Electric mechanism balancing detection loading device and method

Abstract

The invention belongs to the technical field of electric mechanism tests, and relates to an electric mechanism balancing detection loading device and method, and the device comprises a loading unit and a control unit. The loading unit is used for loading the tested electric mechanism; the control unit is used for controlling the loading unit to simultaneously acquire the load and the displacement of the tested electric mechanism under load; and whether balancing is carried out or not is judged according to the load and displacement of the loaded electric mechanism. The loading unit comprises a reduction gear motor, a chain, a magnetic powder clutch, a rack, a displacement sensor and a tension and compression sensor; the reduction gear motor drives the magnetic powder clutch through a chain; the magnetic powder clutch drives the rack, one end of the rack is connected to the loading platform after being connected with the displacement sensor, the other end of the rack is connected with the tested electric mechanism, and the other end of the tested electric mechanism is connected to the loading platform after being connected with the tension and compression sensor.

Description

Technical Field

[0001] The invention belongs to the technical field of electric mechanism testing, and relates to an electric mechanism balancing detection loading device and method. Background Art

[0002] The aircraft trim control system is used to fine-tune the aircraft's attitude and heading, reduce the control force required by the pilot to adjust or maintain flight, and thus achieve the purpose of relieving pilot fatigue. The development and changes in the situation in recent years have placed higher and higher requirements on the aircraft's control performance, and thus higher requirements on the electric mechanisms related to mechanical aircraft trim control, that is, the speed difference matching is required to be good, the installation and adjustment method is appropriate, etc.

[0003] Due to the different models of electric mechanisms, their installation positions and applicable working conditions are different, so the technical indicators of the tooling required for installation and loading are different. Since the on-board balancing control system adopts an open-loop control method, when the test tooling has low installation consistency and matching, and the loading is not smooth, the two electric mechanisms are affected by large installation stress, radial force, fluctuating load, etc. and cannot work normally, and it is impossible to select an electric mechanism that is stable, reliable and has good matching performance on the machine. Most of the existing installation tools in the factory and product manufacturers are designed for the test of a single electric mechanism of a single model, and they are not applicable in either paired installation or synchronous loading. Its shortcomings are specifically manifested as follows: 1. The existing tooling cannot adapt to the installation of the matching test of the two electric mechanisms, and can only be installed and tested separately, and it is impossible to complete the matching test of the two electric mechanisms for the consistency and matching of the installation tooling; 2. The load device installed on the existing test equipment is fixed on the tooling, and its size cannot be adjusted and can only be applied to a single electric mechanism of a single model, and cannot meet the requirements of synchronous loading test of two electric mechanisms of different models. 3. The existing tooling is fixedly installed on the test bench. When the tooling is used to install different types of electric mechanisms, due to the large differences in performance parameters of different types of electric mechanisms, the fixed installation dimensions make it easy for the electric mechanism to be damaged due to excessive squeezing and stretching during movement, which may cause safety hazards such as damage to the product or damage to the tooling fixture and load. 4. The load device installed on the existing tooling is suspended and fixed on the tooling, and no relevant anti-falling, physical isolation and other protective measures are taken. During long-term use, the load device is prone to fall and cause safety hazards such as smashing and hitting people. Summary of the invention

[0004] The purpose of the present invention is to provide an electric mechanism balancing detection loading device and method, which can meet the requirements of simultaneously applying loads in the same direction or opposite directions when testing two electric mechanisms of different models, and can also meet the requirements of applying loads in the same direction or opposite directions when testing the matching of two electric mechanisms of the same model. It has a wider application space and higher promotion value in the field of synchronous testing.

[0005] Technical Solution

[0006] An electric mechanism balancing detection loading device comprises: a loading unit and a control unit;

[0007] The loading unit is used to load the electric mechanism under test;

[0008] The control unit is used to control the loading unit to simultaneously collect the load and displacement of the tested electric mechanism under load; and determine whether the electric mechanism is balanced according to the load and displacement of the electric mechanism under load.

[0009] Furthermore, the loading unit includes: a reduction gear motor, a chain, a magnetic powder clutch, a rack, a displacement sensor and a tension and compression sensor; and provides a stable loading load for the electric mechanism under test when the performance is tested under various load loading conditions.

[0010] The reduction gear motor drives the magnetic powder clutch through a chain; the chain connection method can ensure continuous and reliable transmission of the components.

[0011] The magnetic powder clutch drives the rack, one end of the rack is connected to the loading platform through the displacement sensor, the other end of the rack is connected to the electric mechanism under test, and the other end of the electric mechanism under test is connected to the loading platform after connecting to the tension and compression sensor. The connected displacement sensor can complete the measurement and transmission of the telescopic displacement of the electric mechanism under test; the connected tension and compression sensor can complete the measurement and transmission of the telescopic motion load of the electric mechanism under test.

[0012] Furthermore, the loading unit also includes: a tensioning sprocket; the tensioning sprocket is used to tension the chain to ensure the stability and reliability of load transmission.

[0013] Furthermore, the device also includes a locking ring, and the two ends of the electric mechanism under test are respectively connected to the rack and the tension and compression sensor through the locking ring; in order to effectively ensure the measurement accuracy, the locking ring is rotated to eliminate the fitting clearance after the pin is inserted into the pin hole during part assembly.

[0014] Furthermore, the device includes two groups of loading units, which are used to test the two electric mechanisms at the same time, so as to determine whether the two electric mechanisms are balanced. The displacement, tensile force and time of the telescopic stroke corresponding to the telescopic movement of the two electric mechanisms under no load are collected at the same time when the two tested electric mechanisms are under load, and the ratio of the displacement to time (i.e., speed) difference corresponding to the telescopic movement of the two electric mechanisms is used to determine whether the two tested electric mechanisms are balanced.

[0015] A method for testing and loading a balance of an electric mechanism is implemented based on the device.

[0016] S1: Control the two electric mechanisms to perform telescopic motion under no-load conditions, and collect the displacement, tensile pressure and time of the telescopic stroke corresponding to the telescopic motion of the two electric mechanisms under no-load conditions;

[0017] S2: applying rated loads to the two electric mechanisms; controlling the two electric mechanisms to perform telescopic motion, and collecting the displacement, tensile pressure, and time elapsed by the telescopic stroke of the two electric mechanisms corresponding to the telescopic motion under the rated load;

[0018] S3: Apply 50% of the rated load to the two electric mechanisms; control the two electric mechanisms to perform telescopic movement, and collect the displacement, tensile pressure and telescopic stroke time corresponding to the telescopic movement of the two electric mechanisms under 50% of the rated load;

[0019] S4: applying a rated load to one electric mechanism and 90% of the rated load to the other electric mechanism; collecting the displacement, tensile force and time of the telescopic stroke corresponding to the telescopic motion of the two electric mechanisms under the corresponding loads;

[0020] S5: Determine whether the two electric mechanisms are balanced based on the collected parameters under the four loads.

[0021] Furthermore, for the magnetic powder clutch under no-load condition (inspecting the performance parameters of the inherent assembly and debugging of the tested electric mechanism): no loading power supply parameters are set;

[0022] For the reduction gear motor: set the power supply parameters to AC 220V, 50Hz, and the current should not exceed 0.1A.

[0023] Furthermore, under rated load (inspecting the load-carrying capacity of the tested electric mechanism and the performance parameters under rated full load), for the magnetic powder clutch: set the power supply parameters to AC 380V, 50Hz, and the current to the range of 2.2A to 2.5A;

[0024] For the reduction gear motor: set the power supply parameters to AC 220V, 50Hz, and the current to the range of 3.46A to 3.82A.

[0025] Furthermore, under the condition of 50% rated load (investigating the performance parameters of the tested electric mechanism when the rated load is partially caused by the pneumatic force), for the magnetic powder clutch: the power supply parameters are set to AC 380V, 50Hz, and the current is within the range of 1.1A to 1.3A;

[0026] For the reduction gear motor: set the power supply parameters to AC 220V, 50Hz, and the current to the range of 1.73A to 1.92A.

[0027] Furthermore, under unbalanced load (inspecting the performance parameters of the tested electric mechanism under left and right unbalanced load caused by installation stress), the power supply parameters of the magnetic powder clutch are set to AC 380V, 50Hz, and the current is within the range of 2.0A to 2.3A for the left magnetic powder clutch; the power supply parameters of the right magnetic powder clutch are set to AC 380V, 50Hz, and the current is within the range of 1.1A to 1.3A;

[0028] For the reduction gear motor: the power supply parameters for the left reduction gear motor are set to AC 220V, 50Hz, and the current is within the range of 3.12A to 3.44A; the power supply parameters for the right reduction gear motor are set to AC 220V, 50Hz, and the current is within the range of 1.73A to 1.92A.

[0029] Furthermore, the process of judging whether to balance is as follows:

[0030] The displacement corresponding to the telescopic motion of the two electric mechanisms collected under the above-mentioned various load conditions should be within the range of 34mm to 36mm, and the displacement difference between the two electric mechanisms should not be greater than 0.5mm;

[0031] The tensile pressure corresponding to the telescopic movement of the two electric mechanisms collected under the above-mentioned various load conditions (except the no-load condition) should be within the range of 760N to 840N, and the difference in tensile pressure between the two electric mechanisms should not exceed 30N;

[0032] The time taken for the two electric mechanisms to extend and retract under the above-mentioned load conditions (except the no-load condition) should be within the range of 13.5s to 16.5s, and the time difference between the two electric mechanisms should not exceed 1.5s. The time taken for the two electric mechanisms to extend and retract under the no-load condition should be within the range of 10.5s to 16.5s, and the time difference between the two electric mechanisms should not exceed 1.5s.

[0033] The ratio of displacement to time (speed) corresponding to the telescopic motion of the two electric mechanisms collected under the above-mentioned various load conditions (except the no-load condition) should be within the range of 2.06mm / s to 2.67mm / s, and the difference in the ratio of displacement to time (speed) corresponding to the telescopic motion of the two electric mechanisms should not exceed 0.3mm / s. The ratio of displacement to time (speed) corresponding to the telescopic motion of the two electric mechanisms collected under the no-load condition should be within the range of 2.06mm / s to 3.43mm / s, and the difference in the ratio of displacement to time (speed) corresponding to the telescopic motion of the two electric mechanisms should not exceed 0.3mm / s.

[0034] Beneficial effects:

[0035] 1. The distributed layout makes the loading device have the characteristics of independent functions of each component, simple structure and flexible use. It can realize the installation and loading of electric mechanisms of different models or the installation, synchronous loading and loading status monitoring of two electric mechanisms of the same model during matching test.

[0036] 2. The combined loading method of motor, chain, sprocket, magnetic powder clutch, tension and compression sensor can realize adjustable and stable transmission of load, and can meet the loading adjustment and real-time monitoring of load of electric mechanisms of different models or two electric mechanisms of the same model.

[0037] 3. The tooling is detachable, extensible and highly mobile. It has flexible requirements on the travel of the product being tested and is convenient and reasonable for quick disassembly. It avoids the safety hazard of fixed installation dimensions that may cause damage to the product or damage to the tooling fixture and load due to excessive squeezing or stretching during the movement of the electric mechanism.

[0038] 4. The auxiliary installation facilities of mounting bracket and support seat are adopted to ensure the firm and reliable installation of tooling and loading motor. At the same time, a sprocket protection cover is installed outside the magnetic powder clutch to realize the physical isolation of magnetic powder clutch, sprocket, etc., which greatly reduces the risk of falling off and improves the safety factor of tooling.

[0039] 5. A gap elimination fixture is used, that is, all threaded connections and pin hole fittings are equipped with locking rings. The locking rings use knurled surfaces to improve the surface smoothness of the parts to ensure the stability and accuracy of the part connection, avoiding the influence of looseness on the measurement accuracy and the inability to effectively complete the matching test.

[0040] 6. The software automatic calculation and display function of the measurement and control unit can quickly and automatically calculate and display the speed and speed difference of the two tested electric mechanisms so that the operator can intuitively judge whether the two tested electric mechanisms are balanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention includes 4 drawings, and the drawings and the descriptions of the drawings are as follows:

[0042] Figure 1 It is a schematic diagram of the composition and signal cross-linking of the loading control unit;

[0043] Figure 2 It is the working flow diagram of the transmission system;

[0044] Figure 3 This is the working principle diagram of the transmission system;

[0045] Figure 4 This is a schematic diagram of the transmission loading and tooling installation cabinet;

[0046] in: Figure 1It includes measurement and control unit, loading control unit (PLC unit, signal conditioning unit), loading unit (electromagnetic clutch driver, load sensor, load control), and product to be tested.

[0047] Figure 2 It includes a three-phase gear reduction motor, sprocket transmission, magnetic powder clutch operation, gear rotation, rack displacement, and the measured object being pulled and displaced.

[0048] Figure 3 Includes: 1. Loading platform installation cabinet, 2. Motor mounting frame, 3. Three-phase reduction gear motor, 4. Sprocket, 5. Chain, 6. Tension sprocket, 7. Support seat, 8. Tension and compression sensor, 9. Test piece, 10. Locking ring, 11. Sprocket protection cover, 12. Magnetic powder clutch, 13. Rack, 14. Grating displacement sensor. DETAILED DESCRIPTION

[0049] The present invention provides an electric mechanism balancing detection loading device, comprising a loading platform installation cabinet 1, a motor installation frame 2, a three-phase reduction gear motor 3, a sprocket 4, a chain 5, a tension sprocket 6, a support seat 7, a tension and compression sensor 8, a tested part 9, a locking ring 10, a sprocket protection cover 11, a magnetic powder clutch 12, a rack 13, and a grating displacement sensor 14.

[0050] Among them, the loading platform installation cabinet 1 is a platform for installing tooling in the device and provides isolation protection function, that is, it provides an installation reference surface for the support seat 7. At the same time, it encapsulates the motor mounting frame 2, the three-phase reduction gear motor 3, the sprocket 4, the chain 5, and the tensioning sprocket 6 inside to achieve the purpose of physical isolation protection, thereby preventing the three-phase reduction gear motor 3 and the chain 5 from falling off and causing injuries to personnel.

[0051] The motor mounting frame 2, the three-phase reduction gear motor 3, the sprocket 4, the chain 5, the tensioning sprocket 6, the sprocket protection cover 11, the magnetic powder clutch 12, and the rack 13 together constitute a loading device; the motor mounting frame 2 and the three-phase reduction gear motor 3 constitute a stable load force output part; the sprocket 4, the chain 5, the tensioning sprocket 6, the magnetic powder clutch 12, and the rack 13 constitute a stable and reliable transmission mechanism part of the load; that is, the driven wheel sprocket 4 of the three-phase reduction gear motor 3 is connected with the input wheel of the magnetic powder clutch 12 through the chain 5 to complete the conversion and transmission of the original power of the three-phase reduction gear motor 3 to the driven power of the magnetic powder clutch 12 The output wheel of the magnetic powder clutch 12 is connected to the rack 13 to complete the conversion of the driven power of the magnetic powder clutch 12 and the load of the rack 13, so as to realize the smooth and reliable loading transmission from the rotational motive force of the three-phase reduction gear motor 3 to the rack 13 which can act on the axial load of the electric mechanism under test; a tensioning sprocket 6 is arranged near the chain 5 to ensure the proper tension of the chain and ensure the stability and reliability of the load transmission; a sprocket protection cover 11 is assembled outside the magnetic powder clutch 12 to realize the physical isolation of the magnetic powder clutch, sprocket, etc., so as to prevent the chain 5 and the magnetic powder clutch 12 from falling off and causing injuries to personnel.

[0052] The support seat 7, tension and compression sensor 8, locking ring 10, sprocket protective cover 11, magnetic powder clutch 12, rack 13, and grating displacement sensor 14 form the installation environment and loading capacity monitoring of the test piece 9; the support seat 7 serves as a mounting bracket and reference for the tension and compression sensor 8, locking ring 10, sprocket protective cover 11, magnetic powder clutch 12, rack 13, and grating displacement sensor 14; the load detection part composed of the tension and compression sensor 8 and the locking ring 10 can move a certain distance along the axial direction of the test piece 9 on the support seat 7 to match the stroke requirements of different models of electric mechanisms during extension and retraction, avoiding the safety hazard of damage to the test piece or damage to the locking ring, magnetic powder clutch, and rack due to excessive extrusion and stretching when installed at a fixed distance.

[0053] A method for loading a trim test of an electric mechanism, comprising the following steps:

[0054] a) The detection method of the two motor-driven mechanisms under no-load condition is as follows:

[0055] 1) After installing the two motor-driven mechanisms to be tested on the left and right loading devices, connect the power cables, product cables, and load platform cables;

[0056] 2) Turn on the AC power supply, DC power supply, and load power supply switches, and the corresponding indicator lights will light up. At the same time, the indicator lights of the left and right mechanisms will also light up accordingly;

[0057] 3) Adjust the left and right working voltages to the rated values ​​(27.5V~28.5V), select the loading direction according to the product position, that is, extend or retract the load switch, and complete the load parameter setting according to the test requirements, that is, do not set any loading power supply parameters for the magnetic powder clutch, and set the power supply parameters for the reduction gear motor to AC 220V, 50Hz, and the current is not more than 0.1A;

[0058] 4) Select the working direction, i.e., extend or retract switch, according to the product position. The load control unit simultaneously sends the left and right electric mechanisms an extend or retract working signal. The two electric mechanisms work at the same time, and the load, stroke, time and calculated speed on the display are read;

[0059] 5) Determine whether the two tested electric mechanisms are balanced based on the read data. Specifically, the displacement corresponding to the telescopic movement of the two electric mechanisms should be in the range of 34mm to 36mm, and the displacement difference of the two electric mechanisms should not be greater than 0.5mm; the pulling and pressing force corresponding to the telescopic movement of the two electric mechanisms should be in the range of 760N to 840N, and the pulling and pressing force difference of the two electric mechanisms should not be greater than 30N; the time experienced by the telescopic stroke of the two electric mechanisms should be in the range of 10.5s to 16.5s, and the time difference of the two electric mechanisms should not be greater than 1.5s; the ratio (speed) of the displacement to time corresponding to the telescopic movement of the two electric mechanisms should be in the range of 2.06mm / s to 3.43mm / s, and the difference (speed) of the displacement to time corresponding to the telescopic movement of the two electric mechanisms should not be greater than 0.3mm / s.

[0060] b) The testing method of the two motor-driven mechanisms under rated load is as follows:

[0061] 1) After installing the two motor-driven mechanisms to be tested on the left and right loading devices, connect the power cables, product cables, and load platform cables;

[0062] 2) Turn on the AC power supply, DC power supply, and load power supply switches, and the corresponding indicator lights will light up. At the same time, the indicator lights of the left and right mechanisms will also light up accordingly;

[0063] 3) Adjust the left and right working voltages to the rated values ​​(27.5V~28.5V), select the loading direction according to the product position, that is, extend or retract the load switch, and complete the load parameter setting according to the test requirements, that is, set the power supply parameters of the magnetic powder clutch to AC 380V, 50Hz, and the current to the range of 2.2A~2.5A; for the reduction gear motor: set the power supply parameters to AC 220V, 50Hz, and the current to the range of 3.46A~3.82A;

[0064] 4) Select the working direction, i.e., extend or retract switch, according to the product position. The load control unit simultaneously sends the left and right electric mechanisms an extend or retract working signal. The two electric mechanisms work at the same time, and the load, stroke, time and calculated speed on the display are read;

[0065] 5) The read data is used to determine whether the two tested electric mechanisms are balanced. Specifically, the displacement corresponding to the telescopic movement of the two electric mechanisms should be in the range of 34mm to 36mm, and the displacement difference of the two electric mechanisms should not be greater than 0.5mm; the pulling and pressing force corresponding to the telescopic movement of the two electric mechanisms should be in the range of 760N to 840N, and the pulling and pressing force difference of the two electric mechanisms should not be greater than 30N; the time experienced by the telescopic stroke of the two electric mechanisms should be in the range of 13.5s to 16.5s, and the time difference of the two electric mechanisms should not be greater than 1.5s; the ratio (speed) of the displacement to time corresponding to the telescopic movement of the two electric mechanisms should be in the range of 2.06mm / s to 2.67mm / s, and the difference (speed) of the displacement to time corresponding to the telescopic movement of the two electric mechanisms should not be greater than 0.3mm / s.

[0066] c) The testing method of the two motor-driven mechanisms under 50% rated load is as follows:

[0067] 1) After installing the two motor-driven mechanisms to be tested on the left and right loading devices, connect the power cables, product cables, and load platform cables;

[0068] 2) Turn on the AC power supply, DC power supply, and load power supply switches, and the corresponding indicator lights will light up. At the same time, the indicator lights of the left and right mechanisms will also light up accordingly;

[0069] 3) Adjust the left and right working voltages to the rated values ​​(27.5V~28.5V), select the loading direction according to the product position, that is, extend or retract the load switch, and complete the load parameter setting according to the test requirements. For the magnetic powder clutch: set the power supply parameters to AC 380V, 50Hz, and the current is in the range of 1.1A~1.3A; for the reduction gear motor: set the power supply parameters to AC 220V, 50Hz, and the current is in the range of 1.73A~1.92A;

[0070] 4) Select the working direction, i.e., extend or retract switch, according to the product position. The load control unit simultaneously sends the left and right electric mechanisms an extend or retract working signal. The two electric mechanisms work at the same time, and the load, stroke, time and calculated speed on the display are read;

[0071] 5) Determine whether the two tested electric mechanisms are balanced based on the read data. Specifically, the displacement corresponding to the telescopic movement of the two electric mechanisms should be in the range of 34mm to 36mm, and the displacement difference of the two electric mechanisms should not be greater than 0.5mm; the pulling and pressing force corresponding to the telescopic movement of the two electric mechanisms should be in the range of 760N to 840N, and the pulling and pressing force difference of the two electric mechanisms should not be greater than 30N; the time experienced by the telescopic stroke of the two electric mechanisms should be in the range of 10.5s to 16.5s, and the time difference of the two electric mechanisms should not be greater than 1.5s; the ratio (speed) of the displacement to time corresponding to the telescopic movement of the two electric mechanisms should be in the range of 2.06mm / s to 3.43mm / s, and the difference (speed) of the displacement to time corresponding to the telescopic movement of the two electric mechanisms should not be greater than 0.3mm / s.

[0072] d) Under unbalanced load conditions (simulation of installation differences on the machine), the detection method for the two motor-driven mechanisms under test is as follows:

[0073] 1) After installing the two motor-driven mechanisms to be tested on the left and right loading devices, connect the power cables, product cables, and load platform cables;

[0074] 2) Turn on the AC power supply, DC power supply, and load power supply switches, and the corresponding indicator lights will light up. At the same time, the indicator lights of the left and right mechanisms will also light up accordingly;

[0075] 3) Adjust the left and right working voltages to the rated values ​​(27.5V~28.5V), select the loading direction according to the product position, that is, extend or retract the load switch, and complete the load parameter setting according to the test requirements; that is, set the power supply parameters of the left magnetic powder clutch to AC 380V, 50Hz, and the current is in the range of 2.0A~2.3A; set the power supply parameters of the left reduction gear motor to AC 220V, 50Hz, and the current is in the range of 3.12A~3.44A; set the power supply parameters of the right magnetic powder clutch to AC 380V, 50Hz, and the current is in the range of 1.1A~1.3A, and set the power supply parameters of the right reduction gear motor to AC 220V, 50Hz, and the current is in the range of 1.73A~1.92A;

[0076] 4) Select the working direction, i.e., extend or retract switch, according to the product position. The load control unit simultaneously sends the left and right electric mechanisms an extend or retract working signal. The two electric mechanisms work at the same time, and the load, stroke, time and calculated speed on the display are read;

[0077] 5) The read data is used to determine whether the two tested electric mechanisms are balanced. Specifically, the displacement corresponding to the telescopic movement of the two electric mechanisms should be in the range of 34mm to 36mm, and the displacement difference of the two electric mechanisms should not be greater than 0.5mm; the pulling and pressing force corresponding to the telescopic movement of the two electric mechanisms should be in the range of 760N to 840N, and the pulling and pressing force difference of the two electric mechanisms should not be greater than 30N; the time experienced by the telescopic stroke of the two electric mechanisms should be in the range of 13.5s to 16.5s, and the time difference of the two electric mechanisms should not be greater than 1.5s; the ratio (speed) of the displacement to time corresponding to the telescopic movement of the two electric mechanisms should be in the range of 2.06mm / s to 2.67mm / s, and the difference (speed) of the displacement to time corresponding to the telescopic movement of the two electric mechanisms should not be greater than 0.3mm / s.

Claims

1. An electric mechanism balancing detection loading device, characterized in that: The device includes: Loading unit, control unit; The loading unit is used to load the electric mechanism under test; The control unit is used to control the loading unit to simultaneously collect the load and displacement of the tested electric mechanism under load; and determine whether the electric mechanism is balanced according to the load and displacement of the electric mechanism under load.

2. The device according to claim 1, characterized in that: The loading unit includes: a reduction gear motor, a chain, a magnetic powder clutch, a rack, a displacement sensor and a tension and compression sensor; The reduction gear motor drives the magnetic powder clutch through the chain; The magnetic powder clutch drives the rack, one end of the rack is connected to the loading platform through a displacement sensor, the other end of the rack is connected to the electric mechanism under test, and the other end of the electric mechanism under test is connected to the loading platform after being connected to the tension and compression sensor.

3. The device according to claim 2, characterized in that: The loading unit also includes: a tensioning sprocket; the tensioning sprocket is used for tensioning the chain.

4. The device according to claim 3, characterized in that: The device also includes a locking ring, and the two ends of the tested electric mechanism are respectively connected to the rack and the tension and compression sensor through the locking ring.

5. The device according to claim 4, characterized in that: The device comprises two groups of loading units, which are used to test two electric mechanisms at the same time, so as to judge whether the two electric mechanisms are balanced.

6. A method for testing and loading a balance of an electric mechanism, implemented based on any of the above-mentioned devices, characterized in that: S1: Control the two electric mechanisms to perform telescopic motion under no-load conditions, and collect the displacement, tensile pressure and time of the telescopic stroke corresponding to the telescopic motion of the two electric mechanisms under no-load conditions; S2: applying rated loads to the two electric mechanisms; controlling the two electric mechanisms to perform telescopic motion, and collecting the displacement, tensile pressure, and time elapsed by the telescopic stroke of the two electric mechanisms corresponding to the telescopic motion under the rated load; S3: Apply 50% of the rated load to the two electric mechanisms; control the two electric mechanisms to perform telescopic movement, and collect the displacement, tensile pressure and telescopic stroke time corresponding to the telescopic movement of the two electric mechanisms under 50% of the rated load; S4: Apply a rated load to one electric mechanism and 90% of the rated load to the other electric mechanism; collect the displacement, tensile pressure and time of the telescopic stroke corresponding to the telescopic movement of the two electric mechanisms under the corresponding loads; S5: Determine whether the two electric mechanisms are balanced based on the collected parameters under the four loads.

7. The method according to claim 6, characterized in that: For magnetic powder clutch under no-load condition: do not set any loading power supply parameters; For the reduction gear motor: set the power supply parameters to AC 220V, 50Hz, and the current should not exceed 0.1A.

8. The method according to claim 7, characterized in that: For magnetic powder clutch under rated load: set power supply parameters to AC 380V, 50Hz, current at 2.2A ～ Within 2.5A range; For the reduction gear motor: set the power supply parameters to AC 220V, 50Hz, and the current to 3.46A ～ Within 3.82A range.

9. The method according to claim 8, characterized in that: For magnetic powder clutch at 50% rated load: set power supply parameters to AC 380V, 50Hz, current 1.1A ～ Within 1.3A range; For the reduction gear motor: set the power supply parameters to AC 220V, 50Hz, and the current to 1.73A ～ Within 1.92A range.

10. The method according to claim 9, characterized in that: For the magnetic powder clutch under unbalanced load conditions: the power supply parameters for the left magnetic powder clutch are set to AC 380V, 50Hz, and the current is within the range of 2.0A to 2.3A; the power supply parameters for the right magnetic powder clutch are set to AC 380V, 50Hz, and the current is within the range of 1.1A to 1.3A; For the reduction gear motor: Set the power supply parameters for the left reduction gear motor to AC 220V, 50Hz, and the current to 3.12A ~ 3.44A; Set the power supply parameters for the right reduction gear motor to AC 220V, 50Hz, and the current to 1.73A ～ Within 1.92A range.

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