Multi-type servo mechanism shared load simulation system

Abstract

The invention provides a multi-type servo mechanism shared load simulation system, and belongs to the technical field of steering engine loading tests, tested equipment is a multi-type servo mechanism, the multi-type servo mechanism pushes a loading rotation shaft to rotate through a plurality of lug combination sleeves so as to simulate rotation of a rudder or an airfoil, the multi-type servo mechanism is in one-to-one correspondence with the plurality of lug combination sleeves, and the multi-type servo mechanism pushes the loading rotation shaft to rotate through the plurality of lug combination sleeves so as to simulate rotation of the rudder or the airfoil. Comprising a loading mechanism and a plurality of locking structures. A driving end at the upper part of the loading mechanism is connected with a loading rotating shaft through a loading rocker arm. And the locking structure is arranged between the lug combining sleeve and the loading rotating shaft. And the locking structures corresponding to the servo mechanisms needing to execute actions are adjusted to reach the locking state, and the locking structures corresponding to the other servo mechanisms reach the unlocking state. According to the multi-type servo mechanism shared load simulation system provided by the invention, one loading mechanism can be matched with different numbers of multi-type servo mechanisms to carry out performance testing, and the system is smaller in occupied space, lower in cost and more convenient to maintain.

Description

Technical Field

[0001] The invention belongs to the technical field of steering gear loading test, and more specifically, relates to a multi-type servo mechanism shared load simulation system. Background Art

[0002] When studying the load characteristics of a servo mechanism, it is necessary to use a loading cylinder to simulate the actual aerodynamic loads, inertial loads, and other loads that the rudder or aileron is subjected to, so as to test and verify the servo mechanism.

[0003] Specifically, the actuator of the rudder or wing receives instructions from the control system to drive the rudder or wing to rotate. At the same time, the loading cylinder receives instructions from the control system to follow the movement of the rudder or wing, and outputs various loads on the rudder during the rotation. In the actual test process, it is necessary to perform performance tests on various types of servo mechanisms. If each type of servo mechanism is equipped with a loading cylinder, it will result in high economic costs, large space occupation and high maintenance complexity. Summary of the invention

[0004] The purpose of the present invention is to provide a load simulation system shared by multiple types of servo mechanisms, aiming to solve the problem of high economic cost, large space occupation and difficult maintenance if each type of servo mechanism is equipped with a loading cylinder when performing performance tests on multiple types of servo mechanisms.

[0005] To achieve the above object, the technical solution adopted by the present invention is: to provide a multi-type servo mechanism shared load simulation system, the device under test is a multi-type servo mechanism, the multi-type servo mechanism drives the loading rotary shaft to rotate through multiple ear seat combination sleeves to simulate the rotation of the rudder or wing surface, and the multi-type servo mechanism corresponds to the multiple ear seat combination sleeves one by one, including: A loading mechanism, wherein the loading mechanism is located below the loading rotary shaft, a driving end at an upper portion of the loading mechanism is connected to the loading rotary shaft via a loading rocker arm, and the driving end of the loading mechanism has an axial degree of freedom to simulate the pneumatic load of the loading rotary shaft; A plurality of locking structures are provided one by one between the plurality of ear seat combination sleeves and the loading rotary shaft, and the locking structures have a locking state and an unlocking state. In the locking state, the ear seat combination sleeve is linked with the loading rotary shaft and rotates synchronously, and in the unlocking state, the ear seat combination sleeve is disconnected from the loading rotary shaft. By switching the locking state and the unlocking state of the plurality of locking structures, the loading mechanism can match the linkage of different numbers of the servo mechanisms.

[0006] In a possible implementation, the locking structure includes: A sliding groove, the sliding groove is arranged on the inner wall of the ear seat combination sleeve; A locking key, wherein the locking key is disposed in the sliding groove; A locking groove, which is arranged on the outer wall of the loading rotary shaft and corresponds to the sliding groove; A driving rod, wherein the driving rod radially penetrates the ear seat combination sleeve from the outside to the inside, and an inner end of the driving rod is connected to the locking key. The driving rod moves radially along the ear seat combination sleeve, and the driving rod drives the end of the locking key to be inserted into the locking groove to form the locked state, or the driving rod drives the end of the locking key to be disengaged from the locking groove to form the unlocked state.

[0007] In a possible implementation, the locking key extends to the outside of the ear seat coupling sleeve.

[0008] In a possible implementation, the locking key includes: A locking middle key, with limit blocks respectively arranged on both sides of the locking middle key, and an inner end of the driving rod being connected to the locking middle key; Two locking side keys are arranged on both sides of the locking middle key, a mounting groove is arranged on one side of the locking side key close to the locking middle key, and the two limit blocks are respectively arranged in the two mounting grooves.

[0009] In a possible implementation, the assembly groove has an upper buffer gap and a lower buffer gap, the upper buffer gap is located above the limit block, and the lower buffer gap is located below the limit block; The locking middle key is inserted into the locking groove, and the limit block moves along the lower buffer gap to the inner side of the assembly groove to drive the inner ends of the two locking side keys to be pre-inserted into the locking groove; The locking middle key is pulled out of the locking groove, and the limit block moves along the upper buffer gap to the outside of the assembly groove to drive the inner ends of the two locking side keys to disengage from the locking groove.

[0010] In a possible implementation, the locking structure further includes: An auxiliary middle push rod, the auxiliary middle push rod radially penetrates the ear seat combination sleeve from the outside to the inside, one inner end of the auxiliary middle push rod abuts against the outer side surface of the locking middle key, and the auxiliary middle push rod moves along the radial direction of the ear seat combination sleeve to press the locking middle key into the locking groove; Two auxiliary side push rods, the two auxiliary side push rods are arranged on both sides of the auxiliary middle push rod, the auxiliary middle push rod radially penetrates the ear seat combination sleeve from the outside to the inside, the inner ends of the two auxiliary side push rods respectively abut against the outer side surfaces of the two locking side keys, the auxiliary side push rods move radially along the ear seat combination sleeve, and are used to press the locking side keys into the locking grooves.

[0011] In a possible implementation, a first inclined guide sliding surface is provided between the locking middle key and the locking side key, and a second inclined guide sliding surface is provided between the locking side key and the locking groove. Both the first inclined guide sliding surface and the second inclined guide sliding surface are inclined from the outside to the inside toward the middle, and the inclination angle of the first inclined guide sliding surface is not greater than the inclination angle of the second inclined guide sliding surface.

[0012] In a possible implementation, the driving rod is slidably engaged along the radial direction of the ear seat combination sleeve, and the auxiliary middle push rod and the auxiliary side push rod are threadedly engaged along the radial direction of the ear seat combination sleeve.

[0013] In one possible implementation, the ear seat combination sleeve has an upwardly extending connecting ear seat, the driving end of the servo mechanism is provided with a connecting rod, the end of the connecting rod is hinged to the top of the connecting ear seat, and the hinge points of multiple connecting ear seats are at different distances from the axis of the loading rotary shaft.

[0014] In a possible implementation, the driving end of the loading mechanism is provided with a first ear seat, and the loading rocker arm is provided with a second ear seat, the first ear seat has two first mounting plates arranged in parallel and spaced apart, the second ear seat has two second mounting plates arranged in parallel and spaced apart, the first mounting plate and the second mounting plate are arranged vertically, and the two first mounting plates are located between the two second mounting plates, a first rotating shaft is arranged vertically for rotation between the two second mounting plates, a second rotating shaft is arranged vertically for rotation between the two first mounting plates, and the second rotating shaft vertically passes through the first rotating shaft and rotates in conjunction.

[0015] The beneficial effect of the multi-type servo mechanism shared load simulation system provided by the present invention is that: compared with the prior art, multiple servo mechanisms load the loading rotary shaft through the ear seat combination sleeve, and at the same time, the loading mechanism acts on the loading rotary shaft through the loading rocker arm to simulate the aerodynamic load. The inertia disk is installed at one end of the loading rotary shaft to simulate the real mass of the rudder or wing surface, and the encoder is installed at the other end of the loading rotary shaft to collect the rotation angle information of the loading rotary shaft. A locking structure is arranged between each ear seat combination sleeve and the loading rotary shaft, and the locking structure has a locking state and an unlocking state. When it is necessary to match different numbers of servo mechanisms of multiple models to perform an action, the locking structure corresponding to the servo mechanism that needs to perform the action is adjusted to reach the locking state, and the locking structures corresponding to other servo mechanisms reach the unlocking state. By switching the different states of multiple locking structures, a loading mechanism can be combined with different numbers of servo mechanisms to comprehensively simulate the stress conditions of the real working conditions. The multi-type servo mechanism shared load simulation system provided by the present invention can use a loading mechanism to match different numbers and multiple models of servo mechanisms for performance testing, and the equipment occupies less space, has lower costs, and is more convenient to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the structure of a multi-type servo mechanism shared load simulation system provided by the present invention; Figure 2 An assembly diagram of the loading rotary shaft and the ear seat combination sleeve provided by the present invention; Figure 3 for Figure 2 Sectional view along AA; Figure 4 for Figure 2 Sectional view along BB; Figure 5 for Figure 3 A partial enlarged view of the M in the middle Figure 6 An assembly diagram of the first ear seat and the second ear seat provided by the present invention; Figure 7 This is a cross-sectional structural diagram of the first ear seat and the second ear seat provided by the present invention.

[0018] In the figure: 100, loading rotary shaft; 110, locking groove; 200, inertia disk; 400, loading mechanism; 500, loading rocker arm; 600, servo mechanism; 700, ear seat combination sleeve; 710, sliding groove; 721, locking middle key; 7211, limit block; 722, locking side key; 7221, assembly groove; 7222, upper buffer gap; 7223, lower buffer gap; 730, driving rod; 740, first inclined guide sliding surface; 750, auxiliary middle push rod; 760, auxiliary side push rod; 770, second inclined guide sliding surface; 800, connecting ear seat; 900, connecting rod; 1001, first ear seat; 1002, second ear seat; 1003, first mounting plate; 1004, second mounting plate; 1005, first rotating shaft; 1006, second rotating shaft. DETAILED DESCRIPTION

[0019] In order to make the technical problems, technical solutions and beneficial effects to be solved by 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 used to limit the present invention.

[0020] Unless explicitly defined otherwise, the use of terms such as "first," "second," or "third," etc., are intended to distinguish different objects rather than to describe a specific order.

[0021] Unless otherwise expressly defined, directional words such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", "high", "low", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, so they cannot be understood as limiting the specific scope of protection of the present invention.

[0022] See also Figure 1 The multi-type servo mechanism shared load simulation system provided by the present invention is now described. The multi-type servo mechanism shared load simulation system, the device under test is a multi-type servo mechanism 600, the multi-type servo mechanism 600 drives the loading rotary shaft 100 to rotate through multiple ear seat combination sleeves 700 to simulate the rotation of the rudder or wing surface, the multi-type servo mechanism 600 corresponds to the multiple ear seat combination sleeves 700 one by one, and includes a loading mechanism 400 and multiple locking structures.

[0023] The loading mechanism 400 is located below the loading rotary shaft 100. The driving end of the upper part of the loading mechanism 400 is connected to the loading rotary shaft 100 through the loading rocker arm 500. The driving end of the loading mechanism 400 has axial freedom to simulate the pneumatic load of the loading rotary shaft 100. Multiple locking structures are arranged one by one between multiple ear seat combination sleeves 700 and the loading rotary shaft 100. The locking structure has a locking state and an unlocking state. In the locked state, the ear seat combination sleeve 700 is linked with the loading rotary shaft 100 and rotates synchronously. In the unlocked state, the ear seat combination sleeve 700 is disconnected from the loading rotary shaft 100. By switching the locking state and unlocking state of multiple locking structures, the loading mechanism 400 can match the linkage of different numbers of servo mechanisms 600.

[0024] The core components of the servo mechanism 600 mainly include an actuator and a control system. The servo mechanism 600 refers to a system that achieves position, speed, or acceleration control of a mechanical system through a closed-loop control method. The actuator is a part of the servo mechanism, specifically the execution unit of the servo mechanism. The motion trajectory of the actuator can be linear or rotational.

[0025] When the present invention performs a load simulation test, the actuators of the servo mechanism 600 are located on one side of the loading rotary shaft 100 and are arranged in sequence along the axial direction of the loading rotary shaft 100. The driving end of each actuator is hinged with an ear seat combination sleeve 700, and multiple ear seat combination sleeves 700 are sequentially sleeved on the loading rotary shaft 100 along the axial direction. The actuator of each servo mechanism 600 can push the loading rotary shaft 100 to rotate through the ear seat combination sleeve 700 corresponding thereto to simulate the rotation of the rudder or the wing surface.

[0026] In order to simulate the real mass of the rudder or the wing surface, an inertia disk 200 is installed at the end of the loading rotating shaft 100. In order to detect the rotation angle of the loading rotating shaft 100, an encoder is installed at the end of the loading rotating shaft 100. Specifically, the inertia disk 200 can be installed at one end of the loading rotating shaft 100, and the encoder can be installed at the other end.

[0027] The multi-type servo mechanism shared load simulation system provided by the present invention, compared with the prior art, multiple servo mechanisms 600 load the loading rotary shaft 100 through the ear seat combination sleeve 700, and at the same time, the loading mechanism 400 acts on the loading rotary shaft 100 through the loading rocker arm 500 to simulate the aerodynamic load. The inertia disk 200 is installed at one end of the loading rotary shaft 100 to simulate the real mass of the rudder or wing surface, and the encoder is installed at the other end of the loading rotary shaft 100 to collect the rotation angle information of the loading rotary shaft 100. A locking structure is set between each ear seat combination sleeve 700 and the loading rotary shaft 100, and the locking structure has a locking state and an unlocking state. When it is necessary to match different numbers of multiple models of servo mechanisms 600 to perform an action, the locking structure corresponding to the servo mechanism 600 that needs to perform the action is adjusted to reach the locking state, and the locking structures corresponding to other servo mechanisms 600 reach the unlocking state. By switching the different states of multiple locking structures, it is possible to achieve a loading mechanism 400 to cooperate with different numbers of servo mechanisms 600 to comprehensively simulate the force conditions of the real working conditions. The multi-type servo mechanism shared load simulation system provided by the present invention can utilize one loading mechanism 400 to cooperate with different numbers and multiple types of servo mechanisms 600 for performance testing. The equipment occupies less space, has lower costs, and is more convenient to maintain.

[0028] The loading mechanism 400 uses a loading cylinder equipped with a servo valve, and a tension pressure sensor is installed at the driving end of the loading cylinder. The servo valve is switched to achieve the extension and contraction of the driving end of the loading cylinder. When the driving end of the loading cylinder is extended, the tension pressure sensor feeds back the pressure signal of the loading rotary shaft 100, and when the driving end of the loading cylinder is contracted, the tension pressure sensor feeds back the tension signal of the loading rotary shaft 100.

[0029] As another embodiment, the device under test can also adopt another structure. When the servo mechanism 600 is installed at the end of the loading rotation end away from the encoder, the servo mechanism 600 adopts a rotary actuator. The loading rocker arm 500 connected to the driving end of the loading mechanism 400 is rotatably connected to multiple lugs through a rotating loading beam. At this time, two inertia disks are respectively installed at both ends of the rotating loading beam, and the rotation center of the inertia disk 200 coincides with the center of the rotating servo mechanism 600. The inertia disk 200 can adjust the real mass of the simulated rudder or wing surface to match the real mass of the rudder or wing surface.

[0030] The above two embodiments can realize the linear loading channel and the rotary loading channel respectively, and can be installed on a bench at the same time, so that the entire load simulation system structure is more compact and has two simulation modes. The servo mechanisms 600 of different forms are fixed on the bench through the support frame. The linear loading channel and the rotary loading channel are independent loading channels and do not interfere with each other.

[0031] See also Figures 2 to 5 The locking structure includes a sliding groove 710, a locking key, a locking groove 110 and a driving rod 730. The sliding groove 710 is arranged on the inner wall of the ear seat combination sleeve 700. The sliding groove 710 is a rectangular opening groove, and the opening of the sliding groove 710 faces the center direction of the loading rotary shaft 100. The locking key is arranged in the sliding groove 710. The width of the locking key is smaller than the width of the sliding groove 710. When the locking key is in the sliding groove 710, there is a clearance on both sides thereof. In addition, the height of the locking key is smaller than the depth of the sliding groove 710. The locking groove 110 is arranged on the outer wall of the loading rotary shaft 100, and the locking groove 110 corresponds to the sliding groove 710. The opening of the locking groove 110 faces the middle of the sliding groove 710. The width of the locking groove 110 is adapted to the width of the inner end of the locking key, and the depth of the locking groove 110 is smaller than the height of the locking key.

[0032] The ear seat combination sleeve 700 is provided with a through hole in the middle of the radial direction corresponding to the locking groove 110, and the driving rod 730 radially penetrates the through hole from the outside to the inside, and the inner end of the driving rod 730 penetrates the locking groove 110. The end of the driving rod 730 is provided with a threaded section, and the driving rod 730 is threadedly connected to the locking key through the threaded section. The driving rod 730 moves along the radial direction of the ear seat combination sleeve 700, that is, moves along the axial direction of the above-mentioned through hole, and the outer end of the driving rod 730 is provided with a nut end.

[0033] When the corresponding servo mechanism 600 is required to perform an action, the operator operates the ear seat combination sleeve 700 corresponding to the servo mechanism 600. The operator holds the nut end and presses the drive rod 730 inward, and the drive rod 730 moves inward along the through hole, thereby driving the end of the locking key to be inserted into the locking groove 110. At this time, the outer part of the locking key is still located in the sliding groove 710, and the end of the locking key inserted into the locking groove 110 is completely fitted with the locking groove 110, ensuring that the ear seat combination sleeve 700 and the loading rotary shaft 100 will not rotate relative to each other, so as to form the above-mentioned locking state. Finally, all the corresponding locking structures on the ear seat combination sleeve 700 are adjusted to the above-mentioned locking state in turn.

[0034] When the servo mechanism 600 is no longer needed to perform an action, the operator operates the ear seat combination sleeve 700 corresponding to the servo mechanism 600. The operator holds the nut end and pulls the drive rod 730 outward, and the drive rod 730 moves outward along the through hole, thereby driving the locking key to move to the bottom of the sliding groove 710 (away from the locking groove 110), and the end of the locking key is completely separated from the locking groove 110 to form the above-mentioned locking state. Then, all the drive rods 730 on the ear seat combination sleeve 700 are pulled outward in turn, and all are adjusted to the above-mentioned locking state. At this time, the ear seat combination sleeve 700 and the loading rotary shaft 100 will not rotate relative to each other, and the servo mechanism 600 can no longer form a loading state on the loading rotary shaft 100.

[0035] Of course, if all the ear seat combination sleeves 700 on the loading rotary shafts 100 are adjusted to the unlocked state, the multiple servo mechanisms 600 can no longer load the loading rotary shafts 100, and the no-load test can be carried out simultaneously.

[0036] Preferably, the locking key extends axially along the loading rotary shaft 100 to the outside of the ear seat combination sleeve 700. When adjusting the locking key to switch the locking state or the unlocking state, the part of the locking key extending to the outside of the ear seat combination sleeve 700 can be convenient for the operator to directly observe.

[0037] The locking key includes a locking middle key 721 and two locking side keys 722. The two locking side keys 722 are arranged on both sides of the locking middle key 721, and the two sides of the locking middle key 721 are respectively provided with limit blocks 7211. A mounting groove 7221 is arranged on one side of the locking side key 722 close to the locking middle key 721, and the two limit blocks 7211 are respectively arranged in the two mounting grooves 7221, and the inner end of the driving rod 730 is connected to the locking middle key 721. When the driving rod 730 drives the locking middle key 721 to move outward or inward, the locking side keys 722 on both sides can be moved outward or inward through the matching relationship between the limit blocks 7211 and the mounting grooves 7221.

[0038] Preferably, the assembly groove 7221 has an upper buffer gap 7222 and a lower buffer gap 7223 , the upper buffer gap 7222 is located above the limiting block 7211 , and the lower buffer gap 7223 is located below the limiting block 7211 .

[0039] The locking middle key 721 is inserted into the locking groove 110, and the limit block 7211 moves along the lower buffer gap 7223 to the inner side of the assembly groove 7221, which is used to drive the inner ends of the two locking side keys 722 to be pre-inserted into the locking groove 110. In this process, the locking middle key 721 is directly inserted into the groove bottom of the assembly groove 7221 by the push of the driving rod 730. Since the inner end of the locking key is completely matched with the locking groove 110, and the locking key is composed of the locking middle key 721 and the locking side keys 722 on both sides, the width direction of the locking middle key 721 is smaller than the width of the locking groove 110 (the distribution direction of the two side walls of the locking groove 110), which makes it easier for the locking middle key 721 to be smoothly inserted into the locking groove 110 to achieve a locked state. Due to the existence of the lower buffer gap 7223, the locking middle key 721 drives the limit block 7211 to move from the outer end of the lower buffer gap 7223 to its inner end before driving the locking side keys 722 on both sides to move synchronously, which makes the inner ends of the two locking side keys 722 inserted into the locking groove 110 later, and the inner ends of the two locking side keys 722 are only partially inserted into the two sides of the locking groove 110. In this state, the entire locking middle key 721 and the parts of the two locking side keys 722 are inserted into the locking groove 110, and the locking state can be achieved. Compared with the synchronous insertion of the locking middle key 721 and the two locking side keys 722, the above-mentioned form of fully inserting the locking middle key 721 first and delaying the insertion of the two locking side keys 722 into the locking groove 110 is more labor-saving in operation.

[0040] Similarly, the locking middle key 721 is pulled out of the locking groove 110, and the limit block 7211 moves along the upper buffer gap 7222 to the outside of the assembly groove 7221, so as to drive the inner ends of the two locking side keys 722 to be separated from the locking groove 110. In this process, the locking middle key 721 is directly separated from the assembly groove 7221 and completely enters the sliding groove 710 by pulling the driving rod 730, and the locking middle key 721 is first pulled outward, which makes it easier for the locking middle key 721 to be separated from the locking groove 110 alone. Due to the existence of the upper buffer gap 7222, the locking middle key 721 drives the limit block 7211 to move from the inner end of the upper buffer gap 7222 to its outer end, and then it drives the locking side keys 722 on both sides to move synchronously. During the movement of the limit block 7211, the inner end of the locking middle key 721 has been separated from the bottom of the assembly groove 7221, and the inner ends of the two locking side keys 722 are no longer squeezed by the locking middle key 721. At this time, the inner ends of the locking side keys 722 are no longer squeezed and are in a non-stressed state, which makes it easier to delay the inner ends of the two locking side keys 722 from being pulled out of the locking groove 110.

[0041] Specifically, the locking structure further includes an auxiliary middle push rod 750 and two auxiliary side push rods 760 .

[0042] The auxiliary middle push rod 750 radially penetrates the ear seat combination sleeve 700 from the outside to the inside, and one inner end of the auxiliary middle push rod 750 abuts against the outer side surface of the locking middle key 721. The auxiliary middle push rod 750 moves radially along the ear seat combination sleeve 700 to press the locking middle key 721 into the locking groove 110; the two auxiliary side push rods 760 are respectively arranged on both sides of the auxiliary middle push rod 750, and the auxiliary middle push rod 750 radially penetrates the ear seat combination sleeve 700 from the outside to the inside, and one inner end of the two auxiliary side push rods 760 abuts against the outer side surfaces of the two locking side keys 722 respectively, and the auxiliary side push rods 760 move radially along the ear seat combination sleeve 700 to press the locking side keys 722 into the locking groove 110. The auxiliary middle push rod 750 and the two auxiliary side push rods 760 are screws. The auxiliary middle push rod 750 rotates inward and presses the locking middle key 721 into the locking groove 110. The auxiliary side push rods 760 rotate inward and press the corresponding locking side keys 722 into the locking groove 110. In the locked state, the loading rotary shaft 100 and the ear seat connecting sleeve will be subjected to a large force. By providing the above-mentioned auxiliary middle push rod 750 and auxiliary side push rods 760, the locking key is prevented from falling out of the locking groove 110, ensuring the stability of the locked state.

[0043] Specifically, a first inclined guide sliding surface 740 is provided between the locking middle key 721 and the locking side key 722, and a second inclined guide sliding surface 770 is provided between the locking side key 722 and the locking groove 110. Both the first inclined guide sliding surface 740 and the second inclined guide sliding surface 770 are inclined from the outside to the inside toward the middle of the assembly groove 7221.

[0044] When the first inclined guide slide surface 740 and the second inclined guide slide surface 770 have the same inclination angle, the inner end of the locking side key 722 forms an equal thickness section inclined toward the middle. When the locking middle key 721 is first inserted into the assembly groove 7221, an inclined equal width gap is formed between the two sides of the locking middle key 721 and the assembly groove 7221, and the equal thickness section of the inner end of the locking side key 722 is inserted into the above-mentioned inclined equal width gap to achieve a tightly fitting locking state.

[0045] When the inclination angle of the first inclined guide sliding surface 740 is smaller than that of the second inclined guide sliding surface 770, the inner end of the locking side key 722 forms a gradient section with a thickness decreasing from top to bottom. When the locking middle key 721 is first inserted into the assembly groove 7221, an inclined gap is formed between the two sides of the locking middle key 721 and the assembly groove 7221. The width of the inclined gap decreases from top to bottom. The gradient section at the inner end of the locking side key 722 is inserted into the above-mentioned inclined gap with a width decreasing from top to bottom, and the locking side key 722 can enter the locking groove 110 more smoothly.

[0046] When the locking middle key 721 reaches the bottom of the assembly groove 7221, first tighten the auxiliary middle push rod 750 to keep the locking middle key 721 stable, and then tighten the two auxiliary side push rods 760 to push the two locking side keys 722 inwards respectively, so that the locking side keys 722 are gradually pushed to the bottom of the assembly groove 7221 and pressed and fixed. If the first inclined guide surface 740 and the second inclined guide surface 770 are in the same inclination angle, the equal thickness section at one end of the inner side of the locking side key 722 is gradually inserted into the groove bottom through the above-mentioned inclined equal width gap. If the inclination angle of the first inclined guide sliding surface 740 is smaller than that of the second inclined guide sliding surface 770, the gradient section at the inner end of the locking side key 722 is gradually inserted into the bottom of the groove through the above-mentioned inclined gap whose width decreases from top to bottom, and both sides of the locking side key 722 are completely in contact with the inner walls of the locking middle key 721 and the locking groove 110, and the locking middle key 721 and the two locking side keys 722 completely fill the locking groove 110.

[0047] In addition, the ear seat combination sleeve 700 has an upwardly extending connecting ear seat 800, and the driving end of the actuator of the servo mechanism 600 is provided with a connecting rod 900. The end of the connecting rod 900 is hinged to the top of the connecting ear seat 800. The hinge points of multiple connecting ear seats 800 are at different distances from the axis of the loading rotating shaft 100, ensuring that each servo mechanism 600 can provide different loading states and simulate the loading state of the load through any combination and superposition.

[0048] See also Figure 6 and Figure 7In order to ensure the linkage between the loading mechanism 400 and the loading rocker arm 500, a cross-axis structure is provided between the loading mechanism 400 and the loading rocker arm 500, and the cross-axis structure is installed through the first ear seat 1001 and the second ear seat 1002. Specifically, the driving end of the loading mechanism 400 is provided with a first ear seat 1001, and the loading rocker arm 500 is provided with a second ear seat 1002. The first ear seat 1001 has two first mounting plates 1003 arranged in parallel and spaced apart, and the second ear seat 1002 has two second mounting plates 1004 arranged in parallel and spaced apart. The first mounting plate 1003 and the second mounting plate 1004 are arranged vertically, and the two first mounting plates 1003 are located between the two second mounting plates 1004. A first rotating shaft 1005 is arranged vertically and rotatably between the two second mounting plates 1004, and a second rotating shaft 1006 is arranged vertically and rotatably between the two first mounting plates 1003. The second rotating shaft 1006 vertically penetrates the first rotating shaft 1005 and rotates in coordination. The first rotating shaft 1005 and the second rotating shaft 1006 form a cross axis, which can provide rotational freedom in two directions and meet the requirements of the hinge point freedom. The first rotating shaft 1005 is connected to the second mounting plate 1004 through a sleeve, and the first rotating shaft 1005 is also connected to the second rotating shaft 1006 through a sleeve. By adjusting the width of the sleeve, the contact area can be increased. At the same time, without increasing the linear velocity of the bearing, the bearing specific pressure can be greatly reduced due to the increase in the contact area, thereby reducing the bearing pv value and increasing the life (especially under extreme conditions of high speed and high pressure). The second rotating shaft 1006 passes through the center hole of the first rotating shaft 1005, and the second rotating shaft 1006 and the first rotating shaft 1005 are connected through a sleeve. Increasing the width of the sleeve can increase the contact area between the first rotating shaft 1005 and the second rotating shaft 1006 and the sleeve, respectively, so as to meet the loading requirements of a larger loading force.

[0049] In addition, the second rotating shaft 1006 passes through the first rotating shaft 1005 and the first mounting plate 1003, and the two ends are locked with loose nuts. The second rotating shaft 1006 and the first mounting plate 1003 are locked with anti-loosening nuts, which can also meet the loading requirements of a larger loading force. Thrust washers are respectively arranged between the rotating shaft and the corresponding mounting plate, and between the mounting plate and the corresponding anti-loosening nut to prevent the ear seat from axial displacement. The thrust washers are arranged on both sides of the shaft sleeve to prevent the shaft sleeve from axial displacement and to prevent the shaft sleeve from slipping out and causing dry friction with the corresponding rotating shaft.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-type servo mechanism shared load simulation system, wherein the device under test is a multi-type servo mechanism (600), the multi-type servo mechanism (600) drives a loading rotary shaft (100) to rotate through a plurality of ear seat combination sleeves (700) to simulate the rotation of a rudder or a wing surface, the multi-type servo mechanism (600) corresponds to the plurality of ear seat combination sleeves (700) one by one, and is characterized in that: include: A loading mechanism (400), the loading mechanism (400) is located below the loading rotary shaft (100), a driving end at the upper portion of the loading mechanism (400) is connected to the loading rotary shaft (100) via a loading rocker arm (500), and the driving end of the loading mechanism (400) has an axial degree of freedom to simulate the pneumatic load of the loading rotary shaft (100); A plurality of locking structures are provided between the plurality of ear seat combination sleeves (700) and the loading rotary shaft (100) in a one-to-one correspondence. The locking structures have a locked state and an unlocked state. In the locked state, the ear seat combination sleeve (700) and the loading rotary shaft (100) are linked and rotate synchronously. In the unlocked state, the ear seat combination sleeve (700) and the loading rotary shaft (100) are disconnected from each other. By switching the locked state and the unlocked state of the plurality of locking structures, the loading mechanism (400) can match the linkage of different numbers of the servo mechanisms (600).

2. The multi-type servo mechanism shared load simulation system as claimed in claim 1, characterized in that: The locking structure comprises: A sliding groove (710), wherein the sliding groove (710) is arranged on the inner wall of the ear seat combination sleeve (700); A locking key, the locking key being arranged in the sliding groove (710); A locking groove (110), wherein the locking groove (110) is arranged on the outer wall of the loading rotary shaft (100), and the locking groove (110) corresponds to the sliding groove (710); A driving rod (730), wherein the driving rod (730) radially penetrates the ear seat combination sleeve (700) from the outside to the inside, and an inner end of the driving rod (730) is connected to the locking key. The driving rod (730) moves radially along the ear seat combination sleeve (700), and the driving rod (730) drives the end of the locking key to be inserted into the locking groove (110) to form the locking state, or the driving rod (730) drives the end of the locking key to be disengaged from the locking groove (110) to form the unlocking state.

3. The multi-type servo mechanism shared load simulation system as claimed in claim 2, characterized in that: The locking key extends to the outside of the ear seat combination sleeve (700).

4. The multi-type servo mechanism shared load simulation system as claimed in claim 2, characterized in that: The locking key comprises: A locking middle key (721), wherein limit blocks (7211) are respectively arranged on both sides of the locking middle key (721), and an inner end of the driving rod (730) is connected to the locking middle key (721); Two locking side keys (722), the two locking side keys (722) are arranged on both sides of the locking middle key (721), a mounting groove (7221) is arranged on one side of the locking side key (722) close to the locking middle key (721), and the two limit blocks (7211) are respectively arranged in the two mounting grooves (7221).

5. The multi-type servo mechanism shared load simulation system as claimed in claim 4, characterized in that: The assembly groove (7221) has an upper buffer gap (7222) and a lower buffer gap (7223), the upper buffer gap (7222) is located above the limit block (7211), and the lower buffer gap (7223) is located below the limit block (7211); The locking middle key (721) is inserted into the locking groove (110), and the limiting block (7211) moves along the lower buffer gap (7223) to the inner side of the assembly groove (7221) to drive the inner ends of the two locking side keys (722) to be pre-inserted into the locking groove (110); The locking middle key (721) is pulled out of the locking groove (110), and the limit block (7211) moves along the upper buffer gap (7222) to the outer side of the assembly groove (7221) to drive the inner ends of the two locking side keys (722) to disengage from the locking groove (110).

6. The multi-type servo mechanism shared load simulation system as claimed in claim 5, characterized in that: The locking structure further comprises: An auxiliary middle push rod (750), the auxiliary middle push rod (750) radially penetrates the ear seat combination sleeve (700) from the outside to the inside, one inner end of the auxiliary middle push rod (750) abuts against the outer side surface of the locking middle key (721), and the auxiliary middle push rod (750) moves along the radial direction of the ear seat combination sleeve (700) to press the locking middle key (721) into the locking groove (110); Two auxiliary side push rods (760), the two auxiliary side push rods (760) are respectively arranged on both sides of the auxiliary middle push rod (750), the auxiliary middle push rod (750) radially penetrates the ear seat combination sleeve (700) from the outside to the inside, the inner ends of the two auxiliary side push rods (760) respectively abut against the outer side surfaces of the two locking side keys (722), and the auxiliary side push rods (760) move along the radial direction of the ear seat combination sleeve (700) to press the locking side keys (722) into the locking groove (110).

7. The multi-type servo mechanism shared load simulation system as claimed in claim 6, characterized in that: A first inclined guide sliding surface (740) is provided between the locking middle key (721) and the locking side key (722), and a second inclined guide sliding surface (770) is provided between the locking side key (722) and the locking groove (110), and the first inclined guide sliding surface (740) and the second inclined guide sliding surface (770) are both inclined from the outside to the inside toward the middle, and the inclination angle of the first inclined guide sliding surface (740) is not greater than the inclination angle of the second inclined guide sliding surface (770).

8. The multi-type servo mechanism shared load simulation system as claimed in claim 7, characterized in that: The driving rod (730) is slidably matched along the radial direction of the ear seat combination sleeve (700), and the auxiliary middle push rod (750) and the auxiliary side push rod (760) are threadedly matched along the radial direction of the ear seat combination sleeve (700).

9. The multi-type servo mechanism shared load simulation system according to any one of claims 1 to 8, characterized in that: The ear seat combination sleeve (700) is provided with an upwardly extending connecting ear seat (800), and the driving end of the servo mechanism (600) is provided with a connecting rod (900), the end of the connecting rod (900) is hinged to the top of the connecting ear seat (800), and the hinge points of the plurality of connecting ear seats (800) are at different distances from the axis of the loading rotary shaft (100).

10. The multi-type servo mechanism shared load simulation system according to any one of claims 1 to 8, characterized in that: The driving end of the loading mechanism (400) is provided with a first ear seat (1001), and the loading rocker arm (500) is provided with a second ear seat (1002); the first ear seat (1001) has two first mounting plates (1003) arranged in parallel and spaced apart; the second ear seat (1002) has two second mounting plates (1004) arranged in parallel and spaced apart; the first mounting plate (1003) and the second mounting plate (1004) are arranged vertically, and the two first mounting plates (1003) are located between the two second mounting plates (1004); a first rotating shaft (1005) is arranged vertically and rotatably between the two second mounting plates (1004); a second rotating shaft (1006) is arranged vertically and rotatably between the two first mounting plates (1003); the second rotating shaft (1006) vertically penetrates the first rotating shaft (1005) and rotates in cooperation.

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