at which the motor angle begins to change;

[0194] Multiple tests were conducted at different angles in both directions, and the maximum instantaneous torque value recorded in all tests was taken as the reverse starting torque. In this embodiment, five tests were conducted at different angles in both directions, and the maximum value recorded in the ten tests was taken as the reverse starting torque.

[0195] Step 5: Data Processing and Report Generation. The host computer automatically collects and processes all the test data obtained in Step 4, compares it with preset standards, generates a detailed test report (including data, curves, and pass / fail conclusions), and saves it to the database.

[0196] Step Six: State Initialization and Result Display. After the test is completed, the system controls each actuator (such as the sliding platform 21, the transmission brake mechanism 34, and the product brake mechanism 37) to return to its initial state, and clearly displays the final test result ("pass" or "fail") on the display 12 so that the operator can perform subsequent operations.

[0197] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A method for detecting the decommissioning of a joint actuator, characterized in that: The joint actuator offline testing equipment is used, which includes a frame on which an integrated testing system and a joint actuator offline testing device are installed. The joint actuator offline detection device includes a worktable, on which a workpiece clamping assembly and an offline detection assembly are mounted. The workpiece clamping assembly includes a sliding platform movable along a first linear guide rail. The sliding platform is equipped with a workpiece positioning clamping fixture for mounting the joint actuator, a workpiece moving clamping fixture corresponding to the workpiece positioning clamping fixture, and a docking shaft connected to the output shaft of the joint actuator. The workpiece moving clamping fixture can move relative to the workpiece positioning clamping fixture in a direction parallel to the first linear guide rail and is used to control the power supply to and from the joint actuator. The offline detection assembly includes a barcode scanner and a rotating shaft parallel to the first linear guide rail. The input end is connected to a servo motor, and the output end is provided with a docking head for docking with the docking shaft to apply a load to the joint actuator. Along the direction from the servo motor to the docking head, the rotating shaft is sequentially provided with a transmission brake mechanism, a torque detection mechanism, an angle detection mechanism, and a product brake mechanism. The servo motor drives the rotating shaft to rotate and apply a load to the joint actuator. The torque detection mechanism uses a torque sensor to detect the output torque of the joint actuator. The angle detection mechanism uses a grating encoder to detect the rotation angle of the output shaft of the joint actuator. The transmission brake mechanism is used to clamp or stop the rotating shaft. The product brake mechanism is used to clamp the docking shaft. The integrated testing system includes a host computer, a PLC controller, and a programmable power supply; the programmable power supply is connected to the power connection component on the workpiece moving clamping fixture to supply power to the joint actuator; the PLC controller is electrically connected to the servo motor to control the load applied to the joint actuator by the offline detection component; the host computer collects and processes the data detected by the torque detection mechanism and the angle detection mechanism; The method includes the following steps: Step 1: Install the joint actuator on the workpiece positioning and clamping fixture, and scan the joint actuator's identification mark with the barcode scanner so that the host computer can obtain the joint actuator information and load the corresponding test items and standards; Step 2: Turn on the external signal sensor switch so that the host computer can read the data from the torque sensor and the grating encoder; Step 3: Establish communication with the joint actuator via the CANOpen protocol, read information from the joint actuator including firmware version, speed ratio, and number of pole pairs, perform pre-test verification, and confirm the compatibility of the joint actuator with the test item; Step 4: Perform one or more performance tests according to the preset test item sequence. The test items include: Friction resistance test: The speed and torque output of the joint actuator were collected at different speeds, the speed-torque curve was plotted and fitted by the least squares method; Start-up torque test: Slowly increase the torque from 0 until the output shaft starts to rotate, and record the torque value at the moment the output shaft starts to rotate; Torque constant test: Apply torque while braking at the output end, and record the torque sensor value and the joint actuator current. The torque constant is obtained by the least squares method. ; Angle transmission error test: Apply load, take test points at set angle values ​​in both forward and reverse directions, and calculate the angle difference; Backlash error test: Test the position difference in both forward and reverse directions and calculate the average value; Repeatability test: Repeat the position accuracy test under different rotation speeds and calculate the standard deviation; Hysteresis curve and backlash test: Hysteresis curves are plotted by applying forward and reverse loading, and backlash and servo static stiffness are calculated; Efficiency test: Measure the input voltage and current under rated operating conditions and calculate the efficiency; Reverse starting torque test: Measure the reverse starting torque under non-braking and power-off conditions; Step 5: The host computer collects and processes the test data, generates a test report, and saves it; Step 6: Initialize the joint actuator offline detection device status and display the final test results.

2. The method for detecting the decommissioning of a joint actuator according to claim 1, characterized in that: The friction resistance test includes: The drive sliding platform moves along the first linear guide rail, causing the docking shaft to disengage from the docking end, and controlling the joint actuator to operate stably at different output speeds in the no-load state at the output end; Collect the output speed and torque data of the joint actuator; Plot the speed-torque curve and use the least squares method to fit it to obtain the formula characterizing the frictional resistance: in: This is the no-load friction torque; Output rotational speed to the joint actuator; and It is a constant.

3. The method for detecting the offline status of a joint actuator according to claim 1, characterized in that: The starting torque test includes forward and reverse starting torque tests, and the specific steps are as follows: Drive the sliding platform to move along the first linear guide rail, so that the docking shaft is disengaged from the docking end. In the no-load state of the joint actuator output end, control the joint actuator to slowly increase the torque from zero. Real-time acquisition of speed and torque data of the joint actuator; When the rotational speed fluctuation exceeds the predetermined threshold within 1 second, it is determined that the joint actuator starts to rotate, and the maximum torque value at this moment is recorded as the starting torque value of the test point. Multiple points were selected in both the positive and negative directions of the output shaft for testing, and the maximum starting torque value obtained was taken as the test result.

4. The method for detecting the offline status of a joint actuator according to claim 1, characterized in that: The torque constant test includes: The drive sliding platform moves along the first linear guide rail to connect the docking shaft and the docking end. Under the condition that the joint actuator output shaft and the rotating shaft are rigidly connected and the transmission brake mechanism is closed and braking, the joint actuator is controlled to switch to torque mode. Slowly load the torque from zero to the rated torque, while simultaneously recording the torque value measured by the torque sensor and the current value of the joint actuator. The torque constant was calculated by fitting using the least squares method. value: in: This is the output torque of the joint actuator.

5. The method for detecting the decommissioning of a joint actuator according to claim 1, characterized in that: The angle transmission error test includes: The sliding platform is driven to move along the first linear guide rail to connect the docking shaft and the docking end; the servo motor is controlled by the PLC controller to apply a preset percentage of the rated load to the joint actuator, and the joint actuator is controlled to be in speed mode with the speed set to zero. Read the position value of the raster encoder during initial reading ; Sending commands to control the joint actuator to rotate a certain angle, and reading the position value from the grating encoder after reaching the target position. ; Calculate the difference: ; Tests were conducted at multiple predetermined angle points in both the forward and reverse directions, and the average value of the differences in each direction was calculated. And judge whether the encoder accuracy is qualified based on the average value.

6. The method for detecting the decommissioning of a joint actuator according to claim 1, characterized in that: The return error test includes: (1) Drive the sliding platform to move along the first linear guide rail to connect the docking shaft and the docking end; (2) Control the joint actuator to return to the zero point and read the current position; (3) The servo motor is controlled by the PLC controller to apply a preset percentage of the rated load to the joint actuator; (4) Control the joint actuator to rotate forward by the first angle, and record the position value of the grating encoder after it is in place. ; (5) Control it to reverse the second angle, and then rotate it forward again to the second angle, and record the position value of the grating encoder after it is in place. ; (6) Repeat the movement and recording steps (2)-(5) above multiple times, and calculate the average value of the multiple times: in: This represents the number of times the test was repeated. The average value is used as the return error for qualification judgment.

7. The method for detecting the decommissioning of a joint actuator according to claim 1, characterized in that: The repeatability accuracy test includes: Drive the sliding platform to move along the first linear guide rail to connect the docking shaft and the docking end; Control the joint actuator to return to zero; The servo motor is controlled by a PLC controller to apply the rated load to the joint actuator. Under the conditions of 100%, 50%, and 10% of the rated speed, the joint actuator is controlled to move cyclically to multiple predetermined position points in the predetermined position sequence: P1→P2→P3→P4→P5, and the actual position value of the grating encoder is recorded at each position point. Repeat the loop multiple times; Calculate the repeatability of each location point : in: To ensure repeatability and accuracy; For the first The actual position value in the next cycle; For the first The actual position value in the next cycle; This represents the number of loop iterations. The maximum value is taken as the final repeatability accuracy for qualification judgment.

8. The method for detecting the decommissioning of a joint actuator according to claim 1, characterized in that: The hysteresis curve and backlash test include: The product's brake mechanism is used to hold the docking shaft, and under the condition of braking at the output end of the joint actuator, it is controlled to be in torque mode; the servo motor is controlled by the PLC controller to apply load to the joint actuator, and the load torque is measured by the torque sensor. The control input torque is started from zero and slowly applied in one direction until it reaches the positive rated torque. Then, slowly apply the load in the reverse direction to the negative rated torque. Then load forward to Finally, it uninstalls slowly; Record the input angle change corresponding to different load torques throughout the process, and calculate the output angle change value based on the theoretical speed ratio. Plot the torque-rotation angle hysteresis curve; From the hysteresis curve, take the median angle at +3% and -3% rated output torque. and Then the back gap is: The servo static stiffness is the ratio of the load torque to the corresponding elastic deformation angle in the hysteresis curve: in: Servo static stiffness; Half of the rated torque; It is the difference between the rotation angle corresponding to the rated torque on the median line and the rotation angle corresponding to 50% of the rated torque.

9. The method for detecting the decommissioning of a joint actuator according to claim 1, characterized in that: The efficiency test includes: First, drive the sliding platform to move along the first linear guide rail, so that the docking shaft is disengaged from the docking end. Under rated voltage and no-load conditions, control the joint actuator to run to the rated speed. Then, the drive sliding platform moves along the first linear guide rail, so that the docking shaft is docked with the docking end, and the rated torque is gradually applied to the output end of the joint actuator. Monitor temperature changes, and after the temperature rise stabilizes, read the input voltage U and input current I of the joint actuator; Calculate the efficiency using the following formula: in: For joint actuator efficiency; Rated speed; This is the rated torque.

10. The method for detecting the decommissioning of a joint actuator according to claim 1, characterized in that: The anti-drag torque test includes: The workpiece movement clamping fixture moves relative to the workpiece positioning clamping fixture in a direction parallel to the first linear guide rail, and the joint actuator is controlled to be in a non-braking and power-off state. The sliding platform is driven to move along the first linear guide rail, so that the docking shaft is docked with the docking end. The servo motor is controlled by the PLC controller to slowly apply a uniformly increasing torque, and the output torque value and the motor angle value in the joint actuator are collected in real time. Record the instantaneous torque value at which the motor angle begins to change; Multiple tests were conducted at different angles in both directions, and the maximum instantaneous torque value recorded in all tests was taken as the reverse starting torque.

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