CN115144108A - Torque measuring method and system of brush torque motor - Google Patents

Abstract

The invention relates to the technical field of measuring methods, and discloses a torque measuring method and a torque measuring system of a torque motor with a brush. The invention directly utilizes the structure of the driving shaft system to carry out measurement, simplifies the measuring device, greatly reduces the processing difficulty and the processing cost, can reliably obtain the excitation torque and the eccentric torque, has simple calculation process, improves the measurement precision and is convenient to operate and observe.

Description

Torque measuring method and system of brush torque motor

Technical Field

The invention relates to the technical field of torque measurement, in particular to a torque measurement method and system of a brush torque motor.

Background

The split type brush torque motor has the advantages that the permanent magnet of the split type brush torque motor generates exciting torque after being excited, the influence on torque fluctuation and starting voltage of the split type brush torque motor is great, and the split type brush torque motor is an important index for testing the split type brush torque motor. The existing method mainly comprises two methods for measuring the exciting torque, wherein one method is to multiply the force arm after the weight is directly measured to calculate the torque, the other method is to multiply the starting current and the torque sensitivity to calculate the torque, the two methods both need to specially build a rotary shaft system, a stator and a rotor of a split type torque motor with brushes are respectively arranged on the stator and the rotor of the shaft system, and then a plurality of groups of brushes are arranged on the stator through a brush holder, so that the structure is complex, and the processing and assembling requirements are high.

The two methods neglect the friction torque of the bearing in the rotary shaft system, the friction torque of the electric brush and the eccentric torque of the shaft system, and have large error of the measuring result and low precision. Meanwhile, the first method needs to increase and decrease the weight for multiple times, and is complex to operate. The second method also needs to electrify the split type brush torque motor and keep a locked-rotor state during measurement, calculate the torque sensitivity after measuring the locked-rotor torque and the locked-rotor current, and is influenced by the maximum locked-rotor time of the split type brush torque motor, the measurement time of the excitation torque must be strictly limited and cannot exceed the maximum locked-rotor time of the split type brush torque motor, and a special power supply and a measuring instrument need to be additionally configured, so that the investment is large, and the cost is high.

The load, the rotating shaft and the rotor of the brush torque motor in the existing brush torque motor driving shaft system can perform rotary motion, the mass center of the common load, the rotating shaft and the rotor of the motor is not coincident with the rotary center of the rotating shaft due to the influences of machining precision, space size, weight limitation and the like, the eccentric torque of the driving shaft system after assembly needs to be measured and controlled, and structural balancing is performed as necessary according to a measurement result. The method mainly comprises two eccentric moment measuring methods for the driving shaft system, wherein one method is to measure the mass and the mass center of the rotary motion part of the driving shaft system independently, and calculate the eccentric moment by multiplying the gravity force arm after directly calculating the gravity; the other is that a strain gauge is stuck on the tested piece by utilizing the piezoelectric effect principle of the strain gauge, the moment is measured by processing the circuit in a strain gauge single-sheet full-bridge or bridge-combination mode.

The first method needs to perform measurement before assembling the drive shaft system, or can perform measurement after disassembling the assembled drive shaft system, and needs a special quality characteristic measuring instrument to perform measurement, and needs to install the rotating part of the drive shaft system on the moving shaft of the quality characteristic measuring instrument to perform high-speed rotating motion during measurement, so that the structure is complex, the investment is large, the cost is high, the formal assembly of the drive shaft system can be performed after the measurement is completed, and the eccentric error caused by the installation error cannot be avoided. The second method is complex in principle and complex in operation, a strain gauge needs to be pasted on a measured piece, the pasting requirement of the strain gauge is high, the problems of zero drift, creep and the like are caused by improper pasting, the phenomena of no bubbles, warping, degumming and short circuit, broken circuit and resistance value mutation are required to be detected after the strain gauge is pasted.

Disclosure of Invention

The invention aims to provide a torque measuring method and system of a brush torque motor aiming at the technical problems in the prior art, which can reliably obtain the excitation torque and the eccentric torque, have simple calculation process and improve the measurement precision.

In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:

the invention provides a torque measurement method of a brush torque motor, which comprises the following specific steps:

constructing a driving shaft system, wherein the driving shaft system comprises a base and a rotating shaft, the rotating shaft is arranged on the base and is vertical to a plumb line, and the rotating shaft is connected with a load;

the brush torque motor is installed and comprises a stator, a rotor, a brush holder and a brush, wherein the rotor is sleeved on the rotating shaft, and the stator is arranged on the base and positioned on the outer surface of the rotor; the brush holder is arranged between the stator and the rotor and is connected with the stator; the electric brush is arranged on the electric brush frame, and the inner surface of the electric brush is in contact with the outer surface of the rotor; one end of a pull rope is adhered to the outer end face of the rotor, and the other end of the pull rope is connected with a drag hook of the dynamometer;

slowly applying a tension force to the dynamometer from zero along the direction of the plumb line until the rotor just rotates relative to the stator, and recording the reading of the dynamometer at the moment as F1;

rotating the rotating shaft again to enable the rotor to recover to the initial position, slowly applying a pulling force to the dynamometer from zero along the opposite direction of the plumb line until the rotor just rotates relative to the stator, and recording the reading of the dynamometer at the moment as F2;

according to the obtained force F1 and the force F2, calculating to obtain that the eccentric moment of a driving shaft system of the torque motor with the brush is 0.5 multiplied by (F1-F2) multiplied by L1, wherein the distance between a stay cord bonding point and the central line of the rotating shaft is L1;

the stator of the motor is disassembled and replaced by a tool support, the electric brush frame is installed on the tool support, and the rotating shaft is rotated again to enable the rotor to return to the initial position;

slowly applying a tension force to the dynamometer from zero along the direction of the plumb line until the rotor just rotates relative to the tool support, and recording the reading of the dynamometer at the moment as F3;

and calculating to obtain the excitation torque of the brush torque motor as (F1-F3) multiplied by L1 according to the obtained force F1 and the force F3.

Further, at the initial position, the outer end faces of the stator and the rotor and the tool support are respectively provided with an alignment mark line.

Further, the calculating to obtain the eccentric torque of the driving shafting of the brush torque motor specifically includes:

and obtaining a mechanical balance equation of the rotor relative to the stator at the moment of just rotating according to the F1 as follows:

F1×L1-G×L-M1-M2-M3＝0 (1)

and obtaining a mechanical balance equation of the rotor relative to the stator at the moment of just rotating according to the F2 as follows:

F2×L1+G×L-M1-M2-M3＝0 (2)

wherein G is the gravity of the assembly of the rotating shaft, the load and the rotor, L is the gravity arm of the assembly, M1 is the friction torque of a bearing in a driving shaft system, M2 is the excitation torque of a brush torque motor, and M3 is the friction torque of an electric brush;

according to the formula (1) and the formula (2), the eccentric moment of the driving shaft system of the brush torque motor is obtained by calculation: g × L =0.5 × (F1-F2) × L1.

Further, the calculating to obtain the excitation torque of the brush torque motor specifically includes:

and obtaining a mechanical balance equation at the moment when the rotor just rotates relative to the tool support according to the F3, wherein the mechanical balance equation comprises the following equation:

F3×L1-G×L-M1-M3＝0 (3)

according to the formula (1) and the formula (3), the excitation torque of the brush torque motor is obtained through calculation: m2= (F1-F3) × L1.

Further, the dynamometer adopts an electronic dynamometer, and the increment of each applied tension is the minimum unit indication value of the dynamometer.

6. A system based on the torque measurement method of the brush torque motor of any one of claims 1 to 5, characterized in that: the measurement system includes:

a shafting construction module: the device is used for constructing a driving shaft system and comprises a base and a rotating shaft, wherein the rotating shaft is arranged on the base and is vertical to a plumb line, and the rotating shaft is connected with a load;

a motor mounting module: the brush torque motor is used for being provided with a brush torque motor and comprises a stator, a rotor, a brush holder and a brush, wherein the rotor is sleeved on the rotating shaft, and the stator is arranged on the base and positioned on the outer surface of the rotor; the electric brush frame is arranged between the stator and the rotor and connected with the stator; the electric brush is arranged on the electric brush frame, and the inner surface of the electric brush is in contact with the outer surface of the rotor; one end of a pull rope is stuck on the outer end face of the rotor, and the other end of the pull rope is connected with a drag hook of the dynamometer;

a first operation module: the device is used for slowly applying a tension force to the dynamometer from zero along the direction of a plumb line until the rotor just rotates relative to the stator, and the reading number of the dynamometer at the moment is recorded as F1;

a second operation module: the dynamometer is used for rotating the rotating shaft again to enable the rotor to recover to an initial position, slowly applying a pulling force to the dynamometer from zero along the opposite direction of the plumb line until the rotor just rotates relative to the stator, and recording the reading number of the dynamometer at the moment as F2;

an eccentric moment calculation module: and calculating to obtain the eccentric moment of a driving shaft system of the brush torque motor to be 0.5 multiplied by (F1-F2) multiplied by L1 according to the obtained force F1 and the force F2, wherein the distance between the stay cord bonding point and the central line of the rotating shaft is L1.

Further, the measurement system further includes:

disassembling the replacement module: the motor stator is used for being detached and replaced by a tool support, the electric brush frame is installed on the tool support, and the rotating shaft is rotated again to enable the rotor to return to the initial position;

a third operation module: the device is used for slowly applying a tension force to the dynamometer from zero along the direction of the plumb line until the rotor just rotates relative to the tool support, and recording the reading of the dynamometer at the moment as F3;

the excitation torque calculation module: and calculating to obtain the excitation torque of the brush torque motor as (F1-F3) multiplied by L1 according to the obtained force F1 and the force F3.

Compared with the prior art, the invention has the beneficial effects that:

(1) The measuring method of the invention fully utilizes the existing driving shaft system structure, does not need to specially construct a measuring rotary shaft system, simplifies the measuring device and greatly reduces the processing difficulty and the processing cost. The friction torque of a bearing and the friction torque of an electric brush in the driving shaft system are considered, the measurement of the excitation torque of the motor is realized under the coupling action of the friction torque of the bearing, the friction torque of the electric brush, the eccentric torque of the shaft system and the excitation torque of the motor through three times of force measurement, the online measurement and judgment of the eccentric torque in the assembling process of the driving shaft system are realized, the calculation process is simple, and the measurement precision is improved.

(2) According to the invention, the outer end faces of the stator and the rotor and the tool support are provided with the alignment mark lines, so that the rotation moment of the rotor relative to the stator and the tool support can be conveniently observed, and the accuracy and reliability of the obtained dynamometer can be ensured.

(3) The invention measures the force by three times and applies the moment balance principle, does not need to measure the friction moment of the bearing and the friction moment of the electric brush, simultaneously realizes the measurement of the excitation moment of the motor and the eccentric moment of the driving shafting, and is simple, reliable and easy to realize.

(4) The invention adopts the electronic dynamometer to measure the force, does not need to increase or decrease the weight, does not need a strain gauge and a processing circuit, and has simple and convenient operation and observation and reliable measurement.

(5) The measuring system of the invention directly utilizes the driving shafting to measure, the rotor is arranged on the rotating shaft, the stator is arranged on the base, the dynamometer applies pulling force along the positive and negative directions of the plumb line until the rotating shaft rotates, the stator is disassembled and replaced by the tool support, then the dynamometer applies pulling force until the rotating shaft rotates, and according to the moment balance principle, the mechanical balance equations at different rotating moments are respectively listed, so that the excitation moment and the eccentric moment are respectively obtained, the measuring precision is high, the calculating process is simple, and the operation and the observation are also convenient.

Drawings

In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort. Wherein:

fig. 1 is a flow chart of a torque measurement method of the brush torque motor of the present invention.

Fig. 2 is a schematic view of the first measurement of the driving shaft system and the stator and rotor of the motor in the state of being installed.

FIG. 3 is a schematic diagram of a second measurement according to the present invention.

Fig. 4 is a schematic view of measurement in the driving shaft system of the present invention in which the stator is replaced by a tool holder.

Fig. 5 is a schematic diagram of a torque measurement system for a brushed torque motor of the present invention.

The device comprises a base 1, a rotating shaft 2, a stator 3, a rotor 4, a rotating shaft 5, a load, a mass center of a rotor assembly 6, a rotating shaft center line 7, a pull rope 8, a pull rope bonding point 9, a dynamometer 10, a brush holder 11, an electric brush and a tool support 12.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terms used in the specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention, for example, the terms "length", "width", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positions based on the orientation or position shown in the drawings, are merely for convenience of description, and are not to be construed as limiting the present technical solution.

The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.

Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1, the invention provides a torque measurement method of a brush torque motor, which comprises the following specific steps:

step S1: as shown in fig. 2, a driving shaft system is constructed, which includes a base 1 and a rotating shaft 2, the pivot 2 sets up on the base 1 and perpendicular with the plumb line, load is connected to pivot 2.

Step S2: install brush torque motor, brush torque motor includes stator 3, rotor 4, brush carrier 10 and multiunit brush 11, rotor 4 suit is in on the pivot 2, stator 3 sets up on the base 1 and be located 4 surfaces of rotor. The brush holder 10 is disposed between the stator 3 and the rotor 4, and is connected to the stator 3. A plurality of sets of brushes 11 are arranged on the brush holder 10, and the inner surfaces of the brushes 11 are in contact with the outer surface of the rotor 4. One end of a pull rope 7 is adhered to the outer end face of the rotor 2, and the other end of the pull rope 7 is connected with a draw hook of a dynamometer 9.

Specifically, the rotating shaft 2 is connected with the base 1 through a bearing, so that reliable connection is guaranteed, and the rotating shaft 2, the rotor 4 and the load can perform rotary motion. The number of the brushes 11 can be increased or decreased according to actual needs.

And step S3: the dynamometer 9 is slowly pulled in the direction of the vertical line (i.e. vertically upwards in the illustration) from zero until the rotor 4 has just rotated relative to the stator 3, and the reading of the dynamometer 9 at this point is recorded as F1.

In this step, the outer end faces of the stator 3 and the rotor 4 are provided with alignment mark lines, the mark lines of the outer end faces of the rotor 4 and the stator 3 are observed in the process of applying the tensile force, when the alignment mark lines of the rotor 4 and the stator 3 are just not aligned, it is determined that the rotor 4 just rotates relative to the stator 3, the index corresponding to the dynamometer 9 is F1, and the rotation moment of the rotor 4 is conveniently observed.

And step S4: as shown in fig. 3, the rotor 4 is restored to the initial position by rotating the rotating shaft 2 again, and the dynamometer 9 is slowly pulled from zero in the opposite direction of step S3 (i.e. vertically downward in the figure) until the rotor 4 of the motor just rotates relative to the stator 3, and the reading of the dynamometer 9 at this time is recorded and recorded as F2.

In this step, the rotating shaft 2 is rotated to restore the mark line on the outer end face of the rotor 4 to the position in step S3, and the mark line on the outer end face of both the rotor 4 and the stator 3 of the motor is observed during the process of applying the pulling force, so as to determine that the rotor 4 just rotates relative to the stator 3.

Step S5: according to the obtained force F1 and the force F2, the eccentric moment of a driving shaft system of the brush torque motor is calculated to be 0.5 x (F1-F2) x L1, and the distance between a stay rope bonding point 8 on the rotor 2 and the central line 6 of the rotating shaft is L1.

In this step S5, the eccentric torque of the drive shafting of the brushed torque motor is calculated, which specifically includes:

according to the moment balance principle, the mechanical balance equation of the motor at the moment when the rotor 4 just rotates relative to the stator 3 is obtained according to the equation F1 as follows:

F1×L1-G×L-M1-M2-M3＝0 (1)

similarly, according to the moment balance principle, the mechanical balance equation at the moment when the rotor 4 of the motor just rotates relative to the stator 3 is obtained according to F2 as follows:

F2×L1+G×L-M1-M2-M3＝0 (2)

wherein, G is the gravity of the assembly of the rotating shaft 2, the load and the rotor 4, L is the gravity force arm of the assembly of the rotating shaft 2, the load and the rotor 4, M1 is the friction torque of a bearing in a driving shafting, M2 is the excitation torque of the split type brush torque motor, and M3 is the friction torque of a brush;

according to the formula (1) and the formula (2), the eccentric moment of the driving shaft system of the brush torque motor is obtained by calculation:

G×L＝0.5×(F1-F2)×L1。

step S6: as shown in fig. 4, the stator 3 of the motor is removed and replaced with a tool holder 12, the brush holder 10 is mounted on the tool holder 12, the inner surface of the brush 11 is also in contact with the surface of the rotor 4, and the rotating shaft 2 is rotated again, so that the rotor 4 is restored to the initial position, that is, the mark line on the outer end surface of the rotor 4 is restored to the position of the step S2.

Step S7: the dynamometer 9 slowly applies a pulling force from zero along the direction of the plumb line (i.e. vertically upward in the figure), the outer end faces of the rotor 4 and the tool holder 12 are observed during the application of the pulling force until the rotor 4 just rotates relative to the tool holder 12, and the reading of the dynamometer 9 at this time is recorded and is marked as F3.

In this step, the brush holder 10 is installed through the tool holder 12, so that the working reliability of the motor is ensured. The tooling support 12 is also provided with an alignment mark line corresponding to the position of the rotor 4, the alignment mark lines of the two are aligned at the initial position, and when the alignment mark lines of the two are not aligned, the alignment mark lines are just rotated relative to the tooling support 12 for the rotor 4, so that the observation is convenient.

Step S8: and calculating to obtain the excitation torque of the brush torque motor as (F1-F3) multiplied by L1 according to the obtained force F1 and the force F3.

In this step S8, the excitation torque of the brushed torque motor is obtained through calculation, which specifically includes:

according to the moment balance principle, the mechanical balance equation at the moment when the rotor 4 of the motor just rotates relative to the tool bracket 12 is obtained according to the F3 is as follows:

F3×L1-G×L-M1-M3＝0 (3)

according to the formula (1) and the formula (3), the excitation torque of the brush torque motor is obtained through calculation: m2= (F1-F3) × L1.

Furthermore, the dynamometer 9 adopts an electronic dynamometer, the increase value of the applied tension each time is the minimum unit index value of the dynamometer, the inaccurate result of the measured tension caused by excessive force is avoided, and the measurement precision can be improved.

Referring to fig. 5, the present invention further provides a torque measurement system of a brush torque motor, including:

a shafting construction module: the vertical shaft driving device is used for constructing a driving shaft system, the driving shaft system comprises a base 1 and a rotating shaft 2, the rotating shaft 2 is arranged on the base 1 and is perpendicular to a plumb line, and the rotating shaft 2 is connected with a load.

A motor mounting module: be used for installing brush torque motor, brush torque motor includes stator 3, rotor 4, brush yoke 10 and multiunit brush 11, 4 suits of rotor are in 2 are gone up in the pivot, stator 3 sets up 1 is gone up and is located 4 surfaces of rotor. The brush holder 10 is disposed between the stator 3 and the rotor 4, and is connected to the stator 3. A plurality of sets of brushes 11 are arranged on the brush holder 10, and the inner surfaces of the brushes 11 are in contact with the outer surface of the rotor 4. One end of a pull rope 7 is adhered to the outer end face of the rotor 4, the other end of the pull rope 7 is connected with a drag hook of the dynamometer 9, and the distance between the pull rope adhesion point and the central line of the rotating shaft is L1.

A first operation module: for slowly applying the force gauge 9 in the direction of the plumb line starting from zero until said rotor 4 has just rotated relative to the stator 3, the reading of the force gauge 9 at this time is recorded as F1.

A second operation module: for re-rotating the shaft 2 to restore the rotor 4 to the initial position and slowly applying a pulling force to the load cell 9 from zero in the opposite direction to the plumb line until the rotor 4 of the motor has just rotated relative to the stator 3, the reading of the load cell 9 at this time is recorded as F2.

An eccentric moment calculation module: and calculating to obtain the eccentric moment of the driving shafting of the brush torque motor to be 0.5 x (F1-F2) x L1 according to the obtained force F1 and force F2.

Disassembling the replacement module: the motor stator 3 is detached and replaced by a tool support 12, the brush holder 10 is installed on the tool support 12, and the rotating shaft 2 is rotated again to enable the rotor 4 to return to the initial position.

A third operation module: for slowly applying a pulling force to the dynamometer 9 from zero in the direction of the plumb line until the rotor 4 just rotates relative to the tool holder 12, and recording the reading F3 of the dynamometer 9 at this time.

The excitation torque calculation module: and calculating to obtain the exciting moment of the brush torque motor as (F1-F3) multiplied by L1 according to the obtained force F1 and the force F3.

Specifically, the system provided in the embodiment of the present invention is specifically configured to execute the foregoing method embodiment, and details of this are not described in the embodiment of the present invention again.

The torque measuring method and the torque measuring system of the brush torque motor fully utilize the existing driving shaft system structure, the driving shaft system does not need to be disassembled, the driving shaft system is formally assembled during measurement, eccentric errors caused by installation errors are effectively avoided, friction torque of a bearing in the driving shaft system and friction torque of an electric brush are considered, the torque balance principle is applied, the excitation torque of the motor and the eccentric torque of the driving shaft system are measured while the sum of the friction torque of the bearing and the friction torque of the electric brush is not required to be measured, and the torque measuring method and the torque measuring system are simple, reliable and easy to realize. In addition, when the split type brush torque motor is used for measuring the excitation torque, the split type brush torque motor does not need to be electrified and locked, the measuring time is not limited by the maximum locked-rotor time, a special power supply and a measuring instrument do not need to be additionally configured, and the debugging method is simple and practical.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (7)

1. A torque measurement method of a brush torque motor is characterized in that: the measuring method comprises the following specific steps:

constructing a driving shaft system, wherein the driving shaft system comprises a base and a rotating shaft, the rotating shaft is arranged on the base and is vertical to a plumb line, and the rotating shaft is connected with a load;

the brush torque motor is installed and comprises a stator, a rotor, an electric brush frame and an electric brush, wherein the rotor is sleeved on the rotating shaft, and the stator is arranged on the base and positioned on the outer surface of the rotor; the brush holder is arranged between the stator and the rotor and is connected with the stator; the electric brush is arranged on the electric brush frame, and the inner surface of the electric brush is in contact with the outer surface of the rotor; one end of a pull rope is adhered to the outer end face of the rotor, and the other end of the pull rope is connected with a drag hook of the dynamometer;

slowly applying a tensile force to the dynamometer from zero along the direction of the plumb line until the rotor just rotates relative to the stator, and recording the reading of the dynamometer at the moment as F1;

rotating the rotating shaft again to enable the rotor to recover to the initial position, slowly applying a pulling force to the dynamometer from zero along the opposite direction of the plumb line until the rotor just rotates relative to the stator, and recording the reading of the dynamometer at the moment as F2;

according to the obtained force F1 and the force F2, calculating to obtain that the eccentric moment of a driving shafting of the brush torque motor is 0.5 x (F1-F2) x L1, wherein the distance between the stay cord bonding point and the central line of the rotating shaft is L1;

the stator of the motor is disassembled and replaced by a tool support, the electric brush frame is installed on the tool support, and the rotating shaft is rotated again to enable the rotor to return to the initial position;

slowly applying a tension force to the dynamometer from zero along the direction of the plumb line until the rotor just rotates relative to the tool support, and recording the reading of the dynamometer at the moment as F3;

and calculating to obtain the excitation torque of the brush torque motor as (F1-F3) multiplied by L1 according to the obtained force F1 and the force F3.

2. The torque measurement method of a brushed torque motor as defined in claim 1, characterized in that: and at the initial position, the outer end faces of the stator and the rotor and the tool support are respectively provided with an alignment mark line.

3. The torque measurement method of a brushed torque motor according to claim 1 or 2, characterized in that: the calculating to obtain the eccentric torque of the driving shafting of the brush torque motor specifically comprises the following steps:

and obtaining a mechanical balance equation of the rotor relative to the stator at the moment of just rotating according to the F1 as follows:

F1×L1-G×L-M1-M2-M3＝0 (1)

and obtaining a mechanical balance equation of the rotor relative to the stator at the right rotating moment according to the F2 as follows:

F2×L1+G×L-M1-M2-M3＝0 (2)

wherein G is the gravity of the assembly of the rotating shaft, the load and the rotor, L is the gravity force arm of the assembly, M1 is the friction torque of a bearing in a driving shaft system, M2 is the exciting torque of a torque motor with a brush, and M3 is the friction torque of the brush;

according to the formula (1) and the formula (2), the eccentric moment of the driving shaft system of the brush torque motor is obtained by calculation: g × L =0.5 × (F1-F2) × L1.

4. A torque measurement method of a brushed torque motor as claimed in claim 3, characterized in that: the calculation is used for obtaining the exciting moment of the brush torque motor, and the method specifically comprises the following steps:

and obtaining a mechanical balance equation at the moment when the rotor just rotates relative to the tool support according to the F3, wherein the mechanical balance equation comprises the following equation:

F3×L1-G×L-M1-M3＝0 (3)

according to the formula (1) and the formula (3), the excitation torque of the brush torque motor is obtained through calculation: m2= (F1-F3) × L1.

5. The torque measurement method of a brushed torque motor as claimed in claim 1 or 4, characterized in that: the dynamometer adopts an electronic dynamometer, and the increase value of each applied tension is the minimum unit indication value of the dynamometer.

6. A system based on the torque measurement method of the brush torque motor of any one of claims 1 to 5, characterized in that: the measurement system includes:

a shafting construction module: the device is used for constructing a driving shaft system and comprises a base and a rotating shaft, wherein the rotating shaft is arranged on the base and is vertical to a plumb line, and the rotating shaft is connected with a load;

a motor mounting module: the brush torque motor is used for being provided with a brush torque motor and comprises a stator, a rotor, a brush holder and a brush, wherein the rotor is sleeved on the rotating shaft, and the stator is arranged on the base and positioned on the outer surface of the rotor; the brush holder is arranged between the stator and the rotor and is connected with the stator; the electric brush is arranged on the electric brush frame, and the inner surface of the electric brush is in contact with the outer surface of the rotor; one end of a pull rope is stuck on the outer end face of the rotor, and the other end of the pull rope is connected with a drag hook of the dynamometer;

a first operation module: the device is used for slowly applying a tension force to the dynamometer from zero along the direction of a plumb line until the rotor just rotates relative to the stator, and recording the reading of the dynamometer at the moment as F1;

a second operation module: the dynamometer is used for rotating the rotating shaft again to enable the rotor to recover to an initial position, slowly applying a pulling force to the dynamometer from zero along the opposite direction of the plumb line until the rotor just rotates relative to the stator, and recording the reading number of the dynamometer at the moment as F2;

an eccentric moment calculation module: and calculating to obtain the eccentric moment of a driving shaft system of the brush torque motor to be 0.5 multiplied by (F1-F2) multiplied by L1 according to the obtained force F1 and the force F2, wherein the distance between the stay cord bonding point and the central line of the rotating shaft is L1.

7. The torque measurement system of a brushed torque motor of claim 6, wherein: the measurement system further comprises:

disassembling the replacement module: the motor stator is used for being detached and replaced by a tool support, the electric brush frame is installed on the tool support, and the rotating shaft is rotated again to enable the rotor to return to the initial position;

a third operation module: the device is used for slowly applying a tension force to the dynamometer from zero along the direction of the plumb line until the rotor just rotates relative to the tool support, and recording the reading of the dynamometer at the moment as F3;

the excitation torque calculation module: and calculating to obtain the exciting moment of the brush torque motor as (F1-F3) multiplied by L1 according to the obtained force F1 and the force F3.

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