A load-bearing device and method for balancing electric mechanisms

Abstract

This invention belongs to the field of electric mechanism testing technology, and relates to an electric mechanism balancing detection loading device and method. The device includes: a loading unit and a 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 electric mechanism under test; and to determine whether balancing is achieved based on the load and displacement of the electric mechanism under test. The loading unit includes: a reduction gear motor, a chain, a magnetic powder clutch, a rack, a displacement sensor, and a tension / 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 via 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 tension / compression sensor and then to the loading platform.

Description

Technical Field

[0001] This invention belongs to the field of electric mechanism testing technology, and relates to an electric mechanism balancing detection loading device and method. Background Technology

[0002] Aircraft trim control systems are used to fine-tune the aircraft's attitude and heading, reducing the control forces required for pilots to adjust or maintain flight, thereby alleviating pilot fatigue. In recent years, changing circumstances have placed increasingly higher demands on aircraft handling performance, which in turn places higher demands on the electric mechanisms related to mechanical aircraft trim control, requiring better speed differential matching and proper installation and adjustment methods.

[0003] Because different electric actuator models have different installation locations and applicable working conditions, the technical requirements for the tooling needed for installation and loading vary. Since the on-machine balancing control system uses an open-loop control method, when the test tooling has issues such as poor installation consistency and matching, or uneven loading, the two electric actuators may malfunction due to large installation stresses, radial forces, and fluctuating loads. Therefore, it is impossible to select an electric actuator that is stable, reliable, and has good matching performance suitable for the machine. Most existing installation tooling from factories and product manufacturers is designed for testing a single electric actuator of a single model, and is not applicable to paired installation or synchronous loading. Its shortcomings are specifically: 1. Existing tooling cannot be adapted for installation during matching tests of two electric actuators; it can only be installed and tested individually, failing to address the consistency and matching requirements of the installation tooling for matching tests of two electric actuators; 2. The load device added to the existing test equipment is fixed to the tooling, its size cannot be adjusted, and it is only suitable for a single electric actuator of a single model, failing to meet the requirements for synchronous loading tests of two electric actuators of different models. 3. The existing fixture is fixedly installed on the test bench. When the fixture is used to install different models of electric mechanisms, the performance parameters of these mechanisms vary significantly. The fixed installation dimensions make it easy for the electric mechanism to be damaged due to excessive compression or stretching during operation, posing a safety hazard. 4. The load device installed on the existing fixture is suspended and fixed to the fixture without any relevant anti-fall or physical isolation protection measures. Over long-term use, there is a risk that the load device may fall and cause injury to personnel. Summary of the Invention

[0004] The purpose of this invention is to provide a loading device and method for testing the balancing of electric mechanisms, which can meet the requirement of applying loads in the same or opposite directions simultaneously when testing two electric mechanisms of different models, and can also meet the requirement of applying loads in the same or opposite directions when testing the matching of two electric mechanisms of the same model. It has a wide range of applications and high promotional value in the field of synchronous testing.

[0005] Technical solution

[0006] An electric mechanism balancing detection loading device includes: 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 to determine whether the balance is achieved based on 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 / compression sensor; providing a stable loading load for the tested electric mechanism to perform performance tests under various load conditions.

[0010] The reduction gear motor drives the magnetic powder clutch via a chain; the chain connection method ensures continuous and reliable transmission of the required signal.

[0011] A magnetic powder clutch drives a rack. One end of the rack is connected to a loading platform via a displacement sensor, and the other end is connected to the electric mechanism under test. The other end of the electric mechanism under test is connected to a tension / compression sensor and then to the loading platform. The connected displacement sensor can measure and transmit the telescopic displacement of the electric mechanism under test; the connected tension / compression sensor can measure and transmit the telescopic load of the electric mechanism under test.

[0012] Furthermore, the loading unit also includes a tension sprocket; the tension 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, with both ends of the tested electric mechanism connected to the rack and the tension / compression sensor respectively via the locking ring; in order to effectively ensure measurement accuracy, the locking ring is rotated to eliminate the fit clearance after the pin is inserted into the pin hole during part assembly.

[0014] Furthermore, the device includes two sets of loading units; used to simultaneously test two electric mechanisms to determine whether the two electric mechanisms are balanced. The balance is determined by simultaneously collecting data on the displacement, tension / compression, and time elapsed during the no-load telescopic movement of the two tested electric mechanisms under load, and then using the difference in the ratio of displacement to time (i.e., velocity) between the two electric mechanisms.

[0015] A method for balancing and loading an electric mechanism, implemented based on the aforementioned device,

[0016] S1: Control the two electric mechanisms to perform telescopic movements under no-load conditions, and collect the displacement, tension, pressure and time taken for the telescopic movement of the two electric mechanisms under no-load conditions.

[0017] S2: Apply rated load to the two electric mechanisms; control the two electric mechanisms to perform telescopic movement, and collect the displacement, tension, pressure and time taken for the telescopic movement of the two electric mechanisms under 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, tension, pressure and time taken for the telescopic movement of the two electric mechanisms under 50% rated load;

[0019] S4: Apply the rated load to one electric mechanism and 90% of the rated load to another electric mechanism; collect the displacement, tension and compression, and time taken for the telescopic movement of the two electric mechanisms under the corresponding loads;

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

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

[0022] For geared motors: Set the power supply parameters to AC 220V, 50Hz, and the current to no more than 0.1A.

[0023] Furthermore, under rated load (to examine the load-carrying capacity of the tested electric mechanism and its performance parameters under rated full load), the magnetic powder clutch was tested with the power supply parameters set to AC 380V, 50Hz, and the current in the range of 2.2A to 2.5A.

[0024] For geared motors: Set the power supply parameters to AC 220V, 50Hz, and the current to be in the range of 3.46A to 3.82A.

[0025] Furthermore, for the magnetic powder clutch under 50% rated load (examining the performance parameters of the tested electric mechanism under partial rated load caused by aerodynamic forces): the power supply parameters are set to AC 380V, 50Hz, and the current is in the range of 1.1A to 1.3A.

[0026] For geared motors: Set the power supply parameters to AC 220V, 50Hz, and the current to be in the range of 1.73A to 1.92A.

[0027] Furthermore, under unbalanced load (examining the performance parameters of the tested electric mechanism under unbalanced load caused by installation stress on the left and right sides), the following parameters were applied to the magnetic powder clutch: the power supply parameters for the left magnetic powder clutch were set to AC 380V, 50Hz, with a current range of 2.0A to 2.3A; the power supply parameters for the right magnetic powder clutch were set to AC 380V, 50Hz, with a current range of 1.1A to 1.3A.

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

[0029] Furthermore, the process for determining whether the balance has been achieved is as follows:

[0030] Under the various load conditions described above, the displacements corresponding to the telescopic movements of the two electric mechanisms should be within the range of 34mm to 36mm, and the displacement difference between the two electric mechanisms should not exceed 0.5mm.

[0031] Under all the above load conditions (except no-load conditions), the tension and force corresponding to the telescopic movement of the two electric mechanisms should be in the range of 760N to 840N, and the difference between the tension and force of the two electric mechanisms should not be greater than 30N.

[0032] Under all the above load conditions (excluding no-load conditions), the time taken for the extension and retraction strokes of the two electric mechanisms 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. Under no-load conditions, the time taken for the extension and retraction strokes of the two electric mechanisms 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] Under all the above-mentioned load conditions (except for no-load conditions), the ratio of displacement to time (velocity) corresponding to the telescopic motion of the two electric mechanisms should be within the range of 2.06 mm / s to 2.67 mm / s, and the difference between the ratios (velocities) should not exceed 0.3 mm / s. Under no-load conditions, the ratio of displacement to time (velocity) corresponding to the telescopic motion of the two electric mechanisms should be within the range of 2.06 mm / s to 3.43 mm / s, and the difference between the ratios (velocities) should not exceed 0.3 mm / s.

[0034] Beneficial effects:

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

[0036] 2. By adopting a loading method that combines motors, chains, sprockets, magnetic powder clutches, tension and compression sensors, the load can be adjusted and transmitted stably, meeting the loading adjustment and real-time monitoring requirements of different models of electric mechanisms or two electric mechanisms of the same model.

[0037] 3. The tooling is detachable, extendable and highly mobile, and has flexible stroke requirements for the tested product. It is convenient, reasonable and quick to disassemble, avoiding the safety hazards caused by excessive compression or stretching of the electric mechanism during operation due to fixed installation dimensions, which may lead to product damage or damage to the tooling fixture and load.

[0038] 4. The use of mounting brackets and support seats as auxiliary installation facilities ensures that the tooling and loading motor are installed firmly and reliably. At the same time, a sprocket protective cover is added to the outside of the magnetic powder clutch to achieve physical isolation of the magnetic powder clutch, sprocket, etc., which greatly reduces the risk of falling off and improves the safety factor of the tooling.

[0039] 5. A gap-eliminating fixture is adopted, that is, a locking ring is provided at all threaded connections and pin hole matings. The locking ring has a knurled surface, which can improve the surface smoothness of the parts, ensure the stability and accuracy of the connection, and avoid the inability to effectively complete the matching test due to loosening.

[0040] 6. The software of the measurement and control unit has an automatic calculation and display function, which 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. Attached Figure Description

[0041] This invention includes four accompanying drawings, and the drawings and their descriptions are as follows:

[0042] Figure 1 A schematic diagram showing the composition and signal interconnection of the load control unit;

[0043] Figure 2 This is a flowchart of the transmission system's workflow.

[0044] Figure 3 This is a schematic diagram of the transmission system's working principle.

[0045] Figure 4 Schematic diagram of transmission loading and tooling installation cabinet;

[0046] in: Figure 1It includes a measurement and control unit, a load control unit (PLC unit, signal conditioning unit), a load unit (electromagnetic clutch driver, load sensor, load control), and the product under test.

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

[0048] Figure 3 Includes: 1. Loading platform mounting cabinet, 2. Motor mounting bracket, 3. Three-phase reduction gear motor, 4. Sprocket, 5. Chain, 6. Tension sprocket, 7. Support base, 8. Tension and compression sensor, 9. Measured part, 10. Locking ring, 11. Sprocket protective cover, 12. Magnetic powder clutch, 13. Rack, 14. Grating displacement sensor. Detailed Implementation

[0049] The present invention provides an electric mechanism balancing detection loading device, including a loading platform mounting cabinet 1, a motor mounting bracket 2, a three-phase reduction gear motor 3, a sprocket 4, a chain 5, a tension sprocket 6, a support base 7, a tension / compression sensor 8, a test piece 9, a locking ring 10, a sprocket protective cover 11, a magnetic powder clutch 12, a rack 13, and a grating displacement sensor 14.

[0050] Among them, the loading platform mounting cabinet 1 is the platform for tooling installation in the device and provides isolation and protection functions. That is, it provides an installation reference surface for the support base 7, and at the same time, it encapsulates the motor mounting bracket 2, three-phase reduction gear motor 3, sprocket 4, chain 5, and tension sprocket 6 inside to achieve the purpose of physical isolation and protection, so as to prevent the three-phase reduction gear motor 3 and chain 5 from falling off and causing injury or collision to personnel.

[0051] The motor mounting bracket 2, three-phase reduction gear motor 3, sprocket 4, chain 5, tension sprocket 6, sprocket protective cover 11, magnetic powder clutch 12, and rack 13 together constitute the loading device; the motor mounting bracket 2 and three-phase reduction gear motor 3 form a stable load force output part; the sprocket 4, chain 5, tension sprocket 6, magnetic powder clutch 12, and rack 13 form a stable and reliable load transmission mechanism; that is, the driven wheel sprocket 4 of the three-phase reduction gear motor 3 is connected to the input wheel of the magnetic powder clutch 12 through the chain 5 to complete the conversion and transmission of the prime mover 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 between the driven power of the magnetic powder clutch 12 and the load of the rack 13, realizing a smooth and reliable load transmission from the rotational prime mover of the three-phase reduction gear motor 3 to the axial load that the rack 13 can apply to the tested electric mechanism. A tension sprocket 6 is set near the chain 5 to ensure the appropriate tension of the chain and ensure the stability and reliability of the load transmission. The sprocket protective cover 11 is assembled outside the magnetic powder clutch 12 to achieve physical isolation of the magnetic powder clutch, sprocket, etc., to prevent the chain 5 and the magnetic powder clutch 12 from falling off and causing injury to personnel.

[0052] The support base 7, tension / compression sensor 8, locking ring 10, sprocket protective cover 11, magnetic powder clutch 12, rack 13, and grating displacement sensor 14 constitute the monitoring of the installation environment and loading capacity of the tested component 9. The support base 7 serves as the mounting bracket and reference for the tension / 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 tension / compression sensor 8 and locking ring 10 can move a certain distance along the axial direction of the tested component 9 on the support base 7 to match the stroke requirements of different models of electric mechanisms during extension and retraction, avoiding the safety hazards of damage to the tested component or the locking ring, magnetic powder clutch, and rack caused by excessive compression or stretching when installed at a fixed distance.

[0053] A method for balancing and loading an electric mechanism includes the following steps:

[0054] a) The testing method for the two tested electric mechanisms under no-load conditions is as follows:

[0055] 1) After installing the two electric mechanisms under test in place on the left and right loading devices, connect the power cable, product cable, and load table cable.

[0056] 2) When the AC power, DC power, and load power switches are turned on, the corresponding indicator lights will illuminate, and the indicator lights for the left and right mechanisms will also illuminate 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, i.e. extend or retract the load switch, and complete the load loading parameter settings according to the test requirements. That is, do not set any loading power parameters for the magnetic powder clutch, and set the power parameters for the reduction gear motor to AC 220V, 50Hz, and the current not greater 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 extension or retraction working signals to the left and right electric mechanisms. The two electric mechanisms work simultaneously. Read the load, stroke, time and calculated speed on the display.

[0059] 5) Determine whether the two tested electric mechanisms are balanced based on the read data. Specifically, the displacement corresponding to the extension and retraction of the two electric mechanisms should be within the range of 34mm to 36mm, and the displacement difference between the two electric mechanisms should not exceed 0.5mm; the tension and force corresponding to the extension and retraction of the two electric mechanisms should be within the range of 760N to 840N, and the tension and force difference between the two electric mechanisms should not exceed 30N; the time taken for the extension and retraction stroke of the two electric mechanisms 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; the ratio of displacement to time (velocity) corresponding to the extension and retraction of the two electric mechanisms should be within the range of 2.06mm / s to 3.43mm / s, and the difference in the ratio of displacement to time (velocity) between the two electric mechanisms should not exceed 0.3mm / s.

[0060] b) The testing method for the two tested electric mechanisms under rated load is as follows:

[0061] 1) After installing the two electric mechanisms under test in place on the left and right loading devices, connect the power cable, product cable, and load table cable.

[0062] 2) When the AC power, DC power, and load power switches are turned on, the corresponding indicator lights will illuminate, and the indicator lights for the left and right mechanisms will also illuminate 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 (i.e., extend or retract the load switch), and complete the load loading parameter settings according to the test requirements. That is, set the power supply parameters for the magnetic powder clutch to AC 380V, 50Hz, and the current to be in 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 be in 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 extension or retraction working signals to the left and right electric mechanisms. The two electric mechanisms work simultaneously. Read the load, stroke, time and calculated speed on the display.

[0065] 5) Determine whether the two tested electric mechanisms are balanced based on the read data. Specifically, the displacement corresponding to the extension and retraction of the two electric mechanisms should be within the range of 34mm to 36mm, and the displacement difference between the two electric mechanisms should not exceed 0.5mm; the tension and force corresponding to the extension and retraction of the two electric mechanisms should be within the range of 760N to 840N, and the tension and force difference between the two electric mechanisms should not exceed 30N; the time taken for the extension and retraction stroke of the two electric mechanisms 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 ratio of displacement to time (velocity) corresponding to the extension and retraction of the two electric mechanisms should be within the range of 2.06mm / s to 2.67mm / s, and the difference in the ratio of displacement to time (velocity) between the two electric mechanisms should not exceed 0.3mm / s.

[0066] c) The testing method for two tested electric mechanisms under 50% rated load is as follows:

[0067] 1) After installing the two electric mechanisms under test in place on the left and right loading devices, connect the power cable, product cable, and load table cable.

[0068] 2) When the AC power, DC power, and load power switches are turned on, the corresponding indicator lights will illuminate, and the indicator lights for the left and right mechanisms will also illuminate 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, i.e., extend or retract the load switch, and complete the load loading parameter settings according to the test requirements. For magnetic powder clutch: set the power supply parameters to AC 380V, 50Hz, and the current to the range of 1.1A~1.3A. For geared motor: set the power supply parameters to AC 220V, 50Hz, and the current to 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 extension or retraction working signals to the left and right electric mechanisms. The two electric mechanisms work simultaneously. Read the load, stroke, time and calculated speed on the display.

[0071] 5) Determine whether the two tested electric mechanisms are balanced based on the read data. Specifically, the displacement corresponding to the extension and retraction of the two electric mechanisms should be within the range of 34mm to 36mm, and the displacement difference between the two electric mechanisms should not exceed 0.5mm; the tension and force corresponding to the extension and retraction of the two electric mechanisms should be within the range of 760N to 840N, and the tension and force difference between the two electric mechanisms should not exceed 30N; the time taken for the extension and retraction stroke of the two electric mechanisms 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; the ratio of displacement to time (velocity) corresponding to the extension and retraction of the two electric mechanisms should be within the range of 2.06mm / s to 3.43mm / s, and the difference in the ratio of displacement to time (velocity) between the two electric mechanisms should not exceed 0.3mm / s.

[0072] d) The testing method for two tested electric mechanisms under unbalanced load conditions (with differences in installation on the simulator) is as follows:

[0073] 1) After installing the two electric mechanisms under test in place on the left and right loading devices, connect the power cable, product cable, and load table cable.

[0074] 2) When the AC power, DC power, and load power switches are turned on, the corresponding indicator lights will illuminate, and the indicator lights for the left and right mechanisms will also illuminate accordingly.

[0075] 3) Adjust the left and right working voltages to the rated values ​​(27.5V~28.5V), select the loading direction (extend or retract the load switch) according to the product position, and complete the load loading parameter settings according to the test requirements; that is, set the power supply parameters for the left magnetic powder clutch to AC 380V, 50Hz, and the current to be in the range of 2.0A~2.3A; set the power supply parameters for the left reduction gear motor to AC 220V, 50Hz, and the current to be in the range of 3.12A~3.44A; set the power supply parameters for the right magnetic powder clutch to AC 380V, 50Hz, and the current to be in the range of 1.1A~1.3A; set the power supply parameters for the right reduction gear motor to AC 220V, 50Hz, and the current to be 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 extension or retraction working signals to the left and right electric mechanisms. The two electric mechanisms work simultaneously. Read the load, stroke, time and calculated speed on the display.

[0077] 5) Determine whether the two tested electric mechanisms are balanced based on the read data. Specifically, the displacement corresponding to the extension and retraction of the two electric mechanisms should be within the range of 34mm to 36mm, and the displacement difference between the two electric mechanisms should not exceed 0.5mm; the tension and force corresponding to the extension and retraction of the two electric mechanisms should be within the range of 760N to 840N, and the tension and force difference between the two electric mechanisms should not exceed 30N; the time taken for the extension and retraction stroke of the two electric mechanisms 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 ratio of displacement to time (velocity) corresponding to the extension and retraction of the two electric mechanisms should be within the range of 2.06mm / s to 2.67mm / s, and the difference in the ratio of displacement to time (velocity) between the two electric mechanisms should not exceed 0.3mm / s.

Claims

1. An electric mechanism trim detection loading device, characterized by: The device comprises: a loading unit and a control unit; the loading unit is used for loading the measured electric mechanism; the loading unit comprises a reduction gear motor, a chain, a magnetic powder clutch, a rack, a displacement sensor and a tension 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 the displacement sensor, the other end of the rack is connected to the measured electric mechanism, and the other end of the measured electric mechanism is connected to the loading platform through the tension sensor; the control unit is used for controlling the loading unit to collect the load and displacement of the measured electric mechanism under loading at the same time, and judging whether the electric mechanism is matched according to the load and displacement of the electric mechanism under loading.

2. The apparatus of claim 1, wherein: The loading unit further comprises a tension sprocket, which is used for tensioning the chain.

3. The apparatus of claim 2, wherein: The device further comprises a locking ring, and the two ends of the measured electric mechanism are connected to the rack and the tension sensor through the locking ring respectively.

4. The apparatus of claim 3, wherein: The device comprises two groups of loading units, which are used for testing two electric mechanisms at the same time, so as to judge whether the two electric mechanisms are matched.

5. An electric mechanism matching detection loading method, which is implemented based on the device according to any one of claims 1-4, and characterized in that: S1: controlling two electric mechanisms to perform extension and contraction motion under no load, collecting the displacement, tension and time experienced by the extension and contraction stroke corresponding to the extension and contraction motion of the two electric mechanisms under no load; S2: applying rated load to the two electric mechanisms; controlling the two electric mechanisms to perform extension and contraction motion, collecting the displacement, tension and time experienced by the extension and contraction stroke corresponding to the extension and contraction motion of the two electric mechanisms under the rated load; S3: applying 50% rated load to the two electric mechanisms; controlling the two electric mechanisms to perform extension and contraction motion, collecting the displacement, tension and time experienced by the extension and contraction stroke corresponding to the extension and contraction motion of the two electric mechanisms under the 50% rated load; S4: applying rated load to one electric mechanism and 90% rated load to the other electric mechanism; collecting the displacement, tension and time experienced by the extension and contraction stroke corresponding to the extension and contraction motion of the two electric mechanisms under the corresponding load; S5: judging whether the two electric mechanisms are matched according to the collected parameters under the four kinds of loads.

6. The method of claim 5, wherein: Under no load, the magnetic powder clutch is not set with any loading power supply parameter; for the reduction gear motor, the power supply parameter is set as AC 220 V, 50 Hz, and the current is not greater than 0.1 A.

7. The method of claim 6, wherein: Under rated load, the magnetic powder clutch is set with the power supply parameter of AC 380 V, 50 Hz, and the current is in the range of 2.2 A-2.5 A; for the reduction gear motor, the power supply parameter is set as AC 220 V, 50 Hz, and the current is in the range of 3.46 A-3.82 A.

8. The method of claim 7, wherein: Under 50% rated load, the magnetic powder clutch is set with the power supply parameter of AC 380 V, 50 Hz, and the current is in the range of 1.1 A-1.3 A; for the reduction gear motor, the power supply parameter is set as AC 220 V, 50 Hz, and the current is in the range of 1.73 A-1.92 A.

9. The method of claim 8, wherein: Under the unbalanced load to the magnetic powder clutch: the left magnetic powder clutch is set to the power supply parameters of AC 380V, 50Hz, and the current is in the range of 2.0A-2.3A; the right magnetic powder clutch is set to the power supply parameters of AC 380V, 50Hz, and the current is in the range of 1.1A-1.3A; To the reduction gear motor: the left reduction gear motor is set to the power supply parameters of AC 220V, 50Hz, and the current is in the range of 3.12A-3.44A; the right reduction gear motor is set to the power supply parameters of AC 220V, 50Hz, and the current is in the range of 1.73A-1.92A.

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