CN112549079A - Test equipment for cooperating mechanical arm driving controller board - Google Patents
Test equipment for cooperating mechanical arm driving controller board Download PDFInfo
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- CN112549079A CN112549079A CN202011463572.5A CN202011463572A CN112549079A CN 112549079 A CN112549079 A CN 112549079A CN 202011463572 A CN202011463572 A CN 202011463572A CN 112549079 A CN112549079 A CN 112549079A
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- 238000012360 testing method Methods 0.000 title claims abstract description 206
- 238000004891 communication Methods 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract 4
- 239000000523 sample Substances 0.000 claims description 8
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention discloses a test device for a controller board driven by a cooperative mechanical arm, which comprises an installation platform, and a test fixture, a test mainboard and a power supply device which are arranged on the installation platform, wherein the test fixture is provided with a fixed position; the test main board is provided with a first communication interface for outputting a detection result and a plurality of functional interfaces which can be electrically connected with the tested drive controller board; the power supply device can supply power to the test mainboard and the tested drive controller board. The invention simplifies the test mode of the driving controller board, thereby being beneficial to improving the detection efficiency.
Description
Technical Field
The invention relates to the technical field of driving devices, in particular to a test device for a controller board driven by a cooperative mechanical arm.
Background
The cooperative mechanical arm generally comprises a plurality of joint modules, wherein each joint module comprises a motor, a speed reducer, a brake, a magnetic code disc, a magnetic encoder board, a joint servo drive controller board and a joint servo drive power board, so that the cooperative mechanical arm structurally has the characteristics of small volume, high joint integration level and the like.
The conventional method for detecting the driving controller board generally includes mounting the driving controller board on the joint module, and then detecting whether the joint module can operate normally. However, this detection method requires manual repeated mounting and dismounting of the drive controller board, which results in low detection efficiency.
Disclosure of Invention
The invention mainly aims to provide test equipment for a cooperative mechanical arm driving controller board, and aims to solve the technical problem that the existing test driving controller board is low in efficiency.
In order to achieve the purpose, the invention provides a test device for a cooperative mechanical arm driving controller board, which comprises a mounting table, and a test fixture, a test mainboard and a power supply device which are arranged on the mounting table, wherein the test fixture is provided with a fixing position; the test main board is provided with a first communication interface for outputting a detection result and a plurality of functional interfaces which can be electrically connected with the tested drive controller board; the power supply device can supply power to the test mainboard and the tested drive controller board.
Preferably, the functional interface includes a first power input interface located on the test motherboard, a first power output interface electrically connectable to a power input terminal on the tested drive controller board, a voltage acquisition interface electrically connectable to a power module on the tested drive controller board, a signal transmission interface electrically connectable to a debug serial port interface on the tested drive controller board, and a pulse output interface electrically connectable to a motor hall interface on the tested drive controller board, and the first power input interface is electrically connected to the power supply device.
Preferably, the functional interface further comprises a second power output interface located on the test motherboard; the test equipment further comprises a first test auxiliary board and a second test auxiliary board which are arranged on the mounting table, wherein the first test auxiliary board is provided with a second power input interface which can be electrically connected with the power supply device and a second communication interface which can be electrically connected with a first EtherCAT slave station communication circuit on a tested driver control board; and the second test auxiliary board is provided with a third power input interface which can be electrically connected with the second power output interface and a third communication interface which can be electrically connected with a second EtherCAT slave station communication circuit on the control board of the tested driver.
Preferably, the test equipment further comprises a third test sub board arranged on the mounting table, and the third test sub board is provided with a fourth communication interface electrically connected with the interface circuit of the multiple Mochuan encoder on the control board of the tested driver.
Preferably, the test equipment further comprises a burning control board arranged on the mounting table, and the burning control board can be electrically connected with the external terminal and the burning circuit on the tested drive controller board respectively.
Preferably, the test equipment further comprises a sliding block which is arranged on the mounting table in a sliding mode and can move in the vertical direction, and a magnetic encoding signal sensor which is arranged on the sliding block and can be electrically connected with a motor magnetic encoding interface circuit on a tested driving controller on the test fixture, wherein the sliding block is arranged right above the test fixture.
Preferably, the mounting table comprises a test box and a mounting plate arranged on the top surface of the test box, the test fixture is positioned on the top surface of the test box, and the test mainboard is positioned inside the test box; the slider is located on the mounting plate.
Preferably, the test equipment further comprises a driving mechanism arranged on the mounting plate, and an output end of the driving mechanism is connected with the sliding block so as to drive the sliding block to move.
Preferably, the test fixture is provided with a conductive probe electrically connected with the first power output interface, the voltage acquisition interface, the pulse output interface and the first communication interface on the test mainboard respectively.
Preferably, the test equipment further comprises an identification device which is arranged on the mounting table and can communicate with an external terminal, and the identification device is used for collecting the serial numbers on the tested drive controller board.
According to the test equipment of the cooperative mechanical arm drive controller board provided by the embodiment of the invention, after the tested drive controller board is placed on the test fixture and the power supply device is used for respectively supplying power to the test main board and the tested drive controller board, corresponding data can be obtained through each functional interface and the working state of the tested drive controller board can be automatically judged, so that the test mode of the drive controller board is simplified, and the detection efficiency is favorably improved.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a test apparatus for a cooperative arm drive controller board according to the present invention;
fig. 2 is a schematic circuit connection relationship diagram of a test main board, a first test sub board, a second test sub board, a third test sub board, a test adapter board and a tested drive controller board of the test device shown in fig. 1;
FIG. 3 is a schematic structural diagram of the test motherboard shown in FIG. 2;
FIG. 4 is a schematic structural view of the first test sub-panel shown in FIG. 2;
FIG. 5 is a schematic structural view of the second test sub-panel shown in FIG. 2;
FIG. 6 is a schematic diagram of a portion of the test apparatus shown in FIG. 1;
FIG. 7 is a schematic structural diagram of the test fixture shown in FIG. 1;
FIG. 8 is a schematic diagram of the power supply to the test equipment components shown in FIG. 1;
FIG. 9 is a schematic diagram of the connection of the power module test of the tested drive controller shown in FIG. 2;
FIG. 10 is a schematic connection diagram of a motor Hall interface test of the drive controller under test shown in FIG. 2;
FIG. 11 is a schematic connection diagram of a motor magnetic interface circuit test of the tested drive controller shown in FIG. 2;
fig. 12 is a schematic diagram of the connection of the EtherCAT slave station communication circuit test of the tested drive controller shown in fig. 2.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
The invention provides a test device for a controller board driven by a cooperative mechanical arm, as shown in fig. 1 to 3, the test device comprises a mounting table 100, and a test fixture 200, a test mainboard 300 and a power supply device which are arranged on the mounting table 100, wherein the test fixture 200 is provided with a fixing position 210; the test main board 300 is provided with a first communication interface 360 for outputting a detection result and a plurality of functional interfaces electrically connected with the tested drive controller board; the power supply device can supply power to the test main board 300 and the tested drive controller board.
In this embodiment, the test fixture 200 has a fixing portion 210, and the fixing portion 210 may be a cavity adapted to the tested driver controller board, so as to fix the tested driver controller board, and specifically, a positioning column that can be inserted into a mounting hole on the tested driver controller board may be further disposed in the cavity.
The power supply device supplies power to the test motherboard 300 and the tested driver controller board, and the specific power supply mode may be that the power supply device has two output ends, and supplies power to the test motherboard 300 and the tested driver controller board, or that the power supply device supplies power to the test motherboard 300 first, and then supplies power to the tested driver controller board by using the test motherboard 300. Preferably, the power supply device is an adapter, so as to convert 220V commercial power into 12V to supply power to the test motherboard 300, and then the test motherboard 300 is used to supply power to the tested drive controller board. Of course, the power supply device may also be a rechargeable battery (such as a lithium battery), thereby increasing the practicability of the testing device. At this time, as shown in fig. 1, a power switch 111 for controlling the on/off of the power supply circuit between the power supply device and the test main board 300 may be further disposed on the mounting board 100, so as to conveniently control the start of the test equipment.
The test main board 300 is provided with a plurality of functional interfaces electrically connected with the tested drive controller board, after the power supply device is used for supplying power to the test main board and the tested drive controller board, parameters or specific signals of each functional module (such as a power supply module, a coding module, a communication module and the like) on the tested driver control board can be conveniently collected through each functional interface, so that the test main board can compare with preset parameters or signals according to the parameters or the specific signals, the working state of each functional module on the tested drive controller board is automatically judged, finally, the test main board 300 outputs a judgment result through the first communication interface 360, preferably, the first communication interface 360 and an external terminal are selected, and the judgment result is conveniently displayed. The tested driver controller board may be electrically connected to each functional interface by a corresponding conductive contact on the test fixture 200, and the conductive contact may be directly located on the test motherboard 300 (at this time, the test fixture 200 only functions to fix the tested driver controller board), may be arranged on the test fixture 200, or may be directly connected through a cable. In this embodiment, after the tested driver controller board is placed in the test fixture 200 and the power supply device is used to supply power to the test motherboard 300 and the tested driver controller board, corresponding data can be obtained through each functional interface and the working state of the tested driver controller board can be automatically determined, so that the test mode of the driver controller board is simplified, and the detection efficiency is improved.
In a preferred embodiment, the functional interfaces include a first power input interface 310 on the test motherboard 300, a first power output interface 320 electrically connected to a power input terminal on the tested driver controller board, a voltage acquisition interface 330 electrically connected to a power module on the tested driver controller board, a signal transmission interface 340 electrically connected to a debugging serial interface on the tested driver controller board, and a pulse output interface 350 electrically connected to a motor hall interface on the tested driver controller board, where the first power input interface 310 is electrically connected to the power supply device. The power supply device supplies power to the test main board 300 through the first power input interface 310 and supplies power to the tested drive controller board through the first power output interface 320, at this time, the voltage acquisition interface 330 acquires a voltage value at a power module on the tested drive controller board and judges whether the acquired voltage value is consistent with a preset voltage value, so as to judge whether the power module on the tested drive circuit board is normal or not, and outputs judgment information through the first communication interface 360, and meanwhile, a temperature detection circuit on the tested drive controller board performs self-detection through the AD voltage of the circuit itself; the pulse output interface 350 outputs a pulse signal with a preset numerical value to a motor hall interface on the tested drive controller board, then the motor hall interface sends the received pulse signal to the test main board 300 through a debugging serial port interface on the tested drive controller board, and the test main board 300 compares data sent by the pulse output interface 350 with the received data, so as to judge whether the motor hall interface on the tested drive controller board is normal or not, and output a judgment result through the first communication interface 360. At this time, the first communication interface 360 is preferably connected to an external (e.g. computer) terminal for displaying, and may also output to an alarm lamp disposed on the mounting platform 100, where a red light indicates that the tested driver controller board is abnormal in operation, a green light indicates that the tested driver controller board is normal in operation, and the logic circuit and the processor on the test motherboard 300 may be implemented according to the existing implementable manner, so as to implement the above functions, which will not be described in detail herein. In the above test, the connection relationship between each functional interface on the test motherboard 300 and the tested driver controller board may be arranged as shown in fig. 2, 3, 8, 9 and 10, and will not be described in detail here.
In a preferred embodiment, as shown in fig. 2 and fig. 3, the functional interface further includes a second power output interface 370 located on the test motherboard 300, and in this case, the voltage output by the second power output interface 370 is preferably 5V. Meanwhile, the test equipment further comprises a first test sub-board 500 and a second test sub-board 600 which are arranged on the mounting table 100, wherein the first test sub-board 500 is provided with a second power input interface 510 which is electrically connected with a power supply device and a second communication interface 520 which can be electrically connected with a first EtherCAT slave station communication circuit on a control board of a tested driver; the second test sub-board 600 has a third power input interface 610 electrically connected to the second power output interface 370 and a second communication interface 520 electrically connected to the second EtherCAT slave station communication circuit on the tested driver control board. The voltage input by the third power input interface 610 on the first test sub-board 500 is 24V, the specific power supply mode may be directly using an external power supply, or may be directly electrically connected to the test main board 300 for power supply, and the voltage input by the second power input interface 510 on the second test sub-board 600 is 5V. At this time, first, the first test sub-board 500 communicates with the first EtherCAT slave station communication circuit through the second communication interface 520, then, the first EtherCAT slave station communication circuit communicates with the second EtherCAT slave station communication circuit, and finally, the second EtherCAT slave station communication circuit communicates with the second test sub-board 600 through the third communication interface 620, if the first test sub-board 500 can communicate with the second test sub-board 600 through the EtherCAT, that is, the EtherCAT communication on the tested drive controller board is normal, and the result is fed back to the test main board 300. In the above test, the connection relationship between the functional interfaces of the test main board 300, the first test sub-board 500, and the second test sub-board 600 and the tested driver controller board may be arranged as shown in fig. 2, fig. 3, and fig. 12, and will not be described in detail here.
In a preferred embodiment, as shown in fig. 2, 4 and 5, the testing apparatus further includes a third testing sub-board 700 disposed on the mounting platform 100, and the third testing sub-board 700 has a fourth communication interface (actually RS485 interface) electrically connectable to an interface circuit of a momodan encoder (actually RS485 communication circuit) on the control board of the driver under test, and if the RS485 communication is normal, the momodan interface circuit on the driving controller board under test can be determined to work normally, and the determination result is output to the testing main board 300 through a serial port on the driving controller board under test.
In a preferred embodiment, as shown in fig. 7, it is preferable that the test fixture 200 is provided therein with conductive probes 220 electrically connected to the functional interfaces (the first power output interface 320, the voltage collecting interface 330, the pulse output interface 350, and the first communication interface 360) on the test motherboard 300, and the conductive probes 220 can be butted with corresponding points on the tested driving controller board to realize electrical connection. Of course, the fixing station 210 may be formed by a plurality of positioning columns, and the driving controller board to be tested is fixed by inserting the positioning columns into the mounting holes of the driving controller board to be tested.
In a preferred embodiment, as shown in fig. 2 and fig. 3, the test apparatus further includes a test adapter board 800 disposed on the mounting table 100, and at this time, the functional interfaces (the first power output interface 320, the voltage acquisition interface 330, the pulse output interface 350, and the first communication interface 360) on the test main board 300 are all electrically connected to the tested driver controller board through the test adapter board 800, so that when testing the tested driver controller boards with different specifications, only different test adapter boards 800 need to be replaced. At this time, it is preferable that the test adapter plate 800 is electrically connected to the conductive probe 220 on the test fixture 200, and the specific manner of the electrical connection may be that the conductive probe 220 is directly welded on the test adapter plate 800, and the test fixture 200 has a through hole adapted to the conductive probe 220, so that the conductive probe 220 is inserted into the through hole.
In a preferred embodiment, the test apparatus further includes a recording control board disposed on the mounting platform 100, and the recording control board can be electrically connected to the external terminal and the recording circuit on the tested driver controller board, respectively, so as to facilitate automatically writing a preset program on the tested driver controller board. Specifically, the programming control board is a Jlink programmer, so that Jlink programming is performed on the tested drive controller board.
In a preferred embodiment, as shown in fig. 1, the testing apparatus further includes a display screen 122 disposed on the mounting platform 100, and the display screen 122 is electrically connected to the testing motherboard 300. At this time, the number of the display screens 122 is preferably two, so that it is convenient to observe whether the voltage value input to the test main board 300 is normal and the voltage input to the tested driver controller board is normal through the two display screens 122.
In a preferred embodiment, the testing apparatus further includes a slider 121 and a magnetic encoding signal sensor 400 located on the slider, the slider 121 is located right above the testing fixture 200 and is connected with the mounting table 100 in a sliding manner so as to be movable toward or away from the testing fixture 200; the magnetic encoding signal sensor 400 can be electrically connected to the motor magnetic encoding interface circuit on the tested driving controller on the testing fixture 200. The manner of driving the slider 121 to move may be automatic or manual, and the manner of electrically connecting the magnetic encoding signal sensor 400 to the tested driving controller board located in the test fixture 200 may be that a conductive contact or pin is formed on the slider 121, so that the magnetic encoding signal sensor 400 is electrically connected to the tested driving controller located in the test fixture 200 through the conductive contact or pin after the slider 121 moves toward the test fixture 200, and at this time, the number of the magnetic encoding signal sensors 400 is preferably set according to the number of the motor magnetic encoding interface circuits on the tested driving controller board. In this embodiment, after the motor magnetic encoding interface circuit on the tested drive controller is electrically connected to the magnetic encoding signal sensor 400, the tested drive controller board can obtain corresponding data, and send the data to the test motherboard 300 through the debugging serial port interface for judgment, and output the judgment result through the first communication interface 360. In the above test, the connection relationship between each functional interface on the test motherboard 300 and the magnetic coded signal sensor 400 and the tested drive controller board can be arranged as shown in fig. 2, 3 and 11, and will not be described in detail herein.
In a preferred embodiment, as shown in fig. 1 and 6, the mounting station 100 preferably includes a test box 110 and a mounting plate 120, the mounting plate 120 being disposed in an upright position on the top surface of the test box 110. At this time, the slider 121 is located on the mounting plate 120, the test fixture 200 is also located on the top surface of the test box 110 and located right below the slider 121, and the test main board 300, the first test sub-board 500, the second test sub-board 600, the third test sub-board 700, the test adapter board 800, and the burn control board are all located in the inner space of the test box 110. Meanwhile, preferably, the two display screens 122 are rotatably connected with the mounting plate 120, so that the angles of the display screens 122 can be conveniently adjusted, and the voltage values can be conveniently observed by different users. At this time, in order to facilitate the movement of the slider 121 toward the test fixture 200, a return spring (which is convenient for manually pushing the slider 121130 to slide) with a predetermined elastic coefficient may be further disposed, and two ends of the return spring are respectively connected to the slider 121 and the mounting plate 120, so that the slider 121 is driven to move toward the test fixture 200 by the elastic force of the return spring.
Further, it is preferable that the test box 110 includes a box body and a box cover, and one side of the box cover is hinged to one side of the box body and can rotate around the hinge to close the open end of the box body. At this time, the mounting plate 120 and the jig are both located on the cover. The testing box 110 may further include a fixing structure to fix the box cover on the box body, such as by screws or hanging. In this embodiment, through being connected lid and box body articulated mode to the convenience is installed and is maintained test mainboard 300 etc. that are located the box body.
In a preferred embodiment, as shown in fig. 1, the testing apparatus further comprises a driving mechanism 900 disposed on the mounting plate 120, in which case, the driving slider 121 may be moved manually (e.g., a linkage mechanism) or automatically (e.g., a lead screw assembly + a motor). In this embodiment, the driving mechanism 900 preferably includes a handle with one end hinged to the mounting plate 120 and a connecting rod with two ends hinged to the handle and the sliding block 121, so that the sliding block 121 can be moved by moving the handle.
In a preferred embodiment, as shown in fig. 1, in order to record the test information of the tested driver controller board, preferably, an identification device 112 capable of communicating with an external terminal is further disposed on the mounting table 100, and the specific device may be arranged according to a serial number information pattern set on the tested driver controller board, and if the serial number information is a two-dimensional code, a barcode or a numeric string, a barcode scanning gun corresponding to the serial number information pattern is adopted. The identification device 112 and the external terminal may communicate with each other by first transmitting the scanned information to the test motherboard 300, and then the test motherboard 300 associates the serial number information with the test information of the tested driver controller board and transmits the associated serial number information to the external terminal, thereby avoiding the situation that the serial number information is not matched with the test information. Meanwhile, the identification device 112 may be directly connected to the external terminal, so as to directly send the serial number information of the tested driver controller board to the external terminal. Of course, the identification device 112 may be provided separately, and is not necessarily provided on the mounting table 100.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.
Claims (10)
1. A test device for driving a controller board by a cooperative mechanical arm is characterized by comprising an installation table, and a test fixture, a test mainboard and a power supply device which are arranged on the installation table, wherein the test fixture is provided with a fixing position; the test main board is provided with a first communication interface for outputting a detection result and a plurality of functional interfaces which can be electrically connected with the tested drive controller board; the power supply device can supply power to the test mainboard and the tested drive controller board.
2. The test equipment as claimed in claim 1, wherein the functional interface includes a first power input interface located on the test motherboard, a first power output interface electrically connectable to a power input terminal on the tested driver controller board, a voltage acquisition interface electrically connectable to a power module on the tested driver controller board, a signal transmission interface electrically connectable to a debug serial port interface on the tested driver controller board, and a pulse output interface electrically connectable to a motor hall interface on the tested driver controller board, and the first power input interface is electrically connected to the power supply device.
3. The test equipment of claim 1, wherein the functional interface further comprises a second power output interface located on the test motherboard; the test equipment further comprises a first test auxiliary board and a second test auxiliary board which are arranged on the mounting table, wherein the first test auxiliary board is provided with a second power input interface which can be electrically connected with the power supply device and a second communication interface which can be electrically connected with a first EtherCAT slave station communication circuit on a tested driver control board; and the second test auxiliary board is provided with a third power input interface which can be electrically connected with the second power output interface and a third communication interface which can be electrically connected with a second EtherCAT slave station communication circuit on the control board of the tested driver.
4. The test apparatus as claimed in claim 1, further comprising a third test sub board disposed on the mounting stage, wherein the third test sub board has a fourth communication interface electrically connected to the mu Mochuan encoder interface circuit on the control board of the driver under test.
5. The test equipment as claimed in claim 1, further comprising a burning control board disposed on the mounting platform, wherein the burning control board is electrically connected to the external terminal and the burning circuit on the tested driving controller board, respectively.
6. The test equipment of claim 1, further comprising a slider slidably disposed on the mounting platform and capable of moving in a vertical direction, and a magnetic encoding signal sensor disposed on the slider and capable of electrically connecting to a motor magnetic encoding interface circuit on a tested drive controller disposed on the test fixture, wherein the slider is disposed directly above the test fixture.
7. The test equipment as claimed in claim 6, wherein the mounting table comprises a test box and a mounting plate arranged on the top surface of the test box, the test fixture is positioned on the top surface of the test box, and the test mainboard is positioned inside the test box; the slider is located on the mounting plate.
8. The test apparatus of claim 7, further comprising a drive mechanism disposed on the mounting plate, an output of the drive mechanism being coupled to the slider to drive movement of the slider.
9. The testing apparatus of claim 1, wherein the testing fixture has conductive probes electrically connected to the first power output interface, the voltage collecting interface, the pulse output interface, and the first communication interface of the testing motherboard, respectively.
10. The test equipment as claimed in claim 1, further comprising an identification device disposed on the mounting table and capable of communicating with an external terminal, wherein the identification device is used for collecting the number on the drive controller board to be tested.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011463572.5A CN112549079A (en) | 2020-12-11 | 2020-12-11 | Test equipment for cooperating mechanical arm driving controller board |
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| CN202011463572.5A CN112549079A (en) | 2020-12-11 | 2020-12-11 | Test equipment for cooperating mechanical arm driving controller board |
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| CN117406070A (en) * | 2023-12-14 | 2024-01-16 | 深圳市唯川科技有限公司 | Motor drive board test fixture and motor drive board testing arrangement |
| CN117406070B (en) * | 2023-12-14 | 2024-03-19 | 深圳市唯川科技有限公司 | Motor drive board test fixture and motor drive board testing arrangement |
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