Test device for joint modules

Abstract

The utility model belongs to the technical field of robot spare part test, specifically relates to a testing arrangement of joint module. The testing arrangement is equipped with two twisting devices (2), one of which is a big torque twisting device (2), and the other is a small torque twisting device (2). The operating platform (1) is provided with first mounting seat (11) and second mounting seat (12), the joint module (10) to be tested is installed on the first mounting seat (11), and the two twisting devices (2) are all arranged on the second mounting seat (12), the second mounting seat (12) is suitable for sliding on a moving platform (121), so that the output end of one of the twisting devices (2) is axially aligned with the output end of the joint module (10). Thus, the wide range coverage is realized on a testing device, and the hardware procurement cost and site occupation of the laboratory are reduced.

Description

Technical Field

[0001] This utility model belongs to the field of robot component testing technology, specifically relating to a testing device for joint modules. Background Technology

[0002] With the rapid development of robotics technology, joint modules (which typically integrate motors, reducers, encoders, and drivers) serve as the core power units of robots, and their performance indicators (such as positioning accuracy, torque output capability, and transmission efficiency) directly determine the robot's operational level. During the production and R&D of joint modules, specialized testing equipment must be used to calibrate and test their various performance parameters.

[0003] Existing testing equipment typically only includes a single power load device (such as a load motor or magnetic particle brake). However, the torque requirements of joint modules vary significantly depending on the model or application scenario. If a high-torque load device is selected, the measurement data often fluctuates wildly and accuracy cannot be guaranteed when conducting low-torque joint tests due to limitations in the load device's own inertia and control precision. Conversely, if a low-torque load device is selected, it cannot meet the ultimate load-bearing test requirements of high-torque modules. This often necessitates the purchase of multiple sets of testing equipment in laboratories, resulting in high costs and large space requirements.

[0004] Therefore, how to design a joint module testing device that can meet the needs of different measurement ranges is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the present invention proposes a testing device for joint modules, which aims to take into account the different range requirements of joint module testing.

[0006] This utility model provides a testing device for a joint module, comprising an operating table, a first mounting base, two torque-applying devices, a second mounting base, a data acquisition component, and a measurement and control instrument. The first mounting base is disposed on the operating table and configured to mount the joint module to be tested. One of the torque-applying devices has a torque range greater than that of the other. The second mounting base connects to the two torque-applying devices and is adapted to slide on a movable platform so that the output end of one of the torque-applying devices is axially aligned with the output end of the joint module. The movable platform is disposed on the operating table. The data acquisition component is connected between the output end of the joint module and the output end of one of the torque-applying devices via a coupling system. The measurement and control instrument is signal-connected to the torque-applying devices and the data acquisition component.

[0007] Thus, by setting up two torque-applying devices with different ranges, and in conjunction with a sliding second mounting base and a moving stage, the testing device achieves both a large range coverage and high precision. Users can quickly switch to the appropriate torque-applying device for alignment testing based on the rated torque of the joint module under test, avoiding the problem of insufficient accuracy of a single torque-applying device in low-torque testing or limited range in high-torque testing, significantly improving the testing compatibility and utilization rate of the testing device.

[0008] In a preferred embodiment of the testing device provided by this utility model, the data acquisition component includes a circular grating, the reading head of the circular grating is provided with a rotating shaft, the coupling system includes a first coupling, the testing device also includes a first support base, the first support base is disposed on the operating table, and the circular grating is mounted on its upper part, one end of the rotating shaft of the circular grating is connected to a transition shaft of the joint module through the first coupling.

[0009] In this way, by fixing the circular grating with the first support and connecting the adapter shaft with the first coupling, the angular displacement data of the joint module can be acquired in real time and with high precision. The first support provides a stable physical reference, reducing the impact of vibration on the reading accuracy, thereby ensuring the accurate assessment of the motion accuracy of the joint module (such as return error and transmission error).

[0010] In a preferred embodiment of the testing device provided by this utility model, the data acquisition component further includes a dual-range torque sensor, the dual-range torque sensor having a rotating shaft passing through it, the coupling system further including a second coupling, the testing device further including a second support base, the second support base being disposed on the operating table, and the dual-range torque sensor being mounted on its upper part, one end of the rotating shaft of the torque sensor being connected to the rotating shaft of the circular grating, and the other end of the rotating shaft of the torque sensor being connected to the first end of the second coupling.

[0011] Thus, by employing a dual-range torque sensor in conjunction with a second support, more detailed and precise torque feedback can be provided for different load conditions. By distributing the sensor's own weight and radial load with the second support, the force on the sensor shaft is protected and evenly distributed, ensuring the linearity and repeatability of the torque signal during the test, and achieving accurate monitoring throughout the entire process from no-load to full-load.

[0012] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a third support base and an inertia disk. The third support base is disposed on the operating table. The inertia disk is disposed on the upper part of the third support base, with a rotating shaft passing through its central portion. One end of the rotating shaft of the inertia disk is connected to the second end of a second coupling, and the other end of the rotating shaft of the inertia disk is connected to the torque-applying device.

[0013] Thus, by introducing an inertia disk, the inertial characteristics of the joint module under actual workload can be simulated. The third support ensures the dynamic balance stability of the inertia disk during high-speed rotation, making the test environment closer to real-world usage scenarios, thereby effectively evaluating the dynamic response characteristics and servo control performance of the joint module during startup, shutdown, and reversal.

[0014] In a preferred embodiment of the testing device provided by this utility model, the coupling system further includes a third coupling, and the torque-applying device includes a servo motor and a reducer. The input end of the reducer is connected to the output end of the servo motor, and the output end of the reducer is used to connect to the third coupling.

[0015] Thus, by using a servo motor and reducer as the torque source, high torque rigidity and stable load output at extremely low speeds can be provided. A flexible connection via a third coupling effectively compensates for axial misalignment between the torque system and the joint module under test, preventing mechanical stress concentration and data interference caused by coaxiality errors.

[0016] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a first slide rail assembly and a first transmission assembly. The first slide rail assembly is disposed on the top surface of the moving platform, and its extension direction is perpendicular to the mounting axis of the joint module. A second mounting seat is slidably disposed on the first slide rail assembly. The first transmission assembly includes a first lead screw and a first nut with threaded engagement. The first lead screw is disposed parallel to the first slide rail assembly, and the first nut is connected to the bottom surface of the second mounting seat. The first lead screw is rotatably disposed on the top surface of the moving platform via two bearing seats.

[0017] Thus, by driving the second mounting base through the first slide rail assembly and the lead screw assembly, semi-automatic or automatic precise alignment of the torque-applying device switching is achieved. The lead screw drive provides high positioning accuracy and self-locking capability, ensuring that the selected torque-applying device is strictly aligned with the center line of the joint module, eliminating deviations caused by manual alignment.

[0018] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a set of guide rail locks, which are connected to the second mounting base and slidably disposed on the first slide rail assembly.

[0019] In this way, the guide rail lock can firmly fix the selected torque-applying device in the test position, eliminating the backlash of the lead screw pair and the micro-vibration of the sliding pair. During high-torque loading tests, it effectively prevents the installation seat from shifting due to reaction forces, ensuring the mechanical structural rigidity and data consistency during the test process.

[0020] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a second slide rail assembly and a second transmission assembly. The second slide rail assembly is disposed on the top surface of the operating table, and its extension direction is parallel to the mounting axis of the joint module. The movable table is slidably disposed on the second slide rail assembly. The second transmission assembly includes a second lead screw and a second nut with threaded drive engagement. The second lead screw is disposed parallel to the second slide rail assembly, and the second nut is connected to the bottom surface of the movable table. The second lead screw is rotatably disposed on the top surface of the operating table via two bearing seats.

[0021] Thus, by setting up a second slide rail and lead screw assembly parallel to the axis, the length of the test space can be flexibly adjusted. This allows the test device to adapt to joint modules of different lengths or coupling systems of different combinations, enhancing the physical size adaptability of the test device.

[0022] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a second slide rail assembly and a third transmission assembly. The second slide rail assembly is disposed on the top surface of the operating table, and its extension direction is parallel to the mounting axis of the joint module. The third transmission assembly includes a third lead screw and a third nut with threaded engagement. The third lead screw is disposed parallel to the second slide rail assembly, and the third nut is connected to the bottom surface of the first mounting base. The third lead screw is rotatably disposed on the top surface of the operating table via two bearing seats. The first mounting base is slidably disposed on the second slide rail assembly.

[0023] Thus, by enabling the first mounting base to slide along the second slide rail, the relative positional flexibility between the test object and the torque-applying end is further enhanced. This not only facilitates the installation and removal of the test module, but also allows for fine-tuning of the position of the test joint module without moving the complex torque-applying system, optimizing the convenience of assembly operations.

[0024] In a preferred embodiment of the testing device provided by this utility model, the testing device further includes a handwheel connected to the end of the third lead screw to drive the first mounting base.

[0025] Thus, the handwheel design provides an intuitive and precise means of manual fine-tuning. During final alignment or initial tensioning, the operator can perform micron-level displacement control via the handwheel, preventing collisions caused by electric drive overshoot and improving the operational safety and assembly efficiency of the device. Attached Figure Description

[0026] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can more clearly understand the above and other features and advantages of the present invention, in which:

[0027] Figure 1 This is a schematic diagram of a preferred embodiment of the testing device for the joint module in this example.

[0028] Figure 2 This is a schematic diagram of a preferred embodiment of the load system of the test apparatus in this example.

[0029] Figure 3 This is a schematic diagram of the connection relationship of the signal system of the test device in this embodiment.

[0030] The reference numerals in the attached figures are as follows:

[0031] 10-Joint Module;

[0032] 1-Operating table; 11-First mounting base; 12-Second mounting base; 121-Moving table; 13-First support base; 14-Second support base; 15-Third support base;

[0033] 2-Torque-increasing device; 21-Servo motor; 22-Reducer;

[0034] 3-Data acquisition component; 31-Circular grating; 32-Dual-range torque sensor;

[0035] 4-Coupling system; 41-First coupling; 42-Second coupling; 43-Third coupling;

[0036] 5-Measurement and control instrument;

[0037] 6-Inertia disk;

[0038] 71-First slide rail assembly; 72-Second slide rail assembly;

[0039] 81-First transmission assembly; 82-Second transmission assembly; 83-Third transmission assembly;

[0040] 91-Guide rail lock; 92-Handwheel. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0042] It should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "connection" and "setup" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] Furthermore, it should be understood in the description of this application that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0044] This embodiment provides a testing device for joint modules, aiming to address the need for high-precision testing of joint modules with both large and small torques that cannot be simultaneously achieved by a single load device in the prior art. (Refer to...) Figure 1 The testing device is arranged on the operating table 1. At one end of the operating table 1, the joint module 10 to be tested is fixed by the first mounting base 11; at the other end of the operating table 1, a movable load system is set up.

[0045] The core of this testing device lies in its two torque-applying devices 2. These two devices 2 have different torque ranges; one is a high-torque device 2, and the other is a low-torque device 2. This "size-fits-all" design allows for switching to the low-torque device 2 to achieve higher control resolution and accuracy when testing small, precision joint modules 10; and switching to the high-torque device 2 when testing heavy-duty joint modules 10. This enables wide-range coverage within a single testing device, reducing laboratory hardware procurement costs and space requirements.

[0046] Combination Figure 2 To enable rapid switching between the two torque-applying devices 2, the testing device includes a moving platform 121 and a second mounting base 12. The moving platform 121 is mounted on the operating table 1, while the second mounting base 12 supports the two torque-applying devices 2 and is connected to the moving platform 121. Specifically, a first slide rail assembly 71 is provided on the top surface of the moving platform 121, extending perpendicularly to the mounting axis of the joint module 10 (i.e., lateral movement). A first nut is connected to the bottom of the second mounting base 12, which engages with a first lead screw mounted on the moving platform 121. A handwheel 92 can be connected to the end of the first lead screw for easy operation.

[0047] By rotating the first lead screw, the second mounting base 12 is driven to slide laterally along the first slide rail, thereby precisely moving the output end of the large torque torque-applying device 2 or the small torque torque-applying device 2 to a position aligned axially with the output end of the joint module 10.

[0048] To ensure stability during testing, a set of guide rail locks 91 are also connected to the second mounting base 12. When the torque-applying device 2 is switched into position and aligned with the axis, the guide rail locks 91 lock the second mounting base 12 onto the first slide rail assembly 71, preventing lateral displacement or vibration during the loading test and ensuring the accuracy of the test data. Similarly, guide rail locks 91 can also be installed between the first mounting base 11 and the second slide rail assembly 72 in this embodiment, and guide rail locks 91 can also be installed between the moving stage 121 and the second slide rail assembly 72.

[0049] In addition, in order to accommodate joint modules 10 of different lengths and facilitate the installation of the coupling system 4, the testing device also has a longitudinal adjustment function.

[0050] In one embodiment, a second slide rail assembly 72 parallel to the mounting axis is provided on the top surface of the operating table 1, and the moving table 121 is slidably mounted on it. By engaging a second lead screw with a second nut connected to the bottom of the moving table 121, the moving table 121 and its load end can be driven to move closer to or further away from the joint module 10. A handwheel 92 can be connected to the end of the second lead screw for convenient operation.

[0051] Another complementary or alternative solution is to design the first mounting base 11 as movable, that is, the first mounting base 11 is slidably mounted on the second slide rail assembly 72 and driven by a third lead screw and a third nut. A handwheel 92 can be connected to the end of the third lead screw, allowing the tester to fine-tune the position of the joint module 10 by manually rotating the handwheel 92. This multi-dimensional adjustment capability gives the testing device extremely high flexibility, enabling it to adapt to joint modules 10 of various sizes. It should be noted that although the moving stage 121 and the first mounting base 11 in this embodiment are mounted on the same slide rail assembly, mounting the moving stage 121 and the first mounting base 11 on different slide rail assemblies also falls within the protection scope of this utility model.

[0052] Continue to refer to Figure 1 Power transmission and signal capture are achieved between the joint module 10 and the selected torque-applying device 2 via a precision coupling system 4 and a data acquisition component 3. For example, the data acquisition component 3 may include a circular grating 31 and a dual-range torque sensor 32.

[0053] The circular grating 31 is used to detect the angular displacement, positioning accuracy, and repeatability of the joint module 10. The circular grating 31 is mounted on the upper part of the first support base 13, and a rotating shaft passes through the middle of its reading head. One end of the rotating shaft is connected to the adapter shaft of the joint module 10 through the first coupling 41.

[0054] The dual-range torque sensor 32 is used to measure real-time torque output and transmission efficiency. This sensor is mounted on the upper part of the second support 14, which also has a rotating shaft. One end of the rotating shaft of the dual-range torque sensor 32 is connected to the rotating shaft of the circular grating 31, and the other end is connected to the first end of the second coupling 42. This series arrangement ensures that torque and angle data are collected synchronously on the same transmission chain.

[0055] The couplings in the coupling system 4 (such as the first coupling 41, the second coupling 42, and the third coupling 43) are typically high-rigidity, zero-backlash diaphragm couplings or lamellar couplings. This structural connection method can compensate for minor coaxiality errors during installation, while avoiding backlash errors during frequent forward and reverse switching tests, ensuring that the measured performance data truly reflects the characteristics of the joint module 10 itself.

[0056] To simulate the working conditions of the joint module 10 under load in actual operation, an inertia disk 6 is also provided between the data acquisition component 3 and the torque application device 2. The inertia disk 6 is mounted on the third support base 15, with a rotating shaft passing through its center. One end of the rotating shaft is connected to the second end of the second coupling 42 (i.e., connected to the side of the dual-range torque sensor 32), and the other end is connected to the torque application device 2. By replacing the inertia disk 6 with different weights or diameters, the dynamic response, start-stop characteristics, and vibration suppression capabilities of the joint module 10 under different load inertia can be simulated.

[0057] Continue to refer to Figure 2 The torque-applying device 2 consists of a servo motor 21 and a reducer 22. The output end of the servo motor 21 is connected to the input end of the reducer 22, and the output end of the reducer 22 is connected to the aforementioned transmission chain (one end of the shaft of the inertia disk 6) via a third coupling 43. Under the control of the measuring and controlling instrument 5, the servo motor 21 can operate in speed mode to simulate load or in torque mode to provide resistance, thereby realizing the loading test of the joint module 10.

[0058] For example, a third coupling 43 can be provided, with one end connected to the second end of the inertia disk 6 shaft and the other end connected to the torque-applying device 2. Alternatively, two third couplings 43 can be provided, each connected to the output end of one of the two torque-applying devices 2, and in use, the other end of one of the two third couplings 43 is connected to the second end of the inertia disk 6 shaft.

[0059] Reference Figure 3 This testing device is equipped with a measuring and control instrument 5, which can be an electrical control cabinet integrating an industrial computer and control board. The measuring and control instrument 5 is connected to the servo motor 21 driver, circular grating 31, and dual-range torque sensor 32 of the two torque-applying devices 2 respectively.

[0060] The exemplary working process of this testing device is as follows:

[0061] (1) Installation and alignment: Fix the joint module 10 to be tested to the first mounting base 11. According to the test range requirements, rotate the first lead screw to drive the second mounting base 12 to slide, so that the torque device 2 with the corresponding power is aligned with the axis of the joint module 10.

[0062] (2) Connection: The joint module 10, circular grating 31, dual-range torque sensor 32, inertia disk 6 and torque-adding device 2 are connected in sequence to form a complete transmission chain through the coupling system 4.

[0063] (3) Parameter setting: Set the test parameters (such as target speed, loading torque step size, etc.) on the measuring and control instrument 5.

[0064] (4) Test execution: The measuring and control instrument 5 commands the torque-applying device 2 to apply reverse resistance, while the joint module 10 drives its own rotation. The circular grating 31 provides real-time feedback on the angle position, the dual-range torque sensor 32 provides real-time feedback on the force, and the measuring and control instrument 5 records the data synchronously.

[0065] (5) Data acquisition and storage: The measuring and control instrument 5 displays and samples multiple data in real time, including output torque, speed, current, voltage, power, efficiency and temperature.

[0066] (6) Data processing: After the test is completed, the measurement and control instrument 5 automatically generates reports such as accuracy curves and efficiency charts based on the collected multidimensional data.

[0067] In summary, the testing device for the joint module 10 in this embodiment has the following technical effects and advantages:

[0068] (1) Wide range and high precision: By equipping two torque-adding devices 2 with large and small ranges, the contradiction of "not being able to reach" under large torque and "not being able to measure accurately" under small torque is solved.

[0069] (2) Stable structure and flexible adjustment: The combination of slide rail, lead screw and guide rail lock 91 ensures both the rapid adaptation of multi-specification joints and the mechanical rigidity during high load testing.

[0070] (3) Comprehensive data acquisition: The integrated circular grating 31, dual-range torque sensor 32 and replaceable inertia disk 6 realize one-stop all-round detection of the dynamic and static performance of the joint module 10.

[0071] (4) High versatility: The modular support base (such as the first support base 13, the second support base 14, and the third support base 15) design and multi-dimensional adjustment mechanism enable it to meet the testing requirements of the joint modules 10 of most industrial robots and collaborative robots on the market.

[0072] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0073] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A testing device for a joint module, characterized in that, include: Control panel (1); The first mounting base (11) is disposed on the operating table (1) and is configured to be suitable for mounting the joint module (10) to be tested; Two torque-increasing devices (2), wherein the torque range of one torque-increasing device (2) is greater than the torque range of the other torque-increasing device (2); A second mounting base (12) is connected to two of the torque-applying devices (2), and the second mounting base (12) is adapted to slide on a movable stage (121) so that the output end of one of the torque-applying devices (2) is axially aligned with the output end of the joint module (10); wherein the movable stage (121) is disposed on the operating table (1); The data acquisition component (3) is connected between the output end of the joint module (10) and the output end of one of the torque-applying devices (2) via a coupling system (4); The measuring and control instrument (5) is connected to the torque-applying device (2) and the data acquisition component (3) via signal connection.

2. The testing apparatus according to claim 1, characterized in that, The data acquisition component (3) includes a circular grating (31), the reading head of which is mounted on a rotating shaft; the coupling system (4) includes a first coupling (41); and the testing device further includes: A first support base (13) is provided on the operating table (1), and the circular grating (31) is installed on its upper part. One end of the rotating shaft of the circular grating (31) is connected to a transition shaft of the joint module (10) through the first coupling (41).

3. The testing apparatus according to claim 2, characterized in that, The data acquisition component (3) further includes a dual-range torque sensor (32), which is mounted on a rotating shaft. The coupling system (4) further includes a second coupling (42). The testing device further includes: The second support base (14) is set on the operating table (1), and the dual-range torque sensor (32) is installed on its upper part. One end of the rotating shaft of the torque sensor (32) is connected to the rotating shaft of the circular grating (31), and the other end of the rotating shaft of the torque sensor (32) is connected to the first end of the second coupling (42).

4. The testing apparatus according to claim 1, characterized in that, Also includes: A third support base (15) is provided on the operating table (1); An inertia disk (6) is disposed on the upper part of the third support base (15), and a rotating shaft is inserted through its middle part. One end of the rotating shaft of the inertia disk (6) is connected to the second end of the second coupling (42), and the other end of the rotating shaft of the inertia disk (6) is connected to the torque-applying device (2).

5. The testing apparatus according to claim 1, characterized in that, The coupling system (4) further includes a third coupling (43), and the torque-applying device (2) includes: Servo motor (21); The reducer (22) has its input end connected to the output end of the servo motor (21), and its output end is used to connect to the third coupling (43).

6. The testing apparatus according to claim 1, characterized in that, Also includes: A first slide rail assembly (71) is disposed on the top surface of the moving platform (121). The extension direction of the first slide rail assembly (71) is perpendicular to the mounting axis of the joint module (10), and a second mounting seat (12) is slidably disposed on the first slide rail assembly (71). The first transmission assembly (81) includes a first lead screw and a first nut with threaded transmission. The first lead screw is arranged in parallel between the first slide rail assembly (71). The first nut is connected to the bottom surface of the second mounting base (12). The first lead screw is rotatably arranged on the top surface of the moving table (121) through two bearing seats.

7. The testing apparatus according to claim 6, characterized in that, Also includes: A set of guide rail locks (91) are connected to the second mounting base (12) and slidably disposed on the first slide rail assembly (71).

8. The testing apparatus according to claim 1, characterized in that, Also includes: The second slide rail assembly (72) is disposed on the top surface of the operating table (1). The extension direction of the second slide rail assembly (72) is parallel to the mounting axis of the joint module (10), and the moving table (121) is slidably disposed on the second slide rail assembly (72). The second transmission assembly (82) includes a second lead screw and a second nut with threaded transmission. The second lead screw is arranged parallel between the second slide rail assembly (72). The second nut is connected to the bottom surface of the moving table (121). The second lead screw is rotatably arranged on the top surface of the operating table (1) through two bearing seats.

9. The testing apparatus according to claim 1, characterized in that, Also includes: The second slide rail assembly (72) is disposed on the top surface of the operating table (1), and the extension direction of the second slide rail assembly (72) is parallel to the mounting axis of the joint module (10). The third transmission assembly (83) includes a third lead screw and a third nut with threaded transmission. The third lead screw is arranged parallel between the second slide rail assembly (72). The third nut is connected to the bottom surface of the first mounting base (11). The third lead screw is rotatably arranged on the top surface of the operating table (1) through two bearing seats. The first mounting base (11) is slidably arranged on the second slide rail assembly (72).

10. The testing apparatus according to claim 9, characterized in that, Also includes: A handwheel (92) is connected to the end of the third lead screw to drive the first mounting base (11).

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