Gear eccentricity testing mechanism, mixed eccentricity decoupling method and device and storage medium
By collecting and analyzing gear morphology data in the gear eccentricity testing mechanism, and using Fourier series fitting and data preprocessing technology, the problem of difficult to separate and repair gear hybrid eccentricity faults in the prior art is solved, and high-precision fault diagnosis and repair are achieved.
Patent Information
- Application Number
- CN202510324295.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-19
- Publication Date
- 2025-06-13
AI Technical Summary
The prior art is difficult to effectively identify and repair gear eccentricity failures, especially in mixed eccentricity failure scenarios, and it is difficult to separate out various types of eccentricity failures, resulting in inaccurate repairs and affecting gear accuracy and transmission reliability.
A gear eccentricity testing mechanism is adopted, including control circuits, motor drive systems, encoders and laser ranging sensors. The gear morphology data is collected through stepping rotation and laser ranging, and various eccentricity failures are separated and decoupled through Fourier series fitting and data preprocessing.
The separation and traceability of a single eccentric fault in a hybrid eccentric fault scenario is realized, and the gear eccentric fault is repaired from the source is improved, the reliability and accuracy of the diagnosis results are improved, and the "pseudo correction" phenomenon is avoided.
Smart Images
Figure CN120141357A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of mechanical facilities, and in particular to a gear eccentricity testing mechanism, a mixed eccentricity decoupling method, a device and a storage medium. Background Art
[0002] As a widely used mechanical equipment in the field of manufacturing, the tolerance of gears plays a decisive role in the stability of production and processing. If the gear eccentricity fault exists for a long time, it may cause serious failures, which may reduce the life of the gear at the least, or cause production accidents at the worst, resulting in significant personal and property losses. In view of this, gear eccentricity testing is extremely necessary.
[0003] Due to reasons such as processing or assembly, gear eccentricity failure is difficult to avoid in production and processing, which poses a serious threat to the stable operation of the gear system. At present, the abnormal vibration caused by gear eccentricity can be identified by corresponding gear diagnostic technology, but it is difficult to trace the source of gear eccentricity abnormality, especially in the mixed eccentricity fault phenomenon formed by the superposition of multiple eccentricity faults (such as geometric eccentricity, motion eccentricity, etc.). It is difficult to separate various eccentricity faults, making it difficult to correct the gear eccentricity fault in a targeted manner. At present, the diagnosis work on gear eccentricity faults is almost all the overall measurement of mixed eccentricity faults, and the repair methods used are also carried out for the mixed eccentricity errors, without distinguishing each mixed eccentricity fault. Such extensive means are difficult to repair the gear eccentricity fault from the source, affecting the gear accuracy. After a certain period of time, the eccentricity fault will reappear and the fault may further expand, and the reliability of the gear transmission is still poor.
[0004] In addition, some scholars have tried to propose a diagnostic scheme specifically for a certain type of eccentricity fault. However, the diagnostic scheme for a certain type of eccentricity fault relies heavily on high-precision sensors (such as using eddy current sensors for distance measurement), and the effective range of high-precision sensors is extremely limited, which will limit the scope of gear eccentricity testing. Moreover, the diagnosis of a certain type of eccentricity fault almost only exists in an ideal environment. In the real environment, multiple eccentricity faults almost exist at the same time. These diagnostic schemes for a certain type of eccentricity fault cannot separate each eccentricity fault from the fault data caused by the mixed eccentricity fault for quantification and traceability. Moreover, for different eccentricity faults, different test environments need to be changed. Frequent changes in the test environment will cause cumulative errors in the gear. Summary of the invention
[0005] The object of the present invention is to provide a gear eccentricity testing mechanism, a mixed eccentricity decoupling method, a device and a storage medium to address all or part of the above-mentioned problems, so as to improve the scope of gear eccentricity testing and separate and decouple a single type of eccentricity fault from a mixed eccentricity fault scenario.
[0006] The technical solution adopted by the present invention is as follows:
[0007] A gear eccentricity testing mechanism, which includes:
[0008] A control circuit;
[0009] A motor drive system, which is driven by the control circuit to rotate the gear to be tested;
[0010] An encoder, which measures the rotation angle of the motor drive system and feeds it back to the control circuit;
[0011] A laser distance sensor, which measures the distance from the gear to be tested radially at a fixed position and feeds it back to the control circuit.
[0012] Furthermore, the present invention also proposes a hybrid eccentricity decoupling method based on the above gear eccentricity testing mechanism, which includes:
[0013] S1. The control circuit controls the motor drive system to rotate according to the configured step size;
[0014] S2. The control circuit receives the distance data measured by the laser distance sensor at each step when the motor drive system rotates one week;
[0015] S3. The control circuit preprocesses the acquired distance data to obtain the first data;
[0016] S4. The control circuit extracts at least the root circle information from the first data, performs Fourier series fitting on the root circle information to obtain the first function; traverses the first function, finds the maximum value of the first function and the corresponding angle to obtain the position eccentricity error information; corrects the first data based on the first function, extracts the addendum circle information to decouple the geometric eccentricity error information, and extracts the tooth backlash information to decouple the kinematic eccentricity error information.
[0017] On the other hand, the present invention also proposes a hybrid eccentricity decoupling method based on multiple sets of the above gear eccentricity testing mechanisms. The control circuits of multiple sets of gear eccentricity testing mechanisms are respectively connected to a processor; the method includes:
[0018] For each set of gear eccentricity testing mechanisms, execute:
[0019] Step1. The processor configures the step size for the control circuit so that the control circuit controls the motor drive system to rotate according to the configured step size;
[0020] Step2. The control circuit receives the distance data measured by the laser distance sensor at each step when the motor drive system rotates one week and transmits it to the processor;
[0021] Step 3. The processor preprocesses the acquired distance data to obtain the first data;
[0022] Step 4. The processor extracts at least the addendum circle information from the first data, performs Fourier series fitting on the addendum circle information to obtain a first function; traverses the first function to find the maximum value of the first function and the corresponding angle to obtain position eccentricity error information; corrects the first data based on the first function, extracts the addendum circle information to decouple the geometric eccentricity error information, and extracts the tooth backlash information to decouple the kinematic eccentricity error information.
[0023] In addition, the present invention also provides a computer-readable storage medium storing a computer program, which, when run by a processor, can execute the above-mentioned hybrid eccentricity decoupling method.
[0024] On the other hand, the present invention also provides a hybrid eccentricity decoupling device, which includes the above-mentioned gear eccentricity testing mechanism and a storage medium; computer instructions are stored in the storage medium, and the control circuit of the gear eccentricity testing mechanism executes the above-mentioned hybrid eccentricity decoupling method when running the computer instructions.
[0025] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:
[0026] The gear eccentricity testing mechanism proposed in this application uses a laser ranging sensor to collect gear profile data. Compared with the method of using high-precision sensors such as eddy current sensors for collection, it is not limited by the measurement range and can obtain original data applicable to various eccentricity fault diagnoses. Further, based on the analysis of the original data collected by this gear eccentricity testing mechanism, the hybrid eccentricity decoupling method proposed in this application can separate one or more single eccentricity faults from the fault data caused by the hybrid eccentricity fault for quantitative traceability, so that the eccentricity fault of the gear can be repaired from the source and the phenomenon of "false correction" can be avoided. This application completes the original data for multi-dimensional eccentricity fault detection in the same set of gear eccentricity testing mechanism, ensuring a high degree of consistency of the test benchmark, avoiding cumulative errors, and improving the reliability and accuracy of the diagnosis results. In addition, this application also effectively avoids and dynamically corrects the interference problem of motor jitter on the measurement process to ensure the accuracy and integrity of the analysis data and improve the reliability of the eccentricity fault diagnosis. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] The present invention will be described by way of examples with reference to the accompanying drawings, where:
[0028] Figure 1It is the structural diagram of the gear eccentricity testing mechanism provided by the embodiments of the present application.
[0029] Figure 2 It is the flowchart of the hybrid eccentricity decoupling method for a single gear provided by the embodiments of the present application.
[0030] Figure 3 It is the waveform diagram of a set of distance data collected in the embodiments of the present application.
[0031] Figure 4 It is the waveform diagram of the first function in the embodiments of the present application.
[0032] Figure 5 It is the waveform diagram of the second data in the embodiments of the present application.
[0033] Figure 6 It is the waveform diagram of the cumulative value of the difference between the arc length occupied by a single tooth of the gear to be measured and the standard tooth in the embodiments of the present application.
[0034] Figure 7 It is the structural diagram for hybrid eccentricity decoupling of multiple gears provided by the embodiments of the present application.
[0035] Figure 8 It is the flowchart for hybrid eccentricity decoupling of multiple gears provided by the embodiments of the present application.
[0036] Figure 9 It is the structural diagram of the hybrid eccentricity decoupling device provided by the embodiments of the present application. Detailed implementation manners
[0037] All the features disclosed in this specification, or all the steps in the disclosed methods or processes, except for mutually exclusive features and / or steps, can be combined in any manner.
[0038] Any feature disclosed in this specification (including any additional claims, abstract) can be replaced by other equivalent or alternative features with similar purposes, unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only an example of a series of equivalent or similar features.
[0039] Regarding the problem that currently, for gear eccentricity faults, either hybrid eccentricity faults are diagnosed, or only targeted diagnosis of single eccentricity faults can be carried out, and it is impossible to diagnose single eccentricity faults based on the actual hybrid eccentricity fault scenario, the present application proposes a gear eccentricity testing mechanism, a hybrid eccentricity decoupling method, device and storage medium, aiming to achieve the separation and traceability of various types of eccentricity faults in the actual hybrid fault scenario through the same test platform.
[0040] The gear eccentricity testing mechanism proposed by the present application includes:
[0041] Control circuit;
[0042] A motor drive system that is actuated by the control circuit to drive the gear under test to rotate;
[0043] An encoder that measures the rotation angle of the motor drive system and feeds it back to the control circuit;
[0044] A laser distance sensor that measures the distance from the gear under test radially at a fixed position and feeds it back to the control circuit.
[0045] As Figure 1 shown, in an alternative embodiment, the gear eccentricity testing mechanism is mounted on a bracket. The motor drive system includes a servo motor and a rotating shaft. The servo motor is mounted on the bracket, one end of the rotating shaft is fixedly connected to the output shaft of the servo motor, and the other end of the rotating shaft is rotatably connected to the bracket. The gear under test is sleeved on the rotating shaft and rotates with the rotation of the rotating shaft. The encoder is also mounted on the bracket, and the encoder is sleeved on the rotating shaft to measure the rotation angle during the rotation of the servo motor, so as to measure the rotation angle of the gear under test. The goal is to measure at least the data of one full rotation of the gear under test. Through the data fed back by the encoder, it can be known whether the gear under test has rotated one full circle (360°). The laser distance sensor is mounted in the radial direction of the gear under test, and preferably its position can be adjusted to adapt to different gears under test.
[0046] The hybrid eccentricity decoupling method provided by this application is executed based on the gear eccentricity testing mechanism of the above embodiment. As Figure 2 shown, this method includes the following processes:
[0047] S1. The control circuit controls the motor drive system to rotate according to the configured step size.
[0048] The stepping angle of the motor drive system needs to be configured in the control circuit. Assuming the step size is α, the angle of each rotation of the gear under test is thus determined. The control circuit controls the motor drive system to rotate α degrees each time according to the configured step size α. Then, 360 / α data will be collected when the gear under test rotates one full circle.
[0049] S2. The control circuit receives the distance data measured by the laser distance sensor at each step during one full rotation of the motor drive system.
[0050] Step S2 is responsible for collecting the gear profile data. The motor drive system rotates step by step according to the set step size α, and the laser range finder is responsible for measuring the distance to the gear to be measured after each rotation of the motor drive system. Let t represent the cumulative rotation angle measured by the encoder, and d represent the distance measured by the laser range finder. Then, for each t, a corresponding d will be obtained. The motor drive system rotates 360 / α times in one revolution. Therefore, theoretically, the laser range finder will collect 360 / α distance data, that is, 360 / α (d, t) pairs.
[0051] For example, if the configured step size is α = 0.036, the motor drive system drives the gear to be measured to rotate one revolution, and 10,000 distance data will be collected.
[0052] As an alternative implementation, this step S2 includes the following sub-steps:
[0053] S2-1. The control circuit controls the laser range finder to measure the distance to the gear to be measured after each rotation of one step size and stopping jitter during one revolution of the motor drive system.
[0054] Measuring the distance after the motor drive system stops jitter is mainly to avoid measurement errors introduced by jitter.
[0055] As an alternative implementation, the control circuit obtains the rotation angle fed back by the encoder in real time, controls the motor drive system to continuously rotate according to the configured step size until the encoder feeds back a rotation of 360°. After each rotation and stop of jitter of the motor drive system, the control circuit controls the laser range finder to collect distance data. The timing of controlling the laser range finder to collect distance data can be achieved by defaulting to a predetermined time delay after each rotation of the motor drive system before collecting, so as to avoid the jitter interval of the gear to be measured. Additionally, a jitter measurement sensor can be added. After the jitter measurement sensor feeds back that the gear to be measured no longer jitters, the laser range finder is triggered to collect distance data.
[0056] S2-2. The control circuit obtains the distance data measured by the laser range finder.
[0057] Each time the laser range finder collects a distance data, it will transmit it to the control circuit. After the control circuit obtains a rotation angle of 360° from the encoder, it stops obtaining distance data from the laser range finder. Theoretically, the control circuit will obtain 360 / α distance data, which are the original data for eccentric fault diagnosis.
[0058] S3. The control circuit preprocesses the obtained distance data to obtain the first data.
[0059] Due to issues such as the uncertainty in the operation of the motor drive system and the insufficient measurement accuracy of the laser ranging sensor, data anomalies (such as missing values, mutations, etc.) may occur in the collected original data. In this step S3, the original data is preprocessed to eliminate outliers and smooth noise values, reducing the impact on the diagnosis of eccentricity faults. In the embodiments of the present application, let g(t) represent the first data after preprocessing, where t represents the angle, and g(t) represents the distance at angle t. As Figure 3 shown
[0060] As an alternative implementation, in step S3, the interpolation method is used to preprocess the acquired distance data to smooth the noise and fill in the missing values.
[0061] S4. The control circuit extracts at least the root circle information from the first data, performs Fourier series fitting on the root circle information to obtain a first function; traverses the first function to find the maximum value of the first function and the corresponding angle to obtain the position eccentricity error information; corrects the first data based on the first function, extracts the tip circle information to decouple the geometric eccentricity error information, and extracts the tooth backlash information to decouple the kinematic eccentricity error information.
[0062] The original data obtained in step S2 and the first data processed in step S3 both contain data with mixed eccentricity fault characteristics. In traditional eccentricity fault diagnosis, the overall eccentricity fault analysis is directly performed on this original data or the first data to obtain the mixed eccentricity error information.
[0063] However, the present application separates a single eccentricity fault from the data containing mixed eccentricity fault characteristics, realizing the tracing of a single eccentricity fault in a mixed eccentricity fault scenario.
[0064] In step S4, the root circle information, that is, the root circle fault characteristic information, is extracted from the first data g(t). The root circle information is the information characterizing the root circle. In the first data g(t), it is the data of the distance to the root circle, that is, the values at the peak points in the first data. Then, Fourier series fitting is performed on the extracted root circle information. As Figure 4 shown, assume the obtained first function is d(t), where t is still the angle, and d(t) represents the function value at t. Traverse each angle t to find the maximum value in the first function d(t), denoted as d max , and at the same time record the angle corresponding to this d max , denoted as t 1 , then d max and t 1 are the magnitude and angle of the position eccentricity error, and the two constitute the position eccentricity error information, which is denoted as
[0065] As an alternative implementation, in step S4, geometric eccentricity error diagnosis can also be performed based on the first data (data containing hybrid eccentricity features).
[0066] In step S4, the first data is corrected based on the first function, and the addendum circle information is extracted to decouple the geometric eccentricity error information, including:
[0067] S4-1. The control circuit corrects the first data using the first function to obtain the second data.
[0068] In step S4-1, the first function d(t) is used to correct the first data g(t). Assuming the corrected second data is represented by g'(t), then: g'(t) = g(t) - d(t), and the waveform diagram is as Figure 5 shown.
[0069] S4-2. The control circuit extracts the addendum circle information from the second data g'(t). The addendum circle information is the information characterizing the addendum circle. In the second data g'(t), it is the data of the distance to the addendum circle, that is, the values of the wave trough positions in the second data. And the Fourier series fitting is performed on the addendum circle information to obtain the second function u(t). Traverse the second function u(t) to find the maximum value of the second function (denoted by u max ), and the corresponding angle (denoted by t 2 ). Then u max and t 2 are the magnitude and angle of the geometric eccentricity error, and the two constitute the geometric eccentricity error information, which is denoted as This geometric eccentricity error information can characterize the radial eccentricity error of the gear, thus realizing the separation and traceability of the radial eccentricity error.
[0070] In addition, in another alternative implementation, the motion eccentricity error diagnosis can be performed based on the second data in the embodiments of the present application.
[0071] In step S4, the backlash information is extracted to decouple the motion eccentricity error information, including:
[0072] S4-3. The control circuit extracts the backlash information from the second data g'(t) and calculates the axial eccentricity error information.
[0073] The backlash information is the data characterizing the adjacent tooth space. The axial eccentricity error information characterizes the error in the tooth pitch dimension of the gear, which is represented by . In some feasible implementations, the calculation method of the axial eccentricity error information includes:
[0074] 1) The control circuit calculates the arc length between the intersection points of the pitch circle and the involute of every two adjacent teeth, i.e., the arc length occupied by the teeth, based on the second data g'(t), to obtain the tooth clearance information, and calculates the cumulative value of the difference between this arc length and the standard tooth arc length. For example, calculate the cumulative value of the difference between the arc length occupied by the teeth and the standard tooth arc length in the counterclockwise direction, as shown in Figure 6 shown
[0075] 2) The control circuit calculates the orthogonal components of the eccentricity based on this cumulative value.
[0076] Construct an orthogonal Cartesian coordinate system in the direction perpendicular to the gear axial plane, and this coordinate system includes mutually perpendicular X-axis and Y-axis. Assume that the component of the calculated cumulative value in the X-axis direction is E x , and the component in the Y-axis direction is E y . And the eccentricity e a is decomposed into two orthogonal components according to the X-axis and Y-axis directions, which are e ax and e ay , and there is:
[0077]
[0078] where r represents the pitch circle radius.
[0079] 3) The control circuit calculates the axial eccentricity error information based on the orthogonal components of the eccentricity.
[0080] The axial eccentricity error information is:
[0081]
[0082] This axial eccentricity error information can realize the separation and traceability of the axial eccentricity error.
[0083] S4-4. The control circuit subtracts the position eccentricity error information from the axial eccentricity error information to obtain the motion eccentricity error information.
[0084] Taking to represent the motion eccentricity error information, then there is:
[0085]
[0086] It can be found from the above method that the present application can diagnose single eccentricity fault information from a mixed eccentricity fault scenario, such as position eccentricity fault information, geometric eccentricity fault information, or kinematic eccentricity fault information, so as to trace the gear from the root cause separately from different dimensions, thereby improving the gear processing accuracy. Moreover, these three single eccentricity fault information can be diagnosed simultaneously on the same platform without the need to switch to other test environments, with low test environment configuration costs, no introduction of other cumulative errors, and higher efficiency in diagnosing multiple eccentricity fault errors. In addition, the present application eliminates the mutual interference of the mixed eccentricity fault through dynamic correction technology (such as motor jitter suppression) and error decoupling algorithm, and the measurement accuracy is improved.
[0087] Based on the design idea of the present application, the embodiment of the present application also provides another method for decoupling mixed eccentricity, which can diagnose eccentricity faults of multiple gears.
[0088] As Figure 7 shown, this method is also implemented based on the gear eccentricity test mechanism. Different from the previous embodiment, in this embodiment, the control circuits of multiple groups of gear eccentricity test mechanisms are respectively connected to the processor 9, and the processor 9 is responsible for the operation and diagnosis of each group of gear eccentricity test mechanisms.
[0089] As Figure 8 shown, the method for decoupling mixed eccentricity includes:
[0090] For each group of gear eccentricity test mechanisms, execute:
[0091] Step1. Configure the step size to the control circuit through the processor 9, so that the control circuit controls the motor drive system to rotate according to the configured step size.
[0092] Step2. The control circuit receives the distance data measured by the laser distance sensor at each step during one rotation of the motor drive system and transmits it to the processor 9.
[0093] Step3. The processor 9 preprocesses the acquired distance data to obtain the first data.
[0094] Step4. The processor 9 extracts at least the root circle information from the first data, performs Fourier series fitting on the root circle information to obtain the first function; traverses the first function to find the maximum value of the first function and the corresponding angle to obtain the position eccentricity error information; corrects the first data based on the first function, extracts the addendum circle information to decouple the geometric eccentricity error information, and extracts the tooth gap information to decouple the kinematic eccentricity error information.
[0095] In addition, in some alternative embodiments, for each set of gear eccentricity testing mechanisms, the first data is corrected based on the first function, and the addendum circle information is extracted to decouple the geometric eccentricity error information, including:
[0096] Step4-1: The processor 9 corrects the first data using the first function to obtain second data;
[0097] Step4-2: The processor 9 extracts the addendum circle information from the second data, performs Fourier series fitting on the addendum circle information to obtain a second function. Traverse the second function to find the maximum value of the second function and the corresponding angle to obtain the geometric eccentricity error information.
[0098] In some other alternative embodiments, for each set of gear eccentricity testing mechanisms, the tooth clearance information is extracted to decouple the kinematic eccentricity error information, including:
[0099] Step4-3: The processor 9 extracts the tooth clearance information from the second data and calculates the axial eccentricity error information.
[0100] Step4-4: The processor 9 subtracts the position eccentricity error information from the axial eccentricity error information to obtain the kinematic eccentricity error information.
[0101] In the above steps from Step1 to Step4, and from Step4-1 to Step4-4, the relevant features responsible for being executed by the processor 9 can correspond to refer to the steps S1 to S4, and the corresponding features in the steps S4-1 to S4-4 in the embodiment part of the foregoing hybrid eccentricity decoupling method.
[0102] The embodiment of the present application also provides a hybrid eccentricity decoupling device, which includes the above-mentioned gear eccentricity testing mechanism and a storage medium. Computer instructions are stored in the storage medium. When the control circuit of the gear eccentricity testing mechanism runs the computer instructions, it executes the hybrid eccentricity decoupling method of the foregoing embodiment. As Figure 9 shown, between the storage medium and the control circuit, data is interacted through a bus connection. However, it should be understood that the two can also directly achieve data interaction through other means.
[0103] The present invention is not limited to the foregoing specific embodiments. The present invention extends to any new feature or any new combination disclosed in this specification, as well as any new method or process step or any new combination disclosed.
Claims
1. A gear eccentricity testing mechanism, characterized in that: include: Control circuit; The motor drive system drives the gear to be tested to rotate under the action of the control circuit; An encoder measures the rotation angle of the motor drive system and feeds it back to the control circuit; The laser distance measuring sensor measures the distance from the gear to be measured radially from the gear to be measured at a fixed position and feeds back the distance to the control circuit.
2. A hybrid eccentricity decoupling method for a gear eccentricity testing mechanism according to claim 1, characterized in that: include: S1, the control circuit controls the motor drive system to rotate according to the configured step length; S2, the control circuit receives the distance data measured by the laser ranging sensor at each step length of one rotation of the motor drive system; S3, the control circuit pre-processes the acquired distance data to obtain first data; S4, the control circuit extracts at least the root circle information from the first data, and performs Fourier series fitting on the root circle information to obtain a first function; traverses the first function, finds the maximum value and the corresponding angle of the first function, and obtains the position eccentricity error information; The first data is corrected based on the first function, and the tooth top circle information is extracted to decouple the geometric eccentricity error information, and the gear tooth clearance information is extracted to decouple the motion eccentricity error information.
3. The hybrid eccentric decoupling method according to claim 2, characterized in that: The step S2 comprises: S2-1, the control circuit controls the laser ranging sensor to measure the distance to the gear to be measured after each step of the motor driving system rotation and the vibration stops during one rotation; S2-2, the control circuit obtains the distance data measured by the laser ranging sensor.
4. The hybrid eccentric decoupling method according to claim 2, characterized in that: In step S3, the acquired distance data is preprocessed, including: The obtained distance data is processed using interpolation method.
5. The hybrid eccentric decoupling method according to any one of claims 2 to 4, characterized in that: In the step S4, the first data is corrected based on the first function, and the addendum circle information is extracted to decouple the geometric eccentricity error information, including: S4-1, the control circuit uses the first function to correct the first data to obtain second data; S4-2, the control circuit extracts the tooth top circle information from the second data, and performs Fourier series fitting on the tooth top circle information to obtain a second function; traverses the second function, finds the maximum value and the corresponding angle of the second function, and obtains geometric eccentricity error information.
6. The hybrid eccentric decoupling method according to claim 5, characterized in that: In the step S4, extracting the addendum circle information to decouple the geometric eccentricity error information includes: S4-3, the control circuit extracts gear tooth clearance information from the second data and calculates axial eccentricity error information; S4-4, the control circuit subtracts the position eccentricity error information from the axial eccentricity error information to obtain motion eccentricity error information.
7. The hybrid eccentric decoupling method according to claim 6, characterized in that: The step S4-3 comprises: The control circuit calculates the arc length between the pitch circle and the intersection of each two adjacent gear tooth involutes based on the first data, and calculates the cumulative value of the difference between the arc length and the standard gear tooth; The control circuit calculates the orthogonal component of the eccentricity based on the accumulated value; The control circuit calculates the axial eccentricity error information based on the orthogonal component of the eccentricity.
8. A hybrid eccentricity decoupling method for a gear eccentricity testing mechanism based on multiple groups of claim 1, characterized in that: The control circuits of the multiple groups of gear eccentricity testing mechanisms are respectively connected to the processors; the method comprises: For each gear eccentricity test set, perform: Step 1, configuring a step length to the control circuit through a processor, so that the control circuit controls the motor drive system to rotate according to the configured step length; Step 2, the control circuit receives the distance data measured by the laser ranging sensor at each step length of one rotation of the motor drive system, and transmits it to the processor; Step 3, the processor pre-processes the acquired distance data to obtain first data; Step 4. The processor extracts at least the root circle information from the first data, and performs Fourier series fitting on the root circle information to obtain a first function; traverses the first function, finds the maximum value and the corresponding angle of the first function, and obtains the position eccentricity error information; corrects the first data based on the first function, and extracts the top circle information to decouple the geometric eccentricity error information, and extracts the gear tooth clearance information to decouple the motion eccentricity error information.
9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the hybrid eccentricity decoupling method as described in any one of claims 2 to 7 can be executed.
10. A hybrid eccentric decoupling device, characterized in that: It comprises the gear eccentricity testing mechanism as described in claim 1 and a storage medium; the storage medium stores computer instructions, and the control circuit of the gear eccentricity testing mechanism executes the hybrid eccentricity decoupling method as described in any one of claims 2-7 when running the computer instructions.