Harmonic reducer performance test system and device

Abstract

The invention discloses a harmonic reducer performance test system and device, and relates to the technical field of reducer performance test, the system comprises the following components: a control system responsible for controlling and coordinating the whole system, the device adopts an advanced automatic control algorithm to ensure efficient and stable operation of the system, and the control system is used for controlling and coordinating the whole system; the control system adopts an advanced automatic control algorithm and a PID control strategy, efficient and stable control over the whole test system is achieved, automation and intellectualization of the test process are achieved through the advanced automatic control and data analysis functions, the test efficiency is improved, manual intervention is reduced, the operation risk is reduced, and the test efficiency is improved. In addition, the control system can adjust control parameters and strategies in real time so as to adapt to different test requirements, and the flexibility and adaptability of the system are further enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of speed reducer performance testing, and in particular to a harmonic speed reducer performance testing system and device. Background Art

[0002] With the continuous progress and development of modern industrial technology, harmonic reducers, as an important mechanical transmission device, have been widely used in the fields of energy, aerospace, aviation, defense industry, and precision machine tools. Harmonic reducers have unique transmission principles and structural characteristics, such as simple structure, small size, light weight, high transmission accuracy, a large number of meshing teeth, and the ability to transmit motion and power to sealed spaces. They provide key transmission support for various high-precision and high-reliability mechanical systems.

[0003] However, in practical applications, harmonic reducers often need to withstand various complex load conditions, such as impact loads, periodic loads, and alternating loads. These complex load conditions will not only have a significant impact on the transmission accuracy and life of the harmonic reducer, but may also cause the harmonic reducer to malfunction or fail during operation. Therefore, accurate evaluation of the dynamic performance of the harmonic reducer is of great significance to ensure its stable operation under various complex working conditions. Traditional harmonic reducer testing methods are usually carried out under static or simple dynamic conditions, which is difficult to accurately simulate the complex load conditions in actual work. The limitation of this test method is that it cannot fully reflect the performance of the harmonic reducer in the actual working environment, and therefore may cause a large deviation between the test results and the actual performance.

[0004] In view of the above situation, it is necessary to optimize the existing harmonic reducer dynamic performance test method, and comprehensively and accurately evaluate the dynamic performance of the harmonic reducer through the high-precision load simulation of the simulation device and the powerful data processing capability of the system. Therefore, the development of a high-precision harmonic reducer dynamic load simulation system and device is of great significance to promote the development of harmonic reducer testing technology and improve the design level and performance of harmonic reducers. Summary of the invention

[0005] The purpose of the present invention is to make up for the deficiencies of the prior art and to provide a harmonic reducer performance testing system and device. Through the high-precision load simulation of the simulation device and the powerful data processing capability of the system, the dynamic performance of the harmonic reducer can be comprehensively and accurately evaluated, providing strong support for the design, optimization and selection of the harmonic reducer.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: On the one hand, a harmonic reducer performance test system comprises the following components:

[0007] Load simulation module: used to simulate various complex load conditions of harmonic reducers in actual work. Through multiple built-in load generation units, it can simulate impact loads, periodic loads and other load types. Each load generation unit has a high-precision adjustment function to ensure that the simulated load is highly consistent with the actual working load;

[0008] Dynamic performance test system: used to measure the dynamic performance parameters of the harmonic reducer under simulated load, such as vibration resistance and fatigue life. The device uses high-precision sensors and measuring instruments to ensure the accuracy and reliability of the test results;

[0009] Data acquisition and processing system: responsible for real-time acquisition of test data, processing and analysis. The device has powerful data processing capabilities and can quickly and accurately obtain test results;

[0010] Control system: responsible for the control and coordination of the entire system. The device adopts advanced automatic control algorithms to ensure efficient and stable operation of the system. At the same time, the control device is also responsible for setting the simulation load parameters and controlling the simulation device to generate corresponding load conditions.

[0011] Furthermore, the load simulation module adjusts the load generation unit through a simulation algorithm to simulate complex load conditions. The algorithm formula is: Where F(t) represents the simulated load at any time (t), n represents the number of periodic loads, and A i represents the amplitude of the (i)th periodic load, which determines the intensity of the load, ω i represents the angular frequency of the (i)th periodic load, which determines the periodic change speed of the load, φ i represents the phase difference of the (i)th periodic load, which determines the phase offset of the load relative to other periodic loads. B(t) represents the impact load function, which describes the non-periodic and sudden load changes. The algorithm allows the load simulation device to accurately simulate the various complex load conditions encountered by the harmonic reducer in the actual working environment, including periodic loads and impact loads, so as to more accurately evaluate the dynamic performance of the harmonic reducer.

[0012] Furthermore, the dynamic performance test system measures the dynamic performance parameters of the harmonic reducer through high-precision sensors, including but not limited to vibration resistance and fatigue life. The vibration resistance evaluation is based on the spectrum analysis of the vibration signal, specifically using the Fourier transform formula: Among them, x(t) is the time domain vibration signal, that is, the vibration data collected by the sensor that changes with time, X(f) is the corresponding frequency domain signal, which represents the amplitude and phase information of the vibration signal at different frequencies, f is the frequency, which represents the variable of different frequency components in the vibration signal, and t is the time, which represents the variable of the vibration signal that changes with time. The system processes and analyzes the frequency domain signal (X(f)) to extract characteristic parameters related to vibration resistance, such as main frequency, bandwidth, and energy distribution, which are used to evaluate the vibration resistance performance of the harmonic reducer.

[0013] Furthermore, the data acquisition and processing system filters and performs noise reduction processing on the collected raw data through convolution integration to improve the accuracy and reliability of subsequent data analysis. The convolution integration formula is: Where: x(τ) represents the original data obtained from the sensor or other data acquisition equipment, h(t) represents the impulse response function of the filter, which determines the way the filter processes the original data, and y(t) represents the data obtained after filtering. Compared with the original data, these data have a higher signal-to-noise ratio and less noise interference, and are more suitable for subsequent performance analysis and evaluation. By filtering and denoising the original data, the accuracy and reliability of the data acquisition and analysis device can be significantly improved, thereby more accurately evaluating the dynamic performance of the harmonic reducer.

[0014] Furthermore, the data acquisition and processing system uses the least squares method to perform linear fitting on the test data to obtain the dynamic performance parameters of the harmonic reducer, and organizes the collected data into the form of a design matrix (X) and an observation vector (y). The design matrix (X) contains data of independent variables (such as time and load), and the observation vector (y) contains observation data of dependent variables (such as vibration amplitude and stress value). The least squares method is used for linear fitting to find the linear model that best represents the data distribution trend. The formula of the least squares method is: Among them, X T is the transpose of the design matrix (X), (y) is the observation vector, is the estimated parameter vector, and the estimated parameter vector calculated by The expression of the linear fitting model is obtained and then used to evaluate the dynamic performance parameters of the harmonic reducer.

[0015] Furthermore, the control system comprises the following specific steps:

[0016] (1) System initialization: Start the control device, perform system self-check and initialization process, ensure that all devices and interfaces are in normal working condition, and load the preset automatic control algorithm and parameter settings;

[0017] (2) Simulation load parameter setting: According to the test requirements, the parameters of the simulation load, such as load size, frequency, and waveform, are set through the user interface or programming interface, and the parameters are passed to the simulation device to control it to generate corresponding load conditions;

[0018] (3) System control: Use automated control algorithms to control and coordinate the system in real time, monitor the system's operating status and sensor data, and adjust control parameters and strategies based on feedback;

[0019] (4) Data interaction: Real-time data interaction with dynamic performance test equipment and data acquisition and processing equipment, receiving data and instructions from other devices, and sending corresponding control signals and parameter settings;

[0020] (5) Test process monitoring: Real-time monitoring of the status and progress of the test process, providing necessary prompts and warning information during the test process to ensure the safety and effectiveness of the test.

[0021] Furthermore, the control system uses PID (proportional-integral-differential) to control the system, and its mathematical formula is: Where u(t) represents the output signal of the control device, e(t) represents the error signal, and K p , K i , K d They are the coefficients of the proportional, integral and differential parts respectively. These coefficients can be determined through system optimization or experiments. By adjusting these coefficients, the control device can achieve efficient and stable control of the system, set the simulated load parameters, and control the simulation device to produce corresponding load conditions.

[0022] On the other hand, a harmonic reducer performance test device includes the following components:

[0023] Load simulation mechanism: including high-precision servo motor, transmission mechanism and control system, used to simulate various complex load conditions of harmonic reducer in actual work, such as impact load and periodic load;

[0024] Harmonic reducer installation platform: This platform is used to install the harmonic reducer to be tested to ensure its fixation and stability. The platform is made of high-strength material and has sufficient rigidity and stability;

[0025] Data acquisition and analysis device: used to collect various data in the test process in real time, such as load size, deformation, vibration response, and realize fast and accurate data acquisition through high-precision sensors and data acquisition cards. At the same time, the module also has data analysis function, which can process and analyze the test data to obtain the dynamic performance indicators of the harmonic reducer;

[0026] Control system: This system is the core part of the whole device, responsible for coordinating and controlling the work of each part. It adopts advanced control algorithms and control systems to achieve precise control of the load simulation system, data acquisition and analysis system. At the same time, the control system also has a human-computer interaction interface, which is convenient for users to set parameters and monitor the test process.

[0027] Furthermore, the data acquisition and analysis device is responsible for real-time data acquisition during the test, and processing and analyzing the data. High-precision sensors are arranged at key positions of the harmonic reducer to measure the load size, deformation, and vibration response parameters in real time. The data acquisition card converts the data collected by the sensor into a digital signal and transmits it to the data analysis software for processing and analysis. The data analysis software can perform various processing and analysis on the test data, including data filtering, feature extraction, and trend prediction. By processing and analyzing these data, the dynamic performance indicators of the harmonic reducer, such as vibration resistance and fatigue life, can be obtained.

[0028] Furthermore, the method for using the device is:

[0029] (1) Test preparation: Place the harmonic reducer to be tested on the harmonic reducer mounting platform and secure it with a fixture to ensure that it does not move or loosen during the test. Connect all necessary cables and pipes, including connecting the high-precision sensor to the data acquisition card, and connecting the control system to the servo motor and transmission mechanism. Turn on the power of the control system and perform initialization settings to ensure that all components are in normal working condition.

[0030] (2) Parameter setting: Set the test parameters through the control system, including the simulated load type, load size, frequency, waveform, test duration, and number of cycles. Set the parameters of the data acquisition and analysis system as needed, such as sampling frequency and data acquisition range;

[0031] (3) Start the test: After ensuring that all parameters are set correctly, start the test. The control system will simulate the required load conditions through the high-precision servo motor and transmission mechanism according to the set parameters and apply them to the harmonic reducer. The data acquisition and analysis system will collect data in real time during the test, such as load size, deformation, and vibration response, and transmit these data to the data analysis software for processing and analysis;

[0032] (4) Monitoring and adjustment: During the test, the user can monitor the test process in real time through the human-computer interaction interface of the control system, including load application, test time, and test results. If the test parameters need to be adjusted or the test needs to be stopped, the user can perform corresponding operations through the control system. The control system will adjust the control signal of the servo motor according to the actual situation, or stop the test and save the test data;

[0033] (5) Test end and result analysis: When the test reaches the preset end condition, the control system will automatically stop the test and save the test data. The user can process and analyze the test data through the data analysis software to obtain the dynamic performance indicators of the harmonic reducer. Based on the test results, the user can evaluate and optimize the performance of the harmonic reducer to improve its stability and reliability in practical applications.

[0034] Compared with the prior art, the harmonic reducer performance test system and device have the following beneficial effects:

[0035] 1. The present invention can fully simulate various complex load conditions encountered by the harmonic reducer in the actual working environment through the load simulation mechanism, and use high-precision sensors to accurately measure its dynamic performance parameters under these conditions. The accuracy and reliability of the test results are ensured by adopting high-precision adjustment functions and advanced automatic control algorithms, thereby providing users with a comprehensive evaluation and in-depth analysis of the dynamic performance of the harmonic reducer, improving the efficiency of product quality control and research and development, and helping enterprises to occupy a favorable position in market competition.

[0036] 2. The present invention realizes efficient and stable control of the entire test system through the control system adopting advanced automatic control algorithms and PID control strategies. Through advanced automatic control and data analysis functions, the automation and intelligence of the test process are realized, which not only improves the test efficiency and reduces manual intervention, but also reduces operational risks and ensures the safety and effectiveness of the test. In addition, the control system can also adjust the control parameters and strategies in real time to adapt to different test requirements, further enhancing the flexibility and adaptability of the system.

[0037] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 The figure is a schematic diagram of the working connection of a harmonic reducer performance test device.

[0040] Figure 2 The figure is a flow chart of a harmonic reducer performance test system. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example 1

[0043] In this embodiment, a practical application process of a harmonic reducer performance test system is described in detail. First, the control device of the harmonic reducer performance test system is started to perform a system self-check and initialization process. During the self-check process, ensure that all devices and interfaces are in normal working condition, including the load simulation module, the dynamic performance test system, the data acquisition and processing system, and the control system itself.

[0044] Next, the preset automatic control algorithm and parameter settings are loaded. These parameters include but are not limited to the type, intensity, frequency of the simulated load, as well as the filtering parameters and spectrum analysis parameters required in the data acquisition and processing process. According to user requirements, the control system generates simulated loads through the load simulation module, and the load simulation module uses the simulation algorithm To simulate complex load conditions, in this formula, A i ,ω i ,φ i represent the amplitude, angular frequency and phase difference of the i-th periodic load, respectively, and B(t) represents the impact load function.

[0045] Then, by adjusting these parameters, the control system can accurately simulate the complex load conditions that the harmonic reducer may encounter in actual applications, including periodic loads of different intensities, frequencies and phases, as well as non-periodic impact loads. Once the simulated load is generated, the dynamic performance test system starts working. The system uses high-precision sensors to collect the dynamic response data of the harmonic reducer under the simulated load in real time, such as vibration signals and stress changes. The collected raw data is first transmitted to the data acquisition and processing system for processing. The processing system uses the convolution integral formula The raw data is filtered and denoised to improve the signal-to-noise ratio and accuracy of the data.

[0046] After that, the filtered and denoised data is further analyzed, and the processing system uses the Fourier transform formula The filtered vibration signal is subjected to spectrum analysis to extract characteristic parameters related to vibration resistance, such as main frequency, bandwidth, and energy distribution. These parameters will be used to evaluate the vibration resistance of the harmonic reducer. In addition, the processing system also uses the least squares method to perform linear fitting on the test data. The linear model that best represents the data distribution trend is calculated to obtain the dynamic performance parameters of the harmonic reducer, such as fatigue life.

[0047] Finally, throughout the test process, the control system is responsible for monitoring the real-time acquisition and processing of test data to ensure the accuracy and reliability of the test. Once the test is completed, the control system outputs the processed data and results to the user interface or storage device for user analysis and evaluation.

[0048] Example 2

[0049] In this embodiment, a method for using a harmonic reducer performance testing device is described in detail. The load simulation mechanism is used to fully simulate various complex load conditions encountered by the harmonic reducer in an actual working environment, thereby providing users with a comprehensive evaluation and in-depth analysis of the dynamic performance of the harmonic reducer.

[0050] First, ensure that all parts of the high-precision harmonic reducer dynamic load simulation and performance test device (including load simulation system, harmonic reducer installation platform, data acquisition and analysis system, control system) are intact and in good working condition, and place the device in a stable, vibration-free environment to ensure the accuracy of the test results.

[0051] Secondly, place the harmonic reducer to be tested on the harmonic reducer mounting platform, ensure that it is in close contact with the platform without shaking, and use the fixing device on the mounting platform to firmly fix the harmonic reducer on the platform to prevent it from moving or falling off during the test.

[0052] Then, start the control system and open the human-computer interaction interface of the control system. Set the test parameters on the human-computer interaction interface, including the simulated load type (such as impact load, periodic load), load size, frequency, and waveform. According to specific test requirements, multiple groups of parameters can be set for continuous testing.

[0053] After that, click the "Start Test" button on the human-computer interaction interface, the control system will start the load simulation system according to the set parameters and start the test. During the test, the control system will monitor the load application in real time, including load size, application time, waveform, and compare it with the set value. The control signal of the servo motor will be adjusted through the feedback mechanism to ensure accurate simulation of the load. The data acquisition and analysis system will collect data in real time during the test, such as load size, deformation, and vibration response, and convert the data into digital signals for transmission and storage.

[0054] Finally, when the test reaches the preset end conditions (such as reaching the specified test time, completing a specific number of test cycles), the control system will automatically stop the test and save the test data. The collected test data will be processed and analyzed using data analysis software to obtain the dynamic performance indicators of the harmonic reducer, such as vibration resistance and fatigue life. The data will be visualized as needed to facilitate understanding and comparison. At the same time, after each test, the device will be cleaned to remove dust and dirt, keep the equipment in good condition, and regularly maintain and service the device, including checking the working status of the motor and sensor components and replacing worn parts.

[0055] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A harmonic reducer performance test system, characterized in that: The system consists of the following components: Load simulation module: used to simulate various complex load conditions of harmonic reducers in actual work. Through multiple built-in load generation units, it can simulate impact loads, periodic loads and other load types. Each load generation unit has a high-precision adjustment function to ensure that the simulated load is highly consistent with the actual working load; Dynamic performance test system: used to measure the dynamic performance parameters of the harmonic reducer under simulated load, such as vibration resistance and fatigue life. The device uses high-precision sensors and measuring instruments to ensure the accuracy and reliability of the test results; Data acquisition and processing system: responsible for real-time acquisition of test data, processing and analysis. The device has powerful data processing capabilities and can quickly and accurately obtain test results; Control system: responsible for the control and coordination of the entire system. The device adopts advanced automatic control algorithms to ensure efficient and stable operation of the system. At the same time, the control device is also responsible for setting the simulation load parameters and controlling the simulation device to generate corresponding load conditions.

2. A harmonic reducer performance testing system according to claim 1, characterized in that: The load simulation module adjusts the load generation unit through a simulation algorithm to simulate complex load conditions. The algorithm formula is: Where F(t) represents the simulated load at any time (t), n represents the number of periodic loads, and A i represents the amplitude of the (i)th periodic load, which determines the intensity of the load, ω i represents the angular frequency of the (i)th periodic load, which determines the periodic change speed of the load, φ i represents the phase difference of the (i)th periodic load, which determines the phase offset of the load relative to other periodic loads. B(t) represents the impact load function, which describes the non-periodic and sudden load changes. The algorithm allows the load simulation device to accurately simulate the various complex load conditions encountered by the harmonic reducer in the actual working environment, including periodic loads and impact loads, so as to more accurately evaluate the dynamic performance of the harmonic reducer.

3. A harmonic reducer performance testing system according to claim 1, characterized in that: The dynamic performance test system measures the dynamic performance parameters of the harmonic reducer through high-precision sensors, including but not limited to vibration resistance and fatigue life. The vibration resistance evaluation is based on the spectrum analysis of the vibration signal, specifically using the Fourier transform formula: Among them, x(t) is the time domain vibration signal, that is, the vibration data collected by the sensor that changes with time, X(f) is the corresponding frequency domain signal, which represents the amplitude and phase information of the vibration signal at different frequencies, f is the frequency, which represents the variable of different frequency components in the vibration signal, and t is the time, which represents the variable of the vibration signal that changes with time. The system processes and analyzes the frequency domain signal (X(f)) to extract characteristic parameters related to vibration resistance, such as main frequency, bandwidth, and energy distribution, which are used to evaluate the vibration resistance performance of the harmonic reducer.

4. A harmonic reducer performance testing system according to claim 1, characterized in that: The data acquisition and processing system filters and reduces noise on the collected raw data through convolution integration to improve the accuracy and reliability of subsequent data analysis. The convolution integration formula is: Where: x(τ) represents the original data obtained from the sensor or other data acquisition equipment, h(t) represents the impulse response function of the filter, which determines the way the filter processes the original data, and y(t) represents the data obtained after filtering. Compared with the original data, these data have a higher signal-to-noise ratio and less noise interference, and are more suitable for subsequent performance analysis and evaluation. By filtering and denoising the original data, the accuracy and reliability of the data acquisition and analysis device can be significantly improved, thereby more accurately evaluating the dynamic performance of the harmonic reducer.

5. A harmonic reducer performance testing system according to claim 1, characterized in that: The data acquisition and processing system uses the least squares method to perform linear fitting on the test data to obtain the dynamic performance parameters of the harmonic reducer. The collected data is organized into the form of a design matrix (X) and an observation vector (y). The design matrix (X) contains data of independent variables (such as time and load), and the observation vector (y) contains observation data of dependent variables (such as vibration amplitude and stress value). The least squares method is used for linear fitting to find the linear model that best represents the data distribution trend. The formula of the least squares method is: Among them, X T is the transpose of the design matrix (X), (y) is the observation vector, is the estimated parameter vector, and the estimated parameter vector calculated by The expression of the linear fitting model is obtained and then used to evaluate the dynamic performance parameters of the harmonic reducer.

6. A harmonic reducer performance testing system according to claim 1, characterized in that: The control system has the following specific steps: (1) System initialization: Start the control device, perform system self-check and initialization process, ensure that all devices and interfaces are in normal working condition, and load the preset automatic control algorithm and parameter settings; (2) Simulation load parameter setting: According to the test requirements, the parameters of the simulation load, such as load size, frequency, and waveform, are set through the user interface or programming interface, and the parameters are passed to the simulation device to control it to generate corresponding load conditions; (3) System control: Use automated control algorithms to control and coordinate the system in real time, monitor the system's operating status and sensor data, and adjust control parameters and strategies based on feedback; (4) Data interaction: Real-time data interaction with dynamic performance test equipment and data acquisition and processing equipment, receiving data and instructions from other devices, and sending corresponding control signals and parameter settings; (5) Test process monitoring: Real-time monitoring of the status and progress of the test process, providing necessary prompts and warning information during the test process to ensure the safety and effectiveness of the test.

7. A harmonic reducer performance testing system according to claim 1, characterized in that: The control system uses PID (proportional-integral-differential) to control the system, and its mathematical formula is: Where u(t) represents the output signal of the control device, e(t represents the error signal, K p , K i , K d They are the coefficients of the proportional, integral and differential parts respectively. These coefficients can be determined through system optimization or experiments. By adjusting these coefficients, the control device can achieve efficient and stable control of the system, set the simulated load parameters, and control the simulation device to produce corresponding load conditions.

8. A harmonic reducer performance test device, characterized in that: The device consists of the following components: Load simulation mechanism: including high-precision servo motor, transmission mechanism and control system, used to simulate various complex load conditions of harmonic reducer in actual work, such as impact load and periodic load; Harmonic reducer installation platform: This platform is used to install the harmonic reducer to be tested to ensure its fixation and stability. The platform is made of high-strength material and has sufficient rigidity and stability; Data acquisition and analysis device: used to collect various data in the test process in real time, such as load size, deformation, vibration response, and realize fast and accurate data acquisition through high-precision sensors and data acquisition cards. At the same time, the module also has data analysis function, which can process and analyze the test data to obtain the dynamic performance indicators of the harmonic reducer; Control system: This system is the core part of the entire device, responsible for coordinating and controlling the work of each part. It adopts advanced control algorithms and control systems to achieve precise control of the load simulation system and data acquisition and analysis system. At the same time, the control system also has a human-computer interaction interface to facilitate users to set parameters and monitor the test process.

9. A harmonic reducer performance testing device according to claim 8, characterized in that: The data acquisition and analysis device is responsible for real-time data acquisition during the test, and processing and analyzing the data. High-precision sensors are arranged at key positions of the harmonic reducer to measure the load size, deformation, and vibration response parameters in real time. The data acquisition card converts the data collected by the sensor into digital signals and transmits them to the data analysis software for processing and analysis. The data analysis software can perform various processing and analysis on the test data, including data filtering, feature extraction, and trend prediction. By processing and analyzing these data, the dynamic performance indicators of the harmonic reducer, such as vibration resistance and fatigue life, can be obtained.

10. A harmonic reducer performance testing device according to claim 8, characterized in that: The method of using the device is as follows: (1) Test preparation: Place the harmonic reducer to be tested on the harmonic reducer mounting platform and secure it with a fixture to ensure that it does not move or loosen during the test. Connect all necessary cables and pipes, including connecting the high-precision sensor to the data acquisition card, and connecting the control system to the servo motor and transmission mechanism. Turn on the power of the control system and perform initialization settings to ensure that all components are in normal working condition. (2) Parameter setting: Set the test parameters through the control system, including the simulated load type, load size, frequency, waveform, test duration, and number of cycles. Set the parameters of the data acquisition and analysis system as needed, such as sampling frequency and data acquisition range; (3) Start the test: After ensuring that all parameters are set correctly, start the test. The control system will simulate the required load conditions through the high-precision servo motor and transmission mechanism according to the set parameters and apply them to the harmonic reducer. The data acquisition and analysis system will collect data in real time during the test, such as load size, deformation, and vibration response, and transmit these data to the data analysis software for processing and analysis; (4) Monitoring and adjustment: During the test, the user can monitor the test process in real time through the human-computer interaction interface of the control system, including load application, test time, and test results. If the test parameters need to be adjusted or the test needs to be stopped, the user can perform corresponding operations through the control system. The control system will adjust the control signal of the servo motor according to the actual situation, or stop the test and save the test data; (5) Test end and result analysis: When the test reaches the preset end condition, the control system will automatically stop the test and save the test data. The user can process and analyze the test data through the data analysis software to obtain the dynamic performance indicators of the harmonic reducer. Based on the test results, the user can evaluate and optimize the performance of the harmonic reducer to improve its stability and reliability in practical applications.

Images