Joint module comprehensive performance detection platform

Abstract

The embodiment of the application relates to a kind of joint module comprehensive performance detection platform, comprising: rack;Product feeding positioning mechanism, be located in rack, for positioning to be measured joint module;Multiple detection mechanisms, be located in rack, multiple detection mechanisms can be relative to product feeding positioning mechanism movement, to establish detection connection with the positioning after being measured joint module;Wherein, multiple detection mechanisms at least include electrical performance detection mechanism, vibration detection mechanism and load test mechanism;In the case where being measured joint module keeps positioning state, multiple detection mechanisms detect different performance items of being measured joint module.Detection object is fixed under the same positioning datum, and each detection mechanism actively establishes detection connection to being measured joint module, to avoid the position deviation accumulation caused by multiple clamping;The data obtained by each detection item has unified coordinate datum, and it is favorable to improve the data correlation and result consistency between different detection items.

Description

Technical Field

[0001] This application relates to the field of joint module testing equipment technology, and in particular to a joint module comprehensive performance testing platform. Background Technology

[0002] As the core motion unit in industrial robots, humanoid robots, collaborative robots, and automated actuators, the joint module typically integrates a drive motor, reduction gear, encoder, and control components. Its performance directly affects the motion accuracy, response speed, and operational stability of the entire machine. Therefore, after the joint module is assembled, it is usually necessary to test multiple indicators such as electrical performance, vibration performance, and load performance to verify whether the product meets the factory requirements.

[0003] In existing technologies, different performance items are often performed by different testing equipment. For example, electrical performance testing is usually achieved using probe fixtures, vibration performance testing typically uses vibration sensors for data acquisition and analysis, while load performance testing requires the use of drive and loading mechanisms. Because the testing equipment and stations for each test item are independent, the joint module under test often needs to be transferred to the next testing station and re-clamped and repositioned after completing one test. Multiple handling and repositioning not only increase the testing process but also easily introduce positioning errors, making it difficult to maintain consistent data benchmarks between different test items. Utility Model Content

[0004] One objective of this application is to provide a comprehensive performance testing platform for joint modules, which at least addresses the aforementioned problems.

[0005] To achieve the above objectives, some embodiments of this application provide a comprehensive performance testing platform for joint modules, including:

[0006] frame;

[0007] The product feeding and positioning mechanism is located on the frame and is used to position the joint module to be tested.

[0008] Multiple testing mechanisms are located on the frame and can move relative to the product feeding and positioning mechanism to establish a testing connection with the joint module to be tested after positioning.

[0009] The testing institutions include at least an electrical performance testing institution, a vibration testing institution, and a load testing institution; while the joint module under test remains in a positioning state, the testing institutions perform different performance tests on the joint module under test.

[0010] Compared with related technologies, the solution provided in this application, by setting a product feeding and positioning mechanism on the frame and configuring an electrical performance testing mechanism, a vibration testing mechanism, and a load testing mechanism that can move relative to the product feeding and positioning mechanism, allows the joint module under test to complete multiple performance tests while maintaining its positioning state. Compared with testing methods that require transferring products between multiple testing devices and repeated clamping, this embodiment fixes the testing object under the same positioning reference, and each testing mechanism actively establishes a testing connection with the joint module under test, thereby avoiding the accumulation of positional deviations caused by multiple clamping. Since the electrical performance testing, vibration testing, and load testing are all completed based on the same positioning state, the data obtained from each testing item has a unified coordinate reference, which is beneficial to improving the data correlation and result consistency between different testing items, while reducing the impact of the product transfer process on the testing cycle time. Attached Figure Description

[0011] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0012] Figure 1 This is a schematic diagram of the structure of the detection platform provided in the embodiments of this disclosure;

[0013] Figure 2 This is a schematic diagram of the detection platform provided in another embodiment of the present disclosure;

[0014] Figure 3 This is a partial schematic diagram of the detection platform provided in an embodiment of this disclosure;

[0015] Figure 4 This is another partial schematic diagram of the detection platform provided in the embodiments of this disclosure;

[0016] Figure 5 This is another partial schematic diagram of the detection platform provided in the embodiments of this disclosure;

[0017] Figure 6 This is another partial schematic diagram of the detection platform provided in the embodiments of this disclosure;

[0018] Figure 7 This is another partial schematic diagram of the detection platform provided in the embodiments of this disclosure.

[0019] Figure label:

[0020] 1: Frame; 2: Product feeding and positioning mechanism; 21: Positioning platform; 221: Primary mounting plate; 222: Primary guide; 223: Primary drive; 231: Secondary mounting plate; 232: Secondary guide; 233: Secondary drive; 3: Electrical performance testing mechanism; 31: First probe assembly; 32: Secondary probe assembly; 33: Third probe assembly; 34: First lifting drive mechanism; 341: First lifting mounting plate; 342: First lifting component; 343: First lifting guide rail; 344: First lifting positioning plate; 35: Secondary lifting drive mechanism; 36: Third lifting drive mechanism; 4: Vibration testing mechanism ; 41: Vibration sensor; 42: Vibration test translation mechanism; 421: Lateral translation mechanism; 422: Vertical translation mechanism; 5: Load test mechanism; 51: Drive head; 52: Torque sensor; 53: Magnetic powder clutch; 54: First drive motor; 551: First coupling; 552: Second coupling; 553: Third coupling; 6: Load test mounting plate; 7: Load lifting drive assembly; 71: Second drive motor; 721: Lead screw; 722: Lead nut; 731: Guide plate; 732: Guide rail; 8: Mounting platform; 81: Clearance hole; 9: Clamping mechanism; 91: Pressure plate; 92: Lifting device. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0023] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0024] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0025] Unless otherwise stated, the term "multiple" means two or more.

[0026] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0027] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0029] Combination Figures 1 to 7 As shown in the embodiment of this disclosure, a joint module comprehensive performance testing platform includes: a frame 1; a product feeding and positioning mechanism 2, disposed on the frame 1, used for positioning the joint module to be tested; and multiple testing mechanisms, disposed on the frame 1, which can move relative to the product feeding and positioning mechanism 2 to establish a testing connection with the positioned joint module to be tested; wherein, the multiple testing mechanisms include at least an electrical performance testing mechanism 3, a vibration testing mechanism 4, and a load testing mechanism 5; while the joint module to be tested remains in a positioned state, the multiple testing mechanisms perform different performance tests on the joint module to be tested.

[0030] The joint module comprehensive performance testing platform provided in this embodiment utilizes a product feeding and positioning mechanism 2 mounted on a frame 1, along with an electrical performance testing mechanism 3, a vibration testing mechanism 4, and a load testing mechanism 5 capable of moving relative to the product feeding and positioning mechanism 2. This allows the joint module under test to complete multiple performance tests while maintaining its positioning state. Compared to testing methods that require transferring products between multiple testing devices and repeated clamping, this embodiment fixes the test object under the same positioning reference. Each testing mechanism actively establishes a testing connection with the joint module under test, thereby avoiding the accumulation of positional deviations caused by multiple clamping. Since electrical performance testing, vibration testing, and load testing are all completed based on the same positioning state, the data obtained from each testing item has a unified coordinate reference, which helps improve the data correlation and result consistency between different testing items, while reducing the impact of product transfer on the testing cycle time.

[0031] Optionally, the product feeding and positioning mechanism 2 includes: a positioning platform 21 for mounting the joint module to be tested; a primary drive assembly for driving connection with the positioning platform 21; and a secondary drive assembly for driving connection with the primary drive assembly; wherein the secondary drive assembly is used to drive the primary drive assembly and the positioning platform 21 to move as a whole, and the primary drive assembly is used to drive the positioning platform 21 to move relative to the primary drive assembly.

[0032] Specifically, the secondary drive component is used to drive the positioning platform 21 to move between different workstations, and the primary drive component is used to drive the positioning platform 21 to adjust its position within the target workstation so that the joint module under test can establish a detection connection with the corresponding detection mechanism.

[0033] The product feeding and positioning mechanism 2 adopts a hierarchical drive structure consisting of a primary drive component and a secondary drive component. The secondary drive component drives the overall movement of the positioning platform 21, while the primary drive component drives the movement of the positioning platform 21 relative to the primary drive component. By separating the long-stroke transfer function from the position adjustment function, the complex motion control issues caused by a single drive mechanism simultaneously handling station switching and precise positioning are avoided. After the joint module under test approaches the target detection area, the primary drive component can be used for local position correction, enabling the joint module under test to accurately dock with the corresponding detection mechanism. This balances station switching efficiency and detection docking accuracy, reducing the possibility of large-stroke motion errors being directly transmitted to the detection station.

[0034] In this embodiment, the joint module under test is first installed on the positioning platform 21. At the start of the test, the secondary drive component drives the primary drive component and the positioning platform 21 to move as a whole, moving the joint module under test from the loading position to the test area. When the joint module under test reaches the vicinity of the target test station, the primary drive component further drives the positioning platform 21 to adjust its position, so that the joint module under test establishes a test connection with the corresponding test mechanism.

[0035] Optionally, the primary drive assembly includes: a primary mounting plate 221 with a positioning platform 21; a primary guide 222 that slides with the primary mounting plate 221; and a primary drive 223 with its output end connected to the primary mounting plate 221. The primary drive 223 is used to drive the primary mounting plate 221 to move along the primary guide 222, thereby causing the positioning platform 21 to adjust its position.

[0036] The movement trajectory of the primary mounting plate 221 is constrained by the primary guide component 222, and the primary drive component 223 drives the primary mounting plate 221 to move in a predetermined direction. This structure ensures that the position adjustment process of the positioning platform 21 always proceeds along the guide path, helping to reduce the swaying or lateral movement of the positioning platform 21 during the adjustment process. Since the joint module under test is mounted on the positioning platform 21, it can maintain a stable posture during position fine-tuning, providing a foundation for accurate docking during probe detection, vibration detection, and load testing.

[0037] Optionally, the secondary drive assembly includes: a secondary mounting plate 231 located below the primary guide 222 and fixedly connected to the primary guide 222; a secondary guide 232 slidably engaged with the secondary mounting plate 231; and a secondary drive 233 with its output end connected to the secondary mounting plate 231. The secondary drive 233 is used to drive the secondary mounting plate 231 to move along the secondary guide 232, thereby driving the primary drive assembly and the positioning platform 21 to move as a whole.

[0038] By setting up independent secondary guide components 232, the overall movement process is guided and constrained, ensuring that the primary drive assembly and the positioning platform 21 maintain a stable motion state during workstation switching, thus avoiding the impact of posture deviations caused during the overall handling process on subsequent detection and positioning. At the same time, the primary and secondary drive assemblies form a hierarchical motion architecture, allowing overall conveying and fine adjustment to be completed at different motion levels, thereby reducing mutual interference between the two types of motion.

[0039] Optionally, the electrical performance testing mechanism 3 includes a first probe assembly 31, a second probe assembly 32, and a third probe assembly 33. The first probe assembly 31, the second probe assembly 32, and the third probe assembly 33 are respectively used to establish electrical connections with electrical connection terminals at different positions of the joint module under test. The first probe assembly 31, the second probe assembly 32, and the third probe assembly 33 are respectively connected to corresponding lifting drive mechanisms to drive the corresponding probes to move in the direction of approaching or moving away from the joint module under test.

[0040] By arranging probe assemblies in different detection directions, electrical connection terminals on different sides of the joint module can be tested, avoiding the problem of repeated adjustments to the product posture required by traditional unidirectional probe structures due to limited detection positions. Simultaneously, each probe assembly can independently complete approach and departure actions, ensuring that the connection establishment process at different detection points is independent. This reduces the cumulative impact of assembly tolerances caused by simultaneous contact of multiple probes and facilitates adaptation to the testing needs of joint modules with different structural forms, improving contact stability and detection coverage during electrical performance testing.

[0041] Specifically, the first probe assembly 31 is driven by the first lifting drive mechanism 34, the second probe assembly is driven by the second lifting drive mechanism 35, and the third probe assembly 33 is driven by the third lifting drive mechanism 36.

[0042] During electrical performance testing, the first lifting drive mechanism 34 drives the first probe assembly 31 downwards, bringing it into contact with the corresponding test point on the joint module under test. The second lifting drive mechanism 35 drives the second probe assembly 32 to the left test position on the joint module under test. The third lifting drive mechanism 36 drives the third probe assembly 33 to the right test position on the joint module under test. The three sets of probes establish electrical connections with different electrical connection terminals on the joint module under test to complete continuity testing, signal detection, or electrical performance testing.

[0043] In some embodiments, the first lifting drive mechanism 34 includes: a first lifting mounting plate 341, on which a first probe assembly 31 is disposed; a first lifting member 342, the output end of which is connected to the first lifting mounting plate 341; a first lifting guide rail 343, which is slidably engaged with the first lifting mounting plate 341; and a first lifting positioning plate 344, disposed on the frame 1 and fixedly connected to the first lifting guide rail 343; wherein the first lifting member 342 is fixed to the first lifting positioning plate 344, and the extension direction of the first lifting guide rail 343 is consistent with the extension and retraction direction of the first lifting member 342, so that the first lifting member 342 drives the first lifting mounting plate 341 to move up and down along the first lifting guide rail 343.

[0044] By slidingly engaging the first lifting mounting plate 341 with the first lifting guide rail 343, and using the first lifting member 342 fixed to the first lifting positioning plate 344 to drive the first lifting mounting plate 341 to move along the guide direction, the movement trajectory of the first probe assembly 31 is guided and constrained. Compared to a structure that uses only a single driving member to drive the probe movement, this embodiment can reduce the lateral offset generated during the lifting and lowering of the probe assembly, allowing the first probe assembly 31 to maintain a stable posture when approaching the joint module under test, thereby improving the positional consistency when the probe establishes an electrical connection with the electrical connection terminal. Since the extension direction of the first lifting member 342 is consistent with the extension direction of the first lifting guide rail 343, the driving force and the guide direction are unified, which can reduce the additional lateral load generated during the movement of the probe assembly.

[0045] In some embodiments, the structures of the second lifting drive mechanism 35 and the third lifting drive mechanism 36 can both refer to the first lifting drive mechanism 34. The first lifting drive mechanism 34, the second lifting drive mechanism 35 and the third lifting drive mechanism 36 are respectively provided for the first probe assembly 31, the second probe assembly 32 and the third probe assembly 33, and are arranged at different positions on the frame 1 according to the detection position of the corresponding probe assembly, so as to drive the corresponding probe assembly to move to the detection position of the joint module to be tested.

[0046] Optionally, the vibration detection mechanism 4 includes a vibration sensor 41 and a vibration test translation mechanism 42. The vibration test translation mechanism 42 is used to drive the vibration sensor 41 to move to the vibration detection position of the joint module under test. The vibration sensor 41 can contact the outer shell surface of the joint module under test to collect vibration signals during the operation of the joint module under test.

[0047] Compared to fixed vibration acquisition methods, this embodiment sets the vibration sensor 41 as a movable structure, allowing the same vibration sensor 41 to meet the detection needs of different positions. When the joint module under test remains in a fixed position, the vibration sensor 41 can actively adjust to the designated detection area to establish contact, thereby avoiding additional positioning errors introduced by changing the detection station or adjusting the product posture. At the same time, the vibration detection position, electrical performance detection position, and load test position are all established under the same positioning reference, which is beneficial for correlating vibration data with other detection data and improving the correlation between different performance parameters.

[0048] In some embodiments, the vibration test translation mechanism 42 includes a lateral translation mechanism 421 and a vertical translation mechanism 422. The vertical translation mechanism 422 is mounted on the lateral translation mechanism 421, and the vibration sensor 41 is disposed on the vertical translation mechanism 422. The lateral translation mechanism 421 is used to drive the vertical translation mechanism 422 to move laterally, and the vertical translation mechanism 422 is used to drive the vibration sensor 41 to move vertically, so as to adjust the relative position between the vibration sensor 41 and the joint module under test.

[0049] During the testing of different types of joint modules, the vibration sensor 41 can be moved to the side, top, or designated testing area of ​​the housing of the joint module under test according to the testing requirements. The lateral translation mechanism 421 is used to adjust the horizontal position of the vibration sensor 41, and the vertical translation mechanism 422 is used to adjust the height of the vibration sensor 41, so that the vibration sensor 41 can contact different testing parts, thereby acquiring vibration data of the joint module under test during operation.

[0050] In some embodiments, both the vertical translation mechanism 422 and the horizontal translation mechanism 421 are driven by cylinders. By moving the vertical translation mechanism 422 through the horizontal translation mechanism 421, the position of the vibration sensor 41 in the horizontal direction can be adjusted; by raising and lowering the vibration sensor 41 through the vertical translation mechanism 422, the contact or separation between the vibration sensor 41 and the joint module under test can be achieved, thereby meeting the vibration detection requirements at different detection positions.

[0051] Optionally, the load testing mechanism 5 includes a drive head 51, a torque sensor 52, a magnetic powder clutch 53, a first drive motor 54, and multiple couplings. The drive head 51, torque sensor 52, magnetic powder clutch 53, and first drive motor 54 are sequentially connected via multiple couplings to drive the joint module under test and apply an adjustable load to the joint module under test. The drive head 51 is used to drive the output end of the joint module under test, the first drive motor 54 is used to drive the joint module under test, the magnetic powder clutch 53 is used to apply an adjustable load to the joint module under test, and the torque sensor 52 is used to detect the output torque of the joint module under test under load.

[0052] The load testing mechanism 5 employs a drive head 51, a torque sensor 52, a magnetic powder clutch 53, a first drive motor 54, and multiple couplings connected sequentially to form a load testing link. The first drive motor 54 provides driving force, the magnetic powder clutch 53 outputs an adjustable load, and the torque sensor 52, located in the power transmission path, collects the output torque in real time. By integrating the loading unit and the detection unit into the same transmission link, torque changes can be acquired synchronously during load application, avoiding the problem of transmission error aggregation caused by the separation of the loading and detection devices in traditional testing methods. Especially under conditions where the output torque of the joint module fluctuates with load changes, the combination of the magnetic powder clutch 53 and the torque sensor 52 can establish a corresponding relationship, allowing the test results to reflect not only the output capacity but also the load response characteristics, thereby improving the completeness of the load performance evaluation.

[0053] Specifically, the torque sensor 52 is connected to the drive head 51 via a first coupling 551; the magnetic powder clutch 53 is connected to the torque sensor 52 via a second coupling 552; and the first drive motor 54 is connected to the magnetic powder clutch 53 via a third coupling 553.

[0054] Optionally, it also includes: a load test mounting plate 6, which is provided with a load test mechanism 5; and a load lifting drive assembly 7, which is connected to the load test mounting plate 6 and is used to drive the load test mounting plate 6 to lift and move, so as to adjust the relative position between the drive head 51 and the output end of the joint module under test.

[0055] By setting up the load test mounting plate 6 and the load lifting drive assembly 7, the load test mechanism 5 is equipped with overall lifting and adjustment capabilities. This structure separates the docking action of the load test mechanism 5 from the positioning action of the product feeding and positioning mechanism 2. After the joint module under test is positioned, only the load test mechanism 5 needs to be driven to move vertically to complete the transmission connection between the drive head 51 and the output end. Compared with the docking method achieved by moving the joint module under test, this avoids the impact of the load test process on the positioning state, and reduces coaxiality deviation caused by repeated adjustments to the product position, making the load test link establishment process more stable.

[0056] During load testing, the load lifting drive assembly 7 drives the load testing mechanism 5 to move upward, causing the drive head 51 to pass through the clearance channel and establish a transmission connection with the output end of the joint module under test. After the first drive motor 54 starts, a power transmission path is formed through the third coupling 553, the magnetic powder clutch 53, the second coupling 552, the torque sensor 52, the first coupling 551, and the drive head 51. The magnetic powder clutch 53 is used to output a preset resistance torque to simulate the actual working load of the joint module; the torque sensor 52 collects the output torque data of the joint module under test in real time, thereby completing the load performance test of the joint module.

[0057] In some embodiments, the load lifting drive assembly 7 includes: a second drive motor 71; a transmission assembly, which is connected to the second drive motor 71 and to the load test mounting plate 6; and a guide assembly, which includes a guide plate 731 and a guide rail 732 disposed on the guide plate 731. The load test mounting plate 6 is slidably engaged with the guide rail 732, and the second drive motor 71 drives the load test mounting plate 6 to move along the extension direction of the guide rail 732 through the transmission assembly, so as to drive the load test mechanism 5 to move closer to or away from the joint module under test.

[0058] Power is provided by the second drive motor 71, power conversion is achieved by the transmission component, and motion constraints are provided by the guide component, enabling the load test mounting plate 6 to simultaneously perform driving and guiding functions during lifting and lowering. This structure avoids the swaying phenomenon that may occur when the load test mechanism 5 relies solely on the transmission component for support, and allows the drive head 51 to approach the output end of the joint module under test along a predetermined path, thereby improving the coaxiality of the drive head 51 when establishing a transmission connection with the output end.

[0059] In some embodiments, the transmission assembly includes a lead screw 721 and a nut 722 threadedly engaged with the lead screw 721. The lead screw 721 is driven to the output end of the second drive motor 71, and the nut 722 is fixedly connected to the load test mounting plate 6. When the second drive motor 71 is working, it drives the lead screw 721 to rotate, and the nut 722 moves along the axial direction of the lead screw 721, thereby driving the load test mounting plate 6 to move along the extension direction of the guide rail, realizing the lifting and lowering adjustment of the load test mechanism 5.

[0060] The lifting and lowering adjustment of the load testing mechanism 5 is achieved by converting the rotational motion of the second drive motor 71 into the linear motion of the load testing mounting plate 6. Since the lead screw 721 and the lead nut 722 are connected by a threaded transmission, the angular change of the second drive motor 71 can be converted into a predictable displacement change, giving the lifting and lowering position of the load testing mechanism 5 good controllability. Simultaneously, the lead screw 721 transmission can continuously provide support during the lifting and lowering process, reducing positional drift that occurs after the load testing mechanism 5 stops moving.

[0061] Optionally, the frame 1 includes: a mounting platform 8 with a clearance hole 81; a load testing mechanism 5 is disposed below the mounting platform 8, and a drive head 51 is disposed corresponding to the clearance hole 81; wherein, the positioning platform 21, the primary drive assembly and the secondary drive assembly are respectively provided with clearance holes, and each clearance hole communicates with the clearance hole 81 to form a clearance channel for the drive head 51 to pass through.

[0062] By reserving a movement path for the drive head 51 within the product feeding and positioning mechanism 2, the load testing mechanism 5, located below the mounting platform 8, can directly connect with the output end of the joint module under test along the clearance channel. This structure avoids spatial interference problems caused by the stacking of multiple mechanisms, allowing the load testing mechanism 5 and the product feeding and positioning mechanism 2 to reuse space within the same testing station. Simultaneously, the movement path of the drive head 51 is confined within the preset clearance channel, which helps reduce lateral offset during docking and improves the docking accuracy between the drive head 51 and the output end of the joint module under test.

[0063] Specifically, the secondary mounting plate 231, the primary mounting plate 221, and the positioning platform 21 are each provided with clearance holes, and each clearance hole is connected to the clearance hole 81 to form a clearance channel for the drive head 51 to pass through. This structure, while ensuring the complete function of the product feeding and positioning mechanism 2, reserves independent movement space for the load testing mechanism 5, avoids structural interference between the load testing mechanism 5 and the product feeding and positioning mechanism 2, and enables multiple testing mechanisms to be arranged collaboratively around the same testing station.

[0064] Optionally, it also includes a clamping mechanism 9, which is located above the product feeding and positioning mechanism 2 and is used to clamp and fix the joint module to be tested at the testing station during the testing process.

[0065] By setting a clamping mechanism 9 above the product feeding and positioning mechanism 2, and using a pressure plate 91 to clamp and fix the joint module under test, the joint module under test maintains a stable installation state throughout the electrical performance testing, vibration testing, and load testing processes. When the load testing mechanism 5 applies driving force and resistance torque to the joint module under test, the clamping mechanism 9 can suppress the positional displacement of the joint module under test caused by force changes; when the vibration sensor 41 contacts the housing, the clamping mechanism 9 can reduce the impact of product loosening on vibration signal acquisition. By coordinating the clamping mechanism 9 with multiple testing mechanisms, it can be ensured that different testing items are all established in a unified and stable positioning state, thereby reducing the possibility that the test results are affected by changes in the product installation state.

[0066] In some embodiments, the clamping mechanism 9 includes a pressure plate 91 and a lifting device 92. The lifting device 92 drives the pressure plate 91 to move in a vertical direction to clamp or release the joint module under test. By directly applying pressure plate 91 to the joint module under test and controlling the clamping and releasing actions of pressure plate 91 using lifting device 92, the joint module under test is kept in a constrained state during testing.

[0067] Once the joint module under test is moved to the testing station, the lifting device 92 drives the pressure plate 91 to move downwards, pressing the pressure plate 91 against the upper surface of the joint module under test. During electrical performance testing, vibration testing, and load testing, the pressure plate 91 remains pressed to limit displacement or vibration of the joint module under test. After testing is completed, the lifting device 92 drives the pressure plate 91 to reset, facilitating the replacement of the joint module under test.

[0068] In some embodiments, the lifting device 92 includes a cylinder, which is fixedly mounted on the frame 1, and the piston rod of the cylinder is connected to the pressure plate 91; the cylinder is used to drive the pressure plate 91 to move in the vertical direction to achieve pressing or releasing of the joint module to be tested.

[0069] Taking the comprehensive performance test of a certain type of humanoid robot joint module as an example, the working process of the joint module comprehensive performance test platform provided in this embodiment is explained.

[0070] Before the testing begins, the operator installs the joint module to be tested onto the positioning platform 21. At this time, the secondary drive component drives the primary drive component and the positioning platform 21 to move as a whole, moving the joint module to be tested from the loading area to the testing area. When the positioning platform 21 reaches the vicinity of the preset testing station, the primary drive component drives the positioning platform 21 to adjust its position, ensuring that the joint module to be tested is accurately aligned with the corresponding testing positions of each testing mechanism. Subsequently, the clamping mechanism 9 is activated, and the lifting device 92 drives the pressure plate 91 to move downward and press against the upper surface of the joint module to be tested, thereby stably fixing the joint module to be tested at the testing station.

[0071] After positioning is completed, the electrical performance testing mechanism 3 first performs the testing task. The first lifting drive mechanism 34 drives the first probe assembly 31 to move towards the joint module under test; the second lifting drive mechanism 35 drives the second probe assembly 32 to move towards the left detection position of the joint module under test; and the third lifting drive mechanism 36 drives the third probe assembly 33 to move towards the right detection position of the joint module under test. The first probe assembly 31, the second probe assembly 32, and the third probe assembly 33 establish electrical connections with different electrical connection terminals on the joint module under test, performing continuity testing, power supply testing, and signal testing on the joint module under test. After the testing is completed, each probe assembly resets and disengages from the joint module under test under the action of its corresponding lifting drive mechanism.

[0072] The vibration detection phase then begins. The lateral translation mechanism 421 drives the vertical translation mechanism 422 to move above the corresponding detection area of ​​the joint module under test. The vertical translation mechanism 422 then drives the vibration sensor 41 downwards, bringing it into contact with the outer surface of the joint module's housing. Vibration signals generated during the operation of the joint module are collected by the vibration sensor 41 and transmitted to the detection system for analysis. For different models of joint modules, the vibration sensor 41 can be adjusted in both the lateral and vertical directions to detect vibrations at different locations. After detection, the vibration sensor 41 detaches from the joint module under test under the action of the vertical translation mechanism 422 and returns to its initial position by the lateral translation mechanism 421.

[0073] After completing electrical performance testing and vibration testing, the load testing mechanism 5 performs load performance testing. The load lifting drive assembly 7 is activated, and the second drive motor 71 drives the load testing mounting plate 6 to move upward along the guide rail 732 through the transmission assembly, thereby raising the entire load testing mechanism 5. As the load testing mechanism 5 rises, the drive head 51 passes sequentially through the clearance hole 81 on the mounting platform 8, the clearance hole on the secondary mounting plate 231, the clearance hole on the primary mounting plate 221, and the clearance hole on the positioning platform 21, forming a clearance channel, and establishes a transmission connection with the output end of the joint module under test.

[0074] After docking is completed, the first drive motor 54 starts, forming a complete power transmission link through the third coupling 553, magnetic powder clutch 53, second coupling 552, torque sensor 52, first coupling 551, and drive head 51, driving the joint module under test. During the test, the magnetic powder clutch 53 outputs a preset load, applying resistance torque to the joint module under test to simulate the load conditions under actual working conditions; the torque sensor 52 collects the output torque data of the joint module under test under different load conditions in real time. By synchronously acquiring the drive status, load status, and output torque data, the output performance, load response capability, and operational stability of the joint module under test can be comprehensively evaluated.

[0075] After the load test is completed, the load lifting drive assembly 7 reverses its direction, driving the load testing mechanism 5 to descend, causing the drive head 51 to disengage from the output end of the joint module under test. Subsequently, the clamping mechanism 9 releases its clamping state, and the pressure plate 91 rises to reset. The primary drive assembly and the secondary drive assembly work together to drive the positioning platform 21 away from the testing station and transport the tested joint module to the unloading area. Thus, the electrical performance testing, vibration testing, and load performance testing of a joint module under test are all completed in the same positioning state, eliminating the need for repeated transfer and clamping between different testing devices.

[0076] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims, and the foregoing embodiments should be considered exemplary and non-limiting.

Claims

1. A joint module comprehensive performance detection platform, characterized in that, include: frame; The product feeding and positioning mechanism is located on the frame and is used to position the joint module to be tested. Multiple testing mechanisms are located on the frame and can move relative to the product feeding and positioning mechanism to establish a testing connection with the joint module to be tested after positioning. The testing institutions include at least an electrical performance testing institution, a vibration testing institution, and a load testing institution; while the joint module under test remains in a positioning state, the testing institutions perform different performance tests on the joint module under test.

2. The joint module comprehensive performance detection platform according to claim 1, characterized in that, The product feeding and positioning mechanism includes: Positioning platform, used to mount the joint module to be tested; A primary drive component is connected to the positioning platform drive; The secondary driver component is connected to the primary driver component. The secondary drive component is used to drive the overall movement of the primary drive component and the positioning platform, and the primary drive component is used to drive the positioning platform to move relative to the primary drive component.

3. The joint module comprehensive performance test platform according to claim 2, characterized in that, The primary drive component includes: The primary mounting plate is equipped with the aforementioned positioning platform; The primary guide component slides in conjunction with the primary mounting plate. The primary driver unit has its output end connected to the primary mounting plate. The primary drive component is used to drive the primary mounting plate to move along the primary guide component, thereby causing the positioning platform to adjust its position.

4. The joint module comprehensive performance test platform according to claim 3, characterized in that, The secondary drive component includes: The secondary mounting plate is located below the primary guide and is fixedly connected to the primary guide; The secondary guide component slides in conjunction with the secondary mounting plate; The secondary drive unit has its output end connected to the secondary mounting plate; The secondary drive component is used to drive the secondary mounting plate to move along the secondary guide component.

5. The joint module comprehensive performance detection platform according to claim 1, characterized in that, The electrical performance testing mechanism includes a first probe assembly, a second probe assembly, and a third probe assembly, which are respectively used to establish electrical connections with electrical connection terminals at different locations of the joint module under test. The first probe assembly, the second probe assembly, and the third probe assembly are each connected to a corresponding lifting drive mechanism to drive the corresponding probe to move in a direction that approaches or moves away from the joint module to be tested.

6. The joint module comprehensive performance detection platform according to claim 1, characterized in that, The vibration detection mechanism includes a vibration sensor and a vibration test translation mechanism. The vibration test translation mechanism is used to drive the vibration sensor to move to the vibration detection position of the joint module to be tested. The vibration sensor can contact the outer shell surface of the joint module under test to collect vibration signals during the operation of the joint module under test.

7. The joint module comprehensive performance detection platform according to claim 2, characterized in that, The load testing mechanism includes a drive head, a torque sensor, a magnetic powder clutch, a first drive motor, and multiple couplings; The drive head, torque sensor, magnetic powder clutch and first drive motor are sequentially connected through multiple couplings to drive the joint module under test and apply an adjustable load to the joint module under test. The drive head is used to drive the output end of the joint module under test, the first drive motor is used to drive the joint module under test to run, the magnetic powder clutch is used to apply an adjustable load to the joint module under test, and the torque sensor is used to detect the output torque of the joint module under test under load.

8. The joint module comprehensive performance detection platform according to claim 7, characterized in that, Also includes: The load test mounting plate is equipped with the aforementioned load test mechanism; A load lifting drive assembly is connected to the load test mounting plate and is used to drive the load test mounting plate to lift and lower, so as to adjust the relative position between the drive head and the output end of the joint module under test.

9. The joint module comprehensive performance detection platform according to claim 7, characterized in that, The rack includes: The mounting platform is equipped with clearance holes; The load testing mechanism is located below the installation platform, and the drive head is positioned corresponding to the clearance hole.

10. The joint module comprehensive performance detection platform according to any one of claims 1 to 9, characterized in that, Also includes: A clamping mechanism is located above the product feeding and positioning mechanism and is used to clamp and fix the joint module to be tested at the testing station during the testing process.

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