A dynamic balance testing method and system for a speed reducer

Abstract

The present invention belongs to the technical field of dynamic balance testing, and specifically relates to a dynamic balance testing method and system for a speed reducer, including: selecting an electric tricycle speed reducer to be tested and cleaning the surfaces of the input shaft and the output shaft; after cleaning, installing it on the workbench of the dynamic balance testing machine through a customized fixture and calibrating the coaxiality using a level; starting the dynamic balance testing machine, and measuring the initial radial vibration displacement value and the driving torque value of the speed reducer during the testing process through sensors installed on the testing machine; adopting a step-by-step acceleration test to measure the radial vibration displacement value and the driving torque value of the speed reducer; inputting the measured data into a dynamic balance testing algorithm model to perform dynamic balance detection on the electric tricycle speed reducer. The present invention accurately detects the dynamic balance of the electric tricycle speed reducer and the position of the unbalanced mass by combining a step-by-step acceleration test with a data analysis algorithm, improving the efficiency of the dynamic balance testing of the electric tricycle speed reducer.

Description

Technical Field

[0001] The present invention belongs to the technical field of dynamic balance testing, and particularly relates to a method and system for dynamic balance testing of a speed reducer. Background Art

[0002] As a common short-distance transportation tool, the performance of the speed reducer of an electric tricycle directly affects the noise, smoothness of vehicle operation, and service life of the vehicle. During the production process of the speed reducer, due to factors such as processing technology and assembly errors, unbalanced mass may exist in its internal rotating components. When the speed reducer rotates at high speed, the unbalanced mass will cause vibration, which not only reduces the transmission efficiency, but also generates significant noise, accelerates component wear, and seriously affects the overall performance of the electric tricycle. However, some existing dynamic balance testing methods have problems such as low testing accuracy, complex operation, and high cost for the speed reducer in this specific application scenario of electric tricycles, and it is difficult to meet the requirements of large-scale production and quality control. Summary of the Invention

[0003] Aiming at the deficiencies of the existing methods, the present invention provides a method and system for dynamic balance testing of a speed reducer, aiming to solve the core problems of low efficiency, low accuracy, and inability to detect the specific position of unbalanced mass in the dynamic balance testing of the speed reducer of an electric tricycle in the prior art.

[0004] To achieve the above object, the present invention is realized through the following technical solutions:

[0005] A method for dynamic balance testing of a speed reducer, the method comprising the following steps:

[0006] Step S10: Select the speed reducer of the electric tricycle to be tested, visually inspect its appearance for defects, and replace the speed reducer to be tested when defects are present; when there are no defects, clean the surfaces of the input shaft and output shaft of the speed reducer to remove oil stains and iron filings;

[0007] Step S20: After cleaning, install the speed reducer of the electric tricycle on the workbench of the dynamic balance tester through a customized fixture, and use a level to calibrate the coaxiality between the axial direction of the speed reducer and the rotating main shaft of the tester;

[0008] Step S30: Start the dynamic balance tester and run it at a set initial speed, and measure the initial radial vibration displacement value A of the speed reducer in the radial direction during rotation through a sensor installed on the tester 0 and the initial driving torque value T required to drive the rotation of the speed reducer 0 ;

[0009] Step S40: Adopt step-by-step acceleration testing, increase the rotational speed of the testing machine according to the set gradient, and measure the radial vibration displacement value A of the reducer at each rotational speed after running stably for a certain period of time n and the driving torque value T n , where n is the number of measurements;

[0010] Step S50: Input the measured data values into a pre-designed dynamic balance testing algorithm model, determine whether there is unbalanced mass in the reducer in combination with the structural parameters of the reducer, and generate a data report of the test results and the calculated unbalanced position information and store it in the database;

[0011] Among them, the fixture customized in step S20 is designed according to the external dimensions and installation interfaces of the electric tricycle reducer, which can firmly clamp the reducer while avoiding generating additional stress on the reducer to affect the test results; use a level to calibrate the coaxiality between the axial direction of the reducer and the rotating main shaft of the testing machine, and control the deviation range to be ±0.05 mm to ensure the smooth rotation of the reducer during the test.

[0012] Preferably, in step S10, when there are no defects, the steps of cleaning the surfaces of the input shaft and output shaft of the reducer to remove oil stains and iron filings include:

[0013] Brushing: Prepare industrial cleaning agent and pour it into a metal container, and use a nylon brush to dip the cleaning agent and brush the surfaces of the input shaft and output shaft of the electric tricycle reducer;

[0014] Drying: After brushing, use dust-free paper or non-woven fabric to wipe the surfaces of the input shaft and output shaft to remove the moisture on the surface;

[0015] Removing iron filings: After surface drying, use a magnetic bar to slowly move along the surfaces of the input shaft and output shaft, and use the adsorption characteristics of the magnet to adsorb and remove the remaining iron filings;

[0016] Removing impurities: After removing the iron filings, use a compressed air spray gun to blow the compressed air that has been dried and filtered onto the surfaces of the input shaft and output shaft. Keep a certain distance and angle between the spray gun and the shaft surface, and blow from one end of the shaft to the other end to ensure that the remaining dust, debris and other impurities are removed.

[0017] Preferably, in step S30, the step of running at the set initial rotational speed and measuring the initial radial vibration displacement value A in the radial direction during the rotation of the reducer and the initial driving torque value T required to drive the rotation of the reducer by the sensor installed on the testing machine 0 includes: 0

[0018] ​Equipment self-check: After checking that the installation of the reducer of the electric tricycle is fixed correctly, start the dynamic balance tester and wait for the built-in self-check program of the dynamic balance tester to complete the equipment self-check. The self-check content includes checking whether the control system, drive motor and various sensors of the dynamic balance tester are operating normally. When there is an abnormal operation, conduct an abnormal troubleshooting and repair.

[0019] Parameter setting: Set the initial speed to 500 rpm, control the speed error within ±10 rpm, and set the acceleration curve of the drive motor to the smooth mode to avoid impact on the reducer at the moment of startup and ensure that it enters the rotating state smoothly and slowly.

[0020] Radial vibration displacement measurement: After the reducer rotates stably at a speed of 500 rpm, use the displacement sensor on the dynamic balance tester to collect the radial vibration displacement value at a sampling frequency of 1000 times per second based on the principle of laser interference. Transmit the real-time collected radial vibration displacement value to the data processing unit of the tester. After removing the noise interference, transmit the processed radial vibration displacement value to the control system of the tester to record the initial radial vibration displacement value A. 0 ;

[0021] Torque measurement: After the reducer rotates stably at a speed of 500 rpm, use the torque sensor on the dynamic balance tester to collect the drive torque value at a sampling frequency of 1000 times per second based on the principle of strain gauge. Transmit the real-time collected drive torque value to the data processing unit of the tester. After removing the error of zero drift, transmit it to the control system of the tester to record the initial drive torque value T. 0 ;

[0022] Data review: After the control system of the tester receives the initial radial vibration displacement value A 0 and the initial drive torque value T 0 , it automatically starts the built-in data review program. The average value of the initial parameters in the historical test data of the reducer of the same model of electric tricycle is preset in the data review program. When the received initial radial vibration displacement value A 0 or the initial drive torque value T 0 exceeds ±10% of the average value of the initial parameters, the control system issues an abnormal alarm, and the operator conducts an abnormal troubleshooting on the reducer. When the received initial radial vibration displacement value A 0 and the initial drive torque value T 0 are within the range of ±10% of the average value of the initial parameters, it is determined that the initial radial vibration displacement value A 0 and the initial drive torque value T 0 are valid, and they are stored as the basic data for subsequent unbalance calculation.

[0023] Preferably, in the step S40, the step of increasing the speed of the tester in a step-by-step manner according to the set gradient includes:

[0024] Acceleration parameter setting: Input the set speed gradient value into the control system of the dynamic balance tester. Increase the speed by 500 rpm each time. After the speed increase is completed, run stably at the new speed for 30 seconds.

[0025] Acceleration process: Each time the speed is increased, increase it at a speed of 50 rpm / s. The acceleration time is 10 seconds, which is the buffer time to enable the rotating components to gradually adapt to the new speed environment and avoid the impact on the reducer caused by a sudden increase in speed.

[0026] Data acquisition time setting: In each 30 - second stable operation stage, when the running time reaches 20 seconds, the sensor performs data acquisition at a sampling frequency of 1000 times per second.

[0027] Full - process status monitoring: During the step - by - step acceleration test process, the fault detection unit on the tester performs full - process status monitoring. The fault detection unit includes a temperature sensor and a vibration frequency sensor, which real - time monitor the temperature and vibration data during the step - by - step acceleration test process. When the monitored data exceeds the preset temperature threshold and vibration frequency threshold, the fault detection unit sends a stop instruction to the tester control system. The control system controls the tester to stop running to prevent damage to the reducer caused by abnormal conditions, and at the same time records the parameter data when the abnormality occurs for the operator to analyze the cause of the abnormality later.

[0028] Preferably, in step S50, input the measured data value into a pre - designed dynamic balance test algorithm model. The steps of model design include:

[0029] Theoretical relationship construction: According to the basic principles of mechanics, construct the relationship between vibration displacement, unbalanced mass, and rotational speed, as shown in Equation (1):

[0030] (1)

[0031] Where A is the radial vibration displacement, m is the unbalanced mass, is the angular velocity, related to the rotational speed, r is the distance from the unbalanced mass to the rotation center, k is a coefficient related to the structural stiffness and damping of the reducer, and its value range is (0, 1); According to the torque change and the unbalanced force arm, establish the formula for the change in torque with the unbalanced force arm and centrifugal force, as shown in Equation (2):

[0032] (2)

[0033] Where is the change in torque, F is the magnitude of the centrifugal force, and L is the length of the unbalanced force arm.

[0034] Multiple linear regression solution: Substitute the radial vibration displacement values, torque values, and corresponding rotational speed values at different rotational speeds, and the structural parameters of the reducer into Equation (1) to form a system of multiple linear equations. Iteratively optimize and solve the system of equations through the multiple linear regression algorithm to preliminarily determine the range of the unbalanced mass and the radial position coordinates. Continuously adjust the regression coefficients during the calculation process to minimize the sum of the squared errors between the predicted values and the actual data, and improve the solution accuracy;

[0035] Axial coordinate determination: Based on the obtained information related to the unbalanced mass, substitute the change in torque and the magnitude of the centrifugal force into Equation (2). Combining the geometric structure characteristics of the reducer, further calculate the axial position coordinates of the unbalanced mass through geometric analysis methods; for example, given the axial dimension H of the reducer, according to the projection relationship of the unbalanced force arm L obtained previously in the axial direction (assuming some simple geometric angle relationships are known, such as the axial angle α), through the trigonometric function sinα = L / H (this is just a simple illustration, and the actual calculation may be more complex and needs to be combined with the specific reducer structure), the axial coordinate position information of the unbalanced mass can be further deduced. Finally, comprehensively obtain the radial and axial coordinate positions (x, y) and the mass value m of the unbalanced mass;

[0036] Model verification and optimization: Obtain a standard reducer sample with a known unbalance amount for model verification. Collect test data through a dynamic balancing tester, input it into the dynamic balancing test algorithm model, and compare the output results of the model with the known true values to calculate the accuracy rate. When the accuracy rate is lower than 90%, adjust the coefficients and functional relationships in the model, such as re-optimizing the k value, correcting the approximate relationships in the theoretical formula, increasing the data feature dimension, etc., retrain and optimize the model until the accuracy rate of the calculated values of the dynamic balance parameters of the electric tricycle reducer by the model is greater than or equal to 90%, and then apply it to actual production tests.

[0037] In addition, to achieve the above object, the present invention also proposes a dynamic balance test system for a reducer, and the dynamic balance test system for a reducer includes:

[0038] Selection and cleaning module for the electric tricycle reducer: Select the electric tricycle reducer to be tested, visually inspect its appearance for defects, and replace the reducer to be tested when defects are present; when there are no defects, clean the surfaces of the input shaft and output shaft of the reducer to remove oil stains and iron filings;

[0039] Fixing and calibration module for the electric tricycle reducer: After cleaning, install the electric tricycle reducer on the workbench of the dynamic balancing tester through a customized fixture, and use a level to calibrate the coaxiality of the axial direction of the reducer and the rotating main shaft of the tester;

[0040] Initial parameter acquisition module for the electric tricycle reducer: Start the dynamic balance tester and run it at the set initial speed. Measure the initial radial vibration displacement value A in the radial direction during the rotation of the reducer through the sensors installed on the tester. 0 And the initial driving torque value T required to drive the reducer to rotate. 0 ;

[0041] Test parameter acquisition module for the electric tricycle reducer: Adopt step-by-step acceleration testing. Increase the speed of the tester according to the set gradient. After stabilizing for a certain time at each speed, measure the radial vibration displacement value A of the reducer at that speed. n And the driving torque value T. n where n is the number of measurements.

[0042] Dynamic balance testing module for the electric tricycle reducer: Input the measured data values into a pre-designed dynamic balance testing algorithm model. Combine the structural parameters of the reducer to determine whether there is unbalanced mass in the reducer. Generate a data report of the test results and the calculated unbalanced position information and store it in the database.

[0043] The customized fixture in the electric tricycle reducer fixing and calibration module is designed according to the external dimensions and installation interfaces of the electric tricycle reducer. While ensuring that the reducer can be firmly clamped, it avoids generating additional stress on the reducer and affecting the test results. Use a level to calibrate the coaxiality between the axial direction of the reducer and the rotating main shaft of the tester, and control the deviation range to be ±0.05 mm to ensure the smooth rotation of the reducer during the test.

[0044] In addition, to achieve the above object, the present invention also proposes a dynamic balance testing device for a reducer, the device includes: a memory, a processor, and programs such as a dynamic balance testing algorithm stored on the memory and executable on the processor. The programs such as the dynamic balance testing algorithm are for implementing the steps of a dynamic balance testing method for a reducer as described above.

[0045] Preferably, to achieve the above object, the present invention also provides a computer program product, the computer program product includes programs such as a dynamic balance testing algorithm, and the programs such as the dynamic balance testing algorithm, when executed by a processor, implement a dynamic balance testing method for a reducer as described above.

[0046] The advantages and effects of the present invention are:

[0047] The present invention provides a dynamic balance test method and system for a speed reducer. By combining step-by-step acceleration testing with a data analysis algorithm, it can accurately detect the specific position of the unbalanced mass on the electric tricycle speed reducer, improve the test accuracy of the dynamic balance test of the electric tricycle speed reducer, provide accurate data support for subsequent calibration of the speed reducer and improvement measures for quality, optimize the test process, and improve the applicability of the dynamic balance test of the speed reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0049] Figure 1 It is a schematic flow chart of a dynamic balance test method for a speed reducer of the present invention.

[0050] Figure 2 It is a schematic structural diagram of a dynamic balance test system for a speed reducer of the present invention.

[0051] Figure 3 It is a schematic block diagram of the structure of an electronic device for a dynamic balance test of a speed reducer of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0053] The present invention provides a dynamic balance test method for a speed reducer. The composition of the method is as Figure 1 shown and includes the following steps:

[0054] Step S10: Select the speed reducer of the electric tricycle to be tested, visually check whether there are defects on its appearance, and replace the speed reducer to be tested when there are defects; when there are no defects, clean the surfaces of the input shaft and output shaft of the speed reducer to remove oil stains and iron filings.

[0055] Specifically, the step of cleaning the surfaces of the input shaft and output shaft of the speed reducer to remove oil stains and iron filings when there are no defects in step S10 includes:

[0056] Brushing: Prepare industrial cleaning agent and pour it into a metal container. Use a nylon brush to dip the cleaning agent and brush the surfaces of the input shaft and output shaft of the electric tricycle reducer;

[0057] Drying: After brushing, use dust-free paper or non-woven fabric to wipe the surfaces of the input shaft and output shaft to remove the moisture on the surfaces;

[0058] Removing iron filings: After surface drying, use a magnetic bar to slowly move along the surfaces of the input shaft and output shaft, and use the adsorption property of the magnet to adsorb and remove the residual iron filings;

[0059] Removing impurities: After removing iron filings, use a compressed air spray gun to blow the compressed air that has been dried and filtered onto the surfaces of the input shaft and output shaft. Keep a certain distance and angle between the spray gun and the shaft surface, and blow from one end of the shaft to the other end to ensure that the residual dust, debris and other impurities are removed.

[0060] Step S20: After cleaning, install the electric tricycle reducer on the workbench of the dynamic balance tester through a customized fixture, and use a level to calibrate the coaxiality between the axial direction of the reducer and the rotating main shaft of the tester.

[0061] Specifically, the customized fixture in step S20 is designed according to the shape size and installation interface of the electric tricycle reducer, which can firmly clamp the reducer while avoiding generating additional stress on the reducer to affect the test results; use a level to calibrate the coaxiality between the axial direction of the reducer and the rotating main shaft of the tester, and control the deviation range within ±0.05mm to ensure the smooth rotation of the reducer during the test.

[0062] Step S30: Start the dynamic balance tester and run at the set initial speed. Measure the initial radial vibration displacement value A 0 in the radial direction during the rotation of the reducer and the initial driving torque value T 0 .

[0063] Specifically, the step of running at the set initial speed and measuring the initial radial vibration displacement value A 0 in the radial direction during the rotation of the reducer and the initial driving torque value T 0 in step S30 includes:

[0064] Equipment self-check: After checking that the installation and fixation of the electric tricycle reducer are correct, start the dynamic balance tester and wait for the built-in self-check program of the dynamic balance tester to complete the equipment self-check; the self-check content includes checking whether the control system, drive motor and various sensors of the dynamic balance tester are running normally. When running abnormally, conduct abnormal troubleshooting and repair;

[0065] Parameter setting: Set the initial rotational speed to 500 rpm, control the rotational speed error within ±10 rpm, and set the acceleration curve of the drive motor to the smooth mode to avoid impact on the reducer at the moment of startup and ensure it enters the rotating state smoothly and slowly.

[0066] Radial vibration displacement measurement: After the reducer rotates stably at a speed of 500 rpm, the radial vibration displacement value is collected at a sampling frequency of 1000 times per second by the displacement sensor on the dynamic balance tester using the laser interference principle. The real-time collected radial vibration displacement value is transmitted to the data processing unit of the tester. After removing the noise interference, the processed radial vibration displacement value is transmitted to the tester control system to record the initial radial vibration displacement value A. 0 ;

[0067] Torque measurement: After the reducer rotates stably at a speed of 500 rpm, the driving torque value is collected at a sampling frequency of 1000 times per second by the torque sensor on the dynamic balance tester based on the strain gauge principle. The real-time collected driving torque value is transmitted to the data processing unit of the tester. After removing the zero drift error, it is transmitted to the tester control system to record the initial driving torque value T. 0 ;

[0068] Data review: After the tester control system receives the initial radial vibration displacement value A 0 and the initial driving torque value T 0 , it automatically starts the built-in data review program. The average value of the initial parameters in the historical test data of the reducer of the same model is preset in the data review program. When the received initial radial vibration displacement value A 0 or the initial driving torque value T 0 exceeds ±10% of the average value of the initial parameters, the control system issues an abnormal alarm, and the operator conducts an abnormal investigation on the reducer; when the received initial radial vibration displacement value A 0 and the initial driving torque value T 0 are within the range of ±10% of the average value of the initial parameters, it is determined that the initial radial vibration displacement value A 0 and the initial driving torque value T 0 are valid, and they are stored as the basic data for subsequent unbalance calculation.

[0069] Step S40: Adopt step-by-step acceleration test, increase the rotational speed of the tester according to the set gradient, and measure the radial vibration displacement value A n and the driving torque value T n of the reducer at each rotational speed after running stably for a certain time. Here, n is the number of measurements.

[0070] Specifically, in step S40, the step of adopting step-by-step acceleration test and increasing the rotational speed of the testing machine according to the set gradient includes:

[0071] Acceleration parameter setting: Input the set speed gradient value into the control system of the dynamic balance testing machine, increase the speed by 500 rpm each time, and after the speed increase is completed, run stably at the new rotational speed for 30 seconds;

[0072] Acceleration process: Each time the speed is increased, increase it at a speed of 50 rpm / s, and the acceleration time is 10 seconds, which is the buffer time to enable the rotating components to gradually adapt to the new rotational speed environment and avoid the impact on the reducer caused by sudden increase in rotational speed;

[0073] Data acquisition time setting: In each 30-second stable operation stage, when the running time reaches 20 seconds, the sensor performs data acquisition at a sampling frequency of 1000 times per second;

[0074] Full-process status monitoring: During the step-by-step acceleration test process, the fault detection unit on the testing machine performs full-process status monitoring. The fault detection unit includes a temperature sensor and a vibration frequency sensor, which real-time monitor the temperature and vibration data during the step-by-step acceleration test. When the monitored data exceeds the preset temperature threshold and vibration frequency threshold, the fault detection unit sends a shutdown instruction to the control system of the testing machine, and the control system controls the testing machine to stop running, preventing damage to the reducer caused by abnormal conditions. At the same time, record various parameter data when the abnormality occurs for subsequent analysis of the cause of the abnormality by the operator.

[0075] Step S50: Input the measured data value into the pre-designed dynamic balance test algorithm model, and determine whether there is unbalanced mass in the reducer in combination with the structural parameters of the reducer. Generate a data report with the test results and the calculated unbalanced position information and store it in the database.

[0076] Specifically, when inputting the measured data value into the pre-designed dynamic balance test algorithm model in step S50, the steps of model design include:

[0077] Construction of theoretical relationship: According to the basic principles of mechanics, construct the relationship between vibration displacement, unbalanced mass, and rotational speed, as shown in Equation (1):

[0078] (1)

[0079] Among them, A is the radial vibration displacement, m is the unbalanced mass, is the angular velocity, which is related to the rotational speed, r is the distance from the unbalanced mass to the rotation center, k is a coefficient related to the structural stiffness and damping of the reducer, and its value range is (0,1); According to the change in torque and the unbalanced force arm, establish the formula for the change in torque and the unbalanced force arm and centrifugal force, as shown in Equation (2):

[0080] (2)

[0081] where is the change in torque, F is the magnitude of the centrifugal force, and L is the length of the unbalanced force arm;

[0082] Multiple linear regression solution: Substitute the radial vibration displacement values, torque values, and corresponding rotational speed values at different rotational speeds, and the structural parameters of the reducer into Equation (1) to form a multiple linear equation system. Iteratively optimize and solve the equation system through the multiple linear regression algorithm to preliminarily determine the range of the unbalanced mass and the radial position coordinates. Continuously adjust the regression coefficients during the calculation process to minimize the sum of the squared errors between the predicted values and the actual data, and improve the solution accuracy;

[0083] Axial coordinate determination: Based on the obtained information related to the unbalanced mass, substitute the change in torque and the magnitude of the centrifugal force into Equation (2), and combine with the geometric structure characteristics of the reducer to further calculate the axial position coordinates of the unbalanced mass through geometric analysis methods. For example, given the axial dimension H of the reducer, according to the projection relationship of the unbalanced force arm L obtained previously in the axial direction (assuming some simple geometric angle relationships are known, such as the axial angle α), through the trigonometric function sinα = L / H (this is just a simple illustration, and the actual calculation may be more complex and needs to be combined with the specific reducer structure), the axial coordinate position information of the unbalanced mass can be further deduced. Finally, comprehensively obtain the coordinate position (x, y) and mass value m of the unbalanced mass in the radial and axial directions;

[0084] Model verification and optimization: Obtain a standard reducer sample with a known unbalance amount for model verification. Collect test data through a dynamic balancing tester, input it into the dynamic balancing test algorithm model, and compare the output results of the model with the known true values to calculate the accuracy rate. When the accuracy rate is lower than 90%, adjust the coefficients and functional relationships in the model, such as re-optimizing the k value, correcting the approximate relationships in the theoretical formula, increasing the data feature dimension, etc., re-train and optimize the model until the accuracy rate of the calculated values of the dynamic balance parameters of the electric tricycle reducer by the model is greater than or equal to 90%, and then apply it to actual production tests.

[0085] In addition, the present invention also proposes a dynamic balance test system for a reducer. Please refer to Figure 2 , the dynamic balance test system for a reducer includes:

[0086] Selection and cleaning module for the electric tricycle reducer: Select the electric tricycle reducer to be tested, visually inspect its appearance for defects, and replace the reducer to be tested when there are defects; when there are no defects, clean the surfaces of the input shaft and output shaft of the reducer to remove oil stains and iron filings;

[0087] Electric tricycle reducer fixing and calibration module: After cleaning, install the electric tricycle reducer on the workbench of the dynamic balance tester through a customized fixture, and use a level to calibrate the coaxiality between the axial direction of the reducer and the rotating main shaft of the tester;

[0088] Initial parameter acquisition module for electric tricycle reducer: Start the dynamic balance tester and run at a set initial speed. Measure the initial radial vibration displacement value A of the reducer in the radial direction during rotation through a sensor installed on the tester 0 and the initial driving torque value T required to drive the rotation of the reducer 0 ;

[0089] Test parameter acquisition module for electric tricycle reducer: Adopt step-by-step acceleration testing. Increase the speed of the tester according to the set gradient. After stabilizing for a certain time at each speed, measure the radial vibration displacement value A of the reducer at that speed n and the driving torque value T n , where n is the number of measurements;

[0090] Dynamic balance test module for electric tricycle reducer: Input the measured data values into a pre-designed dynamic balance test algorithm model. Combine the structural parameters of the reducer to determine whether there is unbalanced mass in the reducer. Generate a data report of the test results and the calculated unbalanced position information and store it in the database;

[0091] The customized fixture in the electric tricycle reducer fixing and calibration module is designed according to the external dimensions and installation interfaces of the electric tricycle reducer; Use a level to calibrate the coaxiality between the axial direction of the reducer and the rotating main shaft of the tester, and control the deviation range within ±0.05 mm.

[0092] A reducer dynamic balance test system provided by the present application adopts a reducer dynamic balance test method in the above-mentioned embodiment, which can solve the technical problems of low accuracy in the dynamic balance test of electric tricycle reducers and inability to detect the specific position of unbalanced mass. Compared with the prior art, the beneficial effects of a reducer dynamic balance test system provided by the present application are the same as those of a reducer dynamic balance test method provided by the above-mentioned embodiment, and other technical features in the reducer dynamic balance test system are the same as those disclosed in the above-mentioned embodiment method, and will not be elaborated here.

[0093] The present application provides a reducer dynamic balance test device, and the reducer dynamic balance test device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a reducer dynamic balance test method in the first embodiment above.

[0094] Refer to the following Figure 3 , which shows a structural schematic diagram of a dynamic balance testing device for a speed reducer suitable for implementing the embodiments of the present application. A dynamic balance testing device for a speed reducer in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description: tablet computers), PMPs (Portable Media Player: portable multimedia players), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The shown dynamic balance testing device for a speed reducer is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0095] Figure 3 The shown dynamic balance testing device for a speed reducer may include a processing system 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage system 1003 into the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of a dynamic balance testing device for a speed reducer are also stored. The processing system 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input system 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output system 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage system 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication system 1009. The communication system 1009 can allow a dynamic balance testing device for a speed reducer to communicate with other devices wirelessly or wiredly to exchange data. Although a dynamic balance testing device for a speed reducer with various systems is shown in the figure, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be alternatively implemented or had.

[0096] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication system, or installed from a storage system 1003, or installed from a ROM 1002. When the computer program is executed by a processing system 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0097] A dynamic balance test device for a speed reducer provided by the present application adopts a dynamic balance test method for a speed reducer in the above-mentioned embodiment, and can solve the technical problems of low accuracy in the dynamic balance test of an electric tricycle speed reducer and inability to detect the specific position of the unbalanced mass. Compared with the prior art, the beneficial effects of the dynamic balance test device for a speed reducer provided by the present application are the same as those of the dynamic balance test method for a speed reducer provided by the above-mentioned embodiment, and other technical features in the dynamic balance test device for a speed reducer are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0098] Each part disclosed in the present application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0099] The present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the steps of a dynamic balance test method for a speed reducer as described above.

[0100] The computer program product provided by the present application can solve the technical problems of low accuracy in the dynamic balance test of an electric tricycle speed reducer and inability to detect the specific position of the unbalanced mass. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the dynamic balance test method for a speed reducer provided by the above-mentioned embodiment, and will not be elaborated here.

[0101] The above are only partial embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A method for testing the dynamic balance of a reducer, characterized in that: The method comprises the following steps: Step S10: Select the electric tricycle reducer to be tested, visually inspect its appearance to see if there are any defects, and replace the reducer to be tested if there are any defects; if there are no defects, clean the input shaft and output shaft surfaces of the reducer to remove oil stains and iron filings; Step S20: After cleaning, the electric tricycle reducer is mounted on the workbench of the dynamic balancing test machine through a customized fixture, and the coaxiality of the reducer axial direction and the rotating main shaft of the test machine is calibrated using a level; Step S30: starting the balancing test machine and running it at a set initial speed, and measuring the initial radial vibration displacement value A0 of the reducer in the radial direction during the rotation process and the initial driving torque value T0 required to drive the reducer to rotate through the sensor installed on the test machine; Step S40: adopt a step-by-step acceleration test, increase the speed of the test machine according to the set gradient, and measure the radial vibration displacement value A of the reducer at each speed after running stably for a certain period of time. n And the driving torque value T n , where n is the number of measurements; Step S50: inputting the measured data values ​​into a pre-designed dynamic balancing test algorithm model, combining the structural parameters of the reducer to determine whether the reducer has unbalanced mass, and calculating the position of the unbalanced mass, generating a data report based on the test results and the calculated unbalanced position information and storing it in a database; The customized fixture in step S20 is designed according to the external dimensions and mounting interface of the electric tricycle reducer; a level is used to calibrate the coaxiality of the reducer's axial direction and the rotating spindle of the testing machine, and the control deviation range is ±0.05mm.

2. A reducer dynamic balance test method according to claim 1, characterized in that: In step S10, when there are no defects, the steps of cleaning the surfaces of the input shaft and the output shaft of the reducer to remove oil stains and iron filings include: Brushing: prepare industrial cleaning agent and pour it into a metal container, use a nylon brush to dip the cleaning agent and brush the input shaft and output shaft surface of the electric tricycle reducer; Dehumidification: After brushing, use dust-free paper or non-woven cloth to wipe the surface of the input shaft and output shaft to remove moisture on the surface; Removing iron filings: After the surface is dehumidified, use a magnetic bar to move along the surface of the input shaft and the output shaft, and use the adsorption characteristics of the magnet to remove the remaining iron filings; Removing impurities: After removing the iron filings, use a compressed air spray gun to blow the dried and filtered compressed air onto the surfaces of the input and output shafts. Keep the spray gun at a certain distance and angle from the shaft surface, and blow from one end of the shaft to the other.

3. A reducer dynamic balance test method according to claim 1, characterized in that: The step S30 of running at a set initial speed and measuring the initial radial vibration displacement value A0 of the reducer in the radial direction during the rotation process and the initial driving torque value T0 required to drive the reducer to rotate by a sensor installed on the testing machine includes: Equipment self-inspection: After checking that the reducer of the electric tricycle is correctly installed and fixed, start the balancing tester and wait for the built-in self-inspection program of the dynamic balancing tester to complete the equipment self-inspection; the self-inspection content includes checking whether the control system, drive motor and various sensors of the dynamic balancing tester are operating normally, and troubleshooting and repairing abnormalities when they are operating abnormally; Parameter setting: Set the initial speed to 500rpm, control the speed error within ±10rpm, and set the acceleration curve of the drive motor to smooth mode; Radial vibration displacement measurement: After the reducer rotates stably at a speed of 500rpm, the displacement sensor on the dynamic balancing test machine uses the laser interference principle to collect radial vibration displacement values ​​at a sampling frequency of 1000 times per second. The real-time collected radial vibration displacement values ​​are transmitted to the data processing unit of the test machine. After removing noise interference, the processed radial vibration displacement values ​​are transmitted to the control system of the test machine to record the initial radial vibration displacement value A0; Torque measurement: After the reducer rotates stably at a speed of 500 rpm, the torque sensor on the dynamic balancing test machine collects the driving torque value at a sampling frequency of 1000 times per second based on the strain gauge principle. The real-time collected driving torque value is transmitted to the data processing unit of the test machine, and after removing the zero drift error, it is transmitted to the control system of the test machine to record the initial driving torque value T0; Data review: After the test machine control system receives the initial radial vibration displacement value A0 and the initial driving torque value T0, it automatically starts the built-in data review program. The initial parameter average value in the historical test data of the same model of electric tricycle reducer is pre-set in the data review program. When the received initial radial vibration displacement value A0 or the initial driving torque value T0 exceeds ±10% of the initial parameter average value, the control system issues an abnormal alarm and the operator conducts an abnormality inspection on the reducer; when the received initial radial vibration displacement value A0 and the initial driving torque value T0 are within the range of ±10% of the initial parameter average value, the initial radial vibration displacement value A0 and the initial driving torque value T0 are determined to be valid, and are stored as basic data for subsequent imbalance calculations.

4. A reducer dynamic balance test method according to claim 1, characterized in that: In step S40, the step of adopting a step-by-step acceleration test and increasing the rotation speed of the testing machine according to a set gradient includes: Acceleration parameter setting: input the set speed gradient value into the control system of the dynamic balancing tester, increase the speed by 500rpm each time, and run stably for 30 seconds at the new speed after the increase is completed; Acceleration process: Each time the speed increases, it increases at a speed of 50rpm / s, and the acceleration time is 10 seconds, which is the buffer time; Data collection time setting: In each 30-second stable operation stage, when the running time reaches 20 seconds, the sensor collects data at a sampling frequency of 1000 times per second; Full-process status monitoring: During the step-by-step acceleration test, the fault detection unit on the test machine performs full-process status monitoring. The fault detection unit includes a temperature sensor and a vibration frequency sensor, which monitors the temperature and vibration data during the step-by-step acceleration test in real time. When the monitored data exceeds the preset temperature threshold and vibration frequency threshold, the fault detection unit sends a shutdown command to the test machine control system, and the control system controls the test machine to stop running.

5. A reducer dynamic balance test method according to claim 1, characterized in that: In step S50, the measured data values ​​are input into a pre-designed dynamic balancing test algorithm model, and the model design steps include: Theoretical relationship construction: According to the basic principles of mechanics, the relationship between vibration displacement, unbalanced mass and rotation speed is constructed, as shown in formula (1): （1） Where A is the radial vibration displacement, m is the unbalanced mass, is the angular velocity, which is related to the rotation speed, r is the distance from the unbalanced mass to the rotation center, and k is a coefficient related to the stiffness and damping of the reducer structure, with a value range of (0,1). According to the torque change and the unbalanced force arm, the formula for the torque change, the unbalanced force arm and the centrifugal force is established, as shown in formula (2): （2） in is the change in torque, F is the magnitude of the centrifugal force, and L is the length of the unbalanced lever arm; Multiple linear regression solution: Substitute the radial vibration displacement values ​​at different speeds, the corresponding speed values, and the structural parameters of the reducer into equation (1) to form a multiple linear equation system. The multiple linear regression algorithm is used to iteratively optimize the equation system to preliminarily determine the size range and radial position coordinates of the unbalanced mass. Determination of axial coordinates: Based on the obtained information related to the unbalanced mass, the change in torque and the magnitude of the centrifugal force are substituted into equation (2). Combined with the geometric structural characteristics of the reducer, the axial position coordinates of the unbalanced mass are further calculated by the geometric analytical method. Model verification and optimization: Obtain standard reducer samples with known imbalance for model verification, collect test data through a dynamic balancing test machine, input the dynamic balancing test algorithm model, compare the model output results with the known true value calculation accuracy, and when the accuracy is lower than 90%, adjust the coefficients and functional relationships in the model, retrain and optimize the model until the accuracy of the model's calculation of the dynamic balancing parameters of the electric tricycle reducer is greater than or equal to 90%, and then apply it to actual production testing.

6. A reducer dynamic balance test system, characterized in that: The reducer dynamic balance test system comprises: Electric tricycle reducer selection and cleaning module: select the electric tricycle reducer to be tested, visually inspect its appearance for defects, and replace the reducer to be tested if there are defects; if there are no defects, clean the input shaft and output shaft surfaces of the reducer to remove oil stains and iron filings; Electric tricycle reducer fixing and calibration module: After cleaning, the electric tricycle reducer is installed on the workbench of the dynamic balancing test machine through a customized fixture, and the coaxiality of the reducer's axial direction and the rotating spindle of the test machine is calibrated using a level; Electric tricycle reducer initial parameter acquisition module: start the balancing test machine, run it at the set initial speed, and measure the initial radial vibration displacement value A0 of the reducer in the radial direction during the rotation process and the initial driving torque value T0 required to drive the reducer to rotate through the sensor installed on the test machine; Electric tricycle reducer test parameter acquisition module: adopt step-by-step acceleration test, increase the speed of the test machine according to the set gradient, and measure the radial vibration displacement value A of the reducer at each speed after stable operation for a certain period of time. n And the driving torque value T n , where n is the number of measurements; Electric tricycle reducer dynamic balance test module: input the measured data values ​​into the pre-designed dynamic balance test algorithm model, combine the reducer's structural parameters to determine whether the reducer has unbalanced mass, generate a data report based on the test results and the calculated unbalanced position information and store it in the database; The customized fixture in the electric tricycle reducer fixing and calibration module is designed according to the outer dimensions and installation interface of the electric tricycle reducer; a spirit level is used to calibrate the coaxiality of the reducer's axial direction and the rotating spindle of the testing machine, and the control deviation range is ±0.05mm.

7. A reducer dynamic balance test device, characterized in that: The reducer dynamic balancing test equipment comprises: a memory, a processor and a dynamic balancing test algorithm program stored in the memory and executable on the processor. When the dynamic balancing test algorithm program is executed by the processor, a reducer dynamic balancing test method as described in any one of claims 1 to 5 is implemented.

8. A computer program product, characterized in that The computer program product includes a program of a dynamic balancing test algorithm, and when the program of the dynamic balancing test algorithm is executed by a processor, a reducer dynamic balancing test method according to any one of claims 1 to 5 is implemented.

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