A composite device for zero position correction and load testing of missile servos

Abstract

The present invention relates to a composite device for zero-position correction and load testing of a servo for a missile. It comprises an installation plane, a servo seat and four groups of zero-position and load-testing components with the same structure. The four groups of zero-position and load-testing components with the same structure are evenly installed on the installation plane in the circumferential direction, and the four groups of rudder blades are adjusted to the mechanical zero-position state through the servo cabin control system, and the electrical zero position of the servo is set according to the deflection angle of the four groups of rudder blade turntables, and the load-testing is completed in cooperation with the torsion bar at this time. The modular design is adopted, and the components are convenient to replace, and the four groups of zero-position and load-testing components are evenly distributed axially on the bottom plate frame, so that the servo cabin can be tested as a whole at the same time, and the zero-position correction system of the servo cabin and the load-testing system of the servo system are integrated into one, so as to realize the function of one machine with multiple uses and simplify the servo cabin testing process. It has the advantages of convenient servo replacement, simple testing process, high testing accuracy, strong versatility, etc.

Description

Technical Field

[0001] The invention belongs to the technical field of missile servo testing, and more specifically, relates to a composite device for zero-position correction of a servo blade of a missile servo and servo load testing. Background Art

[0002] With the development of science and technology, the precision strike of missiles has become an important direction of missile development. The rudder in the rudder cabin is used to generate additional air force when the missile is flying, forming a control force on the missile, and then playing a role in controlling the missile's trajectory. When the missile is flying, the rudder control system will correct the missile's flight trajectory in real time through the deflection of the rudder. The deflection angle accuracy of the rudder directly affects the control accuracy of the rudder system. Generally speaking, when the servo is assembled, deviations will occur, resulting in the misalignment of the mechanical zero position and the electrical zero position. Therefore, the mechanical zero position and electrical zero position of the servo need to be accurately calibrated before leaving the factory. In addition, when the missile is flying, especially when the rudder is deflected, the rudder will be subject to greater air resistance. In order to ensure the stability and reliability of the rudder control system during flight, the rudder control system needs to be loaded and tested (the load is a torque load).

[0003] Invention 201910081364.X "Mechanical zero position and electrical zero position calibration tooling and use method for missile rudder surface" discloses a method of use of fixing the calibration tooling on the rudder blade to ensure that the rudder blade is in the mechanical zero position, and then marking the zero position of the rudder blade. After removing the tooling, the servo is fine-tuned to make the apex of the leading edge of the rudder blade coincide with the zero position mark of the rudder blade. At this time, the angle parameter of each servo is the electrical zero position of each servo. There is also a test device that uses a mechanical pointer dial, which has mechanical errors, reading errors and other problems, and its test accuracy is not high enough. Invention 201711312632.1 "Torque loading device for servo" The servo includes a rudder body and a rudder surface, and the rudder surface is arranged on the outer cylindrical surface of the rudder body. The torque loading device includes: a base, and the rudder body is arranged on the base; a torsion plate, one end of the torsion plate is arranged on the base, and the other end of the torsion plate is connected to the rudder surface without a gap. The torsion plate is used to apply a preset load to the rudder surface, so as to achieve parameter testing of the electric rudder system matching the pocket missile. Therefore, the existing servo test device or load test device has a single test function, and can only realize a single function of zero-position correction or load test each time, and needs to be repeatedly disassembled and assembled for different tests; or the test process is complicated. After a set of servo cabin tests are completed, it is necessary to dismantle the test bench as a whole and then install another set of servo cabin tests, and the replacement steps are complicated. Therefore, in view of the problems existing in the servo test device, it is necessary to develop a composite device for servo zero-position correction and load test with complete test functions, simple and convenient operation, high test accuracy, and strong versatility, so as to improve the efficiency and accuracy of servo cabin debugging. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a composite device for zero-position correction and load testing of missile servos, which integrates the zero-position correction system of the servo cabin and the load testing system of the servo system into one, realizing the function of one machine with multiple uses; simplifies the replacement steps of the servo cabin, adopts a telescopic arm structure and a sliding component structure, and does not need to repeatedly disassemble and assemble the test device, so as to realize the rapid replacement of the servo cabin; designs the deflection angle to be visualized, reduces mechanical errors and reading errors, and improves test accuracy. Thereby solving the technical problems of complex debugging process and low debugging accuracy in the existing servo debugging process. To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A composite device for zero position correction and load testing of missile servo, characterized in that it comprises a mounting plane, a servo seat and four groups of zero adjustment and load testing components with the same structure, wherein:

[0006] The four groups of zeroing and load testing components with the same structure are evenly distributed on the mounting plane in the circumferential direction; the zeroing and load testing components include a rudder turntable with a rudder turntable hole, a shaft bracket, a shaft, a shaft rotation mechanism, a zero position pin, an angle sensor assembly, a telescopic arm bracket, a telescopic arm, a torsion bar, and a torsion bar seat; the shaft bracket and the telescopic arm bracket are installed in a straight line on the mounting plane, and the corresponding shaft arranged on the shaft bracket and the telescopic arm arranged on the telescopic arm bracket are both in a straight line and parallel to the mounting plane, one end of the telescopic arm is a square head with a first vertical surface, the rudder turntable hole is provided with a square hole with a second vertical surface matching the square head of the first vertical surface, the first vertical surface can be completely fitted with the second vertical surface of the rudder turntable hole, and the square head and the turntable hole are tightly fitted together; the angle sensor assembly is arranged on the shaft for reading the deflection angle of the shaft.

[0007] Furthermore, the installation plane includes a base plate and an adjustable base plate seat, the base plate is supported by the base plate seat, and the adjustable base plate seat can adjust the horizontality of the base plate reference plane.

[0008] Furthermore, the angle sensor assembly includes an angle sensor and an angle sensor bracket, the angle sensor is fixed to a rotating shaft bracket through the angle sensor bracket, wherein a rotor of the angle sensor head is fixedly connected to the rotating shaft, and the rotating shaft is fixed to the rotating shaft bracket.

[0009] Furthermore, a torsion bar cover for fixing the torsion bar is provided on the torsion bar seat.

[0010] Furthermore, the zero adjustment and load test assembly directly connects the angle sensor to the rotating shaft, and obtains the rudder deflection angle of the corresponding rudder shaft by electrically reading the deflection angle of the rotating shaft.

[0011] Furthermore, the top surface of the base plate is provided with a first slide groove for sliding and positioning of the rotating shaft bracket, second slide grooves on both sides for sliding and fixing of the rotating shaft bracket, a third slide groove for sliding and positioning of the torsion bar seat, a fourth slide groove for sliding and fixing of the torsion bar seat, and two positioning holes for positioning the servo seat on the base frame.

[0012] Furthermore, it also includes a shaft bracket slider, which is fixedly set on the bottom surface of the shaft bracket. The bottom surface of the shaft bracket is provided with a shaft bracket bottom groove, which is used to form a protruding slider after connecting with the shaft bracket slider. The shaft bracket equipped with the protruding slider is installed on the bottom plate, and the positioning and sliding adjustment of the shaft bracket are realized by placing the slider in the slide groove.

[0013] Furthermore, the front part of the rotating shaft is connected to the telescopic arm bracket, and the positioning of the telescopic arm bracket on the rotating shaft is ensured by the positioning pin hole; the rear part of the rotating shaft is provided with a fourth positioning groove, the front end of the torsion bar is fixed in the fourth positioning groove, and the rear end is fixed to the torsion bar cover through the torsion bar seat.

[0014] Furthermore, the telescopic arm is mounted on the telescopic arm bracket, and the central axis positioning of the telescopic arm is achieved through mechanical fitting between the telescopic arm and the inner side of the telescopic arm bracket.

[0015] Furthermore, the two side walls of the telescopic arm can be in close contact with the two sides of the inner wall of the square hole of the rudder blade turntable.

[0016] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

[0017] 1. The present invention adopts modular design, and components are easy to replace. Four sets of zero adjustment and load test components are evenly distributed axially on the bottom frame, so that the entire steering gear cabin can be tested at the same time.

[0018] 2. The telescopic arm structure designed in the present invention does not require disassembly and assembly. Different types of steering gear cabins can be replaced for testing by simply adjusting the telescopic length of the telescopic arm, which simplifies the disassembly steps of the test assembly when replacing the steering gear cabin, and the steering gear cabin replacement process is simpler and faster.

[0019] 3. The mechanical zero adjustment is combined with the electrical reading, and the rudder angle is read through the software on the onboard computer, which reduces the reading error caused by manual reading and the mechanical error caused by the mechanical assembly gap, making the rudder zero position calibration more accurate.

[0020] 4. The servo zeroing mechanism and the load testing mechanism are combined to form a zeroing and load testing composite mechanism, realizing multi-purpose functions of one machine and simplifying the servo cabin testing process.

[0021] 5. For steering gear cabins of different sizes, you only need to replace the steering gear seats of different sizes, which makes the device more versatile.

[0022] In a word, it has the advantages of convenient servo replacement, simple test process, high test accuracy and strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a structural diagram of a zero-position calibration and load test composite device according to an embodiment of the present invention;

[0024] Figure 2 is a top view of a zero-position calibration and load-testing composite device according to an embodiment of the present invention;

[0025] Figure 3 yes Figure 2 A half-section view of the central axis;

[0026] Figure 4 yes Figure 3 Schematic diagram of the local enlarged structure of R;

[0027] Figure 5 In the embodiment of the present invention, a single zero-position calibration and load test component is in the state where the zero-position pin is inserted. Figure 2 A schematic diagram of a partial enlargement of a sectional part of a half-section view of the central axis in the direction of A;

[0028] Figure 6 4 is a top view of the bottom plate in the embodiment of the present invention.

[0029] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0030] 1-base plate, 2-servo seat, 3-shaft bracket, 4-shaft, 5-front bearing, 6-rear bearing, 7-bearing cover, 8-zero position pin, 9-angle sensor, 10-angle sensor bracket, 11-telescopic arm bracket, 12-telescopic arm, 13-torsion bar, 14-torsion bar seat, 15-torsion bar cover, 16-shaft bracket slider, 17-base plate seat, 18-first slide slot, 19-second slide slot, 20-third slide slot, 21-fourth slide slot, 22-positioning hole, 23-shaft bracket bottom slot, 24-first positioning slot, 25-second positioning slot, 26-third positioning slot (for placing the rotor of the angle sensor head, this rotor can rotate), 27-fourth positioning slot, 28-rudder blade turntable, 29-rudder blade turntable hole, 30- Figure 2 A is the central axis.

[0031] Figure 4 In the figure, the telescopic arm is not inserted into the rudder turntable hole. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0033] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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; in addition, in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0034] Example 1

[0035] like Figures 1 to 6 As shown, the present invention provides a composite device for zero position correction and load testing of a missile servo, comprising a mounting plane, a servo seat and four groups of zero adjustment and load testing components with the same structure, wherein:

[0036] The four groups of zeroing and load testing components with the same structure are evenly distributed on the mounting plane in the circumferential direction; the zeroing and load testing components include a rudder turntable with a rudder turntable hole, a shaft bracket, a shaft, a shaft rotation mechanism, a zero position pin, an angle sensor assembly, a telescopic arm bracket, a telescopic arm, a torsion bar, and a torsion bar seat; the shaft bracket and the telescopic arm bracket are installed in a straight line on the mounting plane, and the corresponding shaft arranged on the shaft bracket and the telescopic arm arranged on the telescopic arm bracket are both in a straight line and parallel to the mounting plane, one end of the telescopic arm is a square head with a first vertical surface, the rudder turntable hole is provided with a square hole with a second vertical surface matching the square head of the first vertical surface, the first vertical surface can be completely fitted with the second vertical surface of the rudder turntable hole, and the square head and the turntable hole are tightly fitted together; the angle sensor assembly is arranged on the shaft for reading the deflection angle of the shaft.

[0037] The angle sensor assembly comprises an angle sensor and an angle sensor bracket, wherein the angle sensor is fixed on a rotating shaft bracket through the angle sensor bracket, wherein a rotor of the angle sensor head is fixedly connected to the rotating shaft, and the rotating shaft is fixed on the rotating shaft bracket.

[0038] The zero adjustment and load test assembly directly connects the angle sensor to the rotating shaft, and obtains the rudder deflection angle of the corresponding rudder shaft by electrically reading the deflection angle of the rotating shaft.

[0039] The rotating shaft rotating mechanism comprises a front bearing, a rear bearing and a bearing cover. The rotating shaft is fixed between the front bearing and the rear bearing and can rotate with the front bearing and the rear bearing.

[0040] The telescopic arm is mounted on the telescopic arm bracket, and the central axis positioning of the telescopic arm is achieved through mechanical fitting of the telescopic arm and the inner side of the telescopic arm bracket.

[0041] The two side walls of the telescopic arm can just be in close contact with the two sides of the inner wall of the square hole of the rudder blade turntable.

[0042] Example 2

[0043] like Figures 1 to 6 As shown, the present invention provides a composite device for zero position correction and load testing of a missile servo, comprising a mounting plane, a servo seat and four groups of zero adjustment and load testing components with the same structure, wherein:

[0044] The four groups of zeroing and load testing components with the same structure are evenly distributed on the mounting plane in the circumferential direction; the zeroing and load testing components include a rudder turntable with a rudder turntable hole, a shaft bracket, a shaft, a shaft rotation mechanism, a zero position pin, an angle sensor assembly, a telescopic arm bracket, a telescopic arm, a torsion bar, and a torsion bar seat; the shaft bracket and the telescopic arm bracket are installed in a straight line on the mounting plane, and the corresponding shaft arranged on the shaft bracket and the telescopic arm arranged on the telescopic arm bracket are both in a straight line and parallel to the mounting plane, one end of the telescopic arm is a square head with a first vertical surface, the rudder turntable hole is provided with a square hole with a second vertical surface matching the square head of the first vertical surface, the first vertical surface can be completely fitted with the second vertical surface of the rudder turntable hole, and the square head and the turntable hole are tightly fitted together; the angle sensor assembly is arranged on the shaft for reading the deflection angle of the shaft.

[0045] The installation plane comprises a base plate and an adjustable base plate seat, the base plate is supported by the base plate seat, and the adjustable base plate seat can adjust the horizontality of the base plate reference surface.

[0046] The angle sensor assembly comprises an angle sensor and an angle sensor bracket, wherein the angle sensor is fixed on a rotating shaft bracket through the angle sensor bracket, wherein a rotor of the angle sensor head is fixedly connected to the rotating shaft, and the rotating shaft is fixed on the rotating shaft bracket.

[0047] The torsion bar seat is provided with a torsion bar cover for fixing the torsion bar.

[0048] The zero adjustment and load test assembly directly connects the angle sensor to the rotating shaft, and obtains the rudder deflection angle of the corresponding rudder shaft by electrically reading the deflection angle of the rotating shaft.

[0049] The rotating shaft rotating mechanism comprises a front bearing, a rear bearing and a bearing cover. The rotating shaft is fixed between the front bearing and the rear bearing and can rotate with the front bearing and the rear bearing.

[0050] The front part of the rotating shaft is connected to the telescopic arm bracket, and the positioning of the telescopic arm bracket on the rotating shaft is ensured by the positioning pin hole; the rear part of the rotating shaft is provided with a fourth positioning groove, the front end of the torsion bar is fixed in the fourth positioning groove, and the rear end is fixed to the torsion bar cover through the torsion bar seat.

[0051] The telescopic arm is mounted on the telescopic arm bracket, and the central axis positioning of the telescopic arm is achieved through mechanical fitting of the telescopic arm and the inner side of the telescopic arm bracket.

[0052] The two side walls of the telescopic arm can just be in close contact with the two sides of the inner wall of the square hole of the rudder blade turntable.

[0053] Example 3

[0054] like Figures 1 to 6 As shown, the present invention provides a composite device for zero position correction and load testing of a missile servo, comprising a mounting plane, a servo seat and four groups of zero adjustment and load testing components with the same structure, wherein:

[0055] The four groups of zeroing and load testing components with the same structure are evenly distributed on the mounting plane in the circumferential direction; the zeroing and load testing components include a rudder turntable with a rudder turntable hole, a shaft bracket, a shaft, a shaft rotation mechanism, a zero position pin, an angle sensor assembly, a telescopic arm bracket, a telescopic arm, a torsion bar, and a torsion bar seat; the shaft bracket and the telescopic arm bracket are installed in a straight line on the mounting plane, and the corresponding shaft arranged on the shaft bracket and the telescopic arm arranged on the telescopic arm bracket are both in a straight line and parallel to the mounting plane, one end of the telescopic arm is a square head with a first vertical surface, the rudder turntable hole is provided with a square hole with a second vertical surface matching the square head of the first vertical surface, the first vertical surface can be completely fitted with the second vertical surface of the rudder turntable hole, and the square head and the turntable hole are tightly fitted together; the angle sensor assembly is arranged on the shaft for reading the deflection angle of the shaft.

[0056] The mounting plane includes a base plate and an adjustable base plate seat, the base plate is supported by the base plate seat, and the adjustable base plate seat can adjust the horizontality of the base plate reference surface. Specifically, the base plate seat is installed at the four corners and the center of the base plate to adjust the base plate support height and adjust the horizontality of the base plate reference surface.

[0057] The four groups of zero-position correction and load test components with the same structure are evenly distributed axially on the bottom plate.

[0058] The bottom plate is the installation reference surface of the test device. A bottom plate seat positioning hole is processed in the center of the bottom plate. The installation accuracy of the bottom plate seat is guaranteed by the cooperation of the positioning pin hole.

[0059] The first and second slide grooves are respectively arranged around the bottom plate. In order to ensure the positioning accuracy of the missile servo zero correction and the load test mechanism, the width dimensional accuracy of the first slide groove is controlled between 0-0.05mm, the roughness of the vertical surface of the first and third slide grooves reaches 3.2, and the angle deviation of the first and third slide grooves relative to the servo seat positioning pin hole is between ±5'. The first and third slide grooves are processed and formed in one time to ensure the relative position accuracy.

[0060] The zero position correction and load testing assembly includes a rotating shaft bracket, a rotating shaft, a rotating shaft rotation mechanism, a zero position pin, an angle sensor, an angle sensor bracket, a telescopic arm bracket, a telescopic arm, a torsion bar, a torsion bar seat, a torsion bar cover and a rotating shaft bracket slider.

[0061] The angle sensor assembly comprises an angle sensor and an angle sensor bracket, wherein the angle sensor is fixed on a rotating shaft bracket through the angle sensor bracket, wherein a rotor of the angle sensor head is fixedly connected to the rotating shaft, and the rotating shaft is fixed on the rotating shaft bracket.

[0062] The torsion bar seat is provided with a torsion bar cover for fixing the torsion bar.

[0063] The zero adjustment and load test assembly directly connects the angle sensor to the rotating shaft, and obtains the rudder deflection angle of the corresponding rudder shaft by electrically reading the deflection angle of the rotating shaft.

[0064] The top surface of the base plate is provided with a first slide groove for sliding and positioning of the rotating shaft bracket, second slide grooves on both sides for sliding and fixing of the rotating shaft bracket, a third slide groove for sliding and positioning of the torsion bar seat, a fourth slide groove for sliding and fixing of the torsion bar seat, and two positioning holes for positioning the servo seat on the base plate frame.

[0065] It also includes a shaft bracket slider, which is fixedly arranged on the bottom surface of the shaft bracket. The bottom surface of the shaft bracket is also provided with a shaft bracket bottom groove, which is used to form a protruding slider after being connected with the shaft bracket slider. The shaft bracket equipped with the protruding slider is installed on the bottom plate, and the positioning and sliding adjustment of the shaft bracket are realized by placing the slider in the slide groove.

[0066] The rotating shaft rotating mechanism comprises a front bearing, a rear bearing and a bearing cover. The rotating shaft is fixed between the front bearing and the rear bearing and can rotate with the front bearing and the rear bearing.

[0067] Specifically, the rotating shaft is fixed on the rotating shaft bracket by using deep groove ball front bearings and rear bearings. The bearings are deep groove ball bearings. A through hole is opened in the front middle part of the rotating shaft. The angle sensor bracket passes through the rotating shaft through the through hole, and then the angle sensor is placed in the rotating shaft through the front side hole of the rotating shaft. The angle sensor passes through the center of the angle sensor bracket and is embedded in the third positioning groove inside the rotating shaft. The angle sensor is then fixed to the angle sensor bracket by screws, and finally the angle sensor bracket is fixed to the rotating shaft bracket. Roller bearings are used in another embodiment.

[0068] The telescopic arm bracket is connected to the front part of the rotating shaft, and two positioning pins are matched with the positioning holes on the telescopic arm bracket to ensure that the central axis of the telescopic arm is consistent with the central axis of the rotating shaft.

[0069] The steering gear seat is installed on the bottom plate, and after being positioned by the positioning pin, it is tightened by the axial screw; the steering gear is positioned by the positioning pin on the side of the steering gear seat, and then tightened by the circumferential screw to ensure the circumferential and axial installation accuracy of the steering gear relative to the center of the bottom plate. In order to ensure the positioning accuracy, the positioning pin holes at the bottom and side of the steering gear seat are required to be processed and formed in a CNC machining center at one time.

[0070] After the steering gear is installed, the installation positions of the four sets of rotating shaft brackets are determined according to the range of the telescopic arm, and the rotating shaft bracket slider on the rotating shaft bracket is used to complete the positioning with the first slide groove, and then tightened by the axial screw;

[0071] Specifically, the installation positions of the four sets of rotating shaft brackets on the bottom plate are determined based on the fact that the telescopic arm can be extended into the rudder blade turntable hole when extended and does not affect the disassembly of the steering gear when retracted.

[0072] Embed the front end of the selected torsion bar into the fourth positioning groove at the rear end of the rotating shaft, and fix the other end through the torsion bar seat and the torsion bar cover support. When installing the torsion bar seat, first place the lower slider of the torsion bar seat in the third slide groove, adjust the torsion bar seat to a suitable position by sliding, and tighten the bolts to fix the torsion bar seat.

[0073] Specifically, the length of the torsion section of the torsion bar can be determined according to the model of the torsion bar and the size of the torque required for the servo test, so as to determine the installation position of the four sets of torsion bar seats on the base plate. Generally, the torsion bar model and the position of the torsion bar seat are determined according to the test of different torque values. When the test torque is large, the torsion bar seat is moved inward, and when the test torque is small, the torsion bar seat is moved outward.

[0074] The front part of the rotating shaft is connected to the telescopic arm bracket, and the positioning of the telescopic arm bracket on the rotating shaft is ensured by the positioning pin hole; the rear part of the rotating shaft is provided with a fourth positioning groove, the front end of the torsion bar is fixed in the fourth positioning groove, and the rear end is fixed to the torsion bar cover through the torsion bar seat.

[0075] The telescopic arm is mounted on the telescopic arm bracket, and the central axis positioning of the telescopic arm is achieved through mechanical fitting of the telescopic arm and the inner side of the telescopic arm bracket.

[0076] The two side walls of the telescopic arm can just be in close contact with the two sides of the inner wall of the square hole of the rudder blade turntable.

[0077] After the servo and the composite device for servo zero position correction and load test are installed and fixed, the servo zero adjustment test is carried out.

[0078] The working principle of the composite device for zero position correction and load testing of missile steering gear provided by the present invention is as follows:

[0079] Install the servo seat and the servo to be tested on the base plate in advance, adjust the position of the four sets of shaft brackets and the torsion bar on the base plate and fix them.

[0080] In the test state, the four sets of telescopic arms are put into the telescopic arm bracket and fixed with bolts, and the zero position pin passes through the first positioning groove and the second positioning groove at the same time.

[0081] At this time, the four sets of rotating shafts and telescopic arms are in the mechanical zero position state at the same time. The readings of the four sets of angle sensors (a1, a2, a3, a4) are read and recorded to complete the electrical zero position calibration and correction of the four sets of telescopic arms in the mechanical zero position state of the telescopic arms.

[0082] Under the test state, unplug the zero position pin, the shaft and the telescopic arm can rotate freely. After loosening the fixing bolts of the telescopic arms, adjust the extension lengths of the four sets of telescopic arms and the deflection angles of the telescopic arms so that the telescopic arms can be inserted into the holes of the rudder turntable and fix the telescopic arms on the telescopic arm brackets (the telescopic arms drive the shaft to rotate an angle during the insertion of the rudder turntable). Read the readings of the angle sensor at this time (b1, b2, b3, b4), correct the deflection angle of the servo through the rudder control system, and complete the mechanical and electrical zeroing of the servo shaft test.

[0083] At this time, the difference between the two groups of readings (c1, c2, c3, c4) is the deflection angle of the four groups of rudder blades of the servo. The four groups of rudder blades are adjusted to the mechanical zero position state through the servo control system, and the electrical zero position of the servo control system is set at the same time to complete the zero position correction of the servo.

[0084] Specifically, when the telescopic arm is inserted into the rudder turntable, the telescopic arm drives the rotating shaft to rotate an angle. Since the rudder turntable hole, the telescopic arm and the rotating shaft fit tightly, the axes of the rotating shaft coincide. The deflection readings (b1, b2, b3, b4) of the four sets of angle sensors are the deflection angles of the test servo rudder shafts.

[0085] After the servo zero position calibration is completed, the servo control system controls the electric servo to rotate the rudder blade turntable. The rotation of the rudder blade turntable drives the rotation of the shaft, thereby driving the rotation of the torsion bar. Subsequently, a simulation test under load test is carried out.

[0086] Specifically, one end of the torsion bar is fixed, and the other end is twisted with the generating shaft, thereby generating torque. The torque generated by the torsion bar is transmitted to the electric servo through the rotating shaft, telescopic arm, and rudder blade turntable, thereby realizing torque loading on the electric servo in the rudder cabin. At the same time, the mechanical parameters of the loading test can be determined by adjusting the position of the torsion bar seat to control the magnitude of the torque. Specifically, the mechanical parameters are how much torque is required for the rudder blade turntable to deflect a certain angle.

Claims

1. A composite device for zero position correction and load testing of missile servos, characterized in that: It includes a mounting plane, a servo seat and four sets of zero adjustment and load test components with the same structure, among which: The four groups of zeroing and load testing components with the same structure are evenly distributed on the mounting plane in the circumferential direction; the zeroing and load testing components include a rudder turntable provided with a rudder turntable hole, a shaft bracket, a shaft, a shaft rotation mechanism, a zero position pin, an angle sensor assembly, a telescopic arm bracket, a telescopic arm, a torsion bar, and a torsion bar seat; the shaft bracket and the telescopic arm bracket are installed in a straight line on the mounting plane, and the corresponding shaft arranged on the shaft bracket and the telescopic arm arranged on the telescopic arm bracket are both in a straight line and parallel to the mounting plane, one end of the telescopic arm is a square head provided with a first vertical surface, the rudder turntable hole is provided with a square hole of a second vertical surface matching with the square head of the first vertical surface, the first vertical surface can be completely fitted with the second vertical surface of the rudder turntable hole, and the square head and the turntable hole are tightly fitted together; the angle sensor assembly is arranged on the shaft for reading the deflection angle of the shaft; The installation plane comprises a base plate and an adjustable base plate seat, the base plate is supported by the base plate seat, and the adjustable base plate seat can adjust the horizontality of the base plate reference surface; The angle sensor assembly comprises an angle sensor and an angle sensor bracket, wherein the angle sensor is fixed to a rotating shaft bracket through the angle sensor bracket, wherein a rotor of the angle sensor head is fixedly connected to the rotating shaft, and the rotating shaft is fixed to the rotating shaft bracket; The zero adjustment and load test assembly directly connects the angle sensor to the rotating shaft, and obtains the rudder deflection angle of the corresponding rudder shaft by electrically reading the deflection angle of the rotating shaft; The top surface of the base plate is provided with a first slide groove for sliding and positioning of the rotating shaft bracket, second slide grooves on both sides for sliding and fixing of the rotating shaft bracket, a third slide groove for sliding and positioning of the torsion bar seat, a fourth slide groove for sliding and fixing of the torsion bar seat, and two positioning holes for positioning the servo seat on the base plate frame.

2. A composite device for zero position correction and load testing of missile servo according to claim 1, characterized in that: The torsion bar seat is provided with a torsion bar cover for fixing the torsion bar.

3. A composite device for zero position correction and load testing of missile servo according to claim 1, characterized in that: It also includes a shaft bracket slider, which is fixedly arranged on the bottom surface of the shaft bracket. The bottom surface of the shaft bracket is also provided with a third positioning groove for forming a protruding slider after connecting with the shaft bracket slider. The shaft bracket equipped with the protruding slider is installed on the bottom plate, and the positioning and sliding adjustment of the shaft bracket are realized by placing the slider in the slide groove.

4. A composite device for zero position correction and load testing of missile servo according to claim 1, characterized in that: The front part of the rotating shaft is connected to the telescopic arm bracket, and the positioning of the telescopic arm bracket on the rotating shaft is ensured by the positioning pin hole; the rear part of the rotating shaft is provided with a fifth positioning groove, the front end of the torsion bar is fixed in the fifth positioning groove, and the rear end is fixed to the torsion bar cover through the torsion bar seat.

5. A composite device for zero position correction and load testing of missile servo according to claim 1, characterized in that: The telescopic arm is mounted on the telescopic arm bracket, and the central axis positioning of the telescopic arm is achieved through mechanical fitting of the telescopic arm and the inner side of the telescopic arm bracket.

6. A composite device for zero position correction and load testing of missile servo according to claim 1, characterized in that: The two side walls of the telescopic arm can just be in close contact with the two sides of the inner wall of the square hole of the rudder blade turntable.

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