Speed reducer gear clearance detection equipment

Abstract

The invention discloses speed reducer gear clearance detection equipment, which relates to the technical field of gear clearance detection and comprises a detection equipment main body, and the surface of the detection equipment main body is provided with a control center device, a transparent equipment door and a display screen. A multifunctional sensor device used for detection, a detection driving rack and a detection mobile unit are installed in the detection device body, a control module, a data acquisition module, a data processing module and a storage module are connected in the control center device, and a magnetic suspension guide rail and an electromagnetic device are installed on the detection driving rack. A magnet assembly matched with the magnetic suspension guide rail is installed at the bottom of the detection mobile unit, and the data processing module obtains rough influence characteristics and comprehensive influence characteristics according to real-time collection information and historical setting information, obtains final gear clearance characteristics according to the comprehensive influence characteristics and initial gear clearance characteristics and sends the final gear clearance characteristics to the detection mobile unit. According to the invention, dynamic and accurate detection is realized through cooperation, so that the detection precision is improved.

Description

Technical Field

[0001] This invention relates to the field of gear backlash detection technology, specifically to a gear backlash detection device for a speed reducer. Background Technology

[0002] In industrial production, speed reducers are a common power transmission mechanism widely used in various mechanical equipment. Gear clearance is an important parameter of speed reducers, which directly affects the transmission accuracy, noise level and service life of the speed reducer. Appropriate gear clearance can ensure smooth operation of the speed reducer and reduce wear and noise, while excessive or insufficient gear clearance will lead to unstable transmission, increased vibration, increased noise, and even damage to gears and other components.

[0003] In practical applications, rough tooth surfaces can cause additional friction and wear during gear meshing, leading to changes in gear clearance.

[0004] In addition, increased temperature causes the gear material to expand thermally, increased load leads to elastic deformation of the gear, and changes in rotational speed generate centrifugal force and inertial force. All of these factors can change the gear clearance.

[0005] Because existing testing equipment does not comprehensively consider the various factors mentioned above regarding different tooth surface roughness, temperature, load, and speed, the obtained gear clearance values ​​often cannot accurately reflect the actual clearance situation of the gears during operation. Summary of the Invention

[0006] The purpose of this invention is to provide a gear backlash detection device for a speed reducer, which solves the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution, which includes a detection equipment body, on the surface of which a control center device, a transparent equipment door and a display screen are installed, and inside the detection equipment body are installed a multi-functional sensor device for detection, a detection drive frame and a detection moving unit; The control center device is internally connected to a control module, a data acquisition module, a data processing module, and a storage module; The control module connects the detection drive frame and the detection moving unit. The detection drive frame is equipped with a magnetic levitation guide rail and an electromagnetic device. The bottom of the detection moving unit is equipped with a magnet assembly that matches the magnetic levitation guide rail. The magnetic levitation guide rail is laid along the movement path of the detection drive frame. The electromagnetic device is connected to the power supply and control module through cables. The control module can precisely control the magnitude and direction of the current of the electromagnetic device to generate a suitable magnetic field. The magnet assembly interacts with the electromagnetic device on the magnetic levitation rail, using the principle of like poles repelling and unlike poles attracting to levitate the detection mobile unit above the magnetic levitation rail. This avoids the friction and wear caused by traditional mechanical contact transmission. At the same time, the detection mobile unit is also equipped with a displacement sensor and a feedback control system. The displacement sensor monitors the relative position and distance between the detection mobile unit and the magnetic levitation rail in real time and feeds this information back to the control module. The control module adjusts the current of the electromagnetic device in a timely manner based on the feedback information to ensure that the detection mobile unit levitates and moves stably. The data acquisition module is connected to the multifunctional sensor device; The data acquisition module is used to receive real-time acquisition information from the multi-functional sensor device, including roughness characteristics, temperature characteristics, operating condition characteristics, and initial gear clearance characteristics. The storage module is used to store real-time acquired information and pre-set historical setting information, including roughness reference features, temperature reference features and operating condition reference features. The data processing module is used to receive the real-time collected information and the historical setting information; Based on the roughness features and the roughness reference features, the roughness influence features are obtained; Based on the roughness impact characteristics, the temperature characteristics, the operating condition characteristics, the temperature reference characteristics, and the operating condition reference characteristics, a comprehensive impact characteristic is obtained; Based on the comprehensive influence characteristics and the initial gear clearance characteristics, the final gear clearance characteristics are obtained; The storage module receives and stores the roughness effect feature, the comprehensive effect feature, and the final gear clearance feature; The final characteristics of the gear backlash are transmitted to the display screen.

[0008] The multifunctional sensor device includes a laser three-dimensional profile measuring instrument, a roughness measuring instrument, a temperature sensor, a pressure sensor, and a speed sensor; The output terminal of the multifunctional sensor device is connected to the data acquisition module; The laser three-dimensional profile measuring instrument is used to obtain the initial gear clearance features; The roughness measuring instrument is used to acquire the roughness characteristics; The temperature sensor is used to acquire the temperature characteristics; The pressure sensor and the speed sensor are used to acquire the operating condition characteristics.

[0009] The roughness deviation difference feature is obtained by subtracting the roughness reference feature from the roughness feature. Divide the roughness deviation difference feature by the roughness reference feature to obtain the roughness deviation ratio feature; The constant 1 is added to the roughness deviation ratio feature to obtain the roughness influence feature, which is used to quantify and reflect the degree of influence of tooth surface roughness on gear clearance.

[0010] The operating condition characteristics include load characteristics and speed characteristics; The operating condition reference characteristics include load reference characteristics and speed reference characteristics; Based on the temperature characteristics and the temperature reference characteristics, temperature influence characteristics are obtained. These temperature influence characteristics are used to quantify and reflect the degree of influence of temperature on gear clearance. Based on the load characteristics and the load reference characteristics, load influence characteristics are obtained. These load influence characteristics are used to quantify and reflect the degree of influence of the load on gear clearance. Based on the speed characteristics and the speed reference characteristics, speed influence characteristics are obtained. These speed influence characteristics are used to quantify and reflect the degree of influence of speed on gear clearance. Based on the roughness influence characteristics, temperature influence characteristics, load influence characteristics, and speed influence characteristics, the comprehensive influence characteristics are obtained. The comprehensive influence characteristics integrate the operating conditions factors of tooth surface roughness, temperature, load, and speed, and thus comprehensively reflect the combined effect of multiple factors on gear clearance.

[0011] The initial gear clearance features include edge point group features and three-dimensional coordinate information; The initial gear clearance features are obtained based on the edge point group features and the three-dimensional coordinate information; The initial gear clearance feature is multiplied by the comprehensive influence feature to obtain the final gear clearance feature. The final gear clearance feature reflects the actual gear clearance under actual operating conditions, taking into account factors such as tooth surface roughness, temperature, load and speed. The final characteristic of gear backlash, as the final result of gear backlash detection in a reducer, is used to assess the working condition of the gears and determine whether adjustments and maintenance are needed.

[0012] The mobile detection unit is equipped with a motor that drives the gears to rotate. The speed reference feature is extracted based on the detected motor speed of the mobile unit.

[0013] The storage module stores the temperature reference feature and the load reference feature corresponding to different speed reference features.

[0014] The output of the data processing module is connected to the input of the control center device; The output of the control center device is connected to the input of the display screen.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention obtains roughness influence features by means of roughness features and roughness reference features provided by the data acquisition module and the storage module. It quantifies the factor of tooth surface roughness and incorporates it into the calculation of gear clearance. Specifically, the device uses a roughness measuring instrument to measure the roughness features of the tooth surface and compares them with the pre-set roughness reference features to obtain roughness influence features that reflect the influence of tooth surface roughness on gear clearance. If tooth surface roughness has an influence on gear clearance, the clearance will be corrected accordingly in the calculation.

[0016] This invention comprehensively considers various operating condition factors, including tooth surface roughness, temperature, load, and speed, as collected by the data acquisition module (including temperature characteristics and operating condition characteristics) and the roughness influence characteristics obtained by the data processing module. It can reflect the comprehensive influence of multiple factors on gear clearance in real time.

[0017] In addition, since the mobile testing unit is suspended above the magnetic levitation guide rail, direct contact with the guide rail is avoided, greatly reducing mechanical friction and wear, and improving the service life and stability of the equipment. Moreover, the magnetic levitation transmission technology can achieve precise position control and stable movement speed, enabling the mobile testing unit to reach the testing position more accurately, thereby improving the accuracy and reliability of the testing. It also eliminates the noise and vibration caused by traditional mechanical transmission, providing a quieter and more stable environment for the operation of the equipment, which is conducive to improving the accuracy of the testing results.

[0018] This invention multiplies the initial gear clearance characteristics measured in the original measurement with the comprehensive influence characteristics obtained from the comprehensive operating conditions to obtain the final gear clearance characteristics. In this way, the influence of tooth surface roughness, temperature, load and speed factors are integrated into the final test results, so that the test results can more accurately reflect the real clearance of the gear under actual operating conditions. Attached Figure Description

[0019] Figure 1 This is a front view of the main body of the detection device of the present invention; Figure 2 This is a side view of the main body of the detection device of the present invention; Figure 3 This is a schematic diagram of a portion of the structure of the main body of the detection device of the present invention; Figure 4 For the present invention Figure 3 Structure at point A; Figure 5 This is a flowchart of the method for detecting gear backlash in this reducer.

[0020] In the diagram: 1-Main body of the testing equipment, 2-Control center device, 3-Display screen, 4-Testing drive frame, 5-Testing mobile unit, 6-Transparent equipment door, 7-Multifunctional sensor equipment, 8-Magnetic levitation guide rail. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] This gear reducer gear backlash detection equipment differs from existing gear reducer gear backlash detection equipment. Existing gear backlash testing equipment for speed reducers has problems such as not considering the influence of tooth surface roughness and lacking comprehensive consideration of operating conditions, resulting in inaccurate test results. This algorithm unit, by taking into account the influence of tooth surface roughness and the operating conditions, improves the accuracy of the detection results.

[0023] Example 1, please refer to Figures 1 to 5 This embodiment provides a gear reducer gear backlash detection device, including a detection device body 1. The surface of the detection device body 1 is equipped with a control center device 2, a transparent device door 6 and a display screen 3. The inside of the detection device body 1 is equipped with a detection drive frame 4 and a detection moving unit 5 for detection. The control center device 2 is internally connected to a control module, a data acquisition module, a data processing module, and a storage module; The control module connects the detection drive frame 4 and the detection mobile unit 5. The detection drive frame 4 is equipped with a magnetic levitation guide rail 8 and an electromagnetic device. The bottom of the detection mobile unit 5 is equipped with a magnet assembly that matches the magnetic levitation guide rail 8. The data acquisition module connects to the multi-functional sensor device 7; The data acquisition module is used to receive real-time data collected by the multi-functional sensor device 7, including roughness characteristics, temperature characteristics, operating condition characteristics, and initial gear clearance characteristics. The storage module is used to store real-time acquired information, as well as pre-set historical settings including roughness reference features, temperature reference features, and operating condition reference features; The data processing module is used to receive real-time collected information and historical setting information; Based on the roughness characteristics and roughness reference characteristics, obtain the roughness influence characteristics; Based on the roughness impact characteristics, temperature characteristics, operating condition characteristics, temperature reference characteristics, and operating condition reference characteristics, the comprehensive impact characteristics are obtained. Based on the comprehensive influence characteristics and the initial gear clearance characteristics, the final gear clearance characteristics are obtained; The storage module receives and stores the roughness effect features, the combined effect features, and the final gear backlash features; The final characteristics of the gear backlash are transmitted to the display screen 3; The output of the data processing module is connected to the input of the control center device 2; The output of the control center device 2 is connected to the input of the display screen 3; The multifunctional sensor device 7 includes a laser three-dimensional profile measuring instrument, a roughness measuring instrument, a temperature sensor, a pressure sensor, and a speed sensor; The output of the multi-functional sensor device 7 is connected to the data acquisition module; A laser 3D profile measuring instrument is used to obtain initial gear clearance features; Roughness measuring instruments are used to obtain roughness characteristics; Temperature sensors are used to acquire temperature characteristics; Pressure sensors and speed sensors are used to acquire operating condition characteristics.

[0024] In this embodiment: The operator places the two gears to be tested on the testing mobile unit 5, and starts the equipment using the control center device 2. The control module first applies an initial current to the electromagnetic device to generate a magnetic field that makes the testing mobile unit 5 levitate above the magnetic levitation rail 8. Then, the control module gradually increases the current of the electromagnetic device to generate a magnetic force that propels the testing mobile unit 5 forward, causing the testing mobile unit 5 to begin moving along the magnetic levitation rail 8 on the control center device 4. During the testing process, the mobile testing unit 5 moves on the magnetic levitation guide rail 8 according to the preset testing path and speed. The displacement sensor continuously monitors the position of the mobile testing unit 5 and feeds the information back to the control module. The control module precisely adjusts the current of the electromagnetic device according to the requirements of the testing task to ensure that the mobile testing unit 5 accurately reaches each testing position and maintains a stable moving speed. At the same time, the multi-functional sensor device 7 detects the gears and transmits the detection data to the data acquisition module in real time. After the detection task is completed, the control module gradually reduces the current of the electromagnetic device, so that the moving speed of the detection mobile unit 5 gradually decreases and eventually stops at the designated position. Then, the control module further reduces the current, so that the detection mobile unit 5 lands smoothly on the magnetic levitation guide rail 8, completing the entire detection process. The transparent equipment door 6 facilitates observation during the detection process.

[0025] In addition, the detection of the 7 pairs of gears in the multi-functional sensor device is as follows: The roughness measuring instrument detects the gear tooth surface on the inspection mobile unit 5, thereby obtaining roughness characteristics; The temperature sensor measures the temperature characteristics obtained by measuring the infrared radiation emitted from the surface of the gears on the detection mobile unit 5; The pressure sensor detects the load characteristics borne by the gears on the mobile unit 5. The speed sensor measures the rotational speed characteristic of the number of passes of the gear teeth on the detection mobile unit 5; The laser 3D profile measuring instrument uses a 3D camera and line laser technology to capture the edge points of the gear gap and calculate the distance to obtain the initial gear gap features. The laser 3D profile measuring instrument, roughness measuring instrument, temperature sensor, pressure sensor, speed sensor, and storage module transmit real-time collected information and historical data setting information to the data acquisition module and data processing module. The data processing module sequentially acquires and outputs the roughness influence characteristics, comprehensive influence characteristics, and final gear clearance characteristics to the display screen 3 for clearance result display. Finally, the operator removes the two gears that have completed the inspection through the transparent device door 6.

[0026] Please see Figure 5 The roughness deviation difference feature is obtained by subtracting the roughness reference feature from the roughness feature. Divide the roughness deviation difference feature by the roughness reference feature to obtain the roughness deviation ratio feature; By adding the roughness deviation ratio feature to the constant 1, the roughness influence feature is obtained.

[0027] In this embodiment, the calculation formula for the roughness influence feature is as follows: ; in: X1 represents the roughness influence feature reflecting the effect of tooth surface roughness on gear clearance, C represents the roughness feature measured by the 3D camera image recognition technology of the roughness measuring instrument, and C0 represents the pre-set roughness reference feature.

[0028] The calculation formula can quantify the tooth surface roughness factor and transform it into a specific roughness influence feature X1. The roughness influence feature X1 is obtained by comparing the roughness feature C with the pre-set roughness reference feature C0. In this way, the degree of deviation of the tooth surface roughness from the reference state and the influence of this deviation on the gear clearance can be clearly reflected. Specifically: when X1=1, it means that the tooth surface roughness meets the reference requirements and has no additional effect on the gear clearance; When X1 > 1, it indicates that the tooth surface roughness is greater than the reference value, which will increase the gear clearance. When X1 < 1, it means that the tooth surface roughness is less than the reference value, which will reduce the gear clearance.

[0029] Please see Figure 5 Operating condition characteristics include load characteristics and speed characteristics; Operating condition reference characteristics include load reference characteristics and speed reference characteristics; Based on temperature characteristics and temperature reference characteristics, obtain temperature influence characteristics; Based on load characteristics and load baseline characteristics, obtain load impact characteristics; Based on the speed characteristics and speed reference characteristics, obtain the speed influence characteristics; Based on the characteristics of roughness, temperature, load, and rotational speed, a comprehensive influence characteristic is obtained.

[0030] In this embodiment, the calculation formula for the comprehensive influence characteristics is as follows: ; in: X2 is a comprehensive influence feature that takes into account the effects of tooth surface roughness, temperature, load, and speed on gear clearance. W represents the temperature characteristic measured in real time by a temperature sensor, W0 represents the pre-set temperature reference characteristic, F represents the load characteristic measured in real time by a pressure sensor, F0 represents the pre-set load reference characteristic, V represents the speed characteristic measured in real time by a speed sensor, V0 represents the pre-set speed reference characteristic.

[0031] In this embodiment, multiple factors affecting gear clearance, such as tooth surface roughness, temperature, load, and rotational speed, are combined and then... The calculation yields a comprehensive influence characteristic X2, which enables the detection equipment to comprehensively consider the interaction of various factors during actual operation, rather than viewing a single factor in isolation.

[0032] in, This is a characteristic of temperature influence, reflecting how temperature changes relative to a reference value: when When the result is equal to 1, it indicates that the temperature is at the baseline state and has no additional effect on the gear clearance. when When the result is greater than 1, it indicates that the temperature is higher than the reference value, which may cause changes in gear clearance. when When the result is less than 1, it means that the temperature is lower than the reference value, which will also affect the gear clearance. It is worth noting that, according to the principle of thermal expansion and contraction, when the temperature decreases, the gear material will shrink and the size of the gear will become smaller. For two meshing gears, their outer diameter, tooth thickness and other dimensions will decrease, thereby increasing the gear clearance to a certain extent.

[0033] This describes the load impact characteristics and reflects how the load changes relative to a baseline value: when When the result is equal to 1, it indicates that the load is in the reference state and has no additional effect on the gear clearance; when When the result is greater than 1, it indicates that the load is greater than the reference value, which may reduce the gear clearance. It is worth noting that when the gear bears a large load, the tooth surface will be subjected to a large pressure. According to the principle of elasticity of materials, under the action of pressure, the gear tooth body will undergo elastic deformation and the tooth surface will be crushed, which will reduce the center distance of the two meshing gears, thus resulting in a smaller gear clearance. In actual heavy machinery, the gears of the reducer bear huge torque loads. At this time, the elastic deformation of the gear is more obvious, and the clearance will be reduced to a certain extent. when When the result is less than 1, it means that the load is less than the reference value, which may increase the gear clearance.

[0034] This describes the effect of rotational speed and reflects how the rotational speed changes relative to a reference value. when When the result is equal to 1, it means that the speed is at the reference state and has no additional effect on the gear clearance. when When the result is greater than 1, it indicates that the rotational speed is higher than the reference value, which may cause changes in gear clearance. when When the result is less than 1, it means that the rotational speed is lower than the reference value, which will also affect the gear clearance.

[0035] Please see Figure 5 The initial gear clearance features include edge point group features and three-dimensional coordinate information; Based on the edge point group features and three-dimensional coordinate information, the initial gear clearance features are obtained; The initial gear clearance feature is multiplied by the comprehensive influence feature to obtain the final gear clearance feature.

[0036] The formula for calculating the final characteristic of gear backlash is as follows: ; ; in: g represents the final gear clearance characteristic after correction for various influencing factors, based on the initial gear clearance characteristics. g0 represents the initial gear clearance features obtained using a 3D camera and line laser technology from a laser 3D profile measuring instrument, m represents the edge point group features, and x represents the initial gear clearance features. i-1 x i-2 y i-1 y i-2 z i-1 and z i-2 The three-dimensional coordinate information of any one of the m groups of edge point features.

[0037] In this embodiment, the initial gear clearance feature g0 is combined with the comprehensive influence feature X2 to obtain the final gear clearance feature g. Since the comprehensive influence feature X2 takes into account the influence of multiple factors such as tooth surface roughness, temperature, load and speed, the final gear clearance feature g can more accurately reflect the actual clearance of the gear under actual operating conditions. This is of great significance for judging the working state of the reducer, evaluating its transmission performance and predicting its service life.

[0038] As the equipment operates, factors such as temperature, load, and speed constantly change, and the comprehensive influence characteristic X2 also changes accordingly. As a result, the detection equipment can achieve dynamic detection of gear clearance, promptly detect changes in gear clearance, provide real-time data support for equipment maintenance and adjustment, and provide feedback on roughness influence characteristic X1 during the change process, realizing cyclical feedback in the detection process. As the detection progresses, the measurement and analysis of tooth surface roughness are adjusted according to the latest final gear clearance characteristic g, which can more timely capture changes in the gear during operation, further optimize the detection results, and ensure that the detection results always match the actual state of the gear.

[0039] Example 2, please refer to Figures 1 to 4 The test unit 5 contains a motor with drive gears that rotates. Based on the detected motor speed of mobile unit 5, extract the speed reference feature; The storage module stores temperature reference characteristics and load reference characteristics corresponding to different rotational speed reference characteristics.

[0040] In this embodiment, the higher the rotational speed, the more obvious the frictional heat generated during gear meshing, and the higher the temperature of the gear and the surrounding environment. Therefore, under different rotational speed reference characteristics, the temperature range that the gear can withstand during normal operation is different. When operating at low speeds, gears generate less heat, and the corresponding temperature reference characteristics are also low. However, at high speeds, in order to ensure the normal performance and lifespan of the gears, the corresponding temperature reference characteristics need to be improved accordingly.

[0041] Secondly, changes in rotational speed will affect the force on the gears. When running at high speed, the gears will be subjected to greater centrifugal force and inertial force, which will change the actual load condition of the gears. Therefore, the load characteristics that the gears can withstand are different under the rotational speed reference characteristics at different speeds. Under high-speed light load and low-speed heavy load conditions, the working state of gears differs greatly, and the corresponding load reference characteristics need to be adjusted according to the rotational speed to ensure accurate assessment of the gear's working state.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gear backlash detection device for a speed reducer, characterized in that: The device includes a main body for testing, on the surface of which a control center device, a transparent equipment door, and a display screen are installed. Inside the main body of the testing device are installed a multi-functional sensor device for testing, a testing drive frame, and a testing mobile unit. The control center device is internally connected to a control module, a data acquisition module, a data processing module, and a storage module; The control module connects the detection drive frame and the detection moving unit. The detection drive frame is equipped with a magnetic levitation guide rail and an electromagnetic device. The bottom of the detection moving unit is equipped with a magnet assembly that matches the magnetic levitation guide rail. The data acquisition module is connected to the multifunctional sensor device; The data acquisition module is used to receive real-time acquisition information from the multi-functional sensor device, including roughness characteristics, temperature characteristics, operating condition characteristics, and initial gear clearance characteristics.

2. The gear backlash detection device for a speed reducer according to claim 1, characterized in that, The storage module is used to store real-time acquired information and pre-set historical setting information, including roughness reference features, temperature reference features and operating condition reference features. The data processing module is used to receive the real-time collected information and the historical setting information; Based on the roughness features and the roughness reference features, the roughness influence features are obtained; Based on the roughness impact characteristics, the temperature characteristics, the operating condition characteristics, the temperature reference characteristics, and the operating condition reference characteristics, a comprehensive impact characteristic is obtained; Based on the comprehensive influence characteristics and the initial gear clearance characteristics, the final gear clearance characteristics are obtained; The storage module receives and stores the roughness effect feature, the comprehensive effect feature, and the final gear clearance feature; The final characteristics of the gear backlash are transmitted to the display screen.

3. The gear backlash detection device for a speed reducer according to claim 2, characterized in that, The multifunctional sensor device includes a laser three-dimensional profile measuring instrument, a roughness measuring instrument, a temperature sensor, a pressure sensor, and a speed sensor; The output terminal of the multifunctional sensor device is connected to the data acquisition module; The laser three-dimensional profile measuring instrument is used to obtain the initial gear clearance features; The roughness measuring instrument is used to acquire the roughness characteristics; The temperature sensor is used to acquire the temperature characteristics; The pressure sensor and the speed sensor are used to acquire the operating condition characteristics.

4. The gear backlash detection device for a speed reducer according to claim 3, characterized in that: The roughness deviation difference feature is obtained by subtracting the roughness reference feature from the roughness feature. Divide the roughness deviation difference feature by the roughness reference feature to obtain the roughness deviation ratio feature; The constant 1 is added to the roughness deviation ratio feature to obtain the roughness influence feature.

5. The gear backlash detection device for a speed reducer according to claim 4, characterized in that: The operating condition characteristics include load characteristics and speed characteristics; The operating condition reference characteristics include load reference characteristics and speed reference characteristics; Based on the temperature characteristics and the temperature reference characteristics, the temperature influence characteristics are obtained; Based on the load characteristics and the load baseline characteristics, the load impact characteristics are obtained; Based on the speed characteristics and the speed reference characteristics, the speed influence characteristics are obtained; The comprehensive influence characteristics are obtained based on the roughness influence characteristics, the temperature influence characteristics, the load influence characteristics, and the rotational speed influence characteristics.

6. The gear backlash detection device for a speed reducer according to claim 5, characterized in that: The initial gear clearance features include edge point group features and three-dimensional coordinate information; The initial gear clearance features are obtained based on the edge point group features and the three-dimensional coordinate information; The initial gear clearance feature is multiplied by the comprehensive influence feature to obtain the final gear clearance feature.

7. The gear backlash detection device for a speed reducer according to claim 2, characterized in that: The mobile detection unit is equipped with a motor that drives the gears to rotate. The speed reference feature is extracted based on the detected motor speed of the mobile unit.

8. The gear backlash detection device for a speed reducer according to claim 7, characterized in that: The storage module stores the temperature reference feature and the load reference feature corresponding to different speed reference features.

9. A gear backlash detection device for a speed reducer according to claim 8, characterized in that: The output of the data processing module is connected to the input of the control center device; The output of the control center device is connected to the input of the display screen.

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