A fatigue life test device and method for a joint module

Abstract

The application provides a kind of fatigue life test device and method of joint module, it is related to joint module fatigue life test technical field, device includes support assembly, is set on support assembly about joint module;Environment simulation component, environment simulation component is set on support assembly and is covered in the outside of joint module, for simulating the actual service environment of joint module;Load component, load component is set on support assembly and is transmission connection with joint module, for applying load torque to joint module;Control, control is respectively electrically connected with joint module, load component and environment simulation component, for according to preset load spectrum control the speed and rotation direction of joint module, and according to preset load spectrum control the size of load torque that load component exports and according to preset environmental parameter control environment simulation component.The application can restore the actual service working condition of joint module, and accurately obtain the fatigue life of joint module under actual service working condition.

Description

Technical Field

[0001] This invention relates to the field of fatigue life testing of joint modules, and more particularly to a fatigue life testing device and method for joint modules. Background Technology

[0002] Joint modules are the core moving components of humanoid robots, and their fatigue life directly determines the overall operational reliability and efficiency of the robot. Therefore, predicting the fatigue life of joint modules through simulation tests is of great significance for identifying structural weaknesses in advance, optimizing the overall structural design, formulating reasonable maintenance cycles, and improving the service reliability of humanoid robots in complex scenarios. Current technologies for fatigue life testing of joint modules generally employ a single loading method with constant torque. However, in actual service, the load torque of the joint module changes dynamically in real time with the robot's movement posture. The static loading mode with constant torque cannot reproduce the module's true dynamic load conditions, resulting in a significant deviation between the fatigue life assessment results and actual usage conditions. Furthermore, existing fatigue life tests are typically conducted in ideal laboratory environments with normal temperature, dryness, and no corrosion, which differs greatly from the complex and variable actual deployment environment of joint modules. Therefore, current technologies cannot simulate the actual service conditions of joint modules and cannot accurately determine their fatigue life under actual service conditions.

[0003] Therefore, there is an urgent need for a fatigue life testing device and method for joint modules to more accurately obtain the fatigue life of joint modules under actual service conditions. Summary of the Invention

[0004] The purpose of this invention is to address the above problems by providing a fatigue life testing device for joint modules, so as to obtain the fatigue life of joint modules under actual service conditions more accurately.

[0005] In a first aspect, the present invention provides a fatigue life testing device for a joint module, comprising: A support assembly, on which a joint module is provided; An environmental simulation component is disposed on the support component and covered outside the joint module, and is used to simulate the actual service environment of the joint module; A load assembly, which is disposed on the support assembly and is connected to the joint module for applying load torque to the joint module; The control component is electrically connected to the joint module, the load component, and the environmental simulation component, respectively. The control component is used to adjust the rotation speed and rotation direction of the joint module according to a preset load spectrum to adjust the waveform of the load torque, adjust the magnitude of the load torque output by the load component according to the preset load spectrum, and adjust the environmental simulation component according to preset environmental parameters.

[0006] According to certain embodiments of the present invention, the support component includes: a support base and... A joint support component, which is slidably connected to the support base, is used to mount the joint module and the environment simulation component; A load support member is fixedly connected to the support base and is disposed opposite to the joint support member, and is used to install the load assembly.

[0007] According to certain embodiments of the present invention, the load component includes: A rotating arm is rotatably mounted on the load support and is connected to the joint module via a transmission. Two weights are spaced apart along the length of the rotating arm and are slidably connected to the rotating arm. A drive motor is mounted on the rotating arm and is connected to the two weights respectively. The drive motor is used to drive the two weights to move along the length of the rotating arm to adjust the magnitude of the load torque.

[0008] According to the technical solutions provided in some embodiments of the present invention, the device further includes a fault diagnosis component, the fault diagnosis component comprising: The parameter acquisition unit is used to acquire the working parameters of the joint module and the load torque output by the load component. The working parameters include the load torque borne by the joint module, the working temperature at multiple preset positions on the joint module, the vibration signals of the joint module in multiple directions, and the working current of the joint module. The data analysis unit is electrically connected to the parameter acquisition unit and is used to receive the operating parameters and the load torque output by the load component, and generate a fault diagnosis result based on the operating parameters and the load torque output by the load component; the data analysis unit is electrically connected to the control unit, which is also used to receive the fault diagnosis result and control the drive motor, joint module and environmental simulation component to stop synchronously when the fault diagnosis result is a serious fault.

[0009] Secondly, the present invention provides a fatigue life test method for a joint module, the method comprising: Obtain a preset load spectrum and preset environmental parameters; the preset environmental parameters include ambient temperature, ambient humidity, and concentration of corrosive medium. The environmental simulation component, which is fitted onto the outside of the joint module, is adjusted to meet the preset environmental parameters; the environmental simulation component is used to simulate the actual service environment of the joint module. According to the preset load spectrum, the rotation speed and rotation direction of the joint module are adjusted, and the magnitude of the load torque output by the load component is adjusted to continuously apply the load torque to the joint module for fatigue life test. The operating parameters of the joint module and the load torque output by the load component are collected during the test by the parameter acquisition unit. The fault diagnosis results are generated based on the operating parameters and the load torque output by the load components. When the fault diagnosis result is a serious fault, the control drive motor, joint module and environmental simulation component are stopped synchronously, and the test time is recorded; the test time is the fatigue life of the joint module under the preset load spectrum and preset environmental parameters.

[0010] According to certain embodiments of the present invention, a fault diagnosis result is generated based on the operating parameters and the load torque output by the load component, including: Data processing is performed on the operating parameters and the load torque output by the load components to obtain a multi-dimensional fault feature set; Fault diagnosis results are generated based on the values ​​of each feature parameter in the multi-dimensional fault feature set, and the fault diagnosis results include at least minor faults and serious faults.

[0011] According to the technical solutions provided in certain embodiments of the present invention, data processing is performed on the operating parameters and the load torque output by the load component to obtain a multi-dimensional fault feature set, including: Based on the load torque borne by the joint module and the load torque output by the load component within the preset period, the torque fluctuation rate and torque transmission efficiency are calculated. Based on the vibration signals of the joint module in multiple directions within a preset period, the corresponding gear meshing frequency amplitude, kurtosis, bearing failure frequency amplitude, and vibration peak value in each direction are calculated respectively. The eccentricity and harmonic distortion rate of the Park vector trajectory ellipse are calculated based on the working current of the joint module within a preset period. Based on the working temperature of multiple preset positions on the joint module within a preset period, the local temperature difference between different preset positions and the heating value and heating rate of each preset position are calculated. The multi-dimensional fault feature set is generated based on the torque fluctuation rate, torque transmission efficiency, gear meshing frequency amplitude, kurtosis, bearing fault frequency amplitude and vibration peak value in each direction, as well as the eccentricity of the Park vector trajectory ellipse, harmonic distortion rate, local temperature difference between different preset positions, and the heating value and heating rate at each preset position.

[0012] According to the technical solutions provided in certain embodiments of the present invention, the step of generating fault diagnosis results based on the values ​​of each characteristic parameter includes: If it is determined that the gear meshing frequency amplitude in any direction is greater than the first meshing threshold and less than the second meshing threshold, the torque fluctuation rate is greater than the first fluctuation threshold and less than the second fluctuation threshold, and the torque transmission efficiency is greater than the first transmission efficiency and less than the second transmission efficiency. Alternatively, if it is determined that the amplitude of the bearing failure frequency in any direction is greater than the first bearing threshold and less than the second bearing threshold, and the local temperature difference between any two preset positions is greater than the first temperature difference threshold and less than the second temperature difference threshold; Or, if it is determined that the eccentricity of the Park vector trajectory ellipse is greater than the eccentricity threshold, and the heating value at any preset position is greater than the first heating threshold and less than the second heating threshold; Or if it is determined that the harmonic distortion rate is greater than the first distortion threshold and less than the second distortion threshold at the same time, and the temperature rise value at any preset position is greater than the first temperature rise threshold and less than the second temperature rise threshold; Or if it is determined that the heating value at any preset position is greater than the first heating threshold and less than the second heating threshold, the heating rate is greater than the preset heating rate, and the torque fluctuation rate is greater than 0 and less than the first fluctuation threshold. The generated fault diagnosis result is a minor fault; the first engagement threshold is less than the second engagement threshold; the first fluctuation threshold is less than the second fluctuation threshold; the first transmission efficiency is less than the second transmission efficiency; the first bearing threshold is less than the second bearing threshold; the first temperature difference threshold is less than the second temperature difference threshold; the first heating threshold is less than the second heating threshold; and the first distortion threshold is less than the second distortion threshold.

[0013] According to the technical solutions provided in certain embodiments of the present invention, the step of generating fault diagnosis results based on the values ​​of each characteristic parameter includes: If it is determined that the kurtosis in any direction is greater than a preset kurtosis threshold, the torque fluctuation rate is greater than or equal to a second fluctuation threshold, and the torque transmission efficiency is less than or equal to a first transmission efficiency at the same time; Alternatively, if it is determined that the vibration peak value in any direction is greater than a preset peak value and the local temperature difference between any two preset positions is greater than or equal to a second temperature difference threshold, then a fault diagnosis result of a serious fault is generated.

[0014] In summary, the present invention provides a fatigue life testing device for a joint module, comprising: a support assembly on which the joint module is disposed; an environmental simulation assembly disposed on the support assembly and covering the joint module to simulate the actual service environment of the joint module; a load assembly disposed on the support assembly and connected to the joint module for applying a load torque to the joint module; and a control component electrically connected to the joint module, the load assembly, and the environmental simulation assembly respectively. The control component is used to adjust the rotational speed and rotational direction of the joint module according to a preset load spectrum to adjust the waveform of the load torque, and to adjust the magnitude of the load torque output by the load assembly according to the preset load spectrum, and to adjust the environmental simulation assembly according to preset environmental parameters.

[0015] In this invention, the joint module has a built-in motor, which drives its own rotation. The load component is connected to the joint module, so the joint module is continuously subjected to load torque during rotation. Therefore, relying on a preset load spectrum that is completely consistent with the actual motion conditions and load characteristics of the joint module, the rotation speed and direction of the joint module are adjusted by the control component to regulate the waveform of the load torque and control the output load of the load component. The dynamically changing load experienced during actual operation can be reproduced in real time, overcoming the defect of the constant torque static loading in traditional tests that does not match the actual stress conditions. At the same time, the environmental simulation component is used to restore the actual service environment of the joint module, realizing the synchronous coupling simulation of the real dynamic stress state of the joint module and the actual service environment. This allows for accurate determination of the fatigue life of the joint module under actual service conditions, solving the problem that the existing technology cannot restore the actual service conditions of the joint module, thus making it impossible to obtain an accurate fatigue life of the joint module.

[0016] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this invention do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a fatigue life testing device for a joint module provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the load component provided in an embodiment of the present invention; Figure 3 A flowchart illustrating a fatigue life test method for a joint module provided in an embodiment of the present invention; Figure 4 This is a flowchart illustrating step S5 provided in an embodiment of the present invention.

[0019] The text labels in the image represent: 1. Support assembly; 2. Joint module; 3. Test chamber; 4. Load assembly; 6. Control components; 7. Drive shaft; 8. Hand crank mechanism; 9. Hall effect clamp current sensor; 11. Joint support; 12. Load support; 13. Support base; 41. Rotating arm; 42. Weight; 43. Drive motor. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. This description is merely illustrative and explanatory, and should not be construed as limiting the scope of protection of the present invention in any way. Specifically, the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0022] As mentioned in the background section, in view of the problems in the prior art, this embodiment provides a fatigue life testing device for a joint module, comprising: Support component 1, on which joint module 2 is provided; An environmental simulation component is mounted on the support component 1 and covers the outside of the joint module 2, and is used to simulate the actual service environment of the joint module 2. Load component 4 is disposed on support component 1 and is connected to joint module 2 for transmission, and is used to apply load torque to joint module 2. The control component 6 is electrically connected to the joint module 2, the load component 4 and the environmental simulation component respectively. The control component 6 is used to adjust the rotation speed and rotation direction of the joint module 2 according to the preset load spectrum to adjust the waveform of the load torque, adjust the magnitude of the load torque output by the load component 4 according to the preset load spectrum, and adjust the environmental simulation component according to the preset environmental parameters.

[0023] For details, please refer to Figure 1 and Figure 2The fatigue life testing device for the joint module provided in this embodiment includes a support component 1, an environmental simulation component, a load component 4, and a control component 6. The support component 1 serves as the load-bearing base of the entire testing device, providing a stable installation reference and support constraint for the joint module 2, the environmental simulation component, and the load component 4. This effectively ensures the stability of the overall structure during the test and avoids affecting test accuracy due to structural shaking or displacement. The load component 4 is connected to the joint module 2 via a drive shaft 7 and is used to apply load torque to the joint module 2. This device simulates the real service environment of the joint module 2 through the environmental simulation component. Specifically, the environmental simulation component includes a test chamber 3 and a temperature control subsystem, a humidity control subsystem, and a corrosion environment simulation subsystem. The test chamber 3 is mounted on the support component 1 and covers the outside of the joint module 2. The temperature control subsystem is located inside the test chamber 3 and uses a temperature control method combining a heater and a compressor for cooling. The temperature can be adjusted within a range of -40℃ to +120℃, simulating various temperature environments such as extreme cold, high temperature, and diurnal temperature variations. The humidity control subsystem is located inside test chamber 3. It employs an ultrasonic humidifier in conjunction with a drying air path or a condensation dehumidification device to regulate humidity within a range of 10%RH to 98%RH, simulating service environments with varying humidity levels, including high humidity, dryness, and alternating humid heat. The corrosion environment simulation subsystem consists of pipes and atomizing spray devices that introduce corrosive media into test chamber 3. These media can include 5% NaCl solution salt spray, SO2, H2S, etc., simulating corrosion conditions such as salt spray corrosion and industrial atmospheric corrosion. Furthermore, the test chamber 3 and its internal piping are constructed from corrosion-resistant materials such as 316L stainless steel and polytetrafluoroethylene, effectively resisting corrosive media and ensuring long-term reliable operation. The side walls of test chamber 3 have cable routing holes for various cables, which are sealed with sealant or aviation connectors to ensure airtightness and prevent exchange between the internal simulated environment and the outside air. Control unit 6 is electrically connected to joint module 2, load assembly 4, and environmental simulation assembly. The controller 6 controls the magnitude of the load torque output by the load assembly 4; by controlling the rotation speed and direction of the joint module 2, the waveform of the output load torque can be adjusted. Therefore, after obtaining the preset load spectrum (which is compiled based on the load torque experienced by the joint module 2 during actual operation), the controller 6 can synchronously drive and adjust the joint module 2 and the load assembly 4 according to the preset load spectrum, reproducing in real time the dynamic changes in torque magnitude and waveform of the joint module during actual operation, to simulate the real dynamic load conditions of the humanoid robot in all scenarios such as walking, arm swinging, grasping, and changing direction. Furthermore, after obtaining preset environmental parameters that match the actual service environment of the joint module, the controller 6 can synchronously adjust the environmental simulation component to reproduce the actual service environment conditions of the joint module 2, ultimately achieving synchronous coupling simulation of dynamic load and environment.

[0024] This invention relies on a preset load spectrum and uses a control component 6 to coordinate and regulate the joint module 2 and the load component 4. It can reproduce in real time the waveform and dynamic change of the load torque experienced by the joint module 2 during actual robot operation, thus overcoming the shortcomings of traditional static loading with constant torque that does not match the actual stress conditions. At the same time, the control environment simulation component restores the actual service environment conditions of the joint module 2, realizing the synchronous simulation of dynamic load and actual service environment, accurately restoring the actual service conditions of the joint module, and thus accurately knowing the true fatigue life of the joint module 2 under actual service conditions. This solves the problem that existing fatigue life testing devices cannot restore the actual service conditions of the joint module 2, thus making it impossible to obtain the accurate fatigue life of the joint module.

[0025] In a preferred embodiment, the support component 1 includes: a support base 13 and Joint support 11 is slidably connected to support base 13 and is used to install joint module 2 and environment simulation component; The load support 12 is fixedly connected to the support base 13 and is disposed opposite to the joint support 11, and is used to install the load assembly 4.

[0026] Specifically, such as Figure 1 and Figure 2 As shown, in this embodiment, the support assembly 1 includes a support base 13, a joint support 11, and a load support 12. The support base 13 serves as the rigid foundation of the entire testing device, possessing sufficient structural rigidity to provide a stable installation reference for the other components, preventing deformation or displacement of the entire device during loading and thus ensuring the accuracy of the test data. The joint support 11 is slidably mounted on the support base 13 and is used to install the joint module 2 and the environmental simulation component. The joint support 11 is equipped with a hand crank mechanism 8, allowing the operator to drive the joint support 11 to slide, causing the joint module 2 and the environmental simulation component to move synchronously with the joint support 11. During testing, the environmental simulation component and the joint module 2 can be moved apart as a whole, providing ample operating space for easy loading, unloading, and replacement of the joint module 2. The load support 12 is fixed to the support base 13 and is used to install the load component 4. The load support 12 and the joint support 11 are arranged opposite each other, facilitating the docking of the load component 4 with the joint module 2.

[0027] In a preferred embodiment, the load component 4 includes: Rotating arm 41 is rotatably mounted on load support 12 and is connected to joint module 2 via transmission. Two weights 42 are spaced apart along the length of the rotating arm 41 and are slidably connected to the rotating arm 41 respectively. A drive motor 43 is mounted on a rotating arm 41 and is connected to two weights 42 for driving the two weights 42 to move along the length of the rotating arm 41 to adjust the magnitude of the load torque.

[0028] Specifically, such as Figure 1 and Figure 2 As shown, in this embodiment, the load assembly 4 includes a rotating arm 41, two weights 42 arranged at intervals along the length of the rotating arm 41 and slidably connected to the rotating arm 41, and a drive motor 43. The rotating arm 41 is rotatably mounted on the load support 12 and is drivenly connected to the joint module 2. The drive motor 43 is installed at the rotation center of the rotating arm 41 (i.e., the axes of the drive motor 43, the joint module 2, and the transmission shaft 7 coincide), and is drivenly connected to the two weights 42 respectively, for driving the two weights 42 to slide along the length of the rotating arm 41. The load torque of this device satisfies the following formula (1): Formula (1) in, The weight of a single weight; The distance from the center of mass of the weight to the center of rotation; The angle between the rotating arm and the absolute horizontal plane.

[0029] It should be noted that during the experiment, the two weights 42 can be driven by the drive motor 43 to slide along the rotating arm 41, thereby changing the distance between the center of mass of the weights 42 and the center of rotation. This allows for the adjustment of the load torque. The torque waveform is adjusted by the rotation speed and direction of the joint module 2. When the joint module 2 drives the rotating arm 41 to rotate at a constant speed, the angle between the rotating arm 41 and the horizontal plane... It changes linearly with time t, satisfying the following formula (2): Formula (2) in, The angle between the rotating arm and the absolute horizontal plane; t is time; This is the angular velocity of the rotating arm.

[0030] Therefore, when the joint module 2 drives the rotating arm 41 to rotate at a constant speed, the joint module 2 will bear a regular standard sinusoidal waveform torque, which can simulate the periodic load under the conditions of uniform walking and stable arm swinging of the robot. If it is necessary to simulate non-periodic impact loads such as grasping heavy objects, sudden changes in posture, and emergency reversal, the control component 6 can adjust the joint module 2 to perform variable speed rotation or reciprocating swinging motion (i.e., change the direction of rotation). At this time, the angle between the rotating arm 41 and the horizontal plane is... The load torque changes nonlinearly with time t according to a preset law, thereby generating triangular waves, square waves, or arbitrary complex waveforms defined by the user. .

[0031] In a preferred embodiment, the apparatus further includes a fault diagnosis component, which includes: The parameter acquisition unit is used to acquire the working parameters of the joint module 2 and the load torque output by the load component 4. The working parameters include the load torque borne by the joint module 2, the working temperature at multiple preset positions on the joint module 2, the vibration signals of the joint module 2 in multiple directions, and the working current of the joint module 2. The data analysis unit is electrically connected to the parameter acquisition unit. It is used to receive the working parameters and the load torque output by the load component 4, and to generate fault diagnosis results based on the working parameters and the load torque output by the load component 4. The data analysis unit is also electrically connected to the control unit 6. The control unit 6 is also used to receive the fault diagnosis results and to control the drive motor 43, the joint module 2 and the environmental simulation component to stop synchronously when the fault diagnosis result is a serious fault.

[0032] Specifically, the fault diagnosis component includes a parameter acquisition unit and a data analysis unit. The parameter acquisition unit includes a torque detection unit, a temperature detection unit, a vibration detection unit, and a current detection unit. The torque detection unit contains two torque sensors: one connected in series on the joint module 2 to measure the load torque borne by the joint module 2; the other is located at the output terminal of the load component 4 to acquire the load torque output by the load component 4. The temperature detection unit uses multiple sets of PT100 temperature sensors, respectively attached to the outer shell of the joint module 2, the drive motor built into the joint module 2, and other locations (i.e., preset locations), to detect the operating temperature at multiple preset locations on the joint module 2. The vibration detection unit includes three single-axis accelerometers on the joint module 2, synchronously acquiring vibration signals of the joint module 2 in the X, Y, and Z directions. Figure 1 As shown, the current detection unit uses a Hall effect clamp-on current sensor 9, which is clamped onto the power supply line of the joint module 2 in a non-contact manner to collect the operating current of the joint module 2 in real time. The data analysis unit is electrically connected to the parameter acquisition unit and is used to receive operating parameters (i.e., the load torque borne by the joint module 2, the operating temperature at multiple preset positions on the joint module 2, the vibration signal of the joint module 2, and the operating current of the joint module 2 collected by the parameter acquisition unit) and the load torque output by the load component 4, and generate fault diagnosis results based on the operating parameters and the load torque output by the load component 4. The data analysis unit is also electrically connected to the control component 6. The control component 6 can receive the fault diagnosis results and, when the fault diagnosis result is a serious fault, control the drive motor 43, the joint module 2, and the environmental simulation component to stop synchronously, that is, end the test.

[0033] This embodiment also provides a fatigue life test method for joint modules, such as... Figure 3 As shown, this method includes: S1. Obtain the preset load spectrum and preset environmental parameters; the preset environmental parameters include ambient temperature, ambient humidity, and concentration of corrosive medium; Specifically, before the test begins, preset load spectra and preset environmental parameters matching the actual service conditions of the joint module should be obtained in advance. The preset load spectra represent the dynamic load torque variation patterns experienced by the joint module 2 under real working conditions such as robot walking, arm swinging, direction changing, and load grasping. The preset environmental parameters include ambient temperature, humidity, and corrosive medium concentration, covering various complex service environments such as high and low temperatures, humid heat, and salt spray.

[0034] S2. Adjust the environmental simulation component located on the outside of the joint module 2 to meet the preset environmental parameters; the environmental simulation component is used to simulate the actual service environment of the joint module 2. Specifically, the environmental simulation component, which is covered by the control unit 6, is used to regulate the temperature (i.e., ambient temperature), humidity, and corrosive medium concentration inside the test chamber 3 to gradually adjust to preset environmental parameters and maintain stability. The ambient temperature is regulated by the heater and compressor refrigeration mechanism of the temperature control subsystem; the ambient humidity is regulated by the ultrasonic humidifier and drying air path or condensation dehumidification device of the humidity control subsystem; and the corrosive medium concentration is regulated by the corrosion environment simulation subsystem.

[0035] S3. According to the preset load spectrum, adjust the rotation speed and rotation direction of the joint module 2, and adjust the magnitude of the load torque output by the load component 4 to continuously apply the load torque to the joint module 2 for fatigue life test. Specifically, after the environmental parameters inside the test chamber 3 are adjusted to the preset environmental parameters and maintained stably, the fatigue load loading test stage officially begins. During the test, the control component 6 adjusts the rotation speed and direction of the joint module 2 according to the preset load spectrum, and controls the drive motor of the load component 4 to drive the weights 42 on both sides to move along the rotating arm 41, so as to reproduce the load torque experienced by the joint module 2 under actual working conditions, and ensure that the fatigue test results can truly reflect the actual fatigue life of the joint module 2.

[0036] S4. Collect the working parameters of joint module 2 and the load torque output by load component 4 during the test through the parameter acquisition unit; Specifically, throughout the entire test, the parameter acquisition unit of the fault diagnosis component collects the operating parameters of the joint module 2 and the load torque output by the load component 4 in real time and synchronously, laying a data foundation for subsequent fault diagnosis. Among them, the operating parameters of the joint module 2 include the load torque borne by the joint module 2 detected by the torque detection unit, the operating temperature at multiple locations on the joint module 2 detected by the temperature detection unit, the vibration signals of the joint module 2 in the X, Y, and Z directions detected by the vibration detection unit, and the operating current of the joint module 2 detected by the current detection unit.

[0037] S5. Generate fault diagnosis results based on the working parameters and the load torque output by load component 4; Specifically, after obtaining the operating parameters of the joint module 2 and the load torque output by the load component 4, the operating parameters and the load torque output by the load component 4 should first be processed to obtain a multi-dimensional fault feature set. Then, the values ​​of each feature parameter in the multi-dimensional fault feature set are obtained, and a fault diagnosis result is generated based on the values ​​of each feature parameter. The fault diagnosis result includes at least minor faults and serious faults.

[0038] S6. When the fault diagnosis result is a serious fault, control the drive motor 43, joint module 2 and environmental simulation component to stop synchronously, and record the test time; the test time is the fatigue life of the joint module under the preset load spectrum and preset environmental parameters.

[0039] Specifically, the fault diagnosis results are monitored in real time throughout the test. When the fault diagnosis result generated by the data analysis unit is a serious fault, it indicates that the joint module 2 has suffered structural damage and functional failure. At this time, the control unit 6 synchronously controls the drive motor 43, the joint module 2, and the environmental simulation component to stop working, terminating the fatigue loading test. At this time, the operator records the total test duration (i.e., test time) from the start to the end of the test. This test time is the fatigue life of the joint module 2 under the corresponding preset load spectrum and preset environmental parameters.

[0040] In a preferred embodiment, such as Figure 4 As shown, S5 generates fault diagnosis results based on the operating parameters and the load torque output by load component 4, including: S501. Process the operating parameters and the load torque output by the load component 4 to obtain a multi-dimensional fault feature set. Specifically, the steps for obtaining the multi-dimensional fault feature set include: calculating the torque fluctuation rate and torque transmission efficiency based on the load torque borne by the joint module 2 and the load torque output by the load component 4 within a preset period; calculating the gear meshing frequency amplitude, kurtosis, bearing failure frequency amplitude, and vibration peak value in each direction based on the vibration signals of the joint module 2 in multiple directions within the preset period; calculating the eccentricity and harmonic distortion rate of the Park vector trajectory ellipse based on the working current of the joint module 2 within the preset period; calculating the local temperature difference between different preset positions and the temperature rise value and temperature rise rate of each preset position based on the working temperature of multiple preset positions on the joint module 2 within the preset period; and generating a multi-dimensional fault feature set based on the torque fluctuation rate, torque transmission efficiency, gear meshing frequency amplitude, kurtosis, bearing failure frequency amplitude, vibration peak value, eccentricity and harmonic distortion rate of the Park vector trajectory ellipse, local temperature difference between different preset positions, and temperature rise value and temperature rise rate of each preset position.

[0041] S502. Generate fault diagnosis results based on the values ​​of each feature parameter in the multi-dimensional fault feature set. The fault diagnosis results include at least minor faults and serious faults.

[0042] Specifically, the values ​​of each feature parameter in the multi-dimensional fault feature set are compared with the corresponding thresholds, and fault diagnosis results for minor or serious faults are generated based on the comparison results. Specifically, if it is determined that the gear meshing frequency amplitude in any direction is greater than the first meshing threshold and less than the second meshing threshold, the torque fluctuation rate is greater than the first fluctuation threshold and less than the second fluctuation threshold, and the torque transmission efficiency is greater than the first transmission efficiency and less than the second transmission efficiency; or if it is determined that the bearing failure frequency amplitude in any direction is greater than the first bearing threshold and less than the second bearing threshold, and the local temperature difference between any two preset positions is greater than the first temperature difference threshold and less than the second temperature difference threshold; or if it is determined that the eccentricity of the Park vector trajectory ellipse is greater than the eccentricity threshold, and the temperature rise value at any preset position is greater than the first temperature rise threshold and less than the second temperature rise threshold; or if it is determined that the harmonic distortion rate is greater than the first distortion threshold and less than the second distortion threshold, and the temperature rise value at any preset position is greater than the first temperature rise threshold and less than the second temperature rise threshold; or if it is determined that the temperature rise value at any preset position is greater than the first temperature rise threshold and less than the second temperature rise threshold, and the heating rate is greater than the preset heating rate, and the torque fluctuation rate is greater than 0 and less than the first fluctuation threshold; then a fault diagnosis result of minor fault is generated. The first engagement threshold is less than the second engagement threshold; the first fluctuation threshold is less than the second fluctuation threshold; the first transmission efficiency is less than the second transmission efficiency; the first bearing threshold is less than the second bearing threshold; the first temperature difference threshold is less than the second temperature difference threshold; the first heating threshold is less than the second heating threshold; and the first distortion threshold is less than the second distortion threshold. If it is determined that the kurtosis in any direction is greater than the preset kurtosis threshold, the torque fluctuation rate is greater than or equal to the second fluctuation threshold, and the torque transmission efficiency is less than or equal to the first transmission efficiency; or if it is determined that the vibration peak value in any direction is greater than the preset peak value, and the local temperature difference between any two preset positions is greater than or equal to the second temperature difference threshold, then a fault diagnosis result of a serious fault is generated. When a minor fault occurs, it is only necessary to record the values ​​of the corresponding characteristic parameters and the test time for subsequent research on the fatigue failure law of the joint module 2. In the case of a serious fault, the control component 6 needs to control the drive motor 43, the joint module 2, and the environmental simulation component to stop working.

[0043] In a preferred embodiment, the operating parameters and the load torque output by the load component 4 are processed to obtain a multi-dimensional fault feature set, including: Based on the load torque borne by the joint module 2 and the load torque output by the load component 4 within the preset period, the torque fluctuation rate and torque transmission efficiency are calculated. Specifically, in this embodiment, a complete waveform cycle of the load torque is used as the preset period. Then, the torque fluctuation rate within the preset period is calculated according to the following formula (3): Formula (3) in, Torque variability; This represents the maximum load torque that the joint module can withstand. This represents the minimum load torque that the joint module can withstand. This is the average load torque that the joint module bears within a preset period.

[0044] The torque transmission efficiency within the preset cycle is calculated according to the following formula (4): Formula (4) in, For torque transmission efficiency; This represents the average load torque borne by the joint module within a preset period. This represents the average load torque output by the load component within a preset period.

[0045] Based on the vibration signals of joint module 2 in multiple directions within a preset period, the corresponding gear meshing frequency amplitude, kurtosis, bearing failure frequency amplitude, and vibration peak value in each direction are calculated respectively. Specifically, the vibration detection unit collects vibration signals from joint module 2 in the X, Y, and Z directions. The processing method is the same for each direction; therefore, the following explanation uses the X-direction vibration signal as an example. The specific steps for obtaining the gear meshing frequency amplitude from the vibration signals of joint module 2 within a preset period are as follows: First, the DC component of the X-direction vibration signal is removed. This involves filtering each X-direction vibration signal collected within the preset period using a bandpass filter to remove out-of-band low-frequency interference and extract the effective X-direction vibration signal. Next, the effective X-direction vibration signal is evenly segmented according to the number of sampling points required for a single FFT (Fast Fourier Transform), and a Hanning window is applied to the segmented signal to suppress spectral leakage caused by signal truncation and improve the accuracy of frequency domain analysis. Finally, an FFT is performed on the X-direction vibration signal after the above processing, converting the time-domain vibration waveform that varies with time into a frequency domain spectrum with frequency as the horizontal axis and vibration amplitude as the vertical axis. On the horizontal axis of the spectrum, based on the theoretical gear meshing frequency fm of joint module 2 and its harmonics (2fm, 3fm, ...), find the spectral line in the spectrum that is closest to the theoretical gear meshing frequency fm and its harmonics (2fm, 3fm, ...). The vertical axis amplitude corresponding to this spectral line is the gear meshing frequency amplitude in the X direction that is sought.

[0046] The kurtosis is calculated according to the following formula (5): Formula (5) in, The kurtosis of the vibration signal in the X direction; The value of the i-th vibration signal in the X direction within the preset period; This is the average value of the vibration signal in the X direction within a preset period.

[0047] The specific steps for obtaining the bearing fault frequency amplitude based on the vibration signal of joint module 2 within a preset period are as follows: First, the collected vibration signal in the X direction is bandpass filtered. The filter passband is set to the high-frequency resonance range of the bearing damage excitation of joint module 2, filtering out low-frequency strong interference components such as gear meshing and equipment frame vibration, leaving only the high-frequency effective signal in the X direction containing the local impact characteristics of the bearing. Then, Hilbert transform (or rectified filtering) is used to perform envelope demodulation on the filtered high-frequency effective signal in the X direction, extracting the signal amplitude change contour line, i.e., the envelope line. This process converts the high-frequency carrier signal carrying the fault impact into a low-frequency slowly varying time-series signal that can reflect the periodicity of the impact. Then, FFT (Fast Fourier Transform) is performed on the obtained envelope time-series signal to convert the time-domain envelope waveform into a frequency-domain envelope spectrum. According to the theoretical bearing fault characteristic frequency of joint module 2, the corresponding spectral line is found in the envelope spectrum. The amplitude of this spectral line is the bearing fault frequency amplitude in the X direction. The maximum value of the vibration signal in the X direction of joint module 2 within the preset period is the vibration peak value in the X direction.

[0048] The eccentricity and harmonic distortion rate of the Park vector trajectory ellipse are calculated based on the working current of joint module 2 within the preset period. Specifically, the eccentricity of the Park vector trajectory ellipse calculated based on the operating current of the joint module 2 within a preset period includes: the operating current of the joint module 2 collected by the Hall clamp current sensor 9. Since it is a three-phase line current, the operating current should be considered first. Convert to two-phase operating current according to the following formulas (6) and (7): Formula (6) Formula (7) in, This is the operating current of the joint module; This refers to the two-phase operating current of the joint module.

[0049] All two-phase operating currents of joint module 2 Plot on a two-dimensional coordinate system. When healthy, these points form a standard circle (the three-phase currents are perfectly symmetrical). When faulty (such as inter-turn short circuit, three-phase imbalance): the circle is flattened and becomes an ellipse. The least squares method is used to fit this ellipse, and the major semi-axis a and minor semi-axis b of the fitted ellipse are calculated and then substituted into the following formula (8): Formula (8) in, denoted as eccentricity of the Park vector trajectory ellipse; a is the length of the major semi-axis of the fitted ellipse; b is the length of the minor semi-axis of the fitted ellipse.

[0050] The harmonic distortion rate of current measures the degree to which the current waveform deviates from a standard sine wave. A higher distortion rate indicates a more "ugly" waveform and a more severe electrical fault. The steps for calculating the harmonic distortion rate based on the operating current of joint module 2 within a preset period specifically include: performing an FFT (Fast Fourier Transform) on the acquired operating current of joint module 2 to obtain the current spectrum. Then, locating the spectral line corresponding to the fundamental frequency (e.g., 500Hz) of the motor built into joint module 2 within the current spectrum, and extracting the amplitude of this spectral line as the fundamental amplitude. Then, extract the amplitude values ​​of each harmonic corresponding to the integer multiples of the fundamental frequency (2nd harmonic, 3rd harmonic, 4th harmonic, etc.). , , ... Typically, selecting the first 50 harmonics is sufficient to cover most of the current distortion energy; finally, the extracted fundamental amplitude and the amplitudes of each harmonic are substituted into the following formula (9) to calculate the current harmonic distortion rate: Formula (9) in, This refers to the harmonic distortion rate of the current. The fundamental amplitude; , , ... These are the current amplitudes corresponding to the 2nd, 3rd, 4th, and up to the nth harmonics.

[0051] Based on the working temperature of multiple preset positions on joint module 2 within a preset period, the local temperature difference between different preset positions and the heating value and heating rate of each preset position are calculated. Specifically, the operating temperature of each preset position of joint module 2 at each moment within a preset cycle is taken, and the difference between the operating temperatures of different preset positions is obtained to obtain the temperature difference (i.e., local temperature difference) of different preset positions. For the same preset position, the difference between the temperature at the end of the preset cycle and the temperature at the beginning of the preset cycle is calculated to obtain the temperature rise value of that preset position. Dividing the temperature rise value of the corresponding preset position by the total duration of the preset cycle yields the temperature rise rate of that preset position.

[0052] A multi-dimensional fault feature set is generated based on torque fluctuation rate, torque transmission efficiency, gear meshing frequency amplitude and kurtosis in each direction, bearing fault frequency amplitude and vibration peak value, as well as the eccentricity of the Park vector trajectory ellipse, harmonic distortion rate, local temperature difference between different preset positions, and the heating value and heating rate at each preset position.

[0053] Specifically, the calculated torque fluctuation rate, torque transmission efficiency, gear meshing frequency amplitude, kurtosis, bearing failure frequency amplitude, vibration peak value, Park vector trajectory ellipse eccentricity, harmonic distortion rate, local temperature difference, and temperature rise value are summarized to obtain a multi-dimensional fault feature set for subsequent fault diagnosis.

[0054] In a preferred embodiment, generating fault diagnosis results based on the values ​​of each characteristic parameter includes: If the following conditions are met simultaneously: the amplitude of the gear meshing frequency in any direction is greater than the first meshing threshold and less than the second meshing threshold; the torque fluctuation rate is greater than the first fluctuation threshold and less than the second fluctuation threshold; and the torque transmission efficiency is greater than the first transmission efficiency and less than the second transmission efficiency. Or if it is determined that the bearing failure frequency amplitude in any direction is greater than the first bearing threshold and less than the second bearing threshold, and the local temperature difference between any two preset positions is greater than the first temperature difference threshold and less than the second temperature difference threshold; Or, if it is determined that the eccentricity of the Park vector trajectory ellipse is greater than the eccentricity threshold, and the heating value at any preset position is greater than the first heating threshold and less than the second heating threshold; Or if it is determined that the harmonic distortion rate is greater than the first distortion threshold and less than the second distortion threshold at the same time, and the temperature rise value at any preset position is greater than the first temperature rise threshold and less than the second temperature rise threshold; Or if it is determined that the heating value at any preset position is greater than the first heating threshold and less than the second heating threshold, the heating rate is greater than the preset heating rate, and the torque fluctuation rate is greater than 0 and less than the first fluctuation threshold. The generated fault diagnosis result is a minor fault; the first engagement threshold is less than the second engagement threshold; the first fluctuation threshold is less than the second fluctuation threshold; the first transmission efficiency is less than the second transmission efficiency; the first bearing threshold is less than the second bearing threshold; the first temperature difference threshold is less than the second temperature difference threshold; the first heating threshold is less than the second heating threshold; and the first distortion threshold is less than the second distortion threshold.

[0055] Specifically, minor faults include minor gear faults, minor bearing faults, minor motor electrical faults, and minor lubrication or heat dissipation faults. The criteria for judging minor gear faults are: the gear meshing frequency amplitude in any of the X, Y, or Z directions exceeds 1.5 times the gear health reference value (first meshing threshold) but is less than 3 times the gear health reference value (second meshing threshold); simultaneously, the torque fluctuation rate exceeds 3% (first fluctuation threshold) but is less than 5% (second fluctuation threshold); and the torque transmission efficiency is greater than 95% of the transmission health reference value (first transmission efficiency) but less than 97% of the transmission health reference value (second transmission efficiency). The criteria for judging minor bearing faults are: the bearing fault frequency amplitude in any of the X, Y, or Z directions exceeds 2 times the floor noise (first bearing threshold) but does not exceed 5 times the floor noise (second bearing threshold); simultaneously, the local temperature difference between any two preset locations is greater than 8℃ (first temperature difference threshold) but less than 12℃ (second temperature difference threshold). There are two criteria for identifying minor electrical faults in motors. Meeting at least one of these criteria is sufficient for identification. The first criterion is: the eccentricity of the Park vector trajectory ellipse is greater than 0.3 (eccentricity threshold), and the temperature rise at any preset location exceeds 20% of the healthy temperature baseline (first temperature rise threshold) but is less than 35% of the healthy temperature baseline (second temperature rise threshold). The second criterion is: the harmonic distortion rate is greater than 5% (first distortion threshold) but less than 10% (second distortion threshold), and the temperature rise at any preset location exceeds 20% of the healthy temperature baseline (first temperature rise threshold) but is less than 35% of the healthy temperature baseline (second temperature rise threshold). The criteria for identifying minor lubrication or heat dissipation faults are: the temperature rise at any preset location exceeds 20% of the healthy temperature baseline (first temperature rise threshold) but is less than 35% of the healthy temperature baseline (second temperature rise threshold), the temperature rise rate is greater than 0.5℃ per minute (preset temperature rise rate), and the torque fluctuation rate is greater than 0 but less than 3% (first fluctuation threshold).

[0056] In a preferred embodiment, generating fault diagnosis results based on the values ​​of each characteristic parameter includes: If it is determined that the gear meshing frequency amplitude in any direction is greater than or equal to the second meshing threshold, the torque fluctuation rate is greater than or equal to the second fluctuation threshold, and the torque transmission efficiency is less than or equal to the first transmission efficiency. Alternatively, it can be determined that the kurtosis in any direction is greater than a preset kurtosis threshold, the torque fluctuation rate is greater than or equal to a second fluctuation threshold, and the torque transmission efficiency is less than or equal to a first transmission efficiency at the same time. Alternatively, if the vibration peak value in any direction is greater than the preset peak value and the local temperature difference between any two preset positions is greater than or equal to the second temperature difference threshold, then a fault diagnosis result of a serious fault is generated.

[0057] Specifically, serious faults include serious gear faults, serious bearing faults, and serious motor faults. There are two criteria for judging a serious gear fault; meeting either one is sufficient. The first is: the gear meshing frequency amplitude in any of the X, Y, or Z directions is greater than or equal to three times the gear health baseline value (second meshing threshold), the torque fluctuation rate is greater than or equal to 5% (second fluctuation threshold), and the torque transmission efficiency is less than or equal to 95% of the health baseline value (first transmission efficiency). The second is: the kurtosis in any of the X, Y, or Z directions is greater than 5.0 (preset kurtosis threshold), the torque fluctuation rate is greater than or equal to 5% (second fluctuation threshold), and the transmission efficiency is less than or equal to 95% of the health baseline value (first transmission efficiency). Similarly, there are two criteria for judging a serious bearing fault; meeting either one is sufficient. The first criterion is: the bearing failure frequency amplitude in any of the X, Y, or Z directions exceeds 5 times the floor noise (second bearing threshold), and the local temperature difference between any two preset locations is greater than 12℃ (second temperature difference threshold). The second criterion is: the vibration peak value in any of the X, Y, or Z directions exceeds 10g (preset peak value), and the local temperature difference between any two preset locations is greater than or equal to 12℃ (second temperature difference threshold). The criteria for judging a serious motor fault are: harmonic distortion rate greater than or equal to 10% (second distortion threshold) and temperature rise value at any preset location exceeding 35% of the healthy temperature reference (second temperature rise threshold).

[0058] In addition, the judgment conditions for all the above minor and serious faults can be appropriately adjusted according to different preset environmental thresholds. For example, when the ambient temperature T>50℃ or the humidity RH>80%, the temperature rise value at any preset position in the judgment conditions for minor lubrication or heat dissipation faults is reduced from 20% to 15%, and the harmonic distortion rate in the judgment conditions for minor motor electrical faults is reduced from 5% to 4%, so as to improve the sensitivity of fault detection.

[0059] When the multi-dimensional fault characteristics do not meet the judgment conditions for either minor or serious faults, the joint module is determined to be in a healthy operating state. At this time, the control component 6 can control the load component 4 to increase the load torque (by 5% each time) to accelerate the fatigue test and shorten the test cycle without exceeding the safety boundary.

[0060] This invention relies on a preset load spectrum and uses the control component 6 to coordinate and regulate the joint module 2 and the load component 4 to reproduce in real time the dynamic changes in the waveform and magnitude of the load torque experienced by the joint module 2 during actual robot operation. This overcomes the drawback of the mismatch between the constant torque static loading in traditional tests and the actual stress conditions. At the same time, the environmental simulation component restores the actual service environment of the joint module 2, realizing the synchronous simulation of dynamic load and real service environment, accurately simulating the actual service conditions of the joint module 2, and ensuring the accuracy of the fatigue life obtained from the test.

[0061] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, and the objective existence of infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A fatigue life testing device for a joint module, characterized in that, include: Support component (1), on which a joint module (2) is provided; An environmental simulation component is disposed on the support component (1) and covered outside the joint module (2) to simulate the actual service environment of the joint module (2); Load component (4), which is disposed on the support component (1) and is connected to the joint module (2) for applying load torque to the joint module (2); The control component (6) is electrically connected to the joint module (2), the load component (4) and the environmental simulation component respectively. The control component (6) is used to adjust the rotation speed and rotation direction of the joint module (2) according to the preset load spectrum to adjust the waveform of the load torque, and to adjust the magnitude of the load torque output by the load component (4) according to the preset load spectrum and to adjust the environmental simulation component according to the preset environmental parameters.

2. The fatigue life testing device for joint modules according to claim 1, characterized in that, The support assembly (1) includes: a support base (13) and A joint support (11) is slidably connected to the support base (13) for mounting the joint module (2) and the environmental simulation component; The load support (12) is fixedly connected to the support base (13) and is disposed opposite to the joint support (11) for mounting the load assembly (4).

3. The fatigue life testing device for joint modules according to claim 2, characterized in that, The load component (4) includes: Rotating arm (41), the rotating arm (41) is rotatably mounted on the load support (12) and is connected to the joint module (2) in a transmission manner; Two weights (42) are spaced apart along the length of the rotating arm (41) and are slidably connected to the rotating arm (41); A drive motor (43) is mounted on the rotating arm (41) and is connected to the two weights (42) respectively. The drive motor (43) is used to drive the two weights (42) to move along the length of the rotating arm (41) to adjust the magnitude of the load torque.

4. The fatigue life testing device for joint modules according to claim 3, characterized in that, The device further includes a fault diagnosis component, which includes: The parameter acquisition unit is used to acquire the working parameters of the joint module (2) and the load torque output by the load component (4). The working parameters include the load torque borne by the joint module (2), the working temperature at multiple preset positions on the joint module (2), the vibration signals of the joint module (2) in multiple directions, and the working current of the joint module (2). The data analysis unit is electrically connected to the parameter acquisition unit and is used to receive the working parameters and the load torque output by the load component (4), and generate a fault diagnosis result based on the working parameters and the load torque output by the load component (4); the data analysis unit is electrically connected to the control component (6), and the control component (6) is also used to receive the fault diagnosis result and control the drive motor (43), joint module (2) and environmental simulation component to stop synchronously when the fault diagnosis result is a serious fault.

5. A fatigue life test method for a joint module, characterized in that, The method includes: Obtain a preset load spectrum and preset environmental parameters; the preset environmental parameters include ambient temperature, ambient humidity, and concentration of corrosive medium. Adjust the environmental simulation component located outside the joint module (2) to meet the preset environmental parameters; According to the preset load spectrum, the rotation speed and rotation direction of the joint module (2) are adjusted, and the magnitude of the load torque output by the load component (4) is adjusted to continuously apply the load torque to the joint module (2) for fatigue life test; The working parameters of the joint module (2) and the load torque output by the load component (4) during the test are collected by the parameter acquisition unit. The fault diagnosis results are generated based on the operating parameters and the load torque output by the load component (4); When the fault diagnosis result is a serious fault, the control drive motor (43), joint module (2) and environmental simulation component stop synchronously, and the test time is recorded; the test time is the fatigue life of the joint module under the preset load spectrum and preset environmental parameters.

6. The fatigue life test method for the joint module according to claim 5, characterized in that, Based on the operating parameters and the load torque output by the load component (4), a fault diagnosis result is generated, including: Data processing is performed on the operating parameters and the load torque output by the load component (4) to obtain a multi-dimensional fault feature set; Fault diagnosis results are generated based on the values ​​of each feature parameter in the multi-dimensional fault feature set, and the fault diagnosis results include at least minor faults and serious faults.

7. The fatigue life test method for the joint module according to claim 6, characterized in that, Data processing is performed on the operating parameters and the load torque output by the load component (4) to obtain a multi-dimensional fault feature set, including: Based on the load torque borne by the joint module (2) and the load torque output by the load component (4) within the preset period, the torque fluctuation rate and torque transmission efficiency are calculated. Based on the vibration signals of the joint module (2) in multiple directions within a preset period, the corresponding gear meshing frequency amplitude, kurtosis, bearing failure frequency amplitude, and vibration peak value in each direction are calculated respectively. The eccentricity and harmonic distortion rate of the Park vector trajectory ellipse are calculated based on the working current of the joint module (2) within the preset period. Based on the working temperature of multiple preset positions on the joint module (2) within a preset period, the local temperature difference between different preset positions and the heating value and heating rate of each preset position are calculated. The multi-dimensional fault feature set is generated based on the torque fluctuation rate, torque transmission efficiency, gear meshing frequency amplitude, kurtosis, bearing fault frequency amplitude and vibration peak value in each direction, as well as the eccentricity of the Park vector trajectory ellipse, harmonic distortion rate, local temperature difference between different preset positions, and the heating value and heating rate at each preset position.

8. The fatigue life test method for the joint module according to claim 7, characterized in that, The process of generating fault diagnosis results based on the values ​​of each characteristic parameter includes: If it is determined that the gear meshing frequency amplitude in any direction is greater than the first meshing threshold and less than the second meshing threshold, the torque fluctuation rate is greater than the first fluctuation threshold and less than the second fluctuation threshold, and the torque transmission efficiency is greater than the first transmission efficiency and less than the second transmission efficiency. Alternatively, if it is determined that the amplitude of the bearing failure frequency in any direction is greater than the first bearing threshold and less than the second bearing threshold, and the local temperature difference between any two preset positions is greater than the first temperature difference threshold and less than the second temperature difference threshold; Or, if it is determined that the eccentricity of the Park vector trajectory ellipse is greater than the eccentricity threshold, and the heating value at any preset position is greater than the first heating threshold and less than the second heating threshold; Or if it is determined that the harmonic distortion rate is greater than the first distortion threshold and less than the second distortion threshold at the same time, and the temperature rise value at any preset position is greater than the first temperature rise threshold and less than the second temperature rise threshold; Or if it is determined that the heating value at any preset position is greater than the first heating threshold and less than the second heating threshold, the heating rate is greater than the preset heating rate, and the torque fluctuation rate is greater than 0 and less than the first fluctuation threshold. The generated fault diagnosis result is a minor fault; the first engagement threshold is less than the second engagement threshold; the first fluctuation threshold is less than the second fluctuation threshold; the first transmission efficiency is less than the second transmission efficiency; the first bearing threshold is less than the second bearing threshold; the first temperature difference threshold is less than the second temperature difference threshold; the first heating threshold is less than the second heating threshold; and the first distortion threshold is less than the second distortion threshold.

9. The fatigue life test method for the joint module according to claim 8, characterized in that, The process of generating fault diagnosis results based on the values ​​of each characteristic parameter includes: If it is determined that the kurtosis in any direction is greater than a preset kurtosis threshold, the torque fluctuation rate is greater than or equal to a second fluctuation threshold, and the torque transmission efficiency is less than or equal to a first transmission efficiency at the same time; Alternatively, if it is determined that the vibration peak value in any direction is greater than a preset peak value and the local temperature difference between any two preset positions is greater than or equal to a second temperature difference threshold, then a fault diagnosis result of a serious fault is generated.

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