A reducer and steering gear integrated test platform and test method

Abstract

The present invention provides an integrated test platform for a reducer and a steering gear, wherein a plurality of slots are arranged on a rib plate, an end of a small plugboard is inserted into the topmost slot, an end of a large plugboard is inserted into any slot below the small plugboard, a plurality of helical teeth are arranged on both sides of the small plugboard, and the inclination directions of the helical teeth on both sides of the small plugboard are opposite, a clamping device matching the helical teeth is installed on both sides of the small plugboard, the clamping device includes a clamping block vertically arranged with the inclined surface of the helical teeth, a driving system and a shifting system are both installed on a first box body, a test system includes an input component and a test output component, the test input component is fixed on the small plugboard, the test output component is connected to the shifting system, the driving system drives the shifting system to move, and the shifting system adjusts the position of the test output component in the Y-axis direction and the Z-axis direction. The present invention integrates the test platform of the reducer and the steering gear into one, thereby improving the integration. The present invention also provides an integrated test method for a reducer and a steering gear.

Description

[Technical field]

[0001] The present invention relates to the technical field of mechanical transmission performance testing, and in particular to a speed reducer and steering gear integrated testing platform and a testing method. [Background technology]

[0002] Speed ​​reducers and servos are often used in the mechanical field as transmission mechanisms or actuators. Their transmission efficiency affects the operating efficiency of the entire machine. Therefore, after the speed reducer and servo are designed, corresponding performance tests need to be carried out to see whether they can meet the use requirements. The performance test of speed reducers and servos is achieved through the test platform.

[0003] In the related art, due to the structural differences between the reducer and the servo, the servo has only one output shaft, while the reducer has one input shaft and one output shaft. Therefore, when performing performance tests on the two, different test platforms need to be used, that is, two different test platforms need to be configured for testing respectively, which requires a large investment in the test platform, and the integration of the test platform is low, which cannot meet the needs of industry technology development; and the test platform usually fixes the test assembly directly on the table, and the position of the test assembly is not adjustable. The shaft spacing between the input shaft and the output shaft in different models of reducers is different, and the spacing between the test input shaft and the test output shaft in the test assembly is not adjustable, which cannot meet the test requirements of different models of reducers. Therefore, it is necessary to provide an integrated test platform and test method for reducers and servos to solve the above problems. [Summary of the invention]

[0004] The technical problem to be solved by the present invention is to provide an integrated test platform and test method for a reducer and a steering gear, which integrates the test platforms of the reducer and the steering gear into one, thereby improving the integration of the test platform and requiring only one set of test platforms, thereby reducing the investment in the test platform and reducing the cost of testing; at the same time, the position of the test component can be adjusted to meet the use requirements of different models of reducers and steering gears.

[0005] To achieve the above object, the technical solution of the present invention is:

[0006] A reducer and steering gear integrated test platform, comprising a box, a drive system, a shift system and a test system, wherein the box comprises a first box, a second box, a small plugboard and a large plugboard, wherein the first box and the second box are arranged side by side along the X-axis direction, the second box comprises a second base, a rib plate and a cover strip, wherein a plurality of slots are arranged on the rib plate, the cover strip covers the top of the slot at the top, the end of the small plugboard is inserted into the slot at the top, the end of the large plugboard is inserted into any one of the slots below the small plugboard, a plurality of helical teeth are arranged on both sides of the small plugboard, and the inclination directions of the helical teeth on both sides of the small plugboard are opposite, and the two sides of the small plugboard are installed with gears that are opposite to the helical teeth A matching positioning device, the positioning device includes a block arranged perpendicularly to the inclined surface of the bevel tooth, one of the blocks is used to limit the movement of the small plug board along the positive direction of the X-axis, and the other block is used to limit the movement of the small plug board along the negative direction of the X-axis, the drive system and the shift system are both installed on the first box, the test system includes a test input component and a test output component, the reducer or servo to be tested is placed on the large plug board, the test input component is fixed on the small plug board, the test output component is connected to the shift system, the drive system drives the shift system to move, and the shift system is used to adjust the position of the test output component in the Y-axis direction and the Z-axis direction.

[0007] Preferably, the top of the rib plate is provided with a bayonet and a handle slot that are interconnected, the bayonet is connected to the topmost slot, the positioning device also includes a push block, a pin, a spring and a handle, the push block is correspondingly accommodated in the bayonet, the push block includes a bottom plate, a first side plate and a second side plate, the first side plate and the second side plate are both fixed above the bottom plate, the second side plate connects the two first side plates, the two first side plates are respectively fitted with the two sides of the bayonet, and the second side plate is spaced from the bottom edge of the bayonet to form a limiting cavity; the handle includes a limiting portion, a connecting portion and a hand control portion, the connecting portion connects the limiting portion and the hand control portion, the connecting portion is accommodated in the handle slot, and the limiting portion is accommodated in the limiting In the cavity, the hand control part passes upward through the handle groove and is exposed, the covering strip completely covers the bayonet and the handle groove, and the covering strip is provided with an avoidance hole at the position corresponding to the stroke of the hand control part. The limit cavity includes a first chamber and a second chamber which are connected to each other, and the second chamber is arranged on a side of the first chamber close to the hand control part. The width of the first chamber in the X-axis direction is equal to the width of the limit part, and the width of the second chamber in the X-axis direction is greater than the width of the limit part. One end of the card block is connected to the bottom plate through the pin shaft, and the other end is connected to the first side plate away from the hand control part through the spring. The bevel teeth are correspondingly accommodated in the slot, and the end face of the card block close to the spring abuts against the inclined surface of the bevel teeth.

[0008] Preferably, the first box body includes a first base, a top cover and a mounting column, the first base is recessed to form a mounting cavity with a top opening, the top cover covers the top of the first base and completely covers the top opening of the mounting cavity, the mounting column is accommodated in the mounting cavity, the drive system includes a mounting seat, an active component and a driven component, the mounting seat is installed in the mounting cavity and fixed to the first base, the active component includes a motor mounting seat, a first motor, a main transmission shaft, a first driving gear, a second driving gear, an outer limiting plate and an inner limiting plate, the motor mounting seat is fixed to the outer wall of the first base, the first motor is installed on the motor mounting seat, one end of the main transmission shaft is connected to the The first driving gear and the second driving gear are installed on the main transmission shaft at an interval, and the first motor drives the main transmission shaft to rotate, thereby driving the first driving gear and the second driving gear to rotate; the first driving gear is arranged on a side of the second driving gear close to the first motor, and the diameter of the first driving gear is greater than the diameter of the second driving gear; the outer limiting plate and the inner limiting plate are both installed on the main transmission shaft, the outer limiting plate is arranged close to the side of the first driving gear close to the first motor, and the inner limiting plate is arranged close to the side of the second driving gear away from the first motor.

[0009] Preferably, the driven assembly includes a driven transmission shaft, a first driven gear, a second driven gear, a connecting ring sleeve, a shift fork, a pushing handle and a first bevel gear. The middle position of the driven transmission shaft is fixed to the mounting seat through a bearing, one end is connected to the side wall of the first base through a bearing, and the other end is suspended. The first bevel gear is arranged on the suspended end of the driven transmission shaft, and the axis of the driven transmission shaft is parallel to the axis of the main transmission shaft; the first driven gear and the second driven gear are connected to form a whole through the connecting ring sleeve, and the connecting ring sleeve is sleeved on the driven transmission shaft, and the first driven gear, the second driven gear and the connecting ring sleeve are The driven transmission shafts are connected by splines; the shift fork is arranged between the first driven gear and the second driven gear, and is used to shift the first driven gear and the second driven gear to move linearly along the setting direction of the spline, so that the first driven gear is meshed with the first driving gear to form a first transmission gear set, or the second driven gear is meshed with the second driving gear to form a second transmission gear set, and the gear ratios of the first transmission gear set and the second transmission gear set are different. The pushing handle is fixed to the shift fork, and is used to drive the shift fork to move, and the end of the pushing handle passes through the first base and is exposed outside the first base.

[0010] Preferably, the outer limit plate is used to limit the stroke of the first driven gear; the inner limit plate is used to limit the stroke of the second driven gear; a plurality of first balls are arranged on the side of the outer limit plate close to the first driven gear, a ball filling inlet is arranged on the circumferential surface of the outer limit plate, a ball hole connected to the ball filling inlet is arranged on the side of the outer limit plate close to the first driven gear, the diameter of the ball hole is smaller than the diameter of the first ball, the first ball is partially exposed through the ball hole, and after the first ball is filled, the ball filling inlet is blocked by a block; a plurality of second balls are arranged on the side of the inner limit plate close to the second driven gear, and the arrangement method of the second balls is the same as the setting direction of the first balls.

[0011] Preferably, the shifting system includes a Z-axis shifting component, a lifting plate and a Y-axis shifting component, the Z-axis shifting component includes a rotating shaft, a second bevel gear, a sun gear, a planetary gear, a pressure cover and a longitudinal screw rod, the rotating shaft is arranged along the Z-axis direction, the bottom end of the rotating shaft is mounted on the mounting column through a bearing, and the top end is mounted on the pressure cover through a bearing, the second bevel gear and the sun gear are both mounted on the rotating shaft, the second bevel gear is meshed with the first bevel gear, the planetary gear is arranged on the outer circumference of the sun gear and meshed with the sun gear, the number of the planetary gears is three, and the three planetary gears are distributed in a circular array along the axis of the sun gear, a nut matching the longitudinal screw rod is arranged at the center position of the planetary gear, the nut is mounted on the longitudinal screw rod, and the sun gear and the planetary gear are carried on the top cover.

[0012] Preferably, the pressure cover includes three cantilevers, and the three cantilevers are arranged in a one-to-one correspondence with the three planetary gears. The cantilevers are used to limit the planetary gears. The upper tooth surface of the planetary gear is provided with a circular ball groove, and the ball groove is located on the same straight line as the center axis of the planetary gear. A ball seat is provided at the bottom of the cantilever, and a third ball is sandwiched between the ball seat and the ball groove; the Y-axis direction shifting component includes a second motor, a transverse screw rod, a slider, a translation plate and a guide rail, the transverse screw rod is connected to the second motor, the transverse screw rod is arranged along the X-axis direction, the slider is installed on the transverse screw rod, the translation plate is fixed to the slider, the second motor drives the transverse screw rod to rotate, and drives the slider and the translation plate to move linearly along the axial direction of the transverse screw rod, the guide rail is arranged parallel to the transverse screw rod and spaced apart, the number of the guide rails is two, and the two guide rails are respectively located on opposite sides of the transverse screw rod; the bottom of the translation plate is provided with a guide groove matching the guide rail.

[0013] Preferably, the test input component includes a test input shaft, a test motor, a first torque sensor, a first radial magnet and a first magnetic encoder, the test input shaft is connected to the test motor, the test motor drives the test input shaft to rotate, the first torque sensor and the first radial magnet are both installed on the test input shaft, and the first torque sensor is used to measure the input torque of the test input shaft; the first magnetic encoder cooperates with the first radial magnet, and the rotational speed of the test input shaft is measured by the relative rotation of the first radial magnet and the first magnetic encoder; the test output component includes a test output shaft, a second torque sensor, a second radial magnet and a second magnetic encoder, the second torque sensor and the second radial magnet are both installed on the test output shaft, the second torque sensor is used to measure the output torque of the test output shaft, the second magnetic encoder cooperates with the second radial magnet, and the rotational speed of the test output shaft is measured by the relative rotation of the second radial magnet and the second magnetic encoder.

[0014] Preferably, the test system also includes a camera device, which is fixed to the jacking plate and is used to assist in the alignment of the two axes to be connected before testing. By taking photos of the ends of the two axes that need to be aligned and transmitting the photos to a computer for processing, the height distance and horizontal distance between the axis centers of the two axes can be obtained.

[0015] The present invention also provides a speed reducer and steering gear integrated testing method, which uses the above-mentioned speed reducer and steering gear integrated testing platform for testing, and the testing method comprises:

[0016] Reducer test: loosen the locking devices on both sides of the small plug board, move the small plug board away from the test output component, lower the reducer to be tested through the space left by the small plug board, so that the input shaft of the reducer and the axis of the test input shaft are at the same height, select a suitable slot to insert the large plug board, so that the bottom of the reducer is supported on the large plug board, and connect the input shaft of the reducer with the test input shaft through a coupling; take photos of the output shaft of the reducer and the test output shaft through the camera device, and calculate the distance between the output shaft of the reducer and the test input shaft The distance between the output shaft in the Y-axis direction and the Z-axis direction is adjusted by the Z-axis direction shifting component and the Y-axis direction shifting component until the distance between the output shaft of the reducer and the test output shaft in the Z-axis direction and the Y-axis direction is 0, and the small plug plate is moved to adjust the distance between the output shaft of the reducer and the test output shaft in the X-axis direction; then the output shaft of the reducer is connected to the test output shaft through a coupling, and the small plug plate is clamped by the clamping device; the test motor is started, and the torque T of the test input shaft is measured by the first torque sensor a2, the speed w of the test input shaft is measured by the first magnetic encoder a2 , the torque T of the test output shaft is measured by the second torque sensor b2 , the speed w of the test output shaft is measured by the second magnetic encoder b2 , then the transmission efficiency of the reducer

[0017] Servo test: loosen the locking devices on both sides of the small plugboard, move the small plugboard away from the test output component, select a suitable slot to insert the large plugboard, and lower the servo to be tested onto the large plugboard through the space left by the small plugboard; take photos of the output shaft of the servo and the test output shaft through the camera device, calculate the distance between the output shaft of the servo and the test output shaft in the Y-axis direction and the Z-axis direction, adjust the position of the test output shaft through the Z-axis direction shifting component and the Y-axis direction shifting component until the distance between the output shaft of the servo and the test output shaft in the Z-axis direction and the Y-axis direction is 0, move the large plugboard, adjust the distance between the output shaft of the servo and the test output shaft in the X-axis direction; then connect the output shaft of the servo with the test output shaft through a coupling; start the servo, and measure the torque T of the test output shaft through the second torque sensor b3 , the speed w of the test output shaft is measured by the second magnetic encoder b3 , the power-on voltage of the steering gear is U3 and the current is I3, then the transmission efficiency of the steering gear is

[0018] Compared with the related art, the beneficial effects of the present invention are:

[0019] The test platform of the reducer and the servo is integrated into one, which improves the integration of the test platform, and only needs one set of test platform, which reduces the investment in the test platform and can reduce the cost of the test. The reducer or servo to be tested is placed on the large plug board, the test input component is fixed on the small plug board, the test output component is connected to the shift system, the drive system drives the shift system to move, and the shift system is used to adjust the position of the test output component in the Y-axis direction and the Z-axis direction to adapt to the position of the output shaft of the reducer or servo. The two sides of the small plug board are provided with a clamping device, and the helical teeth on both sides of the small plug board are clamped by the clamping device to ensure the stability of the small plug board during the test. Through the cooperation of the large plug board and the shift system, the test requirements of different types of reducers and servos can be met.

Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0021] Figure 1 It is a three-dimensional structural schematic diagram of a reducer and steering gear integrated test platform;

[0022] Figure 2 for Figure 1 The schematic diagram of the decomposition structure of the reducer and steering gear integrated test platform shown;

[0023] Figure 3 for Figure 1 The shown is a top view of the speed reducer and steering gear integrated test platform with the cover strip removed;

[0024] Figure 4 for Figure 3 A magnified view of region A is shown;

[0025] Figure 5 It is a structural schematic diagram of the clamping device;

[0026] Figure 6 It is a top view of the Z-axis direction shift component;

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the gland;

[0028] Figure 8 It is a side view of the Z-axis direction shift component;

[0029] Fig. 9 It is a top view of the drive system;

[0030] Fig.10 is a schematic diagram of the arrangement of the first ball;

[0031] Fig.11 This is the test state diagram of ordinary gear;

[0032] Fig.12 This is the test state diagram of the reducer;

[0033] Fig.13 This is the test status diagram of the servo. [Specific implementation method]

[0034] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the specific implementation modes of the present invention are further described below in conjunction with the drawings of the present application.

[0035] Please refer to Figure 1-10 The present invention provides a speed reducer and steering gear integrated test platform 100, including a box 10, a drive system 20, a displacement system 30 and a test system 40. It should be noted that the X-axis direction, the Y-axis direction and the Z-axis direction in the present invention refer to Figure 2 The directions indicated by the X-axis, Y-axis, and Z-axis.

[0036] The box 10 is used to fix and install other structures of the test platform. Specifically, the box 10 includes a first box 11, a second box 12, a small plug board 13, a large plug board 14 and a positioning device 15.

[0037] The first box body 11 and the second box body 12 are arranged side by side along the X-axis direction. Preferably, the first box body 11 and the second box body 12 are integrally formed.

[0038] The first box body 11 includes a first base 111, a top cover 112 and a mounting post 113. The first base 111 is recessed to form a mounting cavity 1110 with a top opening, and the top cover 112 covers the top of the first base 111 and completely covers the top opening of the mounting cavity 1110. The mounting post 113 is received in the mounting cavity 1110.

[0039] The second box body 12 includes a second base 121 , ribs 122 , and a covering strip 123 .

[0040] The number of the ribs 122 is two, and the two ribs 122 are arranged at the top of the second base 121 in parallel and spaced along the Y-axis direction, and are symmetrically arranged about the second base 121. The ribs 122 are provided with a plurality of slots 1220, and the slots 1220 extend along the X-axis direction, and the plurality of slots 1220 are arranged in parallel and spaced along the Z-axis direction. The end of the small plugboard 13 is inserted into the topmost slot 1220, and the end of the large plugboard 14 is inserted into any one of the slots 1220 below the small plugboard 13. By changing the large plugboard 14 to cooperate with the slots 1220 of different heights, the height of the large plugboard 14 can be adjusted. It can be understood that the two ribs 122 are symmetrically arranged, and the slots 1220 on the two ribs 122 are also symmetrically arranged. The two ends of the small plug board 13 and the large plug board 14 are respectively inserted into the two slots 1220 at the same height on the two ribs 122. After the large plug board 14 and the small plug board 13 are installed, they are parallel to the top surface of the second base 121.

[0041] The top of the rib plate 122 is provided with a bayonet 1221 and a handle slot 1222 which are connected to each other. The bayonet 1221 is connected to the top slot 1220, and the handle slot 1222 extends along the X-axis direction. The clamping device 15 is used to clamp the small plug board 13 in the top slot 1220, and the clamping device 15 includes a push block 151, a clamping block 152, a pin 153, a spring 154 and a handle 155.

[0042] The push block 151 is correspondingly accommodated in the bayonet 1221, and the push block 151 includes a bottom plate 1511, a first side plate 1512 and a second side plate 1513. The first side plate 1512 and the second side plate 1513 are both fixed above the bottom plate 1511, the two first side plates 1512 are parallel and spaced apart, the second side plate 1513 connects the two first side plates 1512, the second side plate 1513 cooperates with the first side plate 1512 to form a U-shaped structure, the two first side plates 1512 are respectively fitted with the two sides of the bayonet 1221, and the second side plate 1513 and the bottom edge of the bayonet 1221 are spaced apart to form a limiting cavity 156.

[0043] The handle 155 includes a limiting portion 1551, a connecting portion 1552 and a hand control portion 1553, the connecting portion 1552 connects the limiting portion 1551 and the hand control portion 1553, the connecting portion 1552 is accommodated in the handle groove 1222, the limiting portion 1551 is accommodated in the limiting cavity 156, the hand control portion 1553 passes upward through the handle groove 1222 and is exposed, the covering strip 123 completely covers the bayonet 1221 and the handle groove 1222, and an avoidance hole is provided through the covering strip 123 corresponding to the travel position of the hand control portion 1553.

[0044] The limiting cavity 156 includes a first cavity 1561 and a second cavity 1562 which are interconnected. The second cavity 1562 is arranged on a side of the first cavity 1561 close to the manual control part 1553. The width of the first cavity 1561 in the X-axis direction is equal to the width of the limiting part 1551, and the width of the second cavity 1562 in the X-axis direction is greater than the width of the limiting part 1551. When the limiting part 1551 is in the first cavity 1561, the push block 151 abuts against the limiting part 1551, and the limiting part 1551 constitutes a limit; when the limiting part 1551 is in the second cavity 1562, the push block 151 is separated from the limiting part 1551, and the push block 151 can move a certain distance along the X-axis direction until it abuts against the bottom edge of the bayonet 1221, the positioning device 15 is separated from the bevel tooth 130 as a whole, and the small plug plate 13 can move freely.

[0045] The hand control part 1553 is used for manipulation, changing the position of the limit part 1551, so that the limit part 1551 switches between the first chamber 1561 and the second chamber 1562. When the small plug board 13 needs to be clamped, the hand control part 1553 is moved to push the limit part 1551 into the first chamber 1561; when the small plug board 13 needs to be removed, the hand control part 1553 is moved to pull the limit part 1551 into the second chamber 1562.

[0046] One end of the clamping block 152 is connected to the bottom plate 1511 via the pin shaft 153 , and the other end is connected to the first side plate 1512 away from the hand control portion 1553 via the spring 154 . The clamping block 152 can rotate around the pin shaft 153 .

[0047] A plurality of oblique teeth 130 are provided on both sides of the small plug board 13, and the oblique teeth 130 are correspondingly received in the slots 1220, and the clamping block 152 is arranged perpendicularly to the oblique surface of the oblique teeth 130, and the end surface of the clamping block 152 close to the spring 154 abuts against the oblique surface of the oblique teeth 130. The oblique directions of the oblique teeth 130 on both sides of the small plug board 13 are opposite, and one of the clamping blocks 152 is used to limit the movement of the small plug board 13 along the positive direction of the X axis, and the other clamping block 152 is used to limit the movement of the small plug board 13 along the negative direction of the X axis.

[0048] by Figure 4 For example, the block 152 abuts against the lower left side of the inclined surface of the beveled tooth 130, which can limit the movement of the beveled tooth 130 to the left, thereby limiting the movement of the small plug board 13 to the left as a whole; when the small plug board 13 moves to the right, the beveled tooth 310 located on the left side of the block 152 will squeeze the block 152, causing the block 152 to rotate around the pin 153, thereby driving the spring 154 to be compressed, and the block 152 is disengaged from the currently abutted beveled tooth 130, and the small plug board 13 can move to the right as a whole. Further, based on the same principle, the block 152 set on the other side of the small plug board 13 can limit the movement of the small plug board 13 to the right, thereby achieving the clamping limit of the small plug board 13, and preventing the small plug board 13 from shaking left and right during the test, which affects the accuracy of the test.

[0049] The driving system 20 includes a mounting seat 21 , a driving component 22 , and a driven component 23 .

[0050] The mounting seat 21 is installed in the mounting cavity 1110 and fixed to the first base 111 .

[0051] The driving assembly 22 includes a motor mounting seat 221 , a first motor 222 , a main transmission shaft 223 , a first driving gear 224 , a second driving gear 225 , an outer limiting plate 226 and an inner limiting plate 227 .

[0052] The motor mounting seat 221 is fixed to the outer wall of the first base 111, and the first motor 222 is mounted on the motor mounting seat 221. One end of the main transmission shaft 223 is connected to the output shaft of the first motor 222 through a coupling, and the other end is fixed to the mounting seat 21 through a bearing. The first driving gear 224 and the second driving gear 225 are installed on the main transmission shaft 223 at intervals, and the first motor 222 drives the main transmission shaft 223 to rotate, thereby driving the first driving gear 224 and the second driving gear 225 to rotate. The first driving gear 224 is arranged on the side of the second driving gear 225 close to the first motor 222, and the diameter of the first driving gear 224 is larger than the diameter of the second driving gear 225. The outer limit plate 226 and the inner limit plate 227 are both installed on the main transmission shaft 223 . The outer limit plate 226 is arranged close to the side of the first driving gear 224 close to the first motor 222 , and the inner limit plate 227 is arranged close to the side of the second driving gear 225 away from the first motor 222 .

[0053] The driven assembly 23 includes a driven transmission shaft 231 , a first driven gear 232 , a second driven gear 233 , a connecting ring 234 , a shift fork 235 , a push handle 236 and a first bevel gear 237 .

[0054] The middle position of the slave transmission shaft 231 is fixed to the mounting seat 21 through a bearing, one end is connected to the side wall of the first base 111 through a bearing, and the other end is suspended. The first bevel gear 237 is arranged at the suspended end of the slave transmission shaft 231. The axis of the slave transmission shaft 231 is parallel to the axis of the main transmission shaft 223; the first driven gear 232 and the second driven gear 233 are connected to form a whole through the connecting ring sleeve 234, and the connecting ring sleeve 234 is sleeved on the slave transmission shaft 231. The first driven gear 232, the second driven gear 233 and the connecting ring sleeve 234 are connected to the slave transmission shaft 231 through a spline; the shift fork 235 is arranged between the first driven gear 232 and the second driven gear 233, and is used to shift the gear. The first driven gear 232 and the second driven gear 233 are linearly moved along the setting direction of the spline, so that the first driven gear 232 is meshed with the first driving gear 224 to form a first transmission gear set, or the second driven gear 233 is meshed with the second driving gear 225 to form a second transmission gear set. The first transmission gear set and the second transmission gear set have different gear ratios, which can be used to change the rotation speed of the slave transmission shaft 231, so that the slave transmission shaft 231 can be switched between high speed and low speed.

[0055] The pushing handle 236 is fixed to the shift fork 235 and is used to drive the shift fork 235 to move. The end of the pushing handle 236 passes through the first base 111 and is exposed outside the first base 111 for easy manual operation.

[0056] The end of the shift fork 235 is provided with a U-shaped ring mouth that matches the surface shape of the connecting ring sleeve 234. When in use, the U-shaped ring mouth is arranged around the periphery of the connecting ring sleeve 234. When the push handle 236 drives the shift fork 235 to move, the shift fork 235 correspondingly squeezes the first driven gear 232 or the second driven gear 233 to Figure 7 For example, pushing the pushing handle 236 to the left will drive the shift fork 235 to squeeze the second driven gear 233 to the left, and when the second driven gear 233 moves to the end of the stroke, it meshes with the second driving gear 225; pulling the pushing handle 236 to the right will drive the shift fork 235 to squeeze the first driven gear 232 to the right, and when the first driven gear 232 moves to the end of the stroke, it meshes with the first driving gear 224.

[0057] The outer limiting plate 226 is used to limit the stroke of the first driven gear 232. When the first driven gear 232 abuts against the outer limiting plate 226, it indicates that the first driven gear 232 has moved into place; the inner limiting plate 227 is used to limit the stroke of the second driven gear 233. When the second driven gear 233 abuts against the inner limiting plate 227, it indicates that the second driven gear 233 has moved into place.

[0058] In order to reduce the friction force when the outer limit plate 226 contacts the first driven gear 232, a plurality of first balls 24 are provided on the side of the outer limit plate 226 close to the first driven gear 232. When the first driven gear 232 approaches the outer limit plate 226, it abuts against the first ball 24, so that the sliding friction between the first driven gear 232 and the outer limit plate 226 is converted into rolling friction, thereby reducing the energy loss caused by the friction between the outer limit plate 226 and the first driven gear 232. Specifically, a ball injection inlet 2260 is provided on the circumferential surface of the outer limiting plate 226, and a ball hole 2261 communicating with the ball injection inlet 2260 is provided on one side of the outer limiting plate 226 close to the first driven gear 232. The diameter of the ball hole 2261 is smaller than the diameter of the first ball 24, and the first ball 24 is partially exposed through the ball hole 2261. After the first ball 24 is injected, the ball injection inlet 2260 is blocked by a block 2262. After the blocking is completed, the first ball 24 is correspondingly sandwiched between the block 2262 and the first driven gear 232. Since the outer limiting plate 226 is arranged close to the first driving gear 224, if the first ball 24 is injected by the end face, it will be restricted by the first driving gear 224, and the operation space is small. The injection by the circumferential surface changes the operation direction, greatly improves the operation space, and can facilitate the operation.

[0059] Based on the same principle, a plurality of second balls are arranged on one side of the inner limit plate 227 close to the second driven gear 233 . The arrangement of the second balls is the same as that of the first balls 24 , which will not be described in detail herein.

[0060] The displacement system 30 includes a Z-axis displacement component 31 , a lifting plate 32 and a Y-axis displacement component 33 .

[0061] The Z-axis direction displacement assembly 31 includes a rotating shaft 311 , a second bevel gear 312 , a sun gear 313 , a planetary gear 314 , a pressure cover 315 and a longitudinal screw rod 316 .

[0062] The rotating shaft 311 is arranged along the Z-axis direction. The bottom end of the rotating shaft 311 is mounted on the mounting column 113 through a bearing, and the top end is mounted on the pressure cover 315 through a bearing. The second bevel gear 312 and the sun gear 313 are both mounted on the rotating shaft 311. The second bevel gear 312 is meshed with the first bevel gear 237. The planetary gear 314 is arranged on the outer circumference of the sun gear 313 and meshed with the sun gear 313. The number of the planetary gears 314 is three, and the three planetary gears 314 are distributed in an annular array along the axis of the sun gear 313. A nut that cooperates with the longitudinal screw rod 316 is arranged at the center position of the planetary gear 314, and the nut is mounted on the longitudinal screw rod 316. The sun gear 313 and the planetary gear 314 are carried on the top cover 112. The transmission shaft 231 transmits the driving force to the rotating shaft 311 through the first bevel gear 237 and the second bevel gear 312, driving the rotating shaft 311 to rotate, thereby driving the sun gear 313 and the planetary gear 314 to rotate. Since the sun gear 313 and the planetary gear 314 are restricted by the pressure cover 315 and cannot move in the Z-axis direction, the longitudinal screw rod 316 is driven to move linearly along the Y-axis direction.

[0063] The pressure cover 315 includes three cantilevers 3151, and the three cantilevers 3151 are arranged in one-to-one correspondence with the three planetary gears 314. The cantilevers 3151 are used to limit the planetary gears 314. The upper tooth surface of the planetary gear 314 is provided with a circular ball groove 3140, and the ball groove 3140 is located on the same straight line as the central axis of the planetary gear 314. The bottom of the cantilever 3151 is provided with a ball seat 3152, and a third ball 3153 is sandwiched between the ball seat 3152 and the ball groove 3140. The planetary gear 314 will produce relative movement with the pressure cover 315 during the rotation process. By providing the third ball 3153, the sliding friction between the planetary gear 314 and the pressure cover 315 is converted into rolling friction, which can reduce energy loss. At the same time, the radius of the three planetary gears 314 is the same, and the length of the three cantilevers 3151 is also the same. Through the cooperation of the third ball 3153 and the ball groove 3140, the horizontal displacement of the planetary gear 314 can also be limited, so that the planetary gear 314 and the sun gear 313 maintain good meshing.

[0064] The lifting plate 32 is fixed to the top of the longitudinal screw rod 316, and the longitudinal screw rod 316 drives the lifting plate 32 to move linearly along the Z-axis direction. The lifting plate 32 includes a main board body 321 and a boss 322, and the boss 322 is arranged above the main board body 321. Preferably, the boss 322 is integrally formed with the main board body 321. The boss 322 is L-shaped, including a long side 3221 and a short side 3222, the long side 3221 is arranged along the X-axis direction, and the short side 3222 is arranged along the Y-axis direction.

[0065] The Y-axis direction shifting assembly 33 is installed on the main board body 321, and includes a second motor 331, a transverse screw rod 332, a slider 333, a translation plate 334 and a guide rail 335. The transverse screw rod 332 is connected to the second motor 331, and the transverse screw rod 332 is arranged along the X-axis direction. The slider 333 is installed on the transverse screw rod 332, and the translation plate 334 is fixed to the slider 333. The second motor 331 drives the transverse screw rod 332 to rotate, and drives the slider 333 and the translation plate 334 to move linearly along the axial direction of the transverse screw rod 332. The guide rail 335 is arranged in parallel with the transverse screw rod 332, and there are two guide rails 335, which are respectively located on the opposite sides of the transverse screw rod 332; the bottom of the translation plate 334 is provided with a guide groove 3341 matching the guide rail 335, and the guide rail 335 cooperates with the guide groove 3341 to play a guiding and limiting role in the displacement process, so that the movement direction of the translation plate 334 is always maintained in the Y-axis direction without deviation.

[0066] The Z-axis direction shifting assembly 31 cooperates with the Y-axis direction shifting assembly 33 to adjust the position of the translation plate 334 .

[0067] The setting of the shift fork 235 and the pushing handle 236 can play an adjusting role, so that the driven component 23 can switch between high speed and low speed. When the driven component 23 is in a high-speed state, the transmission shaft 231 rotates at a high speed, so that the rotating shaft 311 also rotates at a high speed. In this state, the height of the lifting plate 32 can be quickly adjusted, which is suitable for coarse adjustment; when the driven component 23 is in a low-speed state, the transmission shaft 231 rotates at a low speed, so that the rotating shaft 311 also rotates at a low speed. In this state, the height of the lifting plate 32 can be slowly adjusted, which is suitable for fine adjustment. The combination of the two adjustment methods can not only ensure the speed during adjustment, but also improve the accuracy during adjustment.

[0068] The test system 40 includes a test input component 41 , a test output component 42 and a camera device 43 .

[0069] The test input component 41 is fixed on the small plug board 13 , and the test output component 42 is completely fixed on the translation plate 334 .

[0070] The test input assembly 41 includes a test input shaft 411, a test motor 412, a first torque sensor 413, a first radial magnet and a first magnetic encoder. The test input shaft 411 is connected to the test motor 412, and the test motor 412 drives the test input shaft 411 to rotate. The first torque sensor 413 and the first radial magnet are both installed on the first test input shaft 411. The first torque sensor 413 is used to measure the input torque of the test input shaft 411; the first magnetic encoder cooperates with the first radial magnet, and measures the rotation speed of the test input shaft 411 through the relative rotation of the first radial magnet and the first magnetic encoder.

[0071] The test output assembly 42 includes a test output shaft 421, a second torque sensor 422, a second radial magnet, and a second magnetic encoder, wherein the second torque sensor 422 and the second radial magnet are both mounted on the test output shaft 421. The second torque sensor 42 is used to measure the output torque of the test output shaft 421; the second magnetic encoder cooperates with the second radial magnet, and measures the rotation speed of the test output shaft 421 through the relative rotation of the second radial magnet and the second magnetic encoder.

[0072] It should be noted that the installation of the test input shaft 421 and the test output shaft 421 also requires the configuration of corresponding bearings, which is a conventional technology in the field and will not be elaborated in this embodiment.

[0073] The camera device 43 is fixed on the boss 322, specifically fixed on the short side 3222. The camera device 43 is used to assist in the alignment of the two axes to be connected before testing. By taking photos of the ends of the two axes to be aligned and transmitting the photos to a computer for processing, the height distance and horizontal distance of the axis centers of the two axes can be obtained. Through the cooperation of the Z-axis direction shift component 31 and the Y-axis direction shift component 33, the distance between the two axes in the Z-axis direction and the Y-axis direction can be changed. When the height distance and horizontal distance of the axis centers of the two axes in the photo are both 0, it means that the alignment is successful and debugging can be stopped. The two axes can be connected using a coupling. It should be noted that the image processing technology adopts conventional technology in this field.

[0074] The reducer and steering gear integrated test platform 100 provided by the present invention can be used for performance testing of common gears, reducers and steering gears.

[0075] The present invention also provides a testing method using the above-mentioned speed reducer and steering gear integrated testing platform, comprising the following steps:

[0076] See also Fig.11 , ordinary gear test: the ordinary gear 200 to be tested is installed on the test input shaft 411 through a coupling, and a matching gear meshing with the ordinary gear 200 is installed on the test output shaft 421 through a coupling, and the test input shaft 411 and the test output shaft 421 are photographed by the camera device 43, and the distance between the test input shaft 411 and the test output shaft 421 in the Z-axis direction is calculated, and the height of the test output shaft 421 in the Z-axis direction is adjusted by the Z-axis direction displacement component 31 until the distance between the test input shaft 411 and the test output shaft 421 in the Z-axis direction is 0, and the distance between the test output shaft 421 and the test input shaft 411 in the Y-axis direction is adjusted by the Y-axis direction displacement component 33 until the ordinary gear 200 and the matching gear are meshed; start the test motor 412, and measure the torque T of the test input shaft 411 by the first torque sensor 413 a1 , the speed w of the test input shaft 411 is measured by the first magnetic encoder a1 The torque T of the test output shaft 421 is measured by the second torque sensor 422 b1 , the speed w of the test output shaft 421 is measured by the second magnetic encoder b1 , then the transmission efficiency of the ordinary gear 200 is

[0077] See also Fig.12, reducer test: loosen the locking devices 15 on both sides of the small plug board 13, move the small plug board 13 away from the test output component 42, and lower the reducer 300 to be tested through the space left by the small plug board 13, so that the input shaft of the reducer 300 and the axis of the test input shaft 411 are at the same height, select a suitable slot 1220 to insert the large plug board 14, so that the bottom of the reducer 300 is supported on the large plug board 14, and the input shaft of the reducer 300 is connected to the test input shaft 411 through a coupling; take photos of the output shaft of the reducer 300 and the test output shaft 421 through the camera device 43, and calculate the output shaft of the reducer 300 and the The spacing of the test output shaft 421 in the Y-axis direction and the Z-axis direction is adjusted by the Z-axis direction shifting component 31 and the Y-axis direction shifting component 33 until the spacing between the output shaft of the reducer 300 and the test output shaft 421 in the Z-axis direction and the Y-axis direction is 0, and the small plug plate 13 is moved to adjust the spacing between the output shaft of the reducer 300 and the test output shaft 421 in the X-axis direction; then the output shaft of the reducer 300 is connected to the test output shaft 421 through a coupling, and the small plug plate 13 is clamped by the clamping device 13; the test motor 412 is started, and the torque T of the test input shaft 411 is measured by the first torque sensor 413 a2 , the speed w of the test input shaft 411 is measured by the first magnetic encoder a2 , the torque T of the test output shaft 421 is measured by the second torque sensor 422 b2 , the speed w of the test output shaft 421 is measured by the second magnetic encoder b2 , then the transmission efficiency of the reducer 300 is

[0078] See also Fig.13, Servo test: loosen the locking devices 15 on both sides of the small plug board 13, move the small plug board 13 away from the test output component 42, select a suitable slot 1220 to insert into the large plug board 14, and lower the servo 400 to be tested onto the large plug board 14 through the space left by the small plug board 13; take photos of the output shaft of the servo 400 and the test output shaft 421 through the camera device 43, calculate the distance between the output shaft of the servo 400 and the test output shaft 421 in the Y-axis direction and the Z-axis direction, and calculate the distance between the output shaft of the servo 400 and the test output shaft 421 in the Y-axis direction and the Z-axis direction through the Z-axis The azimuth displacement component 31 and the Y-axis displacement component 33 adjust the position of the test output shaft 421 until the spacing between the output shaft of the servo 400 and the test output shaft 421 in the Z-axis direction and the Y-axis direction is 0, and the large plugboard 14 is moved to adjust the spacing between the output shaft of the servo 400 and the test output shaft 421 in the X-axis direction; then the output shaft of the servo 400 is connected to the test output shaft 421 through a coupling; the servo 400 is started, and the torque T of the test output shaft 421 is measured by the second torque sensor 422. b3 , the speed w of the test output shaft 421 is measured by the second magnetic encoder b3 , the voltage of the steering gear 400 is U3, and the current is I3, then the transmission efficiency of the steering gear 400 is

[0079] Compared with the related art, the beneficial effects of the present invention are:

[0080] The test platform of the reducer and the servo is integrated into one, which improves the integration of the test platform, and only needs one set of test platform, which reduces the investment in the test platform and can reduce the cost of the test. The reducer or servo to be tested is placed on the large plug board, the test input component is fixed on the small plug board, the test output component is connected to the shift system, the drive system drives the shift system to move, and the shift system is used to adjust the position of the test output component in the Y-axis direction and the Z-axis direction to adapt to the position of the output shaft of the reducer or servo. The two sides of the small plug board are provided with a clamping device, and the helical teeth on both sides of the small plug board are clamped by the clamping device to ensure the stability of the small plug board during the test. Through the cooperation of the large plug board and the shift system, the test requirements of different types of reducers and servos can be met.

[0081] The embodiments of the present invention are described in detail above, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations made to these embodiments without departing from the principles and spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A speed reducer and steering gear integrated test platform, characterized in that: It includes a box, a driving system, a shifting system and a testing system. The box includes a first box, a second box, a small plugboard and a large plugboard. The first box and the second box are arranged side by side along the X-axis direction. The second box includes a second base, a rib plate and a cover strip. The rib plate is provided with a plurality of slots. The cover strip covers the top of the slot at the top. The end of the small plugboard is inserted into the slot at the top. The end of the large plugboard is inserted into any slot below the small plugboard. Both sides of the small plugboard are provided with a plurality of oblique teeth, and the inclination directions of the oblique teeth on both sides of the small plugboard are opposite. Both sides of the small plugboard are installed with a clamping device matching the oblique teeth. The positioning device includes a block arranged perpendicularly to the inclined surface of the bevel tooth, one of the blocks is used to limit the movement of the small plug board along the positive direction of the X-axis, and the other block is used to limit the movement of the small plug board along the negative direction of the X-axis. The drive system and the shift system are both installed on the first box body. The test system includes a test input component and a test output component. The reducer or servo to be tested is placed on the large plug board, the test input component is fixed on the small plug board, and the test output component is connected to the shift system. The drive system drives the shift system to move, and the shift system is used to adjust the position of the test output component in the Y-axis direction and the Z-axis direction.

2. The integrated test platform for reducer and steering gear according to claim 1, characterized in that: The top of the rib plate is provided with a bayonet and a handle groove which are interconnected, and the bayonet is connected to the topmost slot, and the positioning device also includes a push block, a pin, a spring and a handle, and the push block is correspondingly accommodated in the bayonet, and the push block includes a bottom plate, a first side plate and a second side plate, and the first side plate and the second side plate are both fixed above the bottom plate, and the second side plate connects the two first side plates, and the two first side plates are respectively fitted with the two sides of the bayonet, and the second side plate is spaced from the bottom edge of the bayonet to form a limiting cavity; the handle includes a limiting part, a connecting part and a hand control part, and the connecting part connects the limiting part and the hand control part, the connecting part is accommodated in the handle slot, and the limiting part is accommodated in the limiting cavity The hand control part is exposed upward through the handle groove, the covering strip completely covers the bayonet and the handle groove, and the covering strip is provided with an avoidance hole at the position corresponding to the stroke of the hand control part. The limit cavity includes a first cavity and a second cavity that are interconnected, and the second cavity is arranged on a side of the first cavity close to the hand control part. The width of the first cavity in the X-axis direction is equal to the width of the limit portion, and the width of the second cavity in the X-axis direction is greater than the width of the limit portion. One end of the card block is connected to the bottom plate through the pin shaft, and the other end is connected to the first side plate away from the hand control part through the spring. The bevel teeth are correspondingly accommodated in the slot, and the end face of the card block close to the spring abuts against the inclined surface of the bevel teeth.

3. The integrated test platform for reducer and steering gear according to claim 1, characterized in that: The first box body includes a first base, a top cover and a mounting column. The first base is recessed to form a mounting cavity with a top opening. The top cover covers the top of the first base and completely covers the top opening of the mounting cavity. The mounting column is accommodated in the mounting cavity. The drive system includes a mounting seat, an active component and a driven component. The mounting seat is installed in the mounting cavity and fixed to the first base. The active component includes a motor mounting seat, a first motor, a main transmission shaft, a first driving gear, a second driving gear, an outer limiting plate and an inner limiting plate. The motor mounting seat is fixed to the outer wall of the first base. The first motor is installed on the motor mounting seat. One end of the main transmission shaft is connected to the first motor through a coupling. The output shaft of a motor is connected, and the other end is fixed to the mounting seat through a bearing. The first driving gear and the second driving gear are installed on the main transmission shaft at intervals. The first motor drives the main transmission shaft to rotate to drive the first driving gear and the second driving gear to rotate; the first driving gear is arranged on a side of the second driving gear close to the first motor, and the diameter of the first driving gear is greater than the diameter of the second driving gear; the outer limiting plate and the inner limiting plate are both installed on the main transmission shaft, the outer limiting plate is arranged close to the side of the first driving gear close to the first motor, and the inner limiting plate is arranged close to the side of the second driving gear away from the first motor.

4. The integrated test platform for reducer and steering gear according to claim 3, characterized in that: The driven assembly includes a driven transmission shaft, a first driven gear, a second driven gear, a connecting ring sleeve, a shift fork, a push handle and a first bevel gear. The middle position of the driven transmission shaft is fixed to the mounting seat through a bearing, one end is connected to the side wall of the first base through a bearing, and the other end is suspended. The first bevel gear is arranged at the suspended end of the driven transmission shaft, and the axis of the driven transmission shaft is parallel to the axis of the main transmission shaft; the first driven gear and the second driven gear are connected to form a whole through the connecting ring sleeve, and the connecting ring sleeve is sleeved on the driven transmission shaft, and the first driven gear, the second driven gear and the connecting ring sleeve are connected to the The transmission shafts are connected by splines; the shift fork is arranged between the first driven gear and the second driven gear, and is used to shift the first driven gear and the second driven gear to move linearly along the setting direction of the spline, so that the first driven gear is meshed with the first driving gear to form a first transmission gear set, or the second driven gear is meshed with the second driving gear to form a second transmission gear set, and the gear ratios of the first transmission gear set and the second transmission gear set are different. The pushing handle is fixed to the shift fork, and is used to drive the shift fork to move, and the end of the pushing handle passes through the first base and is exposed outside the first base.

5. The integrated test platform for reducer and steering gear according to claim 4, characterized in that: The outer limit plate is used to limit the stroke of the first driven gear; the inner limit plate is used to limit the stroke of the second driven gear; a plurality of first balls are arranged on the side of the outer limit plate close to the first driven gear, a ball filling inlet is arranged on the circumferential surface of the outer limit plate, a ball hole connected to the ball filling inlet is arranged on the side of the outer limit plate close to the first driven gear, the diameter of the ball hole is smaller than the diameter of the first ball, the first ball is partially exposed through the ball hole, and after the first ball is filled, the ball filling inlet is blocked by a block; a plurality of second balls are arranged on the side of the inner limit plate close to the second driven gear, and the arrangement method of the second balls is the same as the setting direction of the first balls.

6. The integrated test platform for reducer and steering gear according to claim 4, characterized in that: The displacement system includes a Z-axis displacement component, a lifting plate and a Y-axis displacement component. The Z-axis displacement component includes a rotating shaft, a second bevel gear, a sun gear, a planetary gear, a pressure cover and a longitudinal screw rod. The rotating shaft is arranged along the Z-axis direction. The bottom end of the rotating shaft is mounted on the mounting column through a bearing, and the top end is mounted on the pressure cover through a bearing. The second bevel gear and the sun gear are both mounted on the rotating shaft. The second bevel gear is meshed with the first bevel gear. The planetary gear is arranged on the outer circumference of the sun gear and meshed with the sun gear. The number of the planetary gears is three, and the three planetary gears are distributed in a ring array along the axis of the sun gear. A nut that cooperates with the longitudinal screw rod is arranged at the center position of the planetary gear, and the nut is mounted on the longitudinal screw rod. The sun gear and the planetary gear are carried on the top cover.

7. The integrated test platform for reducer and steering gear according to claim 6, characterized in that: The pressure cover includes three cantilevers, and the three cantilevers are arranged in a one-to-one correspondence with the three planetary gears. The cantilevers are used to limit the planetary gears. The upper tooth surface of the planetary gear is provided with a circular ball groove, and the ball groove is located on the same straight line as the center axis of the planetary gear. A ball seat is provided at the bottom of the cantilever, and a third ball is sandwiched between the ball seat and the ball groove; the Y-axis direction shifting component includes a second motor, a transverse screw rod, a slider, a translation plate and a guide rail, the transverse screw rod is connected to the second motor, the transverse screw rod is arranged along the X-axis direction, the slider is installed on the transverse screw rod, the translation plate is fixed to the slider, the second motor drives the transverse screw rod to rotate, and drives the slider and the translation plate to move linearly along the axial direction of the transverse screw rod, the guide rail is arranged parallel to the transverse screw rod and spaced apart, the number of the guide rails is two, and the two guide rails are respectively located on opposite sides of the transverse screw rod; the bottom of the translation plate is provided with a guide groove matching the guide rail.

8. The integrated test platform for reducer and steering gear according to claim 7, characterized in that: The test input component includes a test input shaft, a test motor, a first torque sensor, a first radial magnet and a first magnetic encoder. The test input shaft is connected to the test motor, and the test motor drives the test input shaft to rotate. The first torque sensor and the first radial magnet are both installed on the test input shaft, and the first torque sensor is used to measure the input torque of the test input shaft; the first magnetic encoder cooperates with the first radial magnet, and the rotation speed of the test input shaft is measured by the relative rotation of the first radial magnet and the first magnetic encoder; the test output component includes a test output shaft, a second torque sensor, a second radial magnet and a second magnetic encoder. The second torque sensor and the second radial magnet are both installed on the test output shaft, and the second torque sensor is used to measure the output torque of the test output shaft. The second magnetic encoder cooperates with the second radial magnet, and the rotation speed of the test output shaft is measured by the relative rotation of the second radial magnet and the second magnetic encoder.

9. The integrated test platform for reducer and steering gear according to claim 8, characterized in that: The test system also includes a camera device, which is fixed to the jacking plate and is used to assist in the alignment of the two shafts to be connected before testing. By taking photos of the ends of the two shafts that need to be aligned and transmitting the photos to a computer for processing, the height distance and horizontal distance of the two shaft centers can be obtained.

10. A speed reducer and steering gear integrated testing method, characterized in that: The reducer and steering gear integrated test platform of claim 9 is used for testing, and the test method comprises: Reducer test: loosen the locking devices on both sides of the small plug board, move the small plug board away from the test output component, lower the reducer to be tested through the space left by the small plug board, so that the input shaft of the reducer and the axis of the test input shaft are at the same height, select a suitable slot to insert the large plug board, so that the bottom of the reducer is supported on the large plug board, and connect the input shaft of the reducer with the test input shaft through a coupling; take photos of the output shaft of the reducer and the test output shaft through the camera device, and calculate the distance between the output shaft of the reducer and the test input shaft The distance between the output shaft in the Y-axis direction and the Z-axis direction is adjusted by the Z-axis direction shifting component and the Y-axis direction shifting component until the distance between the output shaft of the reducer and the test output shaft in the Z-axis direction and the Y-axis direction is 0, and the small plug plate is moved to adjust the distance between the output shaft of the reducer and the test output shaft in the X-axis direction; then the output shaft of the reducer is connected to the test output shaft through a coupling, and the small plug plate is clamped by the clamping device; the test motor is started, and the torque T of the test input shaft is measured by the first torque sensor a2 , the speed w of the test input shaft is measured by the first magnetic encoder a2 , the torque T of the test output shaft is measured by the second torque sensor b2 , the speed w of the test output shaft is measured by the second magnetic encoder b2 , then the transmission efficiency of the reducer Servo test: loosen the locking devices on both sides of the small plugboard, move the small plugboard away from the test output component, select a suitable slot to insert the large plugboard, and lower the servo to be tested onto the large plugboard through the space left by the small plugboard; take photos of the output shaft of the servo and the test output shaft through the camera device, calculate the distance between the output shaft of the servo and the test output shaft in the Y-axis direction and the Z-axis direction, adjust the position of the test output shaft through the Z-axis direction shifting component and the Y-axis direction shifting component until the distance between the output shaft of the servo and the test output shaft in the Z-axis direction and the Y-axis direction is 0, move the large plugboard, adjust the distance between the output shaft of the servo and the test output shaft in the X-axis direction; then connect the output shaft of the servo with the test output shaft through a coupling; start the servo, and measure the torque T of the test output shaft through the second torque sensor b3 , the speed w of the test output shaft is measured by the second magnetic encoder b3 , the power-on voltage of the steering gear is U3 and the current is I3, then the transmission efficiency of the steering gear is

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