Abstract: The friction and wear test for the pair between polyurethane with different hardness and Q235 steel was carried out by using a self-made double disks friction and wear testing machine. The effect of load, rotational speed and hardness of polyurethane on the friction coefficient of polyurethane was discussed. The influence of load and hardness of polyurethane on the wear rate of polyurethane was studied. The results show that load had an obvious effect on the friction coefficient of polyurethane, the friction coefficient decreases with the increase of load. The effect of rotational speed on the friction coefficient was not obvious and there was not any regularity. The friction coefficient increased with the increase of hardness of polyurethane, but the variation amplitude was very small. The wear rate decreased with the increase of hardness of polyurethane and increased with the increase of load.