Device and method for testing planetary reducer

Abstract

The invention discloses a test device and method for a planetary reducer, and belongs to the technical field of automobile part testing. Comprising a rack, the rack comprises a top test platform, the test platform is sequentially provided with an input end sliding platform, a first cushion block, a second cushion block and an output end sliding platform, the input end sliding platform is provided with a driving motor and an input end torque rotating speed sensor, the first cushion block is provided with a tested planetary reducer, and the second cushion block is provided with an output end torque rotating speed sensor. An input end circular grating and an output end circular grating are correspondingly arranged on an input shaft and an output shaft of the tested planetary reducer, an output end torque rotating speed sensor is arranged on the second cushion block, and a test accompanying planetary reducer and a load motor are arranged on the output end sliding platform. According to the new scheme, a new load end loading mode is ingeniously adopted, and measurement of performance key parameters such as torsional rigidity and return difference is successfully achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile parts testing, and in particular to a testing device and method for a planetary reducer. Background Art

[0002] Planetary reducers are indeed widely used in many precision transmission fields due to their unique advantages. To summarize the advantages of planetary reducers: high reduction ratio, high load-bearing capacity, high transmission accuracy, high transmission efficiency and stability, simple structure, easy installation, small size, light weight, and strong adaptability. Compared with harmonic reducers, planetary reducers usually have stronger rigidity and stability, can withstand greater torque, and their motion accuracy will not decrease significantly with the increase of service life. These characteristics make planetary reducers suitable for applications with high precision and high load requirements, such as new energy vehicles, industrial robots, aerospace, etc.

[0003] The key comprehensive performance parameters of planetary reducers include transmission efficiency, transmission error, torsional stiffness, backlash and hysteresis, which have a significant impact on the performance of planetary reducers. There are currently two main comprehensive performance test schemes: block-based and integrated. Block-based testing modularizes each performance test, and each module runs independently without interfering with each other. This solution facilitates independent optimization of each module, but there may be risks of data incompatibility or repeated testing. The integrated test integrates all performance tests on one platform, reducing redundant operations and improving efficiency. However, this also makes the design of the test platform more complicated.

[0004] After an in-depth comparison of the two measurement schemes, we found that although the block measurement scheme has a simple structure, short axial length, easy to ensure coaxiality, and relatively low assembly requirements, its shortcomings cannot be ignored. This scheme modularizes the performance test, resulting in a large number of servo motors and sensors and high costs. In addition, for the comprehensive performance measurement of the reducer, frequent disassembly and assembly between multiple test equipment is required, which is inefficient and obviously cannot meet the testing needs of mass-produced planetary reducers. In contrast, the integrated measurement scheme has a lower cost, can complete the measurement of multiple performance parameters in one clamping, and has high test efficiency. However, the magnetic powder brake it uses can only provide a load function and cannot be actively loaded, which limits its application in hysteresis curve testing, making it impossible to effectively detect key performance such as torsional stiffness and hysteresis. Summary of the invention

[0005] The purpose of the present invention is to provide a testing device and method for a planetary reducer, aiming to solve at least one of the technical problems existing in the above-mentioned prior art. To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows:

[0006] A test device for a planetary reducer comprises a test bench, wherein the test bench comprises a test platform at the top, wherein an input end sliding platform, a No. 1 cushion block, a No. 2 cushion block and an output end sliding platform are sequentially arranged on the test platform, wherein a driving motor and an input end torque and speed sensor are arranged on the input end sliding platform, a planetary reducer to be tested is installed on the No. 1 cushion block, an input end circular grating and an output end circular grating are correspondingly arranged on the input shaft and the output shaft of the planetary reducer to be tested, an output end torque and speed sensor is arranged on the No. 2 cushion block, and a planetary reducer to be tested and a load motor are arranged on the output end sliding platform;

[0007] Among them, the output end of the driving motor is fixedly connected to the input shaft of the planetary reducer under test through the input end coupling, the input end torque and speed sensor is arranged on the input end coupling, the output shaft of the planetary reducer under test is fixedly connected to the output shaft of the accompanying planetary reducer through the output end coupling, the output end torque and speed sensor is arranged on the output end coupling, the input shaft of the accompanying planetary reducer under test is fixedly connected to the output end of the load motor, and the output end of the load motor, the input shaft and output shaft of the accompanying planetary reducer under test, the input shaft and output shaft of the planetary reducer under test, and the output end of the driving motor are all located on the same horizontal axis.

[0008] As a further solution of the present invention: it also includes an industrial control computer, a motion control card, a servo driver No. 1 and a servo driver No. 2, wherein the servo driver No. 1, the servo driver No. 2 and the industrial control computer are all communicatively connected to the motion control card, the servo driver No. 1 is also communicatively connected to the load motor, and the servo driver No. 2 is also communicatively connected to the drive motor.

[0009] As a further solution of the present invention: it also includes a data acquisition card, an input end reading head and an output end reading head, the data acquisition card is communicatively connected to the industrial control computer, the input end torque and speed sensor and the output end torque and speed sensor are respectively communicatively connected to the data acquisition card, the input end circular grating is communicatively connected to the data acquisition card through the input end reading head, and the output end circular grating is communicatively connected to the data acquisition card through the output end reading head.

[0010] As a further solution of the present invention: the input end sliding platform and the output end sliding platform both include slide rails, slide plates and driving mechanisms, the slide rails are laid on the test platform, the slide plates are slidably arranged on the slide rails, the driving mechanism is arranged on the stand, and the driving mechanism is used to drive the movement of the slide plates.

[0011] As a further solution of the present invention: the driving mechanism includes a rack, a gear, a connecting rod, a bearing and a handle, the rack is fixedly arranged at the bottom of the skateboard, the bearing is embedded in the frame, the connecting rod is inserted in the bearing, the gear is fixedly arranged at the end of the connecting rod, and the gear is meshed with the rack, and the handle is fixedly arranged at the other end of the connecting rod.

[0012] As a further solution of the present invention: a combined box is arranged on the input end sliding platform, and the input end torque and speed sensor is located in the combined box.

[0013] And a planetary reducer testing method, which is performed using the above-mentioned planetary reducer testing device, comprising the following steps:

[0014] S1, install the planetary reducer to be tested on the No. 1 pad as required;

[0015] S2, the industrial control computer controls the No. 1 servo driver and the No. 2 servo driver through the motion control card to drive the load motor and the drive motor to operate respectively;

[0016] S3, the data acquisition card respectively collects the speed and torque signals of the input shaft and output shaft of the planetary reducer under test and sends them to the industrial control computer, and the input end reading head and the output end reading head respectively collect and calculate the rotation angles of the input shaft and output shaft of the planetary reducer under test and send them to the industrial control computer;

[0017] S4, the test software in the industrial control computer deeply analyzes the collected speed, torque and angle value signals. Based on the principle of comprehensive performance testing, the test software accurately calculates the data and displays it to the user in the form of an intuitive relationship curve graph.

[0018] The present invention has the following beneficial effects:

[0019] The core operating mechanism of the test platform is based on a new overall performance evaluation strategy. With the help of high-precision couplings, the input / output shafts of the planetary reducer under test are firmly connected to the rotation torque and speed sensors, thus building an effective data collection system. At the same time, the rotation torque of the input part of the planetary reducer under test and the input torque speed sensor are also perfectly matched to the servo motor, while at its output end, it is flanged to the simulation equipment to test the planetary reducer and load servo motor to ensure the accuracy of information transmission. The use of a sliding platform can achieve axial positioning of the planetary reducer and other components to maintain the robustness and correctness of the test.

[0020] In addition, the data acquisition card and the motion control card work closely with the industrial computer, where the motion control card is responsible for driving the servo motor, and the data acquisition card continuously monitors signals such as rotation speed, rotation torque, and circular grating readings, and provides comprehensive and detailed data support for its performance research. The present invention uses the cooperation between the load motor and the accompanying planetary reducer. The accompanying planetary reducer can convert the torque provided by the load motor into the load torque of the tested planetary reducer, thereby meeting the test requirements of transmission efficiency and transmission error, and successfully solving the problem that the traditional method cannot accurately measure the performance such as torsional stiffness and hysteresis. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings.

[0022] Figure 1 It is a schematic diagram of the structure of a test device for a planetary reducer of the present invention;

[0023] Figure 2 This is a working principle diagram of a test device for a planetary reducer of the present invention;

[0024] Figure 3 It is a schematic diagram of the bottom structure of the stand of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the driving mechanism of the present invention;

[0026] Figure 5 is a schematic diagram of the hysteresis curve;

[0027] Figure 6 It is the transmission efficiency test interface;

[0028] Figure 7 It is the transmission error test interface;

[0029] Figure 8 It is the hysteresis curve test interface.

[0030] In the figure: 1. Test bench; 2. Sliding platform at input end; 3. No. 1 pad; 4. No. 2 pad; 5. Sliding platform at output end; 6. Driving motor; 7. Torque and speed sensor at input end; 8. Planetary reducer to be measured; 9. Circular grating at input end; 10. Circular grating at output end; 11. Torque and speed sensor at output end; 12. Planetary reducer to be measured; 13. Load motor; 14. Coupling at input end; 15. Coupling at output end; 16. Industrial control computer; 17. Motion control card; 18. No. 1 servo driver; 19. No. 2 servo driver; 20. Data acquisition card; 21. Reading head at input end; 22. Reading head at output end; 23. Slide rail; 24. Slide plate; 25. Rack; 26. Gear; 27. Connecting rod; 28. Bearing; 29. ​​Handle; 30. Combined box. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0032] Due to the lack of unified standards for robot planetary reducers in China, there is no official conclusion on the comprehensive performance of planetary reducers. Considering the wide application of planetary reducers in new energy vehicles, we referred to the test methods and general technical conditions of harmonic reducers, and combined with the product manuals of industry leaders. After in-depth research, we determined the key comprehensive performance parameters of planetary reducers, including transmission efficiency, transmission error, torsional stiffness, backlash and hysteresis, which have a significant impact on the performance of planetary reducers.

[0033] Transmission efficiency

[0034] Transmission efficiency is a key parameter for evaluating the dynamic performance of a reducer, and is affected by many factors, such as the transmission efficiency between gears, the transmission efficiency of bearings, and the power loss caused by heating of lubricating oil. The transmission efficiency of a planetary reducer is defined as the ratio of output power to input power. Since there is a direct conversion relationship between power and torque speed, we can indirectly calculate the transmission efficiency by measuring the torque and speed values ​​at the input and output ends of the reducer. This evaluation method provides us with a powerful tool for in-depth understanding of the performance of the reducer.

[0035] In actual tests, we found that the transmission efficiency calculation of the planetary reducer was affected by the torque speed sensor and the coupling. The torque speed sensor is connected to the reducer through the coupling, resulting in the calculated transmission efficiency including the power loss of the coupling. Therefore, we need to correct the transmission efficiency formula to eliminate the influence of the coupling loss. After correction, the input power and output power of the planetary reducer are expressed by Formula 1 and Formula 2 respectively. Finally, the transmission efficiency of the tested planetary reducer is given by Formula 3. Such correction makes the transmission efficiency data we obtain more accurate, providing a reliable foundation for subsequent research and application.

[0036] Formula 1

[0037] Formula 2

[0038] Formula 3

[0039] Where T1 and n1 are the input shaft torque and speed, T2 and n2 are the output shaft speed and torque, and η1 is the mechanical efficiency of the coupling.

[0040] Transmission error

[0041] The transmission error of a planetary reducer is a key indicator for evaluating its performance. It reflects the difference between the actual output angle and the theoretical value, also known as the rotation transmission error. The specific value can be accurately calculated using Formula 4.

[0042] Formula 4θ erro (t) = θ2(t) - θ1(t) / i.

[0043] Planetary reducers, as key components of new energy vehicles, have a direct impact on the positioning accuracy of robots due to their performance. This impact is caused by transmission errors caused by various reasons during the manufacturing, processing and assembly of the reducer. These errors cause the actual motion trajectory of the reducer to deviate from the theoretical design trajectory, thus affecting the transmission accuracy of the entire machine.

[0044] The transmission errors in planetary reducers are mainly divided into three categories: involute gear mechanism error, cycloid pinwheel mechanism transmission error and output mechanism error. Among them, the cycloid pinwheel planetary transmission error and output mechanism error have a particularly significant impact on the transmission accuracy of the whole machine. This is because these errors will be directly reflected in the output performance of the whole machine, thus affecting the motion trajectory and accuracy of new energy vehicles.

[0045] In order to accurately measure the transmission error of the planetary reducer, commonly used methods include static measurement and dynamic measurement. Static measurement is an intermittent, non-continuous measurement method, which manually rotates the input shaft of the reducer and uses a measuring instrument to record the angular changes of the input and output ends. However, this method has low measurement efficiency and is easily affected by human factors, so the measurement results may not be accurate and comprehensive enough.

[0046] In contrast, dynamic measurement is a continuous and automated measurement process. When the reducer is in continuous and stable operation, the angle sensors installed at the input and output ends are used to obtain angle change data in real time. This method can fully reflect the transmission error fluctuation of the reducer during actual operation, and the measurement results are more accurate and reliable.

[0047] In modern transmission error testing, dynamic measurement has become the mainstream choice. It uses a high-precision angle sensor to measure the angle value, and draws the transmission error curve with the angle value at the output end as the horizontal coordinate and the corresponding transmission error as the vertical coordinate. In this way, we can understand the transmission error of the reducer more intuitively, providing strong support for subsequent optimization and improvement.

[0048] In summary, the transmission error of the planetary reducer is one of the key factors affecting the positioning accuracy of new energy vehicles. Through reasonable measurement and analysis methods, we can accurately understand the source and size of the error and take effective measures to improve and optimize it. This will help improve the motion performance and positioning accuracy of new energy vehicles and promote the continuous development of new energy vehicle technology.

[0049] Hysteresis curve

[0050] See also Figure 5 As shown in the figure, the hysteresis curve is a closed graph that describes the relationship between the torsional deformation and torque of the reducer during the forward and reverse loading and unloading process. Through this curve, key parameters such as the backlash, torsional stiffness and backlash of the reducer can be calculated.

[0051] Hysteresis is the lag angle of the output end relative to the input end when the reducer changes its rotation direction. In the detection of planetary reducers, hysteresis usually refers to the difference in torsion angle between the midpoints of the two curve widths on the hysteresis curve when the rated torque is ±3%. The specific calculation formula is shown in Formula 5. This indicator is crucial for evaluating the performance and accuracy of the reducer.

[0052] Formula 5

[0053] Where θ right1 ,θ rieght2 They are the torsion angle at +3% torque, θ left1 ,θ left2 They are the torsion angles at -3% torque respectively.

[0054] In the joints of new energy robots, planetary reducers play a vital role. However, due to the existence of backlash, the movement of its output end often lags behind the input end, resulting in an imbalance in the consistency of movement. Backlash, a key performance parameter, mainly comes from design and processing errors and assembly errors. Imagine that the tiny gaps between gear transmission parts and the slight errors in the processing process may have a profound impact on the performance of the reducer. To make matters worse, improper operation during the assembly process will also aggravate this problem. Therefore, in order to ensure the normal operation of new energy vehicles, we must pay close attention to and optimize the backlash problem of planetary reducers.

[0055] Torsional stiffness: The torsional stiffness of a planetary reducer refers to the ratio of the torque on the output shaft to the torsion angle of the corresponding elastic deformation when the torque is applied to the output shaft with the input end fixed. It is expressed as:

[0056]

[0057] Where k is the torsional stiffness, a is the load torque, and b is the output angle.

[0058] In the performance evaluation of the reducer, torsional stiffness plays a vital role. If the stiffness is insufficient, the robot's load-bearing capacity and positioning accuracy will be greatly reduced. There are many factors that affect the torsional stiffness of the planet, among which the meshing stiffness between gear transmissions and the stiffness of each component are particularly critical.

[0059] Backlash, as the torsion angle of the torque "zero" point of the hysteresis curve, is a key parameter to measure the performance of the reducer. In order to accurately obtain key data such as torsional stiffness and backlash, the measurement of the hysteresis curve is essential. Traditional manual loading and mechanical measurement methods are not only inefficient, but also difficult to ensure accuracy and are easily affected by human factors.

[0060] See also Figure 1 As shown, an embodiment of the present invention provides a test device for a planetary reducer, including a test bench 1, the top of which is a test platform. The test bench 1 is a key part supporting the entire test device, and its stability and strength are crucial to the performance of the test platform. When designing a precision test bench 1, factors such as its strength, stability and deformation must be considered comprehensively. As the main force-bearing component, the bending and torsion resistance of the test bench 1 is particularly critical. In addition, the height of the test bench 1 from the ground must be ergonomic and easy to assemble.

[0061] The test platform is provided with an input end sliding platform 2, a No. 1 pad 3, a No. 2 pad 4 and an output end sliding platform 5 in sequence. A driving motor 6 and an input end torque speed sensor 7 are provided on the input end sliding platform 2. The driving motor 6 and the input end torque speed sensor 7 share an input end sliding platform 2, which ensures the coaxiality between the driving motor 6 and the input end torque speed sensor 7 and improves the accuracy of the measurement. The planetary reducer 8 to be tested is installed on the No. 1 pad 3. The input end circular grating 9 and the output end circular grating 10 are correspondingly provided on the input shaft and the output shaft of the planetary reducer 8 to be tested. The No. 2 pad 4 is provided with an output end torque speed sensor 11. The output end sliding platform 5 is provided with a companion planetary reducer 12 and a load motor 13. The output end sliding platform 5 and the input end sliding platform 2 can slide freely, which is convenient for the installation and debugging of the planetary reducer 8 to be tested.

[0062] Among them, the output end of the driving motor 6 is fixedly connected to the input shaft of the planetary reducer 8 to be measured through the input end coupling 14, the input end torque and speed sensor 7 is arranged on the input end coupling 14, the output shaft of the planetary reducer 8 to be measured is fixedly connected to the output shaft of the accompanying planetary reducer 12 through the output end coupling 15, the output end torque and speed sensor 11 is arranged on the output end coupling 15, and the input shaft of the accompanying planetary reducer 12 is fixedly connected to the output end of the load motor 13. It is worth noting that it must be ensured that the output end of the load motor 13, the input shaft and output shaft of the accompanying planetary reducer 12, the input shaft and output shaft of the planetary reducer 8 to be measured, and the output end of the driving motor 6 are all located on the same horizontal axis.

[0063] To improve the accuracy of the test equipment, we need to ensure the concentricity between the various components and use the No. 1 pad 3 where the planetary reducer 8 to be tested is installed as the reference point. In this system, the key part is the combination of the power motor and the input torque and speed sensor 7, as well as the output part, which includes the output torque and speed sensor 11, the accompanying planetary reducer 12 and the load motor 13. All components are positioned with a mounting base to maintain accurate matching of the axis.

[0064] The torque and speed sensor, as a key device for the accurate measurement of the speed and torque signals at the input and output ends of the planetary reducer, plays a vital role in ensuring the accuracy of the torque value acquisition at both ends of the reducer. When comprehensively considering the overall design of the test plan, we fully weighed multiple factors such as cost-effectiveness and delivery cycle, and finally decided to adopt the torque and speed sensor produced by ETH of Germany. Specifically, at the input end of the planetary reducer 8 under test, we chose the T-DRFL-II type sensor, and at the output end, we chose the T-DRFL-VI type sensor. These two sensors are not only compact in size, but also show excellent performance in the linearity and accuracy of analog electrical signals and torque values. In addition, they are equipped with independent signal transmission shielding lines, which greatly improves the anti-interference ability, thereby ensuring the stability and reliability of the measurement data. These two sensors are always keenly capturing the subtle changes in speed and torque, providing us with accurate and correct data support.

[0065] See also Figure 2 As shown, the test equipment also includes an industrial control computer 16, a motion control card 17, a No. 1 servo driver 18, a No. 2 servo driver 19, a data acquisition card 20, an input end reading head 21 and an output end reading head 22. Among them, the No. 1 servo driver 18, the No. 2 servo driver 19 and the industrial control computer 16 are all connected to the motion control card 17 in communication, the No. 1 servo driver 18 is also connected to the load motor 13 in communication, and the No. 2 servo driver 19 is also connected to the drive motor 6 in communication. The data acquisition card 20 is connected to the industrial control computer 16 in communication, the input end torque speed sensor 7 and the output end torque speed sensor 11 are connected to the data acquisition card 20 in communication, the input end circular grating 9 is connected to the data acquisition card 20 in communication through the input end reading head 21, and the output end circular grating 10 is connected to the data acquisition card 20 in communication through the output end reading head 22.

[0066] The circular grating is cleverly connected to the input and output shafts through the mounting bracket to ensure that they rotate synchronously. In this system, the reading head plays a key role. It can accurately capture the rotation of the circular grating and output two pulse signals A and B. These two signals not only have a precise 90-degree phase difference, but also the voltage of each signal is 5V. This design subtly reflects the rotation direction of the shaft. By accurately calculating the number of pulse signals output by the reading head, we can accurately calculate the rotation angle of the input and output shafts.

[0067] See also Figure 3 , 4 As shown, the input end sliding platform 2 and the output end sliding platform 5 both include a slide rail 23, a slide plate 24 and a driving mechanism. The slide rail 23 is laid on the test platform, the slide plate 24 is slidably arranged on the slide rail 23, and the driving mechanism is arranged on the test stand 1, and the driving mechanism is used to drive the movement of the slide plate 24. The driving mechanism includes a rack 25, a gear 26, a connecting rod 27, a bearing 28 and a handle 29. The rack 25 is fixedly arranged at the bottom of the slide plate 24, the bearing 28 is embedded in the test stand 1, the connecting rod 27 is inserted in the bearing 28, the gear 26 is fixedly arranged at the end of the connecting rod 27, and the gear 26 is meshed with the rack 25, and the handle 29 is fixedly arranged at the other end of the connecting rod 27. Further, a combined box 30 is arranged on the input end sliding platform 2, and the input end torque speed sensor 7 is located in the combined box 30.

[0068] The combined housing 30 integrates the basic parts of the input and output. This concept allows the through holes on each axis to be processed simultaneously during the process of making the foundation, which helps to unify the manufacturing reference points to locate the threaded holes or through holes, thereby greatly reducing the cumulative deviation during assembly and ensuring accurate alignment between all components. In addition, this solution also improves the overall structure of the test bench, making it simpler and significantly reducing its size. It is particularly important to point out that when different types of reducers are used, the positions of the speed sensor and the servo motor can still remain stable, which plays a positive role in increasing the replacement speed and maintaining the concentricity of the entire equipment.

[0069] See also Figure 2As shown in the figure, the core operating mechanism of the test platform is based on a new overall performance evaluation strategy. With the help of high-precision couplings, the input / output shafts of the tested planetary reducer 8 are firmly connected to the rotation torque and speed sensors, thereby constructing an effective data collection system. At the same time, the rotation torque of the input part of the tested planetary reducer 8 and the input end torque speed sensor 7 are also perfectly matched to the servo motor, and at its output end, it is flange-connected to the simulation device to test the planetary reducer 12 and the load servo motor to ensure the accuracy of information transmission. The use of a sliding platform can achieve axial positioning of the planetary reducer and other components to maintain the robustness and correctness of the test. In addition, the data acquisition card 20 and the motion control card 17 work closely with the industrial computer, in which the motion control card 17 is responsible for driving the servo motor, and the data acquisition card 20 continuously monitors signals such as rotation speed, rotation torque, and circular grating readings, and provides comprehensive and detailed data support for its performance research. The present invention uses the cooperation between the load motor 13 and the accompanying test planetary reducer 12. The accompanying test planetary reducer 12 can convert the torque provided by the load motor 13 into the load torque of the planetary reducer 8 under test, thereby meeting the test requirements of transmission efficiency and transmission error, and successfully solving the problem that traditional methods cannot accurately measure performance such as torsional stiffness and hysteresis.

[0070] When using the above-mentioned planetary reducer test equipment to test the comprehensive performance of the tested planetary reducer 8, the following steps are included:

[0071] Install the planetary reducer 8 to be tested on the No. 1 pad 3 as required, and ensure the coaxiality among the drive motor 6, the input torque speed sensor 7, the planetary reducer 8 to be tested, the output torque speed sensor 11, the accompanying planetary reducer 12 and the load motor 13;

[0072] The industrial control computer 16 controls the No. 1 servo driver 18 and the No. 2 servo driver 19 through the motion control card 17 to drive the load motor 13 and the drive motor 6 to operate respectively;

[0073] The data acquisition card 20 respectively acquires the speed and torque signals of the input shaft and the output shaft of the planetary reducer 8 under test and sends them to the industrial control computer 16. The input end reading head 21 and the output end reading head 22 respectively acquire and calculate the rotation angles of the input shaft and the output shaft of the planetary reducer 8 under test and send them to the industrial control computer 16.

[0074] The test software in the industrial control computer 16 deeply analyzes the collected speed, torque and angle value signals. Based on the principle of comprehensive performance testing, the test software accurately calculates the data and displays it to the user in the form of an intuitive relationship curve graph.

[0075] Figure 6 It is the transmission efficiency test interface in the test software. Figure 7 It is the transmission error test interface in the test software. Figure 8 It is the hysteresis curve test interface in the test software.

[0076] The above is a detailed description of the preferred embodiments of the present invention, which cannot be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A test device for a planetary reducer, comprising a test stand (1), wherein the test stand (1) comprises a test platform at the top, and is characterized in that: An input end sliding platform (2), a first cushion block (3), a second cushion block (4) and an output end sliding platform (5) are sequentially arranged on the test platform; a driving motor (6) and an input end torque speed sensor (7) are arranged on the input end sliding platform (2); a planetary reducer (8) to be tested is installed on the first cushion block (3); an input end circular grating (9) and an output end circular grating (10) are correspondingly arranged on the input shaft and the output shaft of the planetary reducer (8) to be tested; an output end torque speed sensor (11) is arranged on the second cushion block (4); and a planetary reducer (12) to be tested and a load motor (13) are arranged on the output end sliding platform (5); The output end of the drive motor (6) is fixedly connected to the input shaft of the planetary reducer (8) to be measured through an input end coupling (14); the input end torque speed sensor (7) is arranged on the input end coupling (14); the output shaft of the planetary reducer (8) to be measured is fixedly connected to the output shaft of the accompanying planetary reducer (12) to be measured through an output end coupling (15); the output end torque speed sensor (11) is arranged on the output end coupling (15); the input shaft of the accompanying planetary reducer (12) to be measured is fixedly connected to the output end of the load motor (13); and the output end of the load motor (13), the input shaft and output shaft of the accompanying planetary reducer (12), the input shaft and output shaft of the planetary reducer (8) to be measured, and the output end of the drive motor (6) are all located on a unified horizontal axis.

2. A planetary reducer test device according to claim 1, characterized in that: The invention also comprises an industrial control computer (16), a motion control card (17), a first servo driver (18) and a second servo driver (19); the first servo driver (18), the second servo driver (19) and the industrial control computer (16) are all connected in communication with the motion control card (17); the first servo driver (18) is also connected in communication with the load motor (13); and the second servo driver (19) is also connected in communication with the drive motor (6).

3. A planetary reducer testing device according to claim 2, characterized in that: The invention also comprises a data acquisition card (20), an input end reading head (21) and an output end reading head (22); the data acquisition card (20) is communicatively connected to the industrial control computer (16); the input end torque speed sensor (7) and the output end torque speed sensor (11) are communicatively connected to the data acquisition card (20) respectively; the input end circular grating (9) is communicatively connected to the data acquisition card (20) via the input end reading head (21); and the output end circular grating (10) is communicatively connected to the data acquisition card (20) via the output end reading head (22).

4. The planetary reducer test equipment according to claim 1, characterized in that: The input end sliding platform (2) and the output end sliding platform (5) both include a slide rail (23), a slide plate (24) and a driving mechanism, wherein the slide rail (23) is laid on the test platform, the slide plate (24) is slidably arranged on the slide rail (23), and the driving mechanism is arranged on the stand (1), and is used to drive the movement of the slide plate (24).

5. A planetary reducer testing device according to claim 4, characterized in that: The driving mechanism comprises a rack (25), a gear (26), a connecting rod (27), a bearing (28) and a handle (29); the rack (25) is fixedly arranged at the bottom of the slide (24); the bearing (28) is embedded in the stand (1); the connecting rod (27) is inserted into the bearing (28); the gear (26) is fixedly arranged at the end of the connecting rod (27), and the gear (26) is meshed with the rack (25); and the handle (29) is fixedly arranged at the other end of the connecting rod (27).

6. The planetary reducer testing device according to claim 1, characterized in that: A combined box (30) is arranged on the input end sliding platform (2), and the input end torque and speed sensor (7) is located inside the combined box (30).

7. A method for testing a planetary reducer for an automobile electric bridge, performed using the planetary reducer testing device according to claim 3, characterized in that: include: S1, install the planetary reducer (8) to be tested on the No. 1 cushion block (3) as required; S2, the industrial control computer (16) controls the first servo driver (18) and the second servo driver (19) through the motion control card (17) to drive the load motor (13) and the drive motor (6) to operate respectively; S3, the data acquisition card (20) respectively acquires the speed and torque signals of the input shaft and the output shaft of the planetary reducer (8) under test and sends them to the industrial control computer (16), the input end reading head (21) and the output end reading head (22) respectively acquire and calculate the rotation angles of the input shaft and the output shaft of the planetary reducer (8) under test and send them to the industrial control computer (16); S4, the test software in the industrial control computer (16) deeply analyzes the collected speed, torque and angle value signals. Based on the comprehensive performance test principle, the test software accurately calculates the data and displays it to the user in the form of an intuitive relationship curve graph.

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