Speed reducer testing system, speed reducer testing method and device

Abstract

The invention discloses a speed reducer testing system, a speed reducer testing method and a speed reducer testing device. The test system comprises a base, a first loading module, a second loading module, a force arm and a measurement module. The measuring module is used for detecting the overturning condition of the speed reducer. The base is provided with a fixing area. The second loading module and the first loading module are located on the two sides of the fixed area correspondingly and connected to the two ends of the force arm correspondingly. When the speed reducer to be tested is arranged in the fixed area, the fixed part of the speed reducer is fixed on the fixed area, and the output part rotatably connected with the fixed part is connected to the force arm. According to the speed reducer testing system, a testing mode of horizontally and bidirectionally applying the acting force is adopted, so that the first acting force and the second acting force can act together in the applying process, and the axial force of the main bearing is controlled when the speed reducer is tested; and the prepressing state change of the bearing in the speed reducer caused by the axial stress change of the speed reducer in the test is avoided, so that the accuracy of the test result is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of speed reducer testing, and more specifically, to a speed reducer testing system, a speed reducer testing method, and a speed reducer testing device. Background Art

[0002] As a key component of industrial equipment (e.g., industrial robots), the performance of the reducer severely restricts the overall performance of the industrial robot. The reducer's rollover rigidity, a crucial performance characteristic of the reducer, significantly affects the deformation angle and stability of the industrial robot in the rollover direction when under load. Therefore, it is essential to test the reducer's rollover rigidity.

[0003] In the prior art, the rollover rigidity of a reducer is typically tested using a single-side loading method. Specifically, this traditional testing method requires applying different forces to the reducer at one end of a lever arm within the test equipment and along the reducer's axial direction to generate corresponding test torques, thereby simulating different test conditions.

[0004] However, this loading method can easily lead to uneven force on the reducer, which in turn causes the preload state of the bearing inside the reducer to change, thereby reducing the accuracy of the test results. Summary of the Invention

[0005] The embodiments of the present application provide a reducer testing system, a reducer testing method, and a reducer testing device.

[0006] According to a first aspect of the present application, embodiments of the present application provide a reducer testing system for testing the rollover rigidity of a reducer. The reducer includes a fixed portion and an output portion, the output portion being rotatably connected to the fixed portion. The reducer testing system comprises a base, a first loading module, a second loading module, a lever arm, and a measurement module. The base has a fixed area for securing the fixed portion. The first loading module is disposed on the base and spaced apart from the fixed area. The second loading module is disposed on the base and spaced apart from the fixed area, with the second loading module and the first loading module respectively located on either side of the fixed area. The lever arm has two ends connected to the first loading module and the second loading module, respectively, and spaced apart from the fixed area. When the reducer is disposed in the fixed area, it is located between the base and the lever arm, and the output portion is connected to the lever arm. The first loading module is configured to apply a first force to the lever arm, thereby generating a first torque on the output portion through the lever arm. The second loading module is configured to apply a second force to the lever arm, thereby generating a second torque on the output portion through the lever arm. The measuring module is arranged at the output part and is used for detecting the overturning condition of the output part relative to the fixed part.

[0007] According to the second aspect of the present application, an embodiment of the present application also provides a method for testing a reducer, which is applied to the above-mentioned reducer testing system, and the method includes: obtaining a first force control curve and a second force control curve; the first force control curve represents the relationship between the first force applied by the first loading module and time, and the second force control curve represents the relationship between the second force applied by the second loading module and time. The first loading module is controlled to work based on the first force control curve, and the second loading module is controlled to work based on the second force control curve. The detection data output by the measurement module is obtained to determine the overturning test result of the reducer; the detection data represents the overturning condition of the output part of the reducer relative to the fixed part.

[0008] According to the third aspect of the present application, an embodiment of the present application also provides a test device for a reducer, which is applied to the above-mentioned reducer test system, and the device includes an acquisition module, a control module, and a determination module. Among them, the acquisition module is used to obtain a first force control curve and a second force control curve; the first force control curve represents the relationship between the first force applied by the first loading module and time, and the second force control curve represents the relationship between the second force applied by the second loading module and time. The control module is used to control the first loading module to work based on the first force control curve, and to control the second loading module to work based on the second force control curve. The determination module is used to obtain the detection data output by the measurement module and determine the overturning test result of the reducer; the detection data represents the overturning condition of the output part of the reducer relative to the fixed part.

[0009] The embodiments of the present application provide a reducer testing system, a reducer testing method, and a device. The reducer testing system includes a base, a first loading module, a second loading module, a lever arm, and a measuring module. The measuring module is used to detect the overturning of the reducer. The base is provided with a fixed area. The second loading module and the first loading module are respectively located on both sides of the fixed area and are respectively connected to the two ends of the lever arm. When the reducer to be tested is set in the fixed area, the fixed part of the reducer is fixed on the fixed area, and the output part rotatably connected to the fixed part is connected to the lever arm.

[0010] Specifically, the first loading module is used to apply a first force to the lever arm so as to form a first torque on the output portion through the lever arm; the second loading module is used to apply a second force to the lever arm so as to form a second torque on the output portion through the lever arm. Since the output portion of the reducer is located between the first loading module and the second loading module during testing, the first force and the second force are respectively located on both sides of the reducer. Therefore, the reducer testing system in the present application adopts a testing method of applying forces in a horizontal bidirectional manner, so that the first force and the second force can act together during the application process to achieve control of the axial force of the main bearing during the reducer testing, thereby avoiding the change in the preload state of the bearing inside the reducer due to the change in the axial force of the reducer, and ensuring the accuracy of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 It is a structural schematic diagram of the reducer testing system provided in an embodiment of the present application.

[0013] Figure 2 yes Figure 1 A partial enlarged schematic diagram of area A in the reducer test system shown.

[0014] Figure 3 yes Figure 1 A force analysis diagram of the reducer test system shown.

[0015] Figure 4 yes Figure 1 A partial enlarged schematic diagram of area B in the reducer test system shown.

[0016] Figure 5 It is a flow chart of a method for testing a reducer provided in the first embodiment of the present application.

[0017] Figure 6 This is a flow chart of a method for testing a reducer provided in the second embodiment of the present application.

[0018] Figure 7 This is a module block diagram of a control module of an electrical device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0020] In order to enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1 The present invention provides a speed reducer testing system 100 for testing the rollover rigidity of a speed reducer 200. The speed reducer 200 is a device that achieves speed reduction by disposing a transmission structure (e.g., a gear transmission structure, a worm transmission structure, a gear-worm transmission structure, a planetary gear transmission structure, etc.) within a housing. Specifically, the speed reducer 200 can be a harmonic speed reducer, a gear speed reducer, a worm speed reducer, or a planetary gear speed reducer.

[0022] In this embodiment, the reducer 200 may include a fixed portion 210 and an output portion 230. The fixed portion 210 may include a housing and the aforementioned transmission structure, which is disposed within the housing and is transmission-connected between the driving mechanism and the driven mechanism. The transmission structure is specifically configured to reduce the output speed of the driving mechanism so that the reduced output speed matches that of the driven mechanism; in other words, the transmission structure can achieve speed matching. The output portion 230 is rotatably connected to the fixed portion 210 and is adapted to be connected to the driven mechanism. The output portion 230 can transmit torque. Specifically, the output portion 230 can be an output shaft or an output flange. In some possible embodiments, the reducer 200 may be installed in an industrial robot, where the driving mechanism may be a motor disposed within the robot's body. The driven mechanism may be the robot's robotic arm, which is connected to the robot's body via the reducer 200. Of course, the reducer 200 may also be installed in other equipment (e.g., machine tools, etc.).

[0023] Here, an industrial robot is taken as an example. When the industrial robot is in a working state, such as the load-bearing state of the end of the manipulator arm of the handling robot, the output part 230 of the reducer 200 may be at least partially overturned relative to the fixed part 210. The "overturning" here refers to the relative displacement between the output part 230 and the fixed part 210, or even the deformation of the output part 230. Therefore, when the industrial robot is developed, it is necessary to test the overturning condition (i.e., overturning stiffness) of the reducer 200 under different working conditions, and complete the selection of the reducer 200 when the overturning condition meets the actual needs corresponding to the industrial robot. If the overturning condition does not meet the actual needs of the industrial robot, it is necessary to test other models of reducers 200 until a reducer 200 that meets the needs is found. Of course, the reducer test system 100 provided in this application can be used in addition to the reducer selection process, and can also be used in processes such as reducer parameter configuration and quality inspection. The reducer test system 100 for overturning test of the reducer 200 is introduced below.

[0024] In this embodiment, the reducer testing system 100 may include a base 110, a first loading module 120, a second loading module 130, a lever arm 140, and a measurement module 150. The base 110 includes a fixing region 1110 for fixing the fixing portion 210. The first loading module 120 is disposed on the base 110 and spaced apart from the fixing region 1110. The second loading module 130 is disposed on the base 110 and spaced apart from the fixing region 1110. The second loading module 130 and the first loading module 120 are respectively located on either side of the fixing region 1110.

[0025] The ends of the lever arm 140 are connected to the first loading module 120 and the second loading module 130, respectively, and are spaced apart from the fixed area 1110. When the reducer 200 is positioned in the fixed area 1110, it is located between the base 110 and the lever arm 140. During testing, the output portion 230 of the reducer 200 is connected to the lever arm 140. Therefore, during testing, the output portion 230 of the reducer 200 is located between the first loading module 120 and the second loading module 130. The measurement module 150 is positioned on the output portion 230 and is used to detect whether the output portion 230 has tipped over relative to the fixed portion 210.

[0026] Specifically, the first loading module 120 is used to apply a first force to the lever arm 140, thereby forming a first torque on the output portion 230 through the lever arm 140, and the second loading module 130 is used to apply a second force to the lever arm 140, thereby forming a second torque on the output portion 230 through the lever arm 140. Since the output portion 230 is located between the first loading module and the second loading module during the test of the reducer 200, the first force and the second force are respectively located on both sides of the reducer 200. Therefore, the reducer testing system 100 in the present application adopts a horizontal bidirectional force application test method, so that the first force and the second force can work together during the application process to achieve control of the axial force of the main bearing during the test of the reducer 200, avoid the change of the preload state of the bearing inside the reducer 200 due to the change of the axial force on the reducer 200, and ensure the accuracy of the test results.

[0027] The specific structure of the reducer testing system 100 is introduced below.

[0028] In this embodiment, the base 110 is roughly table-shaped, and is used to fix and support structures such as the first loading module 120, the second loading module 130, the force arm 140, and the measuring module 150. In addition, the base 110 is also used to place the reducer 200 to be tested. Specifically, the base 110 is provided with a fixing area 1110, and the fixing area 1110 is used to fix the fixing part 210. For example, the fixing area 1110 can be a limiting groove, and the limiting groove is used to limit the placement position of the fixing part 210, so that the fixing part 210 is more stable when placed on the base 110. For another example, the fixing area 1110 can be provided with a plurality of clamps or fixtures (not shown in the figure), and the plurality of clamps play a role in fixing the fixing part 210 to prevent the fixing part 210 from sliding off the base 110.

[0029] In this embodiment, the first loading module 120 is disposed on the base 110, spaced apart from the fixed area 1110, and connected to one end of the lever arm 140. The first loading module 120 is configured to apply a first force to the lever arm 140, thereby generating a first moment on the output portion 230 through the lever arm 140. The "first moment" herein can simulate the magnitude of the overturning moment acting on the output portion 230. Specifically, the first loading module 120 can be fixedly connected (e.g., welded) to the base 110 to more stably apply the first force to the lever arm 140.

[0030] The first loading module 120 can be a force loading mechanism such as a motor, an electric cylinder, or a pneumatic cylinder. Figure 2In this embodiment, the first loading module 120 may include a motor 1210, a force sensor 1230, and a connector 1250. The motor 1210, the force sensor 1230, and the connector 1250 are sequentially connected between the base 110 and the lever arm 140. The motor 1210 is fixedly connected to the base 110 and is used to apply a first force to the lever arm 140. Specifically, the motor 1210 may be a servo electric cylinder. The connector 1250 is detachably connected to the lever arm 140 to facilitate assembly and debugging between the lever arm 140 and the first loading module 120. For example, the connector 1250 may be a bolt and nut.

[0031] In this embodiment, the reducer test system 100 may further include a control module 160, which is electrically connected to the motor 1210 and is used to control the motor 1210 to operate. Specifically, a first force control curve may be pre-set in the control module 160, wherein the first force control curve represents the relationship between the first force applied by the first loading module 120 and time. The control module 160 controls the motor 1210 to continuously apply the first force to the lever arm 140 based on the first force control curve. Specifically, the first force control curve may be determined based on the test conditions of the reducer 200 and the hardware parameters of the reducer test system 100. The specific determination process of the first force control curve will be described in detail in the following method embodiment.

[0032] The force sensor 1230 is connected between the motor 1210 and the connector 1250, and is electrically connected to the control module 160. The force sensor 1230 is used to detect the actual value of the first force generated by the motor 1210 and feed the actual value back to the control module 160. The control module 160 can continuously perform feedback correction on the first force generated by the motor 1210 by comparing the theoretical value and the actual value of the first force, so that the first force generated by the motor 1210 is more accurate. Therefore, the motor 1210 and the force sensor 1230 in this embodiment can more precisely adjust the application size of the first force through closed-loop control, which can ensure that the overturning test results of the reducer 200 are more accurate and reliable.

[0033] In this embodiment, the second loading module 130 can be a force loading mechanism such as a motor, an electric cylinder, or a pneumatic cylinder. The second loading module 130 is arranged on the base 110 and is spaced apart from the fixed area 1110, and is connected to the other end of the lever 140, and the second loading module 130 and the first loading module 120 are respectively located on both sides of the fixed area 1110. The second loading module 130 is used to apply a second force to the lever 140 so as to form a second torque on the output part 230 through the lever 140. The "second torque" here can also simulate the magnitude of the overturning torque acting on the output part 230. Specifically, the second loading module 130 can be fixedly connected (for example, welded) to the base 110 to apply the second force to the lever 140 more stably.

[0034] See also Figure 3 , the first loading module 120 and the second loading module 130 are symmetrically arranged about the axis M of the reducer 200. In some possible embodiments, the second loading module 130 and the first loading module 120 have the same structure, which can ensure that the overall structure of the reducer testing system 100 is more symmetrical. Among them, the control module 160 is electrically connected to the motor in the second loading module 130 and is used to control the motor to work. Specifically, a second force control curve can be pre-set in the control module 160, wherein the second force control curve represents the relationship between the second force applied by the second loading module 130 and time. Based on the second force control curve, the control module 160 controls the second loading module 130 to continuously apply the second force to the force arm 140. Specifically, the second force control curve can be determined based on the test conditions of the reducer 200 and the hardware parameters of the reducer testing system 100. The specific determination process of the second force control curve is described in detail in the method embodiment below.

[0035] Of course, a force sensor connected to the control module 160 can also be set in the second loading module 130, so that the motor and force sensor in the second loading module 130 can be controlled through closed loop to more precisely adjust the application size of the second force, thereby ensuring that the overturning test results of the reducer 200 are more accurate and reliable.

[0036] In this embodiment, the lever arm 140 is generally cylindrical and is connected to the output portion 230, the first loading module 120 and the second loading module 130. It can generate a torque on the output portion 230 under the influence of the force, thereby simulating the test working condition of the reducer 200. Figure 1The lever arm 140 may include a lever arm body 1410 and a connecting flange 1430. The lever arm body 1410 is spaced apart from the fixing area 1110. The lever arm body 1410 may include a first end 1412 and a second end 1414 opposite to each other. The first end 1412 is connected to the first loading module 120, and the second end 1414 is connected to the second loading module 130.

[0037] In some possible embodiments, when the output portion 230 is not overturned, the distance between the first end 1412 and the output portion 230 is equal to the distance between the second end 1414 and the output portion 230. Therefore, when the magnitudes of the first force applied to the first end 1412 and the second force applied to the second end 1414 are approximately equal, the magnitudes of the two torques generated by these two forces on the output portion 230 are also approximately equal, allowing the first force and the second force to substantially offset each other during application, thereby ensuring the safety of the test of the reducer 200. Furthermore, the distance between the first end 1412 and the axis M of the output portion 230 is equal to the distance between the second end 1414 and the axis M of the output portion 230, and the first end 1412 and the second end 1414 are substantially symmetrically arranged with respect to the output portion 230.

[0038] The connecting flange 1430 is provided in the middle position of the lever body 1410, and is used to fix the output part 230 of the reducer 200. Specifically, the connecting flange 1430 and the lever body 1410 can be an integrally formed structure, so that the overall structure of the lever 140 is more solid and reliable. The connecting flange 1430 and the output part 230 are clamped together to ensure the stability of the connection between the lever 140 and the output part 230. The "clamping connection between A and B" here refers to a connection method in which A and B are fixed by structures such as tenons and protrusions, and can also be supplemented by fasteners such as bolts to ensure the stability and reliability of the connection.

[0039] In this embodiment, the measurement module 150 is disposed on the output portion 230 and is used to detect the overturning of the output portion 230 relative to the fixed portion 210. As an embodiment, the measurement module 150 can be an inertial measurement unit (IMU). The IMU is disposed on the output portion 230 and is capable of detecting the angle between the output portion 230 and the fixed portion 210.

[0040] As another implementation, see Figure 4The measurement module 150 may include a movable member 1520 and a detection member 1540. The movable member 1520 is connected to the output portion 230. Since the output portion 230 is connected to the lever arm 140, when the output portion 230 overturns between the fixed portion 210 and the lever arm 140, the relative position of the movable member 1520 will also change.

[0041] Specifically, the movable member 1520 may be substantially in the shape of an elongated strip and have an extension direction. The extension direction of the movable member 1520 is arranged along the radial direction of the reducer 200 and extends to protrude relative to the outer periphery of the reducer 200. Figure 4 In the embodiment, the extending direction of the movable member 1520 is the same as the extending direction of the lever arm 140. Therefore, when the output portion 230 significantly overturns, the end of the movable member 1520 away from the reducer 200 will experience a significant displacement. In subsequent processes, the detection member 1540 can measure this displacement to determine whether the output portion 230 has overturned relative to the fixed portion 210.

[0042] The detection member 1540 is connected to the fixed portion 210 and is spaced apart from the movable member 1520. Therefore, when the movable member 1520 undergoes a certain displacement driven by the lever arm 140, the displacement can be converted into the "relative distance between the movable member 1520 and the detection member 1540". That is, when the output portion 230 overturns, the output portion 230 can drive the movable member 1520 to move under the action of the lever arm 140, so that the relative distance between the movable member 1520 and the detection member 1540 changes. Specifically, the detection member 1540 can be a distance sensor (for example, a laser distance sensor, an infrared distance sensor, etc.), which is used to detect the relative distance between the movable member 1520 and the detection member 1540.

[0043] In this embodiment, detection member 1540 is also electrically connected to control module 160. Control module 160 is configured to obtain detection data output by detection member 1540. Here, "detection data" refers to the relative distance data between movable member 1520 and detection member 1540. Subsequently, control module 160 can determine the rollover test result of reducer 200 based on this detection data. Specifically, the process for determining the rollover test result is described in detail in the method embodiments below.

[0044] In some possible embodiments, the measuring module 150 may further include a fixing member 1560, and the fixing member 1560 and the movable member 1520 are arranged in parallel and spaced apart along the direction of the axis M of the reducer 200. Specifically, the fixing member 1560 is roughly in the shape of an elongated strip, and the extension direction of the fixing member 1560 is roughly the same as the extension direction of the movable member 1520. Among them, the end of the fixing member 1560 close to the reducer 200 is connected to the fixed portion 210 of the reducer 200, and the end of the fixing member 1560 away from the reducer 200 is used to connect the detection member 1540, that is, the detection member 1540 is arranged at the end of the fixing member 1560 away from the base 110. Therefore, the fixing member 1560 in this embodiment mainly plays the role of fixing the detection member 1540. In some possible examples, the detection member 1540 is detachably connected to the fixing member 1560 to facilitate adjustment of the installation position of the detection member 1540.

[0045] For some possible embodiments, please refer again to Figure 3 There are two measuring modules 150 , including a first measuring module 1501 and a second measuring module 1503 . The first measuring module 1501 and the second measuring module 1503 are symmetrically arranged about the reducer axis M. By providing two measuring modules 150 , this embodiment can more accurately detect the overturning of the reducer 200 .

[0046] In this embodiment, the control module 160 is electrically connected to the first loading module 120, the second loading module 130, and the measurement module 150. Specifically, the control module 160 can be a control chip or a control circuit integrated with the control chip.

[0047] In some possible embodiments, the control module 160 is specifically configured to: control the operation of the first loading module 120 based on a first force control curve, and control the operation of the second loading module 130 based on a second force control curve; wherein the first force control curve represents the relationship between the first force applied by the first loading module 120 and time; and the second force control curve represents the relationship between the second force applied by the second loading module 130 and time. The control module 160 obtains detection data output by the measurement module 150 to determine the overturning test results of the reducer 200; the detection data represents the overturning condition of the output portion 230 relative to the fixed portion 210.

[0048] In some possible embodiments, the control module 160 is further configured to: obtain first detection data output by the first measurement module 1501 and determine a first rollover angle based on the first detection data; obtain second detection data output by the second measurement module 1502 and determine a second rollover angle based on the second detection data; and determine a rollover test result of the reducer 200 based on the first rollover angle and the second rollover angle. The specific operation of the control module 160 is described in the method embodiment below.

[0049] See also Figure 5 , which shows a method for testing a reducer provided in the first embodiment of the present application. The method is applied to the reducer testing system 100 described above, and specifically, the method includes the following process.

[0050] Step S510: Acquire a first force control curve and a second force control curve.

[0051] In this embodiment, the first force control curve represents the relationship between the first force applied by the first loading module and time, and the second force control curve represents the relationship between the second force applied by the second loading module and time.

[0052] In one embodiment, the first and second force control curves can be calculated by a tester based on the test conditions of the reducer to be tested and stored in the memory of the control module. The control module can obtain the first and second force control curves by reading the relevant data in the memory.

[0053] As another embodiment, the first force control curve and the second force control curve can be calculated by the control module based on the test condition of the reducer to be tested. Specifically, step S510 can include steps S5110 to S5130.

[0054] Step S5110, determining the test conditions of the reducer to be tested and the hardware parameters of the reducer test system.

[0055] In this embodiment, the test conditions to be tested of the reducer are predetermined by the tester and stored in the memory of the control module. The control module can determine the test conditions to be tested of the reducer by reading the relevant data in the memory. Specifically, the test conditions to be tested of the reducer may include the torque change curve M(t) of the reducer and the axial force change curve F(t) of the reducer, wherein the torque change curve M(t) of the reducer characterizes the relationship between the torque to which the reducer is subjected during operation and the time variation, and the axial force change curve F(t) of the reducer characterizes the relationship between the axial force of the reducer and the time variation. In some possible embodiments, the curve M(t) and the curve F(t) may be predefined by the tester. In other possible embodiments, the curve M(t) and the curve F(t) may be derived by the tester based on the motion load condition of the entire machine.

[0056] The hardware parameters of the reducer test system include the length L and weight G of the lever arm. Specifically, these values ​​can be pre-measured by the tester and stored in the control module's memory. The control module then determines the length L and weight G by reading the relevant data from the memory.

[0057] Step S5120: Determine a first force control curve based on the test conditions, hardware parameters, and the first mapping relationship.

[0058] In this embodiment, the first mapping relationship represents the corresponding relationship between the test condition, the hardware parameters and the first force control curve. Specifically, the first mapping relationship can be a calculation formula. Figure 3 A calculation formula corresponding to the first mapping relationship is derived.

[0059] according to Figure 3 From the force relationship shown, it can be seen that the first moment applied by the first loading module to the lever arm is:

[0060]

[0061] Where M1(t) is the first moment, F1(t) is the first force, and L is the length of the lever arm.

[0062] Similarly, the second moment applied by the second loading module to the lever arm is:

[0063]

[0064] Wherein, M2(t) is the second moment, F2(t) is the second force, and L is the length of the lever arm.

[0065] Therefore, the torque variation curve M(t) of the reducer satisfies the following formula.

[0066]

[0067] The axial force variation curve F(t) of the reducer satisfies the following formula.

[0068] F(t)=F1(t)+F2(t)+G.

[0069] By combining the above two formulas, we can get the following two formulas.

[0070]

[0071] in, This is the calculation formula corresponding to the first mapping relationship, which can be pre-stored in the control module. The control module substitutes the test conditions and hardware parameters into the calculation formula to determine the first force control curve.

[0072] It is not difficult to understand here that the negative sign "-" in the calculation formula of the first moment above reflects the direction of the first moment, indicating that the directions of the first moment and the second moment are opposite. Figure 3 The directions of application of the first force and the second force in are in one-to-one correspondence. Figure 3 In the example, F1(t) and F2(t) are both directed vertically upward. Therefore, the first moment M1(t) is in a clockwise direction, and the second moment M2(t) is in a counterclockwise direction, with the two directions being opposite. Of course, when the first and second forces are applied in other directions (for example, the first force is directed vertically upward, and the second force is directed vertically downward), the signs in the corresponding calculation formulas for the first and second moments need to be adjusted accordingly, which will not be further described in this embodiment.

[0073] Step S5130: Determine a second force control curve based on the test conditions, hardware parameters, and the second mapping relationship.

[0074] In this embodiment, the second mapping relationship represents the correspondence between the test condition, the hardware parameters, and the second force control curve. Specifically, the second mapping relationship can be a calculation formula. The derivation process of the calculation formula corresponding to the second mapping relationship can refer to the relevant description in step S5120.

[0075] Specifically, the formula in step S5120 is This is the calculation formula corresponding to the second mapping relationship, which can be pre-stored in the control module. The control module substitutes the test conditions and hardware parameters into the calculation formula to determine the second force control curve.

[0076] Step S520 : Controlling the first loading module to operate based on the first force control curve, and controlling the second loading module to operate based on the second force control curve.

[0077] In one embodiment, the control module may determine a theoretical value of the first force based on the first force control curve and control the first loading module to provide a force equal to the theoretical value. For example, if the control module determines that the theoretical value of the first force is 10N based on the first force control curve, the control module may control the first loading module to provide a force of 10N.

[0078] In some possible embodiments, a force sensor is provided in the first loading module, which can provide real-time feedback on the actual value of the first force. The control module can also be pre-configured with a force correction algorithm, which can correct the force provided by the first loading module based on the theoretical value and actual value of the first force. For example, if the theoretical value of the first force is greater than the actual value, the first loading module is controlled to increase the magnitude of the force; if the theoretical value of the first force is less than the actual value, the first loading module is controlled to decrease the magnitude of the force, thereby achieving closed-loop feedback control of the first force, making the first force provided by the first loading module more accurate.

[0079] Similarly, the control module can determine the theoretical value of the second force based on the second force control curve, and control the second loading module to provide a force of the same magnitude as the theoretical value. Of course, in some possible embodiments, a force sensor can also be provided in the second loading module, and the force sensor can provide real-time feedback of the actual value of the second force. The control module can also be pre-set with a force correction algorithm, which can correct the force provided by the second loading module based on the theoretical value and actual value of the second force to achieve closed-loop feedback control of the second force, making the second force provided by the second loading module more accurate.

[0080] Step S530: Acquire the detection data output by the measurement module to determine the overturning test result of the reducer.

[0081] In this embodiment, the detection data represents the overturning of the output portion of the reducer relative to the fixed portion. As one embodiment, the detection data may be the overturning angle output by the measurement module. This overturning angle is the angle between the end face of the output portion under the action of a force and a reference end face. The reference end face may be the end face of the output portion when it is not overturned, and the reference end face is perpendicular to the axis of the reducer. After the output portion overturns, it will tilt relative to the fixed portion to a certain extent, and the overturned end face will form an angle with the reference end face. If the control module determines that the overturning angle is less than or equal to a specified angle, it indicates that the reducer has not overturned under the current test conditions due to overload. The reducer can then proceed with subsequent testing, or the control module can directly draw a conclusion on the overturning test, for example, "The overturning test passed successfully." The specified angle may be a default value in the control module or a conclusion drawn by the tester based on a large amount of test data. Specifically, the specified angle may be 1 degree, 3 degrees, 5 degrees, etc., and this embodiment does not limit this. For tests without specified angle requirements, the test results can be a linear relationship between the overturning angle and the applied torque. The results are represented as a overturning stiffness curve or a overturning stiffness data set, which can be used for the development and analysis of the industrial robot.

[0082] In some possible embodiments, if the overturning angle is greater than the specified angle, it means that under the current test conditions, the degree of overturning of the reducer is large, indicating that the reducer has unexpectedly overturned, for example, the reducer does not match the current test conditions. In this case, the control module can retest the reducer to reduce the detection error that occurs in a single test. As an example, the control module can also draw a conclusion on the overturning test, for example, the overturning test conclusion is "overturning test abnormality" or "failed the overturning test", and output the overturning stiffness curve and data group to facilitate subsequent R&D personnel to analyze the cause of the test abnormality. Furthermore, the control module can also issue a prompt message based on the overturning test conclusion. On the one hand, the prompt message can be used to remind the tester to reinstall the reducer to avoid test interference caused by installation errors; on the other hand, the prompt message can also be used to remind the tester to check whether the input test conditions and hardware parameters are correct to eliminate test abnormalities caused by abnormal test conditions.

[0083] This embodiment provides a testing method for a reducer. Since the reducer testing system in this embodiment adopts a testing method of applying horizontal bidirectional forces, the first force and the second force can work together during the application process to achieve control of the axial force of the main bearing during the reducer testing, avoiding the change in the pre-load state of the bearing inside the reducer due to the change in the axial force of the reducer, thereby ensuring the accuracy of the test results.

[0084] See also Figure 6 , which shows a method for testing a reducer provided in the second embodiment of the present application. The method is applied to the reducer testing system 100 described above, and specifically, the method includes the following process.

[0085] Step S610: Acquire a first force control curve and a second force control curve.

[0086] Step S620 : Controlling the first loading module to operate based on the first force control curve, and controlling the second loading module to operate based on the second force control curve.

[0087] Specifically, the specific implementation of step S610 and step S620 can refer to the relevant introduction in step S510 and step S520, which will not be repeated here.

[0088] Step S630: Acquire the detection data output by the measurement module to determine the overturning test result of the reducer.

[0089] In this embodiment, there are two measurement modules, which include a first measurement module and a second measurement module. Specifically, step S630 may include steps S6310 to S6330.

[0090] Step S6310: Acquire first detection data output by the first measurement module, and determine a first overturning angle based on the first detection data.

[0091] In this embodiment, the first detection data is the distance data output by the first measurement module. As an implementation method, the control module may pre-store a first rollover angle mapping relationship, which represents the correspondence between different distance values ​​output by the first measurement module and different first rollover angles. Specifically, the first rollover angle mapping relationship may be a mapping function or a mapping table. The first rollover angle mapping relationship may be pre-stored in the control module by the tester. When the control module obtains the distance value output by the first measurement module, it can determine the corresponding first rollover angle based on the first rollover angle mapping relationship.

[0092] Step S6320: Acquire second detection data output by the second measurement module, and determine a second overturning angle based on the second detection data.

[0093] In this embodiment, the second detection data is the distance data output by the second measurement module. As an implementation method, the control module may pre-store a second rollover angle mapping relationship, which represents the correspondence between different distance values ​​output by the second measurement module and different second rollover angles. Specifically, the second rollover angle mapping relationship may be a mapping function or a mapping table. The second rollover angle mapping relationship may be pre-stored in the control module by the tester. When the control module obtains the distance value output by the second measurement module, it can determine the corresponding second rollover angle based on the second rollover angle mapping relationship.

[0094] Step S6330: Determine the overturning test result of the reducer based on the first overturning angle and the second overturning angle.

[0095] In some possible embodiments, the overturning test result of the reducer is determined based on the specific value of the first overturning angle and the specific value of the second overturning angle. Specifically, if the first overturning angle is less than or equal to the first specified angle and the second overturning angle is less than or equal to the second specified angle, it means that under the current test condition, the reducer has not overloaded and overturned. The reducer can perform subsequent testing or the control module can directly draw the overturning test conclusion, for example, the overturning test conclusion is "overturning test passed successfully". Among them, the first specified angle and the second specified angle are default values ​​in the control module. The first specified angle and the second specified angle can be equal or unequal, and this embodiment does not specifically limit them. For example, the first specified angle can be 1 degree, 3 degrees, 5 degrees, etc., and the second specified angle can be 1 degree, 3 degrees, 5 degrees, etc. If the first overturning angle is greater than the first specified angle or the second overturning angle is greater than the second specified angle, it means that under the current test condition, the degree of overturning of the reducer is large, indicating that the reducer has experienced an unexpected overturning, for example, indicating that the reducer does not match the current test condition. In this case, the control module can retest the reducer to reduce the detection error that occurs in a single test. As an example, the control module can also draw a conclusion on the overturning test, such as "overturning test abnormality" or "overturning test failure."

[0096] In other possible embodiments, the overturning test result of the reducer is determined based on the difference between the first overturning angle and the second overturning angle. Specifically, the control module can calculate the angular difference between the first overturning angle and the second overturning angle. When the angular difference is less than or equal to the specified difference, it means that under the current test conditions, the reducer has not overloaded and overturned. The reducer can perform subsequent testing or the control module can directly draw a conclusion about the overturning test, for example, the overturning test conclusion is "the overturning test passed smoothly". Among them, the specified difference is the default value in the control module. For example, the specified difference is 1 degree, 3 degrees, 5 degrees, and so on. When the angular difference is greater than the specified difference, it means that under the current test conditions, the reducer has unexpectedly overturned, for example, the reducer does not match the current test conditions. In this case, the control module can also draw a conclusion about the overturning test, for example, the overturning test conclusion is "the overturning test is abnormal" or "the overturning test has not passed".

[0097] In some possible embodiments, after obtaining the overturning test results, the control module may also perform a stiffness test on the reducer and determine the validity of the overturning test results based on the stiffness test results. The stiffness test should be understood as testing the deformation of the output part when a certain load is applied to the reducer. The stiffness test can be used as an auxiliary judgment for the overturning test. It is not difficult to understand that if the angle difference calculated in the overturning test is large, it means that the overturning angles on both sides are inconsistent. The reason may be that the uneven force causes the end face of the output part to deform, or the force is uniform but the end face or even the surrounding wall is not rigid enough to cause deformation. Therefore, in the case that the reducer fails the overturning test, it is necessary to perform a stiffness test on the reducer. The reducer in this embodiment makes the overturning test results more reliable by performing double tests. Specifically, after step S630, the test method of the reducer may include steps S640 and S650.

[0098] Step S640: Perform a stiffness test on the reducer to obtain a stiffness test angle.

[0099] During the stiffness test, the first loading module or the second loading module applies a unilateral force to the lever arm. The stiffness test angle represents the tilting angle of the output portion under the unilateral force.

[0100] In this embodiment, the control module can control the first or second loading module to apply a unilateral force to the lever arm for a specified duration and obtain a stiffness test angle. The "stiffness test angle" here can be the angle value directly output by the measurement module or the angle value obtained by the control module by converting the distance value output by the measurement module.

[0101] In some possible embodiments, the stiffness test angle may include a first stiffness test angle determined based on first detection data output by the first measurement module, and a second stiffness test angle determined based on second detection data output by the second measurement module. It is readily understood that the first stiffness test angle herein is essentially the first rollover angle in step S6310, and the second stiffness test angle is essentially the second rollover angle in step S6320. The specific methods for obtaining the first stiffness test angle and the second stiffness test angle are not further described herein.

[0102] Step S650: When the stiffness test angle falls within the specified angle range, it is determined that the overturning test result is valid.

[0103] In this embodiment, the specified angle range is a default value in the control module, and can also be summarized by the tester based on a large amount of test data. If the stiffness test angle of the control module falls within the specified angle range, it means that the stiffness of the reducer meets the test requirements. In this case, the control module can give a stiffness test conclusion of "the overturning test result is valid." If the stiffness test angle of the control module does not fall within the specified angle range, it means that the stiffness of the reducer does not meet the test requirements. In this case, the control module can give a stiffness test conclusion of "the overturning test result is invalid."

[0104] In some possible embodiments, the control module can determine whether the overturning test result is valid based on the first stiffness test angle and the second stiffness test angle. Specifically, when the first stiffness test angle belongs to the first specified angle interval, and when the second stiffness test angle belongs to the second specified angle interval, the control module can give a stiffness test conclusion that "the overturning test result is valid". When the first stiffness test angle does not belong to the first specified angle interval, or when the second stiffness test angle does not belong to the second specified angle interval, the control module can give a stiffness test conclusion that "the overturning test result is invalid". Specifically, the first specified angle interval and the second specified angle interval can be the default values ​​in the control module, or can be summarized by the tester based on a large amount of test data. The interval ranges of the first specified angle interval and the second specified angle interval can be the same or different, and are not specifically limited here.

[0105] This embodiment provides a test method for a reducer. In this method, after the reducer is subjected to an overturning test, a stiffness test is also performed. This can avoid misjudgment of the overturning test result when the stiffness of the reducer does not meet the test requirements, thereby making the overturning test result more accurate.

[0106] See also Figure 7, which shows a structural block diagram of a reducer test device 700 provided in an embodiment of the present application. The test device 700 is applied to the reducer test system 100 mentioned above. The test device 700 may include an acquisition module 710, a control module 720 and a determination module 730. Among them, the acquisition module 710 is used to obtain a first force control curve and a second force control curve; the first force control curve represents the relationship between the first force applied by the first loading module and time, and the second force control curve represents the relationship between the second force applied by the second loading module and time. The control module 720 is used to control the first loading module to work based on the first force control curve, and to control the second loading module to work based on the second force control curve. The determination module 730 is used to obtain the detection data output by the measurement module and determine the overturning test result of the reducer; the detection data represents the overturning condition of the output part of the reducer relative to the fixed part.

[0107] In some possible embodiments, the acquisition module 710 is specifically used to determine the test conditions to be tested of the reducer and the hardware parameters of the reducer test system; based on the test conditions, hardware parameters and the first mapping relationship, determine the first force control curve; the first mapping relationship represents the correspondence between the test conditions, hardware parameters and the first force control curve; based on the test conditions, hardware parameters and the second mapping relationship, determine the second force control curve; the second mapping relationship represents the correspondence between the test conditions, hardware parameters and the second force control curve.

[0108] In some possible embodiments, there are two measurement modules, including a first measurement module and a second measurement module. The determination module 730 is specifically configured to obtain first detection data output by the first measurement module and determine a first rollover angle based on the first detection data; obtain second detection data output by the second measurement module and determine a second rollover angle based on the second detection data; and determine a rollover test result of the reducer based on the first rollover angle and the second rollover angle.

[0109] In some possible embodiments, the testing device 700 may further include an angle acquisition module (not shown) and a validity determination module (not shown). After the determination module 730 acquires the detection data output by the measurement module and determines the overturning test result of the reducer, the angle acquisition module is configured to perform a stiffness test on the reducer to obtain a stiffness test angle. During the stiffness test, the first loading module or the second loading module applies a unilateral force to the lever arm, and the stiffness test angle represents the overturning angle of the output portion under the action of the unilateral force. The validity determination module is configured to determine that the overturning test result is valid if the stiffness test angle falls within a specified angle range.

[0110] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0111] In several embodiments provided in this application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0112] In addition, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0113] This embodiment provides a testing device for a reducer. Since the reducer testing system in this embodiment adopts a testing method of applying horizontal bidirectional forces, the first force and the second force can work together during the application process to achieve control of the axial force of the main bearing during the reducer testing, avoiding the change in the pre-load state of the bearing inside the reducer due to the change in the axial force of the reducer, thereby ensuring the accuracy of the test results.

[0114] In this specification, certain words are used to refer to specific modules. Those skilled in the art will understand that hardware manufacturers may use different terms to refer to the same module. The specification and claims do not use differences in name as a way to distinguish modules, but rather use differences in module functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term and should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0115] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; internal communication between two components; or mere surface contact. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0116] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0117] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A reducer testing system, characterized in that: The reducer testing system is used to test the overturning rigidity of the reducer, wherein the reducer includes a fixed portion and an output portion, wherein the output portion is rotatably connected to the fixed portion; the reducer testing system includes: a base, provided with a fixing area for fixing the fixing portion; a first loading module, disposed on the base and spaced apart from the fixing area; a second loading module, disposed on the base and spaced apart from the fixed area, wherein the second loading module and the first loading module are respectively located on two sides of the fixed area; a lever arm, the ends of which are respectively connected to the first loading module and the second loading module, and are spaced apart from the fixed area; when the reducer is arranged in the fixed area, it is located between the base and the lever arm, and the output part is connected to the lever arm; wherein the first loading module is used to apply a first force to the lever arm, thereby forming a first torque on the output part through the lever arm; and the second loading module is used to apply a second force to the lever arm, thereby forming a second torque on the output part through the lever arm; and The measuring module is arranged on the output part and is used to detect the overturning condition of the output part relative to the fixing part.

2. The reducer testing system according to claim 1, characterized in that: The first loading module and the second loading module are symmetrically arranged about the axis of the reducer; the first loading module is used to apply the first force to the lever arm according to a first force control curve, and the second loading module is used to apply the second force to the lever arm according to a second force control curve; the first force control curve and the second force control curve are determined based on the test conditions of the reducer and the hardware parameters of the reducer test system.

3. The reducer testing system according to claim 1, characterized in that: The measuring module includes a movable part and a detection part; the movable part is connected to the output part; The detecting member is connected to the fixing portion and is spaced apart from the movable portion; the detecting member is used to measure the overturning condition of the output portion relative to the fixing portion.

4. The reducer testing system according to claim 3, characterized in that: The movable member has an extension direction, and the extension direction of the movable member is arranged along the radial direction of the reducer and extends to protrude relative to the outer periphery of the reducer; The extending direction of the movable member is the same as the extending direction of the force arm; the output portion can drive the movable member to move under the action of the force arm, so that the relative distance between the movable member and the detection member changes.

5. The reducer testing system according to claim 3, characterized in that: The measuring module further includes a fixed part, wherein the fixed part and the movable part are arranged in parallel and spaced apart along the axis of the reducer; when the output part overturns, the movable part is driven to move so that the relative distance between the movable part and the detection part changes; The detecting member is arranged at an end of the fixing member away from the base and is used for detecting the relative distance between the detecting member and the movable member.

6. The reducer testing system according to claim 1, characterized in that: The lever arm includes a first end and a second end opposite to each other, the first end is connected to the first loading module, and the second end is connected to the second loading module; When the output portion does not overturn, the distance between the first end and the output portion is equal to the distance between the second end and the output portion.

7. The reducer testing system according to any one of claims 1 to 6, characterized in that: The reducer testing system further includes a control module; the control module is electrically connected to the first loading module, the second loading module and the measuring module respectively; the control module is configured as follows: The first loading module is controlled to operate based on a first force control curve, and the second loading module is controlled to operate based on a second force control curve; wherein the first force control curve represents the relationship between a first force applied by the first loading module and time; and the second force control curve represents the relationship between a second force applied by the second loading module and time; The detection data output by the measurement module is obtained to determine the overturning test result of the reducer; the detection data represents the overturning condition of the output part relative to the fixed part.

8. The reducer testing system according to claim 7, characterized in that: There are two measuring modules, including a first measuring module and a second measuring module, wherein the first measuring module and the second measuring module are symmetrically arranged about the axis of the reducer; the control module is further configured as follows: Acquire first detection data output by the first measurement module, and determine a first overturning angle based on the first detection data; Acquire second detection data output by the second measurement module, and determine a second overturning angle based on the second detection data; A rollover test result of the reducer is determined based on the first rollover angle and the second rollover angle.

9. A method for testing a reducer, characterized in that: Applied to the reducer testing system according to any one of claims 1 to 6, the method comprising: Obtaining a first force control curve and a second force control curve; wherein the first force control curve represents the relationship between a first force applied by the first loading module and time, and the second force control curve represents the relationship between a second force applied by the second loading module and time; Controlling the first loading module to operate based on a first force control curve, and controlling the second loading module to operate based on a second force control curve; The detection data output by the measurement module is obtained to determine the overturning test result of the reducer; the detection data represents the overturning condition of the output part of the reducer relative to the fixed part.

10. The testing method according to claim 9, characterized in that: The obtaining of the first force control curve and the second force control curve includes: Determining the test conditions to be tested of the reducer and the hardware parameters of the reducer test system; Determining the first force control curve based on the test condition, the hardware parameter, and a first mapping relationship; wherein the first mapping relationship represents a correspondence between the test condition, the hardware parameter, and the first force control curve; The second force control curve is determined based on the test condition, the hardware parameters and a second mapping relationship; the second mapping relationship represents the correspondence between the test condition, the hardware parameters and the second force control curve.

11. The testing method according to claim 9 or 10, characterized in that: There are two measuring modules, including a first measuring module and a second measuring module. The method of obtaining the detection data output by the measuring modules and determining the overturning test result of the reducer includes: Acquire first detection data output by the first measurement module, and determine a first overturning angle based on the first detection data; Acquire second detection data output by the second measurement module, and determine a second overturning angle based on the second detection data; A rollover test result of the reducer is determined based on the first rollover angle and the second rollover angle.

12. The testing method according to claim 9 or 10, characterized in that: After obtaining the detection data output by the measurement module and determining the overturning test result of the reducer, the method further includes: performing a stiffness test on the reducer to obtain a stiffness test angle; during the stiffness test, the first loading module or the second loading module applies a unilateral force to the lever arm, and the stiffness test angle represents an overturning angle of the output portion under the action of the unilateral force; In the case where the stiffness test angle falls within a specified angle range, it is determined that the overturning test result is valid.

13. A test device for a reducer, characterized in that: The reducer testing system according to any one of claims 1 to 6, wherein the device comprises: an acquisition module, configured to acquire a first force control curve and a second force control curve; the first force control curve represents a relationship between a first force applied by the first loading module and time, and the second force control curve represents a relationship between a second force applied by the second loading module and time; a control module, configured to control the first loading module to operate based on a first force control curve, and to control the second loading module to operate based on a second force control curve; The determination module is used to obtain the detection data output by the measurement module and determine the overturning test result of the reducer; the detection data represents the overturning condition of the output part of the reducer relative to the fixed part.

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