Transmission device testing device

Abstract

The invention relates to a transmission device testing device for the NVH characteristic of a robot speed reducer, and the device comprises a rack, a transmission device and a load, the rack comprises a test bench and a pedestal, the transmission device comprises a first-stage transmission structure and a second-stage transmission structure, the first-stage transmission structure comprises a driving device and a gear structure, the second-stage transmission structure comprises a harmonic speed reducer, and the harmonic speed reducer is connected with the pedestal. The driving device and the harmonic reducer are fixed on the test board, the gear structure is connected to the driving device and the harmonic reducer, and the load is in transmission connection with the output end of the harmonic reducer. The transmission device testing device provided by the invention is provided with a gear structure and a harmonic reducer two-stage transmission structure, the noise during the operation of the transmission device can be tested when the motor is started, the whole robot does not need to be tested, the complex disassembly work during problem analysis is avoided, the disassembly and assembly frequency of key parts of the robot is reduced, and meanwhile, the cost is reduced. The whole testing device adopts an open structure, is convenient for disassembly and assembly of related parts, and is also suitable for installation of various sensors and acquisition of in-situ data.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of robotics technology, and in particular, to a transmission device testing device for testing NVH characteristics of a robot reducer. Background Art

[0002] Harmonic or RV harmonic reducer is a kind of transmission device with compact structure, high transmission accuracy, large transmission ratio and strong load-bearing capacity, which is widely used in the robotics industry.

[0003] The robot noise test method focuses on the noise test of the robot as a whole. The noise source of the robot mainly comes from the transmission chains, so it is also the focus of NVH performance design and analysis. For industrial robots with small loads (<10kg), there are strict operating noise level standards. In addition, the electrical design of this type of robot generally adopts a full internal wiring solution. The electrical cables need to pass through the transmission chain, making the transmission chain design more complicated. It is generally divided into a direct-connected double U-shaped wiring solution for the first-level transmission motor and a hollow wiring solution for the second-level transmission. This type of relatively complex transmission chain design has high assembly process requirements and complex sequences. After the whole machine is assembled and wired, it will be tested and run-in, and then repositioned and disassembled after the problems are exposed.

[0004] In the prior art, the idea is mainly based on the overall structural test. During the test, it is necessary to go through the complete machine assembly process, and the subsequent frequent disassembly and assembly verification process may involve the disassembly and assembly of irrelevant parts, resulting in poor testing efficiency. In addition, the repeated disassembly and assembly of some parts will affect the life of the structure. Due to the limitations of the actual machine's structural parts, some of the geometric dimensions of the transmission chain that affect the noise level cannot be changed, such as the inclination and the gear center distance, which lacks flexibility. In addition, due to the complex shape of the actual machine's structural parts and the small space, it is difficult to install contact sensors and measure in-situ data. Summary of the invention

[0005] The embodiment of the present application provides a transmission device testing device to at least partially improve the above technical problems.

[0006] An embodiment of the present application provides a transmission device testing device, including a test bench, a transmission device and a load, the test bench including a test bench and a base, the test bench is arranged on the base, the transmission device includes a primary transmission structure and a secondary transmission structure, the primary transmission structure includes a drive device and a gear structure, the secondary transmission structure includes a harmonic reducer, the drive device is fixed to the test bench, the harmonic reducer is fixed to the test bench, the gear structure is transmission-connected between the drive device and the harmonic reducer, and the load is transmission-connected to the output end of the harmonic reducer.

[0007] In some embodiments, the driving device is a motor, and the gear structure includes a main gear disposed on the motor and a driven gear disposed on the harmonic reducer, and the main gear and the driven gear are meshed.

[0008] In some embodiments, the primary transmission structure further includes an adapter plate, the adapter plate is mounted on the test bench, and the motor is fixed to the adapter plate.

[0009] In some embodiments, the motor has a flange, the flange is mounted on the adapter plate, and a radial seal is provided between the adapter plate and the flange.

[0010] In some embodiments, the center distance and / or coaxiality between the master gear and the driven gear may vary.

[0011] In some embodiments, the adapter plate is movable relative to the test station.

[0012] In some embodiments, the test bench is provided with a first connection hole, which is a bar-shaped hole. The transmission device test device further includes a bolt, which passes through the bar-shaped hole and fixes the adapter plate to the test bench.

[0013] In some embodiments, the test bench is provided with a stopper, which is located on the moving path of the adapter plate and is used to limit the moving range of the adapter plate.

[0014] In some implementations, the stopper is located on a side surface of the test bench close to the adapter plate.

[0015] In some embodiments, the harmonic reducer has a hollow wave generator, and the secondary transmission structure also includes a load transfer plate, which is connected to the flexible wheel side of the harmonic reducer, and the load is connected to the load transfer plate. The rigid wheel side of the harmonic reducer is installed in the test bench through a bearing.

[0016] In some embodiments, the load includes a rack and a load sheet mounted on the rack.

[0017] In some embodiments, the load sheet is disposed off-center relative to the hollow wave generator.

[0018] The transmission device testing device provided in the embodiment of the present application has a two-stage transmission structure of a gear structure and a harmonic reducer. When the motor is started, the noise of the entire transmission device during operation can be tested without testing on the entire robot, thereby avoiding complicated disassembly work when analyzing problems and reducing the number of times the key components of the robot are disassembled and assembled. At the same time, the entire test device adopts an open structure, which is convenient for the disassembly and assembly of related components and is also suitable for the installation of various sensors to collect in-situ data. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a structural schematic diagram of a transmission device testing device provided in an embodiment of the present application.

[0021] Figure 2 It is a structural schematic diagram of a transmission device in a transmission device testing device provided in an embodiment of the present application.

[0022] Figure 3 It is a schematic diagram of the cross-sectional structure of a transmission device testing device provided in an embodiment of the present application.

[0023] Figure 4 It is a structural schematic diagram of an adapter plate in a transmission device testing device provided in an embodiment of the present application.

[0024] Figure 5 It is a structural schematic diagram of a test bench in a transmission device testing device provided in an embodiment of the present application from a viewing angle.

[0025] Figure 6 It is a structural schematic diagram of a test bench in a transmission device testing device provided in an embodiment of the present application from another perspective. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0027] In the prior art, the test of the transmission device of the robot reducer NVH characteristics is mainly based on the idea of ​​overall structural testing. During the test, it is necessary to go through the complete machine assembly process, and the subsequent frequent disassembly and assembly verification process may involve the disassembly and assembly of irrelevant parts, and the test efficiency is poor. In addition, the repeated disassembly and assembly of some parts will affect the life of the structure. Due to the limitations of the actual machine's structural parts, some of the geometric dimensions of the transmission chain that affect the noise level cannot be changed, such as the inclination and the gear center distance, which lacks flexibility. In addition, due to the complex shape of the actual machine's structural parts and the small space, it is difficult to install contact sensors and measure in-situ data. .

[0028] Based on this, the embodiment of the present application provides a transmission device test device, which makes it unnecessary to test on the entire robot, avoids the complicated disassembly work when analyzing the problem, reduces the number of times the key parts of the robot are disassembled and assembled, and at the same time, the entire test device adopts an open structure, which is convenient for the disassembly and assembly of related parts, and is also suitable for the installation of various sensors and the collection of in-situ data. The transmission device test device provided in this embodiment will be described in detail below in conjunction with the accompanying drawings.

[0029] See also Figure 1 The present embodiment provides a transmission device testing device 10, including a test bench 300, a transmission device 20 and a load 600, wherein the test bench 300 serves as a support for the entire transmission device testing device 10 and is used to install and fix the transmission device 20, and the load 600 is used to be connected to the transmission device 20 and is used to test the load-bearing capacity of the transmission device 20.

[0030] Specifically, if Figure 1 As shown, the test bench 300 includes a test bench 320 and a base 310. The test bench 320 is arranged on the base 310. The base 310 is used to support the ground or other bearing surface, as a supporting structure of the entire transmission device testing device 10, and the test bench 320 is arranged on the base 310 and is used to install the transmission device 20. Among them, the base 310 can be configured as any structure as long as it can provide stable support, and this embodiment does not limit this. In this embodiment, the test bench 320 is a roughly plate-like structure, and the test bench 320 can be roughly parallel to the supporting surface of the base 310.

[0031] Figure 2 The structure of the transmission device 20 in the embodiment of the present application is shown. Figure 1 and Figure 2 The transmission device 20 includes a primary transmission structure and a secondary transmission structure. The primary transmission structure includes a driving device and a gear structure. The secondary transmission structure includes a harmonic reducer 400. The driving device is fixed to the test bench 320. The harmonic reducer 400 is fixed to the test bench 320. The gear structure is transmission-connected between the driving device and the harmonic reducer 400.

[0032] In this embodiment, the driving device is a motor 100, and the gear structure includes a main gear 110 provided on the motor 100 and a driven gear 430 provided on the harmonic reducer 400. The main gear 110 and the driven gear 430 are meshed to form a transmission between the motor 100 and the harmonic reducer 400. In this embodiment, the main gear 110 is provided on the output shaft of the motor 100, and the main gear 110 serves as a power output gear. The main gear 110 and the driven gear 430 are meshed. When the motor 100 is started, the main gear 110 rotates to drive the driven gear 430 to rotate, thereby driving the harmonic reducer 400 to rotate.

[0033] Specifically, see Figure 3 , Figure 3 The cross-sectional structure diagram of the transmission device testing device 10 provided in this embodiment is shown. Figure 3 As shown, the harmonic reducer 400 includes a hollow wave generator 420, and a driven gear 430 is arranged at one end of the hollow wave generator 420 close to the test bench 320, that is, arranged on the steel wheel side of the harmonic reducer 400. The hollow wave generator 420 is hollow inside and can be used for wiring, so that the wire harness can pass through the inside of the transmission device 20 without being entangled outside the transmission device 20, which is beneficial to the movement of the transmission device 20. The flexible wheel side of the harmonic reducer 400 is used to connect the load 600.

[0034] In this embodiment, the primary transmission structure further includes an adapter plate 200, which is connected to the test bench 320 and is used to install the motor 100 of the transmission device 20. The adapter plate 200 is a roughly plate-shaped structure. The adapter plate 200 and the test bench 320 can be fixedly connected by bolts or the like. Specifically, in this embodiment, Figure 4 The structure of the adapter plate 200 in this embodiment is shown. Figure 4 As shown, the adapter plate 200 is provided with a first connection hole 211, the number of the first connection holes 211 is multiple, the multiple first connection holes 211 penetrate the adapter plate 200, and the bolts pass through the first connection holes 211 to be connected and fixed to the test bench 320. In order to improve the fixing stability of the adapter plate 200, the multiple first connection holes 211 can be evenly arranged at the edge of the adapter plate 200. The adapter plate 200 is also provided with a second connection hole 221, the number of the second connection holes 221 is also multiple, and the multiple second connection holes 221 are used to install the transmission device 20.

[0035] In this embodiment, the adapter plate 200 includes a central portion 220 and a fixing portion 210 connected to two opposite ends of the central portion 220, a plurality of second connection holes 221 are provided in the central portion 220, and a plurality of first connection holes 211 are provided on the fixing portion 210 at two opposite ends of the central portion 220. In this arrangement, when the transmission device 20 is assembled to the adapter plate 200, the second connection holes 221 can be exposed, which facilitates the assembly and disassembly of the adapter plate 200 and the test bench 320. The central portion 220 is also provided with a central hole 222, and a plurality of second connection holes 221 are evenly distributed around the central hole 222.

[0036] The motor 100 is fixed to the adapter plate 200. Specifically, the motor 100 has a flange, which is fixed to the plurality of second connection holes 221 by bolts. When fixed, there is a radial seal between the flange of the motor 100 and the adapter plate 200. By improving the sealing performance, water and dust can be prevented from entering the interior of the transmission device 20, and oil leakage can also be prevented. The output shaft of the motor 100 corresponds to the center hole 222 and passes through the center hole 222. The main gear 110 is arranged on the output shaft of the motor 100. The main gear 110 and the motor 100 are located on opposite sides of the adapter plate 200.

[0037] The harmonic reducer 400 is fixed to the test bench 320. For details, please refer to Figure 3 The harmonic reducer 400 includes a housing 410 and an internal hollow wave generator, the hollow wave generator is disposed in the housing 410 , and the hollow wave generator can rotate relative to the test bench 320 . The housing 410 is supported on the test bench 320 . Figure 5 and Figure 6 The structure of the test bench 320 is shown. Figure 5 and Figure 6 The test bench 320 is provided with a first mounting portion 321 and a second mounting portion 322. The first mounting portion 321 is provided with a first mounting hole 324. The first mounting hole 324 is a blind hole, and the opening direction faces the harmonic reducer 400. One end of the hollow wave generator 420 (the end close to the steel wheel test) is embedded in the first mounting hole 324 of the first mounting portion 321 of the test bench 320, and is fixed in the first mounting hole 324 of the first mounting portion 321 through a bearing 440. In order to facilitate the installation and fixing of the harmonic reducer 400, in this embodiment, the first mounting portion 321 is also provided with a step 325, and a plurality of fixing holes 326 are evenly arranged on the step 325. The housing 410 of the harmonic reducer 400 can be carried on the step 325 and fixed on the fixing hole 326 by bolts. A connecting hole 327 is provided at the connection between the first mounting portion 321 and the second mounting portion 322, and the connecting hole 327 connects the first mounting hole 324 and the second mounting hole.

[0038] The hollow wave generator 420 can rotate relative to the test bench 320. The driven gear 430 is disposed at the portion of the hollow wave generator 420 embedded in the first mounting hole 324 and is coaxial with the hollow wave generator 420. The axial direction of the hollow wave generator 420 and the axial direction of the output shaft of the motor 100 are substantially parallel to each other.

[0039] The second mounting portion 322 is provided with a second mounting hole (not shown), which is also a blind hole, and the opening direction of the second mounting hole is opposite to the opening direction of the first mounting hole 324, so as to facilitate the assembly of the motor. Specifically, the center hole 222 on the adapter plate 200 corresponds to the second mounting hole, and the main gear 110 provided on the output shaft of the motor 100 extends into the second mounting hole, and the main gear 110 can partially pass through the connecting hole 327 and extend into the first mounting hole 324, and mesh with the driven gear 430 to form a transmission. The second mounting portion 322 of the test bench 320 is also provided with a locking hole 323, which is used to correspond to the second connecting hole 221 to lock the adapter plate 200 to the second mounting portion of the test bench 320. The number of the locking holes 323 can be one or more, and the locking holes 323 correspond to the multiple first connecting holes 211 one by one, and the adapter plate 200 is locked on the second mounting portion 322 of the test bench 320 by passing the bolts through the first connecting hole 211 and the locking holes 323. When the adapter plate 200 and the test bench 320 are fixed, an axial seal is provided to prevent oil leakage and foreign matter from entering.

[0040] The load 600 is connected to the flexible wheel side of the harmonic reducer 400. In one embodiment, the load 600 can be directly connected to the harmonic reducer 400. In this embodiment, in order to facilitate the installation of the load 600, the transmission device test device 10 also includes a load adapter plate 500, which is connected to the flexible wheel side of the harmonic reducer 400. The side of the load adapter plate 500 facing the harmonic reducer 400 is provided with a third mounting hole (not shown). The end of the hollow wave generator 420 away from the driven gear 430 is installed in the third mounting hole in the load adapter plate 500 through the bearing 440. In this way, during the rotation of the hollow wave generator 420, the load adapter plate 500 remains relatively fixed, and the load adapter plate 500 is also fixedly connected to the housing 410 of the harmonic reducer 400 by bolts.

[0041] The load transfer plate 500 is used to install the load 600 and is connected to the harmonic reducer 400. The present embodiment does not limit the specific structure of the load transfer plate 500. In the present embodiment, the load transfer plate 500 is a roughly disc-shaped structure. The load 600 includes a hanger 610 and a load sheet 620 mounted on the hanger 610. The hanger 610 can be a roughly rod-shaped structure. One end of the hanger 610 is bolted to the end of the load transfer plate 500 away from the harmonic reducer 400. The load sheet 620 can be one or more. The load sheet 620 can be installed on the end of the hanger 610 away from the load transfer plate 500 by hanging, bolting, etc.

[0042] In one embodiment, the load sheet 620 is eccentrically arranged relative to the hollow wave generator 420, and the eccentric arrangement means that the center of gravity of the load sheet 620 does not coincide with the axial direction of the hollow wave generator 420. By eccentrically arranging the load sheet 620, the stability, noise and other parameters of the transmission device 20 when subjected to an eccentric torque can be tested. Under some other test conditions, the load sheet 620 can also be arranged non-eccentrically relative to the hollow wave generator 420. At this time, multiple load sheets 620 can be evenly arranged along the circumference of the rack 610, so that the center of gravity of the multiple load sheets 620 is located in the axial direction of the hollow wave generator 420, that is, it is non-eccentrically arranged relative to the hollow wave generator 420. According to different test requirements, the weight and eccentricity of the load sheet 620 can be appropriately adjusted, which is not limited in this embodiment.

[0043] The transmission device test device 10 mentioned above has a two-stage transmission structure of a motor 100 and a harmonic reducer 400. The motor 100 is installed on the test bench 320 through an adapter plate 200. The main gear 110 of the motor 100 is meshed with the driven gear 430 of the harmonic reducer 400. When the motor 100 is started, the noise and assembly accuracy of the entire transmission device 20 during operation can be tested. During the test, the motor 100 of the transmission device 20 is started to drive the hollow wave generator 420 of the harmonic reducer 400 to rotate, that is, the noise during the operation of the transmission device 20 can be tested. At the same time, all parts of the transmission device 20 are in an open state, which is convenient for the installation of various sensors and the collection of in-situ data. The weight of the load 600 at the end of the harmonic reducer 400 and the eccentricity of the load 600 are adjustable, which can simulate various operating conditions of the transmission device and realize the testing of various operating conditions. Furthermore, during the test process, there is no need to separate the two-stage transmission structure for testing, which can improve the test efficiency, reduce the number of disassembly and assembly times, and avoid affecting the life of the transmission device 20.

[0044] In this embodiment, the center distance between the main gear 110 and the driven gear 430 can be changed. The center distance refers to the distance between the central axis of the main gear 110 and the central axis of the driven gear 430, that is, the distance between the axis of the output shaft of the motor 100 and the axis of the hollow wave generator 420. When the center distance changes, the meshing state between the main gear 110 and the driven gear 430 changes, and then the fine adjustment state of the transmission device 20 changes. When problems such as assembly accuracy arise during the test process, the center distance between the main gear 110 and the driven gear 430 can be directly adjusted to avoid repeated disassembly and assembly, thereby improving the test efficiency while avoiding damage to parts and affecting their service life.

[0045] There are many ways to adjust the center distance between the main gear 110 and the driven gear 430. For example, the harmonic reducer 400 and / or the motor 100 can be set to be movable. For example, the test bench 320 can be set into two parts, and the two parts can move relative to each other, etc. This embodiment does not limit this.

[0046] As a more specific implementation, in this embodiment, the adapter plate 200 is configured to be movable relative to the test bench 320. During the movement of the adapter plate 200 relative to the test bench 320, the center distance between the gear and the driven gear 430 changes, and in some cases, the coaxiality between the motor 100 and the main gear 110 can be adjusted. After the adapter plate 200 moves relative to the test bench 320, it can be tightened again so that the adapter plate 200 and the test bench 320 remain relatively fixed during the entire test process.

[0047] More specifically, in the present embodiment, the locking hole 323 provided on the test bench 320 is configured as a strip-shaped hole, and the transmission device test device 10 further includes a bolt, which is passed through the locking hole 323 and fixes the adapter plate 200 to the second mounting portion 322 of the test bench 320, wherein the bolt can move in the locking hole 323 along the extension direction of the locking hole 323. There are multiple locking holes 323, and the extension direction of each locking hole 323 (i.e., the extension direction of the strip-shaped hole) is the same. When the relative position of the adapter plate 200 and the test bench 320 needs to be changed, the bolt is loosened so that the adapter plate 200 and the test bench 320 can move relative to each other, and after fine-tuning the position of the adapter plate 200 as needed, the bolt can be tightened again. This setting method can adjust the relative positions of the harmonic reducer 400 and the motor 100 without disassembling the motor 100 and the harmonic reducer 400, and then adjust the center distance between the main gear 110 and the driven gear 430, thereby reducing the number of disassembly and reassembly times, improving testing efficiency, and minimizing damage to components to ensure the service life of each component.

[0048] In the process of adjusting the relative position of the adapter plate 200 and the test bench 320, in order to avoid a violent collision between the main gear 110 and the driven gear 430 and damage to the main gear 110 or the driven gear 430, it is necessary to appropriately limit the relative position of the adapter plate 200 and the test bench 320 to prevent a collision between the main gear 110 and the driven gear 430 due to excessive position change during the process of adjusting the relative position of the adapter plate 200 and the test bench 320. To this end, in this embodiment, the test bench 320 is provided with a stopper 328, which is located on the moving path of the adapter plate 200 and is used to limit the moving range of the adapter plate 200 to prevent a collision between the main gear 110 and the driven gear 430 due to excessive position change during the process of adjusting the relative position of the adapter plate 200 and the test bench 320.

[0049] It is understandable that the number of the stopper 328 may be one or more, and this embodiment does not limit this. Specifically, the stopper 328 may be disposed on the surface of the test bench 320 that contacts the adapter plate 200. During normal assembly, there is a certain gap between the edge of the adapter plate 200 and the stopper 328. When adjusting the relative position of the adapter plate 200 and the test bench 320, a feeler gauge may be inserted into the gap to accurately determine the current spacing between the adapter plate 200 and the stopper 328, thereby accurately determining the center distance between the main gear 110 and the driven gear 430. In some other embodiments, the stopper 328 may also be disposed at other positions. For example, the stopper 328 may also be disposed on the adapter plate 200, and the relative position of the test bench 320 and the adapter plate 200 may be limited by the stopper 328, so as to achieve the purpose of the moving range of the adapter plate 200.

[0050] At the same time, the parallelism between the axis of the main gear 110 and the axis of the driven gear 430 can also be changed. Specifically, by adjusting the locking state of the bolts when the motor 100 is installed on the adapter plate 200, the axis of the output shaft of the motor 100 can be fine-tuned, and then the axial direction of the main gear 110 can be fine-tuned, thereby changing the parallelism between the axis of the main gear 110 and the axis of the driven gear 430.

[0051] The transmission device test device 10 mentioned above has a two-stage transmission structure of a gear structure and a harmonic reducer 400. When the motor 100 is started, the noise of the entire transmission device during operation can be tested without testing on the entire robot, avoiding the complicated disassembly work when analyzing the problem and reducing the number of disassembly and assembly of key parts of the robot. At the same time, the entire test device adopts an open structure, which is convenient for the disassembly and assembly of related parts, and is also suitable for the installation of various sensors and the collection of in-situ data. The weight of the end load 600 and the eccentricity of the load 600 can be adjusted, which can simulate various operating conditions of the robot and realize efficient transmission device 20 testing. In addition, during the test process, there is no need to disassemble, assemble, fine-tune, etc. the transmission structures at all levels, effectively ensuring the service life of the parts in the transmission structures at all levels.

[0052] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A transmission device testing device, characterized in that: include: A test bench, the test bench comprising a test bench and a base, the test bench being arranged on the base; A transmission device, the transmission device includes a primary transmission structure and a secondary transmission structure, the primary transmission structure includes a drive device and a gear structure, the secondary transmission structure includes a harmonic reducer, the drive device is fixed to the test bench, the harmonic reducer is fixed to the test bench, and the gear structure is transmission-connected between the drive device and the harmonic reducer; and A load is drivingly connected to the output end of the harmonic reducer.

2. The transmission device testing device according to claim 1, characterized in that: The driving device is a motor, and the gear structure includes a main gear arranged on the motor and a driven gear arranged on the harmonic reducer, and the main gear is meshed with the driven gear.

3. The transmission device testing device according to claim 2, characterized in that: The primary transmission structure further includes an adapter plate, the adapter plate is mounted on the test bench, and the motor is fixed to the adapter plate.

4. The transmission device testing device according to claim 3, characterized in that: The motor has a flange, the flange is mounted on the adapter plate, and a radial seal is provided between the adapter plate and the flange.

5. The transmission device testing device according to claim 3, characterized in that: The center distance between the main gear and the driven gear and / or the parallelism between the axis of the main gear and the axis of the driven gear may be varied.

6. The transmission device testing device according to claim 5, characterized in that: The adapter plate is movable relative to the test bench.

7. The transmission device testing device according to claim 6, characterized in that: The test bench is provided with a locking hole, which is a bar-shaped hole. The transmission device test device also includes a bolt, which passes through the locking hole and fixes the adapter plate to the test bench.

8. The transmission device testing device according to claim 6 or 7, characterized in that: The test bench is provided with a stopper, which is located on the moving path of the adapter plate and is used to limit the moving range of the adapter plate.

9. The transmission device testing device according to claim 8, characterized in that: The stopper is located on a side surface of the test bench close to the adapter plate.

10. The transmission device testing device according to any one of claims 1 to 6, characterized in that: The harmonic reducer has a hollow wave generator, and the secondary transmission structure also includes a load transfer plate, which is connected to the flexible wheel side of the harmonic reducer, and the load is connected to the load transfer plate. The rigid wheel side of the harmonic reducer is installed in the test bench through a bearing.

11. The transmission device testing device according to claim 10, characterized in that: The load includes a hanger and a load sheet installed on the hanger.

12. The transmission device testing device according to claim 11, characterized in that: The load sheet is eccentrically arranged relative to the hollow wave generator.

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