Planetary reducer gear detection system

Abstract

The invention discloses a planetary reducer gear detection system, and relates to the technical field of gear detection, a data acquisition module uses a torque sensor to acquire the instantaneous load value of each gear in real time, and a Hall sensing sheet and a sensor are combined to mark the gear meshing moment; each acquisition module is equipped with a high-precision clock to realize data synchronization and add a timestamp; the matrix construction module constructs a load transfer matrix according to the number of a planetary gear, and corrects the interference of the environment temperature and the deformation of a planet carrier on the transfer proportion; and the unbalance loading traceability module screens out effective transmission elements of the matrix, judges an unbalance loading source in combination with the out-of-line degree and the abnormal contribution degree, extracts meshing moments to form a time sequence chain, and marks paths according to transmission intensity grading. The system solves the problems that existing gear detection is poor in adaptability, low in data synchronization and difficult in unbalance loading traceability, and the detection precision and the maintenance efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gear detection, in particular to a planetary reducer gear detection system. BACKGROUND

[0002] As the core component of power transmission of industrial equipment, the gear meshing state of the planetary reducer directly determines the stability and service life of the equipment. Therefore, regular gear detection is a key link to ensure its reliable operation. However, the existing planetary reducer gear detection technology has the following defects: Firstly, the existing detection mostly uses conventional size torque sensors, which cannot adapt to the narrow installation space of the planetary gear shaft end, are prone to structural interference, and lack unified high-precision clock synchronization of the torque sensor, meshing trigger sensor and phase acquisition module, resulting in large data timestamp deviation, so that the gear meshing moment and the corresponding load data cannot be accurately bound. Secondly, the existing technology does not consider the interference caused by gear thermal expansion and planetary carrier deformation caused by environmental temperature, and the constructed load transmission matrix is a static model, which cannot adapt to the change of transmission characteristics caused by gear wear, resulting in a significant decrease in analysis accuracy. Thirdly, the existing scheme only locates the position of the off-load gear, cannot trace the source and transmission path of the off-load, and does not classify the transmission path by time sequence and intensity, making it difficult to determine the priority during maintenance, resulting in low fault troubleshooting efficiency and high maintenance cost. Therefore, there is an urgent need for a planetary reducer gear detection system that can solve the above problems. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides a planetary reducer gear detection system, which solves the problems of gear detection synchronization difference and lack of traceable path.

[0004] To achieve the above purpose, the present application realizes the following technical scheme: a planetary reducer gear detection system, comprising: A data acquisition module is installed at the shaft end of each planetary gear to collect the instantaneous load value of each gear in real time. A piece of Hall induction sheet is pasted at the top of the center gear, and a Hall sensor is installed at the corresponding position of the reducer shell. A high-precision clock is provided for the torque sensor, Hall sensor and transmission phase vector acquisition module, and the collection frequency is unified to construct a trigger signal-load data correlation table. A matrix construction module is used to construct an MxM load transmission matrix A with the planetary gear number as the row and column, and based on the thermal expansion characteristics of the gear material, the planetary carrier deformation and the load transmission efficiency, the environmental temperature correction coefficient and the planetary carrier deformation correction coefficient are calculated respectively. The elements in the load transmission matrix A are modified according to the correction coefficients, wherein M is the number of planetary gears. The off-center load tracing module filters the effective transmission elements in the load transmission matrix A and calculates the outgoing degree. Combined with the abnormal contribution, it locates the off-center load source. Based on the meshing time of the source gear and all target gears, it sorts them in chronological order to form a time sequence chain. The gear transmission in the time sequence chain is classified into strength levels and the path is marked.

[0005] As a further aspect of the present invention, the trigger signal-load data association table binds the trigger time of the Hall sensor with the torque sensor data at the same timestamp, and explicitly marks the load at the gear meshing moment.

[0006] As a further aspect of the present invention, the effective payload range is set as [ , Real-time load data exceeding this range will be marked as outliers. If the load data at current time t... Compared with the previous data collection time ( ) data satisfy ,but Values ​​marked as suspicious, among which, This is the rated load of the planetary gear reducer. , This is the effective load range factor. For data collection interval, This is the threshold coefficient for fluctuations between adjacent data.

[0007] As a further aspect of the present invention, if time t is an outlier... Then, linear interpolation of adjacent time-time data is used for completion, and the specific formula is as follows: ,in, , These are the valid data at adjacent times before and after t; If time t is a suspicious value Then, a moving average filter is used, taking ( )to( The average of (2k+1) sets of data is used as the repaired data, and the specific formula is as follows: , where k is the half-width of the moving average window and is a positive integer.

[0008] As a further aspect of the present invention, based on the thermal expansion characteristics of gear materials, according to the formula... Calculate the ambient temperature correction factor ,in, For real-time ambient temperature, For standard reference temperature, This is the temperature influence coefficient.

[0009] As a further aspect of the present invention, based on the relationship between planetary carrier deformation and load transfer efficiency, according to the formula... Calculate the planetary carrier deformation correction factor ,in, The deformation influence coefficient is... This represents the real-time deformation of the planetary carrier. This represents the maximum permissible deformation of the planetary carrier.

[0010] As a further aspect of the present invention, according to the formula Calculate the corrected load increment and use the formula Calculate the elements of the load transfer matrix A, only if The matrix elements can be calculated in time, if ,but The The method for obtaining the target gear j is as follows: The target gear j is obtained from the trigger signal-load data association table. The previous stable load and back Peak load within Calculate the original load increment .

[0011] As a further aspect of the present invention, according to the formula Calculate the source gear i for abnormal gears The abnormal contribution Cont(i), where, It is the total effective transmission ratio that the abnormal gear obtains from all source gears.

[0012] As a further aspect of the present invention, the specific steps for locating the source of the off-center load are as follows: Sort by row out-degree Out(i) in descending order and select the top three candidate source gears; Calculate Cont(i) of candidate gears, sort them in descending order of Cont(i) twice. If the Cont(i) of a candidate gear is the largest and Cont(i) > Contmax, it is determined to be the gear that is the source of the off-center load. Here, Contmax is the threshold for abnormal contribution. If there exists a gear whose Out(i) and Cont(i) are both the largest, then it is directly locked as the source; If Out(i) is the largest but Cont(i) is not the largest, then exclude that gear and select the gear with the second largest Out(i) but the largest Cont(i). Extract the load value at the meshing moment of the source gear. Actual value of transmission phase If satisfied and If the source determination is valid, then the source determination is verified. is a planetary gear rated load, is a transmission phase theoretical value, is a load overproof threshold ratio, is a phase deviation threshold.

[0013] As a further scheme of the present application, the specific operation of dividing the gear transmission of the time sequence chain into strength grades and marking the path is as follows: If , it is divided into a main transmission path and marked with a red solid line; if , it is divided into a secondary transmission path and marked with an orange dashed line; if , it is divided into an invalid path and no marking is performed, wherein, is a main transmission strength threshold, is a secondary transmission strength threshold; Starting from the source gear , the path is combed along the valid transmission elements: The target gear is combed first, and then the target gear of is combed starting from , and the above operation is continued to obtain the last target gear , forming the main path of ; The target gear is combed first, and then the target gear of is combed starting from , and the above operation is continued to obtain the last target gear , forming the secondary path of .

[0014] The present application provides a planetary reducer gear detection system, which has the following advantages compared with the prior art: (1) The present application ensures the accurate binding of the gear meshing moment and the corresponding load and phase data by equipping each collection module with a high-precision clock and uniform time stamping, solving the problems of sensor adaptation difficulty and multi-module data time sequence misalignment in the prior art; (2) The present application improves the load transmission analysis accuracy by constructing a load transmission matrix and introducing environmental temperature and planetary carrier deformation double-factor correction to eliminate the interference of temperature expansion and structural deformation on transmission ratio; (3) The present application solves the problem of only positioning the load position without source tracing and path grading by determining the load source in two dimensions of row-out degree and abnormal contribution degree and combining the time sequence chain to comb the transmission path and mark it according to the strength. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The system principle block of the present application. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0017] As Figure 1 The present application provides a planetary reducer gear detection system, comprising: A data acquisition module is arranged at the shaft end of each planetary gear to install a torque sensor to acquire the instantaneous load value of each gear in real time; Since the planetary reducer internally comprises a central gear, a plurality of planetary gears, a planet carrier and an outer gear ring, the components are dense and the gap is narrow, therefore, a miniature flange type torque sensor can be selected to adapt to the narrow installation space of the shaft end of the planetary gear; A piece of Hall induction sheet is pasted at the tooth top of the central gear, and a Hall sensor is installed at the corresponding position of the reducer shell, the Hall sensor will trigger M times of signals due to the passing of the induction sheet every time the central gear rotates one circle, wherein M is the number of planetary gears, and each trigger signal corresponds to the meshing starting time of one planetary gear and the central gear; In the planetary gear system, the M planetary gears are evenly distributed along the circumference of the central gear, and the meshing with the central gear is periodically and alternately performed, and each planetary gear will complete meshing with the central gear in turn every time the central gear rotates one circle, by combining the Hall induction sheet and the Hall sensor, and using the distribution angle characteristics of the planetary gear, the starting time of each meshing can be accurately marked: When the central gear rotates, the Hall induction sheet at the tooth top rotates with the gear, and an electric signal will be triggered due to the change of the magnetic field every time the Hall sensor passes; Since the M planetary gears are evenly distributed, each time the induction sheet triggers a signal, it corresponds to the start of meshing of the next planetary gear with the central gear; A high-precision clock module is respectively arranged for the torque sensor, the Hall sensor and the transmission phase vector acquisition module, the acquisition frequencies of all modules are uniformly set, and a microsecond level time stamp is added to each acquisition data; A trigger signal-load data correlation table is established, the trigger time of the Hall sensor is bound with the torque sensor data of the same time stamp, and the load at the meshing time of the gear is clearly marked; The load transfer, meshing triggering, and phase change of a planetary gear system are synchronous dynamic processes at the millisecond or even microsecond level. If the clocks of different modules are not synchronized, the timestamp of the meshing event will be misaligned with the timestamp of the corresponding load data. For example, the Hall sensor marks the start of gear 1 engagement at t=1000μs, but the torque sensor records the load increment starting at t=1050μs. At this time, it is impossible to determine whether the load increment is due to effective transmission caused by gear 1 engagement or other interference. The validity of the obtained real-time payload data is verified, and the specific steps are as follows: Set the effective payload range as [ , Real-time load data exceeding this range is marked as outliers. The rated load of the planetary reducer is determined based on the equipment model. , This is the effective load range factor. ; If the load data at current time t Compared with the previous data collection time ( ) data satisfy ,but Values ​​marked as suspicious, among which, The data acquisition interval is determined by the acquisition frequency. This is the threshold coefficient for fluctuations between adjacent data. ; Different repair methods are used for outliers and suspicious values. The specific steps are as follows: If time t is an outlier Then, linear interpolation of adjacent time-time data is used for completion, and the specific formula is as follows: ,in, , These are the valid data at adjacent times before and after t; The load transmission of planetary gears is driven by meshing motion, and the load change is continuous. Most outliers are isolated jumps caused by instantaneous interference from sensors. The effective data before and after these jumps can reflect the true load trend, and linear interpolation can approximate the true value to the greatest extent. If time t is a suspicious value Then, a moving average filter is used, taking ( )to( The average of (2k+1) sets of data is used as the repaired data, and the specific formula is as follows: , where k is the half width of the moving average window, which is a positive integer, typically 2; Suspicious values ​​are mostly instantaneous spikes, which are essentially local disturbances rather than overall trend anomalies. If suspicious values ​​are directly removed, the true load fluctuation trend will be lost; if suspicious values ​​are retained, it will lead to deviations in the subsequent load transfer matrix calculation. Therefore, by using multi-time data weighting through moving average, local spikes can be smoothed out while preserving the overall trend.

[0018] The matrix construction module constructs an M×M load transfer matrix A with the planetary gear numbers as rows and columns; Here, row index i represents the load transmission source gear, indicating the planetary gear that actively transmits the load, numbered 1-M, and is associated with the meshing time of this gear. , The Hall sensor markings ensure that each row corresponds to a specific source gear engagement event; Column index j represents the target gear for load transfer, indicating the planetary gear receiving the load, numbered 1-M, and the load change of the target gear must occur within [ , Inside, among which, The load transfer delay threshold is set to 0.01s by default and is determined by the gear meshing transmission speed to avoid interference from irrelevant loads across time periods. The physical meaning of matrix element A(i,j) is: the source gear i in The load generated by meshing at any given moment is proportional to the load transferred to the target gear j. If j is in [ , If there is no load increment within the range, then A(i,j)=0; Extract basic data from the trigger signal-load data association table, specifically including: Source gear i in Payload value at time , This is torque sensor data that has been verified for validity. Target gear j in The preceding stable load and back Peak load within Calculate the original load increment ; Formation source gear i-meshing moment -Target gear j-Load increment The binding table ensures that each matrix element corresponds one-to-one with a specific engagement event; Based on the thermal expansion characteristics of gear materials, according to the formula Calculate the ambient temperature correction factor ,in, For real-time ambient temperature, For standard reference temperature, This is the temperature influence coefficient, determined by the coefficient of thermal expansion of the gear material. The larger the coefficient of thermal expansion, the more significant the effect of temperature on the meshing clearance. The larger; The greater the deviation between the real-time ambient temperature and the standard reference temperature, and the more sensitive the material is to temperature, the stronger the interference of temperature on load transfer efficiency. The closer to 0, the more... At that time, A value of 1 indicates no temperature interference and no correction is needed. Based on the relationship between planetary carrier deformation and load transfer efficiency, according to the formula... Calculate the planetary carrier deformation correction factor ,in, This is the deformation influence coefficient, determined by the stiffness of the planetary carrier material. The smaller the stiffness, the more significant the effect of deformation on meshing misalignment. The larger; This represents the real-time deformation of the planetary carrier. The maximum allowable deformation of the planetary carrier is determined by the equipment design manual; When deformation This indicates that the deformation of the planetary carrier is within the normal range. In this case, the greater the deformation and the lower the stiffness of the planetary carrier, the stronger the interference of meshing misalignment on transmission efficiency. The smaller; When deformation This indicates that the deformation of the planetary carrier exceeds the safety threshold. At this point, the deformation has caused severe gear misalignment, resulting in a significant decrease in transmission efficiency. To avoid data distortion due to excessive correction; According to the formula Calculate the corrected load increment; According to the formula Calculate the matrix elements only if The matrix elements are calculated according to the above formula. ,but This indicates that no effective payload was transmitted.

[0019] The off-center load tracing module effectively filters loads based on the load transfer matrix A. The specific operation steps are as follows: Set effective transmission threshold If matrix element A(i,j) < If A(i,j)≥ 0, it is considered invalid transmitted noise and is set to 0. If the value is not specified, it will be retained as a valid transfer element and will not be changed. The value of this element is determined according to the equipment design manual and can generally be taken as 1% of the equipment's rated load transfer ratio. Calculate the out-degree of the filtered rows, Out(i): For the filtered matrix, calculate the sum of the elements in each row. Out(i) represents the total sum of the effective transmission ratio of source gear i to all target gears, avoiding invalid noise interference in out-degree calculation; According to the gear health state judgment result, the planetary gear number with abnormal health state is determined, and the column corresponding to the abnormal gear in the matrix is marked , and the subsequent source tracing needs to focus on The row containing the effective transmission, i.e. the source gear that may transmit the partial load to the abnormal gear; For example, a planetary reducer M=4, the corrected load transmission matrix (before screening) , and the device rated transmission ratio is 0.2, then , after screening A(1,4)=0.001, A(2,4)=0.0005 are set to 0, and at the same time, according to the gear health state judgment result, it is known that gear 4 is abnormal ( ), the effective elements of column 4 are focused on, and only A(3,4)=0.15, after screening, the row out-degree is: Out(1)=0.18, Out(2)=0.12, Out(3)=0.2, Out(4)=0, to avoid noise leading to Out(1), Out(2) being too high; According to the row out-degree and abnormal contribution degree, the partial load source is determined, and the specific operation steps are as follows: Calculate the effective transmission ratio of source gear i to abnormal gear , which is the proportion of the total effective transmission ratio of the abnormal gear from all source gears, i.e. the abnormal contribution degree Cont(i), the specific formula is , wherein, is the total effective transmission ratio of the abnormal gear from all source gears, and the larger Cont(i) is, the greater the contribution of source gear i to the partial load of the abnormal gear is; Sort the row out-degree Out(i) in descending order, and select the top three candidate source gears; The larger the row out-degree is, the wider the load transmission range of the gear is, and the stronger the transmission capacity is. From the probability point of view, the gear with wide transmission range is more likely to be the partial load source, because the partial load needs to be transmitted and diffused through multiple gears, and the gear with narrow transmission range is difficult to become the source; If only the top one is selected, it may be misjudged because the out-degree is the largest but irrelevant to the abnormality, and if the top five are selected, it loses the significance of narrowing the range, and the subsequent Cont(i) calculation efficiency is low; Calculate the Cont(i) of the candidate gear, and sort it in descending order according to Cont(i), if the Cont(i) of a candidate gear is the largest and Cont(i)>Contmax, then it is determined as the partial load source gear, wherein Contmax is the abnormal contribution degree threshold, which needs to be set according to the actual situation; The out-degree only reflects the wide transmission range, but cannot determine whether the transmission is related to the abnormal gear, while the abnormal contribution degree can accurately screen the gears related to the transmission range and abnormality, therefore, the secondary sorting should focus on the candidate gear corresponding to the maximum abnormal contribution degree; If Cont(i)≤Contmax for all candidate gears, it means that the load of the abnormal gear is contributed by multiple gears, and there is no clear dominant source. In this case, the source is not forced to be determined to avoid misjudgment for determining the source. If Cont(i)>Contmax, it means that the gear is the main contributor of the abnormal contribution, which meets the physical logic of the source gear driving the partial load; If there is a gear with the maximum Out(i) and Cont(i), it is directly locked as the source; Since the gear meets the breadth of partial load transmission and the strength of abnormal contribution at the same time, it fully meets the physical definition of partial load source, and does not need to be verified again. It can be directly locked to avoid efficiency decline caused by over-analysis; If Out(i) is the maximum but Cont(i) is not the maximum, the gear is excluded, and the gear with the second largest Out(i) but the largest Cont(i) is selected; The maximum Out(i) only means that the gear has a wide transmission range, but the small Cont(i) means that its transmission load hardly affects the abnormal gear. This transmission is usually normal transmission load, not partial load driving load. If it is forced to be the source, it will lead to a complete deviation of the maintenance direction; The gear with the second largest Out(i) but the largest Cont(i) has a slightly narrower transmission range, but it has the strongest contribution to the abnormal gear, and is the direct driver of the partial load transmission; Extract the meshing time load value of the source gear and the actual value of the transmission phase If and are met, the source determination is verified to be valid; Wherein, is the rated load of the planetary gear; is the theoretical value of the transmission phase; is the load tolerance threshold, which is determined by the load tolerance level of the equipment: the heavy load equipment has strong tolerance ability, can be increased, the high-precision equipment has weak tolerance ability, can be reduced; is the phase deviation threshold, which is determined by the gear meshing accuracy level: high-precision meshing requires small, low-precision meshing allows large; Based on the trigger signal-load data correlation table, the meshing time of the source gear and all target gears is extracted, sorted by time, and a time sequence chain is formed ,in, For the moment of initial engagement, This refers to the moment when the first target gear engages after receiving the transmission. Source Gear It must first mesh with the central gear or external gear ring to obtain the power to transmit loads outward; For example, the source gear 3 needs to mesh with the center gear first ( After the tooth surface contacts generate torque, the load can be transmitted to the adjacent target gear 2. If the meshing time of target gear 2 is μs), μs< If the force on gear 2 cannot come from gear 3, then gear 3 is not yet engaged and has no transmission capacity. This reverse timing transmission path must be eliminated through the timing chain. When the source gear When transmitting loads, different target gears may experience transmission delays in milliseconds or microseconds due to differences in meshing distance and gear module with the source. If the loads are not sorted by time, the gear that receives the load later may be mistakenly regarded as the gear that receives the load earlier, leading to confusion in the transmission path logic. Define the transfer strength level and mark the path according to the load transfer matrix A; The specific steps for defining the transmission strength level are as follows: like If it is, then it is designated as the main transmission path and marked with a solid red line; if If so, it is divided into secondary transmission paths and marked with orange dashed lines; if If the path is invalid, it will be classified as an invalid path and will not be marked. The primary transmission strength threshold is determined by the equipment's rated transmission ratio. The transmission strength threshold is determined by the invalid transmission criterion. The specific steps for path marking are as follows: From the source gears Starting from here, trace the path along the valid transmission elements: Prioritize sorting target gear , and then from Start by sorting out its target gear Continue performing the above operations to obtain the last target gear. ,form The main path; sorting out target gear , and then from Start by sorting out its target gear Continue performing the above operations to obtain the last target gear. , forming secondary paths of the primary path; When performing the later inspection and maintenance, the gears of the primary path are processed preferentially to improve the maintenance efficiency.

[0020] Some data in the above formula are dimensionless for numerical calculation, and the contents not described in detail in the specification all belong to the prior art known by those skilled in the art.

[0021] The above examples are only used to illustrate the technical method of the present application and are not limiting. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical method of the present application.

Claims

1. A planetary gear reducer gear detection system, characterized in that, include: The data acquisition module installs a torque sensor at the shaft end of each planetary gear to collect the instantaneous load value of each gear in real time. A Hall sensor is attached to the tooth tip of the central gear, and a Hall sensor is installed at the corresponding position on the reducer housing. A high-precision clock is provided for the torque sensor, Hall sensor, and transmission phase vector acquisition module, and the acquisition frequency is unified to construct a trigger signal-load data association table. The matrix construction module constructs an M×M load transfer matrix A with the planetary gear numbers as rows and columns. Based on the thermal expansion characteristics of the gear material, the deformation of the planetary carrier, and the load transfer efficiency, it calculates the ambient temperature correction coefficient and the planetary carrier deformation correction coefficient, respectively. The elements in the load transfer matrix A are corrected according to the correction coefficients, where M is the number of planetary gears. The off-center load tracing module filters the effective transmission elements in the load transmission matrix A and calculates the outgoing degree. Combined with the abnormal contribution, it locates the off-center load source. Based on the meshing time of the source gear and all target gears, it sorts them in chronological order to form a time sequence chain. The gear transmission in the time sequence chain is classified into strength levels and the path is marked.

2. The planetary reducer gear detection system according to claim 1, characterized in that, The trigger signal-load data association table binds the trigger time of the Hall sensor with the torque sensor data at the same timestamp, and explicitly marks the load at the moment of gear meshing.

3. The planetary reducer gear detection system according to claim 1, characterized in that, Set the effective payload range as [ , Real-time load data exceeding this range will be marked as outliers. If the load data at current time t... Compared with the previous data collection time ( ) data satisfy ,but Values ​​marked as suspicious, among which, This is the rated load of the planetary gear reducer. , This is the effective load range factor. For data collection interval, This is the threshold coefficient for fluctuations between adjacent data.

4. The planetary reducer gear detection system according to claim 3, characterized in that, If time t is an outlier Then, linear interpolation of adjacent time-time data is used for completion, and the specific formula is as follows: ,in, , These are the valid data at adjacent times before and after t; If time t is a suspicious value Then, a moving average filter is used, taking ( )to( The average of (2k+1) sets of data is used as the repaired data, and the specific formula is as follows: , where k is the half-width of the moving average window and is a positive integer.

5. The planetary reducer gear detection system according to claim 1, characterized in that, Based on the thermal expansion characteristics of gear materials, according to the formula Calculate the ambient temperature correction factor ,in, For real-time ambient temperature, For standard reference temperature, This is the temperature influence coefficient.

6. The planetary reducer gear detection system according to claim 1, characterized in that, Based on the relationship between planetary carrier deformation and load transfer efficiency, according to the formula... Calculate the planetary carrier deformation correction factor ,in, The deformation influence coefficient is... This represents the real-time deformation of the planetary carrier. This represents the maximum permissible deformation of the planetary carrier.

7. The planetary reducer gear detection system according to claim 1, characterized in that, According to the formula Calculate the corrected load increment, and use the formula Calculate the elements of the load transfer matrix A, only if The matrix elements can be calculated at any time. ,but The The method for obtaining the target gear j is as follows: The target gear j is obtained from the trigger signal-load data association table. The preceding stable load and back Peak load within Calculate the original load increment .

8. A planetary reducer gear detection system according to claim 1, characterized in that, According to the formula Calculate the source gear i for abnormal gears The abnormal contribution Cont(i), where, It is the total effective transmission ratio that the abnormal gear obtains from all source gears.

9. A planetary gear reducer gear detection system according to claim 1, characterized in that, The specific steps to locate the source of the off-center load are as follows: Sort by row out-degree Out(i) in descending order and select the top three candidate source gears; Calculate Cont(i) of candidate gears, sort them in descending order of Cont(i) twice. If the Cont(i) of a candidate gear is the largest and Cont(i) > Contmax, it is determined to be the gear that is the source of the off-center load. Here, Contmax is the threshold for abnormal contribution. If there exists a gear whose Out(i) and Cont(i) are both the largest, then it is directly locked as the source; If Out(i) is the largest but Cont(i) is not the largest, then exclude that gear and select the gear with the second largest Out(i) but the largest Cont(i). Extract the load value at the meshing moment of the source gear. Actual value of transmission phase If satisfied and If the source determination is valid, then the source determination is verified. For the rated load of the planetary gears, This is the theoretical value of the transmission phase. The percentage of loads exceeding the tolerance threshold. This is the phase deviation threshold.

10. A planetary reducer gear detection system according to claim 1, characterized in that, The specific operations for classifying the strength levels and marking the paths of gear transmissions in a timing chain are as follows: like If it is, then it is designated as the main transmission path and marked with a solid red line; if If so, it is divided into secondary transmission paths and marked with orange dashed lines; if If the path is invalid, it will be classified as an invalid path and will not be marked. Main transmission strength threshold The threshold for secondary transmission strength; From the source gears Starting from here, trace the path along the valid transmission elements: Prioritize sorting target gear , and then from Start by sorting out its target gear Continue performing the above operations to obtain the last target gear. ,form The main path; sorting out target gear , and then from Start by sorting out its target gear Continue performing the above operations to obtain the last target gear. ,form The secondary path.

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