A distributed electric drive joint testing system

Abstract

This application relates to a distributed electric drive joint testing system. The system includes: multiple pendulum-type load stands; wherein the multiple pendulum-type load stands are respectively installed at different positions on a mounting platform, and each pendulum-type load stand allows the electric drive joint under test to be installed; an energy management unit is used to connect to a power source to supply power to the electric drive joint under test; a control unit is used to control the operating status of the energy management unit and the electric drive joint under test, and to receive and process the operating data of the energy management unit and the electric drive joint under test; a data display device is used to display the processed operating data of the energy management unit and the electric drive joint under test. The embodiments of this application solve the technical problem of how to efficiently conduct comprehensive testing of control integration, communication integration, and electrical integration, as well as durability testing of distributed electric drive joints for robot application conditions before actual assembly of the complete robot.

Description

Technical Field

[0001] This application relates to the field of robot joint testing technology, and in particular to a distributed electric drive joint testing system. Background Technology

[0002] Humanoid robots, robotic dogs, and other multi-jointed robots consist of multiple distributed electrically driven joints forming their power systems. For example, a quadrupedal robotic dog typically has 12 electrically driven joints, while a humanoid robot can have more than 40. These electrically driven joints exhibit complex relationships such as electrical coupling, communication coupling, and control coupling during integrated operation. To ensure the stability and reliability of the robot system, systematic integration testing of multiple electrically driven joints is required. However, before actual robot assembly, existing testing systems do not perform efficient comprehensive testing and durability testing of multiple robot joints for the robot's application conditions, including control integration, communication integration, and electrical integration. This results in insufficient testing of the electrically driven joints before the entire robot is assembled, and many problems are only exposed and discovered after actual assembly. This leads to longer testing and debugging times for distributed electrically driven joints in robot applications and lower system integration testing efficiency.

[0003] There is currently no effective solution to the above problems. Utility Model Content

[0004] This application provides a distributed electric drive joint testing system to address the technical challenges of efficiently conducting comprehensive control integration, communication integration, and electrical integration testing, as well as durability testing, of distributed electric drive joints before their actual assembly into a complete robot, under specific robot application conditions. This achieves the technical effects of shortening the testing and debugging time of distributed electric drive joints in robot applications and improving system testing efficiency.

[0005] According to one aspect of the embodiments of this application, a distributed electric drive joint testing system is provided, comprising: multiple pendulum-type load stands; wherein the multiple pendulum-type load stands are respectively disposed at different positions on a mounting platform, and each pendulum-type load stand allows installation of an electric drive joint under test; an energy management unit electrically connected to the electric drive joint under test for connecting to a power source and supplying power to the electric drive joint under test; a control unit communicatively connected to the energy management unit and the electric drive joint under test, for controlling the operating status of the energy management unit and the electric drive joint under test, and receiving and processing operating data of the energy management unit and the electric drive joint under test; and a data display device communicatively connected to the control unit for displaying the processed operating data of the energy management unit and the electric drive joint under test.

[0006] Optionally, the electrically driven joint under test is connected to the control unit via a communication bus.

[0007] Optionally, the pendulum-type load platform includes an L-shaped frame consisting of a base and a vertical support, a pendulum, and a joint output coupling; wherein, the base is disposed on the mounting platform, one side of the vertical support is used to mount the electrically driven joint under test, the other side of the vertical support is used to mount the pendulum, and the pendulum is mechanically connected to the electrically driven joint under test through the joint output coupling.

[0008] Optionally, the pendulum clock has a detachable disc load to adjust the pendulum clock's load conditions.

[0009] Optionally, the pendulum-type load platform further includes a torque sensor and a position sensor, which are respectively installed at the joint output coupling. The torque sensor is used to measure the output torque of the electrically driven joint under test in real time, and the position sensor is used to measure the rotational position of the electrically driven joint under test in real time.

[0010] Optionally, the torque sensor and the position sensor are respectively connected to the control unit via sensor cables.

[0011] Optionally, the control unit is further configured to receive and process the output torque and rotational position of the electrically driven joint under test; the data display device is further configured to display the processed output torque and rotational position of the electrically driven joint under test.

[0012] Optionally, the energy management unit includes a DC-DC voltage regulation device composed of multiple DC-DC (Direct Current to Direct Current, DCDC) circuits; wherein each of the DC-DC circuits is connected to the electric drive joint under test via a power supply line and is used to output the voltage required by the electric drive joint under test.

[0013] Optionally, the power source includes a battery pack and a bidirectional DC power supply; wherein the battery pack and the bidirectional DC power supply are respectively connected to the energy management unit via power supply lines; and the battery pack and the bidirectional DC power supply are respectively connected to the control unit via a communication bus.

[0014] Optionally, the control unit is further configured to control the operating status of the battery pack and the bidirectional DC power supply, and to process the operating data of the battery pack and the bidirectional DC power supply; the data display device is further configured to display the processed operating data of the battery pack and the bidirectional DC power supply.

[0015] Optionally, the energy management unit, the control unit, and the power supply are respectively mounted on the mounting platform.

[0016] In this embodiment, by integrating multiple pendulum-type load stands, multiple electrically driven joints can be tested simultaneously. This solves the technical problem of how to efficiently conduct comprehensive testing of control integration, communication integration, electrical integration, and durability testing of distributed electrically driven joints for robot application conditions before actual assembly of the robot. This achieves the technical effect of shortening the testing and debugging time of distributed electrically driven joints in robot applications and improving system testing efficiency. Attached Figure Description

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

[0018] Figure 1 A schematic diagram of a distributed electric drive joint testing system provided in an embodiment of this application; Figure 2 A schematic diagram of a distributed electric drive joint testing system provided in an optional embodiment of this application; Figure 3(a) is a side view of a pendulum-type load platform provided in an embodiment of this application; Figure 3(b) is a front view of a pendulum-type load platform provided in an embodiment of this application. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0022] According to one aspect of an embodiment of this application, a distributed electric drive joint testing system is provided. For example... Figure 1 and Figure 2 As shown, the distributed electric drive joint testing system includes: Multiple pendulum load stands 10; wherein, the multiple pendulum load stands 10 are respectively set at different positions on the mounting platform 70, and each pendulum load stand 10 allows the installation of the electrically driven joint to be tested. Figure 2 A schematic diagram of a distributed electric drive joint testing system provided in an optional embodiment of this application is shown below. Figure 2 As shown, the system integrates four pendulum-type load stands 10. In practical applications, more pendulum-type load stands 10 can be integrated as needed.

[0023] In this embodiment, multiple pendulum-type load stands 10 are respectively arranged at different positions on the mounting platform 70, and each stand can mount one electrically driven joint 1012 to be tested. This multi-stand design allows for simultaneous testing of multiple electrically driven joints, greatly improving testing efficiency.

[0024] The energy management unit 20 is electrically connected to the electrically driven joint 1012 under test and is used to connect to a power source to supply power to the electrically driven joint 1012 under test. Figure 2 As shown, the pendulum load platform 10 includes a first module 101, a second module 102, a third module 103, and a fourth module 104; wherein, the first module 101 includes an L-shaped frame 1011 and an electrically driven joint 1012 to be tested; the second module 102 includes a torque sensor and a position sensor; the third module 103 includes a test pendulum load; and the fourth module 104 includes a pendulum rod.

[0025] In this embodiment, the energy management unit 20 is electrically connected to the electrically driven joint 1012 under test and can be connected to a power source (such as a battery pack or bidirectional DC power supply) to provide stable power support for the electrically driven joint 1012 under test. The energy management unit 20 has an internal DC-DC voltage regulator that can simultaneously output two / multiple adjustable power supplies. The choice between bidirectional DC power supply and battery pack power supply is made according to testing requirements. When testing a battery pack, the battery pack is used to power the system.

[0026] The control unit 30 is communicatively connected to the energy management unit 20 and the electric drive joint 1012 under test, and is used to control the operating status of the energy management unit 20 and the electric drive joint 1012 under test, as well as to receive and process the operating data of the energy management unit 20 and the electric drive joint 1012 under test.

[0027] In this embodiment, the control unit 30 is communicatively connected to the energy management unit 20 and the electric drive joint 1012 under test, and can control the operating status of the energy management unit 20 and the electric drive joint 1012 under test. Through a communication bus (such as a CAN bus, EtherCAT bus, etc.), the control unit 30 can simultaneously send commands and acquire data from multiple electric drive joints, realizing centralized control and data processing of multiple joints. The control unit 30 can also simulate the actual operating conditions of the robot to perform systematic testing of the electric drive joints, including electrical integration, communication integration, and control integration testing. Simultaneously, it provides safety monitoring for the entire testing system.

[0028] The data display device 40 is communicatively connected to the control unit 30 and can display the processed operating data of the energy management unit 20 and the electrically driven joint 1012 under test. This allows testers to intuitively observe the operating status of each joint, promptly identify potential problems, and improve the efficiency and accuracy of testing.

[0029] In this embodiment, by integrating multiple pendulum-type load stands 10, multiple electrically driven joints can be tested simultaneously. This solves the technical problem of conducting efficient comprehensive testing of control integration, communication integration, electrical integration, and durability testing of distributed electrically driven joints for robot application conditions before actual assembly of the robot. This achieves the technical effect of shortening the testing and debugging time of distributed electrically driven joints in robot applications and improving system testing efficiency.

[0030] The aforementioned control integration includes the control unit 30 sending control commands, such as torque, position, and speed commands, to multiple joints via a communication bus. Upon receiving these commands, the multiple joints synchronously complete their respective torque / position / speed control. The test unit 30 simultaneously controls multiple joints to achieve the effect of system condition testing through multiple distributed joints.

[0031] The aforementioned electrical integration includes connecting multiple joints to the power supply simultaneously, testing the system's power supply stability, and ensuring that each joint, when simultaneously connected to the power supply, does not interfere with other joints or the power system, nor with other components.

[0032] The aforementioned communication integration includes multiple joint communication interfaces connected to a communication bus. Control commands from the control unit 30 and status information of each joint are transmitted via the communication bus. The stability of the entire communication network under multi-node communication conditions is tested (potential electromagnetic interference, potential communication congestion, and communication rate optimization, etc.).

[0033] The above integration tests can be completed through this testing system, which allows for more thorough testing before the joints are installed on the robot, uncovering more problems and saving testing time on multiple joints on the robot, thus improving system testing efficiency.

[0034] As an optional embodiment, the electrically driven joint 1012 under test is connected to the control unit 30 via a communication bus.

[0035] Optionally, the control unit 30 acts as the master control device, responsible for the operation control and data processing of the entire test system. The electric drive joint 1012 under test acts as a slave device, receiving instructions from the control unit 30 and feeding back operating data. The communication bus serves as the data transmission channel, connecting the control unit 30 and each electric drive joint 1012 under test to form a distributed control system.

[0036] The communication bus can be a common industrial bus, such as CAN bus, EtherCAT bus, or Modbus bus. The electric drive joint 1012 under test needs to be equipped with a communication interface (such as a CAN interface or EtherCAT interface) to connect to the communication bus. The control unit 30 is connected to the slave node interfaces of each electric drive joint 1012 under test through the master node interface of the communication bus, forming a distributed communication network. The communication interface of each electric drive joint 1012 under test is connected to the communication port of the control unit 30 via shielded twisted-pair cable or Ethernet cable.

[0037] The control unit 30 sends control commands, such as start, stop, adjust output torque, and change output shaft speed and position, to the electric drive joint 1012 under test via the communication bus. Real-time data of the electric drive joint 1012 under test during operation (such as current, voltage, torque, temperature, fault information, etc.) is transmitted back to the control unit 30 via the communication bus. The control unit 30 processes and analyzes the received data and displays the processed results on the data display device 40.

[0038] In this embodiment, multiple electrically driven joints 1012 under test are connected via a communication bus. The control unit 30 can simultaneously control and acquire data from multiple joints via the communication bus, which greatly improves testing efficiency and reduces testing time.

[0039] In addition, this application embodiment adopts a configuration in which multiple pendulum-type load stands 10, an energy management unit 20 integrating a battery pack 50 and a bidirectional DC power supply 60, and a control unit 30 integrating communication and control signals and simulating actual working conditions, and measuring the torque of the output shaft mounting position of each joint, to achieve systematic testing of multiple distributed electric drive joints. Before being assembled into a humanoid robot or robot dog, the electrical integration / communication integration / control integration and long-term durability testing of the distributed electric drive joint system are fully verified, thereby improving the stability and reliability of the robot's distributed electric drive joint system integration.

[0040] As an optional embodiment, the above-mentioned pendulum-type load platform 10 includes an L-shaped frame 1011 consisting of a base and a vertical support, a pendulum, and a joint output coupling; wherein, the base is set on the mounting and fixing platform 70, one side of the vertical support is used to install the electrically driven joint 1012 under test, and the other side of the vertical support is used to install the pendulum, and the pendulum is mechanically connected to the electrically driven joint 1012 under test through the joint output coupling.

[0041] The base is the fundamental component of the entire pendulum-type load test bench 10, used to fix the bench and provide stable support. The base is typically made of high-strength metal materials (such as steel or aluminum alloy). A vertical support is connected perpendicularly to the base, forming an L-shaped structure. One side of the vertical support has a mounting interface for fixing the electrically driven joint 1012 under test; the other side also has a mounting interface for fixing the pendulum. The pendulum is the core component of the load test bench, used to simulate actual load conditions. The moment of inertia of the pendulum can be adjusted according to test requirements by adjusting the disk load to simulate different load conditions. The joint output coupling is a key component connecting the electrically driven joint 1012 under test and the pendulum, used to transmit torque and motion.

[0042] Optionally, the base is bolted to the mounting platform 70. The vertical bracket is fixed to the base by welding or bolting, forming an L-shaped structure. The electrically driven joint 1012 under test is fixed to one side of the vertical bracket through a dedicated mounting interface, ensuring its sturdiness and ease of disassembly. The pendulum clock is mechanically connected to the electrically driven joint 1012 under test via a joint output coupling.

[0043] In this embodiment, the pendulum-type load platform 10, through the pendulum's moment of inertia and motion characteristics, can simulate the dynamic load borne by an actual robot joint during movement. The pendulum has a detachable disc load to adjust the pendulum load conditions; the load size is adjusted by changing the weight of the disc load. This simulation method can more realistically reflect the performance of the electrically driven joint 1012 under test in practical applications.

[0044] As an optional embodiment, the pendulum-type load platform 10 further includes a torque sensor and a position sensor, respectively installed at the joint output coupling. The torque sensor is used to measure the output torque of the electrically driven joint 1012 under test in real time, and the position sensor is used to measure the rotational position of the electrically driven joint 1012 under test in real time. The torque sensor and the position sensor are respectively connected to the control unit 30 via sensor cables.

[0045] Figure 3(a) is a side view of a pendulum-type load tester provided in an embodiment of this application, and Figure 3(b) is a front view of a pendulum-type load tester provided in an embodiment of this application. As shown in Figures 3(a) and 3(b), the pendulum-type load tester of this application differs from existing pendulum-type load testers in that a second module 102 composed of a torque sensor and a position sensor is installed at the joint output coupling for real-time measurement of the output torque and rotational position of the electrically driven joint 1012 under test. These sensors are connected to the control unit 30 via sensor cables to achieve real-time data acquisition and transmission.

[0046] In this embodiment, the pendulum-type load test bench 10 integrates functions such as load simulation, torque measurement, and position measurement into a single, compact, and fully functional test unit. This integrated design not only saves space but also improves the overall performance and reliability of the system.

[0047] As an optional embodiment, the control unit 30 is further configured to receive and process the output torque and rotational position of the electrically driven joint 1012 under test; the data display device 40 is further configured to display the processed output torque and rotational position of the electrically driven joint 1012 under test.

[0048] The control unit 30 can receive and process the output torque and rotational position data of the electrically driven joint 1012 under test in real time, ensuring the real-time performance and accuracy of the test process. The data display device 40 allows for real-time observation of the joint's operating status, timely detection of abnormalities, and timely adjustments. The data display device 40 can display the processed data in an intuitive manner (such as graphs, tables, etc.), facilitating quick understanding and analysis of the test results by the testing personnel.

[0049] The operating data (speed, torque, temperature, voltage, current, fault, etc.) of the electric drive joint 1012 under test are transmitted to the control unit 30 via the communication bus. At the same time, the torque and position sensors installed on the pendulum load stand 10 transmit the test data to the control unit 30, and the control unit 30 transmits the data to the data display device 40 for display.

[0050] As an optional embodiment, the energy management unit 20 includes a DC-DC voltage regulator consisting of multiple DC-DC circuits; wherein each DC-DC circuit is connected to the electrically driven joint 1012 under test via a power supply line and is used to output the voltage required by the electrically driven joint 1012 under test.

[0051] The energy management unit 20 includes multiple DC-DC circuits, each equipped with a high-efficiency power conversion chip and necessary filtering components. These circuits are capable of converting the input DC voltage into the required output voltage according to the voltage requirements of the electrically driven joint 1012 under test.

[0052] Each DC-DC circuit is connected to the electric drive joint 1012 under test via a power supply line. The control unit 30 sends commands to the DC-DC voltage regulator via a communication bus to adjust the output voltage of each circuit to meet the voltage requirements of different electric drive joints at different test stages.

[0053] In this embodiment, the energy management unit 20 can flexibly adjust the output voltage through the DC-DC voltage regulator to meet the voltage requirements of different electric drive joints 1012 under test at different test stages, thereby improving the versatility and adaptability of the test system.

[0054] As an optional embodiment, the power supply includes: a battery pack 50 and a bidirectional DC power supply 60; wherein the battery pack 50 and the bidirectional DC power supply 60 are respectively connected to the energy management unit 20 via power supply lines; and the battery pack 50 and the bidirectional DC power supply 60 are respectively connected to the control unit 30 via a communication bus.

[0055] Battery pack 50 and bidirectional DC power supply 60 are connected to energy management unit 20 via power supply lines, providing power support for the entire test system. Simultaneously, they are connected to control unit 30 via a communication bus, enabling control unit 30 to monitor and control the power supply's operating status in real time. Control unit 30 selects between battery pack 50 and bidirectional DC power supply 60 for power supply based on test requirements. For example, when testing the performance of battery pack 50, the system switches to battery pack 50 power supply mode; while when high power input is required, it switches to bidirectional DC power supply 60.

[0056] In this embodiment, the control unit 30 monitors and controls the operating status of the battery pack 50 and the bidirectional DC power supply 60 in real time. It can switch the power supply reasonably according to the test requirements, optimize the power supply efficiency, extend the service life of the battery pack 50, and ensure the stability and reliability of the test process.

[0057] As an optional embodiment, the control unit 30 is also used to control the operating status of the battery pack 50 and the bidirectional DC power supply 60, and to process the operating data of the battery pack 50 and the bidirectional DC power supply 60; the data display device 40 is also used to display the processed operating data of the battery pack 50 and the bidirectional DC power supply 60.

[0058] The control unit 30 not only controls the operating status of the electrically driven joint, but also extends its management functions to include the battery pack 50 and the bidirectional DC power supply 60. It can receive operating data (such as voltage, current, temperature, etc.) from the power supply and analyze and process the data using a preset algorithm.

[0059] The data display device 40 connects to the control unit 30 via a communication interface, receives processed power operation data, and displays it to the user in a graphical interface. For example, it displays information such as the remaining power of the battery pack 50 and the output power of the bidirectional DC power supply 60, facilitating real-time monitoring of the system's operating status.

[0060] In this embodiment, the control unit 30 comprehensively collects and processes the operating data of the electric drive joint, battery pack 50, and bidirectional DC power supply 60, achieving comprehensive monitoring of the entire test system and enabling timely detection and adjustment of potential problems. The data display device 40 intuitively displays the processed data, including the output torque and rotational position of the electric drive joint, the remaining power of the battery pack 50, and the output power of the bidirectional DC power supply 60, facilitating quick understanding and analysis of test results.

[0061] As an optional embodiment, the energy management unit 20, the control unit 30, and the power supply are respectively mounted on the mounting platform.

[0062] In this embodiment of the application, the components are centrally managed by installing a fixed platform, which reduces the complexity of system wiring and makes the structure of the entire test system simpler and clearer.

[0063] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0064] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0065] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A distributed electric drive joint testing system, characterized in that, include: Multiple pendulum-type load stands; wherein, the multiple pendulum-type load stands are respectively set at different positions on the mounting platform, and each pendulum-type load stand allows the installation of the electrically driven joint to be tested; An energy management unit is electrically connected to the electrically driven joint under test and is used to connect to a power source to supply power to the electrically driven joint under test. The control unit is communicatively connected to the energy management unit and the electric drive joint under test, respectively, and is used to control the operating status of the energy management unit and the electric drive joint under test, as well as to receive and process the operating data of the energy management unit and the electric drive joint under test. The data display device is communicatively connected to the control unit and is used to display the processed operating data of the energy management unit and the electric drive joint under test.

2. The distributed electric drive joint testing system according to claim 1, characterized in that, The electrically driven joint under test is connected to the control unit via a communication bus.

3. The distributed electric drive joint testing system according to claim 1, characterized in that, The pendulum-type load test stand includes an L-shaped frame consisting of a base and a vertical support, a pendulum, and a joint output coupling. The base is mounted on the mounting platform. One side of the vertical support is used to mount the electrically driven joint under test, and the other side of the vertical support is used to mount the pendulum. The pendulum is mechanically connected to the electrically driven joint under test through the joint output coupling. The pendulum has a detachable disc load to adjust the load conditions of the pendulum.

4. The distributed electric drive joint testing system according to claim 3, characterized in that, The pendulum-type load tester also includes a torque sensor and a position sensor, which are respectively installed at the joint output coupling. The torque sensor is used to measure the output torque of the electric drive joint under test in real time, and the position sensor is used to measure the rotational position of the electric drive joint under test in real time.

5. The distributed electric drive joint testing system according to claim 4, characterized in that, The torque sensor and the position sensor are respectively connected to the control unit via sensor cables.

6. The distributed electric drive joint testing system according to claim 5, characterized in that, Also includes: The control unit is also used to receive and process the output torque and rotational position of the electric drive joint under test; The data display device is also used to display the processed output torque and rotational position of the electrically driven joint under test.

7. The distributed electric drive joint testing system according to claim 1, characterized in that, The energy management unit includes a DC-DC voltage regulation device composed of multiple DC-DC circuits; wherein each DC-DC circuit is connected to the electric drive joint under test via a power supply line and is used to output the voltage required by the electric drive joint under test.

8. The distributed electric drive joint testing system according to claim 1, characterized in that, The power source includes a battery pack and a bidirectional DC power supply; wherein the battery pack and the bidirectional DC power supply are respectively connected to the energy management unit via power supply lines; and the battery pack and the bidirectional DC power supply are respectively connected to the control unit via a communication bus.

9. The distributed electric drive joint testing system according to claim 8, characterized in that, Also includes: The control unit is also used to control the operating status of the battery pack and the bidirectional DC power supply, and to process the operating data of the battery pack and the bidirectional DC power supply. The data display device is also used to display the processed operating data of the battery pack and the bidirectional DC power supply.

10. The distributed electric drive joint testing system according to any one of claims 1 to 9, characterized in that, The energy management unit, the control unit, and the power supply are respectively mounted on the mounting platform.

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