Transmission clearance measurement method and device, and electronic equipment

Abstract

The invention provides a transmission clearance measurement method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining output end fixed data according to a preset measurement model; starting a torque mode according to the output end fixed data; in the torque mode, torque is loaded in the positive direction, and first input end data are obtained; in the torque mode, torque is loaded in the reverse direction, and second input end data are obtained; and obtaining a transmission gap according to the first input end data and the second input end data. By implementing the application, the measurement precision of the transmission gap can be improved, errors can be reduced, the observation is convenient, the measurement process is simpler and more convenient, the consumed time is short, the cost is low, the measurement efficiency of the transmission gap can be greatly improved, and faults can be quickly eliminated.

Description

Technical Field

[0001] The present application relates to the field of data measurement technology, and in particular to a transmission clearance measurement method, device, electronic equipment and storage medium. Background Art

[0002] During the vehicle testing phase, it is usually necessary to measure the transmission clearance of the electric drive assembly multiple times to monitor the degree of clearance change. When the electric drive system of the vehicle makes abnormal noise, the transmission clearance also needs to be checked quickly. Therefore, it is particularly important to quickly and accurately measure the transmission clearance of the electric drive assembly to prevent and troubleshoot abnormal noise problems of the electric drive assembly.

[0003] Existing measurement solutions have many disadvantages:

[0004] 1. When measuring the transmission clearance on the actual vehicle, an inclinometer is usually used to measure the rotation angle of the output half-shaft. It is inconvenient to observe, and the observation time is not necessarily accurate. In addition, the inclinometer is mostly fixed on the half-shaft with nylon cable ties, which makes it easy for the inclinometer to loosen and the measurement result is less accurate.

[0005] 2. The existing transmission clearance measuring device needs to measure the transmission and reducer separately, which has high accuracy. However, the electric drive assembly needs to be disassembled and disassembled before the transmission clearance of the reducer can be measured separately. The workload is large, the time consumption is long, and the efficiency is low. It is not suitable for the whole vehicle test stage, and is not conducive to the rapid troubleshooting of abnormal noise of the electric drive assembly. Summary of the invention

[0006] The purpose of the present application is to provide a transmission clearance measurement method, device, electronic equipment and storage medium, which can improve the measurement accuracy of the transmission clearance, reduce errors, and facilitate observation. The measurement process is simpler, time-saving and cost-effective, which can greatly improve the transmission clearance measurement efficiency and quickly troubleshoot.

[0007] In a first aspect, an embodiment of the present application provides a method for measuring a transmission clearance, the method comprising:

[0008] Obtaining output terminal fixed data according to a preset measurement model;

[0009] Starting a torque mode according to the output terminal fixed data;

[0010] In the torque mode, torque is applied in the positive direction to obtain the first input terminal data;

[0011] In the torque mode, torque is applied in the opposite direction to obtain the second input terminal data;

[0012] A transmission gap is obtained according to the first input end data and the second input end data.

[0013] In the above implementation process, by repeatedly loading in the positive direction and the reverse direction in the torque mode, and then obtaining the transmission clearance based on the collected data, the measurement accuracy of the transmission clearance can be improved, the error can be reduced, and observation can be facilitated. The measurement process is simpler, time-saving, and cost-effective, which can greatly improve the measurement efficiency of the transmission clearance and quickly eliminate faults.

[0014] Furthermore, the step of applying torque in the positive direction to obtain the first input end data in the torque mode includes:

[0015] In the torque mode, the motor is started to load torque in the positive direction, starting from the first threshold value until the preset positive torque is reached;

[0016] After loading to the preset positive torque, unloading the torque to the first threshold value to obtain the first input end data;

[0017] The first input end data includes first input end torque, first input end rotation angle and first output end rotation angle data.

[0018] In the above implementation process, the motor is started to load the torque in the positive direction, so that the data change process of the torque during loading and unloading can be completely and clearly obtained, so that the first input end torque, first input end angle and first output end angle data obtained are more accurate.

[0019] Furthermore, the step of applying torque in the reverse direction to obtain the second input end data in the torque mode includes:

[0020] In the torque mode, the motor is started to load torque in the reverse direction, starting from a first threshold value until a preset negative torque is reached;

[0021] After loading to the preset negative torque, unloading the torque to the first threshold value to obtain the second input end data;

[0022] The second input end data includes second input end torque, second input end rotation angle and second output end rotation angle data.

[0023] In the above implementation process, by repeatedly loading and unloading the torque in the reverse direction, the error of the data at the second input end can be reduced, the time consumed in the data acquisition process can be reduced, and the measurement efficiency of the transmission clearance can be improved.

[0024] Further, the step of obtaining the transmission clearance according to the first input end data and the second input end data comprises:

[0025] Obtaining a first input end rotation angle, a first left drive shaft rotation angle, and a first right drive shaft rotation angle according to the first input end data;

[0026] Obtaining a second input end rotation angle, a second left drive shaft rotation angle, and a second right drive shaft rotation angle according to the second input end data;

[0027] Obtaining an input end rotation angle of the electric drive assembly according to the first input end rotation angle and the second input end rotation angle;

[0028] Obtaining a left-side drive shaft rotation angle according to the first left-side drive shaft rotation angle and the second left-side drive shaft rotation angle;

[0029] Obtaining a right-side drive shaft rotation angle according to the first right-side drive shaft rotation angle and the second right-side drive shaft rotation angle;

[0030] The transmission clearance is obtained according to the rotation angle of the input end of the electric drive assembly, the rotation angle of the left drive shaft and the rotation angle of the right drive shaft.

[0031] In the above implementation process, the electric drive assembly input end angle, left drive shaft angle and right drive shaft angle are respectively obtained according to the first input end angle, the second input end angle, the first left drive shaft angle, the second left drive shaft angle, the first right drive shaft angle and the second right drive shaft angle, which can improve the accuracy of the transmission clearance and shorten the measurement time.

[0032] Further, the step of obtaining the transmission clearance according to the rotation angle of the input end of the electric drive assembly, the rotation angle of the left drive shaft and the rotation angle of the right drive shaft comprises:

[0033] Obtaining an input-end transmission clearance according to an input-end rotation angle of the electric drive assembly, a left-side drive shaft rotation angle, and a right-side drive shaft rotation angle;

[0034] Obtaining an output end transmission clearance according to an input end rotation angle of the electric drive assembly, a left drive shaft rotation angle, and a right drive shaft rotation angle;

[0035] The input end transmission gap and the output end transmission gap are determined as the transmission gap.

[0036] In the above implementation process, the input end transmission clearance and the output end transmission clearance are respectively obtained according to the input end angle of the electric drive assembly, the left drive shaft angle and the right drive shaft angle, which can reduce errors and facilitate observation.

[0037] Furthermore, the input end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle by the following formula:

[0038] α=A / i-(B+C) / 2;

[0039] Among them, α is the transmission gap at the input end, A is the rotation angle of the input end of the electric drive assembly, B is the rotation angle of the left drive shaft, C is the rotation angle of the right drive shaft, and i is the speed ratio of the reducer of the electric drive assembly.

[0040] In the above implementation process, the input end transmission clearance is obtained in the above manner, which can simplify the measurement and observation process of the input end transmission clearance and improve the usability and practicality.

[0041] Furthermore, the output end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle by the following formula:

[0042] β = A - (B + C) * i / 2;

[0043] Among them, β is the transmission clearance at the input end, A is the rotation angle of the input end of the electric drive assembly, B is the rotation angle of the left drive shaft, C is the rotation angle of the right drive shaft, and i is the speed ratio of the reducer of the electric drive assembly.

[0044] In the above implementation process, the output transmission clearance can increase the measurement accuracy of the transmission clearance, thereby improving the measurement accuracy of the transmission clearance.

[0045] In a second aspect, an embodiment of the present application further provides a transmission clearance measuring device, the device comprising:

[0046] An acquisition module, used for obtaining output terminal fixed data according to a preset measurement model;

[0047] A starting module, used for starting a torque mode according to the output terminal fixed data;

[0048] The data acquisition module is used to load torque in the positive direction in the torque mode to obtain the first input end data; it is also used to load torque in the reverse direction in the torque mode to obtain the second input end data; it is also used to obtain the transmission clearance according to the first input end data and the second input end data.

[0049] In the above implementation process, by repeatedly loading in the positive direction and the reverse direction in the torque mode, and then obtaining the transmission clearance based on the collected data, the measurement accuracy of the transmission clearance can be improved, the error can be reduced, and observation can be facilitated. The measurement process is simpler, time-saving, and cost-effective, which can greatly improve the measurement efficiency of the transmission clearance and quickly eliminate faults.

[0050] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0051] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method as described in any one of the first aspects.

[0052] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0053] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0054] And it can be implemented according to the contents of the specification. The following is a detailed description of the preferred embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the range values. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1 A schematic flow chart of a transmission clearance measurement method provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of a hysteresis curve of a transmission clearance provided in an embodiment of the present application;

[0058] Figure 3 A schematic diagram of the structure of a transmission clearance measuring device provided in an embodiment of the present application;

[0059] Figure 4 A schematic diagram of the structural composition of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0061] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0062] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0063] Embodiment 1

[0064] Figure 1 is a flow chart of a transmission clearance measurement method provided in an embodiment of the present application, such as Figure 1 As shown, the method includes:

[0065] S1, obtaining output fixed data according to a preset measurement model;

[0066] S2, start the torque mode according to the fixed data at the output end;

[0067] S3, in torque mode, load torque in the positive direction to obtain the first input end data;

[0068] S4, in the torque mode, applying torque in the reverse direction to obtain the second input end data;

[0069] S5, obtaining a transmission gap according to the first input end data and the second input end data.

[0070] In the above implementation process, by repeatedly loading in the positive direction and the reverse direction in the torque mode, and then obtaining the transmission clearance based on the collected data, the measurement accuracy of the transmission clearance can be improved, the error can be reduced, and observation can be facilitated. The measurement process is simpler, time-saving, and cost-effective, which can greatly improve the measurement efficiency of the transmission clearance and quickly eliminate faults.

[0071] In S1 and S2, the vehicle is placed on a flat lift or a trench, and the measurement model is arranged. The vehicle is put in P gear, and the brake is pressed to obtain fixed data at the output end. At the same time, the high voltage on the electric drive assembly, the electric drive assembly opens the pipe, and the electric drive assembly enters the torque mode.

[0072] Furthermore, S3 includes:

[0073] In the torque mode, the motor is started to load torque in the positive direction, starting from the first threshold value until the preset positive torque is reached;

[0074] After loading to a preset positive torque, unloading the torque to a first threshold value to obtain first input end data;

[0075] The first input end data includes first input end torque, first input end rotation angle and first output end rotation angle data.

[0076] In the above implementation process, the motor is started to load the torque in the positive direction, so that the data change process of the torque during loading and unloading can be completely and clearly obtained, so that the first input end torque, first input end angle and first output end angle data obtained are more accurate.

[0077] The motor is loaded with torque in the positive direction, starting from zero (the first threshold) and slowly loaded to the set positive torque (preset positive torque), and then slowly unloaded to zero, while synchronously and continuously collecting the first input end torque, the first input end angle and the first output end angle data.

[0078] Furthermore, S4 includes:

[0079] In the torque mode, the motor is started to load torque in the reverse direction, starting from a first threshold value until a preset negative torque is reached;

[0080] After loading to a preset negative torque, unloading the torque to a first threshold value to obtain second input end data;

[0081] The second input end data includes second input end torque, second input end rotation angle and second output end rotation angle data.

[0082] In the above implementation process, by repeatedly loading and unloading the torque in the reverse direction, the error of the data at the second input end can be reduced, the time consumed in the data acquisition process can be reduced, and the measurement efficiency of the transmission clearance can be improved.

[0083] The motor is loaded with torque in the reverse direction, slowly loaded from zero to the set negative torque (preset negative torque), and then slowly unloaded to zero. The second input end torque, the second input end angle and the second output end angle data are synchronously and continuously collected. The cycle is repeated multiple times to collect multiple sets of data.

[0084] Furthermore, S5 includes:

[0085] Obtaining a first input end rotation angle, a first left drive shaft rotation angle, and a first right drive shaft rotation angle according to the first input end data;

[0086] Obtaining a second input end rotation angle, a second left drive shaft rotation angle, and a second right drive shaft rotation angle according to the second input end data;

[0087] Obtaining an input end rotation angle of the electric drive assembly according to the first input end rotation angle and the second input end rotation angle;

[0088] Obtaining a left-side drive shaft rotation angle according to the first left-side drive shaft rotation angle and the second left-side drive shaft rotation angle;

[0089] Obtaining a right-side drive shaft rotation angle according to the first right-side drive shaft rotation angle and the second right-side drive shaft rotation angle;

[0090] The transmission clearance is obtained according to the rotation angle of the input end of the electric drive assembly, the rotation angle of the left drive shaft and the rotation angle of the right drive shaft.

[0091] In the above implementation process, the electric drive assembly input end angle, left drive shaft angle and right drive shaft angle are respectively obtained according to the first input end angle, the second input end angle, the first left drive shaft angle, the second left drive shaft angle, the first right drive shaft angle and the second right drive shaft angle, which can improve the accuracy of the transmission clearance and shorten the measurement time.

[0092] The measurement model of the present application uses a grating scale fixing fixture to fix two arc-shaped grating scales on the left and right drive shafts respectively to ensure that the rotation angle of the arc-shaped grating scale is consistent with the drive shaft. When measuring the actual vehicle, the grating reading head is fixed to the frame using a grating reading head fixing fixture. During the test, the grating reading head remains fixed and does not rotate with the drive shaft.

[0093] During bench measurement, the grating reading head is fixed on a fixed bracket that does not contact the electric drive assembly using a grating reading head fixing fixture. The upper computer controls the motor of the electric drive assembly to apply torque and reads the motor torque and rotation angle in real time.

[0094] The embodiment of the present application obtains a hysteresis curve diagram of the transmission clearance by data fitting, such as Figure 2 As shown, the transmission clearance of the electric drive assembly is calculated using the torque and angle data at ±3% of the rated torque. The rated torque is the maximum input torque of the electric drive assembly. The set positive torque and set negative torque applied during the test are greater than ±3% of the rated torque.

[0095] In the embodiment of the present application, the data collected in the process of obtaining the first input end data are respectively recorded as the first input end rotation angle a 1 , first left drive shaft angle b 1 and the first right drive shaft angle c 1 .

[0096] The data collected in the process of obtaining the second input end data are recorded as the second input end rotation angle a 2 , the second left drive shaft angle b 2 and the second right drive shaft angle c 2 .

[0097] According to the rotation angle of the input end of the electric drive assembly, the rotation angle of the left drive shaft and the rotation angle of the right drive shaft, during the loading of positive and negative torques, the rotation angle of the input end of the electric drive assembly A = |a 1 -a 2 |, the left drive shaft angle is B=|b 1 -b 2 |, the right drive shaft angle is C=|c 1 -c 2|.

[0098] Furthermore, the step of obtaining the transmission clearance according to the rotation angle of the input end of the electric drive assembly, the rotation angle of the left drive shaft and the rotation angle of the right drive shaft includes:

[0099] The input end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle;

[0100] The output end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle;

[0101] The input end transmission clearance and the output end transmission clearance are determined as the transmission clearance.

[0102] In the above implementation process, the input end transmission clearance and the output end transmission clearance are respectively obtained according to the input end angle of the electric drive assembly, the left drive shaft angle and the right drive shaft angle, which can reduce errors and facilitate observation.

[0103] Furthermore, the input end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle, and the right drive shaft rotation angle by the following formula:

[0104] α=A / i-(B+C) / 2;

[0105] Among them, α is the transmission clearance at the input end, A is the rotation angle of the electric drive assembly input end, B is the rotation angle of the left drive shaft, C is the rotation angle of the right drive shaft, and i is the speed ratio of the reducer of the electric drive assembly.

[0106] In the above implementation process, the input end transmission clearance is obtained in the above manner, which can simplify the measurement and observation process of the input end transmission clearance and improve the usability and practicality.

[0107] Furthermore, the output end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle, and the right drive shaft rotation angle by the following formula:

[0108] β = A - (B + C) * i / 2;

[0109] Among them, β is the transmission clearance at the input end, A is the rotation angle of the electric drive assembly input end, B is the rotation angle of the left drive shaft, C is the rotation angle of the right drive shaft, and i is the speed ratio of the electric drive assembly reducer.

[0110] In the above implementation process, the output transmission clearance can increase the measurement accuracy of the transmission clearance, thereby improving the measurement accuracy of the transmission clearance.

[0111] The embodiment of the present application flexibly arranges circular grating angular displacement sensors to achieve rapid and accurate measurement of the output end rotation angle on a real vehicle, and applies torque through the real vehicle motor to read the motor rotation angle. It does not require manual application of torque, an external bench motor, or removal and disassembly of the electric drive assembly, and can achieve rapid measurement of torsional clearance on a real vehicle. It can be implemented on a real vehicle or on an electric drive assembly test bench, is more flexible, and can be applied to a variety of occasions.

[0112] Embodiment 2

[0113] In order to execute the method corresponding to the above embodiment 1 to achieve the corresponding functions and technical effects, a transmission clearance measuring device is provided below, such as Figure 3 As shown, the device comprises:

[0114] An acquisition module 1 is used to obtain output terminal fixed data according to a preset measurement model;

[0115] A starting module 2, used for starting a torque mode according to fixed data at the output end;

[0116] The data acquisition module 3 is used to load torque in the positive direction in the torque mode to obtain the first input end data; it is also used to load torque in the reverse direction in the torque mode to obtain the second input end data; it is also used to obtain the transmission clearance according to the first input end data and the second input end data.

[0117] In the above implementation process, by repeatedly loading in the positive direction and the reverse direction in the torque mode, and then obtaining the transmission clearance based on the collected data, the measurement accuracy of the transmission clearance can be improved, the error can be reduced, and observation can be facilitated. The measurement process is simpler, time-saving, and cost-effective, which can greatly improve the measurement efficiency of the transmission clearance and quickly eliminate faults.

[0118] Furthermore, the data acquisition module 3 is also used for:

[0119] In the torque mode, the motor is started to load torque in the positive direction, starting from the first threshold value until the preset positive torque is reached;

[0120] After loading to a preset positive torque, unloading the torque to a first threshold value to obtain first input end data;

[0121] The first input end data includes first input end torque, first input end rotation angle and first output end rotation angle data.

[0122] In the above implementation process, the motor is started to load the torque in the positive direction, so that the data change process of the torque during loading and unloading can be completely and clearly obtained, so that the first input end torque, first input end angle and first output end angle data obtained are more accurate.

[0123] Furthermore, the data acquisition module 3 is also used for:

[0124] In the torque mode, the motor is started to load torque in the reverse direction, starting from a first threshold value until a preset negative torque is reached;

[0125] After loading to a preset negative torque, unloading the torque to a first threshold value to obtain second input end data;

[0126] The second input end data includes second input end torque, second input end rotation angle and second output end rotation angle data.

[0127] In the above implementation process, by repeatedly loading and unloading the torque in the reverse direction, the error of the data at the second input end can be reduced, the time consumed in the data acquisition process can be reduced, and the measurement efficiency of the transmission clearance can be improved.

[0128] Furthermore, the data acquisition module 3 is also used for:

[0129] Obtaining a first input end rotation angle, a first left drive shaft rotation angle, and a first right drive shaft rotation angle according to the first input end data;

[0130] Obtaining a second input end rotation angle, a second left drive shaft rotation angle, and a second right drive shaft rotation angle according to the second input end data;

[0131] Obtaining an input end rotation angle of the electric drive assembly according to the first input end rotation angle and the second input end rotation angle;

[0132] Obtaining a left-side drive shaft rotation angle according to the first left-side drive shaft rotation angle and the second left-side drive shaft rotation angle;

[0133] Obtaining a right-side drive shaft rotation angle according to the first right-side drive shaft rotation angle and the second right-side drive shaft rotation angle;

[0134] The transmission clearance is obtained according to the rotation angle of the input end of the electric drive assembly, the rotation angle of the left drive shaft and the rotation angle of the right drive shaft.

[0135] In the above implementation process, the electric drive assembly input end angle, left drive shaft angle and right drive shaft angle are respectively obtained according to the first input end angle, the second input end angle, the first left drive shaft angle, the second left drive shaft angle, the first right drive shaft angle and the second right drive shaft angle, which can improve the accuracy of the transmission clearance and shorten the measurement time.

[0136] Furthermore, the data acquisition module 3 is also used for:

[0137] The input end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle;

[0138] The output end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle;

[0139] The input end transmission clearance and the output end transmission clearance are determined as the transmission clearance.

[0140] In the above implementation process, the input end transmission clearance and the output end transmission clearance are respectively obtained according to the input end angle of the electric drive assembly, the left drive shaft angle and the right drive shaft angle, which can reduce errors and facilitate observation.

[0141] Furthermore, the data acquisition module 3 is further used to obtain the input end transmission clearance according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle by using the following formula:

[0142] α=A / i-(B+C) / 2;

[0143] Among them, α is the transmission clearance at the input end, A is the rotation angle of the electric drive assembly input end, B is the rotation angle of the left drive shaft, C is the rotation angle of the right drive shaft, and i is the speed ratio of the reducer of the electric drive assembly.

[0144] In the above implementation process, the input end transmission clearance is obtained in the above manner, which can simplify the measurement and observation process of the input end transmission clearance and improve the usability and practicality.

[0145] Furthermore, the data acquisition module 3 is also used to obtain the output end transmission clearance according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle through the following formula:

[0146] β = A - (B + C) * i / 2;

[0147] Among them, β is the transmission clearance at the input end, A is the rotation angle of the electric drive assembly input end, B is the rotation angle of the left drive shaft, C is the rotation angle of the right drive shaft, and i is the speed ratio of the electric drive assembly reducer.

[0148] In the above implementation process, the output transmission clearance can increase the measurement accuracy of the transmission clearance, thereby improving the measurement accuracy of the transmission clearance.

[0149] The transmission clearance measuring device can implement the method of the above embodiment 1. The options in the above embodiment 1 are also applicable to this embodiment and will not be described in detail here.

[0150] The rest of the contents of the embodiments of the present application can refer to the contents of the above-mentioned embodiment 1, and will not be repeated in this embodiment.

[0151] Embodiment 3

[0152] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the transmission clearance measurement method of the first embodiment.

[0153] Optionally, the above-mentioned electronic device may be a server.

[0154] See also Figure 4 , Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 41, a communication interface 42, a memory 43 and at least one communication bus 44. The communication bus 44 is used to realize direct connection and communication between these components. The communication interface 42 of the device in the embodiment of the present application is used to communicate signaling or data with other node devices. The processor 41 can be an integrated circuit chip with signal processing capabilities.

[0155] The processor 41 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor 41 can also be any conventional processor, etc.

[0156] The memory 43 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 43 stores computer readable instructions. When the computer readable instructions are executed by the processor 41, the device can execute the above-mentioned Figure 1 The method embodiment involves various steps.

[0157] Optionally, the electronic device may further include a storage controller and an input / output unit. The memory 43, the storage controller, the processor 41, the peripheral interface, and the input / output unit are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via a communication bus 44. The processor 41 is used to execute executable modules stored in the memory 43, such as software function modules or computer programs included in the device.

[0158] The input and output unit is used to provide users with the task creation and to create an optional time period or preset execution time for the task to enable interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and a keyboard.

[0159] Understandably, Figure 3 The structure shown is for illustration only. The electronic device may also include Figure 4 More or fewer components as shown, or with Figure 4 Different configurations shown. Figure 4 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0160] In addition, an embodiment of the present application further provides a computer-readable storage medium storing a computer program, which implements the transmission clearance measurement method of the first embodiment when executed by a processor.

[0161] The embodiment of the present application also provides a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.

[0162] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart, can be implemented with a dedicated hardware-based device that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0163] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0164] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0165] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0166] The above is only a specific implementation of the present application, but the protection range of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical range disclosed in the present application, which should be included in the protection range of the present application. Therefore, the protection range of the present application should be based on the protection range of the claims.

[0167] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for measuring transmission clearance, characterized in that: The method comprises: Obtaining output terminal fixed data according to a preset measurement model; Starting a torque mode according to the output terminal fixed data; In the torque mode, torque is applied in the positive direction to obtain the first input terminal data; In the torque mode, torque is applied in the opposite direction to obtain the second input terminal data; A transmission gap is obtained according to the first input end data and the second input end data.

2. The transmission clearance measurement method according to claim 1, characterized in that: The step of loading torque in the positive direction to obtain the first input terminal data in the torque mode includes: In the torque mode, the motor is started to load torque in the positive direction, starting from the first threshold value until the preset positive torque is reached; After loading to the preset positive torque, unloading the torque to the first threshold value to obtain the first input end data; The first input end data includes first input end torque, first input end rotation angle and first output end rotation angle data.

3. The transmission clearance measurement method according to claim 1, characterized in that: The step of applying torque in the reverse direction to obtain the second input end data in the torque mode includes: In the torque mode, the motor is started to load torque in the reverse direction, starting from a first threshold value until a preset negative torque is reached; After loading to the preset negative torque, unloading the torque to the first threshold value to obtain the second input end data; The second input end data includes second input end torque, second input end rotation angle and second output end rotation angle data.

4. The transmission clearance measurement method according to claim 1, characterized in that: The step of obtaining the transmission gap according to the first input end data and the second input end data comprises: Obtaining a first input end rotation angle, a first left drive shaft rotation angle, and a first right drive shaft rotation angle according to the first input end data; Obtaining a second input end rotation angle, a second left drive shaft rotation angle, and a second right drive shaft rotation angle according to the second input end data; Obtaining an input end rotation angle of the electric drive assembly according to the first input end rotation angle and the second input end rotation angle; Obtaining a left-side drive shaft rotation angle according to the first left-side drive shaft rotation angle and the second left-side drive shaft rotation angle; Obtaining a right-side drive shaft rotation angle according to the first right-side drive shaft rotation angle and the second right-side drive shaft rotation angle; The transmission clearance is obtained according to the rotation angle of the input end of the electric drive assembly, the rotation angle of the left drive shaft and the rotation angle of the right drive shaft.

5. The transmission clearance measurement method according to claim 4, characterized in that: The step of obtaining the transmission clearance according to the rotation angle of the input end of the electric drive assembly, the rotation angle of the left drive shaft and the rotation angle of the right drive shaft comprises: Obtaining an input-end transmission clearance according to an input-end rotation angle of the electric drive assembly, a left-side drive shaft rotation angle, and a right-side drive shaft rotation angle; Obtaining an output end transmission clearance according to an input end rotation angle of the electric drive assembly, a left drive shaft rotation angle, and a right drive shaft rotation angle; The input end transmission gap and the output end transmission gap are determined as the transmission gap.

6. The transmission clearance measurement method according to claim 5, characterized in that: The input end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle by the following formula: α=A / i-(B+C) / 2; Among them, α is the transmission gap at the input end, A is the rotation angle of the input end of the electric drive assembly, B is the rotation angle of the left drive shaft, C is the rotation angle of the right drive shaft, and i is the speed ratio of the reducer of the electric drive assembly.

7. The transmission clearance measurement method according to claim 5, characterized in that: The output end transmission clearance is obtained according to the input end rotation angle of the electric drive assembly, the left drive shaft rotation angle and the right drive shaft rotation angle by the following formula: β = A - (B + C) * i / 2; Among them, β is the transmission clearance at the input end, A is the rotation angle of the input end of the electric drive assembly, B is the rotation angle of the left drive shaft, C is the rotation angle of the right drive shaft, and i is the speed ratio of the reducer of the electric drive assembly.

8. A transmission clearance measuring device, characterized in that: The device comprises: An acquisition module, used for obtaining output terminal fixed data according to a preset measurement model; A starting module, used for starting a torque mode according to the output terminal fixed data; The data acquisition module is used to load torque in the positive direction in the torque mode to obtain the first input end data; it is also used to load torque in the reverse direction in the torque mode to obtain the second input end data; it is also used to obtain the transmission clearance according to the first input end data and the second input end data.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the transmission clearance measurement method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The device stores a computer program, which, when executed by a processor, implements the transmission clearance measurement method according to any one of claims 1 to 7.

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