Steering engine load platform suitable for two-degree-of-freedom coupling motion

Abstract

The invention provides a steering engine load table suitable for two-degree-of-freedom coupling motion, belongs to the technical field of steering engine testing, and solves the problem that in the prior art, a steering engine in two-degree-of-freedom coupling motion cannot be loaded. The device comprises a base used for fixing a steering engine mounting seat, a guide rod is vertically arranged on the base, a sliding block assembly is arranged on the guide rod in a sliding mode, a spherical hinge seat is mounted on the sliding block assembly, an elastic loading rod is connected to the movable end of the spherical hinge seat, and a connecting seat is connected to the lower end of the elastic loading rod. And a control surface tool detachably connected with the connecting seat is arranged at the upper end of the steering engine mounting seat. The elastic loading rod is spherically hinged to the control surface tool, the upper end of the elastic loading rod is spherically hinged to the sliding block assembly, and when the control surface tool rotates freely in the pitching direction and the yawing direction, the elastic loading rod can load the control surface tool through bending deformation, so that a loading test is carried out on the steering engine in two-degree-of-freedom coupling motion. And the method has a great reference value for the research of a steering engine load table with multi-channel coupling motion.

Description

Technical Field

[0001] The invention belongs to the technical field of steering gear testing, and in particular to a steering gear load platform suitable for two-degree-of-freedom coupled motion. Background Art

[0002] As the actuator of the aircraft, the servo plays the role of keeping the aircraft stable or maneuvering. The servo is usually divided into three types: electric, pneumatic and hydraulic. In small conventional aircraft, electric servos are the most widely used. Most electric servos use brushed or brushless motors as driving components, and reducers such as ball screws, multi-stage gear transmissions, harmonic gears or planetary gears as transmission components. They are directly connected to the output shaft of the rudder surface to transmit motion. In actual flight, the rudder surface is subjected to aerodynamic loads and acts on the transmission mechanism. The servo motor needs to overcome the load and be able to drive the rudder surface to deflect normally. In order to verify whether the servo can maintain good driving performance in complex aerial environments, it is necessary to use a load table to simulate torque loading on the servo during the development process to test its dynamic performance and control accuracy under loading.

[0003] At present, domestic scientific research institutions have conducted a lot of research on the load bench of aircraft servos, but most of the servo load benches developed in China are for single-channel testing of servos, and there are few studies on the load bench of servos with multi-channel coupled motion. The traditional servo load bench applies rotational torque through a spring torsion bar with a square cross-section. The spring torsion bar is directly fixed to the end of the output shaft through a tooling. The rotation of the output shaft drives the rotation of the spring torsion bar to achieve linear loading of the rudder shaft. The advantage of the traditional loading form is that each channel can be loaded independently and it is easy to calibrate the mechanics. The loading linearity is good, but it cannot achieve loading for servos with two-degree-of-freedom coupled motion. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a steering gear load platform suitable for two-degree-of-freedom coupled motion. An elastic loading rod is ball-jointed on the rudder surface tooling, and the upper end of the elastic loading rod is ball-jointed with a vertically sliding slider assembly. When the rudder surface tooling is arbitrarily rotated in the pitch and yaw directions, the elastic loading rod can load the rudder surface tooling through its own bending deformation, thereby performing a loading test on the rudder with two-degree-of-freedom coupled motion, which has great reference value for the research on the rudder load platform with multi-channel coupled motion.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A servo load platform suitable for two-degree-of-freedom coupled motion comprises a base for fixing a servo mounting seat, a guide rod is vertically arranged on the base, a slider assembly is slidably arranged on the guide rod, a ball joint seat is installed on the slider assembly, an elastic loading rod is connected to the movable end of the ball joint seat, a connecting seat is connected to the lower end of the elastic loading rod, and a rudder surface tooling detachably connected to the connecting seat is arranged on the upper end of the servo mounting seat.

[0007] Preferably, the slider assembly comprises a connecting plate, on which a linear bearing sleeved on the guide rod is fixedly arranged.

[0008] Preferably, the ball joint seat includes a first mounting plate detachably connected to the connecting plate, the first mounting plate is detachably connected to the second mounting plate, a ball head is movably arranged between the first mounting plate and the second mounting plate, and the ball head is detachably connected to a mounting sleeve for installing an elastic loading rod.

[0009] Preferably, a limiting member is fixedly provided on the guide rod.

[0010] Preferably, the rudder surface tooling, ball joint seat and connecting seat are located on the same vertical line.

[0011] Preferably, a fixing ring movably sleeved on the steering gear mounting seat is fixedly provided on the base, and a screw is provided on the fixing ring along a radial thread.

[0012] Preferably, the rudder surface tooling is detachably connected to the connecting seat by screws.

[0013] Preferably, the elastic loading rod is a round rod.

[0014] Preferably, the elastic loading rod is made of glass fiber composite material.

[0015] Preferably, at least two guide rods are provided.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0017] 1. An elastic loading rod is ball-jointed on the rudder surface tooling, and the upper end of the elastic loading rod is ball-jointed with the vertical sliding slider assembly. When the rudder surface tooling is arbitrarily rotated in the pitch and yaw directions, the elastic loading rod can load the rudder surface tooling through its own bending deformation, thereby performing a loading test on the servo with two-degree-of-freedom coupled motion, which has great reference value for the research on the servo load platform with multi-channel coupled motion.

[0018] 2. The present application has a compact and reliable structure, is easy to assemble, has a simple and practical working principle, and the index parameters of the servo load table can be flexibly designed according to needs, with strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic diagram of the overall structure provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the use status provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the structure of the rudder surface tooling provided in an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the pitch state of the rudder tooling provided in an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the yaw state of the control surface tooling provided by an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the structure of a slider assembly provided in an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the ball joint structure provided by an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of a calibration model of an elastic loading rod provided in an embodiment of the present invention.

[0028] Figure markings: 1-base; 2-servo mounting seat; 3-connecting seat; 4-guide rod; 5-elastic loading rod; 6-slider assembly; 601-connecting plate; 602-linear bearing; 603-mounting hole; 7-ball joint seat; 701-first mounting plate; 702-second mounting plate; 703-ball head; 704-mounting sleeve; 8-rudder surface tooling; 801-rudder surface platform; 802-first telescopic rod; 803-second telescopic rod; 804-support column; 9-fixing ring; 10-limiting member. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] Combine the following Figure 1-Figure 8 The present invention is described in detail.

[0033] Example:

[0034] A servo load platform suitable for two-degree-of-freedom coupled motion, such as Figure 1 As shown, it includes a base 1 for fixing a servo mounting seat 2, a guide rod 4 is vertically arranged on the base 1, a slider assembly 6 is slidably arranged on the guide rod 4, a ball joint seat 7 is installed on the slider assembly 6, the movable end of the ball joint seat 7 is connected to an elastic loading rod 5, the lower end of the elastic loading rod 5 is connected to a connecting seat 3, and the upper end of the servo mounting seat 2 is provided with a rudder surface tooling 8 detachably connected to the connecting seat 3.

[0035] The steering gear mounting seat 2 and the rudder surface tooling 8 form a steering gear. An elastic loading rod 5 is ball-jointed on the rudder surface tooling 8. The upper end of the elastic loading rod 5 is ball-jointed with a vertically sliding slider assembly through a ball joint seat 7. When the rudder surface tooling 8 is rotated arbitrarily in the pitch and yaw directions, Figure 2 As shown, the elastic loading rod 5 can load the rudder surface tooling 8 through its own bending deformation; during the bending process of the elastic loading rod 5, the slider assembly 6 will slide up and down to adjust the position to ensure the normal bending of the elastic loading rod 5.

[0036] like Figure 6 As shown, the slider assembly 6 includes a connecting plate 601, on which a linear bearing 602 is fixedly arranged and sleeved on the guide rod 4. The slider assembly 6 uses the linear bearing 602 to reduce the friction between the connecting plate 601 and the guide rod 4, so as to ensure that the connecting plate 601 can still move smoothly on the guide rod 4 when the slider assembly 6 is subjected to a large force.

[0037] like Figure 7As shown, the ball joint seat 7 includes a first mounting plate 701 detachably connected to the connecting plate 601, a second mounting plate 702 detachably connected to the first mounting plate 701, a ball head 703 movably arranged between the first mounting plate 701 and the second mounting plate 702, and a mounting sleeve 704 for mounting the elastic loading rod 5 detachably connected to the ball head 703. The opposing surfaces of the first mounting plate 701 and the second mounting plate 702 are both provided with arc-shaped grooves for the ball head 703 to move; the connecting plate 601 is provided with a mounting hole 603 for the second mounting plate 702 to penetrate.

[0038] The installation process of the ball joint seat 7: first place the ball head 703 in the groove between the first mounting plate 701 and the second mounting plate 702, then use screws to connect the first mounting plate 701 and the second mounting plate 702, and then connect the mounting sleeve 704; place the entire ball joint seat 7 from top to bottom into the mounting hole 603 on the connecting plate 601, and then use screws to connect the first mounting plate 701 and the connecting plate 601 to complete the installation.

[0039] Among them, the installation sleeve 704 is radially threaded with several screws (not shown in the figure), and after the elastic loading rod 5 is inserted into the installation sleeve 704, it is locked by the screws; if the selected elastic loading rod 5 is too large to be inserted into the installation sleeve 704, the original installation sleeve 704 can be removed and replaced with a larger installation sleeve 704. A connecting rod is radially connected to the ball head 703, and one end of the connecting rod away from the ball head 703 is threadedly connected to the installation sleeve 704, thereby realizing a detachable connection between the ball head 703 and the installation sleeve 704, and a nut is fixedly sleeved on the connecting rod, so that the connecting rod can be clamped and fixed with a wrench or other tools, thereby facilitating the removal of the installation sleeve 704.

[0040] A limiter 10 is fixedly arranged on the guide rod 4. The limiter 10 can prevent the linear bearing 602 from sliding downward. When there is no servo engine test, it is convenient to place the slider assembly 6 so that the elastic loading rod 5 is suspended in the air. The position of the limiter 10 does not affect the normal sliding of the slider assembly 6 during the test.

[0041] This application is applicable to any load test of a two-degree-of-freedom servo. In order to facilitate understanding of the solution of this application, this application uses a servo with two telescopic rods to control pitch and yaw for illustration. Figure 3As shown, the rudder surface tooling 8 includes a rudder surface platform 801 connected to the connecting seat 3, the rudder surface platform 801 has a ball joint with a support column 804 fixed to the upper end surface of the steering gear mounting seat 2, and the lower surface of the rudder surface platform 801 has a ball joint with a first telescopic rod 802 and a second telescopic rod 803, and the first telescopic rod 802 and the second telescopic rod 803 are ball-jointed with the steering gear mounting seat 2 at one end away from the rudder surface platform 801. The rudder surface platform 801 is rotated around the support column 804 by telescoping the first telescopic rod 802 and the second telescopic rod 803, and the first telescopic rod 802 and the second telescopic rod 803 can be an electric telescopic rod, a hydraulic telescopic rod, or a pneumatic telescopic rod.

[0042] Before loading the rudder surface fixture 8, first select a suitable elastic loading rod 5 according to the needs. Specifically, determine the diameter, length and material of the elastic loading rod 5, so as to calibrate the elastic loading rod 5 and obtain the key parameters required to calculate its actual torque. At the beginning of the test, the rudder surface platform 801 deflects a certain angle under the action of the first telescopic rod 802 and the second telescopic rod 803. At the same time, the elastic loading rod 5 will bend accordingly. The torque generated by the bending will act on the rudder surface fixture, that is, the load torque on the servo. The size of the bending angle directly determines the size of the load force on the servo. Control the first telescopic rod 802 and the second telescopic rod 803 to move in a certain direction. Figure 3 The state shown reciprocates with the required deflection state, and the first telescopic rod 802 and the second telescopic rod 803 resist the force applied by the elastic loading rod 5 during the deflection process, thereby realizing the load test. If the rudder platform 801 can deflect as required under the control of the servo, it means that the servo passes the load test.

[0043] like Figure 4 and 5 As shown, the rudder tooling 8 is in the state of pitching and yaw, and the rudder platform 801 is controlled to rotate in pitch and yaw by the specific extension length of the first telescopic rod 802 and the second telescopic rod 803. The limit conditions of the two deflection movements of the rudder platform 801 are: 30° deflection in the pitch direction and 30° deflection in the yaw direction.

[0044] The rudder surface tooling 8, the ball joint seat 7 and the connecting seat 3 are located on the same vertical line. Specifically, the support column 804, the ball joint seat 7 and the connecting seat 3 are located on the same vertical line. Figure 1 and 3 As shown, when the rudder platform 801 does not rotate, the elastic loading rod 5 acts vertically on the support column 804 to avoid affecting the balance of the rudder platform 801.

[0045] A fixing ring 9 movably sleeved on the steering gear mounting seat 2 is fixedly arranged on the base 1, and a screw rod is arranged along a radial thread on the fixing ring 9. The steering gear mounting seat 2 is inserted into the fixing ring 9, and the steering gear mounting seat 2 is abutted and fixed by the screw rod, so as to ensure the stability of the steering gear mounting seat 2 during the loading test.

[0046] The rudder surface tooling 8 is detachably connected to the connecting seat 3 by means of screws, which can facilitate the subsequent replacement of elastic loading rods 5 of other sizes or other servo mounting seats 2.

[0047] The elastic loading rod 5 is a round rod, which can ensure that the elastic loading rod 5 is subjected to uniform force when bent in any direction.

[0048] The elastic loading rod 5 is made of a glass fiber composite material, which is a composite material with glass fiber as a reinforcing material and a synthetic resin as a matrix material. It can withstand both tensile stress and bending, compression and shear stress to ensure that the elastic loading rod 5 can be repeatedly bent. The elastic loading rod 5 has anti-fatigue properties and can withstand repeated stress changes without deformation and can still return to its original shape.

[0049] At least two guide rods 4 are provided. In the present application, four guide rods 4 are provided to ensure the normal sliding of the slider assembly 6 and the stability of the ball joint seat 7 when the elastic loading rod 5 is bent.

[0050] In this embodiment, the index parameters of the servo load platform are: rated output torque: ≥230N·m, deflection angle: ≤±15°, loading gradient: ≥13N·m / °, bandwidth: ≤5Hz.

[0051] In order to obtain a more accurate moment loading gradient and loading accuracy, it is necessary to calibrate the material of the elastic loading rod 5 to obtain the accurate value of the material elastic modulus E. The calibration method is as follows:

[0052] 1. Construct a cantilever beam single mechanical model to calibrate the elastic loading rod 5 (made of glass fiber composite material). The principle diagram is shown in Figure 8 As shown. The rod end A is fixed on the fixture, and the B end is the free end. A constant load P is applied to the B end according to a certain gradient, and the offset y value of the B end is recorded. Finally, the elastic modulus E of the material is calculated according to the formula.

[0053] 2. Where l is the distance between the fixed end and the force-applying end of the elastic loading rod 5 (not the rod length), E is the elastic modulus of the material, I is the moment of inertia, P is the load value, y is the theoretical calculated value of the offset, Δ is the actual measured value of the offset, and the parameter calculation formula under this model is as follows. First, the actual elastic modulus E of the material is calculated through y, and then the offset value is checked through the actual elastic modulus.

[0054]

[0055] A physical model was built in the laboratory according to the above principle. The rod length was L = 700 mm, l = 620 mm, and the diameter was d = 20 mm. Standard weights of 23 kg, 28 kg, 34 kg, and 39 kg were hung on the B end of the rod, and the offset y of the B end was measured respectively.

[0056] 3. Calculate the actual elastic modulus E of a 20mm diameter cylindrical rod using a 23kg standard weight 1 , calculated value E 1 =32127MPa;

[0057] P 1 =23×9.8=225.4N

[0058] d=20mm

[0059]

[0060] Δ 1 =71mm

[0061]

[0062] 4. Use 28kg standard weight to check the offset value, the measured value Δ 2 =87mm, theoretical value y 2 =86.4mm;

[0063] P 2 =28×9.8=274.4N

[0064] Δ 2 =87mm

[0065]

[0066] 5. Use 34kg standard weight to check the offset value, the measured value Δ 3 =105mm, theoretical value y 3 =104.9mm;

[0067] P 3 =34×9.8=333.2N

[0068] Δ 3 =105mm

[0069]

[0070] 6. Use 39kg standard weight to check the offset value, the measured value Δ 4 =121mm, theoretical value y 4 =120.4mm;

[0071] P 4 =39×9.8=382.2N

[0072] Δ 4 =121mm

[0073]

[0074] 7. Through the measurement of different gradient hanging weights, it is found that the elastic modulus E of the elastic loading rod 5 with a diameter of 20 mm and a length of 700 mm is 32127 MPa.

[0075] (9) Based on this, the deflection θ of the control platform 801 is calculated. A (15°) The actual moment M generated by the cylindrical rod A It is 252.6N·m, and the torque loading gradient is 16.84N·m / °.

[0076]

[0077] Therefore, the elastic loading rod 5 with a diameter of 20 mm and a length of 700 mm can meet the overall steering gear loading requirements. If the torque loading size needs to be adjusted, the diameter d or the length L of the elastic loading rod 5 can be changed.

[0078] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A servo load platform suitable for two-degree-of-freedom coupled motion, comprising a base (1) for fixing a servo mounting seat (2), characterized in that: A guide rod (4) is vertically arranged on the base (1), a slider assembly (6) is slidably arranged on the guide rod (4), a ball joint seat (7) is installed on the slider assembly (6), the movable end of the ball joint seat (7) is connected to an elastic loading rod (5), the lower end of the elastic loading rod (5) is connected to a connecting seat (3), and the upper end of the steering gear mounting seat (2) is provided with a rudder surface tooling (8) detachably connected to the connecting seat (3).

2. A servo load platform suitable for two-degree-of-freedom coupled motion according to claim 1, characterized in that: The slider assembly (6) comprises a connecting plate (601), on which a linear bearing (602) sleeved on the guide rod (4) is fixedly arranged.

3. A servo load platform suitable for two-degree-of-freedom coupled motion according to claim 2, characterized in that: The ball joint seat (7) comprises a first mounting plate (701) detachably connected to the connecting plate (601), a second mounting plate (702) detachably connected to the first mounting plate (701), a ball head (703) movably arranged between the first mounting plate (701) and the second mounting plate (702), and a mounting sleeve (704) for mounting the elastic loading rod (5) detachably connected to the ball head (703).

4. The servo load platform suitable for two-degree-of-freedom coupled motion according to claim 1, characterized in that: A limiting member (10) is fixedly arranged on the guide rod (4).

5. The servo load platform suitable for two-degree-of-freedom coupled motion according to claim 1, characterized in that: The rudder surface tooling (8), the ball joint seat (7) and the connecting seat (3) are located on the same vertical line.

6. The servo load platform suitable for two-degree-of-freedom coupled motion according to claim 1, characterized in that: The base (1) is fixedly provided with a fixing ring (9) which is movably sleeved on the steering gear mounting seat (2), and a screw rod is provided on the fixing ring (9) along a radial thread.

7. The servo load platform suitable for two-degree-of-freedom coupled motion according to claim 1, characterized in that: The rudder surface tooling (8) is detachably connected to the connecting seat (3) via screws.

8. The servo load platform suitable for two-degree-of-freedom coupled motion according to claim 1, characterized in that: The elastic loading rod (5) is a round rod.

9. The servo load platform suitable for two-degree-of-freedom coupled motion according to claim 1, characterized in that: The elastic loading rod (5) is made of glass fiber composite material.

10. The servo load platform suitable for two-degree-of-freedom coupled motion according to claim 1, characterized in that: At least two guide rods (4) are provided.

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