A pneumatic anti-manipulation load simulator and its simulation method

Abstract

This invention relates to a pneumatic anti-manipulation load simulator and its simulation method, belonging to the field of load simulation technology. It solves the problems of existing anti-manipulation load simulators, such as numerous components, short service life, complex control, low loading accuracy, and large size. The pneumatic anti-manipulation load simulator of this invention includes: a cylinder assembly, an eccentric shaft, a transition shaft assembly, and a servo mechanism. The output end connecting rod of the cylinder assembly is rotatably connected to the eccentric shaft via a lug. The eccentric shaft can rotate around the output shaft axis of the servo mechanism under the drive of the cylinder assembly. The eccentric shaft is connected to the output shaft of the servo mechanism via the transition shaft assembly. When the cylinder drives the eccentric shaft to rotate, an anti-manipulation load can be applied to the output shaft of the servo mechanism through the eccentric shaft and the transition shaft assembly. The structure is simple and the control accuracy is high.

Description

Technical Field

[0001] This invention relates to the field of load simulation technology, and in particular to a pneumatic anti-manipulation load simulator and its simulation method. Background Technology

[0002] Aircraft servo mechanisms are susceptible to counter-manipulation during flight, which is detrimental to stable control of the aircraft. Counter-manipulation refers to the phenomenon where a load reverses and drives the servo mechanism to operate. To verify the servo mechanism's ability to resist counter-manipulation, it is necessary to simulate counter-manipulation conditions during flight using a counter-manipulation load simulator on the ground.

[0003] The anti-manipulation load simulator is connected to the servo mechanism via an adapter shaft, and provides the servo mechanism with a loading gradient that meets the requirements by adjusting the load.

[0004] Depending on the load method, anti-manipulation load simulators are generally divided into two types: electric and electro-hydraulic.

[0005] Electric load simulators have many electronic components, short service life, complex control, and low loading accuracy; electro-hydraulic load simulators have vulnerable parts such as hydraulic circuits, are relatively large in size, have high cost, and have a large initial load, which is not conducive to the testing of small servo mechanisms. Summary of the Invention

[0006] Based on the above analysis, the present invention aims to provide a pneumatic anti-manipulation load simulator and its simulation method to solve the problems of existing anti-manipulation load simulators having many components, short service life, complex control, low loading accuracy, large size, high cost, and large initial load, which are not conducive to the testing of small servo mechanisms.

[0007] The objective of this invention is mainly achieved through the following technical solutions:

[0008] A pneumatic anti-manipulation load simulator includes: a cylinder assembly, a connecting rod, an eccentric shaft, a transition shaft assembly, a servo mechanism, and an output shaft;

[0009] The cylinder assembly can drive the connecting rod to output displacement;

[0010] The connecting rod is rotatably connected to the eccentric shaft, which is fixedly connected to the output shaft of the servo mechanism via a transition shaft assembly; the axis of the eccentric shaft is parallel to the axis of the output shaft and has an eccentricity.

[0011] The connecting rod, eccentric shaft, and output shaft form a crank-slider mechanism; the cylinder assembly drives the eccentric shaft to rotate via the connecting rod.

[0012] Furthermore, the axis of the adapter shaft assembly coincides with the axis of the output shaft.

[0013] Furthermore, the connecting rod is rotatably connected to the eccentric shaft via a lifting lug.

[0014] Furthermore, the connecting rod is fixedly connected to the lifting lug, and the lifting lug is connected to the eccentric shaft through a spherical bearing.

[0015] Furthermore, the adapter shaft assembly includes: a first adapter shaft, a torque sensor, and a second adapter shaft.

[0016] Furthermore, the first adapter shaft is fixedly connected to the eccentric shaft; the second adapter shaft is fixedly connected to the output shaft; and the two ends of the torque sensor are respectively fixedly connected to the first adapter shaft and the second adapter shaft.

[0017] Furthermore, the torque sensor is fixedly connected to the first adapter shaft via a second coupling, and the torque sensor is fixedly connected to the second adapter shaft via a first coupling.

[0018] Furthermore, the cylinder assembly includes: a cylinder body, a connecting rod, a piston, and a cylinder end cap; the piston is disposed in the cylinder body and divides the cylinder body into a first chamber and a second chamber; when the piston moves up and down, it can drive the connecting rod to extend and retract.

[0019] Furthermore, the cylinder assembly is supplied with air via an air source that can communicate with either the first or second chamber.

[0020] A method for simulating anti-manipulation loads, employing a pneumatic anti-manipulation load simulator, includes the following steps:

[0021] Step S1: The servo mechanism drives the output shaft to rotate, and the output shaft drives the eccentric shaft to rotate through the adapter shaft assembly;

[0022] Step S2: Inflate the cylinder assembly with air from the air source, causing the connecting rod to extend and retract;

[0023] Step S3: The connecting rod drives the eccentric shaft to rotate; the torque applied by the connecting rod to the eccentric shaft is in the same direction as the rotation direction of the output shaft, simulating a counter-operation load.

[0024] The technical solution of this invention can achieve at least one of the following effects:

[0025] 1. The pneumatic anti-manipulation load simulator of the present invention realizes anti-manipulation load simulation through the cooperation of cylinder assembly and eccentric shaft. By adjusting the gas pressure of cylinder assembly, connecting rod length and eccentricity (crank length) of eccentric shaft, anti-manipulation test requirements of various loading gradients can be met to adapt to various types of servo mechanisms.

[0026] 2. The pneumatic anti-manipulation load simulator of the present invention simulates anti-manipulation load by driving the eccentric shaft to rotate through a cylinder. It has a simple structure and is easy to operate. It solves the problems of short working life, large size, high cost and low loading accuracy of traditional load simulators, and meets the anti-manipulation test requirements of servo mechanisms.

[0027] 3. The anti-manipulation load simulator of the present invention is a crank-slider mechanism, the piston rod is a slider that moves in a straight line, the connecting rod, the lug, and the eccentric shaft together constitute a rocker, the length L of the rocker is the distance from the piston to the axis of the eccentric shaft; the eccentric shaft and the adapter shaft form a crank, the length H of the crank is the distance between the axis of the eccentric shaft and the axis of the output shaft, that is, the length of the crank is the eccentricity of the eccentric shaft relative to the output shaft.

[0028] When the piston moves linearly under air pressure, it drives the connecting rod and the lifting lug to perform a combination of linear and rotational motion. The lifting lug drives the eccentric shaft to perform centrifugal motion through the spherical bearing, that is, the rotational motion of the eccentric shaft around the axis of the output shaft. The anti-control torque applied to the eccentric shaft by the anti-control load simulator is transmitted to the servo mechanism, simulating the anti-control load on the aircraft servo mechanism.

[0029] 4. The anti-manipulation load simulator of the present invention has a torque sensor installed on the adapter shaft assembly, and the magnitude of the anti-manipulation torque is monitored in real time by the torque sensor.

[0030] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0031] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0032] Figure 1 The present invention relates to a pneumatic anti-manipulation load simulator;

[0033] Figure 2 This is a side view of the pneumatic anti-manipulation load simulator of the present invention;

[0034] Figure 3 This is a cross-sectional view of the drive cylinder of the present invention;

[0035] Figure 4 This is a schematic diagram of the motion principle of the pneumatic anti-manipulation load simulator of the present invention.

[0036] Figure label:

[0037] 1-Servo mechanism; 2-Output shaft; 3-First adapter shaft; 4-Second adapter shaft; 5-Base; 6-Cylinder assembly; 7-First adapter bracket; 8-First coupling; 9-Torque sensor; 10-Second coupling; 11-Second adapter bracket; 12-Lifting lug; 13-Eccentric shaft; 14-Lifting lug sleeve; 15-Pressure reducing valve; 16-Air source; 17-Joint bearing;

[0038] 601-Connecting rod; 602-Piston sleeve; 603-First cavity; 604-Second cavity; 605-Ball head; 606-First vent hole; 607-Piston; 608-Second vent hole; 609-Cylinder end cap; 610-First sealing ring; 611-Second sealing ring; 612-First guide sealing ring; 613-Second guide sealing ring. Detailed Implementation

[0039] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0040] Example 1

[0041] A specific embodiment of the present invention discloses a pneumatic anti-manipulation load simulator, which solves the problems of short working life, large size, high cost and low loading accuracy of traditional load simulators, and meets the anti-manipulation test requirements of various types of servo mechanisms.

[0042] The aircraft servo mechanism is susceptible to anti-manipulation effects during flight, which is detrimental to the stable control of the aircraft.

[0043] In one specific embodiment of the present invention, such as Figure 1-4 As shown, the pneumatic anti-manipulation load simulator includes: a cylinder assembly 6, an eccentric shaft 13, a transition shaft assembly, and a servo mechanism 1. The eccentric shaft 13 can rotate under the drive of the cylinder assembly 6. The eccentric shaft 13 is connected to the output shaft 2 of the servo mechanism 1 via the transition shaft assembly. When the eccentric shaft 13 rotates, it can apply an anti-manipulation torque to the output shaft 2 of the servo mechanism 1.

[0044] Furthermore, the eccentric shaft 13 is rotatably connected to the connecting rod 601 of the cylinder assembly 6. When the connecting rod 601 extends or retracts, it can drive the eccentric shaft 13 to rotate around the axis of the output shaft 2 of the servo mechanism 1.

[0045] In this embodiment, when the eccentric shaft 13 rotates, it can apply a counter-manipulation torque to the output shaft 2 of the servo mechanism 1. By applying a counter-manipulation torque to the output shaft 2 of the operating servo mechanism 1, this invention achieves ground simulation of the counter-manipulation load experienced by the servo mechanism during flight.

[0046] Furthermore, the axis of the adapter shaft assembly coincides with the axis of the output shaft 2 of the servo mechanism 1.

[0047] Furthermore, the axis of the eccentric shaft 13 is parallel to the axis of the output shaft 2 and has an eccentricity H, that is, the eccentricity between the axis of the eccentric shaft 13 and the axis of the adapter shaft assembly is H, such as Figure 2 As shown. By changing the eccentricity H, it is possible to meet the anti-manipulation testing requirements of various loading gradients of the servo mechanism.

[0048] In one specific embodiment of the present invention, the servo mechanism 1, the adapter shaft assembly and the cylinder assembly 6 are all mounted on the base 5, which serves as the mounting base for the entire pneumatic anti-manipulation load simulator.

[0049] Furthermore, the first adapter bracket 7 and the second adapter bracket 11 are fixedly installed on the base 5 by screws. The adapter shaft assembly is installed on the first adapter bracket 7 and the second adapter bracket 11. The first adapter bracket 7 and the second adapter bracket 11 are used to raise the height of the adapter shaft assembly so that the adapter shaft assembly can cooperate with the output shaft 2 of the servo mechanism 1.

[0050] In one specific embodiment of the present invention, the pneumatic anti-manipulation load simulator is further provided with a torque sensor 9, such as... Figure 1 As shown. Torque sensor 9 is mounted on the adapter shaft assembly to monitor the anti-manipulation torque of the pneumatic anti-manipulation load simulator.

[0051] In one specific embodiment of the present invention, the adapter shaft assembly includes: a first adapter shaft 3, a second adapter shaft 4, a first coupling 8, a second coupling 10, and a torque sensor 9. The first adapter shaft 3 is fixedly connected to the eccentric shaft 13 and rotates synchronously; the second adapter shaft 4 is fixedly connected to the output shaft 2 of the servo mechanism 1. The torque sensor 9 is connected at both ends to the first adapter shaft 3 and the second adapter shaft 4 respectively, enabling real-time monitoring of the anti-manipulation torque output by the pneumatic anti-manipulation load simulator.

[0052] Furthermore, one end of the torque sensor 9 is fixedly connected to the second adapter shaft 4 via the first coupling 8, and the other end is fixedly connected to the first adapter shaft 3 via the second coupling 10.

[0053] Furthermore, the first adapter shaft 3 is rotatably mounted on the second adapter bracket 11, and the second adapter shaft 4 is rotatably mounted on the first adapter bracket 7.

[0054] Specifically, the first adapter shaft 3 is mounted on the second adapter bracket 11 via a bearing, enabling the first adapter shaft 3 to rotate relative to the second adapter bracket 11. The second adapter shaft 4 is mounted on the first adapter bracket 7 via a bearing, enabling the second adapter shaft 4 to rotate relative to the first adapter bracket 7.

[0055] In one specific embodiment of the present invention, the eccentric shaft 13 is rotatably connected to the connecting rod 601 of the cylinder assembly 6 via the lug 12. When the connecting rod 601 of the cylinder assembly 6 moves up and down, the eccentric shaft 13 rotates with the axis of the adapter shaft assembly as the axis of rotation. When the eccentric shaft 13 rotates, it can apply a counter-operation load to the output shaft 2 of the servo mechanism 1.

[0056] In one specific embodiment of the present invention, the cylinder assembly 6 includes: a cylinder body, a connecting rod 601, a piston sleeve 602, a piston 607, a cylinder end cap 609, and a lifting lug 12, as shown below. Figure 3 As shown.

[0057] The piston 607 is housed within the cylinder body and is capable of moving vertically relative to the cylinder body. The cylinder end cap 609 is located at the bottom of the cylinder body and is fixedly connected to it. The piston sleeve 602 is fitted onto the outside of the connecting rod 601 and is fixedly connected to the piston 607.

[0058] Furthermore, the piston 607 divides the cylinder body into a first chamber 603 and a second chamber 604; the cylinder body has a first vent 606 and a second vent 608 on its side, the first vent 606 communicating with the first chamber 603 and the second vent 608 communicating with the second chamber 604. By adjusting the volume of the first chamber 603 and the second chamber 604, the piston 607 can be moved up and down.

[0059] Furthermore, such as Figure 3 As shown, a first sealing ring 610 is provided between the piston 607 and the cylinder body, and a second sealing ring 611 is provided between the cylinder end cover 609 and the cylinder body.

[0060] Furthermore, such as Figure 3 As shown, a first guide sealing ring 612 is provided between the piston sleeve 602 and the cylinder body, and a second guide sealing ring 613 is provided between the piston sleeve 602 and the cylinder end cover 609.

[0061] Furthermore, the connecting rod 601 is a telescopic rod, and the piston sleeve 602 is connected to the moving end of the connecting rod. The moving end of the connecting rod 601 can move up and down under the drive of the piston 607.

[0062] Furthermore, the connecting rod 601 includes: a ball head 605, a fixed part and a movable end; both the fixed part and the movable end are rod-shaped; the fixed part and the movable end are nested together and can slide relative to each other, and the extension and retraction of the connecting rod 601 is achieved by the sliding of the movable end relative to the fixed part.

[0063] Furthermore, the fixing part of the connecting rod 601 and the ball head 605 are integrated into one structure.

[0064] Furthermore, the connecting rod 601 is hinged to the cylinder end cover 609 via the ball joint 605, forming a ball joint. That is to say, when the piston 607 moves up and down, it can drive the moving end of the connecting rod 601 to move up and down, and the connecting rod 601 can offset back and forth and left and right in the piston sleeve 602.

[0065] Furthermore, the connecting rod 601 is threadedly connected to the lifting lug 12, and the upper end of the connecting rod 601 is rotatably connected to the eccentric shaft 13 through the lifting lug 12.

[0066] Specifically, the upper end of the connecting rod 601 is sleeved in the lower end of the lifting lug 12 in the lifting lug sleeve 14, and the connecting rod 601 and the lifting lug sleeve 14 of the lifting lug 12 are connected by threads. When the connecting rod 601 extends or retracts, the lifting lug 12 moves up and down synchronously.

[0067] The eccentric shaft 13 is rotatably connected to the lug 12 via a spherical bearing 17. The upper end of the lug 12 is provided with a bearing mounting hole, in which the spherical bearing 17 is installed, and the eccentric shaft 13 is fixedly connected to the inner ring of the spherical bearing 17.

[0068] In one specific embodiment of the present invention, when the first vent 606 is connected to the pipeline of the pressure reducing valve 15, the pressure reducing valve 15 is connected to the air source 16. The second vent 608 is in communication with the atmosphere. When the air source 16 pressurizes the first cavity 603 through the first vent 606, the piston 607 moves downward, the connecting rod 601 moves downward, and thus drives the eccentric shaft 13 (crank) to rotate counterclockwise.

[0069] When the second vent 608 is connected to the pipeline of the pressure reducing valve 15, the pressure reducing valve 15 is connected to the air source 16. The first vent 606 is open to the atmosphere. When the air source 16 pressurizes the second cavity 604 through the second vent 608, the piston 607 moves upward, the connecting rod 601 moves upward, and thus drives the eccentric shaft 13 (crank) to rotate clockwise.

[0070] In other words, the functions of the first vent 606 and the second vent 608 can be interchanged as needed. High-pressure gas in the gas source 16 is depressurized by the pressure reducing valve 15 and then connected to either the first vent 606 or the second vent 608. When the gas source 16 fills the first cavity 603 with gas through the first vent 606, the second vent 608 acts as the outlet, increasing the volume of the first cavity 603 and pushing the piston 607 downwards; or, when the gas source 16 fills the second cavity 604 with gas through the second vent 608, the first vent 606 acts as the outlet, increasing the volume of the second cavity 604 and pushing the piston 607 upwards.

[0071] During implementation:

[0072] The anti-manipulation load simulator is a crank-slider mechanism. The piston rod is the slider, which moves in a straight line. The connecting rod 601, the lug 12, and the eccentric shaft 13 together form a rocker arm. The length L of the rocker arm is the distance from the piston 607 to the axis of the eccentric shaft 13. The eccentric shaft 13 and the adapter shaft form a crank. The length H of the crank arm is the distance between the axis of the eccentric shaft 13 and the axis of the output shaft 2 of the servo mechanism 1. That is, the length of the crank arm is the eccentricity between the eccentric shaft 13 and the output shaft 2.

[0073] When piston 607 moves linearly under air pressure, it drives connecting rod 601 and lug 12 to perform a combined linear and rotational motion. Lug 12 is connected to eccentric shaft 13 via spherical bearing 17, and drives eccentric shaft 13 to perform centrifugal motion (eccentric shaft 13 rotates around the axis of output shaft 2). The anti-manipulation torque applied to eccentric shaft 13 by the anti-manipulation load simulator is transmitted to the servo mechanism through the adapter shaft assembly and torque sensor to apply the anti-manipulation load.

[0074] The working principle of the anti-manipulation load simulator, such as Figure 4 As shown:

[0075] When servo mechanism 1 is in the zero position, the crank and connecting rod coincide, and the anti-control load simulator does not generate anti-control torque.

[0076] When the output shaft 2 of the servo mechanism 1 deflects, the output shaft 2 drives the eccentric shaft 13 to deflect through the adapter shaft assembly. The crank and the connecting rod form a certain angle. At this time, the cylinder assembly 6 drives the connecting rod 601 to output displacement. The connecting rod 601 drives the eccentric shaft 13 to deflect further. The eccentric shaft 13 applies torque to the output shaft 2 of the servo mechanism 1 in the opposite direction. The cylinder assembly 6 manipulates the anti-manipulation load simulator to generate a loading torque in the same direction as the movement of the output shaft 2 of the servo mechanism 1, that is, the anti-manipulation torque.

[0077] Since the deflection angle of the servo mechanism 1 does not exceed 30°, and the length L of the rocker arm is much greater than the length H of the crank, the counter-actuating torque gradient does not change with the angle within this angle range. Different loading gradients are achieved by adjusting the displacement of the piston 607 and the connecting rod 601 by adjusting the gas pressure entering the cylinder assembly 6.

[0078] When the cylinder assembly 6 outputs displacement, the connecting rod 601 applies a counter-operating torque to the eccentric shaft 13 through the lug 12 and the spherical bearing 17, which is in the same direction as the deflection of the eccentric shaft 13. The counter-operating torque on the eccentric shaft 13 is transmitted in the opposite direction to the servo mechanism 1 through the adapter shaft assembly, and the magnitude of the counter-operating torque is monitored in real time by the torque sensor 9.

[0079] Example 2

[0080] Another specific embodiment of the present invention provides a method for simulating anti-manipulation loads, which uses the pneumatic anti-manipulation load simulator in Embodiment 1 to simulate anti-manipulation loads, and includes the following steps:

[0081] Step S1: Servo mechanism 1 drives output shaft 2 to rotate, and output shaft 2 drives eccentric shaft 13 to rotate through adapter shaft assembly;

[0082] Step S2: Air is supplied to the cylinder assembly 6 through the air source 16, and the connecting rod 601 extends and retracts.

[0083] Step S3: Connecting rod 601 drives eccentric shaft 13 to rotate; the torque applied by connecting rod 601 to eccentric shaft 13 is in the same direction as the rotation direction of output shaft 2, simulating a counter-operation load.

[0084] In step S2, the air source 16 pressurizes the cylinder assembly 6 through the first vent 606 or the second vent 608 to control the extension and retraction of the connecting rod 601.

[0085] Specifically,

[0086] When air source 16 is connected to the first vent 606:

[0087] The air source 16 fills the first cavity 603 with air through the first vent 606, and the second vent 608 serves as the air outlet; the volume of the first cavity 603 increases, the volume of the second cavity 604 decreases, and at the same time, the piston 607 is pushed down.

[0088] When air source 16 is connected to the second vent 608:

[0089] Air source 16 fills the second cavity 604 with air through the second vent 608, and the first vent 606 serves as the air outlet; the volume of the second cavity 604 increases, the volume of the first cavity 603 decreases, and at the same time pushes the piston 607 to move upward.

[0090] In step S3, the connecting rod 601, the eccentric shaft 13, and the first adapter shaft 3 form a crank-slider structure, as shown below. Figure 4 As shown.

[0091] Specifically, when the connecting rod 601 moves up and down, it can drive the eccentric shaft 13 to rotate around the first transition shaft 3 through the lug 12; the servo mechanism 1 outputs torque through the output shaft 2 to drive the eccentric shaft 13 to rotate, and the torque applied by the connecting rod 601 to the eccentric shaft 13 through the lug 12 is in the same direction as the torque of the output shaft 2, simulating the anti-control load experienced by the aircraft during flight.

[0092] It is worth noting that when the connecting rod 601 moves up and down, causing the eccentric shaft 13 to rotate, the connecting rod 601 deflects around the center of the ball head 605.

[0093] Compared with the prior art, the anti-manipulation load simulator provided in this embodiment outputs linear displacement through cylinder assembly 6, and forms a crank-slider mechanism through connecting rod 601, lug 12, eccentric shaft 13 and first adapter shaft 3. The rotation drive of eccentric shaft 13 is realized by the up and down movement of connecting rod 601. The anti-manipulation torque applied to eccentric shaft 13 by cylinder assembly 6 through connecting rod 601 is used to simulate the anti-manipulation load on the aircraft.

[0094] The anti-manipulation load simulator of the present invention can regulate the change increment and magnitude of the anti-manipulation load by controlling the displacement speed and displacement amount of the piston 607; by changing the eccentricity of the eccentric shaft 13 (the distance between the axis of the eccentric shaft 13 and the axis of the output shaft 2), the step increment of the anti-manipulation load can be adjusted, that is, the magnitude of the anti-manipulation torque on the eccentric shaft 13 corresponding to the unit displacement increment output by the connecting rod 601.

[0095] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A pneumatic anti-manipulation load simulator, characterized in that, include: Cylinder assembly (6), connecting rod (601), eccentric shaft (13), adapter shaft assembly, servo mechanism (1) and output shaft (2); The cylinder assembly (6) can drive the connecting rod (601) to output displacement; the connecting rod (601) is rotatably connected to the eccentric shaft (13), and the eccentric shaft (13) is fixedly connected to the output shaft (2) of the servo mechanism (1) through a transition shaft assembly; the axis of the eccentric shaft (13) is parallel to the axis of the output shaft (2) and has an eccentricity; the connecting rod (601), the eccentric shaft (13) and the output shaft (2) form a crank-slider mechanism; the cylinder assembly (6) drives the eccentric shaft (13) to rotate through the connecting rod (601); the cylinder assembly (6) includes: a cylinder body, a connecting rod (601), a piston (607) and a cylinder end cap (609); the piston (607) is disposed in the cylinder body and divides the cylinder body into a first chamber (603) and a second chamber (609). The second cavity (604); when the piston (607) moves up and down, it can drive the connecting rod (601) to extend and retract; the cylinder assembly (6) is supplied with air through the air source (16), and the air source (16) can communicate with the first cavity (603) or the second cavity (604); the cylinder end cover (609) is located at the bottom of the cylinder body and is fixedly connected to the cylinder body; the connecting rod (601) is a telescopic rod; the connecting rod (601) includes: a ball head (605), a fixed part and a moving end; the connecting rod (601) is hinged to the cylinder end cover (609) through the ball head (605) to form a ball joint; when the piston (607) moves up and down, it can drive the moving end of the connecting rod (601) to move up and down, and the connecting rod (601) can shift back and forth and left and right in the piston sleeve (602); The upper end of the connecting rod (601) is rotatably connected to the eccentric shaft (13) via the lug (12); the eccentric shaft (13) is rotatably connected to the lug (12) via the spherical bearing (17); the piston sleeve (602) is sleeved on the outside of the connecting rod (601) and fixedly connected to the piston (607); the piston sleeve (602) is connected to the moving end of the connecting rod, and the moving end of the connecting rod (601) can move up and down under the drive of the piston (607); when the piston (607) moves linearly under the action of air pressure, it drives the connecting rod (601) and the lug (12) to perform a composite linear and rotational motion; the lug (12) is connected to the eccentric shaft (13) via the spherical bearing (17), and drives the eccentric shaft (13) to rotate around the axis of the output shaft (2), the anti-manipulation torque applied to the eccentric shaft (13) by the anti-manipulation load simulator is transmitted to the servo mechanism through the adapter shaft assembly and torque sensor to apply the anti-manipulation load; By controlling the displacement speed and displacement amount of the piston (607), the change increment of the anti-manipulation load and the size of the anti-manipulation load can be adjusted; by changing the size of the eccentricity of the eccentric shaft (13), the step increment of the anti-manipulation load can be adjusted.

2. The pneumatic anti-manipulation load simulator according to claim 1, characterized in that, The axis of the adapter shaft assembly coincides with the axis of the output shaft (2).

3. The pneumatic anti-manipulation load simulator according to claim 2, characterized in that, The connecting rod (601) is fixedly connected to the lug (12), and the lug (12) is connected to the eccentric shaft (13) through a spherical bearing (17).

4. The pneumatic anti-manipulation load simulator according to any one of claims 1-3, characterized in that, The adapter shaft assembly includes: a first adapter shaft (3), a torque sensor (9), and a second adapter shaft (4).

5. The pneumatic anti-manipulation load simulator according to claim 4, characterized in that, The first adapter shaft (3) is fixedly connected to the eccentric shaft (13); the second adapter shaft (4) is fixedly connected to the output shaft (2); the two ends of the torque sensor (9) are fixedly connected to the first adapter shaft (3) and the second adapter shaft (4) respectively.

6. The pneumatic anti-manipulation load simulator according to claim 5, characterized in that, The torque sensor (9) is fixedly connected to the first adapter shaft (3) via the second coupling (10), and the torque sensor is fixedly connected to the second adapter shaft (4) via the first coupling (8).

7. A method for simulating anti-manipulation loads, characterized in that, Anti-manipulation load simulation is performed using the pneumatic anti-manipulation load simulator according to any one of claims 1-6; including the following steps: Step S1: The servo mechanism (1) drives the output shaft (2) to rotate, and the output shaft (2) drives the eccentric shaft (13) to rotate through the adapter shaft assembly; Step S2: Air is supplied to the cylinder assembly (6) through the air source (16), and the connecting rod (601) moves in extension and retraction. Step S3: The connecting rod (601) drives the eccentric shaft (13) to rotate; the torque applied by the connecting rod (601) to the eccentric shaft (13) is in the same direction as the rotation of the output shaft (2), simulating the reverse control load.

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