Torque motor testing device

Abstract

The utility model provides a torque motor testing device, and belongs to the technical field of motor testing, the torque motor testing device specifically comprises an optical platform, and a to-be-tested motor, a torque sensor and a test accompanying motor which are arranged above the optical platform and connected in sequence, the to-be-tested motor is connected with the torque sensor through a coupling, and the test accompanying motor is connected with the torque sensor through a coupling. The to-be-tested motor and the test accompanying motor are fixed on the optical platform through the supporting frame, the supporting frame is provided with a central hole, an output shaft of the to-be-tested motor and an output shaft of the test accompanying motor penetrate through the central hole and are connected with the coupler, and the torque sensor is fixed on the optical platform through the fixing seat. Through the processing scheme of the application, the comprehensive performance test of the torque motor can be completed, experimental data support is provided for the driving control of the mechanical arm joint, the installation is simple, the maintenance is convenient, and the versatility and expandability are good.

Description

Technical Field

[0001] The present application relates to the technical field of motor testing, and in particular to a torque motor testing device. Background Art

[0002] With the rapid development of science and technology and the improvement of automation, robotic arms are increasingly used in industrial scenarios, which can replace humans to complete some repetitive and high-risk and difficult tasks, creating a lot of profits for enterprises. A robotic arm is generally composed of a base, joints, housing, arm tube, etc. Among them, the torque motor is the key power source of the robotic arm. The performance of the torque motor directly affects the use status of the robotic arm. Therefore, the torque motor needs to be tested for its comprehensive performance before installation, so it is of practical significance to build a set of motor testing equipment. Utility Model Content

[0003] In view of this, an embodiment of the present application provides a torque motor testing device that meets the testing requirements for various performances of the torque motor.

[0004] An embodiment of the present application provides a torque motor testing device, comprising an optical platform and a motor to be tested, a torque sensor and a companion motor which are arranged above the optical platform and connected in sequence, the motor to be tested and the torque sensor as well as the companion motor to be tested and the torque sensor are connected via a coupling, the motor to be tested and the companion motor to be tested are both fixed to the optical platform via a support frame, the support frame is provided with a center hole, the output shaft of the motor to be tested and the output shaft of the companion motor to be tested both pass through the center hole and are connected to the coupling, and the torque sensor is fixed to the optical platform via a fixing seat.

[0005] According to a specific implementation of the embodiment of the present application, four legs are provided at the bottom of the optical platform, and each of the legs is connected to the ground via a foot cup.

[0006] According to a specific implementation of the embodiment of the present application, the foot cup is provided with a rubber pad for buffering and vibration absorption and a nut for leveling.

[0007] According to a specific implementation method of the embodiment of the present application, a crossbeam perpendicular to the legs is provided between two adjacent legs, and casters are provided on the crossbeam.

[0008] According to a specific implementation of the embodiment of the present application, the coupling is configured as a double-diaphragm coupling.

[0009] According to a specific implementation method of the embodiment of the present application, the coaxiality of the center hole of the support frame for fixing the motor to be tested and the support frame for fixing the companion motor to be tested is measured by a tooling measuring rod, and a dial indicator head is installed on the axis of the tooling measuring rod.

[0010] According to a specific implementation of an embodiment of the present application, the torque sensor has a range of 1000 N.m and an accuracy of 0.01.

[0011] According to a specific implementation of the embodiment of the present application, the encoder resolution inside the motor to be tested is 19 bits.

[0012] According to a specific implementation manner of the embodiment of the present application, the optical platform and the support frame are fixedly connected by screws.

[0013] Beneficial Effects

[0014] The torque motor test device in the embodiment of the present application is connected to the torque sensor, the motor to be tested, the accompanying test motor, etc. through two couplings respectively. It is simple and convenient to install, easy to maintain, and has good versatility and scalability. Since the accompanying test motor and the torque sensor have a large range, the test bench can meet the measurement of various types of torque motors; at the same time, the combination of the accompanying test motor and the torque sensor can reflect the torque change of the motor to be tested in real time, and can complete the test of the torque motor for electrical performance parameters, transmission accuracy, forward and reverse starting torque, no-load test, loading test and other items, so as to obtain the static performance, dynamic performance and other parameters of the torque motor, which can improve the convenience and efficiency of the torque motor performance test. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of a torque motor testing device according to an embodiment of the utility model;

[0017] Figure 2 Schematic diagram of coaxiality test of a torque motor testing device according to an embodiment of the utility model.

[0018] In the figure: 1. Optical platform; 2. Motor to be tested; 3. Left support frame; 4. Left coupling; 5. Torque sensor; 6. Support; 7. Right coupling; 8. Right support frame; 9. Motor to be tested; 10. Tool measuring rod. DETAILED DESCRIPTION

[0019] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0020] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0021] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0022] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0023] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0024] The present application provides a torque motor testing device. Figure 1 and Figure 2 Describe in detail.

[0025] In one embodiment, the torque motor testing device includes an optical platform and a motor to be tested 2, a torque sensor 5 and a companion motor 9 which are arranged above the optical platform and connected in sequence, the motor to be tested 2 and the torque sensor 5 as well as the companion motor 9 and the torque sensor 5 are connected via a coupling, the motor to be tested 2 and the companion motor 9 are fixed to the optical platform via a support frame, the support frame is provided with a center hole, the output shaft of the motor to be tested 2 and the output shaft of the companion motor 9 are both connected to the coupling through the center hole, and the torque sensor 5 is fixed to the optical platform via a fixing seat.

[0026] In this embodiment, considering that the torque motor in the robot joint is an important power source and is crucial to completing the robot-related actions, it is particularly important to understand the control characteristics and output characteristics of the torque motor. Therefore, a test device is designed in this embodiment to complete the test calibration of the torque motor. The test device of this embodiment can test the electrical performance parameters, reverse starting torque, no-load characteristics, loading characteristics and other items of the motor, providing experimental data support for the drive control of the robot arm joint.

[0027] Specifically, the coupling connected to the motor 2 to be tested is the left coupling 4, the coupling connected to the accompanying motor 9 to be tested is the right coupling 7, the support frame for fixing the motor 2 to be tested is the left support frame 3, and the support frame for fixing the accompanying motor 9 to be tested is the right support frame 8, and the left support frame 3 and the right support frame 8 are fixed on the optical platform 1 by screws. The torque motor test device mainly includes a loading part, a sensing detection part and a part to be tested. The output shaft of the motor 2 to be tested is connected to the left coupling 4, which is the part that needs to be tested and calibrated, that is, the part to be tested; the torque sensor 5 is installed on the support 6, and the shaft extension ends of the torque sensor 5 are respectively connected to the right coupling 7 and the left coupling 4 to form a sensor detection part; the accompanying motor 9 to be tested is installed on the right support frame 8, and the output shaft of the accompanying motor 9 to be tested is connected to the right coupling 7 to form a load loading part.

[0028] In one embodiment, four legs are provided at the bottom of the optical platform 1, and each of the legs is connected to the ground via a foot cup.

[0029] In specific implementation, the dimensions of the optical platform 1 are: 1200mm×800mm×800mm, the flatness is 0.05mm, the whole is welded and formed, stable and reliable, wherein the four legs are connected to the ground through foot cups, the foot cups are provided with rubber pads for buffering and vibration absorption and nuts for leveling, the rubber pads can buffer and absorb vibration, and the nuts on the foot cups can level the optical platform 1 by forward / reverse rotation.

[0030] In one embodiment, in order to facilitate the movement of the testing device, a crossbeam perpendicular to the legs is provided between two adjacent legs, and casters are provided on the crossbeam. Specifically, four casters are provided to drive the optical platform 1 to move on the ground.

[0031] In one embodiment, the coaxiality of the center hole of the support frame for fixing the motor to be tested 2 and the center hole of the support frame for fixing the accompanying motor 9 is measured by a tooling measuring rod 10, and a dial indicator head is installed on the axis of the tooling measuring rod 10.

[0032] During the specific implementation, the optical platform 1 is screwed to the left support frame 3, the optical platform 1 is screwed to the right support frame 8, and the tooling measuring rod 10 is connected to the right support frame 8. The dial indicator head is pressed on the slender axis of the tooling measuring rod 10, and the tooling measuring rod 10 is rotated to record the change in the reading of the dial indicator; the tooling measuring rod 10 is reversed and connected to the left support frame 3, and the same operation is performed again to record the change in the reading of the dial indicator. By comparing the changes in the readings of the dial indicator twice, the coaxiality of the center holes of the left support frame 3 and the right support frame 8 can be obtained.

[0033] The optical platform 1 is fixedly connected to the support 6, the left support frame 3, and the right support frame 8. The accompanying motor 9 is connected to the end surface of the right support frame 8. The output shaft of the accompanying motor 9 is connected to the right coupling 7. The right coupling 7 is connected to the right end of the torque sensor 5. The torque sensor 5 is installed on the support 6. The left end of the torque sensor 5 is connected to the left coupling 4. The left coupling 4 is connected to the motor 2 to be tested. The motor 2 to be tested is installed on the left support frame 3. After the above installation steps are completed, the axial parts of the system are manually rotated, and the coaxiality of the left coupling 4 and the right coupling 7 is measured by a dial indicator and is less than 0.04mm.

[0034] The left coupling 4 and the right coupling 7 are both double-diaphragm couplings, which can compensate for the radial and angular deviations between the two shafts and meet the installation requirements of the torque sensor 5. When the motor test system is running slowly, the torque sensor 5 is installed at no load or very small load. The normal torque signal is a horizontal line. If the torque signal looks like an obvious sine wave, the installation needs to be rechecked. This is because the connection shaft is misaligned or mechanical strain is caused by the tension.

[0035] According to the test project requirements, the load of the motor 2 to be tested can be provided by controlling the current of the accompanying motor 9, the torque value is measured by the torque sensor 5, and the speed of the motor 2 to be tested is measured by the internal encoder, so that the mechanical characteristic curve of the motor 2 to be tested can be obtained.

[0036] In one embodiment, the coupling is configured as a double-diaphragm coupling, which can compensate for radial and angular deviations between shafts and meet the installation requirements of the torque sensor 5 .

[0037] In one embodiment, the torque sensor 5 has a measuring range of 1000 N.m and an accuracy of 0.01, which can meet the requirements of various torque motor tests.

[0038] In one embodiment, the encoder resolution inside the motor 2 to be tested is 19 bits, the precision is high enough, the rotation speed measurement is accurate, and the real-time performance is good.

[0039] The test device provided by the utility model can complete the comprehensive performance test of the torque motor, such as electrical performance parameters, transmission accuracy, no-load test, reverse starting torque, loading test, and other test items, so as to obtain the static performance, dynamic performance and other parameters of the torque motor, and provide experimental data support for the drive control of the mechanical arm joint;

[0040] The test device is easy to install, maintain, and has good versatility and scalability. Since the accompanying motor and torque sensor have a large measuring range, the test device can meet the measurement of various types of torque motors.

[0041] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A torque motor testing device, characterized in that: The invention comprises an optical platform (1), and a motor to be tested (2), a torque sensor (5) and a companion motor to be tested (9) which are arranged on the optical platform (1) and connected in sequence. The motor to be tested (2) and the torque sensor (5) as well as the companion motor to be tested (9) and the torque sensor (5) are connected via a coupling. The motor to be tested (2) and the companion motor to be tested (9) are fixed to the optical platform (1) via a support frame, the support frame is provided with a center hole, the output shaft of the motor to be tested (2) and the output shaft of the companion motor to be tested (9) pass through the center hole and are connected to the coupling, and the torque sensor (5) is fixed to the optical platform (1) via a support (6); the coaxiality of the center hole of the support frame for fixing the motor to be tested (2) and the center hole of the support frame for fixing the companion motor to be tested (9) is measured by a tool measuring rod (10), and a dial indicator head is installed on the shaft of the tool measuring rod (10).

2. The torque motor testing device according to claim 1, characterized in that: The bottom of the optical platform (1) is provided with four legs, and each of the legs is connected to the ground via a foot cup.

3. The torque motor testing device according to claim 2, characterized in that: The foot cup is provided with a rubber pad for buffering and absorbing vibration and a nut for leveling.

4. The torque motor testing device according to claim 2, characterized in that: A crossbeam perpendicular to the legs is arranged between two adjacent legs, and casters are arranged on the crossbeam.

5. The torque motor testing device according to claim 1, characterized in that: The coupling is configured as a double-diaphragm coupling.

6. The torque motor testing device according to claim 1, characterized in that: The torque sensor (5) has a measuring range of 1000 N.m and an accuracy of 0.

01.

7. The torque motor testing device according to claim 1, characterized in that: The encoder resolution inside the motor (2) to be tested is 19 bits.

8. The torque motor testing device according to claim 1, characterized in that: The optical platform (1) is fixedly connected to the support frame via screws.

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