A test device and method for forward loading and reverse torque combination of a UAV rudder motor

Abstract

The application discloses a kind of unmanned aerial vehicle rudder machine positive loading and reverse torque combination test device and method, for unmanned aerial vehicle electric rudder machine positive loading and reverse torque combination test problem, through locking block, planetary gear reduction mechanism and hand lever mechanism linkage design, while compatible electric rudder machine performance positive and negative two kinds of function test, make up the reverse torque test market no mature product application blank, ensure that electric rudder machine in power failure and other extreme conditions, through hand lever mechanism still keep " follow " characteristic, while meeting the demand of electric rudder machine at any bias angle arbitrary attached load condition implementation sweep, the structure form of planetary gear reduction mechanism + hand lever mechanism combination device is used for torsion bar torque check in the present application, and electric rudder machine reverse torque test field, easy to operate, accurate and reliable.

Description

Technical Field

[0001] This invention relates to the field of electric servo motor testing technology, specifically to a device and method for testing the combination of forward loading and reverse torque of a UAV servo motor. Background Technology

[0002] In torque testing of UAV electric servo motors, torsion bars and magnetic powder clutches are typically used as simulated loads to mimic the wind load conversion torque experienced by the servo motor when driving the control wings during actual use. During testing, the output shaft of the servo motor is often fixed to the torsion bar via an adapter shaft. The torsion bar is a long, rectangular rod-shaped component made of high-strength alloy spring steel. The simulated load on the servo motor can be obtained by measuring the torsional stiffness and rotation angle of the torsion bar. The torsion bar needs to be calibrated before testing, and the torque magnitude cannot be captured in real time during use. Angle indication typically uses pointers or encoders, which are not universally applicable.

[0003] Currently, UAV servos are required to maintain their "following" characteristics even under extreme conditions such as power outages. In addition to the existing forward loading test of the electric servo, it is also necessary to test the reverse torque of the electric servo to ensure that the maximum static load of the reverse drive of the electric servo is less than the "following" torque threshold of the electric servo under wind load conversion torque.

[0004] On the other hand, during load testing, the simulated load torque direction is always opposite to the motor's rotation direction. However, in actual operation, the wind load conversion torque direction may be the same as or opposite to the motor's rotation direction. Therefore, the testing phase cannot fully cover the performance of motors operating in both directions. Summary of the Invention

[0005] The purpose of this invention is to provide a method for calculating the current gear position, so as to overcome the problem that the existing technology cannot fully cover the performance of electric servos in the same and opposite directions during the testing phase.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A test device for combined forward loading and reverse torque of a UAV servo motor includes a mounting bracket. One side of the mounting bracket is connected to the electric servo motor under test, and the other side of the mounting bracket is sequentially connected to a torsion bar, an angle encoder, a first coupling, a second coupling, a torque sensor, a third coupling, a planetary gear reduction mechanism, a locking block, and a hand crank mechanism. The mounting bracket is fixed on a fixed platform, the angle encoder is fixed on the fixed platform through the first bracket, and the torque sensor is fixed on the fixed platform through the second bracket.

[0008] Preferably, the torsion bar is provided with a first movable adapter shaft and a second movable adapter shaft at both ends. The first movable adapter shaft is connected to the mounting bracket, and the second movable adapter shaft is connected to the first coupling.

[0009] Preferably, both the first movable adapter shaft and the second movable adapter shaft are stepped shafts.

[0010] Preferably, the planetary gear reduction mechanism includes a first planetary carrier, a planetary gear, a second planetary carrier, and an output center gear connected in sequence. The first planetary carrier is connected to a third coupling, and the output center gear is connected to a locking block.

[0011] Preferably, the planetary gear is a spur gear with stepped shafts at both ends.

[0012] Preferably, the output center wheel is a spur gear with a stepped shaft at one end, and the stepped shaft has a flat slot on one end face, and an M3 through hole is provided radially on the outer circle of the stepped shaft.

[0013] Preferably, both the first planetary support and the second planetary support are disk structures.

[0014] Preferably, the locking block is a rectangular block in the shape of a door with two side lugs. Each lug has a threaded hole at the top and bottom and a light hole in the middle. The two side lugs are symmetrically distributed.

[0015] Preferably, the main body of the hand crank mechanism is a disc-shaped rotating wheel, with a circular shaft on one side of the rotating wheel. The end of the circular shaft is flat and symmetrical.

[0016] A test method for combined forward loading and reverse torque of UAV servo motors, including three test modes:

[0017] The first type is the conventional positive loading test mode, which connects all couplings, locks the blocks in the locked state, and reads the angle and torque values ​​through the angle encoder and torque sensor.

[0018] The second method is the reverse torque test mode. Connect all couplings, loosen the locking block, rotate the hand crank mechanism, and when the angle encoder starts to display the value, the maximum value of the torque sensor during the change process is the maximum static load of the reverse drive.

[0019] The third mode is the same-direction load loading mode, which connects all couplings, loosens the locking block, and rotates the hand crank mechanism in the same direction as the electric servo motor, so that the torque sensor value is kept within the range of 0 to the rated torque, and the performance of the electric servo motor under the current working condition is obtained.

[0020] Compared with existing technologies, the present invention has the following advantages: The present invention provides a test device for the combined forward loading and reverse torque of UAV servo motors. Addressing the problem of combined forward loading and reverse torque testing of UAV electric servo motors, it utilizes a linkage design of a locking block, a planetary gear reduction mechanism, and a hand crank mechanism. This design simultaneously supports testing of both forward and reverse functions of the electric servo motor, filling the application gap in the market for reverse torque testing where no mature products exist. It ensures that the electric servo motor maintains its "following" characteristic even under extreme conditions such as power failure, thanks to the hand crank mechanism. Simultaneously, it meets the requirement for frequency sweeping of the electric servo motor under arbitrary offset angles and additional loads. The present invention applies the structure of the planetary gear reduction mechanism + hand crank mechanism combination device to the fields of torsion bar torque verification and electric servo motor reverse torque testing, offering simple operation and high precision and reliability.

[0021] This invention also provides a method for testing the combined forward loading and reverse torque of a UAV servo motor. By adjusting the locking block and hand crank mechanism, three test modes are provided, realizing the combined testing of forward loading and reverse torque, thus improving test efficiency. Attached Figure Description

[0022] Figure 1 This is a front view of the testing device of the present invention;

[0023] Figure 2 This is a front view and cross-sectional view of the testing device of the present invention;

[0024] Figure 3 This is a top view of the testing device of the present invention;

[0025] Figure 4 This is a left sectional view of the planetary gear reduction mechanism of the present invention;

[0026] Figure 5 This is a front view of the planetary gear reduction mechanism of the present invention;

[0027] In the diagram, 1-Electric servo motor under test; 2-Mounting bracket; 3-Fixed platform; 4-First bracket; 5-Second bracket; 6-Planetary gear reduction mechanism; 7-Hand crank mechanism; 8-Locking block; 9-Second coupling; 10-First coupling; 11-Angle encoder; 12-Second movable adapter shaft; 13-Torsion bar; 14-First movable adapter shaft; 15-Mounting flange; 16-Torque sensor; 17-First rectangular cavity; 18-Second rectangular cavity; 19-First planetary support; 20-Second planetary support; 21-Planetary gear; 22-Output center gear; 23-Third coupling. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0034] The present invention will now be described in further detail with reference to the accompanying drawings:

[0035] like Figure 1As shown, the present invention provides a test device for combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform by a second bracket 5.

[0036] The fixed platform is a rectangular thick plate composed of regularly spaced "convex" grooves on its end face.

[0037] Mounting bracket 2 is an "L"-shaped bracket with stiffeners on both sides. A 10mm deep rectangular groove is opened at the upper part of the center of the long side of the "L". A circular through hole is set in the center of the rectangular groove, and four threaded mounting holes are distributed around the circular hole.

[0038] Mounting bracket 2 is provided with mounting flange 15, which is a rectangular block with a central circular through hole, four stepped holes around the circular hole, and one light hole at each of the four far corners.

[0039] Torsion bar 13 can be selected as a rectangular long rod with a cross-section of 10mm × 10mm.

[0040] The first support 4 is a vertical plate that is wider at the bottom and narrower at the top. The base at the bottom is a rectangular block, and the upper part is cylindrical with a circular through hole in the center.

[0041] The second support 5 is assembled from several rectangular plates, forming a closed cavity. Stepped circular through holes are provided at the upper center of the left and right side upright plates of the cavity, and a stepped notch is provided in the middle of the front and rear upright plates. Above the notch is a rectangular flat plate, and waist-shaped weight-reducing holes are provided around the flat plate.

[0042] The first coupling 10 is used in pairs. One coupling is a stepped shaft with a circular through hole in the center. At the end with the smaller outer diameter, the outer circle is flattened along the axial direction. A rectangular keyway is set at each of the upper and lower symmetrical positions on the inner circle, running through the entire coupling. A 20mm wide slotted boss extends from the center of the end face on the side with the larger circle. The other coupling is also a stepped shaft with a circular through hole in the center. A 20mm wide slotted boss is cut off at the center of the end face on the side with the larger circle. A rectangular keyway is cut on the outer circle along the axial direction at the end with the smaller outer diameter.

[0043] The second coupling 9 and the third coupling 23 are long cylinders with a central through hole, and a through keyway is cut axially on one side of the central hole.

[0044] Another embodiment of the present invention provides a test device for the combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform by a second bracket 5.

[0045] The torsion bar 13 is provided with a first movable adapter shaft 14 and a second movable adapter shaft 12 at both ends. The first movable adapter shaft 14 is connected to the mounting bracket 2, and the second movable adapter shaft 12 is connected to the first coupling 10.

[0046] Another embodiment of the present invention provides a test device for the combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform by a second bracket 5.

[0047] The torsion bar 13 is provided with a first movable adapter shaft 14 and a second movable adapter shaft 12 at both ends. The first movable adapter shaft 14 is connected to the mounting bracket 2, and the second movable adapter shaft 12 is connected to the first coupling 10. Both the first movable adapter shaft 14 and the second movable adapter shaft 12 are stepped shafts.

[0048] The first movable adapter shaft 14 is a stepped shaft with a concave blind groove at one end and a V-shaped blind groove at the other end.

[0049] The second active adapter shaft 12 is a stepped shaft with a "V"-shaped blind groove at one end and a circular long shaft at the other end. A rectangular keyway is set at each of the symmetrical positions on the upper and lower outer circles of the long shaft end.

[0050] Another embodiment of the present invention provides a test device for the combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform by a second bracket 5.

[0051] The planetary gear reduction mechanism 6 includes a first planetary support 19, a planetary gear 21, a second planetary support 20, and an output center gear 22 connected in sequence. The first planetary support 19 is connected to a third coupling 23, and the output center gear 22 is connected to a locking block 8.

[0052] The planetary gear reduction mechanism 6 is composed of two rectangular cavities. The center of the first rectangular cavity 17 is a stepped circular through hole. On the end face of the side with the smaller center hole, there is a stepped circular hole at each of the four apex corners. With the center circular hole as the center, 10 circular light holes are set on the pitch circle with a diameter of 64mm. Four threaded holes are set near the circular light holes on the left and right sides.

[0053] The second rectangular cavity 18 has a stepped circular through hole at its center. The cavity contains an internal gear, and each vertex of the end face near the internal gear is provided with a threaded hole and two stepped circular holes.

[0054] The planetary gear reduction mechanism 6 internally consists of a first planetary support 19, a second planetary support 20, three planetary gears 21, and an output center gear 22. The first planetary support 19 is a disc structure with a flat cylindrical shaft extending from the center of one end. The other end has two countersunk holes at its center, and three stepped through holes are evenly distributed on its outer side. Three trapezoidal columns are evenly distributed on the outer side, staggered from the stepped through holes, each trapezoidal column having a stepped through hole at its center. The second planetary support 20 is also a disc structure with a circular through hole at its center. Three fan-shaped columns are evenly distributed on one end face adjacent to the circular through hole, and three stepped through holes are evenly distributed on its outer side.

[0055] Another embodiment of the present invention provides a test device for the combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform 3 by a second bracket 5.

[0056] The planetary gear reduction mechanism includes a first planetary support 19, a planetary gear 21, a second planetary support 20, and an output center gear 22 connected in sequence. The first planetary support 19 is connected to a third coupling 23, and the output center gear 22 is connected to a locking block 8. The planetary gear 21 is a spur gear with stepped shafts at both ends.

[0057] Another embodiment of the present invention provides a test device for the combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform 3 by a second bracket 5.

[0058] The planetary gear reduction mechanism 6 includes a first planetary support 19, a planetary gear 21, a second planetary support 20, and an output center gear 22 connected in sequence. The first planetary support 19 is connected to a third coupling 23, and the output center gear 22 is connected to a locking block 8. The output center gear 22 is a spur gear with a stepped shaft at one end. One end face of the stepped shaft has a flat slot, and the outer circle of the stepped shaft has an M3 through hole in the radial direction.

[0059] Another embodiment of the present invention provides a test device for the combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform 3 by a second bracket 5.

[0060] The planetary gear reduction mechanism 6 includes a first planetary support 19, a planetary gear 21, a second planetary support 20, and an output center gear 22 connected in sequence. The first planetary support 19 is connected to a third coupling 23, and the output center gear 22 is connected to a locking block 8. Both the first planetary support 19 and the second planetary support 20 are disc structures.

[0061] Another embodiment of the present invention provides a test device for the combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform 3 by a second bracket 5.

[0062] Among them, the locking block 8 is a rectangular block with two side lugs. Each lug has a threaded hole at the top and bottom and a smooth hole in the middle. The two side lugs are symmetrically distributed. A stepped through hole is provided at the center of the upper end face of the locking block 8.

[0063] Another embodiment of the present invention provides a test device for the combined forward loading and reverse torque of a UAV servo motor, including a mounting bracket 2. One side of the mounting bracket 2 is connected to the servo motor 1 under test, and the other side of the mounting bracket 2 is sequentially connected to a torsion bar 13, an angle encoder 11, a first coupling 10, a second coupling 9, a torque sensor 16, a third coupling 23, a planetary gear reduction mechanism 6, a locking block 8, and a hand crank mechanism 7. The mounting bracket 2 is fixed on a fixed platform 3, the angle encoder 11 is fixed on the fixed platform 3 by a first bracket 4, and the torque sensor 16 is fixed on the fixed platform 3 by a second bracket 5.

[0064] Among them, the main body of the hand crank mechanism 7 is a disc-shaped rotating wheel, and a round shaft is provided on one side of the rotating wheel. The end of the round shaft is flat and symmetrical.

[0065] The main body of the hand crank mechanism 7 is a disc-shaped rotating wheel. One side of the rotating wheel is a 30mm diameter round shaft. The end of the round shaft is also provided with a round shaft with symmetrical flat sections. Three flat sections at 90° to each other are cut along the axial direction on the end face of the 30mm diameter round shaft. An M6 threaded blind hole is provided radially in the middle flat section.

[0066] Installation method:

[0067] The electric servo motor 1 under test is fixed to the mounting flange 15, and then fixed to the mounting bracket 2 by screwing. At the same time, the output shaft of the electric servo motor is inserted into the concave blind groove of the first movable adapter shaft 14. One end of the torsion bar 13 is inserted into the V-shaped blind groove on one side of the first movable adapter shaft 14, and the other end is inserted into the V-shaped blind groove of the second movable adapter shaft 12. The long cylindrical shaft on the other side of the second movable adapter shaft 12 passes through the angle encoder 11, the first bracket 4, and the first coupling 10 in sequence. Then, the angle encoder 11 is screwed and fixed to the first bracket 4. The torque sensor is fixed to the second bracket 5. The two rotating shafts of the torque sensor are connected to the first coupling 10 and the planetary gear reduction mechanism 6 respectively through the second coupling 9 and the third coupling 23. The hand crank mechanism 7 is inserted into the flat hole groove of the planetary gear reduction mechanism 6. Finally, the locking block 8 is fastened to the three flat surfaces of the hand crank mechanism 7 at 90° intervals, and the two are fixed together by M8 screws.

[0068] This invention also provides a method for testing the combination of forward loading and reverse torque on a UAV servo motor.

[0069] This technology enables efficient, omnidirectional loading testing of UAV servo motors. By optimizing the spatial layout, the tested electric servo motors are easy to install and remove. The mounting flange 15 can be replaced to accommodate different servo motor mounting interfaces. The length of the torsion bar 13 can be adjusted according to the load size via the sliding groove of the mounting platform 3. The angle encoder 11 is installed in the middle and rear section of the torsion bar 13. The actual rotation angle can be obtained through coefficient compensation calculation. The traditional installation position is at the output shaft end of the electric servo motor, which has poor versatility and is time-consuming and labor-intensive to install and remove.

[0070] The locking block 8 is located above the hand crank mechanism 7 and is fixed with screws to switch between locked and relaxed states, corresponding to both forward loading and reverse hand crank loading modes. The planetary gear reduction mechanism 6 is located at the front end of the hand crank mechanism 7, which helps to reduce the effort required.

[0071] The combined testing device of this invention has three operating modes:

[0072] The first test mode is the standard forward loading test mode. In this mode, all couplings must be connected and locking block 8 must be in the locked state. Angle and torque values ​​can be read through the angle encoder 11 and the torque sensor. If real-time torque reading is not required, the coupling between the angle encoder 11 and the torque sensor can be fixed to the sensor bracket by screwing.

[0073] Simultaneously, the torque of the torsion bar 13 can be periodically checked to ensure the accuracy of the applied load. The second mode is the reverse torque test mode. All couplings are connected, the locking block is in a loose state, and the hand crank mechanism 7 is slowly rotated. When the angle encoder 11 starts to display a value, the maximum value observed during the torque sensor change process is the maximum static load of the reverse drive. The third mode is the same-direction load loading mode. In this mode, all couplings are connected, the locking block is in a loose state, and the hand crank mechanism 7 is rotated in the same direction as the electric servo motor, so that the torque sensor value is kept within the range of 0 to the rated torque. The performance of the electric servo motor under this working condition can be measured. In addition, the electric servo motor can also be subjected to frequency sweep under a fixed angle. For example, if it is necessary to perform a frequency sweep with an amplitude of ±1° on the electric servo motor with an additional 10Nm load at a 30° offset, the electric servo motor can be powered on and rotated to 30° first. The torque can be increased to 10Nm by the hand crank, and then the locking block can be locked to start the frequency sweep of the electric servo motor. This invention can effectively fill the application gap in the current market for electric servo motor reverse torque testing devices, which lack mature products. It is also compatible with forward loading testing and meets the need for frequency sweeping of electric servo motors under arbitrary offset angles and additional loads.

[0074] Although embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments and application fields described above. The specific embodiments described above are merely illustrative and instructive, and not restrictive. Those skilled in the art, guided by the specification, can make many other modifications without departing from the scope of the claims of the present invention, and all of these modifications are within the scope of protection of the present invention.

Claims

1. A method for testing the combination of forward loading and reverse torque on a UAV servo motor, characterized in that, Includes three testing modes: The first type is the conventional positive loading test mode, which connects all couplings, locks the block (8) in a locked state, and reads the angle and torque values ​​through the angle encoder (11) and torque sensor. The second type is the reverse torque test mode. Connect all couplings, loosen the locking block, rotate the hand crank mechanism (7), and when the angle encoder (11) starts to display the value, the maximum value of the torque sensor during the change process is the maximum static load of the reverse drive. The third mode is the same-direction load loading mode, which connects all couplings, relaxes the locking block, rotates the hand crank mechanism (7) in the same direction as the electric servo motor, keeps the torque sensor value within the range of 0 to rated torque, and obtains the electric servo motor performance under the current working condition. The above method is based on a test device for the combined forward loading and reverse torque of a UAV servo motor. The test device includes a mounting bracket (2). One side of the mounting bracket (2) is connected to the electric servo motor (1) under test. The other side of the mounting bracket (2) is connected in sequence to a torsion bar (13), an angle encoder (11), a first coupling (10), a second coupling (9), a torque sensor (16), a third coupling (23), a planetary gear reduction mechanism (6), a locking block (8), and a hand crank mechanism (7). The mounting bracket (2) is fixed on a fixed platform (3). The angle encoder (11) is fixed on the fixed platform (3) through the first bracket (4). The torque sensor (16) is fixed on the fixed platform (3) through the second bracket (5).

2. The method for testing the combination of forward loading and reverse torque of a UAV servo motor according to claim 1, characterized in that, The torsion bar (13) is provided with a first movable adapter shaft (14) and a second movable adapter shaft (12) at both ends. The first movable adapter shaft (14) is connected to the mounting bracket (2), and the second movable adapter shaft (12) is connected to the first coupling (10).

3. The method for testing the combination of forward loading and reverse torque of a UAV servo motor according to claim 2, characterized in that, Both the first movable adapter shaft (14) and the second movable adapter shaft (12) are stepped shafts.

4. The method for testing the combination of forward loading and reverse torque of a UAV servo motor according to claim 1, characterized in that, The planetary gear reduction mechanism (6) includes a first planetary support (19), a planetary gear (21), a second planetary support (20) and an output center gear (22) connected in sequence. The first planetary support (19) is connected to a third coupling (23), and the output center gear (22) is connected to a locking block (8).

5. The method for testing the combination of forward loading and reverse torque of a UAV servo motor according to claim 4, characterized in that, The planetary gear (21) is a spur gear with stepped shafts at both ends.

6. The method for testing the combination of forward loading and reverse torque of a UAV servo motor according to claim 4, characterized in that, The output center wheel is a spur gear with a stepped shaft at one end. The stepped shaft has a flat slot on one end face and an M3 through hole in the radial direction of the outer circle of the stepped shaft.

7. The method for testing the combination of forward loading and reverse torque of a UAV servo motor according to claim 4, characterized in that, Both the first planetary support (19) and the second planetary support (20) are disk structures.

8. According to claim 1, the method for testing the combination of forward loading and reverse torque of a UAV servo motor is a locking block (8) in the shape of a door with two side lugs. Each lug has a threaded hole at the top and bottom and a light hole in the middle. The two side lugs are symmetrically distributed.

9. The method for testing the combination of forward loading and reverse torque of a UAV servo motor according to claim 1, characterized in that, The main body of the hand crank mechanism (7) is a disc-shaped rotating wheel, with a round shaft on one side of the rotating wheel. The end of the round shaft is flat and symmetrical.

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