Servo motor dynamic response detection equipment and method

Abstract

The invention relates to the technical field of servo motor dynamic detection, in particular to servo motor dynamic response detection equipment and method.The servo motor dynamic response detection equipment comprises a case, a through hole is formed in the top of the case in a penetrating mode, a transmission rod is arranged at the top of the case, and a protruding plate is welded to the outer side of the transmission rod. A detection motor, a coupler, a vertical bearing assembly, a transverse moving assembly, an external bearing assembly and a pushing assembly can rotate by 90 degrees, a horizontal state is changed into a vertical state, and in consideration that during vertical installation, a bearing, a rotating shaft and other parts of the motor need to bear the gravity of a load and component force of the self weight in the vertical direction, compared with the prior art, the detection efficiency is improved; key parameters such as the rotating speed and the torque of the motor can be dynamically detected in the horizontal state and the vertical state, the control precision and the operation stability of the motor in different working postures can be evaluated, and the detection effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of servo motor dynamic detection, in particular to a servo motor dynamic response detection device and method. Background Art

[0002] The servo motor dynamic response detection equipment is a device that detects how quickly the servo motor can adjust its speed, position or torque to achieve the target value after receiving the control signal. It can accurately obtain the actual output torque value of the servo motor under various operating conditions, and can also optimize the parameter settings of the control system by accurately measuring the response time, improve the dynamic response performance of the motor, reduce time waste in the production process, and improve production efficiency.

[0003] However, the prior art mostly performs a fixed-value load test on the detection motor in a horizontal state. However, during the dynamic operation process, the torque of the motor will continue to fluctuate with the load change, speed adjustment and change of the control signal. When the motor is subjected to a sudden change in external load or a change in control command, its torque response time, overshoot and other dynamic characteristics will change. In actual use, the servo motor may be installed in different postures such as horizontal or vertical according to the structure and space requirements of the equipment. In the horizontal and vertical states, the direction and magnitude of the gravity exerted on the mechanical components inside the motor and the driven load are different, resulting in differences in the detection results and failure to provide accurate detection results.

[0004] Therefore, a servo motor dynamic response detection device and method are needed to solve the problem that it is inconvenient to change the load pressure for detection during dynamic operation and it is impossible to detect the servo motor in different postures. Summary of the invention

[0005] In order to solve the problem that it is inconvenient to change the load pressure of the servo motor for detection, it is impossible to detect the horizontal or vertical posture of the servo motor, and the detection effect is reduced, the present application provides a servo motor dynamic response detection device and method.

[0006] The technical solution of the present invention is: a servo motor dynamic response detection device, comprising a chassis, a through hole is opened on the top of the chassis, a transmission rod is arranged on the top of the chassis, and a convex plate is welded on the outer side of the transmission rod.

[0007] Furthermore, a glass partition is fixed on one side of the protective shell, and a protective shell is fixed on the top of the chassis.

[0008] Furthermore, a steering assembly is arranged on the inner side of the chassis, and drives the base and the rotating plate to rotate by rotating the motor to change the direction of detection. The steering assembly also includes a steering motor, which is fixed to an inner wall of one side of the chassis through a connecting component. Two fixed rings are welded to the inner wall of the side of the chassis where the motor is fixed, and screw rods are installed on the inner sides of the two fixed rings through bearings. Two other fixed rings are installed on the outer sides of the other ends of the two screw rods through bearings. The other two fixed rings are fixed on the inner side of the side opposite to the side of the chassis where the motor is fixed. Pulleys are fixed on the outer sides of the output end of the steering motor and the ends of the two screw rods close to the steering motor, and belts are installed on the outer sides of the three pulleys. Semicircular plates are installed on the outer sides of the two screw rods through threads, connecting plates are welded on the sides where the two semicircular plates are close to each other, and blocks are welded on the sides where the two connecting plates are away from each other. Two limiting rods are welded on the inner side of the chassis, and the two blocks are slidably mounted on the outer sides of the two limiting rods respectively.

[0009] The cam is an angular channel that is formed on a pair of camshafts, each of which has a bottom surface and a bottom surface, and the cam is connected to a pair of camshafts which are connected at the bottom of the camshaft to form a pair of camshafts.

[0010] Furthermore, a detection motor is fixed to the top of the base through a connecting component, a coupling is fixed to the output end of the detection motor, a transmission rod is fixed to the other end of the coupling, a torque sensor is fixed to the other end of the coupling, another coupling is fixed to the other end of the torque sensor, a support plate is welded to the top of the rotating plate, and the other end of the transmission rod is rotatably mounted on the inner side of the support plate.

[0011] Furthermore, a vertical load component is arranged on the outside of the transmission rod, and applies a load to the transmission rod by extending the output end of the telescopic rod one; the vertical load component also includes a conductive frame and a bracket, the conductive frame is slidably mounted on the outside of the round rod, the bracket is slidably mounted on the outside of the round rod, and the conductive frame is located on the inside of the bracket, the telescopic rod one is fixed to the bottom of the top wall of the bracket, a movable plate is fixed to the bottom of the output end of the telescopic rod one, and the movable plate is located on the inside of the bracket, a spring is fixed to the top of the movable plate, and the other end of the spring is fixed to the bottom of the top wall of the conductive frame.

[0012] Furthermore, a transverse shifting assembly is arranged on one side of the vertical negative assembly and is located on the outside of the transmission rod. It drives the vertical negative assembly to move by rotating the transverse shifting motor, thereby changing the position where the vertical negative assembly applies load to the transmission rod; the transverse shifting assembly also includes three threaded rods, which are rotatably installed on the inner side of the support plate, and the three threaded rods are located on the outside of the transmission rod. A connecting ring is fixed to one end of the three threaded rods close to the bracket, and a circular ring is installed on the inner side of the connecting ring through a bearing. One side of the circular ring is welded to the side of the bracket away from the coupling, and a cavity ring is fixed to the outside of the other end of the three threaded rods. Fixed rings are respectively installed on the inner sides of the three cavity rings through bearings, and one side of the fixed rings are welded to the side of the support plate away from the bracket. Small gears are fixed to the outside of the three cavity rings, the transverse shifting motor is fixed to the top of the rotating plate, a large gear is fixed to the outside of the output end of the transverse shifting motor, and the three small gears are meshed with the large gear.

[0013] Furthermore, a pushing assembly is arranged on the other side of the vertical negative assembly, and drives the outer negative assembly to move through a motor to change the position where the outer negative assembly applies a load to the vertical negative assembly; the pushing assembly also includes a top plate, which is welded to the top of the bracket, and the pushing motor is fixed to the top of the top plate. A lead screw is fixed to the bottom of the output end of the push motor, and an engaging plate is threadedly installed on the outer side of the lead screw, and the engaging plate is slidably mounted on the outer side of the bracket. A pad is clamped inside the side of the engaging plate close to the support plate, and a bottom plate is fixed to the side of the bracket close to the coupling, and the other end of the lead screw is installed on the inner side of the bottom plate through a bearing.

[0014] Furthermore, an external negative component is arranged on one side of the vertical negative component, and the external negative component is located at one end of the vertical negative component away from the transmission rod, and it applies load to the vertical negative component by extending the output end of telescopic rod one, thereby applying load to the transmission rod; the external negative component includes a shell, the shell is fixed to a side of the engaging plate close to the support plate, telescopic rod two is fixed to the inner wall of the shell on a side away from the bracket, a movable plate is fixed to the output end of telescopic rod two, a conductive plate is slidably mounted on the outer side of the movable plate, a side of the conductive plate close to the pad is fixedly connected to the pad, the conductive plate is slidably installed on the inner side of the shell, and the conductive plate is located on the outer side of telescopic rod two.

[0015] Further, a method for using a servo motor dynamic response detection device comprises the following steps:

[0016] S1. After the staff installs the detection motor to the top of the base, they energize the detection motor and then start the detection motor;

[0017] S2, the staff controls the telescopic rod to extend, provides load pressure to the transmission rod through the vertical negative component, and the torque sensor detects the detection motor;

[0018] S3. While keeping the detection motor working, the staff controls the lateral movement assembly to drive the vertical load assembly to move, so that the vertical load assembly applies load pressure to different positions of the transmission rod, and the torque sensor detects the detection motor;

[0019] S4, turn off the detection motor, drive the detection motor, torque sensor, lateral movement assembly, external negative assembly and push assembly to rotate 90 degrees through the steering assembly, start the detection motor again, the staff controls the extension of the telescopic rod 2, the external negative assembly provides load pressure for the transmission rod through the vertical negative assembly, and the torque sensor detects the detection motor;

[0020] S5. While keeping the detection motor working, the staff controls the push assembly to drive the outer negative assembly to move, so that the outer negative assembly applies load pressure to different positions of the vertical negative assembly, changes the load pressure on the transmission rod, and the torque sensor detects the detection motor.

[0021] The beneficial effects of the present invention are as follows:

[0022] (1) The servo motor dynamic response detection device and method described in the present invention adopts a steering assembly, which can rotate the detection motor, coupling, vertical load assembly, lateral shift assembly, external load assembly and push assembly by ninety degrees, changing from a horizontal state to a vertical state. Taking into account that when installed vertically, the bearings, rotating shafts and other components of the motor need to bear the gravity of the load and the component of its own weight in the vertical direction, compared with the existing technology, it can dynamically detect key parameters such as the rotational speed and torque of the detection motor in the horizontal and vertical states, and can evaluate the control accuracy and operation stability of the motor in different working postures, thereby improving the detection effect.

[0023] (2) The servo motor dynamic response detection device and method described in the present invention adopts a vertical negative component, a lateral displacement component, an external negative component and a push component, which can apply forces in different directions to the transmission rod at different positions, thereby more truly reflecting the torque transmission and speed following capabilities of the detection motor under the actual working load. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 A schematic diagram of the overall structure of a servo motor dynamic response detection device provided by the present invention;

[0026] Figure 2 A schematic cross-sectional view of the overall structure of a servo motor dynamic response detection device provided by the present invention;

[0027] Figure 3 A schematic diagram of the three-dimensional structure of a steering assembly of a servo motor dynamic response detection device provided by the present invention;

[0028] Figure 4 A schematic diagram of the three-dimensional structure of a transmission rod of a servo motor dynamic response detection device provided by the present invention;

[0029] Figure 5 A schematic diagram of the three-dimensional structure of a traverse motor of a servo motor dynamic response detection device provided by the present invention;

[0030] Figure 6 for Figure 5 A is an enlarged view;

[0031] Figure 7 A schematic cross-sectional view of a base of a servo motor dynamic response detection device provided by the present invention;

[0032] Figure 8 for Figure 7 B is an enlarged view;

[0033] Fig. 9 for Figure 7 C is an enlarged view;

[0034] Fig.10 for Figure 7 D is an enlarged view;

[0035] Fig.11 A schematic diagram of the three-dimensional structure of a torque sensor of a servo motor dynamic response detection device provided by the present invention;

[0036] Fig.12 for Fig.11 E is an enlarged view.

[0037] In the figure: 11, chassis; 12, glass partition; 13, protective shell; 14, through hole; 2, detection motor; 21, transmission rod; 211, convex plate; 212, support plate; 3, coupling; 4, torque sensor; 5, vertical load component; 51, conduction frame; 52, movable plate; 53, first telescopic rod; 54, bracket; 6, transverse movement component; 61, ring; 62, connecting ring; 63, threaded rod; 64, transverse movement motor; 65, fixed ring; 66, cavity ring; 7, pushing component; 71, top plate; 72, motor; 73, meshing plate; 74, backing plate; 75, lead screw; 76, bottom plate; 8, external load component; 81, housing; 82, second telescopic rod; 83, moving plate; 84, conduction plate; 9, steering component; 91, steering motor; 92, lead screw; 93, fixed ring; 94, semi-circular plate; 941, round rod; 942, connecting plate; 943, link plate; 944, base; 945, rotating plate; 946, rotating block; 95, side support leg; 96, connecting support leg; 97, guide rail; 98, square block; 99, limiting rod. Detailed implementation manner

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the present invention in combination with the drawings and the descriptions of the embodiments or the prior art. Obviously, the following descriptions of the structures of the drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but do not constitute a limitation to the present invention.

[0039] Embodiment 1:

[0040] As Figure 1-Figure 12 shown, a servo motor dynamic response detection device includes a chassis 11. A through hole 14 is penetrated and opened at the top of the chassis 11. A transmission rod 21 is arranged at the top of the chassis 11, and a convex plate 211 is welded on the outer side of the transmission rod 21.

[0041] Specifically, a glass partition 12 is fixed on one side of the protective shell 13, and the protective shell 13 is fixed on the top of the chassis 11.

[0042] In this embodiment, the glass partition 12 is used to observe the inside of the protective shell 13, and the protective shell 13 is used to prevent the device from causing impact on the outside during operation;

[0043] Specifically, a detection motor 2 is fixed to the top of the base 944 through a connecting component, a coupling 3 is fixed to the output end of the detection motor 2, a transmission rod 21 is fixed to the other end of the coupling 3, a torque sensor 4 is fixed to the other end of the coupling 3, another coupling 3 is fixed to the other end of the torque sensor 4, a support plate 212 is welded to the top of the rotating plate 945, and the other end of the transmission rod 21 is rotatably mounted on the inner side of the support plate 212.

[0044] In this embodiment, the torque sensor 4 is electrically connected to the external processor, and the detection motor 2 can be replaced. The coupling 3 is used to connect the motor output end and the torque sensor 4 as well as the torque sensor 4 and the transmission rod 21 and transmit the torque. The torque sensor 4 monitors the output torque of the power equipment in real time and transmits the data to the processor.

[0045] Specifically, the vertical load component 5 is arranged on the outside of the transmission rod 21, and applies load to the transmission rod 21 by extending the output end of the telescopic rod 53; the vertical load component 5 also includes a conductive frame 51 and a bracket 54, the conductive frame 51 is slidably mounted on the outside of the round rod 941, the bracket 54 is slidably mounted on the outside of the round rod 941, and the conductive frame 51 is located on the inner side of the bracket 54, the telescopic rod 53 is fixed to the bottom of the top wall of the bracket 54, and a movable plate 52 is fixed to the bottom of the output end of the telescopic rod 53, and the movable plate 52 is located on the inner side of the bracket 54, and a spring is fixed to the top of the movable plate 52, and the other end of the spring is fixed to the bottom of the top wall of the conductive frame 51.

[0046] In this embodiment, a pressure sensor is provided inside the convex plate 211, and the pressure sensor is electrically connected to the external processor. The pressure sensor is used to measure the pressure acting on the long wire rod 92 and transmit it to the processor. The staff controls the extension of the telescopic rod 53, and the output end of the telescopic rod 53 pushes the movable plate 52 to move along the inner side of the conductive frame 51 to the side close to the transmission rod 21. The movable plate 52 transmits the force output by the telescopic rod 53 to the conductive frame 51 through the spring, and the conductive frame 51 directly acts on the transmission rod 21 with the force transmitted by the spring, providing load pressure for the transmission rod 21, thereby being able to monitor and measure the torque transmission of the detection motor 2 to the transmission rod 21 with a fixed point load in real time in a horizontal state. By controlling the extension length of the output end of the telescopic rod 53, different load pressures can be detected, thereby increasing the detection range.

[0047] Specifically, the lateral movement assembly 6 is arranged on one side of the vertical load assembly 5 and is located on the outside of the transmission rod 21. It drives the vertical load assembly 5 to move by rotating the lateral movement motor 64, thereby changing the position where the vertical load assembly 5 applies load to the transmission rod 21. The lateral movement assembly 6 also includes three threaded rods 63, which are rotatably mounted on the inner side of the support plate 212 and are located on the outer side of the transmission rod 21. A connecting ring 62 is fixed to one end of the three threaded rods 63 close to the bracket 54, and a round bearing is installed on the inner side of the connecting ring 62. Ring 61, one side of the circular ring 61 is welded to the side of the bracket 54 away from the coupling 3, a cavity ring 66 is fixed to the outside of the other end of the three threaded rods 63, and the inner sides of the three cavity rings 66 are respectively installed with fixing rings 65 through bearings, and one side of the fixing rings 65 are welded to the side of the support plate 212 away from the bracket 54, and small gears are fixed to the outside of the three cavity rings 66, the transverse motor 64 is fixed to the top of the rotating plate 945, and a large gear is fixed to the outside of the output end of the transverse motor 64, and the three small gears are meshed with the large gear.

[0048] In this embodiment, the staff first controls the telescopic rod 53 to retract, driving the movable plate 52 to return to its original position, and then controls the transverse movement motor 64 to rotate forward. The output end of the transverse movement motor 64 drives the large gear to rotate forward. The large gear drives the three threaded rods 63 to rotate forward through the meshing action with the three small gears. The three small gears drive the cavity ring 66 to rotate forward. The three cavity rings 66 drive the connecting ring 62 to move toward the side close to the support plate 212 through the meshing action with the three threaded rods 63. The connecting ring 62 drives the vertical negative component 5 to move toward the side close to the support plate 212 through the circular ring 61, changing the position of the vertical negative component 5, and then controlling the vertical negative component 5 to increase the load on the transmission rod 21 for detection, thereby being able to perform real-time monitoring and measurement of the torque transmission of the detection motor 2 to the loaded transmission rod 21 in the horizontal state at different load distances, further enhancing the detection range.

[0049] Embodiment 2:

[0050] like Figure 1-Figure 12As shown, on the basis of the first embodiment, the steering assembly 9 is arranged on the inner side of the chassis 11, and the base 944 and the rotating plate 945 are rotated by the rotation of the motor to change the direction of detection. The steering assembly 9 also includes a steering motor 91, and the steering motor 91 is fixed to the inner wall of one side of the chassis 11 through a connecting component. Two fixed rings 93 are welded to the inner wall of one side of the chassis 11 where the motor is fixed, and the inner sides of the two fixed rings 93 are both installed with screw rods 92 through bearings, and the outer sides of the other ends of the two screw rods 92 are both installed with other two fixed rings 93 through bearings, and the other two fixed rings 93 are fixed to the inner side of the chassis 11. The inner side of the chassis 11 is fixed with a motor, and pulleys are fixed to the outer sides of the output end of the steering motor 91 and the two screw rods 92 close to the steering motor 91, and belts are installed on the outer sides of the three pulleys. Semicircular plates 94 are installed on the outer sides of the two screw rods 92 through threads, and connecting plates 942 are welded on the sides of the two semicircular plates 94 close to each other, and blocks 98 are welded on the sides of the two connecting plates 942 away from each other. Two limiting rods 99 are welded on the inner side of the chassis 11, and the two blocks 98 are slidably mounted on the outer sides of the two limiting rods 99 respectively.

[0051] In this embodiment, the fixed ring 93 can provide rotational support for the lead screw 75 , and the limiting rod 99 can limit the moving trajectory of the connecting plate 942 through the block 98 .

[0052] Specifically, the steering assembly 9 also includes two side legs 95, the two side legs 95 are welded to the top of the bottom wall of the chassis 11, two guide rails 97 are welded to the side of the two side legs 95 away from the steering motor 91, the other ends of the four guide rails 97 are welded to the bottom of the top wall of the chassis 11, and the tops of the two guide rails 97 close to the top wall of the chassis 11 are respectively welded with connecting legs 96, and one end of each connecting leg 96 away from the guide rail 97 is welded to the bottom of the top wall of the chassis 11, and the bottoms of the two guide rails 97 close to the bottom wall of the chassis 11 are welded with another connecting leg 96, and one end of each additional connecting leg 96 away from the guide rail 97 is welded to the chassis 11. At the top of the bottom wall, round rods 941 are placed on the inner sides of the two guide rails 97 close to the top wall of the chassis 11 and the two guide rails 97 close to the bottom wall of the chassis 11, two link plates 943 are fixed to the outer sides of the two round rods 941, and the two link plates 943 are located on the outer sides of the two ends of the round rods 941, the tops of the two round rods 941 are rotatably connected to the base 944 through connecting parts, two rotating blocks 946 are welded to the bottom of the top wall of the chassis 11, and rotating plates 945 are rotatably installed on the inner sides of the two rotating blocks 946, the rotating plates 945 and the base 944 are located on the inner sides of the through holes 14, and the tops of the rotating plates 945 and the base 944 are aligned with the top of the chassis 11.

[0053] In this embodiment, the side legs 95 and the connecting legs 96 can provide stable support for the guide rail 97. The staff controls the steering motor 91 to rotate forward. The output end of the steering motor 91 drives the two screw rods 92 to rotate forward through a belt and a pulley. The two screw rods 92 drive the two semicircular plates 94 to move along the outer side of the screw rod 92 toward the side close to the steering motor 91 through meshing. The two semicircular plates 94 drive the two connecting plates 942 to move toward the side close to the steering motor 91. The two connecting plates 942 drive the round rods 941 on the inner sides of the two connecting plates 942 to move along the guide rail 97 close to the bottom of the chassis 11. The round rod 941 drives another round rod 941 to move along the guide rail 97 close to the top of the chassis 11 through the link plate 943. The two round rods 941 drive the bottom plate 76 to rotate ninety degrees with the rotating block 946 as the center of the circle. When the two round rods 941 are in contact with the inner side of the other end of the two guide rails 97, the steering motor 91 is turned off to complete the conversion of the detection environment.

[0054] Specifically, the outer negative component 8 is arranged on one side of the vertical negative component 5, and the outer negative component 8 is located at one end of the vertical negative component 5 away from the transmission rod 21. It applies a load to the vertical negative component 5 by extending the output end of the telescopic rod 1 53, and then applies a load to the transmission rod 21; the outer negative component 8 includes a shell 81, the shell 81 is fixed to the side of the engaging plate 73 close to the support plate 212, and the inner wall of the shell 81 away from the bracket 54 is fixed with the telescopic rod 2 82, and the output end of the telescopic rod 2 82 is fixed with a moving plate 83, and the outer side of the moving plate 83 is slidably sleeved with a conductive plate 84, and the side of the conductive plate 84 close to the pad 74 is fixedly connected to the pad 74, and the conductive plate 84 is slidably installed on the inner side of the shell 81, and the conductive plate 84 is located on the outer side of the telescopic rod 2 82.

[0055] In this embodiment, the staff controls the extension of the telescopic rod 82, and the output end of the telescopic rod 82 pushes the moving plate 83 to move along the inner side of the conducting plate 84 to the side close to the vertical negative component 5. The moving plate 83 transmits the force output by the telescopic rod 82 to the vertical negative component 5 through the pad 74 through the spring, providing load pressure for the vertical negative component 5, which can simulate the state of the mechanical arm when the rod with load rotates, increase the validity of the detection data, and improve the detection effect;

[0056] Specifically, the pushing assembly 7 is arranged on the other side of the vertical negative assembly 5, and it drives the outer negative assembly 8 to move through the motor 72, thereby changing the position where the outer negative assembly 8 applies a load to the vertical negative assembly 5; the pushing assembly 7 also includes a top plate 71, which is welded to the top of the bracket 54, and the pushing motor is fixed to the top of the top plate 71. A lead screw 75 is fixed to the bottom of the output end of the push motor, and an engaging plate 73 is threadedly installed on the outer side of the lead screw 92. The engaging plate 73 is slidably mounted on the outer side of the bracket 54, and a pad 74 is clamped inside the side of the engaging plate 73 close to the support plate 212. A bottom plate 76 is fixed to the side of the bracket 54 close to the coupling 3, and the other end of the lead screw 75 is installed on the inner side of the bottom plate 76 through a bearing.

[0057] In this embodiment, the staff controls the telescopic rod 82 to retract, and the output end of the telescopic rod 82 drives the movable plate 83 to return to its original position, and then controls the motor 72 to rotate forward, and the output end of the motor 72 drives the lead screw 75 to rotate forward, and the lead screw 75 drives the meshing plate 73 to move toward the side close to the chassis 11 through the meshing action, and the meshing plate 73 drives the pad 74 and the external negative component 8 to move toward the side close to the chassis 11, thereby changing the position of the external negative component 8, and then simulating the detection effect of the motor 2 in the vertical state on the torque transmission of load rods of different lengths to increase functionality.

[0058] Specifically, the method of using the servo motor dynamic response detection device includes the following steps:

[0059] S1. After the staff installs the detection motor 2 to the top of the base 944, the detection motor 2 is powered on and then started;

[0060] S2, the staff controls the telescopic rod 53 to extend, and provides load pressure to the transmission rod 21 through the vertical load component 5, and the torque sensor 4 detects the detection motor 2;

[0061] S3. While the detection motor 2 is kept working, the staff controls the lateral movement assembly 6 to drive the vertical load assembly 5 to move, so that the vertical load assembly 5 applies load pressure to different positions of the transmission rod 21, and the torque sensor 4 detects the detection motor 2;

[0062] S4, turn off the detection motor 2, drive the detection motor 2, the torque sensor 4, the lateral movement assembly 6, the external negative assembly 8 and the push assembly 7 to rotate 90 degrees through the steering assembly 9, start the detection motor 2 again, the staff controls the extension of the telescopic rod 2 82, the external negative assembly 8 provides load pressure for the transmission rod 21 through the vertical negative assembly 5, and the torque sensor 4 detects the detection motor 2;

[0063] S5. While keeping the detection motor 2 working, the staff controls the push assembly 7 to drive the external negative assembly 8 to move, so that the external negative assembly 8 applies load pressure to different positions of the vertical negative assembly 5, changes the load pressure on the transmission rod 21, and the torque sensor 4 detects the detection motor 2.

[0064] Working principle: the staff starts the detection motor 2, and the detection motor 2 drives the transmission rod 21 to rotate through the coupling 3 and the torque sensor 4. The transmission rod 21 drives the vertical negative component 5, the transverse component 6, the outer negative component 8 and the push component 7 to rotate with the transmission rod 21 as the center through the convex plate 211. The staff adjusts the transverse component 6 and the push component 7 according to the actual work needs, moves the vertical negative component 5 and the outer negative component 8 to the specified position, and then provides the transmission rod 21 with load forces of different degrees and directions by coordinating and controlling the extension length of the telescopic rod 1 53 and the telescopic rod 2 82;

[0065] Then, by controlling the steering motor 91 to rotate forward, the detection motor 2, the coupling 3, the vertical negative assembly 5, the transverse displacement assembly 6, the outer negative assembly 8 and the push assembly 7 are driven to rotate ninety degrees, and the detection state is changed from horizontal to vertical. Then, according to the actual working requirements, the transverse displacement assembly 6 and the push assembly 7 are adjusted, and after the vertical negative assembly 5 and the outer negative assembly 8 are moved to the specified position, the extension length of the telescopic rod 1 53 and the telescopic rod 2 82 is coordinated and controlled to provide the transmission rod 21 with load forces of different degrees and directions;

[0066] The torque sensor 4 transmits data on the torque transmitted by the output end of the motor 2 and the transmission rod 21 to the processor, which analyzes and records the data.

[0067] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A servo motor dynamic response detection device, comprising a chassis (11), a through hole (14) is formed through the top of the chassis (11), a transmission rod (21) is arranged on the top of the chassis (11), and a convex plate (211) is welded on the outer side of the transmission rod (21), characterized in that: It also includes a vertical load component (5) which is arranged outside the transmission rod (21) and applies a load to the transmission rod (21) by extending the output end of the telescopic rod (53); The lateral movement component (6) is arranged on one side of the vertical load component (5) and is located outside the transmission rod (21). The lateral movement component (6) drives the vertical load component (5) to move by rotating the lateral movement motor (64), thereby changing the position where the vertical load component (5) applies a load to the transmission rod (21); The external negative component (8) is arranged on one side of the vertical negative component (5), and the external negative component (8) is located at an end of the vertical negative component (5) away from the transmission rod (21), and the external negative component (8) applies a load to the vertical negative component (5) by extending the output end of the telescopic rod (53), thereby applying a load to the transmission rod (21); A push assembly (7) is arranged on the other side of the vertical load assembly (5), and drives the outer load assembly (8) to move through a motor (72), thereby changing the position where the outer load assembly (8) applies a load to the vertical load assembly (5); The steering assembly (9) is arranged inside the chassis (11), and drives the base (944) and the rotating plate (945) to rotate through the rotation of the motor, thereby changing the detection direction.

2. The servo motor dynamic response detection device according to claim 1, characterized in that: A glass partition (12) is fixed to one side of the protective shell (13), and the top of the chassis (11) is fixed to the protective shell (13).

3. The servo motor dynamic response detection device according to claim 1, characterized in that: The steering assembly (9) further comprises a steering motor (91), the steering motor (91) being fixed to an inner wall of one side of the chassis (11) via a connecting component, two fixing rings (93) being welded to the inner wall of the side of the chassis (11) where the motor is fixed, the inner sides of the two fixing rings (93) being both mounted with screw rods (92) via bearings, the outer sides of the other ends of the two screw rods (92) being both mounted with another two fixing rings (93) via bearings, the other two fixing rings (93) being both fixed to the inner side of a side opposite to the side of the chassis (11) where the motor is fixed, the output of the steering motor (91) Pulleys are fixed to the outer sides of the output end and the ends of the two screw rods (92) close to the steering motor (91), and belts are installed on the outer sides of the three pulleys. Semicircular plates (94) are installed on the outer sides of the two screw rods (92) through threads. A connecting plate (942) is welded to the sides of the two semicircular plates (94) close to each other, and a square block (98) is welded to the sides of the two connecting plates (942) away from each other. Two limiting rods (99) are welded to the inner side of the chassis (11), and the two square blocks (98) are respectively slidably mounted on the outer sides of the two limiting rods (99).

4. The servo motor dynamic response detection device according to claim 3, characterized in that: The steering assembly (9) further comprises two side legs (95), the two side legs (95) being welded to the top of the bottom wall of the chassis (11), two guide rails (97) being welded to the sides of the two side legs (95) away from the steering motor (91), the other ends of the four guide rails (97) being welded to the bottom of the top wall of the chassis (11), the tops of the two guide rails (97) close to the top wall of the chassis (11) being respectively welded with connecting legs (96), one end of each connecting leg (96) away from the guide rail (97) being welded to the bottom of the top wall of the chassis (11), another connecting leg (96) being welded to the bottom of the two guide rails (97) close to the bottom wall of the chassis (11), and one end of each other connecting leg (96) away from the guide rail (97) being welded to the bottom of the chassis (11). Round rods (941) are placed on the top of the bottom wall, on the two guide rails (97) close to the top wall of the chassis (11) and on the inner sides of the two guide rails (97) close to the bottom wall of the chassis (11), respectively; two link plates (943) are fixed on the outer sides of the two round rods (941), and the two link plates (943) are located on the outer sides of both ends of the round rods (941); the tops of the two round rods (941) are rotatably connected to a base (944) via a connecting component; two rotating blocks (946) are welded to the bottom of the top wall of the chassis (11); rotating plates (945) are rotatably mounted on the inner sides of the two rotating blocks (946); the rotating plates (945) and the base (944) are located on the inner sides of the through holes (14); and the tops of the rotating plates (945) and the base (944) are aligned with the top of the chassis (11).

5. The servo motor dynamic response detection device according to claim 4, characterized in that: A detection motor (2) is fixed to the top of the base (944) via a connecting component, a coupling (3) is fixed to the output end of the detection motor (2), a transmission rod (21) is fixed to the other end of the coupling (3), a torque sensor (4) is fixed to the other end of the coupling (3), another coupling (3) is fixed to the other end of the torque sensor (4), a support plate (212) is welded to the top of the rotating plate (945), and the other end of the transmission rod (21) is rotatably mounted on the inner side of the support plate (212).

6. The servo motor dynamic response detection device according to claim 5, characterized in that: The vertical load assembly (5) further comprises a conducting frame (51) and a bracket (54), wherein the conducting frame (51) is slidably mounted on the outer side of the round rod (941), and the bracket (54) is slidably mounted on the outer side of the round rod (941), and the conducting frame (51) is located on the inner side of the bracket (54), and the telescopic rod (53) is fixed to the bottom of the top wall of the bracket (54), and a movable plate (52) is fixed to the bottom of the output end of the telescopic rod (53), and the movable plate (52) is located on the inner side of the bracket (54), and a spring is fixed to the top of the movable plate (52), and the other end of the spring is fixed to the bottom of the top wall of the conducting frame (51).

7. The servo motor dynamic response detection device according to claim 6, characterized in that: The transverse movement assembly (6) further comprises three threaded rods (63), the three threaded rods (63) being rotatably mounted on the inner side of the support plate (212), and the three threaded rods (63) being located on the outer side of the transmission rod (21), a connecting ring (62) being fixed to one end of the three threaded rods (63) close to the bracket (54), a circular ring (61) being mounted on the inner side of the connecting ring (62) via a bearing, one side of the circular ring (61) being welded to a side of the bracket (54) away from the coupling (3), and the three threaded rods ( A cavity ring (66) is fixed on the outer side of the other end of the traverse motor (63), and fixing rings (65) are respectively installed on the inner sides of the three cavity rings (66) through bearings, and one side of the fixing rings (65) is welded to the side of the support plate (212) away from the bracket (54), and small gears are fixed on the outer sides of the three cavity rings (66). The transverse motor (64) is fixed on the top of the rotating plate (945), and a large gear is fixed on the outer side of the output end of the transverse motor (64), and the three small gears are meshed with the large gear.

8. The servo motor dynamic response detection device according to claim 7, characterized in that: The push assembly (7) further comprises a top plate (71), the top plate (71) being welded to the top of the bracket (54), the push motor being fixed to the top of the top plate (71), a lead screw (75) being fixed to the bottom of the output end of the push motor, an engaging plate (73) being threadedly mounted on the outer side of the lead screw (92), the engaging plate (73) being slidably mounted on the outer side of the bracket (54), a pad (74) being clamped inside the side of the engaging plate (73) close to the support plate (212), a bottom plate (76) being fixed to the side of the bracket (54) close to the coupling (3), and the other end of the lead screw (75) being mounted on the inner side of the bottom plate (76) through a bearing.

9. The servo motor dynamic response detection device according to claim 8, characterized in that: The outer negative component (8) comprises a shell (81), the shell (81) being fixed to a side of the meshing plate (73) close to the support plate (212), a second telescopic rod (82) being fixed to an inner wall of the shell (81) on a side away from the bracket (54), a moving plate (83) being fixed to an output end of the second telescopic rod (82), a conducting plate (84) being slidably mounted on the outer side of the moving plate (83), a side of the conducting plate (84) close to the pad (74) being fixedly connected to the pad (74), the conducting plate (84) being slidably mounted on the inner side of the shell (81), and the conducting plate (84) being located on the outer side of the second telescopic rod (82).

10. A method for using the servo motor dynamic response detection device according to claim 9, characterized in that: The method comprises the following steps: Step 1: After the staff installs the detection motor (2) to the top of the base (944), the detection motor (2) is powered on and then started; Step 2: The staff controls the telescopic rod 1 (53) to extend, and provides load pressure to the transmission rod (21) through the vertical load component (5), and the torque sensor (4) detects the detection motor (2); Step 3: While the detection motor (2) is in operation, the staff controls the lateral movement assembly (6) to drive the vertical load assembly (5) to move, so that the vertical load assembly (5) applies load pressure to different positions of the transmission rod (21), and the torque sensor (4) detects the detection motor (2); Step 4: turn off the detection motor (2), drive the detection motor (2), the torque sensor (4), the lateral movement component (6), the external negative component (8) and the push component (7) to rotate ninety degrees through the steering component (9), and start the detection motor (2) again. The staff controls the extension of the telescopic rod 2 (82), and the external negative component (8) provides load pressure for the transmission rod (21) through the vertical negative component (5). The torque sensor (4) detects the detection motor (2); Step 5: While keeping the detection motor (2) in operation, the staff controls the push assembly (7) to drive the external negative assembly (8) to move, so that the external negative assembly (8) applies load pressure to different positions of the vertical negative assembly (5), changes the load pressure on the transmission rod (21), and the torque sensor (4) detects the detection motor (2).

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