Axle gear pair composite transmission stiffness test platform and stiffness test method

Abstract

The application discloses a rigidity testing platform and method for composite transmission of a pair of shaft gears, which comprises a base platform, a gear box fixedly assembled on the base platform, a driving shaft and a driven shaft penetrating through the gear box, a driving gear fixedly arranged at the middle part of the driving shaft, a driven gear fixedly arranged at the middle part of the driven shaft, the driving gear and the driven gear being in engagement with each other, an end fixing device installed at one end of the driven shaft and used for limiting the rotation of the driven shaft, a load loading device installed between the base platform and the driving shaft and used for applying a torque to the driving shaft, and an angle measuring system used for measuring the rotation angle of the driving shaft and the driven shaft. The rigidity testing platform and method for composite transmission of a pair of shaft gears have the technical advantages of reasonable structure design, convenient measurement and high result accuracy, and can better evaluate and understand the composite transmission rigidity of a gear system.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of gear transmission, and particularly relates to a composite transmission stiffness test platform for a pair of shaft gears. BACKGROUND

[0002] A gear transmission system refers to a device for transmitting motion and power by a gear pair, and has the advantages of high transmission efficiency, good accuracy, compact structure, high working reliability and the like. The gear transmission system is the most widely used mechanical transmission mode in modern various devices, such as aviation, wind power, new energy vehicles and other emerging fields.

[0003] At present, with the rapid development of science and technology towards high-precision, the stability and reliability of the gear transmission system become more and more important indicators for evaluating a mechanical system. For example, the reduction of the reliability of the transmission gear in the power system of an airplane can greatly affect the safety of a stealth airplane; the instability of the transmission gear in a wind power system not only aggravates the fatigue damage of the transmission system, but also leads to frequent wind power accidents; and the instability of the transmission gear in a new energy vehicle directly affects the comfort experience of a driver and passengers.

[0004] In the gear transmission system, transmission stiffness has a decisive effect on meshing error, transmission stability, transmission smoothness and the like. Therefore, early detection of the composite transmission stiffness of the gear transmission system has a crucial significance for ensuring the stability, reliability and smoothness of the system. SUMMARY

[0005] In view of this, the application provides a composite transmission stiffness test platform for a pair of shaft gears, which aims to evaluate and test the composite transmission stiffness of a gear system.

[0006] To achieve the above-mentioned purpose, the technical scheme of the application is as follows:

[0007] A composite transmission stiffness test platform for a pair of shaft gears, which is characterized by comprising:

[0008] a base platform;

[0009] a gear box fixedly assembled on the base platform, a driving shaft and a driven shaft being provided through the gear box, a driving gear being fixedly arranged at the middle portion of the driving shaft, and a driven gear being fixedly arranged at the middle portion of the driven shaft, the driving gear and the driven gear being meshed with each other;

[0010] an end fixing device installed at one end of the driven shaft for limiting the rotation of the driven shaft;

[0011] a load loading device installed between the base platform and the driving shaft for applying a torque to the driving shaft and observing the torque size;

[0012] And an angle measurement system for measuring the rotation angle of the driving shaft and the driven shaft.

[0013] Preferably, the load loading device comprises a base, a tension sensor and a screw rod which are sequentially hinged, wherein the base is fixedly assembled on the base platform, the end of the driving shaft is fixedly connected with a cantilever extending radially outward, the distal end of the cantilever is slidingly sleeved on the screw rod, a nut is arranged on the screw rod, and screwing the nut can force the cantilever to exert torque on the driving shaft.

[0014] Preferably, the base platform is provided with two groups of parallel strip-shaped grooves, and the base is adjustably fixed on the two groups of strip-shaped grooves through threaded fasteners. The cantilever is fixedly connected with the end of the driving shaft through a first flat key, and the cantilever is provided with at least two groups of first key grooves matched with the first flat key.

[0015] Preferably, the tension sensor is provided with a digital display, and the lower end of the screw rod is fixedly provided with a connector which is rotatably connected with the upper end of the tension sensor.

[0016] Preferably, the end fixing device comprises a side support plate on the side of the gear box and a flange plate, wherein the side support plate is fixed on the base platform, the flange plate is fixedly assembled on the outer side of the side support plate, and the driven shaft is fixedly connected with the flange plate through a second flat key.

[0017] Preferably, the side support plate is provided with twelve first through holes, four holes at an angle of 90 degrees to each other form a group, one of the groups is a reference group, and the four holes of the reference group are arranged in the vertical direction and the horizontal direction. The other two groups are arranged at an interval of 24° in counterclockwise direction starting from the reference group.

[0018] The flange plate is provided with twelve second through holes arranged in a circular array, and any two adjacent holes are spaced apart by 30°, wherein the second through hole at the upper end in the vertical direction is a reference hole.

[0019] The flange plate is provided with six second key grooves matched with the second flat key, one of the second key grooves is a reference key groove, and the reference key groove is located directly below the reference hole. The other five key grooves are arranged at an interval of 59° in counterclockwise direction starting from the reference key groove.

[0020] Preferably, the angle measurement system comprises four groups of laser positioners, two groups of which are installed at the two ends of the driving shaft, and the other two groups of which are installed at the two ends of the driven shaft.

[0021] Preferably, the driving gear and the driven gear are integrally formed with the driving shaft and the driven shaft respectively, and the driving gear and the driven gear are both hard tooth surface cylindrical gears.

[0022] This invention also provides a method for testing the stiffness of a gear pair composite transmission based on a test platform for the stiffness of a gear pair composite transmission. The method comprises: first, selecting a gear meshing position; fixing the driven shaft with an end fixing device; applying a torsional load to the driving shaft using a load loading device; and calculating the torque value T; after the torsional load is applied, measuring the rotation angles of the driving shaft and the driven shaft respectively using an angle measurement system; then gradually adjusting the meshing position of the gear pair, repeating the above process continuously, and calculating the total rotation angle θ within one meshing cycle. total-ex Finally, the torque value T is divided by the total number of rotation angles θ. total-ex The composite transmission stiffness k of the gear pair with shaft can then be obtained. total-ex .

[0023] Preferably, the method for measuring the rotation angle of the drive shaft and driven shaft using the angle measurement system is as follows: a laser positioning device is installed at the end of the drive shaft and driven shaft. Before the load loading device applies torque, the distance L between the laser positioning device and the projected wall surface is recorded. After the load loading device applies torque T, the offset ΔL of the projection point of the laser positioning device on the wall surface is recorded. Then, the rotation angle values ​​of the drive shaft and driven shaft are calculated using trigonometric functions.

[0024] The beneficial effects of this invention are:

[0025] The gear pair composite transmission stiffness testing platform provided by this invention can apply loads to the gear system in a relatively simple way, and obtain the angular changes of the driving and driven shafts under load in a relatively simple, accurate, and reliable manner. The composite transmission stiffness of the gear pair can then be calculated using the transmission stiffness calculation formula. Overall, it has technical advantages such as reasonable structural design, convenient measurement and use, and high accuracy, which helps to better evaluate and understand the composite transmission stiffness of gear systems. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of a test platform for the stiffness of a composite transmission with a shaft and gear pair.

[0027] Figure 2 for Figure 1 Top view of the test platform;

[0028] Figure 3 for Figure 1 Rear view of the test platform;

[0029] Figure 4 This is a schematic diagram of the load loading device 4;

[0030] Figure 5 This is a schematic diagram of the side support plate 3a;

[0031] Figure 6This is a structural schematic diagram of flange 3b;

[0032] Figure 7 A schematic diagram showing the installation of the laser positioning device 5a via the clamping disk 5b;

[0033] Figure 8 A schematic diagram illustrating the measurement principle of the laser positioning instrument 5a;

[0034] Figure 9 This is a flowchart illustrating the gradual adjustment of the engagement position using the end fixing device 3. Detailed Implementation

[0035] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0036] Example 1

[0037] like Figure 1 As shown, a composite transmission stiffness testing platform with a shaft and gear pair is disclosed. The platform mainly comprises five parts: a base platform 1, a gearbox 2, an end fixing device 3, a load loading device 4, and an angle measurement system 5. The base platform 1 provides support, ensuring system stability under load. The gearbox 2, a single-stage reduction gearbox, is fixedly mounted on the base platform 1. A drive shaft 2a and a driven shaft 2b are mounted on the gearbox. A drive gear is integrally formed in the middle of the drive shaft 2a, and a driven gear is integrally formed in the middle of the driven shaft 2b. The drive and driven gears mesh with each other inside the gearbox. The end fixing device 3 is installed at the end of the driven shaft 2b. When the load loading device 4 applies torque to the drive shaft 2a, the end fixing device 3 restricts the rotation of the driven shaft 2b, locking one end. The load loading device 4 is installed between the base platform 1 and the drive shaft 2a to apply torque to the drive shaft 2a. After the load loading device 4 applies torque, the angle measurement system 5 measures the rotation angle of the drive shaft 2a and the driven shaft 2b.

[0038] Based on the above structural design of the test platform, the operation process is roughly as follows: Select a gear meshing position, fix the driven shaft, apply a load to the driving shaft, and measure the rotation angles of the driving and driven shafts; then change the gear meshing position and repeat the above operation process to obtain the rotation angle of the gear pair within one meshing cycle. Finally, the composite transmission stiffness of the gear pair with shafts can be obtained by dividing the applied torque value by the sum of the rotation angles of the driving shaft 2a and the driven shaft 2b.

[0039] In this embodiment, please refer to Figure 1 and 4, the load loading device 4 comprises a cantilever 4d and a base 4a, a tension sensor 4b and a screw rod 4c which are sequentially hinged, wherein the base 4a is fixedly assembled on the base platform 1, the cantilever 4d is fixedly connected to the end of the driving shaft 2a through the first flat key a, the cantilever 4d extends radially outward along the driving shaft 2a, the distal end of the cantilever 4d is slidingly sleeved on the screw rod 4c, and the screw rod 4c is threadedly connected with a nut 4e. Based on this, the cantilever 4d is forced to move on the screw rod 4c by screwing the nut 4e, so that the load can be applied to the driving shaft 2a. In order to facilitate real-time acquisition of the applied load value, a digital display is arranged on the tension sensor 4b. In order to facilitate the installation of the screw rod 4c, a connecting head 4c1 is arranged at the lower end of the screw rod 4c, and the connecting head 4c1 is hinged to the upper end of the tension sensor 4b.

[0040] Further, please refer to Figure 2 In order to ensure the operability and effectiveness of the load application, after the cantilever 4d rotates by a certain angle, the installation position of the base 4a needs to be adjusted so that the cantilever 4d is at a suitable angle again. Therefore, two groups of parallel strip grooves 1a are arranged on the base platform 1, and the base 4a is fixedly assembled at any position on the strip grooves 1a through threaded fasteners j. By adjusting the installation position of the base 4a in the length direction of the strip grooves 1a, the initial angle of the cantilever 4d can be changed. Further, a plurality of first key grooves b matched with the first flat key a are arranged on the cantilever 4d. The advantage of this design is that at the same meshing position of the gear, the first flat key a can be matched and connected with different first key grooves b to shorten the fixed position of the base 4a, improve the utilization rate of the strip grooves 1a, make the strip grooves 1a shorter, and reduce the length of the base platform 1.

[0041] In this embodiment, please refer to Figure 3 As shown in the figure, the end fixing device 3 comprises a side support plate 3a located at the side of the gear box 2 and a flange plate 3b, wherein the lower part of the side support plate 3a is fixed on the base platform 1 through bolts, the flange plate 3b is fixedly assembled on the outer side of the side support plate 3a through bolts, and the driven shaft 2b is fixedly sleeved on the flange plate 3b through the second flat key c, so that the end of the driven shaft 2b is locked.

[0042] Further, please refer to the attached Figure 5 As can be seen, twelve first through holes d are arranged on the side support plate 3a, four holes of which at an angle of 90 degrees form a group, four holes of one group are arranged along the vertical and horizontal directions, and the group is defined as the reference group bottom hole d1, and the other two groups are arranged at an interval of 24° counterclockwise from the reference group bottom hole d1, and are respectively defined as the second group bottom hole d2 and the third group bottom hole d3. Further, please refer to the attached Figure 6It can be seen that the flange 3b is provided with twelve second through holes e in a circular array, any two adjacent holes are spaced 30°, the second through hole e located at the upper end in the vertical direction is defined as the reference hole e1, and the remaining eleven holes are arranged in anticlockwise order as the No. 2 hole e2, the No. 3 hole e3, the No. 4 hole e4, and so on. The flange 3b is internally provided with six second key grooves f matched with the second flat keys c, the second key groove f located directly below the reference hole is defined as the No. 1 key groove f1, and the other five key grooves are arranged in anticlockwise order at an interval of 59° from the No. 1 key groove f1 as the starting point and are respectively defined as the No. 2 key groove f2, the No. 3 key groove f3, the No. 4 key groove f4, the No. 5 key groove f5 and the No. 6 key groove f6. The No. 6 key groove f6 is spaced 65° from the No. 1 key groove f1.

[0043] The end fixing device 3 is provided with the above hole positions and key grooves on the side support plate 3a and the flange 3b, and the transmission shaft 2a can be gradually rotated between 0°-17° through the combination of different hole positions and key grooves, so as to realize the step-by-step adjustment of 18 different meshing pairs and obtain 18 groups of data.

[0044] The operation process of the end fixing device 3 for obtaining 18 groups of data is as follows:

[0045] Please refer to the attached Figure 5 , 6As shown in Figure 9, during the first measurement, the keyway f1 of flange 3b is connected to the driven shaft key, and the reference hole e1 of flange 3b is aligned with the first through hole d corresponding to the reference group bottom hole d1 of side support plate 3a. Bolts are used to fix this alignment, and the gear meshing position at this time is recorded as the zero point. During the second measurement, the keyway f2 of flange 3b is connected to the driven shaft key, and the hole e3 of flange 3b is aligned with the first through hole d corresponding to the reference group bottom hole d1 of side support plate 3a. At this time, the keyway on the flange connected to the driven shaft rotates counterclockwise by 59°, but the flange 3b rotates clockwise by 60°, resulting in a 1° angle difference. This causes the meshing gear to rotate 1° clockwise as a whole. Measurements are performed sequentially in this manner. After the sixth measurement, the meshing gear system has rotated 5° relative to the zero point. During the seventh measurement using the same method, the gear system returns to the zero point. At this point, the positional relationship between the flange and the side support plate 3a is adjusted. The adjustment method involves connecting the keyway f1 on the flange to the key on the driven shaft, and aligning the hole e2 on the flange with the first through hole d corresponding to the second set of bottom holes d2 on the side support plate 3a. Since the interval between two adjacent holes on the flange is 30°, and the spacing between each set of bottom holes on the side support plate 3a is 24°, this method will cause the entire gear system to rotate 6° compared to the initial zero point. Six more sets of data can be measured in this way. For the third round of measurement, simply align the hole e3 on the flange 3b with the first through hole d corresponding to the third set of bottom holes d3 on the side support plate 3a, and another six sets of data can be measured. Thus, one flange 3b can measure a total of eighteen sets of data from 0° to 17°.

[0046] For example Figure 2 As shown, the angle measurement system 5 includes four sets of laser positioning devices 5a, two of which are installed at both ends of the drive shaft 2a, and the other two are installed at both ends of the driven shaft 2b. (See attached diagram.) Figure 7 It can be seen that each laser positioning device 5a is fixed to the end of the corresponding shaft by a clamping disk 5b.

[0047] The measurement principle of the master and slave axis angles of each laser positioning instrument 5a is as follows:

[0048] Please refer to Figure 8 When the driving gear shaft is not subjected to torque, its position is point A, and its projection onto the wall is point C. After applying torque T to the driving gear shaft, its position moves to point A', and its projection onto the wall is point D. The distance from the center of the driving gear shaft to the wall is L, and the deformation distance of the driving gear shaft on the wall after being loaded is ΔL. Figure 8 From the geometric relationship shown, the rotation angle of the driving gear shaft under load can be obtained as follows:

[0049] θ = α = β = arctan(ΔL / L)

[0050] Embodiment two

[0051] A method for testing the stiffness of a compound transmission of a gear pair with shafts is provided, which is implemented by using the test platform provided in embodiment one. First, a position of engagement of the driving gear and the driven gear is selected, the driven shaft 2b is fixed by the end fixing device 3, a torsional load is applied to the driving shaft 2a by the load loading device 4, and the torque value T is calculated. After the torsional load is applied, the angle measuring system 5 measures the rotation angles of the driving shaft 2a and the driven shaft 2b, respectively. Then, the position of engagement of the gear pair is adjusted step by step, the above process is repeatedly performed, and the total rotation angle θ total-ex in a period of engagement is calculated. Finally, the stiffness k total-ex of the compound transmission of the gear pair with shafts can be obtained by dividing the torque value T by the total rotation angle θ total-ex .

[0052] In the above method, when designing the load loading part, it is necessary to consider how much load is applied in the experiment. Because the torsional angle is proportional to the size of the load, if the load is too small, the torsional angle is also small, and no obvious change can be seen; if the load is too large, the distance projected onto the wall before and after the load is too large, which will hinder the recording of data. By means of finite element software, a completely consistent finite element model is established, and it is measured that the rotation angle of the driving shaft is about 1° when the driving shaft bears a torque of 900 N·m. The change distance projected onto the wall is also within an acceptable range, so 900 N·m can be determined as the load applied in the experiment.

[0053] Then, the rotation of the cantilever 4d is controlled by rotating the nut 4e above the screw rod 4c, and the load is transmitted to the driving shaft 2a. The formula of the applied torque can be expressed as:

[0054] T = F * L

[0055] Wherein, F = mg, m is the value displayed by the digital display, and L is the length of the cantilever 4d.

[0056] In the above method, the adjustment of the position of engagement is achieved by combining different hole positions and different key grooves on the side support plate 3a and the flange plate 3b. The adjustment process is described in embodiment one in the description of the “end fixing device 3”, which will not be repeated here.

[0057] In the above method, when the design loading part is determined, the load in the gear system is 900 N·m, and the rotation angle of the gear shaft is about 1°. If the laser positioner is used to directly and accurately measure the size of the rotation angle, the accuracy requirement of the laser positioner is high, and the cost is also relatively expensive. In order to reduce the cost, the embodiment proposes a method for measuring the rotation angle of the whole system by conversion and amplification. The laser positioner 5a is fixed on the gear shaft, the distance between the experimental platform and the wall is increased, and then the position change of the gear system before and after being loaded is recorded.

[0058] From the attached Figure 2 and 3 It can be seen that the active shaft 2a and the driven shaft 2b are provided with laser positioners 5a at both ends, and a total of four laser positioners are provided. The clamping disc 5b clamping the laser positioner 5a is fixed on each shaft by a pin.

[0059] After the gear system is loaded, the rotation angle of the laser positioner 5a close to one end of the cantilever 4d of the active shaft 2a is recorded as θ s1 , the rotation angle of the laser positioner 5a away from one end of the cantilever 4d of the active shaft 2a is recorded as θ s2 , the rotation angle of the laser positioner 5a away from one end of the end fixing device 3 of the driven shaft 2b is recorded as θ s3 , and the rotation angle of the laser positioner 5a close to one end of the end fixing device 3 of the driven shaft 2b is recorded as θ s4 . Since the end fixing device 3 is connected with the driven shaft through bolts and keys, the bolts and keys will be sheared and elastically deformed after being loaded, so the rotation angle of the laser positioner at this position is not zero. In order to eliminate the installation error, when recording the initial position of the laser positioner, a part of pre-load needs to be loaded.

[0060] In summary, the total rotation angle of the shaft gear pair can be represented as:

[0061] θ total_ex =(θ s1 -θ s2 )+i*(θ s3 -θ s4 )

[0062] Therefore, the transmission stiffness of the shaft gear pair can be represented as:

[0063] k total_ex =T / θ total_ex

[0064] Finally, it should be noted that the above description is only for the preferred embodiment of the present application, and those skilled in the art can make various similar representations under the inspiration of the present application without departing from the purpose and claims of the present application. Such transformation falls within the protection scope of the present application.

Claims

1. A compound transmission stiffness test platform with shafted gear pairs, characterized in that, It includes: Base platform (1); Gear box (2) is fixedly assembled on the base platform (1), the gear box (2) is provided with driving shaft (2a) and driven shaft (2b), the middle part of the driving shaft (2a) is fixedly provided with driving gear, the middle part of the driven shaft (2b) is fixedly provided with driven gear, the driving gear and the driven gear are meshed with each other; End fixing device (3) is installed on one end of the driven shaft (2b), which is used to limit the rotation of the driven shaft (2b); Load loading device (4) is installed between the base platform (1) and the driving shaft (2a), which is used to apply torque to the driving shaft (2a) and observe the torque size; And angle measurement system (5) is used to measure the rotation angle of the driving shaft (2a) and the driven shaft (2b); The load loading device (4) includes base (4a), tension sensor (4b) and screw rod (4c) connected in sequence, wherein the base (4a) is fixedly assembled on the base platform (1), the end of the driving shaft (2a) is fixedly connected with cantilever (4d) extending outward along the radial direction, the distal end of the cantilever (4d) is slidably sleeved on the screw rod (4c), the screw rod (4c) is provided with nut (4e), and the nut (4e) is screwed to force the cantilever (4d) to apply torque to the driving shaft (2a); The end fixing device (3) includes side support plate (3a) and flange plate (3b) on the side of the gear box (2), wherein the side support plate (3a) is fixed on the base platform (1), the flange plate (3b) is fixedly assembled on the outer side of the side support plate (3a), and the driven shaft (2b) is fixedly connected with the flange plate (3b) through the second flat key (c); Twelve first through holes (d) are arranged on the side support plate (3a), and four holes at an angle of 90 degrees are taken as a group, one of which is the reference group, and the four holes of the reference group are arranged along the vertical direction and the horizontal direction, and the other two groups are arranged at an interval of 24 degrees counterclockwise starting from the reference group; Twelve second through holes (e) are arranged in a circular array on the flange plate (3b), and any two adjacent holes are spaced apart by 30 degrees, wherein the second through hole (e) at the upper end of the vertical direction is the reference hole; The flange plate (3b) is provided with six second key grooves (f) matched with the second flat key (c), one of which is the reference key groove, and the reference key groove is located directly below the reference hole, and the other five key grooves are arranged at an interval of 59 degrees counterclockwise starting from the reference key groove.

2. The test platform of claim 1, wherein: Two groups of parallel strip grooves (1a) are arranged on the base platform (1), the base (4a) is adjustably fixed on the two groups of strip grooves (1a) through threaded fasteners, the cantilever (4d) is fixedly connected with the end of the driving shaft (2a) through the first flat key (a), and at least two groups of first key grooves (b) matched with the first flat key (a) are arranged on the cantilever (4d).

3. The test platform of claim 1, wherein: The tensile force sensor (4b) is provided with a digital display, and the lower end of the screw rod (4c) is fixedly provided with a connecting head (4c1) which is rotatably connected with the upper end of the tensile force sensor (4b).

4. The axle gear pair composite drive stiffness test platform of claim 1, wherein: The angle measurement system (5) comprises four groups of laser positioners (5a), two groups of which are installed at the two ends of the driving shaft (2a), and the other two groups are installed at the two ends of the driven shaft (2b).

5. The belt and pinion pair composite drive stiffness test platform of claim 1, wherein: The driving gear is integrally formed with the driving shaft (2a), and the driven gear is integrally formed with the driven shaft (2b), and the driving gear and the driven gear are both hard tooth surface cylindrical gears.

6. A belt shaft gear pair composite transmission stiffness test method based on the belt shaft gear pair composite transmission stiffness test platform according to any one of claims 1 to 5, which method is characterized in that: First, select a gear meshing position, end fixed device (3) will be driven shaft (2b) fixed, using the load loading device (4) to the driving shaft (2a) to apply a torsional load, and calculate the torque value T; after the torsional load is applied, the angle measurement system (5) measures the angle of the driving shaft (2a) and the driven shaft (2b) respectively; then gradually adjust the meshing position of the gear pair, constantly repeat the above process, and obtain the total angle θ in a meshing period by calculation total-ex ; Finally, the composite transmission stiffness k of the gear pair with shafts can be obtained by dividing the torque value T by the total angle of rotation θ total-ex total-ex .​ 7. The belt and pinion gear pair composite drive stiffness test method of claim 6, wherein, The method for measuring the rotation angle of the driving shaft (2a) and the driven shaft (2b) by the angle measurement system (5) is that the laser positioners are installed at the ends of the driving shaft (2a) and the driven shaft (2b), the distance L between the laser positioners and the projected wall surface is recorded before the load loading device (4) applies the torque, the offset amount ΔL of the projected point of the laser positioner on the wall surface is recorded after the load loading device (4) applies the torque T, and then the rotation angle value of the driving shaft (2a) and the driven shaft (2b) is converted by using the trigonometric function.

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