A servo frameless torque motor torque fluctuation automatic testing device

Abstract

The present application relates to the technical field of frameless torque motor torque testing, in particular to a servo frameless torque motor torque fluctuation automatic testing device, which comprises a testing platform, a to-be-tested motor mounting seat is fixedly installed on one side of the upper surface of the testing platform, a companion motor mounting seat is fixedly installed on the other side of the upper surface of the testing platform, and a torque and speed composite sensor is fixedly installed on the middle of the upper surface of the testing platform, which has the beneficial effect that the expansion ring is self-adaptively expanded to be tightly connected with the inner surface of the rotor of the to-be-tested frameless torque motor, the pressure between the expansion ring and the to-be-tested frameless torque motor is monitored through the cooperation of the inner ring and the adjusting cone, the optimal installation state of uniform pressure is realized, the torsional deviation of the rotor of the to-be-tested frameless torque motor in the testing process is reduced, the working condition of the rotor of the to-be-tested frameless torque motor is real-timely transmitted and output by the output shaft, and the standardized installation of the to-be-tested frameless torque motor is realized.

Description

Technical Field

[0001] This invention belongs to the field of torque testing technology for frameless torque motors, and specifically relates to an automatic testing device for torque fluctuation of a servo frameless torque motor. Background Technology

[0002] With the development of high-end manufacturing and the increasing demands for high precision, high power density, and high integration, frameless torque motors are gaining an increasingly important position in industrial development. Examples include direct-drive applications in robot joints, precision machine tools, and lithography machines, as well as highly integrated applications in aerospace and new energy vehicles. A frameless torque motor is a torque motor without a housing, shaft, or bearings. It typically consists of a stator (windings) and a rotor (permanent magnets), requiring users to integrate it into their mechanical structures. Due to the lack of a housing, shaft, and bearings, the frameless torque motor relies entirely on the user's existing structure for support. If problems arise after integration, disassembly is extremely costly. Therefore, users need to test the frameless torque motor's operating status before integration and installation. Currently, there are no standard housings or rotor cores for frameless torque motors, and a lack of standardized testing methods leads to inconsistent test results.

[0003] A Chinese patent document with publication number CN114142648A proposes a frameless torque motor and its testing method. This method involves coaxially inserting a rotor and stator into the frameless torque motor, with a mating shaft inserted into the rotor. The stator and shaft are then laterally clamped and fixed using an adjustable testing platform. Finally, corresponding sensors are installed at the test locations on the frameless torque motor, and the motor is powered on and rotated for testing. However, the frameless torque motor exhibits large torque fluctuations, and the aforementioned testing platform, which uses lateral centering clamping for limitation, easily introduces significant fluctuations in the test data during testing.

[0004] Therefore, this invention proposes an automatic testing device for torque fluctuation of a servo frameless torque motor, which solves the problem of data fluctuation caused by torque fluctuation testing of frameless torque motors. It adopts a correspondingly shaped adapter plate and adapter shaft, and introduces a companion motor. The two are mechanically connected by a coupling to transmit torque, so as to achieve torque fluctuation of multiple positions through servo control, thereby improving the testing and diagnosis efficiency and accuracy of frameless torque motors. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an automatic testing device for torque fluctuation of servo frameless torque motor, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic testing device for torque fluctuation of a servo frameless torque motor, comprising a testing platform, a motor under test mounting base fixedly installed on one side of the upper surface of the testing platform, a companion motor mounting base fixedly installed on the other side of the upper surface of the testing platform, a torque-speed composite sensor fixedly installed in the middle of the upper surface of the testing platform, a coupling one fixedly installed at one end of the torque-speed composite sensor near the motor under test mounting base, a coupling two fixedly installed at one end of the torque-speed composite sensor near the companion motor mounting base, a motor under test mounting housing provided on the outer side of the motor under test mounting base, a frameless torque motor under test disposed inside the motor under test mounting housing, an external rotor shaft head provided inside the frameless torque motor under test, a test output shaft fixedly installed on the side surface of the external rotor shaft head near the torque-speed composite sensor, one end of the test output shaft being fixedly connected to one end of coupling one, a companion servo motor disposed on the outer side of the companion motor mounting base, and the output shaft of the companion servo motor being fixedly connected to one end of coupling two.

[0007] Preferably, the inner surface of the motor under test mounting housing is fixedly mounted with a motor under test mounting inner sleeve by bolts. The inner surface of the motor under test mounting inner sleeve is provided with a slot adapted to the frameless torque motor under test. An expansion ring is fixedly mounted on the other side surface of the rotor external shaft head. The outer surface of the expansion ring is in contact with the inner surface of the rotor of the frameless torque motor under test.

[0008] Preferably, a cover is fixedly installed on the side surface of the motor under test mounting housing near the motor under test mounting base by bolts, and a mounting plate is fixedly installed on the side surface of the cover by bolts, and the side surface of the mounting plate is fixedly connected to the side surface of the motor under test mounting base by bolts.

[0009] Preferably, the expansion ring has a pressurization chamber inside, and an inner mounting ring is fixedly installed on the inner middle of the rotor's external shaft head. An adjustment cone is provided between the outer surface of the inner mounting ring and the inner surface of the expansion ring.

[0010] Preferably, the rotor external shaft head has an internal movable groove adapted to the adjusting cone, the adjusting cone has a pressure adjusting pad on its outer side, and an adjusting bolt is movably installed on the side wall of the rotor external shaft head, with one end of the adjusting bolt rotatably connected to the side wall of the pressure adjusting pad.

[0011] Preferably, pressure sensors are evenly distributed on the outer wall of the adjusting cone that contacts the inner surface of the expansion ring, an oil storage chamber is provided inside the mounting inner ring, an overflow pipe is evenly distributed at one end of the oil storage chamber, one end of the overflow pipe is fixedly connected to the inner wall of the expansion ring, and a filling valve pipe is fixedly installed on the side wall of the rotor external shaft head.

[0012] Preferably, a limiting plate is fixedly installed on the other side surface of the motor mounting base under test by bolts, an output shaft limiting sleeve is fixedly installed in the middle of the limiting plate, and an operating port is provided above the output shaft limiting sleeve.

[0013] Preferably, a shaft limiting cover is fixedly installed on the inner surface of the output shaft limiting sleeve near the coupling, an inner magnetic ring mounting ring is rotatably installed on the inner surface of the shaft limiting cover, an inner magnetic ring is fixedly installed on the side surface of the inner magnetic ring mounting ring, a shaft limiting ring is fixedly installed in the middle of the inner magnetic ring mounting ring, and spring convex pads are evenly distributed on the inner sidewall of the shaft limiting ring.

[0014] Preferably, the inner surface of the other end of the output shaft limiting sleeve is fixedly mounted with a rubber outer fixing pad and an inner fixing convex ring by bolts. The inner fixing convex ring is located inside the rubber outer fixing pad, and square springs are evenly distributed on the outside of the inner fixing convex ring. An outer magnetic ring mounting ring is snapped between the rubber outer fixing pad and the inner fixing convex ring. The side wall of the outer magnetic ring mounting ring is provided with a groove that matches the rubber outer fixing pad and the inner fixing convex ring.

[0015] Preferably, an outer magnetic ring is fixedly mounted on the side surface of the outer magnetic ring mounting ring, and the outer magnetic ring is disposed outside the inner magnetic ring.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] By designing a mounting housing for the motor under test (DUT), the frameless torque motor is mounted on a mounting base. An expansion ring is designed to expand adaptively and connect tightly to the inner surface of the DUT rotor. The pressure between the expansion ring and the DUT is monitored through the cooperation of the mounting inner ring and the adjusting cone, achieving optimal installation with uniform pressure. This reduces the torsional deviation of the DUT rotor during testing. The test output shaft transmits the DUT rotor's operating condition in real time, achieving standardized installation of the DUT. A companion servo motor is also introduced, and the two are mechanically connected via a coupling to transmit torque. This allows for servo control of torque fluctuations at multiple positions, improving the efficiency and accuracy of testing and diagnosing frameless torque motors. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the overall structure of the present invention after installation;

[0020] Figure 3 This is a schematic diagram of the overall structure of the present invention before installation;

[0021] Figure 4 This is a schematic diagram of the other side of the structure before the overall installation of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the motor housing before installation according to the present invention.

[0023] Figure 6 This is a schematic diagram of the frameless torque motor under test before installation according to the present invention;

[0024] Figure 7 This is a schematic diagram of the frameless torque motor under test and the external shaft of the rotor after installation according to the present invention;

[0025] Figure 8 This is a schematic diagram of the rotor external shaft head and test output shaft before installation of the present invention;

[0026] Figure 9 This is a comparative structural diagram of the rotor external shaft head after disassembly according to the present invention;

[0027] Figure 10 This is a schematic diagram of the overall structure of the rotor external shaft head of the present invention;

[0028] Figure 11 This is a schematic cross-sectional view of the rotor external shaft head of the present invention at point AA;

[0029] Figure 12 This is a schematic diagram of the overall structure of the limiting plate of the present invention;

[0030] Figure 13 This is a schematic diagram of the structure of the output shaft limiting sleeve before installation of the present invention;

[0031] Figure 14 This is a schematic diagram of the internal structure of the limiting plate of the present invention;

[0032] Figure 15 This is a schematic diagram of the installation state structure of the outer magnetic ring mounting ring of the present invention;

[0033] Figure 16 This is a schematic diagram of the structure before the installation of the outer magnetic ring mounting ring of the present invention.

[0034] In the diagram: 1. Test platform; 11. Mounting bracket for the motor under test; 12. Mounting bracket for the accompanying motor; 2. Torque-speed composite sensor; 21. Coupling one; 22. Coupling two; 3. Housing for the motor under test; 31. Inner sleeve for the motor under test; 32. Cover; 33. Mounting plate; 4. External rotor shaft; 41. Test output shaft; 42. Expansion ring; 421. Pressurization chamber; 43. Adjusting cone; 431. Pressure sensor; 432. Adjusting bolt; 433. Pressure adjusting shim; 44. 441. Inner ring; 442. Oil reservoir; 443. Oil overflow pipe; 4444. Oil filling valve pipe; 5. Limiting plate; 51. Output shaft limiting sleeve; 511. Shaft limiting cover; 512. Inner magnetic ring mounting ring; 513. Inner magnetic ring; 514. Shaft limiting ring; 5141. Spring convex washer; 515. Rubber outer fixing washer; 516. Inner fixing convex ring; 5161. Square spring; 517. Outer magnetic ring mounting ring; 518. Outer magnetic ring; 52. Operating port; 6. Servo motor under test; 7. Frameless torque motor under test. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the present invention clear and complete, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of the present invention, and are merely illustrative of the embodiments of the present invention. They are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1

[0037] Please see Figures 1 to 8This invention provides a technical solution: an automatic testing device for torque fluctuation of a servo frameless torque motor, comprising a testing platform 1, a motor under test mounting base 11 fixedly installed on one side of the upper surface of the testing platform 1, a secondary motor mounting base 12 fixedly installed on the other side of the upper surface of the testing platform 1, and a torque-speed composite sensor 2 fixedly installed in the middle of the upper surface of the testing platform 1. The testing platform 1, the motor under test mounting base 11, and the secondary motor mounting base 12 form a complete testing platform. The motor under test mounting base 11 is used to fix the motor under test, and the secondary motor mounting base 12 is used to fix the secondary motor. A coupling 21 is fixedly installed at one end of the torque-speed composite sensor 2 near the motor under test mounting base 11. A coupling 22 is fixedly installed at one end near the mounting base 12 of the test motor. One end of the torque-speed composite sensor 2 is connected to the adapter shaft of the motor under test via coupling 21, and the other end of the torque-speed composite sensor 2 is connected to the output shaft of the test motor via coupling 22. This forms the basis for the "drag test" between the test motor and the test motor. The torque-speed composite sensor 2 mainly tests torsion and speed. The test motor is the test object, and the test motor is the load, simulating actual working conditions. The test device also requires two external control board units. The U / V / W interface of the control board unit on the side of the test motor corresponds to the three-phase wires of the motor and is connected to the input terminal of the test motor, responsible for outputting drive power to the test motor. Meanwhile, the control board unit on this side is also connected to the power analyzer via a line, transmitting the motor's electrical parameter signals, such as voltage and current, and transmitting the analyzed power data, such as power factor and energy consumption, to the computer for storage and display. The control board unit on the side of the test motor mainly provides power supply and load regulation for the test motor, and also integrates a communication interface for interaction with external devices and establishing data transmission paths. The data flow of the entire testing device is divided into three categories: "electrical parameter acquisition," "control command transmission," and "data storage and display." First, the electrical parameters of the test motor are transmitted. The three-phase electrical signals U / V / W of the test motor are connected to the control board and analyzed in real time by the power analyzer for voltage, current, and power. The power analyzer processes the data... The system first uploads electrical parameter data, enabling data recording and visualization. Secondly, it controls and transmits data to the test motor. The power supply provides power to the test motor via the control unit, allowing it to operate as a load, and transmits load data such as speed and torque via a communication interface. Finally, the test data output by the tested motor and the test motor respectively enables linked analysis of the tested motor's performance and the test load's status. Finally, control commands are used to adjust the test motor; for example, rotating it 1° at a time can adjust the tested motor's operating conditions. The tested motor's real-time status is also analyzed and uploaded in real-time by a power analyzer. Through this automated testing method, all motor-driven loads are digitized and placed on the same timeline, minimizing data fluctuation errors.

[0038] The outer side of the motor under test mounting base 11 is provided with a motor under test mounting shell 3. Inside the motor under test mounting shell 3 is a frameless torque motor 7. Inside the frameless torque motor 7 is a rotor external shaft head 4. A test output shaft 41 is fixedly mounted on the side surface of the rotor external shaft head 4 near the torque-speed composite sensor 2. One end of the test output shaft 41 is fixedly connected to one end of coupling 21. The outer side of the auxiliary motor mounting base 12 is provided with an auxiliary servo motor 6. The output shaft of the auxiliary servo motor 6 is fixedly connected to one end of coupling 22. The inner surface of the motor under test mounting shell 3 is connected by screws. The inner sleeve 31 of the motor under test is fixedly installed. The inner surface of the inner sleeve 31 is provided with a slot that is compatible with the frameless torque motor 7 under test. An expansion ring 42 is fixedly installed on the other side surface of the rotor external shaft head 4. The outer surface of the expansion ring 42 is in contact with the inner surface of the rotor of the frameless torque motor 7 under test. A cover 32 is fixedly installed on the side surface of the motor under test mounting shell 3 near the motor under test mounting base 11 by bolts. A mounting plate 33 is fixedly installed on the side surface of the cover 32 by bolts. The side surface of the mounting plate 33 is fixedly connected to the side surface of the motor under test mounting base 11 by bolts.

[0039] In this embodiment, the mounting housing 3 and the mounting inner sleeve 31 of the motor under test cooperate to install the frameless torque motor 7 under test. The mounting inner sleeve 31 can be replaced according to the appearance model of the motor under test. The mounting inner sleeve 31 is mainly installed inside the mounting housing 3 of the motor under test by bolts. The rotor external shaft head 4 is in close contact with the inner surface of the rotor of the frameless torque motor 7 under test through the adaptive expansion of the expansion ring 42, so as to transmit the rotation status of the frameless torque motor 7 under test in real time. It is connected to the coupling 21 through the test output shaft 41, thereby achieving the function of transmitting torsion. The cover 32 mainly seals the entire mounting housing 3 of the motor under test after the frameless torque motor 7 under test is installed. One side of the mounting plate 33 is fixed to the cover 32 by bolts, and the other side is fixed to the side wall of the test platform 1 by bolts, so as to install the frameless torque motor 7 under test on the test platform 1 for subsequent testing.

[0040] Example 2

[0041] Please see Figures 9 to 11Based on Embodiment 1, to ensure a tighter contact between the rotor external shaft head 4 and the inner surface of the rotor of the frameless torque motor 7 under test, thus reducing transmission errors, this embodiment further proposes that a pressure chamber 421 be provided inside the expansion ring 42, an inner mounting ring 44 be fixedly installed in the middle of the inner side of the rotor external shaft head 4, an adjusting cone 43 be provided between the outer surface of the inner mounting ring 44 and the inner surface of the expansion ring 42, a movable groove adapted to the adjusting cone 43 be provided inside the rotor external shaft head 4, and a pressure adjusting pad be provided on the outer side of the adjusting cone 43. 433, an adjusting bolt 432 is movably installed on the side wall of the rotor external shaft head 4. One end of the adjusting bolt 432 is rotatably connected to the side wall of the pressure adjusting pad 433. Pressure sensors 431 are evenly distributed on the outer side wall of the adjusting cone 43 that contacts the inner surface of the expansion ring 42. An oil storage chamber 441 is provided inside the inner ring 44. An overflow pipe 442 is evenly distributed on one end of the oil storage chamber 441. One end of the overflow pipe 442 is fixedly connected to the inner side wall of the expansion ring 42. An oil filling valve pipe 443 is fixedly installed on the side wall of the rotor external shaft head 4.

[0042] In this embodiment, the pressure adjusting pad 433 is first tightened and pushed forward by rotating the adjusting bolt 432 in sequence. The pressure adjusting pad 433 is an annular pad. The pressure adjusting pad 433 pushes forward, causing the adjusting cone 43 to move along the conical groove between the expansion ring 42 and the mounting inner ring 44. This increases the pressure between the expansion ring 42 and the inner surface of the frameless torque motor 7 under test, maintaining close contact. At this time, the pressure sensor 431 can feed back pressure data from different areas. Then, oil is added into the oil storage chamber 441 through the oil filling valve pipe 443, and the oil enters the pressure chamber 421 through the overflow pipe 442. This further causes the expansion ring 42 to adaptively expand according to the inner surface of the rotor of the frameless torque motor 7 under test, and can automatically compensate for different pressure positions. This ensures that the expansion ring 42 and the inner surface of the frameless torque motor 7 under test are not only in close contact but also have uniform pressure, reducing the error when transmitting torsion. It should be noted that at the beginning of installation, the oil storage chamber 441 and the pressure chamber 421 also contain most of the oil.

[0043] Example 3

[0044] Please see Figures 12 to 16Based on Embodiment 2, in order to further reduce the torque fluctuation error of the test output shaft 41, this embodiment also proposes that a limit plate 5 be fixedly installed on the other side surface of the motor mounting base 11 under test by bolts, an output shaft limit sleeve 51 be fixedly installed in the middle of the limit plate 5, an operation port 52 be provided above the output shaft limit sleeve 51, a shaft limit cover 511 be fixedly installed on the inner surface of the end of the output shaft limit sleeve 51 near the coupling 21, an inner magnetic ring mounting ring 512 be rotatably installed on the inner surface of the shaft limit cover 511, an inner magnetic ring 513 be fixedly installed on the side surface of the inner magnetic ring mounting ring 512, a shaft limit ring 514 be fixedly installed in the middle of the inner magnetic ring mounting ring 512, and the inner... Spring protrusions 5141 are evenly distributed on the side wall. The inner surface of the other end of the output shaft limiting sleeve 51 is fixedly installed with a rubber outer fixing pad 515 and an inner fixing protrusion ring 516 by bolts. The inner fixing protrusion ring 516 is located inside the rubber outer fixing pad 515. Square springs 5161 are evenly distributed on the outside of the inner fixing protrusion ring 516. An outer magnetic ring mounting ring 517 is snapped between the rubber outer fixing pad 515 and the inner fixing protrusion ring 516. The side wall of the outer magnetic ring mounting ring 517 is provided with slots that are adapted to the rubber outer fixing pad 515 and the inner fixing protrusion ring 516. An outer magnetic ring 518 is fixedly installed on the side surface of the outer magnetic ring mounting ring 517. The outer magnetic ring 518 is located outside the inner magnetic ring 513.

[0045] In this embodiment, the limiting plate 5 mainly serves to install the output shaft limiting sleeve 51. The operating port 52 mainly facilitates observation or oil replenishment operation of the oil filling valve pipe 443. The output shaft limiting sleeve 51 mainly serves to install the inner magnetic ring 513 and the outer magnetic ring 518. The inner magnetic ring 513 is rotatably mounted on the shaft limiting cover 511 via the inner magnetic ring mounting ring 512, located at one end of the output shaft limiting sleeve 51. The shaft limiting ring 514 of the inner magnetic ring mounting ring 512 is in close contact with the outer surface of the installed test output shaft 41 via the spring convex washer 5141. When the test output shaft 41 undergoes torsional fluctuations, it will cause the shaft limiting ring 514 and the inner magnetic ring 513 to rotate to a certain extent. The outer magnetic ring 518 is installed between the inner fixing convex ring 516 and the rubber outer fixing washer 515 via the outer magnetic ring mounting ring 517. It should be noted that the magnetic pole period of the outer magnetic ring 518 is 8 poles, and the magnetic pole period of the inner magnetic ring 513 is 6 poles. The internal and external magnetic fields are periodically misaligned, resulting in slippage. The inner fixed convex ring 516, through the square spring 5161, generates a certain angle of torsional limit on the outer magnetic ring mounting ring 517, allowing the outer magnetic ring 518 to rotate at a certain angle, forming an elastic and torsionable support, thereby producing a certain filtering effect. When the outer magnetic ring 518 transmits torque fluctuations, the outer magnetic ring can swing by a slip angle of several degrees. The square spring 5161 and the rubber outer fixing pad 515 undergo elastic bending and deformation, absorbing energy and filtering out the fluctuations.

[0046] Example 4

[0047] Please see Figures 1 to 16 Based on Embodiment 3, this embodiment also proposes a testing method for an automatic torque fluctuation testing device for a servo frameless torque motor, including the following steps:

[0048] Step 1: Install the motor under test. Install the frameless torque motor 7 under test inside the matching motor under test mounting sleeve 31. Then, use bolts to install the motor under test mounting sleeve 31 inside the motor under test mounting housing 3. Place the rotor external shaft head 4 inside the rotor of the frameless torque motor 7 under test, so that the expansion ring 42 expands adaptively and makes tight contact with the inner surface of the rotor of the frameless torque motor 7 under test. Then, install the cover 32 and the mounting plate 33 in sequence. Pay attention to adjusting so that the test output shaft 41 passes through the center of the output shaft limiting sleeve 51. Connect the coupling 21 to the test output shaft 41. Finally, fix and lock the mounting plate 33 on the outside of the motor under test mounting base 11.

[0049] Step 2: Install the test motor. Note that the output shaft of the test servo motor 6 passes through the center of the test motor mounting base 12 and is connected to the coupling 22. Finally, the test servo motor 6 is fixed to the outside of the test motor mounting base 12 with bolts.

[0050] Step 3: Connect the control unit of the motor under test. The U / V / W interface of the control board unit on the side of the motor under test corresponds to the three-phase line of the motor and is connected to the input terminal of the motor under test. It is responsible for outputting drive power to the motor under test. At the same time, the control board unit on this side is also connected to the power analyzer through the line to transmit the electrical parameter signal of the motor.

[0051] Step 4: Connect the control unit of the test motor. The power supply provides power to the test motor through the control unit, enabling it to operate as a load. Load data such as speed and torque are transmitted through the communication interface.

[0052] Step 5: Conduct the test. Adjust the test motor by controlling the control commands to adjust the operating conditions of the motor under test. The real-time status of the motor under test will also be analyzed and uploaded in real time by the power analyzer.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic testing device for torque fluctuation of a servo frameless torque motor, comprising a testing platform (1), wherein a motor mounting base (11) to be tested is fixedly installed on one side of the upper surface of the testing platform (1), and a motor mounting base (12) to be tested is fixedly installed on the other side of the upper surface of the testing platform (1), wherein a torque-speed composite sensor (2) is fixedly installed in the middle of the upper surface of the testing platform (1), wherein a coupling first (21) is fixedly installed at one end of the torque-speed composite sensor (2) near the motor mounting base (11), and a coupling second (22) is fixedly installed at one end of the torque-speed composite sensor (2) near the motor mounting base (12), characterized in that: The outer side of the motor mounting base (11) under test is provided with a motor mounting shell (3), and the frameless torque motor (7) under test is provided inside the motor mounting shell (3). The frameless torque motor (7) under test is provided inside the frameless torque motor (7). The rotor external shaft head (4) is provided inside the rotor external shaft head (4). A test output shaft (41) is fixedly installed on the side surface of the rotor external shaft head (4) near the torque-speed composite sensor (2). One end of the test output shaft (41) is fixedly connected to one end of the coupling (21). The accompanying motor A test servo motor (6) is provided on the outside of the mounting base (12). The output shaft of the test servo motor (6) is fixedly connected to one end of the coupling two (22). A limit plate (5) is fixedly installed on the other side surface of the motor mounting base (11) by bolts. An output shaft limit sleeve (51) is fixedly installed in the middle of the limit plate (5). An operation port (52) is opened above the output shaft limit sleeve (51). The inner surface of the end of the output shaft limit sleeve (51) near the coupling one (21) is fixedly installed. The shaft limiting cover (511) is equipped with an inner magnetic ring mounting ring (512) rotatably mounted on the inner surface of the shaft limiting cover (511). An inner magnetic ring (513) is fixedly mounted on the side surface of the inner magnetic ring mounting ring (512). A shaft limiting ring (514) is fixedly mounted in the middle of the inner magnetic ring mounting ring (512). Spring protrusions (5141) are evenly distributed on the inner wall of the shaft limiting ring (514). The inner surface of the other end of the output shaft limiting sleeve (51) is fixedly mounted with rubber outer fixings by bolts. The outer rubber fixing pad (515) and the inner fixing ring (516) are provided. The inner fixing ring (516) is located on the inner side of the outer rubber fixing pad (515). Square springs (5161) are evenly distributed on the outer side of the inner fixing ring (516). An outer magnetic ring mounting ring (517) is snapped between the outer rubber fixing pad (515) and the inner fixing ring (516). The side wall of the outer magnetic ring mounting ring (517) is provided with a slot that is compatible with the outer rubber fixing pad (515) and the inner fixing ring (516).

2. The automatic torque fluctuation testing device for a servo frameless torque motor according to claim 1, characterized in that: The inner surface of the motor mounting housing (3) under test is fixedly mounted with a motor mounting inner sleeve (31) under test by bolts. The inner surface of the motor mounting inner sleeve (31) under test is provided with a slot that is compatible with the frameless torque motor (7) under test. An expansion ring (42) is fixedly mounted on the other side surface of the rotor external shaft head (4). The outer surface of the expansion ring (42) is in contact with the inner surface of the rotor of the frameless torque motor (7) under test.

3. The automatic torque fluctuation testing device for a servo frameless torque motor according to claim 1, characterized in that: The mounting housing (3) of the motor under test is fixedly mounted with a cover (32) on one side surface near the mounting base (11) of the motor under test by bolts. The side surface of the cover (32) is fixedly mounted with a mounting plate (33) by bolts. The side surface of the mounting plate (33) is fixedly connected to one side surface of the mounting base (11) of the motor under test by bolts.

4. The automatic torque fluctuation testing device for a servo frameless torque motor according to claim 2, characterized in that: The expansion ring (42) has a pressurization chamber (421) inside. An inner ring (44) is fixedly installed on the inner middle of the rotor external shaft head (4). An adjustment cone (43) is provided between the outer surface of the inner ring (44) and the inner surface of the expansion ring (42).

5. The automatic torque fluctuation testing device for a servo frameless torque motor according to claim 4, characterized in that: The rotor external shaft head (4) has an internal movable groove that matches the adjusting cone (43). The adjusting cone (43) has a pressure adjusting pad (433) on its outer side. An adjusting bolt (432) is movably installed on the side wall of the rotor external shaft head (4). One end of the adjusting bolt (432) is rotatably connected to the side wall of the pressure adjusting pad (433).

6. The automatic torque fluctuation testing device for a servo frameless torque motor according to claim 5, characterized in that: Pressure sensors (431) are evenly distributed on the outer wall of the adjusting cone (43) that contacts the inner surface of the expansion ring (42). An oil storage chamber (441) is provided inside the mounting inner ring (44). An overflow pipe (442) is evenly distributed at one end of the oil storage chamber (441). One end of the overflow pipe (442) is fixedly connected to the inner wall of the expansion ring (42). A refueling valve pipe (443) is fixedly installed on the side wall of the rotor external shaft head (4).

7. The automatic testing device for torque fluctuation of a servo frameless torque motor according to claim 1, characterized in that: An outer magnetic ring (518) is fixedly installed on the side surface of the outer magnetic ring mounting ring (517), and the outer magnetic ring (518) is located outside the inner magnetic ring (513).

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