Fixing tool for torque test of motor and torque test system

Abstract

The utility model belongs to the field of robot moving part testing, and particularly relates to a fixing tool used for torque testing of a motor and a torque testing system. The fixing tool comprises a shell body (1), a pressing ring (2) and a plurality of lining tiles (3). The plurality of lining tiles (3) surround the annular outer wall of the motor (10), and the plurality of lining tiles (3) contract towards the radial center of the motor (10) to press the motor (10) under the matching of the shell main body (1) and the pressing ring with the two ends of the plurality of lining tiles (3), so that the effect of fixing the motor (10) in the radial direction is realized; the fixing tool is convenient to disassemble and assemble and can meet the fixing requirements of different series of motors (10) within a certain length range. Moreover, due to the arrangement of the heat dissipation holes (12) of the shell main body (1) and the heat dissipation type lining tile (3), the natural heat dissipation of the motor (10) in the test process can be facilitated, so that the test environment temperature close to the working environment temperature of the motor (10) can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to robot motion part test technical field, concretely relates to a kind of fixed tool and torque testing system for the torque test of motor. BACKGROUND

[0002] The module responsible for driving and controlling the movement of each joint and component of the robot includes a rotary actuator (also known as a joint module) and a linear actuator. Both the rotary actuator and the linear actuator include a motor, and are powered by the motor.

[0003] Torque testing of the motor can ensure that the actual output torque of the motor meets the design specifications and verifies its performance under rated operating conditions (such as starting torque, peak torque, continuous working torque, etc.). For example, the motor measures torque in real time during operation, and combines with a speed sensor to obtain a torque-speed curve, thereby analyzing the dynamic response of the motor when accelerating, decelerating or load changes. Alternatively, instantaneous torque is captured when the motor starts and stops or experiences sudden load changes, and the overload capacity and response speed of the control system are analyzed.

[0004] In existing motor torque testing devices, a test fixture is needed to fix the motor to facilitate the collection of torque on the transmission shaft of the motor. Moreover, the motor is completely surrounded by the fixture, making it difficult to dissipate heat, resulting in a significant difference between the test environment temperature and the actual working conditions of the motor. SUMMARY

[0005] Therefore, the utility model provides a kind of fixed tool and torque testing system for the torque test of motor, to better simulate the test environment temperature similar to the working environment temperature of motor.

[0006] In a first aspect, the utility model provides a kind of fixed tool for the torque test of motor, and the fixed tool includes shell main body, pressing ring and multiple heat dissipation type lining tiles. Wherein, the inside of shell main body is used to place motor, and multiple heat dissipation holes are provided on the ring outer wall of the shell main body;Multiple lining tiles are arranged on the inside of the shell main body, and multiple lining tiles are arranged around the motor in the form of interval, and one end in axial direction is abutted on the inner end of the shell main body;Pressing ring is connected at the position of the second end of motor in axial direction of the shell main body, and the other end in axial direction of multiple lining tiles is abutted on the inner end of the pressing ring;Wherein, the pressing ring is connected on the shell main body in axial direction and compresses multiple lining tiles, and multiple lining tiles are clamped in radial direction of motor.

[0007] In a preferred embodiment of the utility model provided, the lining tile is copper alloy type, aluminum alloy type or carbon fiber type.

[0008] In a preferred embodiment of the fixing tool, a first diameter-reducing portion is formed on the inner ring wall of the shell body near the first end of the motor axial direction, and the first diameter-reducing portion is arranged to gradually reduce in the direction outward from the first end of the motor axial direction.

[0009] The inner ring wall of the compression ring is formed with a second diameter-reducing portion arranged to gradually reduce in the direction outward from the second end of the motor axial direction; and the outer wall of each end of the lining in the motor axial direction is formed with a bevel, and the bevel of one end of the outer wall of the lining is limited and matched with the first diameter-reducing portion of the shell body, and the bevel of the other end of the outer wall of the lining is limited and matched with the second diameter-reducing portion of the compression ring.

[0010] In a preferred embodiment of the fixing tool, the length of the heat dissipation hole is more than half of the length of the shell body; or, in the motor axial direction, the shell body is provided with a plurality of heat dissipation holes.

[0011] In a preferred embodiment of the fixing tool, the motor is a frameless torque motor, and the fixing tool further comprises a transmission shaft and a second balance ring; wherein the transmission shaft passes through the middle part of the inner rotor of the frameless torque motor, and a limiting convex ring is formed on the transmission shaft near the first end of the motor axial direction, and the limiting convex ring is limited and matched with the end face of the inner rotor of the frameless torque motor; and an annular mounting table is formed on the transmission shaft near the second end of the motor axial direction.

[0012] In a preferred embodiment of the fixing tool, the fixing tool further comprises a second flange plate connected to the position of the shell body near the second end of the motor axial direction, and a second bearing is arranged on the side of the second flange plate facing the motor, and an encoder is arranged on the side of the second flange plate away from the motor; wherein the inner ring of the second bearing is connected to the transmission shaft, and the rotor disc of the encoder is connected to the end part of the transmission shaft.

[0013] In a preferred embodiment of the fixing tool, a wire passing hole is arranged on the second flange plate for the cable of the motor to pass through; or, a heat dissipation hole is arranged on the second flange plate.

[0014] In a preferred embodiment of the fixing tool, the fixing tool further comprises a first flange plate connected to the position of the shell body near the first end of the motor axial direction, and a first bearing is arranged on the side of the first flange plate facing the motor, and the inner ring of the first bearing is connected to the transmission shaft.

[0015] In a preferred embodiment of the fixing tool provided by the utility model, the transmission shaft is formed with a stepped section close to the second end of the motor shaft, and a first balance ring is connected to a step surface of the stepped section close to the motor, and the first bearing is arranged on a step surface of the stepped section away from the motor.

[0016] In a second aspect, the torque testing system for the motor comprises the fixing tool of any one of the embodiments of the first aspect, a testing table, a load simulation device, a torque sensor and an industrial computer, etc. The testing table is connected with the first flange plate of the fixing tool. The load simulation device is arranged on the testing table and is configured to apply resistance to the transmission shaft. The torque sensor is connected to the transmission shaft. The industrial computer is electrically connected with the motor and the load simulation device, and is signal connected with the torque sensor.

[0017] In the second aspect, the industrial computer can be electrically connected with the motor and the load simulation device, and signal connected with the torque sensor. During the torque testing of the motor, the industrial computer can control the movement of the motor and the parameter setting of the load simulation device. The industrial computer also receives the electric signal fed back by the torque sensor, displays the torque-speed curve in real time, analyzes and calculates the indexes such as efficiency and fluctuation rate, and outputs the testing report.

[0018] The beneficial technical effects are that during the fixation of the motor by the fixing tool, the multiple lining tiles surround the circumferential outer wall of the motor, and under the cooperation of the shell main body, the compression ring and the two ends of the multiple lining tiles, the multiple lining tiles shrink towards the radial center of the motor to compress the motor, thereby achieving the function of fixing the motor in the radial direction. The fixing tool is convenient to disassemble and assemble, and can meet the fixation requirements of different series of motors within a certain length range. In addition, due to the arrangement of the heat dissipation holes of the shell main body and the heat dissipation lining tiles, the motor can be conveniently cooled during the testing process, so that the testing environment temperature close to the working environment temperature of the motor can be achieved, and the authenticity of the torque testing result of the motor is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] The preferred embodiments of the utility model will be described in detail below with reference to the drawings, so that the above and other features and advantages of the utility model can be more clearly understood by those skilled in the art. In the drawings:

[0020] Figure 1 It is an external structure diagram of the fixing tool for the torque testing of the motor of the embodiment.

[0021] Figure 2 It is an exploded view of the fixing tool for the torque testing of the motor of the embodiment.

[0022] Figure 3A sectional view of a fixing tool for torque test of an electric machine according to the embodiment.

[0023] Figure 4 An external structure schematic diagram of a shell main body of a fixing tool for torque test of an electric machine according to the embodiment.

[0024] Figure 5 An external structure schematic diagram of a pressing ring of a fixing tool for torque test of an electric machine according to the embodiment.

[0025] Figure 6 An explosion diagram of a connection relationship between a lining tile, a transmission shaft and an electric machine of a fixing tool for torque test of an electric machine according to the embodiment.

[0026] Figure 7 An external structure schematic diagram of a transmission shaft of a fixing tool for torque test of an electric machine according to the embodiment.

[0027] Wherein, the reference signs are as follows:

[0028] 1-shell main body; 11-first diameter reducing part; 12-radiating hole;

[0029] 2-pressing ring; 21-second diameter reducing part;

[0030] 3-lining tile; 31-inclined surface;

[0031] 4-transmission shaft; 41-limiting convex ring; 42-annular mounting table; 43-step section;

[0032] 51-first balance ring; 52-second balance ring;

[0033] 6-first flange plate;

[0034] 7-second flange plate; 71-thread hole;

[0035] 81-first bearing; 82-second bearing;

[0036] 9-encoder;

[0037] 10-electric machine; 101-inner rotor; 102-outer stator. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the utility model more clear, the following embodiment is used to further explain the utility model in detail.

[0039] In the description of this application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In this embodiment, "first" and "second" have no actual meaning, do not indicate importance or order, and are only used for distinction in name.

[0040] The torque testing system for motors provided in this embodiment includes a fixed fixture, a test bench, a load simulation device, a torque sensor, and an industrial control computer. The fixed fixture is as follows: Figure 1 As shown, the fixture is used to fix the motor 10 and is connected to the test bench. For example, the test bench can be connected to the first flange 6 of the fixture. A load simulation device is mounted on the test bench and configured to apply resistance to the drive shaft 4 to simulate actual working conditions. For example, the motor 10 can drive the load simulation device via a coupling. The load simulation device can be selected as a magnetic powder brake, an eddy current dynamometer, or a servo motor 10 driven by the motor. The torque sensor is connected to the drive shaft 4. Based on strain gauges or magnetoelastic effects, the torque sensor converts mechanical torsional deformation into an electrical signal, detecting the torque on the drive shaft 4 in real time.

[0041] In this embodiment, the industrial control computer can be electrically connected to the motor 10 and the load simulation device, as well as to the torque sensor signal. During the torque test of the motor 10, the industrial control computer can control the movement of the motor 10 and the parameter setting of the load simulation device. The industrial control computer also receives the electrical signal fed back by the torque sensor, displays the torque-speed curve in real time, analyzes and calculates indicators such as efficiency and fluctuation rate, and outputs a test report.

[0042] In the fixture for testing the torque of the motor in this embodiment, such as Figures 1 to 3 As shown, the fixing fixture may include a housing body 1, a pressure ring 2, and multiple heat-dissipating pads 3. The interior of the housing body 1 houses the motor 10, and multiple heat dissipation holes 12 are provided on the circumferential outer wall of the housing body 1. Multiple heat-dissipating pads 3 are disposed on the inner side of the housing body 1, and are arranged around the motor 10 at intervals, with one axial end abutting against the inner end of the housing body 1. For example, the pads 3 can be made of copper alloy, aluminum alloy, or carbon fiber. The pressure ring 2 is connected to the housing body 1 at a position near the second axial end of the motor 10, with the inner end of the pressure ring 2 abutting against the other axial end of the multiple pads 3. When the pressure ring 2 is connected to the housing body 1, it presses the multiple pads 3 axially, and the multiple pads 3 clamp the motor 10 radially.

[0043] In the process of fixing the motor by the fixing tool, the multiple lining tiles 3 surround the outer circumferential wall of the motor 10, and under the cooperation of the shell body 1 and the pressure ring and the two ends of the multiple lining tiles 3, the multiple lining tiles 3 shrink towards the radial center of the motor 10 to press the motor 10, thereby achieving the effect of fixing the motor 10 in the radial direction. The fixing tool is convenient to disassemble and assemble and can meet the fixing requirements of different series of motors 10 within a certain length range. In addition, due to the arrangement of the heat dissipation holes 12 of the shell body 1 and the heat dissipation type lining tiles 3, the motor 10 can be conveniently naturally cooled during the test, so that the test environment temperature close to the working environment temperature of the motor 10 can be achieved, and the authenticity of the test result of the motor torque is improved.

[0044] Exemplarily, the inner circumferential wall of the shell body 1 is formed with a first radial shrinkage part 11 on the side close to the first axial end of the motor 10. Figure 4 The first radial shrinkage part 11 is arranged to gradually shrink in the direction away from the first axial end of the motor 10.

[0045] The inner circumferential wall of the pressure ring 2 is formed with a second radial shrinkage part 21. Figure 5 The second radial shrinkage part 21 is arranged to gradually shrink in the direction away from the second axial end of the motor 10. In the embodiment, the first axial end of the motor 10 and the second axial end of the motor 10 are opposite, for example, the end where the cable of the motor 10 extends out is the second axial end of the motor 10, and the end away from the cable is the first axial end of the motor 10.

[0046] The outer wall of the two ends of the lining tile 3 in the axial direction of the motor 10 is formed with a bevel 31, the bevel 31 of one end of the outer wall of the lining tile 3 is limited and matched with the first radial shrinkage part 11 of the shell body 1, and the bevel 31 of the other end of the outer wall of the lining tile 3 is limited and matched with the second radial shrinkage part 21 of the pressure ring 2. When the pressure ring 2 is connected to the shell body 1, it axially presses the multiple lining tiles 3, and the multiple lining tiles 3 radially clamp the motor 10.

[0047] In the process of fixing the motor 10 by the fixing tool, the multiple lining tiles 3 surround the outer circumferential wall of the motor 10, and under the cooperation of the first radial shrinkage part 11 and the second radial shrinkage part 21 and the bevel 31 of the two ends of the multiple lining tiles 3, the multiple lining tiles 3 shrink towards the radial center of the motor 10 to press the motor 10, thereby achieving the effect of fixing the motor 10 in the radial direction.

[0048] Exemplarily, in the axial direction of the motor 10, the length of the heat dissipation hole 12 accounts for more than half of the length of the shell body 1, or in the axial direction of the motor 10, the shell body 1 is provided with multiple heat dissipation holes 12. In this way, not only the material cost and weight of the fixing tool can be saved, but also the heat dissipation effect of the fixing tool can be better.

[0049] In a preferred embodiment, Figure 6 In the following, the motor 10 is taken as an example of a frameless torque motor 10, which comprises an inner rotor 101 and an outer stator 102. The fixing tool further comprises a transmission shaft 4 and a second balance ring 52. The transmission shaft 4 passes through the middle of the inner rotor 101 of the frameless torque motor 10, and the transmission shaft 4 is formed with a limiting convex ring 41 near the first end of the motor 10 in the axial direction. The limiting convex ring 41 is limitedly matched with the end surface of the inner rotor 101 of the frameless torque motor 10. In addition, the transmission shaft 4 is formed with an annular mounting table 42 near the second end of the motor 10 in the axial direction. The second balance ring 52 is connected to the annular mounting table 42 and presses the end surface of the inner rotor 101. In this way, the motor 10 can be fixed relative to the transmission shaft 4 in the axial direction. In addition, the transmission shaft 4 can also be interference-fitted or keyed to the inner wall of the inner rotor 101 of the motor 10. The second balance ring 52 simultaneously functions to fix the motor 10 at one end in the axial direction and keep the balance of the transmission shaft 4, which is beneficial to the stable, noiseless and low-vibration operation of the transmission shaft 4. Figure 7

[0050] In a preferred embodiment, the fixing tool further comprises a second flange plate 7, which is connected to the shell body 1 near the second end of the motor 10 in the axial direction, and is provided with a second bearing 82 on the side facing the motor 10 and an encoder 9 on the side away from the motor 10. In this way, the second flange plate 7 simultaneously functions to mount the second bearing 82 and the encoder 9.

[0051] For example, the inner ring of the second bearing 82 is connected to the transmission shaft 4, and the rotor disc of the encoder 9 is connected to the end of the transmission shaft 4. The encoder 9 comprises a stator disc and a rotor disc. The PCB substrate of the stator disc can be provided with a detection circuit, which can comprise an excitation coil, a receiving coil, a decoding circuit and a communication circuit. The PCB substrate of the rotor disc is provided with a metal reflector or a low-permeability metal. The working process is as follows: the controller or servo driver sends a sinusoidal wave to the excitation coil of the stator disc, thereby generating a strong magnetic field around the stator disc. The coil on the rotor disc interacts with the electromagnetic field to generate eddy currents. As the rotor disc rotates, these eddy currents interfere with the receiving coil on the stator disc, and the decoding circuit on the stator disc analyzes these interference signals to determine the rotation angle and other motion parameters of the motor 10.

[0052] In a preferred embodiment, referring to Figure 1 The second flange plate 7 is provided with a wire hole 71 for the cable of the motor 10 to pass through, or the second flange plate 7 is provided with a heat dissipation hole 12. It can be understood that the second flange plate 7 can be provided with a plurality of heat dissipation holes 12, and one of the heat dissipation holes 12 can also serve as a wire hole for the cable to pass through.

[0053] ​In a preferred embodiment, the combination Figures 1 to 3 The fixing tool further comprises a first flange plate 6 connected to the shell body 1 near the axial first end of the motor 10, and a first bearing 81 is arranged on the side of the first flange plate 6 facing the motor 10, and the inner ring of the first bearing 81 is connected to the transmission shaft 4. In this embodiment, the first flange plate 6 fixes one end of the transmission shaft 4 by means of the bearing.

[0054] Exemplarily, in combination Figure 2 and Figure 7 , the transmission shaft 4 is formed with a stepped section 43 near the axial second end of the motor 10, and the first balance ring 51 is connected to one step surface of the stepped section 43 near the motor 10, and the first bearing 81 is arranged on the step surface of the stepped section 43 away from the motor 10. In this way, the transmission shaft 4 realizes the connection between the first balance ring 51 and the first bearing 81 by arranging the stepped section 43, and the connection is more convenient.

[0055] In this embodiment, the outer wall of the first flange plate 6 is provided with threaded holes for connecting to the test bench, and the transmission shaft 4 extends out of the first flange plate 6 and is formed with a connecting portion at the end for connecting the torque sensor.

[0056] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment or implementation contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be combined to form other implementations that those skilled in the art can understand.

[0057] The above is only a specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application. Any equivalent changes, modifications and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of the present application shall fall within the scope of protection of the embodiments of the present application.

Claims

1. A fixture for torque testing of an electric machine, characterized in that, The application relates to a motor fixing tool, which comprises the following parts: a shell body (1) for accommodating a motor (10), wherein a plurality of heat dissipation holes (12) are arranged on the outer wall of the shell body (1); a plurality of heat dissipation tiles (3) arranged on the inner side of the shell body (1), wherein the plurality of tiles (3) are arranged around the motor (10) in a spaced manner, and one end of the plurality of tiles (3) abuts against the inner end of the shell body (1); a pressing ring (2) connected to the shell body (1) at the position close to the second end of the motor (10) in the axial direction, wherein the inner end of the pressing ring (2) abuts against the other end of the plurality of tiles (3) in the axial direction; and wherein the pressing ring (2) is used for pressing the plurality of tiles (3) in the axial direction when the pressing ring (2) is connected to the shell body (1), and the plurality of tiles (3) are used for clamping the motor (10) in the radial direction of the motor (10).

2. The fixture of claim 1, wherein The tile (3) is made of copper alloy, aluminum alloy or carbon fiber.

3. The fixture of claim 1, wherein The inner annular wall of the shell body (1) is formed with a first diameter-reducing part (11) on the side close to the first end of the motor (10) in the axial direction, wherein the first diameter-reducing part (11) is arranged to gradually reduce in the direction away from the first end of the motor (10) in the axial direction; the inner annular wall of the pressing ring (2) is formed with a second diameter-reducing part (21), wherein the second diameter-reducing part (21) is arranged to gradually reduce in the direction away from the second end of the motor (10) in the axial direction; the outer wall of each end of the tile (3) is formed with an inclined surface (31) in the axial direction of the motor (10), wherein the inclined surface (31) of one end of the outer wall of the tile (3) is limited by the first diameter-reducing part (11) of the shell body (1), and the inclined surface (31) of the other end of the outer wall of the tile (3) is limited by the second diameter-reducing part (21) of the pressing ring (2).

4. The fixture of claim 1, wherein In the axial direction of the motor (10), the length of the heat dissipation hole (12) is more than half of the length of the shell body (1).

5. The fixture of claim 1, wherein The motor (10) is a frameless torque motor, and the fixing tool further comprises: a transmission shaft (4) penetrating through the middle part of the inner rotor (101) of the motor (10), wherein the transmission shaft (4) is formed with a limiting convex ring (41) close to the first end of the motor (10) in the axial direction, the limiting convex ring (41) is limited by the end face of the inner rotor (101) of the motor (10), and the transmission shaft (4) is formed with an annular mounting table (42) close to the second end of the motor (10) in the axial direction; a second balance ring (52) connected to the annular mounting table (42) and used for pressing the end face of the inner rotor (101).

6. The fixture of claim 5, wherein Further comprising: a second flange plate (7) connected to the shell body (1) at the position close to the second end of the motor (10) in the axial direction, wherein the side of the second flange plate (7) facing the motor (10) is provided with a second bearing (82), and the side of the second flange plate (7) facing away from the motor (10) is provided with an encoder (9); wherein the inner ring of the second bearing (82) is connected to the transmission shaft (4), and the rotor disc of the encoder (9) is connected to the end of the transmission shaft (4).

7. The fixture of claim 6, wherein The second flange plate (7) is provided with a wire hole (71) for the cable of the motor (10) to pass through; or, The second flange plate (7) is provided with a heat dissipation hole (12).

8. The fixture of claim 5, wherein Further comprising: A first flange plate (6) is connected to the shell body (1) near the axial first end of the motor (10), and the side of the first flange plate (6) facing the motor (10) is provided with a first bearing (81), and the inner ring of the first bearing (81) is connected to the transmission shaft (4).

9. The fixture of claim 8, wherein The transmission shaft (4) is formed with a stepped section (43) near the axial second end of the motor (10), and a first balance ring (51) is connected to one step surface of the stepped section (43) near the motor (10), and the first bearing (81) is arranged on the other step surface of the stepped section (43) away from the motor (10).

10. A torque testing system for an electric machine, characterized by, Comprising: The fixing tool of any one of claims 1 to 9; A test bench connected with the fixing tool; A load simulation device arranged on the test bench and configured to apply resistance to the transmission shaft (4); A torque sensor connected to the transmission shaft (4); An industrial computer electrically connected with the motor (10) and the load simulation device, and signal connected with the torque sensor.

Images