Backlash testing device for a cycloidal speed reducer

Abstract

The present disclosure provides a backlash testing device for a cycloid speed reducer, comprising a base, a product tool, a fixing part, a fixing seat assembly and a testing mechanism, the product tool is arranged on the base and is configured to fix the body of the cycloid speed reducer; the fixing part is rotatably and liftable arranged on the product tool and is configured to fix the output shaft of the cycloid speed reducer; the fixing seat assembly is arranged on the product tool and is connected with the fixing part and is configured to clamp the fixing part; the testing mechanism is arranged on the base and is configured to connect the input shaft of the cycloid speed reducer and detect the backlash.

Description

Technical Field

[0001] This disclosure relates to the field of speed reducer testing, and more particularly to a backlash testing device for cycloidal speed reducers. Background Technology

[0002] Cycloidal reducers, designed based on the planetary transmission principle, possess numerous advantages such as large transmission ratio, smooth operation, and low noise. Among these advantages, backlash is a key performance indicator for cycloidal reducers, directly reflecting their accuracy and response speed. Given that cycloidal reducer backlash is typically small, a high-precision and stable backlash testing device is essential to ensure the accuracy of measurement results.

[0003] In current cycloidal reducer backlash testing devices, the input shaft of the tested product is mostly locked using a rigid fixing method. Specifically, the mainstream fixing schemes are mainly divided into two categories: one is to use the fixing hole at the end of the input shaft to directly lock it with a pin or bolt; the other is to use a clamping structure such as an expansion sleeve to clamp and fix the outer circle of the input shaft. However, both of these fixing methods have certain limitations, namely, it is not convenient to flexibly adjust the relative position and angle between the input shaft and the fixing component, making it difficult for the input shaft to achieve a tight fit with the fixing component, thereby reducing the reliability of the fixing. Utility Model Content

[0004] This disclosure provides a backlash testing device for cycloidal reducers. According to one aspect of this disclosure, a backlash testing device for a cycloidal reducer is provided, characterized in that it comprises: a base; a product fixture disposed on the base and configured to fix the cycloidal reducer body; a fixing member rotatably and vertically disposed on the product fixture and configured to fix the output shaft of the cycloidal reducer; a fixing seat assembly disposed on the product fixture and connected to the fixing member, configured to fix the fixing member; and a testing mechanism disposed on the base and configured to connect to the input shaft of the cycloidal reducer and detect backlash.

[0005] According to one aspect of the technical solution of this disclosure, the device achieves flexible fixing of the output shaft through a rotatable and liftable fixing component, avoiding the installation stress or pre-tightening force caused by forced alignment in the traditional rigid fixing method, thereby ensuring that the backlash test results truly reflect the product accuracy; by directly connecting the input shaft to the testing mechanism and detecting the backlash, combined with the precise fixing of the output shaft, the problem of test distortion caused by installation stress in the prior art is solved, while meeting the requirements of high-precision measurement.

[0006] According to at least one embodiment of the cycloidal reducer backlash testing device of the present disclosure, the fixed base assembly includes a fixed part and a movable part, the fixed part is fixedly disposed on the product tooling, the movable part is slidably connected to the fixed part, and the fixing member is clamped and fixed between the movable part and the fixed part.

[0007] In the technical solution of this embodiment, the fixing base assembly forms an adjustable clamping structure with the fixing component through a slidingly connected movable part. By sliding adjustment, it can adapt to fixing components of different sizes, avoiding stress concentration caused by size deviation in traditional fixing methods. At the same time, the clamping and fixing ensures the stability of the fixing component.

[0008] According to at least one embodiment of the cycloidal reducer backlash testing device of the present disclosure, the fixing member includes a shaft segment, and both the fixing member and the movable member are provided with arcuate grooves adapted to the shaft segment, and the shaft segment is clamped and fixed between the groove walls of the two arcuate grooves.

[0009] In the technical solution of this embodiment, the fitting design of the arc groove and the shaft segment increases the fixing area and reduces local stress through surface contact. The arc-shaped structure naturally fits the outer contour of the shaft segment, improving the fixing reliability, while facilitating the rotation of the fixing component to adjust the angle.

[0010] According to at least one embodiment of the cycloidal reducer backlash testing device of the present disclosure, the movable part and the fixed part are connected by locking bolts, and there are at least two locking bolts symmetrically arranged on both sides of the arc groove.

[0011] In the technical solution of this embodiment, the symmetrically arranged locking bolts can ensure that the clamping force is evenly distributed, avoid the tilting of the moving parts, and prevent the fixing parts from being not firmly fixed due to uneven force. At the same time, the connection method of the locking bolts facilitates quick clamping and loosening of the fixing parts, improving operation efficiency.

[0012] According to at least one embodiment of the cycloidal reducer backlash testing device, the product fixture includes a base plate and a fixture, the fixture being used to fix the cycloidal reducer body, the base plate and the fixture being respectively provided with a positioning shaft and a positioning hole, and being detachably connected through the positioning shaft and the positioning hole.

[0013] In the technical solution of this embodiment, the tooling and the base plate can be detachably connected by positioning shafts and positioning holes, so that the product tooling can be adapted to the fixing requirements of different cycloidal reducer bodies by replacing the tooling, thereby improving the applicability of the device.

[0014] The backlash testing device for a cycloidal reducer according to at least one embodiment of the present disclosure further includes a shim disposed between the base or product fixture and the bottom of the fixing member, for supporting the fixing member and adjusting the height of the fixing member.

[0015] In the technical solution of this embodiment, the setting of the shim can realize the height fine adjustment of the fixing part, adapt to the output shaft of the cycloidal reducer with different height specifications, avoid the installation difficulties or measurement deviations caused by height mismatch, and improve the versatility and installation adaptability of the device.

[0016] According to at least one embodiment of the cycloidal reducer backlash testing device of the present disclosure, the top of the fixing member is provided with a wedge-shaped surface or a conical surface for tightly fitting and circumferentially locking with the output shaft of the cycloidal reducer.

[0017] In the technical solution of this embodiment, the wedge-shaped or conical surface achieves a tight fit between the output shaft and the fixing component through shape matching. The self-locking characteristics of the wedge and conical structures prevent the output shaft from rotating circumferentially, and can completely lock the input shaft without fixing holes, ensuring the accuracy of measurement, avoiding measurement errors caused by slippage in traditional fixing methods, and improving the reliability of fixing.

[0018] According to at least one embodiment of the cycloidal reducer backlash testing apparatus, the testing mechanism includes: a drive assembly comprising a linear drive mechanism and a force sensor disposed on the base, the linear drive mechanism being connected to the input shaft of the cycloidal reducer via the force sensor, the force sensor being configured to detect the force applied by the linear drive mechanism to the fixing member; and a sensor assembly disposed on the base and configured to detect the displacement of the fixing member under the applied force.

[0019] In the technical solution of this embodiment, the drive component applies a controllable force value through a linear drive mechanism, and achieves accurate detection of the force value by combining a force value sensor. The sensor component detects the displacement and feeds it back to the host computer, which then converts it into angular displacement to measure the backlash size.

[0020] According to at least one embodiment of the cycloidal reducer backlash testing device of the present disclosure, the drive assembly further includes: a slide rail fixedly disposed on the base; a slider slidably disposed on the slide rail and connected to the force sensor via a floating joint; and a push rod, one end of which is rotatably connected to the slider and the other end of which is fixedly connected to the input shaft of the cycloidal reducer, for converting the angular displacement of the input shaft into the linear displacement of the slider to amplify the backlash measurement value.

[0021] In the technical solution of this embodiment, the push rod converts the angular displacement of the input shaft into linear displacement, amplifies the backlash measurement value by utilizing the lever principle, and achieves accurate detection of minute angular displacement by combining the sliding cooperation of the slide rail and the slider. This avoids the detection difficulties caused by the small displacement in traditional measurement methods and improves the measurement sensitivity and accuracy.

[0022] According to at least one embodiment of the cycloidal reducer backlash testing device of the present disclosure, the sensor assembly includes: an origin marker plate fixedly connected to the slider; an origin position sensor fixedly disposed on the base and configured to detect the position of the origin marker plate; and a distance sensor fixedly disposed on the base and configured to detect the linear displacement of the connection end between the push rod and the slider.

[0023] In the technical solution of this embodiment, the origin marker plate and the origin position sensor work together to realize the reference positioning for displacement measurement, ensuring that the starting position of each measurement is consistent; the distance sensor directly detects the linear displacement of the push rod connection end and feeds the linear displacement back to the host computer, so that the host computer can convert it into the angular displacement of the input shaft to realize back clearance measurement. At the same time, combined with the origin positioning function, the accuracy and repeatability of displacement measurement are improved. Attached Figure Description

[0024] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0025] Figure 1 This is a schematic diagram of the backlash testing device for a cycloidal reducer according to one embodiment of the present disclosure.

[0026] Figure 2 This is a front perspective view of a backlash testing apparatus for a cycloidal reducer according to one embodiment of the present disclosure.

[0027] Figure 3 This is a rear perspective view of a backlash testing apparatus for a cycloidal reducer according to one embodiment of the present disclosure.

[0028] Figure 4 This is a top view of a backlash testing apparatus for a cycloidal reducer according to one embodiment of the present disclosure.

[0029] Figure 5 This is a structural schematic diagram of a fastener and mounting base assembly according to one embodiment of the present disclosure.

[0030] The specific labels in the attached figures are as follows: 100 bases 200 Product Tooling 210 base plate 211 Positioning Axis 220 tooling 221 Positioning Hole 300 fastener 310 shaft segment 320 conical surface 400 Mounting Assembly 410 Fixed components 420 Moving parts 430 locking bolt 500 testing organizations 510 Linear Drive Mechanism 520 Force Sensor 530 Floating Joint 540 slide rail 550 slider 551 Pin 560 putter 570 Origin Marker Board 580 Origin Position Sensor 590 Distance Sensor 600 gasket Detailed Implementation The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0031] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0033] Because of the large transmission ratio of the cycloidal reducer, even a small angular displacement of the input shaft can lead to a large change in the circumferential position of the output end. When installing the product under test, the operator needs to ensure precise alignment of multiple aspects, including fixing the reducer housing to the tooling, aligning the input shaft with the locking mechanism, and connecting the output end to the measuring push rod.

[0034] To achieve the above-mentioned objectives, this embodiment provides a backlash testing device for cycloidal reducers, comprising: a base 100, a product tooling 200, a fixing component 300, a fixing seat assembly 400, and a testing mechanism 500.

[0035] The base 100 serves as the mounting carrier for product tooling and testing mechanisms.

[0036] Product fixture 200 is mounted on base 100 and configured to fix the cycloidal reducer body. Product fixture 200 includes base plate 210 and fixture 220. Fixture 220 is used to fix the cycloidal reducer body and can be an existing fixture adapted to the shape of the cycloidal reducer. Fixture 220 has multiple positioning holes 221, and base plate 210 includes multiple positioning shafts 211. Fixture 220 is fixed by inserting the positioning shafts 211 into the positioning holes 221. When replacing fixture 220, it can be removed from the positioning shafts 211 for replacement. In this way, product fixture 200 can be adapted to the fixing requirements of different cycloidal reducer bodies by replacing fixture 220, which can improve the applicability of the device.

[0037] A fixing component 300 is rotatably and vertically mounted on the product fixture 200, configured to fix the output shaft of the cycloidal reducer. The fixing component 300 includes a shaft section 310. The top of the fixing component 300 has a conical surface 320 or a wedge-shaped surface (not shown). The wedge-shaped surface or conical surface 320 can be a convex or concave surface adapted to the output shaft, used to tightly fit and circumferentially lock the corresponding concave portion of the cycloidal reducer's output shaft. The wedge-shaped surface or conical surface 320 at the top of the fixing component 300 presses against the output shaft. The wedge-shaped surface or conical surface 320 generates a self-locking effect when clamped, completely locking the input shaft of the tested product without a fixing hole, achieving circumferential anti-rotation. This eliminates the need for an additional locking mechanism, simplifying the structure for fixing the output shaft.

[0038] A fixed base assembly 400 is disposed on the product fixture 200 and connected to the fixing member 300. It is configured to fix the fixing member 300 after its height and angle have been adjusted according to the output shaft. In one embodiment of the fixed base assembly 400, the fixed base assembly 400 includes a fixed component 410 and a movable component 420. The fixed component 410 is fixedly disposed on the product fixture 200, and its position relative to the product fixture 200 is fixed. The movable component 420 is slidably connected to the fixed component 410, and its relative position with the fixed component 410 in the horizontal direction can be adjusted to facilitate precise alignment with the output shaft of the cycloidal reducer. The fixing member 300 is clamped and fixed between the movable component 420 and the fixed component 410. This clamping and fixing method replaces the traditional rigid locking, avoiding repeated adjustments and tapping operations by the operator due to positional deviations. Furthermore, both the fixed component 410 and the movable component 420 are provided with arcuate grooves adapted to the shaft segment 310, and the shaft segment 310 is clamped and fixed between the groove walls of the two arcuate grooves. The shape of the arcuate grooves matches the shaft segment 310 of the fixed component 300, applying uniform radial pressure to the shaft segment 310 through the two groove walls during clamping, ensuring a symmetrical distribution of clamping force, preventing the output shaft from slipping or deviating during testing, and enhancing the reliability of the fixation; at the same time, it avoids measurement errors caused by local stress concentration, ensuring the stability of the backlash test. For example, the movable component 420 and the fixed component 410 are connected by locking bolts 430, with at least two locking bolts 430 symmetrically arranged on both sides of the arcuate grooves. The symmetrically distributed multiple locking bolts 430 provide a balanced clamping force during clamping, ensuring that the movable component 420 and the fixed component 410 remain parallel and aligned after adjustment, avoiding structural deformation caused by single-point force; at the same time, it effectively prevents component deviation during the clamping process. It is understood that the aforementioned fixing component 410 is fixedly installed on the base 100. The fixing component 410 can be directly fixed to the base 100, or the fixing component 410 can be fixedly connected to the base plate 210. The figure shows the fixing component 410 being fixedly connected to the base plate 210 by bolts as an example.

[0039] A testing mechanism 500 is mounted on a base 100 and configured to connect to the input shaft of a cycloidal reducer and detect backlash. In one embodiment of the testing mechanism 500, the testing mechanism 500 includes a drive assembly and a sensor assembly. The drive assembly includes a linear drive mechanism 510 and a force sensor 520 mounted on the base 100. The linear drive mechanism 510 can be an electric cylinder, and its push rod 560 is connected to the input shaft of the cycloidal reducer via the force sensor 520, which is configured to detect the force applied by the linear drive mechanism 510. The sensor assembly is mounted on the base 100 and configured to detect the displacement of the input shaft of the cycloidal reducer. The drive assembly applies a controllable force to the input shaft via the linear drive mechanism 510, and the force sensor 520 provides real-time feedback of the force value to ensure that the testing process meets specifications. The sensor assembly directly monitors the input shaft displacement, avoiding the cumulative error of indirect measurements. This testing mechanism 500 achieves simultaneous and accurate measurement of force and displacement, improving the accuracy of backlash calculation. Furthermore, the drive assembly also includes: a slide rail 540, a slider 550, and a push rod 560. The slide rail 540 is fixedly mounted on the base 100, and the slider 550 is slidably mounted on the slide rail 540 and connected to the force sensor 520 via a floating joint 530. One end of the push rod 560 is rotatably connected to the slider 550, such as by fitting the push rod 560 onto the pin 551 on the slider 550 through a sleeve hole to achieve a hinge connection with the slider 550. The other end of the push rod 560 is fixedly connected to the input shaft of the cycloidal reducer, used to convert the angular displacement of the input shaft into the linear displacement of the slider 550, thereby amplifying the backlash measurement value. Specifically, the push rod 560 converts the small angular displacement of the input shaft into a larger linear displacement of the slider 550, improving measurement accuracy through displacement amplification; the floating joint 530 absorbs installation deviations and avoids the transmission of additional stress to the input shaft. The components of the above-mentioned drive assembly work together to facilitate the capture of minute displacement changes by a high-precision sensor, improving the sensitivity of backlash detection. Simultaneously, the measurement of linear displacement reduces the measurement difficulty and enhances the accuracy of the test, making it suitable for backlash measurement of high-ratio cycloidal reducers. In one embodiment of the above sensor assembly, the sensor assembly includes: an origin marker plate 570, an origin position sensor 580, and a distance sensor 590. The origin marker plate 570 is fixedly connected to the slider 550; the origin position sensor 580 is fixedly mounted on the base 100, such as on one side of the slide rail 540, and is configured to detect the position of the origin marker plate 570. The distance sensor 590 is fixedly mounted on the base 100, such as on the other side of the slide rail 540, and is configured to detect the linear displacement at the connection end between the push rod 560 and the slider 550. The origin position sensor 580 determines the initial zero position through the origin marker plate 570, and the distance sensor 590 monitors the displacement change at the connection end of the push rod 560 in real time; the two work together to measure the displacement.

[0040] When the backlash testing device of the above technical solution is working, the cycloidal reducer body is fixed on the product fixture 200, and its output shaft is fixed by the fixing component 300, which is in turn fixed on the base 100 by the fixing seat assembly 400. During testing, a rated torque in both directions is applied to the output shaft, and the testing mechanism 500 measures the minute angular displacement (including the conversion of linear displacement to angular displacement) generated by the output shaft, thereby achieving backlash measurement. The rotatable and height-adjustable design of the fixing component 300 allows for adjustment of the vertical height and horizontal angle when fixing the cycloidal reducer output shaft to accommodate the height and angle of the output shaft, avoiding the inconvenience of alignment operation caused by rigid locking in existing technologies.

[0041] To facilitate easier adjustment of the height of the fixing component 300 and improve its stability after height adjustment, the backlash testing device for cycloidal reducers also includes shims 600. Shims 600 are positioned between the product fixture 200 and the bottom of the fixing component 300 to support the fixing component 300 and adjust its height. The number and thickness of the shims 600 can be set as needed. By increasing or decreasing the thickness of the shims 600, the fixing component 300 can be fine-tuned in the vertical direction, accommodating height differences in the output shafts of different cycloidal reducer models. This improves the versatility of the testing device while ensuring stability when the output shaft is fixed.

[0042] Many cycloidal reducers lack a fixed hole on their input shaft, rendering locking methods relying on shaft end holes completely ineffective. Traditional expansion sleeves or chucks are poorly adaptable to the dimensions of different product models, requiring numerous specialized fixtures, which increases operating costs and changeover time.

[0043] The testing steps for the backlash testing device for the cycloidal reducer in this embodiment are as follows: Step 1: Select the tooling 220 that is compatible with the cycloidal reducer to be tested, align the positioning hole 221 of the tooling 220 with the positioning pin on the base 100 and insert it, and attach and lock the base plate 210 of the product tooling 200 to the base 100. Step 2: Install the fastener 300 into the mounting bracket assembly 400; Step 3: Align the input shaft of the cycloidal reducer to be tested with the top of the fixture 300, and fix the cycloidal reducer to be tested on the tooling 220; Step 4: Rotate the fixing part 300 to check whether there is a gap between the input shaft of the cycloidal reducer under test and the fixing part 300. If there is a gap, remove the cycloidal reducer under test and add a suitable adjusting shim 600 to the bottom of the fixing part 300. Repeat Step 3 until the input shaft of the cycloidal reducer under test is found to be tightly fitted with the fixing part 300. Step 5: Fit the sleeve hole of the push rod into the pin 551 of the slider 550, align the other side stop of the push rod 560 with the output disc of the cycloidal reducer to be tested, rotate the fixing part 300 until the push rod 560 is installed in the appropriate position with the output shaft of the cycloidal reducer to be tested, and fix the push rod 560 and the output disc of the cycloidal reducer to be tested firmly. Step 6: Tighten the locking bolt 430 at the opening of the fixing seat assembly 400 to tighten the opening of the fixing seat assembly 400 and lock the fixing part 300. Step 7: Conduct a back gap test.

[0044] For example, the backlash test includes the following steps: Before the test begins, the origin position sensor 580 detects the position of the origin marker plate 570 fixedly connected to the slider 550 to determine the measurement zero point, and the distance sensor 590 simultaneously records the initial position data to establish a displacement measurement reference. Next, the linear drive mechanism 510 applies a preset positive force to the input shaft, and the force sensor 520 monitors the applied force value in real time to ensure it does not exceed a set threshold. Subsequently, as the force is applied, the input shaft begins to rotate, and the push rod 560 converts the small angular displacement of the input shaft into the linear displacement of the slider 550. The distance sensor 590 continuously monitors the displacement change at the connection end between the push rod 560 and the slider 550, recording the displacement A when the preset force value is reached. Next, the linear drive mechanism 510 applies a reverse force, causing the input shaft to rotate in the opposite direction, and similarly records the displacement B when the same force value is reached. Finally, the backlash is calculated: the backlash value is equal to the difference between the positive displacement A and the reverse displacement B. Because the push rod 560 mechanism converts the angular displacement of the input shaft into an amplified linear displacement, minute backlash changes are significantly amplified, making it easier for the high-precision range sensor 590 to capture them.

[0045] Understandably, the data collected by the force sensor 520 and the distance sensor 590 can then be transmitted to the host computer control unit to calculate the backlash value according to a preset algorithm. The system automatically determines whether the measurement results are within the allowable range and generates a test report. After the test is completed, the operator loosens the locking bolt 430 of the fixed base assembly 400, opens the push rod 560, removes the cycloidal reducer, and completes one test cycle.

[0046] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0047] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A backlash testing device for a cycloidal reducer, characterized in that, include: Base; Product tooling, which is set on the base and configured to fix the cycloidal reducer body; A fixing component, rotatably and vertically mounted on the product tooling, is configured to fix the output shaft of the cycloidal reducer; A fixing base assembly is disposed on the product tooling and connected to the fixing member, configured to fix the fixing member; as well as A testing mechanism is disposed on the base and configured to connect to the input shaft of the cycloidal reducer and detect backlash.

2. The backlash testing device for cycloidal reducers according to claim 1, characterized in that, The fixed base assembly includes a fixed component and a movable component. The fixed component is fixedly disposed on the product tooling. The movable component is slidably connected to the fixed component. The fixing component is clamped and fixed between the movable component and the fixed component.

3. The backlash testing device for cycloidal reducers according to claim 2, characterized in that, The fixing component includes a shaft segment, and both the fixing component and the movable component are provided with arcuate grooves adapted to the shaft segment. The shaft segment is clamped and fixed between the groove walls of the two arcuate grooves.

4. The backlash testing device for cycloidal reducers according to claim 3, characterized in that, The movable part and the fixed part are connected by locking bolts, and there are at least two locking bolts symmetrically arranged on both sides of the arc groove.

5. The backlash testing device for cycloidal reducers according to claim 1, characterized in that, The product fixture includes a base plate and a fixture. The fixture is used to fix the cycloidal reducer body. The base plate and the fixture are respectively provided with a positioning shaft and a positioning hole, and are detachably connected through the positioning shaft and the positioning hole.

6. The backlash testing device for cycloidal reducers according to claim 1, characterized in that, It also includes a gasket, which is disposed between the base or product tooling and the bottom of the fastener, for supporting the fastener and adjusting the height of the fastener.

7. The backlash testing device for a cycloidal reducer according to claim 1, characterized in that, The top of the fastener is provided with a wedge-shaped surface or a conical surface for tightly fitting and circumferentially locking with the output shaft of the cycloidal reducer.

8. The backlash testing device for cycloidal reducers according to claim 1, characterized in that, The testing facility includes: A drive assembly, comprising a linear drive mechanism and a force sensor disposed on the base, the linear drive mechanism being connected to the input shaft of the cycloidal reducer via the force sensor, the force sensor being configured to detect the force applied by the linear drive mechanism to the fixed member; and A sensor assembly disposed on the base and configured to detect the displacement of the fixing member under an applied force.

9. The backlash testing device for a cycloidal reducer according to claim 8, characterized in that, The driving component also includes: A slide rail, which is fixedly mounted on the base; A slider, slidably mounted on the slide rail and connected to the force sensor via a floating joint; and A push rod, one end of which is rotatably connected to the slider and the other end of which is fixedly connected to the input shaft of the cycloidal reducer, is used to convert the angular displacement of the input shaft into the linear displacement of the slider in order to amplify the backlash measurement value.

10. The backlash testing device for a cycloidal reducer according to claim 9, characterized in that, The sensor assembly includes: The origin marker plate is fixedly connected to the slider. An origin position sensor, fixedly mounted on the base, is configured to detect the position of the origin marker plate; and A ranging sensor is fixedly mounted on the base and configured to detect the linear displacement of the connection end between the push rod and the slider.

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