A kind of AC permanent magnet synchronous servo motor cogging torque test device and test method

Abstract

The invention discloses a cogging torque test device and a test method for an AC permanent magnet synchronous servo motor, which relate to the technical field of cogging torque testing, and comprise: a machine body, a load end, which is arranged at one end facing the output end after the motor is installed, the load end is connected to the motor output end and driven to rotate by the motor, and the load end dynamically adjusts the load weight after the motor rotates one circle according to the motor torque pulse data; a controllable resistance unit is arranged inside the load end, and the corresponding load weight when the motor rotates to different angles is adjusted by adjusting the resistance of the load end rotating to different angles, a calibration structure is arranged on one side of the controllable resistance unit in the direction of motor rotation, and the accuracy of resistance change is determined by calibrating the resistance change of the controllable resistance unit, and repeated measurement of the servo motor is achieved through multiple load change adjustments according to the adjustable dynamic load, and the weight of the load is continuously adjusted during the measurement process.

Description

Technical Field

[0001] The invention relates to the technical field of cogging torque testing, and in particular to a cogging torque testing device and a testing method for an AC permanent magnet synchronous servo motor. Background Art

[0002] Cogging torque has a significant effect on the output force of the servo motor's output shaft. Specifically:

[0003] Torque ripple: Cogging torque causes periodic fluctuations in the motor output torque, which can affect the smooth operation of the motor, especially at low speeds.

[0004] Positioning accuracy: Cogging torque affects the positioning accuracy of the motor, making it easier for the motor to stay or jitter in certain positions.

[0005] Vibration and noise: Due to the existence of cogging torque, the motor will generate additional vibration and noise during operation, which not only affects the performance of the motor but may also have an adverse effect on the surrounding environment.

[0006] Output power: Fluctuations in the cogging torque will cause instability in the motor output power, thus affecting the overall working efficiency and control accuracy.

[0007] Publication No. CN111637997A discloses a test device for the cogging torque of a permanent magnet synchronous motor, comprising: a driving device for driving the motor to move in a uniform linear motion, a pulley for being sleeved with the output shaft of the motor to drive the output shaft to rotate, a rope wound around the pulley, a counterweight for applying a rotational force to the pulley, a force measuring device for detecting and recording the tension of the rope when the pulley rotates, the counterweight being vertically suspended at one end of the rope, the force measuring device being arranged at the other end of the rope, and the rope between the force measuring device and the pulley being kept horizontal. By using the test device for the cogging torque of a permanent magnet synchronous motor provided by the present invention, the accuracy and efficiency of the motor cogging torque test can be effectively improved, and the device has a simple structure and is easy to use, and can be promoted for use.

[0008] There are many ways to measure the cogging torque: Dynamic measurement method: connect the motor under test to the brake through a torque sensor, the motor runs at a steady speed, and directly measure the instantaneous value of the torque through a torque tester to obtain the cogging torque value; Static measurement method: fix the stepper motor, torque sensor and motor under test on the same axis, and the stepper motor accurately rotates the rotor of the motor under test by a certain angle. Use the holding torque of the stepper motor as the fixed end to directly measure the cogging torque; Lever measurement method: manually pull the digital dynamometer, record the force value at the moment before the lever slides, multiply it by the length of the lever arm, and calculate the amplitude of the cogging torque; Electronic scale method: install a balance bar at the shaft extension end of the motor under test, press the support bar on the electronic scale, record the electronic scale reading, rotate the motor, record the electronic scale reading every time it rotates an angle, and calculate the cogging torque; Weight method: install a support bar with hanging weights on the rotating shaft, record the mass of the weights when the support bar starts to rotate, and calculate the cogging torque.

[0009] The cogging torque pulse has periodic fluctuations. When measuring the cogging torque, the fixed load cannot simulate the dynamic changes of the servo motor in actual application and cannot fully reflect the influence of the cogging torque. In addition, the fixed load cannot capture the subtle changes in the gear torque, which affects the measurement accuracy. Summary of the invention

[0010] One of the purposes of the present invention is to provide an AC permanent magnet synchronous servo motor cogging torque test device and test method, which can more accurately capture the change of cogging torque through dynamic load and improve the measurement accuracy of the servo motor cogging torque.

[0011] To achieve the above objectives, the present invention is implemented through the following technical solutions: an AC permanent magnet synchronous servo motor cogging torque test device, comprising:

[0012] The body is arranged on a plane to support its internal structure. A mounting platform for mounting the motor to be measured is arranged inside the body. The mounting platform is provided with multiple groups of mounting holes for fixing the motor to ensure the stability of the motor during the measurement process.

[0013] The load end is arranged at the end toward which the output end faces after the motor is installed. The load end is connected to the output end of the motor and is driven to rotate by the motor. The load end dynamically adjusts the load weight after the motor rotates one circle according to the motor torque pulse data.

[0014] A controllable resistance unit is configured inside the load end. The corresponding load weight when the motor rotates to different angles is adjusted by adjusting the resistance of the load end when it rotates to different angles. A calibration structure is set on one side of the motor rotation direction of the controllable resistance unit. The accuracy of the resistance change is determined by calibrating the resistance change of the controllable resistance unit.

[0015] The control terminal is installed outside the machine body and is used to display the motor torque pulse detected for each rotation of the motor and the load weight at the load end;

[0016] A mounting structure is provided in the middle of the load end for connecting to the output end of the motor. The motor is connected to the load end through the mounting structure and drives the load end to rotate.

[0017] In one or more embodiments of the present invention, the mounting structure is telescopically arranged, the mounting structure and the load end are coaxially arranged, and the mounting structure can drive the load end to rotate in any telescopic state, and the mounting structure includes:

[0018] The slip ring is telescopically mounted on the inner side of the load end. A snap ring is arranged on the side of the slip ring facing the motor output end. The snap ring is open and a plurality of slots adapted to shaft keys are arranged on the inner side of the snap ring to limit the slip ring and prevent the slip ring from being separated from the output end.

[0019] The centering head is threadedly installed on the outer side of the slip ring, and the centering head spirally enters into the slip ring and contacts the output end of the motor.

[0020] In one or more embodiments of the present invention, the load end includes:

[0021] A fixed plate is fixedly installed inside the machine body, the fixed plate is coaxially arranged with the motor shaft, a load plate is arranged inside the fixed plate, the load plate is rotatably arranged inside the fixed plate, the load plate is connected with the slip ring, and the fixed plate, the load plate and the slip ring are all coaxially arranged;

[0022] The controllable resistance unit and the calibration structure are both arranged between the fixed plate and the load plate, and the controllable resistance unit changes the resistance of the load plate when the motor drives the load plate to rotate;

[0023] The monitoring system constitutes a remote monitoring matrix to monitor the motor speed, motor torque pulse data and load changes.

[0024] In one or more embodiments of the present invention, the controllable resistance unit includes:

[0025] The magnetic columns are evenly arranged outside the load disk, and the magnetic columns are all inclined. A plurality of magnetic units cooperating with the magnetic columns are arranged inside the fixed disk. The magnetic units adjust the resistance of the magnetic columns to the rotation of the load disk by changing the magnitude of the magnetic force.

[0026] The friction ring is arranged between the load disk and the fixed disk. The friction ring is elastically arranged, the magnetic column is retractable, and a connected cavity is configured between the magnetic column and the friction ring. The cavity is filled with a medium. When the magnetic column is squeezed inward, the friction ring is pushed to increase the friction force between the load disk and the fixed disk.

[0027] In one or more embodiments of the present invention, the controllable resistance unit further comprises:

[0028] A hydraulic chamber is arranged inside the fixed plate, and push blocks are arranged at both ends of the hydraulic chamber. The push block arranged at one end of the magnetic unit away from the magnetic column is magnetically arranged, and the magnetic unit changes the magnetic force to adjust the position of the push block;

[0029] The boss is arranged outside the load plate. The boss contacts and squeezes the push block during the rotation of the load plate. The magnetic unit changes the magnetic force to adjust the position of the push block so as to change the pressure inside the hydraulic chamber.

[0030] In one or more embodiments of the present invention, the magnetic unit includes:

[0031] A fixing ring is installed inside the fixing plate, and the fixing ring is coaxially arranged with the fixing plate;

[0032] The card frame is swingably arranged inside the fixed ring, the middle part of the card frame is connected to the fixed ring, and the fixed ring limits the swing angle range of the card frame;

[0033] The micro magnetic plate, the annular array is arranged inside the fixed ring, and the bracket is used to limit the position of the micro magnetic plate, and the two ends of the micro magnetic plate respectively adjust the position of the magnetic column and the push block through magnetic force;

[0034] The positioning magnetic block is arranged between the card frame and the fixed ring, and the swing angle of the card frame is adjusted by the change of magnetic force.

[0035] In one or more embodiments of the present invention, the proofreading structure includes:

[0036] A positioning frame is installed inside the load plate and can rotate with the load plate, and a magnetic member and a top block are arranged inside the positioning frame for forming a thrust balance with the micro magnet and the push block;

[0037] The magnetic part and the top block can both move inside the positioning frame. A driving structure is arranged inside the positioning frame to change the positions of the magnetic part and the top block and detect the movement amounts of the magnetic part and the top block.

[0038] In one or more embodiments of the present invention, the driving structure is composed of an electromagnet, a squeeze plate and a support structure, wherein the squeeze plate is magnetically arranged, and the position of the squeeze plate is adjusted by changing the magnetic force of the electromagnet, and the position change of the squeeze plate adjusts the position of the magnetic member and the top block through the medium;

[0039] A pressure sensor for detecting changes in medium pressure is arranged inside the positioning frame. The pressure sensor obtains the pressure of the position changes of the magnetic member and the top block to determine the movement amount of the magnetic member and the top block.

[0040] The present application also provides a cogging torque testing method, which is used for the above-mentioned AC permanent magnet synchronous servo motor torque testing device, comprising the following steps:

[0041] Install the motor to be measured and connect it to the load end: fix the motor to be measured in the mounting hole of the mounting platform with bolts, set the motor shaft and the load end coaxially, and adjust the load end so that the load end is connected to the motor output shaft;

[0042] The load is set through the controllable resistance unit for a test: the motor is set to a fixed speed, and the load weight of a test is determined according to the motor specifications. The controllable resistance unit adjusts the fixed resistance motor to drive the load end to rotate, and obtains the motor cogging torque pulse data;

[0043] Determine the load change based on the primary motor cogging torque pulse data: obtain the primary motor cogging torque pulse data, dynamically adjust the motor to rotate to the load weight change at each angle, the load weight change corresponds to the primary motor cogging torque pulse data, the motor drives the load end to rotate, and obtain the secondary motor cogging torque pulse data;

[0044] Obtain multiple motor cogging torque pulse data to determine the cogging torque: perform multiple tests, record the motor torque and angle data of each test, analyze the motor cogging torque pulse data of multiple tests, and extract the precise changes of the cogging torque pulse;

[0045] Generate detailed waveform of cogging torque pulses and synchronize them to the terminal equipment.

[0046] In one or more embodiments of the present invention, when performing a cogging torque test, the torque sensor is installed on the motor output shaft and ensures that it is coaxially aligned with the motor shaft. The encoder is installed on the motor rotor to ensure that it can accurately measure the angular position of the rotor. The torque sensor and encoder are connected to the terminal device to ensure stable signal transmission.

[0047] Through the above technical solution, the present invention has the following beneficial effects:

[0048] 1. This application sets an adjustable load state and realizes repeated measurement of the servo motor through multiple load change adjustments according to the adjustable dynamic load. The load weight is continuously adjusted during the measurement process. The multiple measurement data are integrated, and data processing and analysis are performed to obtain more accurate cogging torque pulse changes.

[0049] 2. By adjusting the load weight of the second circle in real time through the cogging torque pulse data of the first circle, the changes in the cogging torque can be captured more accurately. Dynamically adjusting the load can better simulate the load changes of the motor in actual work, reduce measurement errors, improve data accuracy, and capture subtle changes in the cogging torque, especially torque pulsations at different angles, providing more detailed measurement data.

[0050] 3. The present application sets an adjustable load. During the process of measuring the cogging torque of the servo motor, the load in the subsequent cogging torque measurement of the servo motor is further adjusted and optimized according to the cogging torque pulse data, so that when the servo motor rotates to different angles, different loads can be used to improve the accuracy of the cogging torque measurement.

[0051] 4. By increasing the friction at the load end during rotation, the weight of the load driven by the servo motor is controlled to achieve the purpose of changing the load. After changing the load state, the weight change of the load can be further calibrated to further ensure the accuracy of the load change and avoid changes in measurement accuracy caused by errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A perspective view of the present invention;

[0053] Figure 2 It is a schematic diagram of the body structure of the present invention;

[0054] Figure 3 It is a schematic diagram of removing the body of the present invention;

[0055] Figure 4 This is a schematic diagram of the motor connected to the load end of the present invention;

[0056] Figure 5 It is an exploded view of the installation structure of the present invention;

[0057] Figure 6 It is a cross-sectional plan view of the fixing plate of the present invention;

[0058] Figure 7 A cross-sectional view of a fixed disk of the present invention;

[0059] Figure 8 This is a schematic diagram of the structure of removing the fixed disk of the present invention;

[0060] Fig. 9 is a cross-sectional plan view of a load plate of the present invention;

[0061] Fig.10 It is a schematic diagram of the load plate installation structure of the present invention;

[0062] Fig.11 It is a structural diagram of the magnetic unit of the present invention;

[0063] Fig.12 It is a schematic diagram of the hydraulic chamber of the present invention;

[0064] Fig.13 It is a plan view of the proofreading structure of the present invention.

[0065] In the figure: 1 body, 2 mounting platform, 3 load end, 4 calibration structure, 5 control terminal, 6 mounting structure;

[0066] 31 fixed plate, 32 load plate;

[0067] 34 controllable resistance unit: 341 magnetic column, 342 magnetic unit, 343 friction ring, 344 cavity, 345 hydraulic cavity, 346 push block, 347 boss;

[0068] 3421 fixing ring, 3422 bracket, 3423 micro magnetic plate, 3424 positioning magnetic block;

[0069] 41 positioning frame, 42 magnetic member, 43 top block, 44 driving structure: 441 electromagnet, 442 extrusion plate, 443 supporting structure;

[0070] 61 slip ring, 62 snap ring, 63 snap groove, 64 centering head. DETAILED DESCRIPTION

[0071] The following will disclose multiple embodiments of the present invention with the accompanying drawings. For the purpose of clear description, many practical details will be described together in the following description. However, it should be understood that these practical details should not be used to limit the present invention. In other words, in some embodiments of the present invention, these practical details are not necessary. And if it is possible to implement, the features of different embodiments can be applied interchangeably.

[0072] Unless otherwise defined, all words (including technical and scientific terms) used herein have their usual meanings, which can be understood by those familiar with this field. Furthermore, the definitions of the above words in commonly used dictionaries should be interpreted in the content of this specification as consistent with the meanings of the relevant fields of the present invention. Unless otherwise clearly defined, these words will not be interpreted as idealized or overly formal meanings.

[0073] See also Figure 1-Figure 13 The present invention provides an AC permanent magnet synchronous servo motor cogging torque test device, which measures the cogging torque through a dynamic load, and dynamically corrects the load continuously through torque pulses to improve the measurement accuracy.

[0074] In one embodiment, the testing device comprises:

[0075] The body 1 is arranged on a plane to support its internal structure. A mounting platform 2 for mounting the motor to be measured is arranged inside the body 1. The mounting platform 2 is provided with multiple groups of mounting holes for fixing the motor to ensure the stability of the motor during the measurement process.

[0076] The load end 3 is arranged at the end toward which the output end of the motor is installed. The load end 3 is connected to the output end of the motor and driven to rotate by the motor. The load end 3 dynamically adjusts the load weight after the motor rotates one circle according to the motor torque pulse data.

[0077] A controllable resistance unit 34 is configured inside the load end 3. The corresponding load weight when the motor rotates to different angles is adjusted by adjusting the resistance of the load end 3 when it rotates to different angles. A calibration structure 4 is set on one side of the motor rotation direction of the controllable resistance unit 34. The accuracy of the resistance change is determined by calibrating the resistance change of the controllable resistance unit 34.

[0078] The control terminal 5 is installed outside the machine body 1 and is used to display the motor torque pulse detected by each rotation of the motor and the load weight of the load end 3;

[0079] A mounting structure 6 is provided in the middle of the load end 3 for connecting to the output end of the motor. The motor is connected to the load end 3 through the mounting structure 6 and drives the load end 3 to rotate.

[0080] In this embodiment, by setting an adjustable load terminal 3, when in use, the load change after one circle of motor rotation can be dynamically adjusted according to the motor torque pulse generated during the rotation of the motor. When measuring the motor cogging torque, it can be more accurate, and the dynamic load can be more accurately adapted according to the change of each cogging torque pulse to ensure that the load matches the cogging torque change.

[0081] Before the load end 3 adjusted by the controllable resistance unit 34 is driven by the motor, the resistance adjusted by the controllable resistance unit 34 is calibrated through the calibration structure 4 to further ensure the accuracy of the resistance change, thereby improving the accuracy of the load after adjustment and avoiding changes in the load weight adjustment caused by wear of the load end 3, which affects the accuracy of the final tooth slot torque.

[0082] In one embodiment, the mounting structure 6 is telescopically arranged, the mounting structure 6 and the load end 3 are coaxially arranged, and the mounting structure 6 can drive the load end 3 to rotate in any telescopic state, and the mounting structure 6 includes:

[0083] The slip ring 61 is telescopically mounted on the inner side of the load end 3. A snap ring 62 is arranged on the side of the slip ring 61 facing the motor output end. The snap ring 62 is open and a plurality of slots 63 adapted to shaft keys are arranged on the inner side of the snap ring 62 to limit the slip ring 61 and prevent the slip ring 61 from being separated from the output end.

[0084] The centering head 64 is threadedly installed on the outer side of the slip ring 61 , and the centering head 64 spirally enters into the interior of the slip ring 61 and contacts the output end of the motor.

[0085] In this embodiment, the motor output end is connected to the load end 3 through the mounting structure 6. When in use, it can ensure that the motor drives the load end 3 to rotate stably, and a plurality of ribs extending toward the load end 3 are arranged on the outer side of the slip ring 61. Under the action of the ribs, the slip ring 61 can slide relative to the load end 3 but cannot rotate relative to the load end 3.

[0086] In one embodiment, the load end 3 includes:

[0087] A fixed plate 31 is fixedly installed inside the body 1. The fixed plate 31 is coaxially arranged with the motor shaft. A load plate 32 is arranged inside the fixed plate 31. The load plate 32 is rotatably arranged inside the fixed plate 31. The load plate 32 is connected to the slip ring 61. The fixed plate 31, the load plate 32 and the slip ring 61 are all coaxially arranged.

[0088] The controllable resistance unit 34 and the calibration structure 4 are both disposed between the fixed disk 31 and the load disk 32. The controllable resistance unit 34 changes the resistance of the load disk 32 when the motor drives the load disk 32 to rotate.

[0089] The monitoring system constitutes a remote monitoring matrix to monitor the motor speed, motor torque pulse data and load changes.

[0090] In this embodiment, the load end 3 is arranged in a split type, and the load end 3 is arranged on the inner side of the fixed disk 31, which can protect the controllable resistance unit 34 between the load disk 32 and the fixed disk 31, and avoid damage to the controllable resistance unit 34, which may affect the resistance change accuracy of the controllable resistance unit 34, thereby further ensuring the use accuracy.

[0091] Among them, the motor speed, motor torque pulse data and load changes are monitored by the monitoring system and connected to the control terminal 5. When the load end 3 and the motor make corresponding changes, they can be displayed on the control terminal 5.

[0092] In one embodiment, the controllable resistance unit 34 includes:

[0093] The magnetic columns 341 are evenly arranged outside the load disk 32, and the magnetic columns 341 are all inclined. A plurality of magnetic units 342 cooperating with the magnetic columns 341 are arranged inside the fixed disk 31. The magnetic units 342 adjust the resistance of the magnetic columns 341 to the rotation of the load disk 32 by changing the magnitude of the magnetic force.

[0094] The friction ring 343 is arranged between the load disk 32 and the fixed disk 31. The friction ring 343 is elastically arranged, the magnetic column 341 is retractable, and a connected cavity 344 is configured between the magnetic column 341 and the friction ring 343. The cavity 344 is filled with a medium. When the magnetic column 341 is squeezed inward, the friction ring 343 is pushed to increase the friction between the load disk 32 and the fixed disk 31.

[0095] In this embodiment, by utilizing the cooperation between the magnetic unit 342 and the magnetic column 341, when in use, the load weight of the load disk 32 can be adjusted according to the change in the magnetic force, and then the load weight at each angular position of the next circle can be dynamically set according to the rotation of the motor, thereby achieving load weight adjustment.

[0096] A plurality of magnetic units 342 are provided to generate resistance to the magnetic column 341. During the rotation process, the magnetic units 342 at different positions cooperate with the magnetic columns 341 at different positions, thereby changing the load connected to the output end of the motor after the motor rotates to a corresponding angle.

[0097] In one embodiment, the controllable resistance unit 34 further includes:

[0098] The hydraulic chamber 345 is arranged inside the fixed plate 31. Push blocks 346 are arranged at both ends of the hydraulic chamber 345. The push block 346 arranged at one end of the magnetic unit 342 away from the magnetic column 341 is magnetically arranged. The magnetic unit 342 changes the magnetic force to adjust the position of the push block 346.

[0099] The boss 347 is disposed outside the load plate 32 . The boss 347 contacts and squeezes the push block 346 during the rotation of the load plate 32 . The magnetic unit 342 changes the magnetic force to adjust the position of the push block 346 so that the pressure inside the hydraulic chamber 345 changes.

[0100] In this embodiment, the position of the push block 346 is further controlled by the magnetic unit 342 to squeeze the hydraulic oil inside the hydraulic chamber 345. The push block 346 on the side close to the magnetic unit 342 changes, and the push block 346 on the side close to the boss 347 also changes. The boss 347 is fixed to the outside of the load disk 32. Therefore, during the rotation of the load disk 32, the contour edge presented by the boss 347 is fixed. The push block 346 is squeezed by the boss 347. When the push block 346 on one side is restricted by the magnetic unit 342, the push blocks 346 at different positions will generate different resistances to the load disk 32 when squeezed by the boss 347.

[0101] In one embodiment, the magnetic unit 342 includes:

[0102] A fixing ring 3421 is installed inside the fixing plate 31, and the fixing ring 3421 is coaxially arranged with the fixing plate 31;

[0103] The bracket 3422 is swingably arranged inside the fixing ring 3421. The middle part of the bracket 3422 is connected to the fixing ring 3421. The fixing ring 3421 limits the swing angle range of the bracket 3422.

[0104] The micro magnetic plate 3423, the annular array is arranged inside the fixing ring 3421, and the bracket 3422 is used to limit the position of the micro magnetic plate 3423, and the two ends of the micro magnetic plate 3423 respectively adjust the position of the magnetic column 341 and the push block 346 through magnetic force;

[0105] The positioning magnetic block 3424 is disposed between the bracket 3422 and the fixing ring 3421 , and adjusts the swing angle of the bracket 3422 by changing the magnetic force.

[0106] In this embodiment, different resistances are formed on the load disk 32 by cooperating with the magnetic unit 342 and the magnetic column 341, and the micro-magnets can individually adjust the magnetic force. When in use, since the magnetic column 341 is set at a fixed position on the load disk 32, the micro-magnets are set to different magnetic force combinations. When the load disk 32 is rotated to different angles, different load weights can be achieved according to the cooperation between the corresponding micro-magnets and the magnetic column 341.

[0107] In one embodiment, the proofreading structure 4 comprises:

[0108] The positioning frame 41 is installed inside the load plate 32 and can rotate with the load plate 32. The positioning frame 41 is provided with a magnetic member 42 and a top block 43 for forming a thrust balance with the micro magnet and the push block 346.

[0109] The magnetic member 42 and the top block 43 can both move inside the positioning frame 41 . A driving structure 44 is provided inside the positioning frame 41 to change the positions of the magnetic member 42 and the top block 43 and detect the movement of the magnetic member 42 and the top block 43 .

[0110] Optionally, the magnetic member 42 is a magnetic block, which repels the micro-magnet. The position of the magnetic block is changed by the driving structure 44. Under the force of the micro-magnet, the position change of the magnetic block is obtained, and the magnetic force of the corresponding micro-magnet is determined by the position change of the magnetic block.

[0111] Alternatively, the magnetic member 42 is a magnetic block that is attracted to a micro-magnet. The position of the magnetic block is changed by the driving structure 44. Under the action of the micro-magnet, the magnetic block moves outward, the position change of the magnetic block is obtained, and the magnetic force of the micro-magnet corresponding to the position change of the magnetic block is determined.

[0112] In this embodiment, the position of the top block 43 is changed to achieve a force balance between the top block 43 and the push block 346. The change in force balance is used to determine whether the push block 346 can achieve a corresponding change in resistance. The change in resistance size is further calibrated to achieve precise adjustment of the resistance size.

[0113] In one embodiment, the driving structure 44 is composed of an electromagnet 441, a squeezing plate 442 and a supporting structure 443, wherein the squeezing plate 442 is magnetically arranged, and the position of the squeezing plate 442 is adjusted by changing the magnetic force of the electromagnet, and the position change of the squeezing plate 442 adjusts the position of the magnetic member 42 and the top block 43 through the medium;

[0114] A pressure sensor for detecting changes in medium pressure is disposed inside the positioning frame 41 . The pressure sensor obtains the pressure of position changes of the magnetic member 42 and the top block 43 to determine the movement amount of the magnetic member 42 and the top block 43 .

[0115] In this embodiment, since both the magnetic member 42 and the top block 43 need to change their positions according to the push block 346 and the micro magnet, the driving structure 44 is configured to be pushed by the medium so as not to restrict the movement of the magnetic member 42 and the top block 43 .

[0116] The movement amount of the magnetic member 42 and the top block 43 is detected according to the change of the medium pressure, so that the corresponding changes of the magnetic member 42 and the top block 43 can be determined.

[0117] The present application also provides a cogging torque testing method, which is used for the above-mentioned AC permanent magnet synchronous servo motor torque testing device, comprising the following steps:

[0118] Install the motor to be measured and connect it to the load end 3: fix the motor to be measured in the mounting hole of the mounting platform 2 by bolts, so that the motor shaft and the load end 3 are coaxially arranged, and adjust the load end 3 so that the load end 3 is connected to the motor output shaft;

[0119] The load is set by the controllable resistance unit 34 to perform a test: the motor is set to a fixed speed, and the load weight of a test is determined according to the motor specifications. The controllable resistance unit 34 adjusts the fixed resistance motor to drive the load end 3 to rotate, and obtains the motor cogging torque pulse data;

[0120] Determine the load change based on the primary motor cogging torque pulse data: obtain the primary motor cogging torque pulse data, dynamically adjust the motor to rotate to the load weight change at each angle, the load weight change corresponds to the primary motor cogging torque pulse data, the motor drives the load end 3 to rotate, and obtain the secondary motor cogging torque pulse data;

[0121] Obtain multiple motor cogging torque pulse data to determine the cogging torque: perform multiple tests, record the motor torque and angle data of each test, analyze the motor cogging torque pulse data of multiple tests, and extract the precise changes of the cogging torque pulse;

[0122] Generate detailed waveform of cogging torque pulses and synchronize them to the terminal equipment.

[0123] In one embodiment, when performing a cogging torque test, the torque sensor is installed on the motor output shaft and ensures that it is coaxially aligned with the motor shaft. The encoder is installed on the motor rotor to ensure that it can accurately measure the angular position of the rotor. The torque sensor and encoder are connected to the terminal device to ensure stable signal transmission.

[0124] Although the present invention is disclosed in conjunction with the above embodiments, it is not intended to limit the present invention. Anyone familiar with this technology can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the definition of the attached claims.

Claims

1. An AC permanent magnet synchronous servo motor cogging torque test device, characterized in that: include: The body (1) is arranged on a plane to support its internal structure. A mounting platform (2) is arranged inside the body (1) to mount the motor to be measured. The mounting platform (2) is provided with a plurality of mounting holes for fixing the motor to ensure the stability of the motor during the measurement process. A load end (3) is arranged at the end of the motor towards which the output end faces after the motor is installed, the load end (3) is connected to the output end of the motor and is driven to rotate by the motor, and the load end (3) dynamically adjusts the load weight after the motor rotates one circle according to the motor torque pulse data; A controllable resistance unit (34) is disposed inside the load end (3), and the corresponding load weight when the motor rotates to different angles is adjusted by adjusting the resistance of the load end (3) when it rotates to different angles. A calibration structure (4) is disposed on one side of the motor rotation direction of the controllable resistance unit (34), and the accuracy of the resistance change is determined by calibrating the resistance change of the controllable resistance unit (34); The load end (3) comprises: a fixed disk (31) fixedly mounted inside the machine body (1), the fixed disk (31) being coaxially arranged with the motor shaft, and a load disk (32) being arranged inside the fixed disk (31); The controllable resistance unit (34) comprises: The magnetic columns (341) are evenly arranged outside the load disk (32), and the magnetic columns (341) are all arranged at an angle. A plurality of magnetic units (342) cooperating with the magnetic columns (341) are arranged inside the fixed disk (31). The magnetic units (342) adjust the resistance of the magnetic columns (341) to the rotation of the load disk (32) by changing the magnitude of the magnetic force. A hydraulic chamber (345) is arranged inside the fixed plate (31), and push blocks (346) are arranged at both ends of the hydraulic chamber (345). The push block (346) arranged at one end of the magnetic unit (342) away from the magnetic column (341) is magnetically arranged, and the magnetic unit (342) changes the magnetic force to adjust the position of the push block (346); The boss (347) is arranged outside the load plate (32). The boss (347) contacts and squeezes the push block (346) during the rotation of the load plate (32). The magnetic unit (342) changes the magnetic force to adjust the position of the push block (346) so that the pressure inside the hydraulic chamber (345) changes. The magnetic unit (342) controls the position of the push block (346) to squeeze the hydraulic oil in the hydraulic chamber (345), and the push block (346) on the side close to the magnetic unit (342) changes, and the push block (346) on the side close to the boss (347) also changes. When the push block (346) on one side is restricted by the magnetic unit (342), the push blocks (346) at different positions will generate different resistances to the load plate (32) when squeezed by the boss (347); The magnetic unit (342) comprises: A fixing ring (3421) is installed inside the fixing plate (31), and the fixing ring (3421) is coaxially arranged with the fixing plate (31); The card frame (3422) is swingably arranged inside the fixing ring (3421), the middle part of the card frame (3422) is connected to the fixing ring (3421), and the fixing ring (3421) limits the range of the swing angle of the card frame (3422); The micro magnetic plate (3423) is arranged in an annular array inside the fixing ring (3421), and the bracket (3422) is used to limit the position of the micro magnetic plate (3423). The two ends of the micro magnetic plate (3423) respectively adjust the positions of the magnetic column (341) and the push block (346) through magnetic force; A positioning magnetic block (3424) is disposed between the card frame (3422) and the fixing ring (3421) and is used to adjust the swing angle of the card frame (3422) through changes in magnetic force; A control terminal (5) is installed outside the machine body (1) and is used to display the motor torque pulse detected for each rotation of the motor and the load weight at the load end (3); A mounting structure (6) is provided in the middle of the load end (3) for connecting to the output end of the motor; the motor is connected to the load end (3) via the mounting structure (6) and drives the load end (3) to rotate.

2. The AC permanent magnet synchronous servo motor cogging torque test device according to claim 1, characterized in that: The mounting structure (6) is telescopically arranged, the mounting structure (6) and the load end (3) are coaxially arranged, and the mounting structure (6) can drive the load end (3) to rotate in any telescopic state. The mounting structure (6) includes: A slip ring (61) is telescopically mounted on the inner side of the load end (3); a snap ring (62) is arranged on the side of the slip ring (61) facing the motor output end; the snap ring (62) is open, and a plurality of snap grooves (63) adapted to shaft keys are arranged on the inner side of the snap ring (62) to restrict the slip ring (61) and prevent the slip ring (61) from being separated from the output end; The centering head (64) is threadedly mounted on the outside of the slip ring (61), and the centering head (64) spirally enters the interior of the slip ring (61) and contacts the output end of the motor.

3. The AC permanent magnet synchronous servo motor cogging torque test device according to claim 2, characterized in that: The load plate (32) is rotatably arranged inside the fixed plate (31), the load plate (32) is connected to the slip ring (61), and the fixed plate (31), the load plate (32) and the slip ring (61) are all coaxially arranged; The controllable resistance unit (34) and the calibration structure (4) are both arranged between the fixed disk (31) and the load disk (32), and the controllable resistance unit (34) changes the resistance of the load disk (32) when the motor drives the load disk (32) to rotate; The monitoring system constitutes a remote monitoring matrix to monitor the motor speed, motor torque pulse data and load changes.

4. The AC permanent magnet synchronous servo motor cogging torque test device according to claim 3, characterized in that: The controllable resistance unit (34) also includes: The friction ring (343) is arranged between the load disk (32) and the fixed disk (31); the friction ring (343) is elastically arranged; the magnetic column (341) is retractably arranged; and a cavity (344) connected to the magnetic column (341) and the friction ring (343) is arranged; the cavity (344) is filled with a medium, and when the magnetic column (341) is pressed inward, the friction ring (343) is pushed to increase the friction force between the load disk (32) and the fixed disk (31).

5. The AC permanent magnet synchronous servo motor cogging torque test device according to claim 4, characterized in that: The proofreading structure (4) includes: A positioning frame (41) is installed inside the load plate (32) and is capable of rotating with the load plate (32), wherein a magnetic member (42) and a push block (43) are arranged inside the positioning frame (41) and are used to form a thrust balance with the micro magnet and the push block (346); The magnetic member (42) and the top block (43) are both capable of moving inside the positioning frame (41), and a driving structure (44) is provided inside the positioning frame (41) to change the positions of the magnetic member (42) and the top block (43) and detect the movement amounts of the magnetic member (42) and the top block (43).

6. The AC permanent magnet synchronous servo motor cogging torque test device according to claim 5, characterized in that: The driving structure (44) is composed of an electromagnet (441), a pressing plate (442), and a supporting structure (443), wherein the pressing plate (442) is magnetically arranged, and the position of the pressing plate (442) is adjusted by changing the magnetic force of the electromagnet, and the position change of the pressing plate (442) adjusts the positions of the magnetic member (42) and the top block (43) through the medium; A pressure sensor for detecting changes in medium pressure is arranged inside the positioning frame (41), and the pressure sensor obtains the pressure of position changes of the magnetic member (42) and the top block (43) to determine the movement amount of the magnetic member (42) and the top block (43).

7. A cogging torque test method, used in the AC permanent magnet synchronous servo motor cogging torque test device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Install the motor to be measured so that the motor is connected to the load end (3): fix the motor to be measured in the mounting hole of the mounting platform (2) by means of bolts so that the motor shaft and the load end (3) are coaxially arranged, and adjust the load end (3) so that the load end (3) is connected to the motor output shaft; A load is set by a controllable resistance unit (34) to perform a test: a fixed motor speed is set, and a load weight for a test is determined according to motor specifications, and the controllable resistance unit (34) adjusts the fixed resistance motor to drive the load end (3) to rotate, and obtains motor cogging torque pulse data; Determine the load change based on the primary motor cogging torque pulse data: obtain the primary motor cogging torque pulse data, dynamically adjust the motor to rotate to the load weight change at each angle, the load weight change corresponds to the primary motor cogging torque pulse data, the motor drives the load end (3) to rotate, and obtain the secondary motor cogging torque pulse data; Obtain multiple motor cogging torque pulse data to determine the cogging torque: perform multiple tests, record the motor torque and angle data of each test, analyze the motor cogging torque pulse data of multiple tests, and extract the precise changes of the cogging torque pulse; Generate detailed waveform of cogging torque pulses and synchronize them to the terminal equipment.

8. A cogging torque testing method according to claim 7, characterized in that: When performing the cogging torque test, the torque sensor is installed on the motor output shaft and ensures that it is coaxially aligned with the motor shaft. The encoder is installed on the motor rotor to ensure that it can accurately measure the angular position of the rotor. The torque sensor and encoder are connected to the terminal device to ensure stable signal transmission.

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