Steering gear testing device and steering gear testing apparatus

Abstract

The application provides a rudder testing device and a rudder testing equipment. The rudder testing device comprises a clamp and a displacement measuring mechanism. The clamp comprises a fixed rack and a rudder fixing part. The fixed rack is provided with a plurality of fixing positions. The rudder fixing part is detachably connected to one of the fixing positions. The rudder fixing part is used for connecting a rudder to be tested and enabling the telescopic rod of the rudder to be tested to move up and down. The displacement measuring mechanism is located below the rudder to be tested and is used for collecting the displacement of the telescopic rod of the rudder to be tested. When in use, the rudder to be tested only needs to be installed on the rudder fixing part to realize the accurate alignment of the rudder to be tested and the displacement measuring mechanism. The rudder to be tested does not need to be moved and adjusted, the positioning error is reduced, and the detection process is very convenient.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm testing fixture technology, and particularly relates to a servo motor testing device and servo motor testing equipment. Background Technology

[0002] When testing the positioning accuracy of a servo motor, a robotic arm is needed to move the servo motor under test to the detection position of the corresponding testing instrument, and then fix it by the positioning structure on the detection position. The positioning error is large, and the testing process is very inconvenient. Summary of the Invention

[0003] The purpose of this invention is to provide a servo motor testing device, which aims to solve the technical problem that existing testing systems cannot perform multi-performance testing.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0005] In a first aspect, a servo motor testing device is provided, including a fixture and a displacement measuring mechanism. The fixture includes a fixed frame and a servo motor fixing component. The fixed frame is provided with multiple fixing positions. The servo motor fixing component is detachably connected to one of the fixing positions. The servo motor fixing component is used to connect the servo motor under test and to allow the telescopic rod of the servo motor under test to move up and down. The displacement measuring mechanism is located below the servo motor under test and is used to collect the displacement of the telescopic rod of the servo motor under test.

[0006] As one possible implementation of the first aspect, the servo mounting member has an upper surface, a lower surface, and a peripheral side surface. The upper surface and the lower surface are disposed opposite to each other, and the peripheral side surface surrounds the upper surface and the lower surface and is in contact with the upper surface and the lower surface. The servo mounting member has a positioning hole that passes through the upper surface and the lower surface. The positioning hole is adapted to the transmission mechanism of the servo under test. The servo mounting member has a buffer groove on the upper surface. The two extended ends of the buffer groove pass through the peripheral side surface and the hole wall of the positioning hole, respectively.

[0007] As one possible implementation of the first aspect, the servo mounting member has a clearance groove on its lower surface, the clearance groove being spaced apart from the buffer groove, and a connecting hole extending to the upper surface is provided on the bottom surface of the clearance groove, the connecting hole being used for connecting the fastener to the motor of the servo under test.

[0008] As one possible implementation of the first aspect, the clearance groove extends through to the peripheral side surface and the hole wall of the positioning hole.

[0009] As one possible implementation of the first aspect, the servo mounting member includes an upper part, a lower part, and a reinforcing part. The lower part is connected to the lower part of the upper part. The positioning hole passes through the upper part and the lower part. The upper part protrudes from the lower part in a first direction and forms the bottom surface of the clearance groove. The reinforcing part is connected to the side of the lower part in the first direction and the lower side of the upper part. The side of the reinforcing part in the first direction is an inclined surface and is in contact with the side of the upper part in the first direction and the lower side of the lower part. The reinforcing part avoids the connecting hole.

[0010] As one possible implementation of the first aspect, the servo motor fixing member has a limiting hole extending through to the positioning hole on the side away from the clamp, and the limiting block is used for connection of the limiting member to abut against the transmission mechanism.

[0011] As one possible implementation of the first aspect, the servo test device further includes a load-bearing device connected to the telescopic rod.

[0012] As one possible implementation of the first aspect, the load-bearing device includes a fixed base, a pin, a connecting rod, and a load-bearing block. The fixed base has a fixed groove, and a first connecting hole is formed on the groove wall. The pin passes through the first connecting hole and is connected to the extension end of the telescopic rod. The connecting rod is connected to the bottom of the fixed base and is detachably connected to the load-bearing block.

[0013] As one possible implementation of the first aspect, the fixed frame includes a first support plate, a second support plate, and a reinforcing plate. The second support plate is connected to the first support plate and is set at an angle to the first support plate. The reinforcing plate is triangular in shape, and its two sides are respectively connected to the first support plate and the second support plate. The first support plate is provided with the fixing position, and the first support plate has a fixing hole at the fixing position.

[0014] Secondly, a servo motor testing device is provided, the servo motor testing device including a communication box, a control board, a power supply and the aforementioned servo motor testing device, the communication box being used for communication connection with a host computer, the communication box being electrically connected to the power supply and the control board, and the control board being electrically connected to the servo motor under test.

[0015] The technical advantages of this invention compared to the prior art are as follows: When using this servo testing device, the servo motor fixing component can be fixed by selecting a suitable fixing position on the fixed platform according to the position of the displacement measuring mechanism. Then, the servo motor to be tested is installed on the servo motor fixing component. In this way, the servo motor to be tested only needs to be installed on the servo motor fixing component to achieve accurate alignment between the servo motor to be tested and the displacement measuring mechanism. There is no need to move and adjust the servo motor to be tested, which reduces the positioning error and makes the testing process very convenient. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced below. Obviously, the 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.

[0017] Figure 1 This is a schematic diagram of the servo motor testing device provided in an embodiment of the present invention;

[0018] Figure 2 This is a three-dimensional structural diagram of the fixture and the servo motor under test in the assembled state in the servo motor testing device provided in the embodiment of the present invention;

[0019] Figure 3 yes Figure 2 A magnified view of the fixture and the servo motor under test;

[0020] Figure 4 yes Figure 3 Exploded view of the servo motor mounting components and the servo motor under test;

[0021] Figure 5 yes Figure 4 An exploded view of the servo motor mounting components and the servo motor under test from another perspective;

[0022] Figure 6 This is a flowchart illustrating the control method of the servo testing device provided in an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures:

[0024] 100. Servo testing device; 10. Fixture; 11. Fixed platform; 111. First support plate; 1110. Mounting hole; 112. Second support plate; 113. Reinforcing plate; 12. Servo fixing component; 121. Upper side; 122. Lower side; 123. Reinforcing part; 101. Positioning hole; 102. Buffer groove; 103. Clearance groove; 104. Connecting hole; 105. Limiting hole; 20. Displacement measuring mechanism; 30. Load-bearing device; 31. Fixed base; 32. Pin; 33. Connecting rod; 331. Fastener; 34. Load-bearing block; 301. Fixing groove; 302. First connecting hole; 303. Second connecting hole; 90. Servo under test; 91. Motor; 92. Transmission mechanism; 93. Telescopic rod;

[0025] 200. Communication box; 300. Control board; 400. Power supply; 500. Workbench; 81. Host computer; 82. Oscilloscope. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] In the description of this invention, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0031] Please see Figure 1 and Figure 2 This invention provides a servo motor testing device 100 for testing a servo motor 90 under test. The servo motor 90 under test can be applied to a dexterous hand, where the fingers of the dexterous hand achieve bending through linear motion driven by the servo motor. This servo motor testing device can be used to test the no-load current, load current, repeatability, and absolute positioning accuracy of the servo motor 90 under test.

[0032] The servo motor 90 under test is a linear servo motor. Specifically, the servo motor 90 includes a motor 91, a transmission mechanism 92, and a telescopic rod 93. The transmission mechanism 92 is connected between the motor 91 and the telescopic rod 93. The transmission mechanism 92 includes a housing and a transmission component disposed within the housing. The housing is connected to the housing of the motor 91. A through hole is provided at the lower end of the housing, and the telescopic rod 93 is slidably connected within the through hole. The transmission component includes, but is not limited to, a lead screw and nut transmission component, a gear and rack transmission component, and a crank-slider transmission component. The motor 91 drives the transmission component to move, and the transmission component drives the telescopic rod 93 to reciprocate along its axial direction to achieve the telescopic effect of the telescopic rod 93.

[0033] In this embodiment, as Figure 1 As shown, the servo motor testing equipment includes a communication box 200, a control board 300, a power supply 400, and a servo motor testing device 100.

[0034] The servo test device 100 is used to fix the servo under test 90 to position the motor 91 of the servo under test 90 for testing. The communication box 200 is electrically connected to the power supply 400 and the control board 300, which is also electrically connected to the servo under test 90. The power supply 400 can be a DC power supply 400, which can provide DC voltage to the servo under test 90 to power it.

[0035] The communication box 200 can communicate with the host computer 81. The host computer 81 can be a laptop, mobile phone, tablet computer, industrial control computer, microcontroller development board, programmable logic controller (PLC), dedicated motion controller, etc. The communication connection can be wired or wireless. The communication box 200 is used to convert, process, and transmit signals from different devices to achieve interconnection between devices. The types of communication boxes 200 include, but are not limited to, serial communication boxes 200, network communication boxes 200, Bluetooth communication boxes 200, GPRS / G / G communication boxes 200, etc. In this embodiment, the communication box 200 can be selected as a CAN (Controller Area Network) communication box 200 within the serial communication box 200.

[0036] Please see Figure 3 and Figure 4 The servo motor testing device 100 includes a clamp 10 and a displacement measuring mechanism 20.

[0037] The fixture 10 includes a fixed frame 11 and a servo motor mounting bracket 12. The fixed frame 11 has multiple mounting positions, and the servo motor mounting bracket 12 is detachably connected to one of these positions. The servo motor mounting bracket 12 is used to connect the servo motor 90 under test. The connection between the servo motor mounting bracket 12 and the servo motor 90 under test can also be detachable. When the servo motor 90 under test is connected to the servo motor mounting bracket 12, its telescopic rod 93 can move up and down, meaning the servo motor mounting bracket 12 allows the servo motor 90 under test to be installed with the axis of the telescopic rod 93 extending vertically. The aforementioned detachable connection methods include, but are not limited to, screw connections, clamping, snap-fit ​​connections, and magnetic connections.

[0038] The displacement measuring mechanism 20 is located below the servo motor 90 under test and is used to collect the displacement of the telescopic rod 93 of the servo motor 90. The position of the displacement measuring mechanism 20 can be fixed. In this fixed position, the position of the servo motor fixing component 12 is the position where the displacement measuring mechanism 20 can achieve accurate measurement, eliminating the need to adjust the position of the servo motor 90 or the displacement measuring mechanism 20. The displacement measuring mechanism 20 can be connected to the clamp 10 to fix the relative position of the displacement measuring mechanism 20 and the servo motor fixing component 12.

[0039] When using the servo testing device 100, the servo motor fixing part 12 can be fixed by selecting a suitable fixing position on the fixed stand 11 according to the position of the displacement measuring mechanism 20. Then, the servo motor 90 to be tested is installed on the servo motor fixing part 12. In this way, the servo motor 90 to be tested only needs to be installed on the servo motor fixing part 12 to achieve accurate alignment between the servo motor 90 to be tested and the displacement measuring mechanism 20. There is no need to move or adjust the servo motor 90 to be tested, which reduces the positioning error and makes the testing process very convenient.

[0040] In practical applications, the displacement measuring mechanism 20 can collect at least two displacement measurements of the telescopic rod 93. The host computer 81 can calculate the absolute positioning accuracy based on a single displacement measurement and the repeatability accuracy based on multiple displacement measurements. The displacement measuring mechanism 20 can be electrically connected to the host computer 81 to input test commands and display measurement results, and directly calculate the absolute positioning accuracy and repeatability accuracy based on the measurement results. Alternatively, the displacement measuring mechanism 20 can be set up and displayed independently, with the host computer 81 calculating the absolute positioning accuracy and repeatability accuracy by manually inputting the measurement results; this is not a limitation. Absolute positioning accuracy refers to the maximum deviation between the actual position reached by the telescopic rod 93 of the servo motor 90 under test and the theoretically expected target position. Repeatability accuracy refers to the dispersion or consistency between the actual positions reached by the servo motor 90 under test when executing the same positioning command multiple times.

[0041] It should be noted that the length of the housing of the transmission mechanism 92 of the servo motor 90 under test in the vertical direction can be greater than or equal to the axial length of the positioning hole 101. That is, when the transmission mechanism 92 of the servo motor 90 under test is inserted into the positioning hole 101 and the motor 91 abuts against the upper surface of the servo motor fixing part 12, the telescopic rod 93 is located below the servo motor fixing part 12.

[0042] Please see Figure 1 In some embodiments, the displacement measuring mechanism 20 includes a laser rangefinder, which is electrically connected to the host computer 81. The laser rangefinder can be positioned below the servo motor 90 under test, and obtains the displacement of the extension end of the telescopic rod 93 by collecting data on its position before and after the telescopic action. The testing system can obtain the travel information of the telescopic rod 93 through this displacement, and the host computer 81 can display this travel information and obtain the bending angle information of the fingers of the dexterous hand through mapping or other methods.

[0043] In other embodiments, the displacement measuring mechanism 20 may also include a vernier caliper, an optical scale, a magnetic scale, a linear potentiometer, a capacitive displacement sensor, an inductive displacement sensor, etc.

[0044] In some embodiments, the servo mounting member 12 has an upper surface, a lower surface, and a peripheral side surface, the upper surface and the lower surface being disposed opposite to each other, and the peripheral side surface surrounding the upper surface and the lower surface and being in contact with the upper surface and the lower surface.

[0045] The upper and lower surfaces can be parallel, and the horizontal cross-section of the servo mount 12 can also be square. In this case, the circumferential side surfaces include two opposing first side surfaces in a first direction and two opposing second side surfaces in a second direction. The first and second directions can both be parallel to the horizontal plane and perpendicular to each other.

[0046] In other embodiments, the horizontal cross-section of the servo mount 12 may also be circular, elliptical, or a polygon other than a quadrilateral, or an irregular shape; no limitation is imposed here.

[0047] Please see Figure 3 and Figure 4 The servo mounting bracket 12 has a positioning hole 101 that extends through both the upper and lower surfaces. The positioning hole 101 is adapted to the transmission mechanism 92 of the servo under test 90. The servo under test 90 can be detachably connected to the servo mounting bracket 12 by inserting the transmission mechanism 92 into the positioning hole 101, thereby enabling quick installation of the servo under test 90. The servo under test 90 can be interference-fitted with the positioning hole 101 to achieve a tight connection with the servo mounting bracket 12, preventing the servo under test 90 from wobbling relative to the servo mounting bracket 12. It should be noted that the horizontal cross-sectional dimension of the motor 91's housing is larger than that of the transmission mechanism 92's housing. Thus, when the servo under test 90 is inserted into the positioning hole 101, the motor 91's housing can act as a limit, for example, the motor 91's housing resting against the upper surface of the servo mounting bracket 12.

[0048] Of course, in other embodiments, the transmission mechanism 92 of the servo motor 90 under test can also remain in the positioning hole 101 through frictional force between it and the hole wall of the positioning hole 101, and the housing of the motor 91 is spaced apart from the upper surface of the servo motor fixing member 12. Alternatively, the frictional force between the servo motor 90 under test and the hole wall of the positioning hole 101 can be less than the weight of the servo motor 90 under test. In this case, the servo motor 90 under test is limited only by the abutment between the housing of the motor 91 and the upper surface of the servo motor fixing member 12, without being limited by the frictional force between the servo motor 90 under test and the hole wall of the positioning hole 101. It should be noted that since both the servo motor 90 under test and the positioning hole 101 have machining errors, both interference fit and sliding connection between the servo motor 90 under test and the positioning hole 101 are possible.

[0049] Optionally, the servo mounting member 12 has a buffer groove 102 on its upper surface, with its two extended ends extending to the peripheral side and the wall of the positioning hole 101, respectively. In this case, the buffer groove 102 forms an opening in the positioning hole 101, with the bottom surface of the buffer groove 102 spaced from the lower surface of the servo mounting member 12. Thus, when the servo under test 90 is inserted into the positioning hole 101, if the friction between the transmission mechanism 92 of the servo under test 90 and the wall of the positioning hole 101 is too great, or if the cross-sectional size is slightly larger than the cross-sectional size of the positioning hole 101, the upper opening of the servo mounting member 12 can be widened by the buffer groove 102 to reduce the friction between the transmission mechanism 92 and the wall of the positioning hole 101, thereby allowing the servo under test 90 to be inserted deeper into the positioning hole 101. The connection between the bottom surface of the buffer groove 102 and the lower surface of the servo mounting member 12 restricts the opening of the lower end of the positioning hole 101, resulting in a longitudinal cross-section of the positioning hole 101 that is wider at the top and narrower at the bottom. When the servo under test 90 is inserted into the positioning hole 101 by gravity, the lower end of the positioning hole 101 restricts the servo under test 90, thus preventing the servo under test 90 from sliding downwards too quickly, which could cause the motor 91 to be damaged due to excessive impact force or damage to the connection between the motor 91 and the transmission mechanism 92. At the same time, the connection between the bottom surface of the buffer groove 102 and the lower surface of the servo mounting member 12 also improves the structural stability of the servo mounting member 12, preventing the positioning hole 101 from deforming too much when the servo under test 90 is inserted, or from failing to secure the servo under test 90.

[0050] Please see Figure 3 and Figure 5 In some embodiments, the servo mounting member 12 has a clearance groove 103 on its lower surface, which is spaced apart from the buffer groove 102 to prevent the clearance groove 103 from affecting the function of the buffer groove 102. A connecting hole 104 extending to the upper surface is formed on the bottom surface of the clearance groove 103. The connecting hole 104 is used for connecting the fastener 331 to the motor 91 of the servo 90 under test. The clearance groove 103 reduces the path length required to pass through the connecting hole 104, allowing fasteners such as screws 331 to pass through the connecting hole 104 and connect to the housing of the motor 91, thereby fixing the motor 91 and preventing the servo 90 under test from shifting due to vibration during testing, which would affect the accuracy of the test results.

[0051] Please see Figure 3 and Figure 5In some embodiments, the clearance groove 103 extends to the peripheral side and the wall of the positioning hole 101. This reduces the weight of the servo mounting member 12 and facilitates the installation of fasteners 331 by hand or tools. The clearance groove 103 extending to the wall of the positioning hole 101 enhances heat dissipation for the transmission mechanism 92 and reduces the contact area between the housing of the transmission mechanism 92 and the wall of the positioning hole 101. This reduces the friction force experienced by the housing of the transmission mechanism 92 when it is installed in the positioning hole 101, making it easier for the transmission mechanism 92 to be inserted into the positioning hole 101 and sink down until the housing of the motor 91 abuts against the upper surface of the servo mounting member 12. The clearance groove 103, which extends through both the peripheral side and the wall of the positioning hole 101, creates a notch at the lower end of the positioning hole 101, allowing for elastic deformation at the lower end of the positioning hole 101. This reduces the friction of the upper half of the positioning hole 101 wall in the buffer groove 102 and the lower half in the clearance groove 103. Consequently, the positioning hole 101 is fully elastically engaged with the transmission mechanism 92 of the servo motor 90 under test, resulting in uniform force distribution on the transmission mechanism 92. The stress generated by the interference fit can be released bidirectionally through the upper and lower grooves, preventing stress concentration in a single area, balancing the overall rigidity of the servo motor mounting component 12, reducing structural skewing or eccentricity caused by unilateral deformation, and ensuring the coaxiality of the servo motor mounting component 12 and the transmission mechanism 92.

[0052] In other embodiments, the clearance groove 103 may also be circumferentially closed, or only have a notch on the circumferential side spaced apart from the positioning hole 101, which is not limited here.

[0053] Please see Figure 3 and Figure 5 In some embodiments, the servo mounting member 12 includes an upper part 121, a lower part 122, and a reinforcing part 123. The lower part 122 is connected to the lower part of the upper part 121. A positioning hole 101 passes through the upper part 121 and the lower part 122. The upper part 121 protrudes from the lower part 122 in a first direction and forms the bottom surface of the clearance groove 103. The reinforcing part 123 is connected to the side surface of the lower part 122 in the first direction and the lower side surface of the upper part 121. The side surface of the reinforcing part 123 in the first direction is an inclined surface and is in contact with the side surface of the upper part 121 in the first direction and the lower side surface of the lower part 122. The reinforcing part 123 avoids the connecting hole 104. The reinforcement part 123 can improve the structural strength of the servo mounting member 12. The reinforcement part 123 can avoid external tools by setting an inclined surface, so as to facilitate the installation of fasteners 331. At the same time, it improves the heat dissipation effect of the transmission mechanism 92.

[0054] Please see Figure 3 and Figure 4In some embodiments, the servo mounting member 12 has a limiting hole 105 extending through the positioning hole 101 on its side in the first direction. The limiting block is used for connection of the limiting member to abut against the transmission mechanism 92. The limiting member can be a screw. In use, the screw can be inserted into the limiting hole 105 and pressed against the housing of the transmission mechanism 92, thereby increasing the friction between the transmission mechanism 92 and the hole wall of the positioning hole 101 and between the transmission mechanism 92 and the limiting member, so as to fix the position of the transmission mechanism 92 in the positioning hole 101 and further prevent the servo 90 under test from shaking relative to the servo mounting member 12.

[0055] Please see Figure 3 In some embodiments, the servo test device 100 further includes a load device 30, which is connected to the telescopic rod 93. The load device 30 enables load testing of the servo 90 under test. After the load device 30 is connected to the telescopic rod 93, the oscilloscope collects the load current of the servo 90 under test.

[0056] When designing the load test for the servo motor 90 under test, it is necessary to consider maintaining the stability of the servo motor 90 in the linear direction of the load, that is, to ensure that the servo motor 90 can operate normally under load without shaking. Based on this, please refer to... Figure 4 and Figure 5 In some embodiments, the load-bearing device 30 includes a fixed base 31, a pin 32, a connecting rod 33, and a load block 34. The fixed base 31 has a fixed groove 301, and a first connecting hole 302 is formed on the groove wall of the fixed groove 301. The pin 32 passes through the first connecting hole 302 and is connected to the extension end of the telescopic rod 93. The connecting rod 33 is connected to the bottom of the fixed base 31 and is detachably connected to the load block 34. The load block 34 is connected to the fixed base 31 through the connecting rod 33, and the fixed base 31 is connected to the telescopic rod 93 through the pin 32. In this way, the load block 34 will not wobble, improving the stability of the servo motor 90 under test in the linear direction of the load. When it is necessary to change the load with a different weight, it is not necessary to remove the pin 32; only the load block 34 with a different weight needs to be replaced, avoiding frequent disassembly and reassembly from the telescopic rod 93, which would affect the performance and accuracy of the telescopic rod 93. The fixed groove 301 allows the telescopic rod 93 to extend into the fixed groove 301, thereby limiting the position of the fixed seat 31 and ensuring symmetrical circumferential load on the telescopic rod 93, thus preventing the telescopic rod 93 from being subjected to torque.

[0057] Optionally, the fixing base 31 is U-shaped, with two first connecting holes 302. The two first connecting holes 302 are respectively located on the two U-shaped arms of the fixing base 31. Two pins 32 can be provided, each passing through one of the two first connecting holes 302 and connecting to the telescopic rod 93; alternatively, only one pin 32 can be provided, passing through the telescopic rod 93 and connecting to both first connecting holes 302. This arrangement of the fixing base 31 facilitates observation of the installation status of the pins 32.

[0058] Optionally, the bottom of the fixing groove 301 is provided with a second connecting hole 303. The load-bearing device 30 also includes a fastener 331. The connecting rod 33 passes through the second connecting hole 303, and the fastener 331 is connected to the end of the connecting rod 33 near the telescopic rod 93 and is located in the fixing groove 301 to prevent the connecting rod 33 from coming out of the second connecting hole 303. The fastener 331 facilitates the detachable connection between the connecting rod 33 and the fixing seat 31 and is easy to process. In addition, when it is necessary to replace the load-bearing component, the connecting rod 33 can be removed by disassembling the fastener 331 and replaced with a connecting rod 33 connected to other weight load blocks 34.

[0059] Please see Figure 1 and Figure 2 In some embodiments, the fixed frame 11 includes a first support plate 111, a second support plate 112, and a reinforcing plate 113. The second support plate 112 is connected to the first support plate 111 and is set at an angle to the first support plate 111. In the illustrated embodiment, the first support plate 111 and the second support plate 112 are perpendicular. The reinforcing plate 113 is triangular in shape, and its two right-angled sides are respectively connected to the first support plate 111 and the second support plate 112. That is, the first support plate 111 is parallel to one of the right-angled sides of the reinforcing plate 113 and is in close contact with that right-angled side, and the second support plate 112 is parallel to the other right-angled side of the reinforcing plate 113 and is in close contact with that right-angled side. The second support plate 112 is detachably connected to the worktable 500. In this way, the first support plate 111, the second support plate 112, and the reinforcing plate 113 form an independent support structure, which can be used to connect to any position on the worktable 500 or other structural components. The reinforcing plate 113 can prevent the angle between the first support plate 111 and the second support plate 112 from changing, thereby improving the reliability of the support structure.

[0060] The first support plate 111 is provided with fixing positions, including mounting holes 1110 formed on the first support plate 111. The cross-section of the mounting holes 1110 can be circular, square, or strip-shaped. When the servo motor mounting component 12 is installed at the strip-shaped mounting hole 1110, its position can be adjusted relative to the first support plate 111 along the extension direction of the mounting hole 1110. Since there are multiple fixing positions on the first support plate 111, there are also multiple mounting holes 1110. The multiple mounting holes 1110 can all be of the same size, or they can be divided into multiple groups, each group having the same size, but the sizes between the groups are different. In the illustrated embodiment, the multiple mounting holes 1110 include a first mounting hole 1110 and a second mounting hole 1110. The first mounting hole 1110 is a circular hole, and the second mounting hole 1110 is a strip-shaped hole.

[0061] The servo mounting bracket 12 can be installed on the side of the first support plate 111 facing the second support plate 112. In this case, the displacement measuring mechanism 20 can be installed on the second support plate 112 to fix the relative position of the displacement measuring mechanism 20 and the servo mounting bracket 12. The servo mounting bracket 12 can also be installed on the side of the first support plate 111 away from the second support plate 112. In this case, the displacement measuring mechanism 20 can be installed on other structural components, and there are no restrictions on this.

[0062] Please see Figure 1 In some embodiments, the host computer 81 is used to control the telescopic rod 93 of the servo under test 90 to perform linear motion. Specifically, the host computer 81 generates instructions to control the movement of the servo under test 90 based on user operations or preset program logic. These instructions include information such as the starting position and speed of the telescopic rod 93 of the servo under test 90. Then, the host computer 81 sends the instructions to the control board 300 through the communication box 200. After receiving the instructions sent by the host computer 81, the control board 300 parses and processes them. The control board 300 typically has a built-in microcontroller (MCU) or digital signal processor (DSP) chip, which can convert the digital signals sent by the host computer 81 into electrical signals suitable for driving the servo, such as PWM (pulse width modulation) signals. Based on the processed signals, the control board 300 sends drive signals to the servo under test 90 through its internal drive circuit, thereby controlling the motor 91 of the servo under test 90 to move normally according to the protocol instructions set by the host computer 81.

[0063] In some embodiments, the host computer 81 can control the extension end of the telescopic rod 93 to reciprocate between a first moving position and a second moving position, where the first moving position is higher than the second moving position. Specifically, when the servo motor 90 under test is fixed on the fixed stand 11, the motor 91 is positioned above the telescopic rod 93, enabling the telescopic rod 93 to extend and retract in the vertical direction. When the telescopic rod 93 is in the retracted state, its extension end is in the first moving position; when the telescopic rod 93 is in the extended state, its extension end is in the second moving position. Thus, when the telescopic rod 93 extends and deforms, its extension end moves between the first and second moving positions. When the extension end of the telescopic rod 93 moves from the first moving position to the second moving position, or from the second moving position to the first moving position, the telescopic rod 93 completes a sequential unidirectional movement. The displacement measuring mechanism 20 can collect the displacement amount of this unidirectional movement. When it is necessary to calculate the repeatability of the positioning accuracy, the first and second moving positions of the extension end of the telescopic rod 93 remain unchanged for each displacement to ensure the repeatability of multiple strokes. The host computer 81 can set multiple first moving positions or multiple second moving positions to measure the repeatability of multi-stroke positioning accuracy.

[0064] In this embodiment, two extreme positions for the extension end of the telescopic rod 93 can be set on the host computer 81. These two extreme positions can be named the first preset position and the second preset position. The first preset position is higher than the second preset position. When the telescopic rod 93 retracts, the first moving position will not exceed the first moving position, that is, the first moving position is lower than or equal to the first preset position. When the telescopic rod 93 extends, the second moving position will not exceed the second preset position, that is, the second moving position is higher than or equal to the second preset position.

[0065] The servo motor 90 under test is a linear actuator joint with a short travel distance, often only tens of millimeters, unlike rotary actuator joints. Therefore, it is crucial to ensure that the short travel distance does not cause the servo motor 90 to jam. This testing system can use the host computer 81 to set a first preset position and a second preset position to prevent the extension and retraction of the telescopic rod 93 from exceeding the preset range, thus avoiding movement jamming or even jamming and improving the reliability of the testing system.

[0066] It should be noted that when setting the first and second moving positions on the host computer 81, only the finger bending angle information can be set. The host computer 81 calculates the first and second moving positions based on this bending angle information and controls the telescopic rod 93 to move according to this first and second moving position information. When a load-bearing device 30 is connected to the telescopic rod 93, the laser rangefinder can also determine the displacement of the telescopic rod 93 by measuring the displacement of the load-bearing device 30.

[0067] The servo motor 90 under test can also be electrically connected to an oscilloscope 82, which is used to detect the current of the servo motor 90. The servo motor testing device 100 can use the oscilloscope to detect the no-load current of the servo motor 90 under no-load and the load current of the servo motor 90 under load. The displacement measuring mechanism 20 measures the displacement of the telescopic rod 93 of the servo motor 90, and the host computer 81 calculates the absolute positioning accuracy and repeatability of the servo motor 90. In this way, the servo motor 90 can be tested for various performance characteristics using the servo motor testing device 100 without changing the testing environment. This convenient and efficient testing allows for multi-faceted evaluation of the servo motor 90's performance, facilitating the assessment of the reliability of the actuator joints during subsequent grasping and gripping actions by the dexterous hand, thereby ensuring the overall performance of the dexterous hand.

[0068] Please see Figure 6 The testing method of this testing system is as follows: First, the servo motor 90 under test is fixed on the fixed stand 11. Then, the power supply 400 is turned on, and the host computer 81 sets a first preset position and a second preset position to limit the upper and lower limit positions of the telescopic rod 93. Then, the host computer 81 inputs the running command to control the servo motor 90 under test to execute the corresponding running command, and the test is performed by an oscilloscope or displacement measuring mechanism 20.

[0069] The above descriptions are merely several specific embodiments of the present invention, and only specifically describe the technical principles of the present invention. These descriptions are only for explaining the principles of the present invention and should not be construed as limiting the scope of protection of the present invention in any way. Based on this explanation, any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention, as well as other specific embodiments of the present invention that can be conceived by those skilled in the art without creative effort, should be included within the scope of protection of the present invention.

Claims

1. A steering gear testing device, characterized by, The device includes a fixture and a displacement measuring mechanism. The fixture includes a fixed frame and a servo motor fixing component. The fixed frame has multiple fixing positions. The servo motor fixing component is detachably connected to one of the fixing positions. The servo motor fixing component is used to connect the servo motor under test and to allow the telescopic rod of the servo motor under test to move up and down. The displacement measuring mechanism is located below the servo motor under test and is used to collect the displacement of the telescopic rod of the servo motor under test.

2. The servo testing device of claim 1, wherein, The servo mounting component has an upper surface, a lower surface, and a peripheral side surface. The upper surface and the lower surface are arranged opposite to each other. The peripheral side surface surrounds the upper surface and the lower surface and is in contact with the upper surface and the lower surface. The servo mounting component has a positioning hole that passes through the upper surface and the lower surface. The positioning hole is adapted to the transmission mechanism of the servo under test. The servo mounting component has a buffer groove on the upper surface. The two extension ends of the buffer groove pass through the peripheral side surface and the hole wall of the positioning hole, respectively.

3. The servo testing apparatus of claim 2, wherein The servo mounting component has a clearance groove on its lower surface, which is spaced apart from the buffer groove. The bottom surface of the clearance groove has a connecting hole that extends to the upper surface. The connecting hole is used for connecting the fastener to the motor of the servo under test.

4. The servo testing apparatus of claim 3, wherein The clearance groove extends through to the peripheral side surface and the wall surface of the positioning hole.

5. The servo testing apparatus of claim 3, wherein The servo mounting component includes an upper part, a lower part, and a reinforcing part. The lower part is connected to the lower part of the upper part. The positioning hole passes through the upper part and the lower part. The upper part protrudes from the lower part in a first direction and forms the bottom surface of the clearance groove. The reinforcing part is connected to the side of the lower part in the first direction and the lower side of the upper part. The side of the reinforcing part in the first direction is an inclined surface and is in contact with the side of the upper part in the first direction and the lower side of the lower part. The reinforcing part avoids the connecting hole.

6. The servo testing apparatus of claim 2 wherein, The servo motor fixing member has a limiting hole on the side away from the clamp that extends to the positioning hole. The limiting block is used for the limiting member to connect and abut against the transmission mechanism.

7. The servo testing apparatus of claim 1, wherein The servo test device also includes a load-bearing device, which is connected to the telescopic rod.

8. The servo testing apparatus of claim 7 wherein, The load-bearing device includes a fixed base, a pin, a connecting rod, and a load-bearing block. The fixed base has a fixed groove, and a first connecting hole is formed on the groove wall. The pin passes through the first connecting hole and is connected to the extension end of the telescopic rod. The connecting rod is connected to the bottom of the fixed base and is detachably connected to the load-bearing block.

9. The servo testing apparatus of claim 1, wherein The fixed frame includes a first support plate, a second support plate, and a reinforcing plate. The second support plate is connected to the first support plate and is set at an angle to the first support plate. The reinforcing plate is triangular in shape, and its two sides are respectively connected to the first support plate and the second support plate. The first support plate is provided with the fixing position, and the first support plate has a fixing hole at the fixing position.

10. A servo motor testing device, characterized in that, The servo test equipment includes a communication box, a control board, a power supply, and a servo test device as described in any one of claims 1 to 9. The communication box is used for communication connection with a host computer. The communication box is electrically connected to the power supply and the control board. The control board is electrically connected to the servo under test.

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