CN105403832A - Comprehensive property test system for stepping motor - Google Patents

Comprehensive property test system for stepping motor Download PDF

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Publication number
CN105403832A
CN105403832A CN201510845334.3A CN201510845334A CN105403832A CN 105403832 A CN105403832 A CN 105403832A CN 201510845334 A CN201510845334 A CN 201510845334A CN 105403832 A CN105403832 A CN 105403832A
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motor
slide block
torque
torque sensor
servomotor
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CN105403832B (en
Inventor
韩建超
高鹏
赖小明
全齐全
汪龙
王凯
陈少君
赵本华
李红星
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Beijing Satellite Manufacturing Factory Co Ltd
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Beijing Satellite Manufacturing Factory Co Ltd
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Abstract

The invention relates to a comprehensive property testing system for a stepping motor. The testing system is composed of a servo motor (101), a motor mounting bracket (102), a first coupling unit (103), a, torque sensor (104), a second coupling unit (105), a switching shaft (106), a to-be-tested motor mounting bracket (107), an adapting flange (108), a first sliding block (109), a second sliding block (110), a third sliding block (111), a guide rail (112), a mounting flange (201), a motor bracket (202), a connecting shaft (203), an input coupling unit (204), a load torque sensor (205), an output coupling unit (206), a hysteresis brake (207), a hysteresis mounting bracket (208), a hysteresis sliding block (209), a torque sensor sliding block (210), a motor sliding block (211), a slide rail (212) and a controller. According to the invention, the testing precision of the system is high; and characteristics testing requirements of positioning/maintaining torques and loads having different precisions, levels, and ranges can be met by selecting torque sensors with different torque ranges and different precision and resolution ratios and servo motors.

Description

A kind of stepper motor comprehensive performance testing system
Technical field
The invention belongs to field tests, relate to a kind of stepper motor test macro, can be used for the measurement of the location torque of stepper motor, holding torque and load characteristic.
Background technology
Stepper motor is opened loop control unit stepper motor part electric impulse signal being changed into angular displacement or displacement of the lines, under non-overload condition, the rotating speed of stepper motor, stop position only depend on frequency and the umber of pulse of pulse signal, not by the impact of load change, there is outstanding start-stop and reverse response, positional precision, position is reproducible, reliability is high, structure is simple, cost is low, has the wider range of speeds, has been widely used in various automation control system.
Stepper motor, after development completes, generally need be measured its location torque and holding torque.Location torque refers to that stepper motor is under no power state, the locking moment of rotor self, is to be caused by the humorous machine error that involves of magnetic field profile of tooth.Holding torque refer to stepper motor in the energized state but do not rotate time, the moment of stator locked rotor.Location/holding torque is the important indicator of stepper motor, is to weigh one of most important parameter of stepper motor.
At present, location/holding torque the test of stepper motor adopts static counterweight to load the method measured usually, namely by fixing a disk on stepper motor output shaft, disk is wound around a loading disc, counterweight is placed by progressively increasing on loading disc, when added counterweight driver output axle rotates, using the location/holding torque (do not power up/powering state) of torque now as stepper motor.This traditional load mode because the quality segmentation of counterweight is not enough, the loading impact of counterweight, disk and loading disc self inertia etc. can measuring accuracy, simultaneously the bias-load mode of loading force arm bar of direct influence square make motor output shaft produce additional bending moment, measurement result can not reflect the actual size of its location/holding torque completely, there is certain measuring error.The normal employing of load characteristic test utilizes a load disk, disk is wound around a rope, rope one end hangs counterweight, one end connects a cast dynamometer, by the weight of adjustment counterweight in test process, the moment of friction produced between rope and disk is made to reach load torque value needed for test to carry out the test of motor load ability, need to carry out a large amount of rules before this method of testing test to grope, to find the relation of the moment of friction of counterbalance mass and generation, expend time in longer, motor fluctuation simultaneously in test process, larger fluctuation is there is according to becoming load torque, measuring accuracy is low.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, provide the integrated test system of a kind of stepper motor location/holding torque and load characteristic, for solving the problem that measuring accuracy is poor, testing efficiency is low in stepper motor test process.
Technical solution of the present invention is: a kind of stepper motor comprehensive performance testing system, comprise servomotor, motor mounting rack, the first shaft coupling, torque sensor, the second shaft coupling, Coupling Shaft, motor mounting rack to be measured, adapter flange, the first slide block, the second slide block, the 3rd slide block, guide rail, mounting flange, electric machine support, coupling shaft, input shaft coupling, load torque sensor, export shaft coupling, hysteresis brake, magnetic hysteresis mounting bracket, magnetic hysteresis slide block, torque sensor slide block, motor slide block, slide rail and controller, wherein:
Servomotor: comprise again the first servomotor and the second servomotor, when carrying out the test of stepper motor location torque, first servomotor is arranged on motor mounting rack, and output shaft is connected with the input end of torque sensor by the first shaft coupling, loads moment of torsion to by measured motor; When carrying out the test of stepper motor holding torque, the second servomotor is arranged on motor mounting rack, and output shaft is connected with the input end of torque sensor by the first shaft coupling, loads moment of torsion to by measured motor; The output torque of the second described servomotor is greater than the output torque of the first servomotor;
Torque sensor: input end is connected with the output shaft of servomotor, test lead is mechanically connected by the second shaft coupling, Coupling Shaft and the output shaft by measured motor successively, reads servomotor and is applied to by the moment of torsion of measured motor and rotating speed and feeds back to controller;
Adapter flange: will be fixedly mounted on motor mounting rack to be measured by measured motor;
Guide rail: fixed installation in the horizontal plane, first slide block, the second slide block, the 3rd sequential slider are arranged on guide rail, mounting torque sensor on second slide block, first slide block installs motor mounting rack to be measured, mounted motor mounting bracket on 3rd slide block, by the position relationship of the first slide block, the second slide block, the 3rd slide block adjustment torque sensor, motor mounting rack to be measured and motor mounting rack;
Mounting flange: will be fixedly mounted on electric machine support by measured motor;
Load torque sensor: input end is connected with by the output shaft of measured motor by input shaft coupling, coupling shaft successively, test lead is connected with hysteresis brake by exporting shaft coupling, reads hysteresis brake and is applied to by the moment of torsion of measured motor and rotating speed and feeds back to controller;
Hysteresis brake, is fixedly mounted on magnetic hysteresis mounting bracket, loads moment of torsion to by measured motor;
Slide rail: fixed installation in the horizontal plane, magnetic hysteresis slide block, torque sensor slide block, motor sequential slider are arranged on slide rail, magnetic hysteresis slide block installs hysteresis brake, installation load torque sensor on torque sensor slide block, mounted motor support on motor slide block, by the position relationship of magnetic hysteresis slide block, torque sensor slide block, the adjustment of motor slide block hysteresis brake, load torque sensor and electric machine support;
Controller: when carrying out stepper motor holding torque or location torque test, drive singal is applied to servomotor, controlling servomotor is applied to by the loading moment of torsion of measured motor and rotating speed, simultaneously from moment of torsion and the rotary speed information of the actual measurement of torque sensor Real-time Obtaining, obtain torque curve and using the peak value of twisting curve as location torque or holding torque; When carrying out the test of stepper motor load characteristic, applying drive singal to hysteresis brake, simultaneously from moment of torsion and the rotary speed information of the actual measurement of load torque sensor Real-time Obtaining, drawing load torque curve.
The present invention's advantage is compared with prior art:
(1) test macro of the present invention has multiple test function, can realize the location of stepper motor/holding torque test, can realize again stepper motor load characteristic and efficiency test under different rotating speeds;
(2) the Test Application scope of present system is wide, can meet multiple different model, the stepper motor location/holding torque of distinct interface size and load characteristic test (stepper motor for distinct interface only needs replacing adapter flange);
(3) measuring accuracy of present system is high, by selecting torque sensor and the servomotor of different moment of torsion range, different accuracy resolution, can meet location/holding torque and the load characteristic testing requirement of different accuracy grade and range; Adopt coaxially arranged metering system, eliminate the impact on measurement result such as additional bending moment, counterweight placement impact that static counterweight counterweight is measured; Adopt and control to gather with data acquisition unit automatic high speed, identify and analyzing test data, substantially increase data acquisition and the resolution characteristic of manual testing's process, test result is more true, accurately, testing efficiency is high.
Accompanying drawing explanation
Fig. 1 is system of the present invention composition schematic diagram;
Fig. 2 is location of the present invention/holding torque test cell structural drawing;
Fig. 3 is test philosophy figure of the present invention;
Fig. 4 is load characteristic test cell structural drawing of the present invention;
Fig. 5 is control of the present invention and data acquisition unit structural drawing;
Fig. 6 is location of the present invention/holding torque test flow chart;
Fig. 7 is load characteristic test flow chart of the present invention.
Embodiment
As shown in Figure 1, test macro of the present invention comprises test platform, location/holding torque test cell, load characteristic test cell, control and data acquisition unit.
Test platform is the basic platform of system, for location/holding torque test cell, load characteristic test cell, control and data acquisition unit provide mechanical interface.
Location/holding torque test cell, for tested stepper motor provides power to input, realizes the test of its location/holding torque.As shown in Figure 2, preferably, location/holding torque test cell is made up of servomotor 101, motor mounting rack 102, first shaft coupling 103, torque sensor 104, second shaft coupling 105, Coupling Shaft 106, motor mounting rack to be measured 107, adapter flange 108, first slide block 109, second slide block 110, the 3rd slide block 111, guide rail 112.Servomotor 101 is for accurately loading moment of torsion and driving to by measured motor by setting step-length and load mode, be installed on motor mounting rack 102, its output shaft is connected with the input end of torque sensor 104 by the first shaft coupling 103, torque sensor 104 is applied to by the loading moment of torsion of measured motor and rotating speed for reading, and loading moment of torsion and rotary speed information are fed back to control and data acquisition unit carry out data storage, test curve is drawn and Loading Control, the test lead of torque sensor 104 is by the second shaft coupling 105, Coupling Shaft 106 and tested motor output shaft are mechanically connected, be installed on motor mounting rack 107 to be measured by measured motor by adapter flange 108, arranging adapter flange 108 is electromechanical testings for making system can adapt to distinct interface size, corresponding replacing adapter flange 108 is only needed by measured motor for different.Motor mounting rack 107 to be measured, torque sensor 104, motor mounting rack 102 are separately installed with the first slide block 109, second slide block 110, the 3rd slide block 111 below, can slide along guide rail 112, be convenient to mutual connection and be separated, each slide block is provided with holding screw, and position can position locked by opposite rail 112 after determining.In the functional test of location/holding torque, control and data acquisition unit find the peak value of torque curve by the loading torque data that torque sensor 104 records, be location/holding torque (not powering up/powering state) (when the loading moment of torsion applied enough makes to be rotated by measured motor, tested motor output shaft turns round, because stepper motor location/holding torque is greater than the characteristic of stepper motor self running moment, after stepper motor turns round, the torque value that torque sensor 104 detects can produce larger decline instantaneously, therefore the peak value of torque curve is namely by the location/holding torque of measured motor).
Because the location torque value of stepper motor is generally much smaller than holding torque value, for ensureing measuring accuracy, same specification servomotor should not be selected to carry out two tests, and therefore the present invention adopts the mode of two different size servomotor switch tests to design.When carrying out location torque test, the first servomotor exported by measured motor and less moment of torsion is connected, torque sensor 104 of simultaneously connecting, by controlling the torque value of the first servomotor, the location torque realizing stepper motor is measured; When carrying out holding torque test, the second servomotor exported being displaced the first servomotor, realize the Measurement accuracy of two kinds of different range moments, shown in Fig. 3 compared with high pulling torque.
Load characteristic test cell, for being provided fictitious load by measured motor, stable output loading moment under the specific rotation speeds required.As shown in Figure 4, preferably, load characteristic test cell is made up of mounting flange 201, electric machine support 202, coupling shaft 203, input shaft coupling 204, load torque sensor 205, output shaft coupling 206, hysteresis brake 207, magnetic hysteresis mounting bracket 208, magnetic hysteresis slide block 209, torque sensor slide block 210, motor slide block 211, slide rail 212.Be installed on electric machine support 202 by measured motor by mounting flange 201, arranging mounting flange 201 is electromechanical testings for making system can adapt to distinct interface size, corresponding replacing mounting flange 201 is only needed by measured motor for different, tested motor output shaft is by coupling shaft 203, input shaft coupling 204 is set up with load torque sensor 205 and is mechanically connected, load torque sensor 205 is applied to by the load torque of measured motor and rotating speed for reading, and by load torque, rotary speed information feeds back to control and data acquisition unit, for carrying out data storage, test curve is drawn and Loading Control, load torque sensor 205 test lead is connected with hysteresis brake 207 by exporting shaft coupling 206, hysteresis brake 207 is installed on magnetic hysteresis mounting bracket 208, for accurately loading moment of torsion to by measured motor by setting load, magnetic hysteresis mounting bracket 208, load torque sensor 205, electric machine support 202 bottom is separately installed with magnetic hysteresis slide block 209, torque sensor slide block 210, motor slide block 211, can slide along slide rail 212, be convenient to mutual connection and be separated, slide block is provided with holding screw, position can position locked by slide rail 212 after determining relatively.
As shown in Figure 5, control and data acquisition unit are made up of test computer, motor driver, magnetic hysteresis driver (ERM), torque sensor converter, voltage signal converter, current signal converter, terminal board.The moment of torsion that load torque sensor 205 records, rotary speed information are transferred to and feed back to computing machine after torque sensor converter carries out converting the accessible signal of computing machine to and carry out showing, store and processing.Test computer carries out Loading Control by ERM to hysteresis brake 207, is moved and Loading Control respectively by motor driver to two servomotors.Drive the voltage of tested motor movement, current signal to feed back to test computer after converting the accessible signal of computing machine to through voltage signal converter, current signal converter respectively to carry out showing, store and processing, terminal board provides the connecting interface of each hardware and intercomputer.Control and data acquisition unit by measurement result curve plotting, and carry out analysis and the storage of test data.
In the test of location/holding torque, for fully knowing the location/holding torque situation of product, take the mode of multiple spot interval measurement, namely by measured motor after the location/holding torque of a certain position has been tested, by by the output shaft rotation of measured motor angle, carry out being tested by the location/holding torque of measured motor of the next position, obtain the location/holding torque test value of all measuring points.The test of location/holding torque carries out test finishing control based on the rotating speed of tested motor output shaft, and when tested motor output shaft rotational angular velocity reaches setting value, test terminates, and needs the setting carrying out this tachometer value before test.
Test finishing control rotating speed carries out servomotor moment in test process and loads step-length and load duration setting after determining, this setting determines the load mode of servomotor.
After starting test, servomotor loads step-length according to setting moment and loads the duration from 0Nmm, multistage loadings is carried out to tested stepper motor, when control and data acquisition unit detect torque sensor 104 measure feedback torque value occur decline suddenly time, servomotor stops multistage loadings, and keep current loading moment to continue to load, when control and data acquisition unit detect tested stepper motor velocity of rotation reach test start before test stop setting value time, servomotor stops loading, the loading torque information that control and data acquisition unit feed back according to test process torque sensor 104, the maximal value of loading moment is found to be by the location/holding torque of this test point of measured motor.
After the location/holding torque of certain measuring point is tested and terminated, driven by servomotor tested electric machine rotation setting measuring point interval angles, repeats location/holding torque test that said process carries out next measuring point, until complete location/holding torque test of all test points.
After test terminates, control and data acquisition unit are according to the torque information gathered in test process, and can draw the location/holding torque test curve of each measuring point on demand, whole flow process as shown in Figure 6.
In load characteristic test process, need before test to arrange by the test load of measured motor; After starting test, computing machine is handed down to magnetic hysteresis driver by arranging torque value, the braking torque of torque value to hysteresis brake 207 that magnetic hysteresis driver loads by computing machine requirement controls, hysteresis brake 207 is made to apply load torque by arranging load torque value to by measured motor, the moment of torsion of system Real-time Collection test process, rotary speed information and actuator voltage, current information.System, according to the process moment of torsion gathered, rotating speed and actuator voltage, current information, according to the relation of efficiency=(moment of torsion × rotating speed)/(voltage × electric current), carries out the efficiency calculation in electromechanical testing process.
After test terminates, control and data acquisition unit are according to the load torque gathered in test process, rotating speed, actuator voltage, current information and efficiency data as calculated, can draw load torque curve, the efficiency curve of test process on demand, idiographic flow as shown in Figure 7.
The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.

Claims (1)

1. a stepper motor comprehensive performance testing system, it is characterized in that comprising: servomotor (101), motor mounting rack (102), first shaft coupling (103), torque sensor (104), second shaft coupling (105), Coupling Shaft (106), motor mounting rack to be measured (107), adapter flange (108), first slide block (109), second slide block (110), 3rd slide block (111), guide rail (112), mounting flange (201), electric machine support (202), coupling shaft (203), input shaft coupling (204), load torque sensor (205), export shaft coupling (206), hysteresis brake (207), magnetic hysteresis mounting bracket (208), magnetic hysteresis slide block (209), torque sensor slide block (210), motor slide block (211), slide rail (212) and controller, wherein:
Servomotor (101): comprise again the first servomotor and the second servomotor, when carrying out the test of stepper motor location torque, first servomotor is arranged on motor mounting rack (102), output shaft is connected with the input end of torque sensor (104) by the first shaft coupling (103), loads moment of torsion to by measured motor; When carrying out the test of stepper motor holding torque, second servomotor is arranged on motor mounting rack (102), output shaft is connected with the input end of torque sensor (104) by the first shaft coupling (103), loads moment of torsion to by measured motor; The output torque of the second described servomotor is greater than the output torque of the first servomotor;
Torque sensor (104): input end is connected with the output shaft of servomotor (101), test lead, successively by the second shaft coupling (105), Coupling Shaft (106) and be mechanically connected by the output shaft of measured motor, reads servomotor (101) and is applied to by the moment of torsion of measured motor and rotating speed and feeds back to controller;
Adapter flange (108): will be fixedly mounted on motor mounting rack to be measured (107) by measured motor;
Guide rail (112): fixed installation in the horizontal plane, first slide block (109), second slide block (110), 3rd slide block (111) order is arranged on guide rail (112), the upper mounting torque sensor (104) of second slide block (110), first slide block (109) is upper installs motor mounting rack to be measured (107), the upper mounted motor mounting bracket (102) of 3rd slide block (111), by the first slide block (109), second slide block (110), 3rd slide block (111) adjustment torque sensor (104), the position relationship of motor mounting rack to be measured (107) and motor mounting rack (102),
Mounting flange (201): will be fixedly mounted on electric machine support (202) by measured motor;
Load torque sensor (205): when carrying out the test of stepper motor load characteristic, input end is connected with by the output shaft of measured motor by input shaft coupling (204), coupling shaft (203) successively, test lead is connected with hysteresis brake (207) by exporting shaft coupling (206), reads hysteresis brake (207) and is applied to by the moment of torsion of measured motor and rotating speed and feeds back to controller;
Hysteresis brake (207), is fixedly mounted on magnetic hysteresis mounting bracket (208), loads moment of torsion to by measured motor;
Slide rail (212): fixed installation in the horizontal plane, magnetic hysteresis slide block (209), torque sensor slide block (210), motor slide block (211) order is arranged on slide rail (212), magnetic hysteresis slide block (209) is installed hysteresis brake (207), the upper installation load torque sensor (205) of torque sensor slide block (210), the upper mounted motor support (202) of motor slide block (211), by magnetic hysteresis slide block (209), torque sensor slide block (210), motor slide block (211) adjustment hysteresis brake (207), the position relationship of load torque sensor (205) and electric machine support (202),
Controller: when carrying out stepper motor holding torque or location torque test, drive singal is applied to servomotor (101), controlling servomotor (101) is applied to by the loading moment of torsion of measured motor and rotating speed, simultaneously from moment of torsion and the rotary speed information of the actual measurement of torque sensor (104) Real-time Obtaining, obtain torque curve and using the peak value of twisting curve as location torque or holding torque; When carrying out the test of stepper motor load characteristic, applying drive singal to hysteresis brake (207), simultaneously from moment of torsion and the rotary speed information of the actual measurement of load torque sensor (205) Real-time Obtaining, drawing load torque curve.
CN201510845334.3A 2015-11-26 2015-11-26 A kind of stepper motor comprehensive performance testing system Active CN105403832B (en)

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CN106248273A (en) * 2016-09-05 2016-12-21 北京理工大学 A kind of measurement apparatus being applicable to multiple motor micro-torque
CN108089127A (en) * 2017-12-15 2018-05-29 格力电器(武汉)有限公司 A kind of test equipment and method suitable for stepper motor
CN108680360A (en) * 2018-07-02 2018-10-19 重庆交通大学 Micro internal combustion engine transient working characteristic test device and its test method
CN109164386A (en) * 2018-09-14 2019-01-08 蚌埠高灵传感系统工程有限公司 A kind of motor corner, torque and revolving speed integrated detection system, method and device
CN109389891A (en) * 2018-12-28 2019-02-26 安徽工程大学 A kind of rational mechanics comprehensive experimental device and its experimental method
CN109471029A (en) * 2018-12-10 2019-03-15 南京晨光集团有限责任公司 A kind of limited angle torque motor performance testing device and test method
CN109949656A (en) * 2019-04-18 2019-06-28 哈尔滨工业大学 A kind of load simulator based on hysteresis brake
CN110609231A (en) * 2019-10-28 2019-12-24 上海宝协新能源科技有限公司 Durable test bench of servo motor
CN111257750A (en) * 2019-11-14 2020-06-09 杭州广安汽车电器有限公司 Automatic testing device for controller and positioning method thereof
CN111665878A (en) * 2020-05-15 2020-09-15 成都飞机工业(集团)有限责任公司 Constant force loading simulation device and force loading method based on closed-loop control
CN112097987A (en) * 2020-09-04 2020-12-18 江苏理工学院 Stepping motor magnetic force and friction force ratio detection device and detection method
CN112284590A (en) * 2020-09-25 2021-01-29 重庆秋城机电设备制造有限公司 Spring motor torque measuring device
CN112549076A (en) * 2020-11-26 2021-03-26 北京工业大学 Test bed for testing comprehensive performance of robot joint

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106248273A (en) * 2016-09-05 2016-12-21 北京理工大学 A kind of measurement apparatus being applicable to multiple motor micro-torque
CN106248273B (en) * 2016-09-05 2018-11-23 北京理工大学 A kind of measuring device suitable for a variety of motor micro-torques
CN108089127A (en) * 2017-12-15 2018-05-29 格力电器(武汉)有限公司 A kind of test equipment and method suitable for stepper motor
CN108680360A (en) * 2018-07-02 2018-10-19 重庆交通大学 Micro internal combustion engine transient working characteristic test device and its test method
CN109164386A (en) * 2018-09-14 2019-01-08 蚌埠高灵传感系统工程有限公司 A kind of motor corner, torque and revolving speed integrated detection system, method and device
CN109471029A (en) * 2018-12-10 2019-03-15 南京晨光集团有限责任公司 A kind of limited angle torque motor performance testing device and test method
CN109389891A (en) * 2018-12-28 2019-02-26 安徽工程大学 A kind of rational mechanics comprehensive experimental device and its experimental method
CN109949656A (en) * 2019-04-18 2019-06-28 哈尔滨工业大学 A kind of load simulator based on hysteresis brake
CN110609231A (en) * 2019-10-28 2019-12-24 上海宝协新能源科技有限公司 Durable test bench of servo motor
CN110609231B (en) * 2019-10-28 2021-07-06 上海宝协新能源科技有限公司 Durable test bench of servo motor
CN111257750A (en) * 2019-11-14 2020-06-09 杭州广安汽车电器有限公司 Automatic testing device for controller and positioning method thereof
CN111665878A (en) * 2020-05-15 2020-09-15 成都飞机工业(集团)有限责任公司 Constant force loading simulation device and force loading method based on closed-loop control
CN112097987A (en) * 2020-09-04 2020-12-18 江苏理工学院 Stepping motor magnetic force and friction force ratio detection device and detection method
CN112284590A (en) * 2020-09-25 2021-01-29 重庆秋城机电设备制造有限公司 Spring motor torque measuring device
CN112549076A (en) * 2020-11-26 2021-03-26 北京工业大学 Test bed for testing comprehensive performance of robot joint

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