Heavy-load unmanned platform transmission planet row pollution tolerance test system and evaluation method

Abstract

The invention discloses a heavy-load unmanned platform transmission planet row pollution tolerance test system and evaluation method, and the system comprises a driving and loading module which is used for collecting the rotating speed and torque signals of the output end of a driving motor, and controlling the loading condition of the output shaft of a confluence planet row package box; the confluence planet row box is used for collecting rotating speed and torque signals of an output shaft of the confluence planet row box; the lubricating module is used for controlling the oil to circulate and converge to the converging planet row box; the data acquisition and control module is used for controlling the work of each motor and acquiring and storing sensor signals; wherein the driving and loading module and the lubricating module are respectively connected with the confluence planet row box and the data acquisition and control module. According to the invention, gradient loading and cyclic utilization of polluted oil are realized, and a controllable complex lubrication environment is provided for tolerance evaluation.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned mobile platform testing, and particularly to a pollution tolerance test system and evaluation method for a heavy-duty unmanned platform transmission planetary row. Background Art

[0002] With the upgrading of industrial intelligence and the in-depth application of unmanned equipment, heavy-duty unmanned platforms are gradually replacing traditional manual operations in scenarios such as port logistics, mine transportation, and battlefield logistics. The performance reliability of the central transmission component, the planetary row of the power distribution, has become a key bottleneck restricting the full-scenario adaptability of the platform. The planetary row of the power distribution achieves high-torque output through multi-power coupling, but in actual operation, it faces the combined erosion of multi-source pollutants such as dust, oil, salt spray, and high humidity, resulting in frequent problems such as gear wear, lubrication failure, and a sharp drop in transmission efficiency. For example, in 2023, when a certain heavy-duty AGV (Automated Guided Vehicle) was operating at a coastal port, pitting corrosion of the gears occurred due to the intrusion of salt spray and oil into the planetary row, causing the transmission system to break down and interrupting the logistics operation for up to 72 hours. Such problems expose the limitations of the pollution protection design and test methods of traditional transmission systems, and there is an urgent need to develop tolerance test technologies for the combined action of multi-pollutants.

[0003] Through retrieval and analysis of relevant technologies at home and abroad, they mainly focus on single pollution protection or static test scenarios, and it is difficult to meet the multi-dimensional test requirements under high-speed heavy-duty dynamic working conditions. For example, in the prior art, based on the preset oil pollutant classification rules, the oil pollutant information in the oil circulation image is determined, which does not involve the collaborative protection of media such as oil and moisture, and there is a problem of insufficient air curtain stability under high-speed rotation conditions. The prior art has also developed an on-line monitoring device for oil pollution in a large-torque reducer, which monitors lubricating oil pollution particles through vision and laser to achieve pollution warning. However, this solution lacks the simulation of the dynamic deposition path of pollutants and cannot quantify the adhesion effect of pollutants on the gear surface and the wear correlation. The prior art named a salt spray test chamber simulates environmental corrosion through a spraying device, without considering the coupling effect of mechanical stress and chemical corrosion under heavy-duty conditions. By comparison, the common defects in the disclosed technologies are as follows: (1) The pollution simulation dimension is single, and a collaborative loading mechanism for multi-phase pollutants (solid / liquid / gaseous) is not constructed; (2) The evaluation system is fragmented, and a full-link quantitative index covering "pollutant intrusion - material property degradation - transmission efficiency attenuation" is not established. Summary of the Invention

[0004] To solve the technical problems existing in the above-mentioned prior art, the present invention proposes a pollution tolerance test system and evaluation method for a planetary gear set in a heavy-duty unmanned platform transmission, so as to solve the problems of single pollution tolerance evaluation dimension and insufficient high-speed working condition data sampling rate in the prior art. Through four state parameters, such as transmission efficiency, temperature rise rate, proportion of wear particles, and proportion of iron elements, a comprehensive evaluation model for the pollution tolerance of the planetary gear set is constructed to achieve fault warning and life prediction.

[0005] On the one hand, to achieve the above object, the present invention provides a pollution tolerance test system for a planetary gear set in a heavy-duty unmanned platform transmission, including:

[0006] Drive and loading module: used to collect the rotational speed and torque signals at the output end of the drive motor and control the loading condition of the output shaft of the busbar planetary gear set housing;

[0007] Busbar planetary gear set housing: used to collect the rotational speed and torque signals of the output shaft of the busbar planetary gear set housing;

[0008] Lubrication module: used to control the oil circulation and converge to the busbar planetary gear set housing;

[0009] Data acquisition and control module: used to control the operation of each motor and collect and store sensor signals;

[0010] Among them, the drive and loading module and the lubrication module are respectively connected to the busbar planetary gear set housing and the data acquisition and control module; in the busbar planetary gear set housing, the sun gear shaft is the input end and the planet carrier is the output end.

[0011] Preferably, the drive and loading module includes a drive motor, a loading motor, a rotational speed and torque sensor A, and a rotational speed and torque sensor B. Among them, the rotational speed and torque sensor A is arranged at the output end of the drive motor, the output shaft of the busbar planetary gear set housing is connected to the loading motor through a coupling, and the rotational speed and torque sensor B is arranged on the output shaft of the busbar planetary gear set housing;

[0012] The rotational speed and torque sensor A is used to transmit the collected rotational speed and torque signals at the output end of the drive motor to the data acquisition and control module, and the data acquisition and control module controls the operation of the drive motor;

[0013] The rotational speed and torque sensor B is used to transmit the collected rotational speed and torque signals of the output shaft of the busbar planetary gear set housing to the data acquisition and control module, and controls the loading operation of the loading motor through the data acquisition and control module, thereby controlling the loading condition of the output shaft of the busbar planetary gear set housing.

[0014] Preferably, the lubrication module includes a number of oil tanks, an oil fluid switching valve group, a suction oil pump, a return oil pump, a flow valve, an on-line oil fluid abrasive particle monitoring device, an oil extraction valve, and an oil fluid sampling device;

[0015] Among them, the oil tanks store oils with different pollution degrees respectively, and are connected to the oil fluid switching valve group in a parallel manner. The oil fluid switching valve group controls the oil fluid to circulate to the inlet of the confluence planetary gear set housing through the flow valve alone or in a preset proportion after being mixed by the suction oil pump. The on-line oil fluid abrasive particle monitoring device is arranged at the inlet of the return oil pump, and the other end of the on-line oil fluid abrasive particle monitoring device is connected to the confluence planetary gear set housing. The oil fluid sampling device is connected to the confluence planetary gear set housing through the oil extraction valve.

[0016] Preferably, a number of sensors are also arranged in the lubrication module, including:

[0017] An oil fluid pressure sensor, a temperature sensor and a flow sensor are respectively arranged at the lubricating oil input and output ports of the confluence planetary gear set housing;

[0018] An on-line oil fluid abrasive particle monitoring sensor is arranged in front of the return oil pump for monitoring the abrasive particle condition in the lubricating oil fluid returning to the oil tank;

[0019] In the confluence planetary gear set housing, the temperature of the inner wall of the confluence planetary gear set housing and the bearing seat is measured by setting a thermocouple.

[0020] Preferably, all the sensor signals are stored through the data acquisition and control module.

[0021] On the other hand, to achieve the above object, the present invention also provides an evaluation method for a pollution tolerance test system of a transmission planetary gear set based on a heavy-duty unmanned platform, including:

[0022] Build a test bench, connect the sensors, and set the logic of the oil fluid switching valve group;

[0023] Based on the transmission ratio under the actual vehicle conditions of the heavy-duty unmanned platform, calculate the rotational speed characteristics of the transmission confluence planetary gear set, and determine the rotational speed segments and load power parameters corresponding to different gears;

[0024] Start the drive motor, the lubrication module and the data acquisition and control module, increase the rotational speed of the drive motor step by step, judge whether there is an abnormal installation by monitoring the vibration RMS value, and at the same time check whether the data acquisition and control module normally displays the sensor parameters;

[0025] Successively conduct single pollution degree tests, mixed pollution degree tests, and long-term pollution tolerance tests, obtain multi-source test data, calculate key performance indicators, and conduct pollution tolerance evaluation through the key performance indicators;

[0026] Among them, the number of oil tanks in the lubrication module is three, namely oil tank A, oil tank B, and oil tank C.

[0027] Preferably, conducting the single contamination degree test includes:

[0028] Open the passage of oil tank A, close other oil circuits, start the suction oil pump and the return oil pump, and adjust the flow valve to the designed flow rate. Among them, oil tank A contains clean oil;

[0029] The driving motor speed runs in a stepped increasing manner, match the load power for each speed stage, and the output torque is monitored in real time by the speed-torque sensor A. The load motor power remains stable and unchanged, and each stage runs stably for a preset duration;

[0030] Record the temperature of the planetary gear box, the rotational speed and torque at the input / output ends, the oil pressure / flow rate / temperature, and the abrasive concentration of the oil. Collect an oil sample through the oil sampling valve every same time interval for off-line contamination degree analysis;

[0031] When the temperatures of all the set measuring points of the planetary gears exceed the safety threshold, stop the machine immediately;

[0032] Switch to oil tank B and oil tank C in sequence and repeat the above steps;

[0033] Among them, the oil in oil tank B is moderately contaminated oil, and the oil in oil tank C is severely contaminated oil.

[0034] Preferably, conducting the mixed contamination degree test includes:

[0035] Mix the oil according to a preset ratio through the oil switching valve group and input it into the mixed oil tank;

[0036] The driving motor speed runs in a stepped increasing manner, and the output torque is monitored in real time by the speed-torque sensor A for the load motor power. Each stage runs stably for a preset duration.

[0037] Preferably, conducting the long-term contamination tolerance test includes:

[0038] Use the severely contaminated oil in oil tank C, and the driving motor runs continuously at the rated speed and the load motor runs at the preset rated load power;

[0039] After running for the same interval duration each time, stop the machine for inspection, collect the oil sample and record the wear morphology of the planet carrier and the tooth surface of the sun gear. Cumulatively run until the transmission efficiency of the planetary gear set drops to the preset transmission efficiency value or the abrasive concentration of the oil reaches the critical value and then terminate;

[0040] Conduct particle counting and elemental spectral analysis on the collected oil samples, correlate the abrasive components with the worn parts of the planetary gear set, disassemble the planetary gear set with a common collector, measure the bearing clearance of the planetary gears, the tooth surface wear of the gears, and the aging degree of the seals, and establish a quantitative relationship between the contamination degree and the wear.

[0041] Preferably, the pollution tolerance is evaluated by the key performance indicators as follows:

[0042]

[0043] In the formula, α is the particle pollution coefficient, β is the metal wear coefficient, γ is the temperature rise coefficient, δ is the efficiency decay coefficient, A 10μm is the particle number concentration value, A ref is the reference particle number of the clean oil, Q Fe is the concentration of iron element in the oil, Q all is the concentration of iron element in the lubricating oil in the initial state, T is the real-time temperature, t is the time, η is the real-time efficiency, and η0 is the transmission efficiency measured in the no-load running-in stage.

[0044] Compared with the prior art, the present invention has the following advantages and technical effects:

[0045] (1) In the system of the present invention, the driving motor is connected to the input end (sun gear shaft) of the planetary gear set through a speed-torque sensor, and outputs power to the planetary gear set housing; the load motor is coupled to the output end (planet carrier) of the planetary gear set through a coupling and a speed-torque sensor to achieve dynamic loading control. The lubrication module is connected to the planetary gear set housing through a multi-tank switching valve group, supporting the on-demand switching and cyclic supply of clean oil, contaminated oil and mixed oil. The data acquisition and control module integrates the real-time signal transmission and coordinated control of the driving, load and lubrication modules to form a closed-loop test environment;

[0046] (2) The lubrication module of the present invention adopts a three-tank parallel architecture, storing oil with different pollution levels respectively, and simulating the progressive change process of oil pollution in actual working conditions through the valve group switching and proportional mixing functions. The oil switching valve group can independently call a single oil product or mix multi-level contaminated oil according to a preset ratio. After the mixed oil is transported to the planetary gear set housing by the suction oil pump, the dynamic switching of the circulation path is completed through the return oil pump and the abrasive particle monitoring device. The mixing ratio of the clean oil and the contaminated oil is controlled by the valve group logic, and the return oil path is automatically distributed to the original oil tank or the mixed oil tank according to the oil properties, realizing the gradient loading and cyclic utilization of the contaminated oil, and providing a controllable complex lubrication environment for the tolerance evaluation;

[0047] (3) The present invention is applicable to the reliability evaluation of the transmission systems in the fields of heavy vehicles, construction machinery, etc., and has important application values in the whole life cycle maintenance of military unmanned platforms, preventive maintenance of construction machinery, etc. Description of the Drawings

[0048] The drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments and descriptions of this application are used to explain this application and do not constitute an improper limitation to this application. In the drawings:

[0049] Figure 1 Schematic diagram of the structure of a pollution tolerance test system for a heavy-duty unmanned platform transmission planetary row according to an embodiment of the present invention;

[0050] Figure 2 Schematic diagram of the structure of the lubrication module according to an embodiment of the present invention;

[0051] Figure 3 Schematic diagram of the sensor layout points according to an embodiment of the present invention;

[0052] Figure 4 Flowchart of the evaluation method according to an embodiment of the present invention;

[0053] Figure 5 Schematic diagram of the change in transmission efficiency of a heavily polluted oil product according to an embodiment of the present invention;

[0054] Figure 6 Schematic diagram of the temperature rise change of different oil products according to an embodiment of the present invention, where (a) is a clean oil product and (b) is a moderately polluted oil product;

[0055] Figure 7 Schematic diagram of the comparison of wear particles according to an embodiment of the present invention. Detailed implementation manners

[0056] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0057] It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0058] The present invention provides a pollution tolerance test system for a heavy-duty unmanned platform transmission planetary row, as Figure 1 , including:

[0059] Drive and loading module: used to collect the rotational speed and torque signals at the output end of the drive motor and control the loading conditions of the output shaft of the busbar planetary row box;

[0060] Busbar planetary row box: used to collect the rotational speed and torque signals of the output shaft of the busbar planetary row box;

[0061] Lubrication module: used to control the oil circulation and converge to the busbar planetary row box;

[0062] Data acquisition and control module: used to control the operation of each motor and collect and store sensor signals;

[0063] Among them, the drive and loading module and the lubrication module are respectively connected to the bus planetary gearbox and the data acquisition and control module; in the bus planetary gearbox, the sun gear shaft is the input end and the planetary carrier is the output end.

[0064] This embodiment is constructed based on the actual working condition requirements of the transmission system of a high-speed unmanned heavy-load platform, and includes core modules such as a drive motor, a bus planetary gearbox, a lubrication module, and a load motor. The drive motor is connected to the input end (sun gear shaft) of the planetary gear through a speed and torque sensor, and outputs power to the planetary gearbox; the load motor is coupled to the output end (planetary carrier) of the planetary gear through a coupling and a speed and torque sensor to achieve dynamic loading control. The lubrication module is connected to the planetary gearbox through a multi-tank switching valve group, supporting the on-demand switching and cyclic supply of clean oil, contaminated oil, and mixed oil. The data acquisition and control module integrates the real-time signal transmission and coordinated control of the drive, load, and lubrication modules to form a closed-loop test environment.

[0065] Further, the drive and loading module includes a drive motor, a loading motor, a speed and torque sensor A, and a speed and torque sensor B. Among them, the speed and torque sensor A is arranged at the output end of the drive motor, the output shaft of the bus planetary gearbox is connected to the loading motor through a coupling, and the speed and torque sensor B is arranged on the output shaft of the bus planetary gearbox;

[0066] The speed and torque sensor A is used to transmit the collected speed and torque signals at the output end of the drive motor to the data acquisition and control module, and the data acquisition and control module controls the operation of the drive motor;

[0067] The speed and torque sensor B is used to transmit the collected speed and torque signals of the output shaft of the bus planetary gearbox to the data acquisition and control module, and controls the loading operation of the loading motor through the data acquisition and control module, thereby controlling the loading condition of the output shaft of the bus planetary gearbox.

[0068] Further, as Figure 2 , the lubrication module includes several oil tanks, an oil fluid switching valve group, an oil suction pump, an oil return pump, a flow valve, an on-line oil fluid abrasive particle monitoring device, an oil sampling valve, and an oil fluid sampling device;

[0069] Among them, the oil tanks store oils with different degrees of contamination respectively, and are connected to the oil fluid switching valve group in parallel. The oil fluid switching valve group controls the oil fluid to circulate to the inlet of the bus planetary gearbox through the oil suction pump alone or in a preset proportion through the flow valve. The on-line oil fluid abrasive particle monitoring device is arranged at the inlet of the oil return pump, and the other end of the on-line oil fluid abrasive particle monitoring device is connected to the bus planetary gearbox. The oil fluid sampling device is connected to the bus planetary gearbox through the oil sampling valve.

[0070] Specifically, in this embodiment, there are three fuel tanks, namely fuel tank A, fuel tank B, and fuel tank C. Fuel tank A, fuel tank B, and fuel tank C store oils of ISO 4406 14 / 12 / 9 (clean), 18 / 16 / 13 (moderately contaminated), and 22 / 20 / 17 (severely contaminated) respectively, and are connected to the oil switching valve group in parallel. This valve group can support separate lubrication with three kinds of oils and also support mixing of oils in a preset ratio.

[0071] If the lubricating oil circuit is for separate lubrication of a certain fuel tank, after the lubricating oil passes through the return oil pump, it flows back to the original fuel tank; if the lubricating oil circuit is for mixed oil, the oil flows into the mixed oil fuel tank after passing through the return oil pump. When the lubricating oil in the mixed oil fuel tank reaches a certain ratio (determined according to lubrication requirements), the oil switching valve group closes the mixing channels of fuel tank A, fuel tank B, and fuel tank C and opens the channel of the mixed oil fuel tank.

[0072] Furthermore, several sensors are also arranged in the lubrication module, including:

[0073] Oil pressure sensors, temperature sensors, and flow sensors are respectively arranged at the lubricating oil input and output ports of the planetary gear set housing;

[0074] An on-line monitoring sensor for oil abrasive particles is arranged in front of the return oil pump to monitor the abrasive particle condition in the lubricating oil flowing back to the fuel tank;

[0075] In the planetary gear set housing, the temperature of the inner wall of the planetary gear set housing and the bearing seat is measured by setting a thermocouple.

[0076] Specifically, as Figure 3 , the layout positions of the temperature measurement points T1, T2, T3, T4, and T5 on the lower housing and the layout positions of the temperature measurement points T6 and T7 on the upper housing.

[0077] The sensor signals are all stored through the data acquisition and control module.

[0078] The lubrication system adopts a parallel architecture of three fuel tanks, storing oil fluids with different pollution levels respectively. Through the valve group switching and proportional mixing functions, it simulates the progressive change process of oil fluid pollution in the actual working condition. The oil switching valve group can independently call a single oil product or mix multi-level contaminated oil fluids in a preset ratio. After the mixed oil fluid is transported to the planetary gear set housing by the suction oil pump, the dynamic switching of the circulation path is completed through the return oil pump and the abrasive particle monitoring device. The mixing ratio of the clean oil and the contaminated oil is controlled by the valve group logic, and the return oil path is automatically distributed to the original fuel tank or the mixed fuel tank according to the nature of the oil fluid, realizing the gradient loading and recycling of the contaminated oil fluid, and providing a controllable complex lubrication environment for the tolerance evaluation.

[0079] The sensor network covers the full-dimensional parameter acquisition of mechanical transmission, lubrication status, and thermodynamic response. The rotational speed and torque sensors at the input and output ends monitor the change of transmission efficiency in real time. The oil pressure, temperature, flow sensors, and on-line abrasive monitoring device synchronously track the attenuation characteristics of lubrication performance. The multi-point temperature measurement points layout in the planetary gearbox captures the heat distribution gradient. All sensor data are integrated and analyzed by the central control system to form a dynamic coupling evaluation framework of multi-physical fields such as contamination degree, efficiency, and temperature rise.

[0080] Such as Figure 4 , this embodiment also provides an evaluation method for a pollution tolerance test system of a planetary gear in the transmission of a heavy-duty unmanned platform, including:

[0081] Build a test bench, connect sensors, and set the logic of the oil switching valve group;

[0082] Based on the transmission ratio under the actual vehicle conditions of the heavy-duty unmanned platform, obtain the rotational speed characteristics of the transmission convergent planetary gear by calculation, and determine the rotational speed segments and load power parameters corresponding to different gears;

[0083] Start the drive motor, lubrication module, and data acquisition and control module, increase the rotational speed of the drive motor step by step, judge whether there is an abnormal installation by monitoring the vibration RMS value, and at the same time check whether the data acquisition and control module normally displays the sensor parameters;

[0084] Conduct single contamination degree test, mixed contamination degree test, and long-term pollution tolerance test in sequence, obtain multi-source test data, calculate key performance indicators, and evaluate the pollution tolerance through the key performance indicators.

[0085] Specifically include:

[0086] ① Test preparation: Build a test bench and connect sensors; inject clean oil, moderately contaminated oil, and severely contaminated oil into tanks A, B, and C respectively, and empty the mixed oil tank for standby. Set the logic of the oil switching valve group to support the circulation mode of single oil product or mixed oil (preset ratio).

[0087] ② Working condition selection: Based on the transmission ratio under the actual vehicle conditions of the heavy-duty unmanned platform, calculate the rotational speed characteristics of the transmission convergent planetary gear, solve the rotational speeds of the planetary gears in the I, II, III, and IV rotational speed segments according to the vehicle speeds of different gears, and keep the load power P, lubricating oil temperature, lubricating oil flow rate, lubricating oil pressure, etc. unchanged according to the actual vehicle load characteristics of the unmanned platform.

[0088] ③ No-load running-in: Start the drive motor, lubrication system, data acquisition and control system. The speed of the drive motor increases step by step (Ⅰ→Ⅱ→Ⅲ→Ⅳ), and each stage is stable for 10 minutes. Monitor the vibration RMS value. If the sudden change in vibration ≥ 20%, it is determined that the installation is abnormal and recalibrated. At the same time, check whether the parameters of each sensor can be normally displayed in the data acquisition and control system. If they are normally displayed, the test requirements are met.

[0089] Furthermore, a single contamination test is carried out, including:

[0090] Open the channel of tank A, close other oil circuits, start the oil suction pump and the oil return pump, and adjust the flow valve to the designed flow rate. Among them, tank A contains clean oil;

[0091] The drive motor runs with its speed increasing step by step. Match the load power for each speed stage, and the output torque is monitored in real time by the speed-torque sensor A. The power of the load motor remains stable, and each stage runs stably for a preset duration;

[0092] Record the temperature of the planetary gear box, the rotational speed and torque at the input / output ends, the oil pressure / flow rate / temperature, and the oil abrasive concentration. Collect an oil sample through the oil sampling valve every same time interval for off-line contamination analysis;

[0093] When the temperatures of all the set measuring points of the planetary gear exceed the safety threshold, stop the machine immediately;

[0094] Switch to tank B and tank C in sequence and repeat the above steps;

[0095] Among them, tank B contains moderately contaminated oil, and tank C contains severely contaminated oil.

[0096] Specifically, the single contamination test includes:

[0097] Oil fluid switching: Open the channel of tank A (clean oil), close other oil circuits, start the oil suction pump and the oil return pump, and adjust the flow valve to the designed flow rate.

[0098] Load setting: The drive motor runs with its speed increasing step by step (Ⅰ→Ⅱ→Ⅲ→Ⅳ), match the load power P for each speed stage, and the output torque is monitored in real time by the speed-torque sensor A. The power of the load motor remains stable, and each stage runs stably for 30 minutes.

[0099] Data acquisition: Record the temperature of the planetary gear box, the rotational speed and torque at the input / output ends, the oil pressure / flow rate / temperature, and the oil abrasive concentration. Collect an oil sample every 30 minutes (through the oil sampling valve) for off-line contamination analysis (ISO 4406 standard).

[0100] Termination condition: When the temperatures of 8 measuring points of the planetary gear exceed the safety threshold, stop the machine immediately.

[0101] Repeated tests: Sequentially switch to fuel tank B (moderately contaminated oil) and fuel tank C (severely contaminated oil), and repeat the above steps.

[0102] Furthermore, a mixed contamination test is conducted, including:

[0103] Mix the oil through the oil switching valve group according to a preset ratio and input it into the mixed oil fuel tank.

[0104] The driving motor speed runs in a stepwise increasing manner, and the output torque monitors the load motor power in real time through the speed-torque sensor A. Each stage operates stably for a preset duration.

[0105] Specifically, the mixed contamination test includes:

[0106] Mixed oil configuration: Mix the oil through the oil switching valve group according to a preset ratio (e.g., clean oil: moderately contaminated oil = 7:3) and input it into the mixed oil fuel tank.

[0107] Load cycle: The driving motor speed runs in a stepwise increasing manner (Ⅰ→Ⅱ→Ⅲ→Ⅳ), and the output torque is monitored in real time through the speed-torque sensor A. The load motor power P remains stable. Each stage operates stably for 30 minutes.

[0108] Furthermore, a long-term contamination tolerance test is conducted, including:

[0109] Use the severely contaminated oil in fuel tank C, and the driving motor runs at the rated speed and the load motor runs at the preset rated load power continuously.

[0110] After running for the same interval duration each time, stop the machine for inspection, collect the oil sample and record the wear morphology of the planet carrier and sun gear tooth surfaces. The test terminates when the planetary gear train transmission efficiency drops to the preset transmission efficiency value or the oil abrasive particle concentration reaches the critical value.

[0111] Conduct particle counting and elemental spectral analysis on the collected oil samples, correlate the abrasive particle components with the worn parts of the planetary gear train, disassemble the planetary gear train, measure the planetary gear bearing clearance, gear tooth surface wear amount, and seal aging degree, and establish a quantitative relationship between contamination and wear.

[0112] Specifically, the long-term contamination tolerance test includes:

[0113] Accelerated wear test: Use severely contaminated oil (fuel tank C), and the driving motor runs at the rated speed and the load motor runs at 80% of the rated load power P continuously. Stop the machine for inspection every 1 hour of operation, collect the oil sample and record the wear morphology of the planet carrier and sun gear tooth surfaces (through endoscope or disassembly inspection). The test terminates when the planetary gear train transmission efficiency drops ≥20% or the oil abrasive particle concentration reaches the critical value (e.g., NAS1638 level 10).

[0114] Furthermore, the post-experiment processing specifically includes:

[0115] Oil analysis: Conduct particle counting and elemental spectral analysis on the collected oil samples, and correlate the abrasive particle composition with the worn components of the planetary gear set (e.g., iron filings correspond to gear wear, and copper filings correspond to bearing wear).

[0116] Component disassembly and inspection: Disassemble the confluence planetary gear set, measure the bearing clearance of the planetary gears, the wear amount of the gear tooth surfaces, the aging degree of the seals, etc., and establish a quantitative relationship between the contamination level and wear.

[0117] Multi-source test data cleaning and synchronization:

[0118] Noise filtering: Apply wavelet transform or low-pass filtering to dynamic signals such as rotational speed, torque, and temperature to eliminate high-frequency interference.

[0119] Timestamp alignment: Ensure the temporal consistency of the sensors at the input / output ends, oil parameters, and vibration data through the time synchronization module of the data acquisition system.

[0120] Calculation of key performance indicators:

[0121] Transmission efficiency: Define the transmission efficiency measured during the no-load running-in stage as η0. In the experiment, calculate the real-time efficiency based on the input / output power, and the formula is:

[0122]

[0123] In the formula, M in , ω in are the input-end torque and angular velocity respectively, and M out , ω out are the output-end torque and angular velocity respectively.

[0124] Temperature rise rate: Use the temperature change rate of the planetary gear housing to characterize the cumulative effect of the heat load, indicating that the temperature changes by dT in a unit time dt.

[0125] Abrasive particle concentration: Define the reference particle number of clean oil as A ref (ISO 4406 14 / 12 / 9); Based on the online monitoring data, statistically analyze the number concentration (particles / ml) and size distribution (proportion of particles > 10μm) of abrasive particles under different contamination levels to obtain the number concentration value A 10μm of particles > 10μm.

[0126] Iron element concentration: Obtain the proportion of iron element through spectral analysis

[0127] Furthermore, the contamination tolerance evaluation through the above key performance indicators is as follows:

[0128]

[0129] In the formula, α is the particle contamination coefficient, β is the metal wear coefficient, γ is the temperature rise coefficient, δ is the efficiency decay coefficient, A 10μm is the particle number concentration value, A ref is the reference particle number of the clean oil, Q Fe is the concentration of iron element in the oil, Q all is the concentration of iron element under the initial state of the lubricating oil, T is the real-time temperature, t is the time, η is the real-time efficiency, and η0 is the transmission efficiency measured in the no-load running-in stage.

[0130] In this embodiment, the weight coefficients are: α = 0.4 (particle contamination), β = 0.3 (metal wear), γ = 0.2 (temperature rise), δ = 0.1 (efficiency decay).

[0131] The specific pollution tolerance classification is shown in Table 1.

[0132] Table 1

[0133]

[0134] The test process of this embodiment is divided into four stages: no-load running-in, single pollution test, mixed pollution loading, and long-term tolerance verification. The actual operating conditions are simulated through a combination of stepwise increasing rotational speed and load. After the system calibration and stability verification are completed in the no-load stage, the clean oil, moderately contaminated oil, and severely contaminated oil are sequentially switched to conduct the single pollution degree test, and the change rules of the transmission efficiency, temperature rise rate, and abrasive particle concentration are recorded. The mixed pollution test reproduces the progressive pollution scenario through dynamic oil liquid ratio, and the long-term tolerance stage operates continuously under intensified load and pollution conditions. Combining periodic shutdown inspections and wear morphology analysis, a quantitative correlation model between pollution tolerance and the service life of the transmission system is established.

[0135] To more clearly express the technical solution of the present invention, specific embodiments are provided below for scheme introduction:

[0136] ① Test preparation: Build a test bench and connect sensors; inject clean oil, moderately contaminated oil, and severely contaminated oil into fuel tanks A, B, and C respectively, and empty the mixed oil fuel tank for standby. Set the logic of the oil liquid switching valve group to support the circulation mode of single oil product or mixed oil liquid (preset ratio).

[0137] ② Operating condition selection: The rotational speed of the sun gear of the busbar is calculated through the actual vehicle transmission ratio, and the corresponding motor rotational speeds at the maximum vehicle speeds of the first, second, third, and fourth gears are obtained through conversion as 461 rpm, 712 rpm, 1202 rpm, and 1655 rpm. The load powers corresponding to each gear test are: 10 / 15 kW, 10 / 20 kW, 10 / 20 / 30 / 40 / 50 kW, 10 / 20 / 30 / 40 / 50 kW. The oil temperature can be stabilized at about 40 °C, the lubrication flow rate is set to 10 L / min, and the lubrication pressure is 0.3 MPa.

[0138] After completing the speed increase operating condition experiment, a variable operating condition test is carried out according to the time distribution of 1:2:5:2, and the corresponding rotational speeds are the rotational speeds of the four gears.

[0139] ② No-load running-in: Start the drive motor, lubrication system, data acquisition and control system. The rotational speed of the drive motor increases step by step (Ⅰ→Ⅱ→Ⅲ→Ⅳ), and each stage is stable for 10 minutes; monitor the vibration RMS value. If the vibration sudden change amount ≥ 20%, it is determined that the installation is abnormal and recalibrated. At the same time, check whether the parameters of each sensor can be normally displayed in the data acquisition and control system. If it is normally displayed, it meets the test requirements.

[0140] ③ Single contamination degree test:

[0141] Oil fluid switching: Open the channel of tank A (clean oil), close other oil circuits, start the suction oil pump and return oil pump, and adjust the flow valve to the designed flow rate.

[0142] Load setting: Operate under the given operating conditions.

[0143] Data acquisition: Record the temperature of the planetary gear box, the rotational speed and torque at the input / output ends, the oil pressure / flow rate / temperature, and the abrasive particle concentration of the oil fluid. Collect an oil fluid sample every 30 minutes (through the oil sampling valve) for off-line contamination degree analysis (ISO 4406 standard).

[0144] Repeat the test: Switch to tank B (moderately contaminated oil) and tank C (severely contaminated oil) in sequence, and repeat the above steps.

[0145] ④ Mixed contamination degree test:

[0146] Mixed oil configuration: Mix the oil fluids according to a preset ratio (such as clean oil: moderately contaminated oil = 7:3) through the oil fluid switching valve group and input them into the mixed oil tank.

[0147] Load cycle: The rotational speed of the drive motor increases step by step (Ⅰ→Ⅱ→Ⅲ→Ⅳ) for operation, and the output torque is monitored in real time through the rotational speed and torque sensor A. The load motor power is stabilized at 50 kW, and each stage runs stably for 30 minutes.

[0148] ⑤ Long-term contamination tolerance test:

[0149] Accelerated wear test: Use severely contaminated oil (tank C), and the drive motor runs continuously at 1655 rpm and 40 kW. Stop and check every 1 hour of operation, collect oil samples and record the wear morphology of the planet carrier and sun gear tooth surfaces (by endoscope or disassembly inspection). The test terminates when the transmission efficiency of the planetary gear set drops by ≥20% or the concentration of abrasive particles in the oil reaches the critical value (such as NAS1638 level 10).

[0150] ⑥Post-test processing:

[0151] Oil analysis: Conduct particle counting and elemental spectral analysis on the collected oil samples, and correlate the composition of abrasive particles with the worn components of the planetary gear set (such as iron filings corresponding to gear wear and copper filings corresponding to bearing wear).

[0152] Component disassembly and inspection: Disassemble the busbar planetary gear set, measure the bearing clearance of the planet gears, the wear amount of the gear tooth surfaces, the aging degree of the seals, etc., and establish a quantitative relationship between contamination degree and wear.

[0153] Figure 5 Regarding the change in the transmission efficiency of severely contaminated oil products, the transmission efficiency has dropped below 80%, and it is already in a state of tolerance failure. Figure 6 of (a)- Figure 6 of (b) is the change in the temperature rise rate of different oil products. The temperatures of clean oil products and moderately contaminated oil products basically remain constant, and there is no risk of failure. It can be seen from Figure 7 that as the wear time prolongs, the number of abrasive particles in severely contaminated oil shows an increasing trend, increasing from 200 to 2500, and the number of abrasive particles in severely contaminated oil products is 3 - 4 times that of clean oil.

[0154] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An overload unmanned platform transmission planetary row pollution tolerance test system, characterized in that, including: Drive and loading module: used to collect the rotational speed and torque signals at the output end of the drive motor, and control the loading condition of the output shaft of the confluence planetary gearbox housing; Confluence planetary gearbox housing: used to collect the rotational speed and torque signals of the output shaft of the confluence planetary gearbox housing; Lubrication module: used to control the oil circulation and confluence to the confluence planetary gearbox housing; Data acquisition and control module: used to control the operation of each motor and collect and store sensor signals; Among them, the drive and loading module and the lubrication module are respectively connected to the confluence planetary gearbox housing and the data acquisition and control module; in the confluence planetary gearbox housing, the sun gear shaft is the input end and the planetary carrier is the output end.

2. The pollution tolerance test system for the heavy-duty unmanned platform transmission planetary gear set according to claim 1, wherein The drive and loading module includes a drive motor, a loading motor, a rotational speed and torque sensor A, and a rotational speed and torque sensor B. Among them, the rotational speed and torque sensor A is arranged at the output end of the drive motor, the output shaft of the confluence planetary gearbox housing is connected to the loading motor through a coupling, and the rotational speed and torque sensor B is arranged on the output shaft of the confluence planetary gearbox housing; The rotational speed and torque sensor A is used to transmit the collected rotational speed and torque signals at the output end of the drive motor to the data acquisition and control module, and the data acquisition and control module controls the operation of the drive motor; The rotational speed and torque sensor B is used to transmit the collected rotational speed and torque signals of the output shaft of the confluence planetary gearbox housing to the data acquisition and control module, and control the loading operation of the loading motor through the data acquisition and control module, so as to control the loading condition of the output shaft of the confluence planetary gearbox housing.

3. The pollution tolerance test system for the planetary gear set of the heavy-duty unmanned platform drive according to claim 1, characterized in that, The lubrication module includes several oil tanks, an oil fluid switching valve group, an oil suction pump, an oil return pump, a flow valve, an on-line oil fluid abrasive particle monitoring device, an oil extraction valve, and an oil fluid sampling device; Among them, the oil tanks store oils with different pollution levels respectively, and are connected to the oil fluid switching valve group in parallel. The oil fluid switching valve group controls the oil fluid to circulate to the inlet of the confluence planetary gearbox housing alone or in a preset proportion through the oil suction pump and then through the flow valve. The on-line oil fluid abrasive particle monitoring device is arranged at the inlet of the oil return pump, and the other end of the on-line oil fluid abrasive particle monitoring device is connected to the confluence planetary gearbox housing. The oil fluid sampling device is connected to the confluence planetary gearbox housing through the oil extraction valve.

4. The pollution tolerance test system for the heavy-duty unmanned platform transmission planetary gear set according to claim 3, characterized in that, Several sensors are also arranged in the lubrication module, including: An oil fluid pressure sensor, a temperature sensor, and a flow sensor are respectively arranged at the lubricating oil input and output ports of the confluence planetary gearbox housing; An on-line oil fluid abrasive particle monitoring sensor is arranged in front of the oil return pump, which is used to monitor the abrasive particle condition in the lubricating oil fluid returned to the oil tank; In the confluence planetary gearbox housing, the temperature of the inner wall of the confluence planetary gearbox housing and the bearing seat is measured by setting a thermocouple.

5. The pollution tolerance test system for the transmission planetary gear set of the heavy-duty unmanned platform according to claim 4, wherein, All the sensor signals are stored through the data acquisition and control module.

6. An evaluation method for a pollution tolerance test system of a planetary gear set for a heavy-duty unmanned platform drive, characterized in that, including: Build a test bench, connect the sensors, and set the logic of the oil fluid switching valve group; Through the transmission ratio under the actual vehicle conditions of the heavy-duty unmanned platform, obtain the rotational speed characteristics of the transmission confluence planetary gear through calculation, and determine the rotational speed segments and load power parameters corresponding to different gears; Start the drive motor, lubrication module, and data acquisition and control module, and increase the speed of the drive motor in a stepped manner. Determine whether there is an abnormal installation by monitoring the vibration RMS value, and at the same time check whether the data acquisition and control module normally displays the sensor parameters; Conduct single contamination level tests, mixed contamination level tests, and long-term contamination tolerance tests in sequence, obtain multi-source test data, calculate key performance indicators, and evaluate the contamination tolerance through the key performance indicators; Among them, the number of oil tanks in the lubrication module is three, namely oil tank A, oil tank B, and oil tank C.

7. The evaluation method according to claim 6, wherein Conduct the single contamination level test, including: Open the channel of oil tank A, close other oil circuits, start the suction oil pump and the return oil pump, and adjust the flow valve to the designed flow rate. Among them, oil tank A contains clean oil; The speed of the drive motor runs in a stepped increase, match the load power for each speed stage, the output torque is monitored in real time by the speed torque sensor A, the power of the load motor remains stable, and each stage runs stably for a preset duration; Record the temperature of the planetary gear box, the rotational speed and torque at the input / output ends, the oil pressure / flow rate / temperature, and the oil abrasive concentration. Collect an oil sample through the oil sampling valve every same time interval for off-line contamination analysis; When the temperatures of all the set measuring points of the planetary gears exceed the safety threshold, stop the machine immediately; Switch to oil tank B and oil tank C in sequence and repeat the above steps; Among them, oil tank B contains moderately contaminated oil, and oil tank C contains severely contaminated oil.

8. The evaluation method according to claim 7, characterized in that, Conduct the mixed contamination level test, including: Mix the oil through the oil switching valve group according to a preset ratio and input it into the mixed oil tank; The speed of the drive motor runs in a stepped increase, and the output torque monitors the power of the load motor in real time through the speed torque sensor A, and each stage runs stably for a preset duration.

9. The evaluation method according to claim 8, wherein Conduct the long-term contamination tolerance test, including: Use the severely contaminated oil in oil tank C, and the drive motor runs continuously at the rated speed and the load motor runs at the preset rated load power; Stop and check every same interval of operation, collect the oil sample and record the wear morphology of the planet carrier and the sun gear tooth surface. Terminate when the transmission efficiency of the planetary gear set drops to the preset transmission efficiency value or the oil abrasive concentration reaches the critical value; Conduct particle counting and elemental spectral analysis on the collected oil samples, correlate the abrasive components with the worn parts of the planetary gear set, disassemble the planetary gear set with a common collector, measure the bearing clearance of the planetary gears, the wear amount of the gear tooth surface, and the aging degree of the seals, and establish a quantitative relationship between the contamination level and the wear.

10. The evaluation method according to claim 6, wherein The evaluation of the contamination tolerance through the key performance indicators is as follows: Where α is the particle contamination coefficient, β is the metal wear coefficient, γ is the temperature rise coefficient, δ is the efficiency decay coefficient, A 10μm is the particle number concentration value, A ref is the reference particle number of the clean oil, Q Fe is the iron element concentration in the oil, Q all is the iron element concentration under the initial state of the lubricating oil, T is the real-time temperature, t is the time, η is the real-time efficiency, and η0 is the transmission efficiency measured in the no-load running-in stage.

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