Tendon drive system performance integrated test device and drive system test method

Abstract

The application discloses a tendon driving system performance integrated test equipment and a driving system test method, and belongs to the technical field of robot part testing. The equipment comprises a rack and a performance test device. The performance test device comprises a mounting plate provided with a circular-arc guide rail sliding groove, a mandrel for simulating a bending radius, a position adjusting mechanism for accurately positioning the mandrel and clamping a tendon outer cover, at least one linear driving mechanism capable of adjusting an angle along the sliding groove, and a counterweight mechanism. A clamp of the linear driving mechanism clamps one end of a tendon inner core, the counterweight mechanism is connected to the other end of the inner core, the middle part of the tendon passes around the mandrel, and reciprocating motion applied by the linear driving mechanism cooperates with constant tension applied by the counterweight mechanism to simulate the working condition of the tendon under a specific bending radius and angle.

Description

Technical Field

[0001] This invention belongs to the field of robot component testing technology, and in particular relates to an integrated testing device and method for testing the performance of a tendon cable transmission system. Background Technology

[0002] Wire-driven transmission systems, a flexible transmission method inspired by the driving principles of biological tendons, are a core technology in modern high-end equipment manufacturing. They utilize a high-strength, highly flexible Wire (typically steel wire or polymer fiber rope) sliding within a pre-designed sheath to achieve long-distance, lightweight power and motion transmission. With its compact structure, large transmission ratio, ability to achieve non-linear path transmission, and the ability to separate the drive source from the end effector to significantly reduce end-effector inertia, wire-driven transmission systems are widely used in applications requiring extremely high flexibility, precision, and responsiveness, such as humanoid multi-fingered dexterous hands, endoscopic and surgical robots, exoskeleton-assisted robots, and precision deployment mechanisms in the aerospace field. In these applications, the performance of the wire-driven transmission system directly determines the motion accuracy, response speed, load capacity, long-term reliability, and service life of the entire equipment.

[0003] However, chord drive systems face complex service environments and severe performance degradation challenges during operation. The chords repeatedly undergo large-angle, small-radius bending movements within the equivalent pulleys or curved pipes of robot joints. This leads to complex friction and stress concentration between the internal fibers, causing bending fatigue damage and ultimately resulting in decreased strength or even breakage. Simultaneously, the friction between the chord core and sheath is a key factor affecting system transmission efficiency and control accuracy. This friction not only differs between static friction at startup and dynamic friction during uniform motion but also dynamically changes with accumulated fatigue cycles and material wear. Furthermore, the chord material exhibits creep under long-term constant tension, meaning its length slowly elongates over time. This leads to loss of system preload and drift in positioning accuracy. Currently, performance evaluation of chord drive systems in the industry largely relies on general-purpose material testing machines. These general-purpose devices have limited functionality. For example, tensile testing machines can only perform linear tensile fatigue or creep tests on chords, and cannot simulate the bending motion that is crucial in actual working conditions. Dedicated friction and wear testing machines, on the other hand, struggle to reproduce the evolution of frictional characteristics under the coupled effects of multiple physical fields such as tension, bending angle, and fatigue damage during bending. This severe disconnect between testing and actual working conditions, and the inability to conduct integrated and correlated testing of bending fatigue, friction coefficient changes, and creep performance, results in a lack of reliable and effective data support for design, selection, and life prediction, severely hindering the research and application of high-performance chord drive systems.

[0004] Therefore, a pressing technical problem in this field is how to provide a testing method that can accurately simulate the real working conditions of chord drive systems under different bending radii and bending angles, and can comprehensively, integratedly, and quantitatively evaluate multiple key parameters such as bending fatigue life, static / dynamic friction coefficients and their variation trends with fatigue cycles, and long-term creep performance on a single device. This aims to overcome the shortcomings of existing testing methods, such as their inability to simulate real working conditions, limited testing functions, and inability to perform multi-parameter correlation analysis. Thus, it provides a standardized, efficient, and reliable solution for the design optimization, material selection, quality control, and life prediction of chord drive systems. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings and provide an integrated testing device for the performance of tendon cable transmission systems.

[0006] Firstly, an integrated testing device for the performance of a tendon chord transmission system, employing the following technical solution: An integrated performance testing device for a tendon cable transmission system includes a frame and a performance testing device mounted on the frame, the performance testing device comprising: The mounting plate is vertically fixed on the frame, and the mounting plate has at least one arc-shaped guide rail groove with an angle scale. Mandrel, used to simulate the bending radius of tendon chords; A position adjustment mechanism is fixed on the mounting plate. The position adjustment mechanism includes a two-dimensional displacement platform. The mandrel is detachably connected to the two-dimensional displacement platform, and the two-dimensional displacement platform is also provided with a first clamping block for clamping the tendon rope sample jacket. At least one linear drive mechanism, the linear drive mechanism being slidably engaged with the arc-shaped guide rail groove via a first carrier member, so that the linear drive mechanism can be angle-adjusted and locked along the arc-shaped guide rail groove; the linear drive mechanism includes a first clamp connected to it for holding the inner core at one end of the tendon rope sample; and A counterweight mechanism, connected to the inner core at the other end of the tendon rope sample, is used to apply a constant tensile force to the inner core; In this embodiment, one end of the inner core of the tendon rope sample is held by the first clamp, the middle part passes around the mandrel, and the other end is connected to the counterweight mechanism, so that the reciprocating motion applied by the linear drive mechanism and the constant tension applied by the counterweight mechanism are matched to test the bending fatigue and friction performance of the tendon rope sample under specific bending radius and bending angle.

[0007] Furthermore, the two-dimensional displacement platform includes a first displacement adjustment component and a second displacement adjustment component arranged orthogonally to each other; the first displacement adjustment component is fixed on the mounting plate and is used to support the second displacement adjustment component; The first displacement adjustment component includes: At least two first linear guides are fixed parallel to each other on the mounting plate; The second support member slides with the first linear guide rail, and the second displacement adjustment component is fixed on the second support member as a whole; A first lead screw is arranged parallel to the first linear guide rail and rotatably mounted on the mounting plate via a first lead screw mounting seat; the second bearing member is threadedly engaged with the first lead screw; and The first handwheel is connected to one end of the first lead screw via a first coupling. Specifically, by rotating the first handwheel, the first lead screw is driven to rotate via the first coupling, thereby causing the second bearing member and the second displacement adjustment assembly fixed thereon to perform linear displacement in the first direction along the first linear guide rail.

[0008] Furthermore, the second displacement adjustment component includes: The first bearing seat is fixedly connected to the second bearing member; At least two second linear guides are fixed parallel to each other on the first bearing seat; The first slider slides in conjunction with the second linear guide rail, and the mandrel is detachably mounted on the first slider; the first slider integrally extends to form an indicator plate, the indicator plate has a linear groove, and a scale mark is provided next to the linear groove; The second lead screw, parallel to the second linear guide rail, is rotatably mounted on the first support seat; the first slider is threadedly engaged with the second lead screw; and The second handwheel is connected to the second lead screw drive; Specifically, by rotating the second handwheel, the first slider and the mandrel mounted thereon can be driven to make linear displacement in the second direction along the second linear guide rail; at the same time, by sliding and locking the first clamping block in the linear groove of the marking plate, the position of the clamping point of the tendon rope sample jacket relative to the mandrel can be finely adjusted.

[0009] Furthermore, the linear drive mechanism includes: The first support member is provided with a roller that slides in cooperation with the arc-shaped guide rail groove, and fasteners for locking the first support member to the mounting plate. The second support is fixedly connected to the first support member; A servo motor is mounted at one end of the second support. The ball screw assembly includes a third screw that is connected to the servo motor via a second coupling, and a nut that is threaded into the third screw and can perform linear reciprocating motion thereon; One end of the transmission rod is fixedly connected to the nut of the ball screw assembly and reciprocates synchronously. A first force sensor is connected in series at the other end of the transmission rod; A first clamp, connected in series to the output end of the first force sensor, is used to clamp the inner core of the tendon ligament sample; and The second clamping block is fixedly installed at the other end of the second bearing seat and is used to clamp the outer sleeve of the tendon rope sample; Driven by the servo motor, the third lead screw is rotated via the second coupling, causing the nut threaded to reciprocate linearly along the axial direction of the third lead screw. The nut then drives the transmission rod, the first force sensor, and the first clamp to reciprocate synchronously, thereby applying a dynamic load to the inner core of the tendon rope sample.

[0010] Furthermore, at least two rollers are provided on the back of the first carrier, the rollers are embedded in the arc-shaped guide rail groove and can roll along it; the fastener is a manual locking handle that passes through the first carrier, the manual locking handle can clamp the first carrier to the mounting plate and fix it by clamping, thereby locking the linear drive mechanism at any angle position indicated by the angle scale.

[0011] Furthermore, the linear drive mechanism also includes a linear displacement sensor, which includes a ruler fixed on the second support and a reading head that moves synchronously with the transmission rod; wherein, the linear displacement sensor is used to measure the relative displacement of the transmission rod relative to the second support in real time.

[0012] Furthermore, the performance testing device also includes a creep testing mechanism, which comprises: At least two third linear guide rails are fixed to the frame in parallel with each other; The fourth lead screw is arranged parallel to the third linear guide rail and is rotatably mounted on the frame via the second lead screw mounting seat; The second slider slides in conjunction with the third linear guide and is threaded in conjunction with the fourth lead screw; The second force sensor is mounted on the second slider; The second clamp is connected in series to the output end of the second force sensor; and The third handwheel is connected to one end of the fourth lead screw in a transmission manner; During the creep test, one end of the tendon ligament specimen core is held and fixed by the first clamp of the linear drive mechanism, and the other end is held by the second clamp of the creep test mechanism. By rotating the third handwheel, the second slider can be driven to make linear displacement along the third linear guide rail, and the second force sensor applies a long-term constant tensile load to the tendon ligament specimen core.

[0013] Furthermore, the device also includes a central controller; the central controller is electrically connected to the servo motor of the linear drive mechanism, the first force sensor, the second force sensor of the creep testing mechanism, and the linear displacement sensor, respectively. The central controller is used for: The start / stop, speed, displacement, and motion mode of the servo motor are controlled according to preset parameters. Real-time acquisition and processing of data signals from the first force sensor, the second force sensor, and the linear displacement sensor; It can automatically calculate, display and record the bending fatigue cycles, static / dynamic friction coefficients, creep and creep rate of tendon ligament specimens.

[0014] Furthermore, the counterweight mechanism includes a hook and at least one counterweight detachably mounted on the hook, the upper end of the hook being connected to one end of the tendon ligament specimen core; wherein, the counterweight itself exerts a constant tensile force on the tendon ligament specimen core, which is used to cooperate with the dynamic driving force applied by the linear drive mechanism during bending fatigue and friction force testing, so as to simulate the stress state of the tendon ligament specimen core under actual working conditions.

[0015] Furthermore, the mandrel is a replaceable modular component, comprising multiple mandrels with different diameters to simulate the working state of the tendon ligament specimen under different bending radii.

[0016] Secondly, a testing method for a tendon-wire transmission system adopts the following technical solution: A method for testing a tendon-wire transmission system using the aforementioned equipment includes the steps of at least one of the following test modes: The bending fatigue and friction performance testing mode includes the following steps: Step (1), setting the bending condition: adjust the position of the mandrel through the two-dimensional displacement platform of the position adjustment mechanism to set the bending radius of the tendon rope sample; and slide the linear drive mechanism along the arc-shaped guide rail groove of the mounting plate to a predetermined angle and lock it in place to set the bending angle of the tendon rope sample. Step (2), Install and apply basic load: The outer sleeve of the tendon rope sample is clamped and fixed by the first clamping block of the position adjustment mechanism; the tendon rope sample is wrapped around the mandrel, and one end of its inner core is clamped by the first clamp of the linear drive mechanism, and the other end is connected to the counterweight mechanism, so as to apply a constant basic tensile force to the inner core through the counterweight mechanism; Step (3), perform the test: drive the linear drive mechanism to apply a preset reciprocating motion to the inner core of the tendon rope sample to perform a comprehensive test of bending fatigue and friction performance; The creep performance test mode includes the following steps: Step (1), reinstall the sample: hold one end of the tendon ligament sample core with the first clamp of the linear drive mechanism and lock the linear drive mechanism to keep it stationary; hold the other end of the tendon ligament sample core with the second clamp of the creep test mechanism; Step (2), apply and maintain a constant load: apply a preset long-term constant tensile load to the inner core of the tendon rope specimen through the creep test mechanism. This load is implemented and measured in real time by the second force sensor. Step (3), monitoring creep: Under the constant tensile load, using a linear displacement sensor fixed on the linear drive mechanism, continuously monitor and record the minute displacement of the first clamp caused by the elongation of the tendon rope.

[0017] The beneficial effects of this invention are: This invention provides an integrated testing device for tendon cable transmission systems. It systematically integrates a linear drive mechanism with adjustable and lockable angles, a mandrel for simulating bending radii, a two-dimensional displacement platform for precise positioning, and a counterweight mechanism for applying constant tension. Firstly, by setting up a linear drive mechanism with freely adjustable angles along an arc-shaped guide rail, and using mandrels of different diameters, the device can accurately reproduce any combination of bending angles and radii of the tendon cable in complex paths such as robot joints. This ensures a high degree of consistency between the test conditions and the actual service environment, fundamentally improving the authenticity and reference value of the test data. Secondly, based on accurate simulation of real-world conditions, the device coordinates the linear drive mechanism for applying reciprocating motion with the counterweight mechanism for applying constant tension, enabling the testing of multiple key performance indicators such as bending fatigue, coefficient of friction, and creep to be completed on a single device, achieving a high degree of functional integration. This integrated testing capability not only significantly improves the efficiency of R&D and quality inspection and reduces equipment investment costs, but more importantly, it enables the correlation monitoring of the dynamic changes in the friction coefficient with the accumulation of fatigue cycles, providing an unprecedented and effective means to predict the performance degradation pattern of chord drive systems throughout their entire life cycle. This invention provides a highly integrated and highly realistic comprehensive performance testing platform, offering a standardized, efficient, and reliable solution for the design optimization, material selection, quality assessment, and life prediction of chord drive systems, effectively filling a technological gap in the industry. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the integrated performance testing device for the tendon cable transmission system provided in an embodiment of the present invention.

[0019] Figure 2 for Figure 1 Front view of the performance testing device section.

[0020] Figure 3 for Figure 1 Side view of the performance testing device section.

[0021] Figure 4 for Figure 1 Top view of the performance testing equipment section.

[0022] Figure 5 for Figure 1 A three-dimensional isometric view of the performance testing device section.

[0023] Figure 6 for Figure 2 A schematic diagram of the first displacement adjustment component of the mid-position adjustment mechanism.

[0024] Figure 7 for Figure 6 A magnified view of a portion of region A in the middle.

[0025] Figure 8 The main view of the second displacement adjustment component carried by the first displacement adjustment component.

[0026] Figure 9 This is a side view of the second displacement adjustment component.

[0027] Figure 10 This is a top view of the second displacement adjustment component.

[0028] Figure 11 This is a three-dimensional isometric view of the second displacement adjustment component.

[0029] Figure 12 This is a front view of the linear drive mechanism in an embodiment of the present invention.

[0030] Figure 13 This is a side view of the linear drive mechanism.

[0031] Figure 14 This is a three-dimensional isometric view of a linear drive mechanism.

[0032] Figure 15 This is a schematic diagram of the counterweight mechanism in an embodiment of the present invention.

[0033] Figure 16 This is a schematic diagram of the creep testing mechanism in an embodiment of the present invention.

[0034] Reference numerals: 100, Test equipment; 110, Frame; 120, Performance testing device; 130, Central controller; 140, Tendon ligament specimen; 121, Mounting plate; 1211, Arc-shaped guide rail groove; 1212, Angle scale; 122, Position adjustment mechanism; 1221, Two-dimensional displacement platform; 12211, First displacement adjustment assembly; 122111, First linear guide rail; 12112, Second bearing component; 12113, First lead screw; 12114, First lead screw mounting seat; 12115, First handwheel; 12116, First coupling; 12212, Second displacement adjustment assembly; 122121, First bearing seat; 122122, Second linear guide rail; 122123, First slider; 122124, Marking plate; 122125, Linear groove; 122126, Scale marking; 122127. Second lead screw; 122128, Second handwheel; 122129, First clamping block; 122130, Mandrel; 123, Linear drive mechanism; 12311, First bearing member; 12312, Roller; 12313, Fastener; 12314, Second bearing seat; 12315, Servo motor; 12316, Ball screw assembly; 12317, Second coupling; 12318, Transmission rod; 12319 12320. First force sensor; 12321. First clamp; 12321. Second clamping block; 124. Counterweight mechanism; 1241. Hook; 1242. Counterweight; 125. Creep testing mechanism; 1251. Third linear guide; 1252. Fourth lead screw; 1253. Second lead screw mounting base; 1254. Second slider; 1255. Second force sensor; 1256. Second clamp; 1257. Third handwheel. Detailed Implementation

[0035] The following detailed description, in conjunction with embodiments, provides an integrated performance testing device and transmission system testing method for a tendon-wire transmission system according to the present invention. For the sake of simplicity, this document cannot exhaustively list all alternative technical features and embodiments included in the present invention. Therefore, those skilled in the art should understand that any technical feature and embodiment within this embodiment does not limit the scope of protection of the present invention. The scope of protection includes all alternative technical features and embodiments adopted by those skilled in the art without inventive effort. Specifically, any embodiment obtained by replacing any technical feature in the present invention or by combining any two or more technical features provided by the present invention should be within the scope of protection of the present invention.

[0036] Please see Figures 1 to 5This embodiment provides an integrated performance testing device 100 for a tendon chord transmission system, which includes a frame 110 and a performance testing device 120 mounted on the frame 110. The performance testing device 120 includes a mounting plate 121, which is vertically fixed on the frame 110 and has an arc-shaped guide rail groove 1211 with an angle scale 1212. A position adjustment mechanism 122 is fixed on the mounting plate 121, and a mandrel 122130 for simulating the bending radius of the tendon chord is detachably mounted on the position adjustment mechanism 122. The position adjustment mechanism 122 also includes a two-dimensional displacement platform 1221, on which a first clamping block 122129 for clamping the outer sleeve of the tendon chord sample 140 is provided. The testing device 100 includes at least one linear drive mechanism 123, which slides with the arc-shaped guide rail groove 1211 through its first bearing member 12311, and can be adjusted in angle and locked in place. The linear drive mechanism 123 is connected to a first clamp 12320 for holding one end of the inner core of the tendon rope sample 140. The testing equipment 100 is provided with a counterweight mechanism 124 for connecting the other end of the inner core of the tendon rope sample 140 and applying a constant tension.

[0037] During testing, one end of the inner core of the tendon cord specimen 140 is held by the first clamp 12320, the middle part passes around the mandrel 122130, and the other end is connected to the counterweight mechanism 124. By coordinating the reciprocating motion applied by the linear drive mechanism 123 with the constant tension applied by the counterweight mechanism 124, the bending fatigue and friction performance of the tendon cord specimen 140 under specific bending radii and bending angles can be tested.

[0038] This embodiment systematically integrates a linear drive mechanism 123 with an adjustable angle along the arc-shaped guide rail groove 1211, a replaceable spindle 122130, a precisely positioned adjustment mechanism 122, and a counterweight mechanism 124. This allows for precise simulation of the actual working conditions of the tendon rope 140 under arbitrary bending radii and angles on a single platform. This ensures a high degree of consistency between the test conditions and the actual service environment, fundamentally solving the problems of existing technologies being unable to simulate real working conditions and having limited testing functions, thus greatly improving the validity and reliability of the test data.

[0039] Please see Figure 6 and Figure 7 The two-dimensional displacement platform 1221 consists of a first displacement adjustment component 12211 and a second displacement adjustment component 12212 that are orthogonal to each other (see...). Figure 8 The first displacement adjustment component 12211 is fixed on the mounting plate 121 and is used to support the second displacement adjustment component 12212.

[0040] like Figure 7As shown, the first displacement adjustment assembly 12211 includes: at least two parallel first linear guide rails 12111, which are vertically fixed on the mounting plate 121; a second bearing member 12112 that slides with the first linear guide rails 12111, and the entire second displacement adjustment assembly 12212 is fixed on the second bearing member 12112; a first lead screw 12113 that is parallel to the first linear guide rails 12111 and is rotatably mounted on the mounting plate 121 through a first lead screw mounting seat 12114, and the second bearing member 12112 is threadedly engaged with the first lead screw 12113; and a first handwheel 12115 that is drivenly connected to one end of the first lead screw 12113 through a first coupling 12116.

[0041] By rotating the first handwheel 12115, the first lead screw 12113 is driven to rotate via the first coupling 12116, which in turn drives the second bearing member 12112 and the second displacement adjustment assembly 12212 fixed thereon to perform linear displacement in the first direction (i.e., the vertical direction) along the first linear guide rail 12111.

[0042] The first displacement adjustment component 12211 provides a high-precision and high-stability load-bearing and driving platform. By operating the first handwheel 12115, the entire second displacement adjustment component 12212 (i.e., the core area under bending conditions) can be easily macroscopically adjusted, ensuring that the core testing area can be accurately aligned with other components of the equipment, laying a solid foundation for subsequent fine adjustments and reliable testing.

[0043] Please see Figures 8 to 11 The second displacement adjustment assembly 12212 includes a first support 122121, which is fixedly connected to a second support member 12112; at least two second linear guide rails 122122 are fixedly mounted parallel to each other on the first support 122121; a first slider 122123 is slidably engaged with the second linear guide rails 122122, and a spindle 122130 is detachably mounted on the first slider 122123; the first slider 122123... An integral extension forms a label plate 122124, on which a straight groove 122125 is provided, and a scale mark 122126 is provided next to the groove; a second lead screw 122127 is set parallel to the second linear guide rail 122122 and is rotatably mounted on the first support 122121; a first slider 122123 is threadedly engaged with the second lead screw 122127; and a second handwheel 122128 is connected to the second lead screw 122127 for transmission.

[0044] By rotating the second handwheel 122128, the first slider 122123 and the mandrel 122130 mounted thereon can be driven to make linear displacement in the second direction (horizontal direction) along the second linear guide rail 122122. At the same time, the first clamping block 122129 can slide and lock within the linear groove 122125 of the marking plate 122124 to finely adjust the position of the clamping point of the tendon rope sample jacket relative to the mandrel 122130.

[0045] The second displacement adjustment component 12212 achieves dual fine adjustment functionality. First, by operating the second handwheel 122128, the position of the mandrel 122130 can be precisely adjusted, thereby accurately setting the bending radius. Second, the first clamping block 122129 can be finely adjusted on the marking plate 122124 with scale markings 122126, which allows for the quantitative setting of the constraint points of the tendon sheath. This dual adjustment capability greatly improves the precision and repeatability of the test setup, ensuring the accuracy of the test condition simulation.

[0046] Please see Figures 12 to 14 The linear drive mechanism 123 includes a first support member 12311, on which a roller 12312 and a fastener 12313 are provided; a second support seat 12314 is fixedly connected to the first support member 12311; a servo motor 12315 is mounted on one end of the second support seat 12314; a ball screw assembly 12316 includes a third screw that is drivenly connected to the servo motor 12315 through a second coupling 12317, and a nut that is threadedly engaged with the third screw; one end of a transmission rod 12318 is fixedly connected to the nut; a first force sensor 12319 is connected in series to the other end of the transmission rod 12318; a first clamp 12320 is connected in series to the output end of the first force sensor 12319 for clamping the inner core of the tendon rope; and a second clamping block 12321 is fixedly disposed on the other end of the second support seat 12314 for clamping the outer sheath of the tendon rope.

[0047] Driven by the servo motor 12315, the third lead screw is rotated via the second coupling 12317, thereby causing the nut to drive the transmission rod 12318, the first force sensor 12319 and the first clamp 12320 to reciprocate synchronously, so as to apply a dynamic load to the inner core of the tendon rope.

[0048] The combination of servo motor 12315 and ball screw assembly 12316 provides the equipment with high-precision, high-response, and programmable linear drive capability, serving as the core power source for high-frequency fatigue testing and accurate friction coefficient measurement. The first force sensor 12319 is integrated between the transmission rod 12318 and the first clamp 12320, enabling real-time, closed-loop monitoring of the tension in the tendon ligament core and ensuring the accuracy of the applied load.

[0049] Please see Figure 13 and Figure 14 The back of the first carrier 12311 is provided with at least two rollers 12312, which can be embedded in the arc-shaped guide rail groove 1211 of the mounting plate 121 and roll along it; the fastener 12313 is a manual locking handle that passes through the first carrier 12311. By operating the handle, the first carrier 12311 can be clamped and fixed to the mounting plate 121, thereby locking the entire linear drive mechanism 123 at any angle position indicated by the angle scale 1212.

[0050] The cooperation between the roller 12312 and the arc-shaped guide rail groove 1211 enables the heavy-duty linear drive mechanism 123 to move smoothly and effortlessly during angle adjustment. The fastener 12313 (manual locking handle) provides a quick and reliable locking method, is easy to operate, and offers stable positioning, ensuring the equipment operates securely at different test angles and guaranteeing the safety of the testing process and the reliability of the data.

[0051] Please see Figure 12 The linear drive mechanism 123 also includes a linear displacement sensor; the linear displacement sensor includes a ruler fixed to the second support 12314 and a reading head that moves synchronously with the transmission rod 12318 (the specific ruler and reading head are not shown in the figure, but their installation position and function are clear). The linear displacement sensor is used to measure the relative displacement of the transmission rod 12318 with respect to the second support 12314 in real time.

[0052] The integration of a linear displacement sensor provides the device with high-precision displacement measurement capabilities. In creep testing, it can accurately monitor the minute elongation of the tendon cord specimen 140 due to material creep; in bending fatigue and friction tests, it can be used to accurately record and control the movement of the transmission rod 12318, ensuring the accuracy of test conditions and providing a foundation for obtaining reliable creep, creep rate, and fatigue stroke data.

[0053] Please see Figure 1 and Figure 16 The performance testing device 120 also includes an independent creep testing mechanism 125; the creep testing mechanism includes: at least two parallel third linear guide rails 1251, fixed on the frame 110; a fourth lead screw 1252 arranged parallel to the guide rails and rotatably mounted on the frame 110 through a second lead screw mounting seat 1253; a second slider 1254 threadedly engaged with the guide rails and the fourth lead screw 1252; a second force sensor 1255 mounted on the second slider 1254; a second clamp 1256 connected in series to the output end of the second force sensor 1255; and a third handwheel 1257 connected to the fourth lead screw 1252.

[0054] During the creep test, one end of the tendon cord inner core is held and fixed by the first clamp 12320 of the linear drive mechanism 123, and the other end is held by the second clamp 1256; the second force sensor 1255 can apply a long-term constant tensile load to the inner core of the tendon cord sample 140.

[0055] By setting up an independent creep testing mechanism 125, and in particular by utilizing the self-locking function of the second slider 1254, this invention achieves a highly stable long-term constant force loading method. This not only ensures the reliability of creep test data, but also allows creep testing to be performed in parallel with fatigue testing (on another device), or for extended periods without occupying the main drive system (servo motor 12315), thereby improving equipment efficiency and reducing energy consumption.

[0056] Please see Figure 1 The testing equipment 100 also includes a central controller 130; the central controller 130 is electrically connected to the servo motor 12315 of the linear drive mechanism 123, the first force sensor 12319, the second force sensor 1255 of the creep testing mechanism 125, and the linear displacement sensor. The central controller 130 is used to control the servo motor according to preset parameters and to collect and process the data signals from each sensor in real time to automatically calculate, display, and record the test results.

[0057] The integration of the central controller 130 consolidates all independent mechanical actuators and sensing / measuring components into an organic, intelligent, and automated system. This enables complex testing processes to be started and completed automatically with a single click, significantly reducing the complexity and errors of manual operation and improving testing efficiency. More importantly, it allows for the synchronous, high-speed acquisition and correlation analysis of data from multiple sensors (such as the force from the first force sensor 12319 and the displacement from the linear displacement sensor), enabling complex functions such as calculating the friction coefficient and monitoring performance degradation during fatigue.

[0058] Please see Figure 15 The counterweight mechanism 124 includes a hook 1241 and at least one counterweight 1242 detachably mounted on the hook. The upper end of the hook 1241 is connected to one end of the inner core of the tendon rope sample 140. The counterweight 1242 applies a constant tension to the inner core of the tendon rope by its own weight, so as to simulate the stress state of the tendon rope under actual working conditions.

[0059] The counterweight mechanism 124 provides a simple, low-cost, and extremely stable and reliable constant force application method. By increasing or decreasing the number of counterweights 1242, the magnitude of the preload can be easily adjusted to meet the needs of different test standards and working conditions. The force applied in this way remains constant, providing a stable normal force basis for friction force testing and ensuring the accuracy of friction coefficient calculation.

[0060] Please see Figure 11 The mandrel 122130 is a replaceable modular assembly comprising multiple mandrels with different diameters. Before conducting different tests, the operator can easily remove the current mandrel from the first slider 122123 and replace it with another mandrel of the desired diameter, based on the required simulated bending radius.

[0061] Designing the mandrel 122130 as a replaceable modular component greatly enhances the versatility and adaptability of the testing equipment of this invention. It enables a single device to cover testing needs with a wide range of bending radii, perfectly simulating the working state of tendons and ligaments under different joint sizes or wiring paths. This is a key technical feature for achieving an "integrated" multi-functional testing platform, significantly improving the cost-effectiveness and application scope of the equipment.

[0062] This embodiment also provides an integrated testing method for the performance of a tendon chord transmission system using the aforementioned device 100. This method aims to accurately evaluate over 140 key performance characteristics of tendon chord samples by operating the various functional modules of the device. Specifically, the method may include the steps of performing at least one of the following test modes: A) Bending fatigue and friction performance test mode This test mode is used to simulate the performance degradation process of tendons and ligaments under long-term reciprocating bending motions at robot joints and other locations.

[0063] Step (1), set the bending conditions: First, according to the test requirements, the operator drives the first displacement adjustment component 12211 and the second displacement adjustment component 12212 respectively by rotating the first handwheel 12115 and the second handwheel 122128 of the position adjustment mechanism 122, thereby precisely adjusting the center position of the mandrel 122130 in the two-dimensional plane to accurately set the bending radius of the tendon rope sample 140.

[0064] Subsequently, the operator loosens the fasteners 12313 on the linear drive mechanism 123, allowing the rollers 12312 on its first support member 12311 to slide freely along the arc-shaped guide rail groove 1211 of the mounting plate 121. The linear drive mechanism 123 is moved to the target angle, precisely positioned using the angle scale 1212, and then the fasteners 12313 are tightened to secure it, thus completing the setting of the bending angle.

[0065] Step (2), Install and apply foundation load: The sheath of the tendon ligament sample 140 is clamped and fixed by the first clamping block 122129 of the position adjustment mechanism 122.

[0066] The inner core of the tendon rope sample 140 is passed around the pre-positioned mandrel 122130, with one end held by the first clamp 12320 of the linear drive mechanism 123, and the other end connected to the hook 1241 of the counterweight mechanism 124. By suspending an appropriate amount of counterweight 1242 on the hook 1241, a constant basic tension is applied to the inner core of the tendon rope by gravity.

[0067] Step (3), perform the test: After setting the test parameters (such as frequency, stroke, total number of times, etc.) on the human-machine interface of the central controller 130, the operator starts the test program.

[0068] The central controller 130 instructs the servo motor 12315 of the linear drive mechanism 123 to start working, driving the ball screw assembly 12316, which in turn drives the transmission rod 12318 and the first clamp 12320 to perform a preset high-frequency reciprocating motion.

[0069] Throughout the test, the first force sensor 12319 monitors the dynamic load in real time, the central controller 130 automatically records the number of cycles, and automatically performs the measurement of the friction coefficient at the preset cycle nodes, thereby realizing a comprehensive test of bending fatigue and friction performance.

[0070] B) Specific implementation of creep performance testing mode This test mode is used to evaluate the dimensional stability of tendon chord materials under long-term constant load.

[0071] Step (1), reinstall the sample: One end of the inner core of the tendon ligament sample 140 to be tested is clamped by the first clamp 12320 of the linear drive mechanism 123. At this time, the central controller 130 locks the servo motor 12315 so that it does not move, thereby making the linear drive mechanism 123 a passive fixed end.

[0072] The other end of the inner core of the tendon ligament specimen 140 is held by the second clamp 1256 of the independent creep testing mechanism 125.

[0073] Step (2), apply and maintain a constant load: The operator observes the reading of the second force sensor 1255, which is connected to the central controller 130 and displayed in real time, until the reading of the second force sensor 1255 accurately reaches the preset constant load value, and ensures that the tensile load applied to the tendon rope remains accurately constant throughout the test (e.g., 24 hours or longer) without any power consumption.

[0074] Step (3), monitor creep variables: Under the aforementioned constant tensile load, the central controller 130 starts the creep timing.

[0075] The linear displacement sensor, which is fixed to the stationary linear drive mechanism 123 (specifically on the second support 12314) above, continuously monitors and records the minute downward displacement of the first clamp 12320 caused by the elongation of the tendon material with high precision.

[0076] The central controller 130 uses this displacement as a creep variable and automatically records it at set time intervals (such as once per second) until the test ends.

[0077] The integrated performance testing equipment 100 for tendon chord transmission systems provided by this invention can accurately test various key performance characteristics of tendon chord samples 140 through its integrated mechanical structure, sensing system, and central controller 130. Detailed testing methods are as follows: I. Combined Test Method for Bending Fatigue and Friction Properties This method aims to simulate the performance degradation process of tendons and ligaments under long-term reciprocating motion in robot joints and other parts, and is the core testing function of this invention.

[0078] 1. Sample preparation and installation First, according to the test standards or simulated working conditions, a section of tendon cord of a specific specification and its matching sheath are selected to prepare a tendon cord specimen 140 to be tested. One end of the sheath of the tendon cord specimen 140 is firmly clamped by the first clamping block 122129 on the position adjustment mechanism 122. The inner core of the tendon cord specimen 140 is passed through the sheath, and one end is clamped by the first clamp 12320 of the linear drive mechanism 123. The other end of the tendon cord inner core is connected to the hook 1241 of the counterweight mechanism 124, and a constant preload is applied by suspending an appropriate amount of counterweight 1242.

[0079] 2. Test Condition Settings Bending radius setting: According to the test requirements, a mandrel 122130 with a specific diameter is selected and installed onto the first slider 122123 of the second displacement adjustment assembly 12212. Subsequently, the operator can drive the first displacement adjustment assembly 12211 and the second displacement adjustment assembly 12212 respectively by rotating the first handwheel 12115 and the second handwheel 122128, thereby precisely adjusting the center position of the mandrel 122130 in the two-dimensional plane to accurately set the bending radius of the tendon rope.

[0080] Bending angle setting: Loosen the fastener 12313 on the linear drive mechanism 123 to allow the roller 12312 on its first support member 12311 to slide freely along the arc-shaped guide rail groove 1211 of the mounting plate 121. Move the linear drive mechanism 123 to the target angle, accurately position it with reference to the angle scale 1212, and then tighten the fastener 12313 to securely lock it.

[0081] 3. Test Parameter Input On the human-machine interface of the central controller 130, select the "Combined Bending Fatigue and Friction Test" mode. Input the fatigue test parameters, such as: reciprocating motion frequency (e.g., 1-5 Hz), reciprocating motion stroke (e.g., 50 mm), and target total number of cycles (e.g., 1,000,000 times). Input the intermittent measurement parameters for the friction coefficient, such as: automatically perform a friction coefficient measurement after every 10,000 fatigue cycles.

[0082] 4. Automated Test Execution and Data Acquisition The test program is started, and the central controller 130 instructs the servo motor 12315 of the linear drive mechanism 123 to start working.

[0083] Fatigue testing phase: Servo motor 12315 drives ball screw assembly 12316, which in turn drives transmission rod 12318 and first clamp 12320 to reciprocate at high speed with a set frequency and stroke, simulating the fatigue process of tendons and chordae tendons. First force sensor 12319 monitors changes in dynamic load in real time.

[0084] Intermittent friction measurement phase: When the preset number of cycles is reached, the fatigue motion automatically pauses. Servo motor 12315 switches to low-speed uniform mode, pulling the tendon ligament core at an extremely low speed (e.g., 1 mm / min). During this process, the central controller 130 collects the maximum force value (static friction) at the moment of startup and the average force value (dynamic friction) during the uniform motion phase from the first force sensor 12319. After the measurement is completed, the device automatically resumes high-speed fatigue motion.

[0085] This process will cycle automatically until the target total number of cycles is reached or the chordae tendon breaks.

[0086] 5. Results Processing and Analysis After the test is completed, the central controller 130 will automatically process all the data collected throughout the process.

[0087] The system can generate and output: Total number of fatigue cycles and force decay curve.

[0088] The key "friction coefficient-fatigue cycle" relationship curve visually demonstrates the changing trends of static and dynamic friction coefficients as service life increases, thereby comprehensively evaluating the durability and performance consistency of the tendon cable drive system.

[0089] II. Independent Test Methods for Static and Dynamic Friction Coefficients This method is used to quickly and accurately determine the basic frictional properties of tendon chords under specific bending conditions.

[0090] 1. Preparation and Operating Condition Setup: Same as steps 1 and 2 of the "Joint Test Method" above.

[0091] 2. Parameter input: On the interface of the central controller 130, select the "friction coefficient test" mode and set the speed of a single pull (e.g., 1 mm / min) and stroke.

[0092] 3. Test execution: When the test is started, the servo motor 12315 drives the transmission rod 12318 at a set very low speed to pull the tendon rope core.

[0093] The central controller 130, through the first force sensor 12319, accurately captures the peak value of the maximum tension generated at the moment the tendon chord is about to begin sliding; this is the static friction force F. s .

[0094] Subsequently, as the tendon rope slides at a constant speed, the controller calculates the stable average tension value over a period of time, which is the dynamic friction force F. k .

[0095] 4. Result Calculation and Display: The testing software uses the measured static friction force F s and kinetic friction F k Combined with the constant normal force provided by the counterweight mechanism 124 (which the software can convert based on the Euler-Ettleven formula according to the counterweight value and bending angle θ), the static friction coefficient μ is automatically calculated. s and kinetic friction coefficient μ k .

[0096] III. Creep Performance Testing Methods This method is used to evaluate the dimensional stability of chord materials under long-term constant load.

[0097] 1. Sample installation The tendon ligament specimen 140 to be tested was installed vertically.

[0098] Its upper end is held by the first clamp 12320 of the linear drive mechanism 123, which is in a static locked state. In this test, the linear drive mechanism 123 acts as a passive fixed end and displacement measuring end.

[0099] Its lower end is held by a second clamp 1256 of an independent creep testing mechanism 125. In this test, this mechanism acts as the active loading end.

[0100] 2. Applying a constant load The operator observes the real-time readings of the second force sensor 1255, which is connected to the central controller 130; and slowly and smoothly controls the second force sensor 1255 to stretch the inner core of the tendon cord. The force value is continuously observed until a preset constant load value is precisely reached (e.g., 20%-30% of the rated breaking strength of the tendon cord), and this tensile load is ensured to remain precisely constant throughout the test (e.g., 24 hours or longer) without the need for additional power.

[0101] 3. Data Collection Start the creep test timing.

[0102] During this period, the linear displacement sensor installed in the upper linear drive mechanism 123 continuously monitors and records the position of the first clamp 12320 with high precision (micrometer level). Due to the creep elongation of the tendon rope, the position of the first clamp will undergo an extremely small downward displacement, which is the creep variable.

[0103] The central controller 130 will automatically record creep data at set time intervals (e.g., once per second).

[0104] 4. Results Processing and Analysis After the test, the system will automatically generate a creep-time relationship curve. By analyzing the slope of the curve, the software can calculate the creep rate at any time point (such as 1 hour, 10 hours, 24 hours), thereby comprehensively evaluating the creep resistance and long-term dimensional stability of the tendon ligament material.

[0105] For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations, but obvious variations or modifications derived therefrom are still within the scope of protection of the claims of this invention.

Claims

1. An integrated testing device for the performance of a tendon cable transmission system, characterized in that, Includes a rack and a performance testing device mounted on the rack, the performance testing device comprising: The mounting plate is vertically fixed on the frame, and the mounting plate has at least one arc-shaped guide rail groove with an angle scale. Mandrel, used to simulate the bending radius of tendon chords; A position adjustment mechanism is fixed on the mounting plate. The position adjustment mechanism includes a two-dimensional displacement platform. The mandrel is detachably connected to the two-dimensional displacement platform, and the two-dimensional displacement platform is also provided with a first clamping block for clamping the tendon rope sample jacket. At least one linear drive mechanism, the linear drive mechanism being slidably engaged with the arc-shaped guide rail groove via a first carrier member, so that the linear drive mechanism can be angle-adjusted and locked along the arc-shaped guide rail groove; the linear drive mechanism includes a first clamp connected to it for holding the inner core at one end of the tendon rope sample; and A counterweight mechanism, connected to the inner core at the other end of the tendon rope sample, is used to apply a constant tensile force to the inner core; In this embodiment, one end of the inner core of the tendon rope sample is held by the first clamp, the middle part passes around the mandrel, and the other end is connected to the counterweight mechanism, so that the reciprocating motion applied by the linear drive mechanism and the constant tension applied by the counterweight mechanism are matched to test the bending fatigue and friction performance of the tendon rope sample under specific bending radius and bending angle.

2. The device according to claim 1, characterized in that, The two-dimensional displacement platform includes a first displacement adjustment component and a second displacement adjustment component arranged orthogonally to each other; the first displacement adjustment component is fixed on the mounting plate and is used to support the second displacement adjustment component; The first displacement adjustment component includes: At least two first linear guides are fixed parallel to each other on the mounting plate; The second support member slides with the first linear guide rail, and the second displacement adjustment component is fixed on the second support member as a whole; A first lead screw is arranged parallel to the first linear guide rail and rotatably mounted on the mounting plate via a first lead screw mounting seat; the second bearing member is threadedly engaged with the first lead screw; and The first handwheel is connected to one end of the first lead screw via a first coupling. Specifically, by rotating the first handwheel, the first lead screw is driven to rotate via the first coupling, thereby causing the second bearing member and the second displacement adjustment assembly fixed thereon to perform linear displacement in the first direction along the first linear guide rail.

3. The device according to claim 2, characterized in that, The second displacement adjustment component includes: The first bearing seat is fixedly connected to the second bearing member; At least two second linear guides are fixed parallel to each other on the first bearing seat; The first slider slides in conjunction with the second linear guide rail, and the mandrel is detachably mounted on the first slider; the first slider integrally extends to form an indicator plate, the indicator plate has a linear groove, and a scale mark is provided next to the linear groove; The second lead screw, parallel to the second linear guide rail, is rotatably mounted on the first support seat; the first slider is threadedly engaged with the second lead screw; and The second handwheel is connected to the second lead screw drive; Specifically, by rotating the second handwheel, the first slider and the mandrel mounted thereon can be driven to make linear displacement in the second direction along the second linear guide rail; at the same time, by sliding and locking the first clamping block in the linear groove of the marking plate, the position of the clamping point of the tendon rope sample jacket relative to the mandrel can be finely adjusted.

4. The device according to claim 1, characterized in that, The linear drive mechanism includes: The first support member is provided with a roller that slides in cooperation with the arc-shaped guide rail groove, and fasteners for locking the first support member to the mounting plate. The second support is fixedly connected to the first support member; A servo motor is mounted at one end of the second support. The ball screw assembly includes a third screw that is connected to the servo motor via a second coupling, and a nut that is threaded into the third screw and can perform linear reciprocating motion thereon; One end of the transmission rod is fixedly connected to the nut of the ball screw assembly and reciprocates synchronously. A first force sensor is connected in series at the other end of the transmission rod; A first clamp, connected in series to the output end of the first force sensor, is used to clamp the inner core of the tendon ligament sample; and The second clamping block is fixedly installed at the other end of the second bearing seat and is used to clamp the outer sleeve of the tendon rope sample; Driven by the servo motor, the third lead screw is rotated via the second coupling, causing the nut threaded to reciprocate linearly along the axial direction of the third lead screw. The nut then drives the transmission rod, the first force sensor, and the first clamp to reciprocate synchronously, thereby applying a dynamic load to the inner core of the tendon rope sample.

5. The device according to claim 4, characterized in that, The back of the first carrier is provided with at least two rollers, which are embedded in the arc-shaped guide rail groove and can roll along it; the fastener is a manual locking handle that passes through the first carrier, which can clamp the first carrier to the mounting plate and fix it, thereby locking the linear drive mechanism at any angle position indicated by the angle scale.

6. The device according to claim 5, characterized in that, The linear drive mechanism further includes a linear displacement sensor, which includes a scale body fixed on the second support seat and a reading head that moves synchronously with the transmission rod; wherein, the linear displacement sensor is used to measure the relative displacement of the transmission rod relative to the second support seat in real time.

7. The device according to claim 6, characterized in that, The performance testing device further includes a creep testing mechanism, which comprises: At least two third linear guide rails are fixed to the frame in parallel with each other; The fourth lead screw is arranged parallel to the third linear guide rail and is rotatably mounted on the frame via the second lead screw mounting seat; The second slider slides in conjunction with the third linear guide and is threaded in conjunction with the fourth lead screw; The second force sensor is mounted on the second slider; The second clamp is connected in series to the output end of the second force sensor; and The third handwheel is connected to one end of the fourth lead screw in a transmission manner; During the creep test, one end of the tendon ligament specimen core is held and fixed by the first clamp of the linear drive mechanism, and the other end is held by the second clamp of the creep test mechanism. By rotating the third handwheel, the second slider can be driven to make linear displacement along the third linear guide rail, and the second force sensor applies a long-term constant tensile load to the tendon ligament specimen core.

8. The device according to claim 7, characterized in that, The device also includes a central controller; the central controller is electrically connected to the servo motor of the linear drive mechanism, the first force sensor, the second force sensor of the creep testing mechanism, and the linear displacement sensor, respectively. The central controller is used for: The start / stop, speed, displacement, and motion mode of the servo motor are controlled according to preset parameters. Real-time acquisition and processing of data signals from the first force sensor, the second force sensor, and the linear displacement sensor; It can automatically calculate, display and record the bending fatigue cycles, static / dynamic friction coefficients, creep and creep rate of tendon ligament specimens.

9. The device according to claim 1, characterized in that, The counterweight mechanism includes a hook and at least one counterweight detachably mounted on the hook. The upper end of the hook is connected to one end of the tendon ligament specimen core. The counterweight itself exerts a constant tensile force on the tendon ligament specimen core. This is used to cooperate with the dynamic driving force applied by the linear drive mechanism during bending fatigue and friction tests to simulate the stress state of the tendon ligament specimen core under actual working conditions.

10. A method for testing a tendon-wire transmission system using the device described in claim 7 or 8, characterized in that, The steps include at least one of the following test modes: The bending fatigue and friction performance testing mode includes the following steps: Step (1), setting the bending condition: adjust the position of the mandrel through the two-dimensional displacement platform of the position adjustment mechanism to set the bending radius of the tendon rope sample; and slide the linear drive mechanism along the arc-shaped guide rail groove of the mounting plate to a predetermined angle and lock it in place to set the bending angle of the tendon rope sample. Step (2), Install and apply basic load: The outer sleeve of the tendon rope sample is clamped and fixed by the first clamping block of the position adjustment mechanism; the tendon rope sample is wrapped around the mandrel, and one end of its inner core is clamped by the first clamp of the linear drive mechanism, and the other end is connected to the counterweight mechanism, so as to apply a constant basic tensile force to the inner core through the counterweight mechanism; Step (3), perform the test: drive the linear drive mechanism to apply a preset reciprocating motion to the inner core of the tendon rope sample to perform a comprehensive test of bending fatigue and friction performance; The creep performance test mode includes the following steps: Step (1), reinstall the sample: hold one end of the tendon ligament sample core with the first clamp of the linear drive mechanism and lock the linear drive mechanism to keep it stationary; hold the other end of the tendon ligament sample core with the second clamp of the creep test mechanism; Step (2), apply and maintain a constant load: apply a preset long-term constant tensile load to the inner core of the tendon rope specimen through the creep test mechanism, and the load is measured in real time by the second force sensor; Step (3), monitoring creep: Under the constant tensile load, using a linear displacement sensor fixed on the linear drive mechanism, continuously monitor and record the minute displacement of the first clamp caused by the elongation of the tendon rope.

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