Dynamic debugging and loading self-balancing device for actuator

Abstract

The invention discloses a dynamic debugging and loading self-balancing device for an actuator. The dynamic debugging and loading self-balancing device comprises a chassis, a power mechanism and a movement mechanism, the power mechanism and the movement mechanism are both arranged on the bottom frame, and the power mechanism and the movement mechanism are connected with each other at the same horizontal height; the power mechanism comprises a moving cross beam, an upper roller assembly, a lower roller assembly and a long screw nut assembly; the long screw and nut assembly is vertically inserted into the moving cross beam and the bottom frame and extends out from the lower part of the bottom frame; the top and the middle of the long screw and nut assembly are connected with the moving cross beam. The upper roller assembly is connected to the middle part of the long screw nut assembly, and the lower roller assembly is connected to the bottom part of the long screw nut assembly. The device can be used for a servo actuator and control system joint test, the servo actuator with good dynamic performance is selected before the test, parameter matching of a key dynamic loading channel which is initially adjusted is verified, and the test efficiency is improved; and an important pre-test means and guarantee are provided for smooth implementation of a heavy structural strength test.

Description

Technical Field

[0001] The present application belongs to the technical field of structural strength testing, and in particular relates to a dynamic debugging loading self-balancing device for an actuator. Background Art

[0002] In the structural strength test, there are many test channels whose dynamic loading needs to be tested before the test, which can ensure that the active and passive dynamic performance and coordination performance of the selected servo actuator under the real load match the control system. And the test parameters can be preliminarily adjusted before the test to make the test go smoothly. Or the newly purchased loading actuator, or the newly purchased coordinated loading control system, in order to verify its dynamic quality, it is necessary to show its active and passive action and coordinated loading under the real load. However, dynamic loading requires load balance, reciprocating action, and active and passive coordination to complete, which is not easy to achieve. Therefore, in the past, the test was often completed in a combination of dynamic no-load and static loading. This method cannot truly assess the action under real-time dynamic loading, especially the coordination and load-bearing verification of multiple channels under active and passive conditions. Summary of the invention

[0003] The purpose of the present application is to provide an actuator dynamic debugging loading self-balancing device to solve the problem that the servo actuator cannot reciprocate under active and passive loading.

[0004] The technical solution of the present application is: an actuator dynamically debugged loading self-balancing device, comprising a base frame, a power mechanism and a motion mechanism; the power mechanism and the motion mechanism are both arranged on the base frame, and the power mechanism and the motion mechanism are connected to each other at the same horizontal height; the motion mechanism can move horizontally on the base frame under the power of the power mechanism; the power mechanism comprises a motion beam, an upper roller assembly, a lower roller assembly and a long screw nut assembly; the long screw nut assembly is vertically inserted in the motion beam and the base frame, and extends from the bottom of the base frame; the top and middle parts of the long screw nut assembly are connected to the motion beam; the upper roller assembly is connected to the middle part of the long screw nut assembly, and the lower roller assembly is connected to the bottom of the long screw nut assembly; the upper roller assembly is arranged above the base frame and rolls with the base frame, and the lower roller assembly is arranged below the base frame and rolls with the base frame; under the push of the motion mechanism, the motion mechanism can roll on the base frame through the upper roller assembly and the lower roller assembly.

[0005] Preferably, the power mechanism includes a first servo actuator, a second servo actuator and a third servo actuator; the first servo actuator, the second servo actuator and the third servo actuator are arranged side by side, and the bottoms of the first servo actuator, the second servo actuator and the third servo actuator are hinged to the base frame, and the piston rods are fixedly connected to the motion mechanism; the second servo actuator is arranged between the first servo actuator and the third servo actuator.

[0006] Preferably, corresponding straight beams are provided under the first servo actuator, the second servo actuator and the third servo actuator, and the distance between the straight beam under the first servo actuator and the straight beam under the second servo actuator is adjustable; the distance between the straight beam under the second servo actuator and the straight beam under the third servo actuator is adjustable; in this way, the lever ratio of the first servo actuator and the third servo actuator relative to the second servo actuator can be changed to meet different load ratios of the first servo actuator and the third servo actuator.

[0007] Preferably, the piston rods of the first servo actuator, the second servo actuator and the third servo actuator are all provided with front end ears, the long screw nut assembly is plugged into the front end ears, the upper channel steel and the lower channel steel are both provided with waist-shaped long holes, the long screw nut assembly is plugged into the waist-shaped long holes; so that the moving cross beam, the upper roller assembly and the lower roller assembly are all connected to the long screw nut assembly, and are combined into a moving load-bearing component that can slide on the straight beam.

[0008] Preferably, the chassis includes a supporting crossbeam, a straight beam and a first end plate. The straight beam is a cylindrical structure, and there are multiple groups of straight beams, which are arranged horizontally side by side with a spacing between adjacent straight beams; there are two groups of supporting crossbeams and they are symmetrically arranged at both ends of the straight beams, and there are four groups of first end plates and they are vertically arranged at both ends of the two groups of supporting crossbeams.

[0009] Preferably, a second end plate is provided at a position on the side wall of the supporting cross beam corresponding to the position above the straight beam, and the second end plate positions the straight beam.

[0010] Preferably, the bottoms of the first servo actuator, the second servo actuator and the third servo actuator are all hinged with actuator tailstocks, and double vertical plates are provided at the positions of the supporting beams corresponding to the actuator tailstocks, and the double vertical plates are provided with a second pad and a fourth screw-nut assembly, the second pad is vertically arranged on the side walls on the outer sides of the double vertical plates, the second screw-nut assembly is arranged between the double vertical plates and is threadedly connected to the second pad and the actuator tailstock, thereby completing the horizontal fixation of the actuator.

[0011] Preferably, a clamp and a fifth screw-nut assembly are provided at positions of the straight beam corresponding to the front ends of the first servo actuator, the second servo actuator and the third servo actuator; there are two groups of clamps and they are horizontally arranged on the upper and lower sides of the straight beam respectively, there are two groups of fifth screw-nut assemblies and they are vertically connected to the two ends of the two groups of clamps, and the nuts on the fifth screw-nut assembly are tightened to clamp the first servo actuator, the second servo actuator and the third servo actuator as a whole, and the servo actuator cylinder is supported up and down during the tension and compression loading action of the servo actuator to prevent the servo actuator cylinder from shifting.

[0012] Preferably, a pad is threadedly connected below the front end cover of the first servo actuator, the second servo actuator and the third servo actuator.

[0013] Preferably, the base frame also includes a third screw nut assembly and a first pad, the first pad is vertically arranged on the outer wall of the supporting beam, the third screw nut passes through the supporting beam and is threadedly connected between the first pad and the end of the straight beam to complete the clamping fixation between the straight beam and the supporting beam.

[0014] Preferably, the moving crossbeam includes an upper channel steel, a lower channel steel and a connecting side plate. The upper channel steel and the lower channel steel are placed horizontally opposite to each other. There are multiple groups of connecting side plates and they are placed on both sides of the upper channel steel and the lower channel steel. The connecting side plates are fixedly connected to the upper channel steel and the lower channel steel. The upper channel steel and the lower channel steel are welded as a whole. A cavity is formed between the upper channel steel and the lower channel steel to accommodate the upper roller assembly and the piston rods of each servo actuator.

[0015] Preferably, the upper roller assembly comprises an upper roller side plate, a movable upper roller, a short screw nut assembly, a first bolt and a first side roller; there are two groups of upper roller shafts and they are arranged side by side on both sides of the long screw nut assembly, the middle part of the upper roller shaft is rotatably connected to the movable upper roller, and the two ends of the upper roller shaft are fixedly connected to the upper roller side plates, and the outer side threads of the upper roller side plates are tightened with upper nuts threadedly connected to the upper roller shaft to fix the upper roller shaft; there are four groups of movable upper rollers and they are symmetrically arranged in groups of two through the middle part of the upper roller shaft; the short screw nut assembly is threadedly connected to the middle part of the upper roller side plate, the upper roller side plate is inserted into the edge strip of the lower channel steel, and is fixed to the waist-shaped long hole position on the lower channel steel through the short nut screw assembly; a first rectangular window corresponding to the short screw nut assembly is opened in the middle part of the upper roller side plate, and a first side roller is arranged in the first rectangular window, and the first side roller is rotatably connected to the short screw nut assembly; the first bolt is threadedly connected between the upper roller side plate and the moving crossbeam.

[0016] Preferably, the upper roller assembly further comprises two groups of upper roller stop cylinders, each group of upper roller stop cylinders has three in total and are respectively arranged along the intervals between two adjacent movable upper rollers and on both sides to fix the position of the movable upper rollers.

[0017] Preferably, the short screw and nut assembly is provided with first side roller retaining rings at positions on both sides corresponding to the first side roller, and the first side roller retaining rings are arranged in the first rectangular window to fix the position of the first side roller.

[0018] Preferably, the lower roller assembly includes a lower roller side plate, a lower roller shaft, a movable lower roller, a second bolt, a second side roller and a lower roller bottom plate; there are two groups of lower roller shafts and they are arranged side by side on both sides of the long screw nut assembly, the middle part of the lower roller shaft is rotatably connected to the movable lower roller, and the two ends of the lower roller shaft are fixedly connected to the lower roller side plate; there are four groups of movable lower rollers and they are symmetrically arranged in groups of two through the middle part of the lower roller shaft; the second bolt is threadedly connected to the middle part of the lower roller side plate, and the lower roller side plate is fixedly connected to the lower roller side plate. A second rectangular window corresponding to the second bolt is opened in the middle of the plate, and a second side roller is arranged in the second rectangular window, and the second side roller is rotatably connected with the second bolt; the lower roller bottom plate is horizontally arranged directly below the lower roller shaft, the middle part of the lower roller side plate is connected with the second bolt between the lower roller bottom plate, and the two sides of the lower roller side plate are threadedly connected with the third bolt between the lower roller bottom plate; the third bolt is rotated to pass through the lower roller side plate, and the end portion is pressed against the lower roller shaft to prevent the lower roller shaft from rotating and moving.

[0019] Preferably, the lower roller assembly further comprises two groups of lower roller stop cylinders, each group of lower roller stop cylinders has three in total and are respectively arranged along the intervals between two adjacent movable lower rollers and on both sides to fix the position of the movable lower roller.

[0020] Preferably, the short screw and nut assembly is provided with second side roller retaining rings at positions on both sides corresponding to the second side roller, and the second side roller retaining rings are arranged in the second rectangular window to fix the position of the second side roller.

[0021] The actuator dynamic debugging loading self-balancing device of the present application has the following advantages:

[0022] 1) It can be used for joint testing of servo actuators and control systems. Before the test, servo actuators with good dynamic performance can be selected to verify the initial adjustment of parameter matching of key dynamic loading channels, providing important pre-test means and guarantees for the smooth progress of major structural strength tests;

[0023] 2) Not only the load-bearing capacity of a single servo actuator is tested, but also the active and passive dynamic performance and coordination performance of multiple servo actuators under load and loading;

[0024] 3) The load-lever ratio can be freely adjusted, and the load ratio of the coordinated actuator can be freely changed, so the coordination of the actuator under different load ratios can be formally tested;

[0025] 4) Multiple structures can be freely adjusted to meet the needs of servo actuators of different specifications. It has a wide range of uses, simple structure, strong practicality, and is easy to use and promote;

[0026] 5) Self-balancing structure, easy to move, greatly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution provided by the present application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present application.

[0028] Figure 1 This is the axonometric drawing of the overall structure of this application;

[0029] Figure 2 It is an enlarged view of Part I of FIG.

[0030] Figure 3 for Figure 2 Middle AA section cutaway view;

[0031] Figure 4 Axonometric drawing of the power mechanism for this application;

[0032] Figure 5 Axonometric drawing of the motion beam for this application;

[0033] Figure 6 This is a diagram showing the combination of the upper roller assembly and the lower roller assembly of the present application;

[0034] Figure 7 for Figure 6 Middle BB section cutaway view;

[0035] Figure 8 for Figure 6 Middle CC section cutaway view;

[0036] Fig. 9 This is a schematic diagram of the overall structure of the roller assembly in this application;

[0037] Fig.10 for Fig. 9 Middle DD section cutaway view;

[0038] Fig.11 for Fig.10 EE section view.

[0039] In the figure, 1, first servo actuator; 2, second servo actuator; 3, third servo actuator; 4, second end plate; 5, straight beam; 6, double vertical plate; 7, fourth screw nut assembly; 8, second pad; 9, actuator tailstock; 10, supporting beam; 11, first end plate; 12, cavity; 13, third screw nut assembly; 14, first pad; 15, pad; 16, moving beam; 16-1, upper channel steel; 16-2, lower channel steel; 16-3, connecting side plate; 17, front end ear; 18, upper roller assembly; 18-1, upper roller side plate; 18-2, upper roller shaft; 18-3, movable upper Roller; 18-4, upper roller stop cylinder; 18-5, short screw nut assembly; 18-6, first bolt; 18-7, first side roller stop ring; 18-8, first side roller; 18-9, upper nut; 19, lower roller assembly; 19-1, lower roller side plate; 19-2, lower roller shaft; 19-3, movable lower roller; 19-4, lower roller stop cylinder; 19-5, second bolt; 19-6, third bolt; 19-7, second side roller stop ring; 19-8, second side roller; 19-9, lower roller bottom plate; 20, long screw nut assembly; 21, clamping plate; 22, fifth screw nut assembly. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] An actuator dynamic debugging loading self-balancing device comprises a base frame, a power mechanism and a motion mechanism. The power mechanism and the motion mechanism are both arranged on the base frame and are connected to each other at the same level; the motion mechanism can move horizontally on the base frame under the power of the power mechanism.

[0042] like Figure 1-Figure 4 The power mechanism includes a first servo actuator 1, a second servo actuator 2 and a third servo actuator 3. The first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 are arranged side by side, and the bottoms of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 are hinged to the chassis, and the piston rods are fixedly connected to the motion mechanism. The second servo actuator 2 is arranged between the first servo actuator 1 and the third servo actuator 3.

[0043] The power mechanism includes a moving crossbeam 16, an upper roller assembly 18, a lower roller assembly 19 and a long screw nut assembly 20. The long screw nut assembly 20 is vertically inserted between the moving crossbeam 16 and the base frame and extends from the bottom of the base frame; the top and middle of the long screw nut assembly 20 are connected to the moving crossbeam 16; the upper roller assembly 18 is connected to the middle of the long screw nut assembly 20, and the lower roller assembly 19 is connected to the bottom of the long screw nut assembly 20. The upper roller assembly 18 is arranged above the base frame and rolls with the base frame, and the lower roller assembly 19 is arranged below the base frame and rolls with the base frame. Under the push of the moving mechanism, the moving mechanism can roll on the base frame through the upper roller assembly 18 and the lower roller assembly 19.

[0044] The base frame includes a supporting crossbeam 10, a straight beam 5 and a first end plate 11. The straight beam 5 is a cylindrical structure, and there are multiple groups of straight beams 5, which are arranged side by side horizontally and there is a spacing between adjacent straight beams 5; there are two groups of supporting crossbeams 10 and they are symmetrically arranged at both ends of the straight beams 5, and there are four groups of first end plates 11 and they are vertically arranged at both ends of the two groups of supporting crossbeams 10 respectively.

[0045] Corresponding straight beams 5 are provided below the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3. The distance between the straight beam 5 below the first servo actuator 1 and the straight beam 5 below the second servo actuator 2 is adjustable; the distance between the straight beam 5 below the second servo actuator 2 and the straight beam 5 below the third servo actuator 3 is adjustable. In this way, the lever ratio of the first servo actuator 1 and the third servo actuator 3 relative to the second servo actuator 2 can be changed to meet different load ratios of the first servo actuator 1 and the third servo actuator 3.

[0046] When the servo actuator has different specifications, its size changes. This is reflected in the device as the installation height of the servo actuator (corresponding to the change in the radius of the servo actuator) changes, the width of the servo actuator changes, and the spacing between the servo actuators is adjustable. Therefore, the change in the width of the servo actuator can be fully met.

[0047] The load relationship between the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 is as follows: the load directions of the first servo actuator 1 and the third servo actuator 3 are the same, and the resultant force of the two is balanced with the load of the second servo actuator 2, that is, the resultant force of the two is opposite to the load direction of the second servo actuator 2, and the values ​​are equal. The load ratio of the first servo actuator 1 and the third servo actuator 3 is determined by the distance (lever ratio) between the first servo actuator 1 and the third servo actuator 3 relative to the second servo actuator 2.

[0048] Therefore, the self-balancing of the dynamic debugging loading of the actuator can be achieved by adjusting the installation parameters of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3. At the same time, by controlling the extension and retraction of the piston rods of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3, the servo actuator can be made unable to reciprocate under active and passive loading.

[0049] Combination Figure 5-Figure 6 Preferably, the moving crossbeam 16 comprises an upper channel steel 16-1, a lower channel steel 16-2 and a connecting side plate 16-3, the upper channel steel 16-1 and the lower channel steel 16-2 are placed horizontally, there are a plurality of connecting side plates 16-3 and they are placed on both sides of the upper channel steel 16-1 and the lower channel steel 16-2, the connecting side plates 16-3 are fixedly connected to the upper channel steel 16-1 and the lower channel steel 16-2, and the upper channel steel 16-1 and the lower channel steel 16-2 are integrally welded. A cavity 12 for accommodating the upper roller assembly 18 and the piston rods of each servo actuator is formed between the upper channel steel 16-1 and the lower channel steel 16-2.

[0050] Preferably, the piston rods of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 are all provided with front end ears 17, the long screw nut assembly 20 is plugged with the front end ears 17, the upper channel steel 16-1 and the lower channel steel 16-2 are both provided with waist-shaped long holes, and the long screw nut assembly 20 is plugged with the waist-shaped long holes. The moving cross beam 16, the upper roller assembly 18 and the lower roller assembly 19 are all connected with the long screw nut assembly 20, and are combined into a component that can slide on the straight beam 5 and can carry movement.

[0051] Combination Figure 6-Figure 8Preferably, the upper roller assembly 18 includes an upper roller side plate 18-1, a movable upper roller 18-3, a short screw nut assembly 18-5, a first bolt 18-6 and a first side roller 18-8. There are two groups of upper roller shafts 18-2 and they are arranged side by side on both sides of the long screw nut assembly 20. The middle part of the upper roller shaft 18-2 is rotatably connected to the movable upper roller 18-3, and the two ends of the upper roller shaft 18-2 are fixedly connected to the upper roller side plate 18-1. The outer side thread of the upper roller side plate 18-1 is tightened with an upper nut 18-9 threadedly connected to the upper roller shaft 18-2 to fix the upper roller shaft 18-2; there are four groups of movable upper rollers 18-3 and they are symmetrically arranged in groups of two through the middle part of the upper roller shaft 18-2; the short screw nut assembly 18-5 is threadedly connected to the middle part of the upper roller side plate 18-1, and the upper roller side plate 18-1 is inserted into the edge strip of the lower channel steel 16-2 and fixed to the waist-shaped long hole position on the lower channel steel 16-2 through the short nut screw assembly. A first rectangular window corresponding to the short screw nut assembly 18-5 is provided in the middle of the upper roller side plate 18-1, and a first side roller 18-8 is provided in the first rectangular window, and the first side roller 18-8 is rotatably connected to the short screw nut assembly 18-5. A first bolt 18-6 is threadedly connected between the upper roller side plate 18-1 and the moving crossbeam 16. The first bolt 18-6 is rotated so that its head is against the upper roller shaft 18-2 to prevent the upper roller shaft 18-2 from rotating and moving.

[0052] Preferably, the upper roller assembly 18 also includes two groups of upper roller blocking cylinders 18-4, each group of upper roller blocking cylinders 18-4 has three in total and are respectively arranged between two adjacent movable upper rollers 18-3 and at intervals on both sides to fix the position of the movable upper roller 18-3.

[0053] Preferably, the short screw nut assembly 18-5 is provided with a first side roller 18-8 retaining ring 18-7 at both sides of the first side roller 18-8, and the first side roller 18-8 retaining ring 18-7 is arranged in the first rectangular window to fix the position of the first side roller 18-8.

[0054] Combination Figure 9-11Preferably, the lower roller assembly 19 includes a lower roller side plate 19-1, a lower roller shaft 19-2, a movable lower roller 19-3, a second bolt 19-5, a second side roller 19-8 and a lower roller bottom plate 19-9. There are two groups of lower roller shafts 19-2 and they are arranged side by side on both sides of the long screw nut assembly 20. The middle part of the lower roller shaft 19-2 is rotatably connected to the movable lower roller 19-3, and the two ends of the lower roller shaft 19-2 are fixedly connected to the lower roller side plate 19-1; there are four groups of movable lower rollers 19-3 and they are symmetrically arranged in groups of two through the middle part of the lower roller shaft 19-2; the second bolt 19-5 is threadedly connected to the middle part of the lower roller side plate 19-1, and a second rectangular window corresponding to the second bolt 19-5 is opened in the middle part of the lower roller side plate 19-1, and a second side roller 19-8 is arranged in the second rectangular window, and the second side roller 19-8 is rotatably connected to the second bolt 19-5. The lower roller bottom plate 19-9 is horizontally arranged directly below the lower roller shaft 19-2, the middle of the lower roller side plate 19-1 is connected to the lower roller bottom plate 19-9 by a second bolt 19-5, and the two sides of the lower roller side plate 19-1 are threadedly connected to the lower roller bottom plate 19-9 by a third bolt 19-6. The third bolt 19-6 is rotated to pass through the lower roller side plate 19-1, and the end thereof is pressed against the lower roller shaft 19-2 to prevent the lower roller shaft 19-2 from rotating and moving.

[0055] Preferably, the lower roller assembly 19 also includes two groups of lower roller blocking cylinders 19-4, each group of lower roller blocking cylinders 19-4 has three in total and are respectively arranged between two adjacent movable lower rollers 19-3 and at intervals on both sides to fix the position of the movable lower roller 19-3.

[0056] Preferably, the short screw nut assembly 18-5 is provided with a second side roller 19-8 retaining ring 19-7 at both sides of the second side roller 19-8, and the second side roller 19-8 retaining ring 19-7 is arranged in the second rectangular window to fix the position of the second side roller 19-8.

[0057] Preferably, the base frame also includes a third screw-nut assembly 13 and a first pad 14, the first pad 14 is vertically arranged on the outer wall of the supporting beam 10, and the third screw-nut passes through the supporting beam 10 and is threadedly connected between the first pad 14 and the end of the straight beam 5, thereby completing the clamping and fixation between the straight beam 5 and the supporting beam 10.

[0058] Preferably, a second end plate 4 is provided at a position on the side wall of the supporting cross beam 10 corresponding to the position above the straight beam 5 , and the second end plate 4 positions the straight beam 5 .

[0059] Preferably, the bottoms of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 are all hinged with an actuator tailstock 9, and a double vertical plate 6 is provided at the position of the supporting beam 10 corresponding to the actuator tailstock 9, and a second pad 8 and a fourth screw-nut assembly 7 are provided on the double vertical plate 6, the second pad 8 is vertically arranged on the side wall outside the double vertical plate 6, the second screw-nut assembly is arranged between the double vertical plates 6 and is threadedly connected to the second pad 8 and the actuator tailstock 9, thereby completing the horizontal fixation of the actuator.

[0060] Preferably, the straight beam 5 is provided with a clamping plate 21 and a fifth screw-nut assembly 22 at positions corresponding to the front ends of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3. There are two groups of clamping plates 21, which are respectively arranged horizontally on the upper and lower sides of the straight beam 5. There are two groups of fifth screw-nut assemblies 22, which are vertically connected to the two ends of the two groups of clamping plates 21. The nuts on the fifth screw-nut assembly 22 are tightened to clamp the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 as a whole. When the servo actuator is in tension and compression loading action, the servo actuator cylinder is supported up and down to prevent the servo actuator cylinder from deflecting.

[0061] Preferably, a cushion block 15 is threadedly connected below the front end cover of the first servo actuator 1 , the second servo actuator 2 and the third servo actuator 3 , and the cushion block 15 is used to support the weight of the front part of the servo actuator and keep the servo actuator at a horizontal height.

[0062] Through the above design, the spacing between the first servo actuator 1 and its corresponding straight beam 5 relative to the middle second servo actuator 2 and its corresponding straight beam 5 is adjustable: the tail of the first servo actuator 1 is directly fixed on the corresponding straight beam 5 through the tailstock, and the fixed connection between the supporting crossbeam 10 and the straight beam 5 is completed through the fifth screw nut assembly 22 and the first pad 14. The fifth screw nut assembly 22 and the first pad 14 can move freely in the channel formed by the two webs of the supporting crossbeam 10, so that the tail of the first servo actuator 1 and its corresponding straight beam 5 can move freely in the horizontal direction, and the front ear 17, the upper roller assembly 18, the lower roller assembly 19, and the long screw nut assembly 20 at the front end of the first servo actuator 1 can all move freely in the horizontal direction in the long waist-shaped hole in the middle of the moving crossbeam 16, so that the spacing between the first servo actuator 1 and its corresponding straight beam 5 relative to the middle second servo actuator 2 and its corresponding straight beam 5 can be adjusted.

[0063] Similarly, the spacing between the third servo actuator 3 and the second servo actuator 2 can be adjusted. In this way, the lever ratio of the first servo actuator 1 and the third servo actuator 3 relative to the second servo actuator 2 can be changed to meet different load ratios of the first servo actuator 1 and the third servo actuator 3.

[0064] When the servo actuator has different specifications, its size changes, which is reflected in the device, that is, the installation height of the servo actuator (corresponding to the change of the radius of the servo actuator) changes, the width of the servo actuator changes, and the spacing between the servo actuators is adjustable. Therefore, the change of the servo actuator width can be fully satisfied. The change of the installation height of the servo actuator is due to the fourth screw nut assembly 7 and the second pad 8 of the fixed actuator tailstock 9 can move freely up and down between the double vertical plates 6, and the front ear 17 of the front end of the servo actuator can move freely up and down between the upper channel steel 16-1 and the lower channel steel 16-2, which can meet the change of the installation height of the servo actuator.

[0065] According to the load relationship between the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3: the load directions of the first servo actuator 1 and the third servo actuator 3 are the same, and the resultant force of the two is balanced with the load of the second servo actuator 2, that is, the resultant force of the two is opposite to the load direction of the second servo actuator 2, and the values ​​are equal. The load ratio of the first servo actuator 1 and the third servo actuator 3 is determined by the spacing (lever ratio) of the first servo actuator 1 and the third servo actuator 3 relative to the second servo actuator 2.

[0066] The above-mentioned multiple threaded matching structures can be freely adjusted to meet the requirements of servo actuators of different specifications, and the lever ratios of the first servo actuator 1, the third servo actuator 3 and the second servo actuator 2 can be changed to meet the different load ratios of the first servo actuator 1 and the third servo actuator 3.

[0067] As a specific implementation method, a specific example is used to illustrate:

[0068] Acceptance tests of the newly purchased loading actuator and the newly purchased 24-channel coordinated loading control system were carried out in the structural strength test workshop.

[0069] The newly purchased first servo actuator 1 and second servo actuator 2 are selected as 2-ton servo actuators, and the third servo actuator 3 is a 2-ton servo actuator. The total load is 3 tons, and the first servo actuator 1 and the second servo actuator 2 are both 1.5 tons.

[0070] According to the above contents and installation methods, the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 are installed at their own positions.

[0071] The control of the third servo actuator 3 can be displacement-dominated or load-dominated. In order to facilitate the reciprocating load-carrying action, the control of the third servo actuator 3 is displacement-dominated, and the first servo actuator 1 and the second servo actuator 2 are both load-dominated.

[0072] After control debugging, when the total load is 3 tons, the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 move smoothly and have a stable load, truly demonstrating their active and passive actions under the actual load, fully verifying the control coordination performance of the newly purchased coordinated loading control system and the dynamic quality of the newly purchased loading actuator.

[0073] By replacing different control channels of the newly purchased coordinated loading control system and newly purchased loading actuators of different specifications, the performance of the newly purchased equipment was fully evaluated and verified, providing strong test evidence for equipment acceptance and use. It also reflects the applicability, practicality and extensiveness of this device.

[0074] In summary, this application has the following advantages:

[0075] 1) It can be used for joint testing of servo actuators and control systems. Before the test, servo actuators with good dynamic performance can be selected to verify the initial adjustment of parameter matching of key dynamic loading channels, providing important pre-test means and guarantees for the smooth progress of major structural strength tests;

[0076] 2) Not only the load-bearing capacity of a single servo actuator is tested, but also the active and passive dynamic performance and coordination performance of multiple servo actuators under load and loading;

[0077] 3) The load-lever ratio can be freely adjusted, and the load ratio of the coordinated actuator can be freely changed, so the coordination of the actuator under different load ratios can be formally tested;

[0078] 4) Multiple structures can be freely adjusted to meet the needs of servo actuators of different specifications. It has a wide range of uses, simple structure, strong practicality, and is easy to use and promote;

[0079] 5) Self-balancing structure, easy to move, greatly improving work efficiency.

[0080] Finally, it should be noted that: the drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0081] Finally: 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, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An actuator dynamic debugging loading self-balancing device, characterized in that: The invention comprises a base frame, a power mechanism and a motion mechanism; the power mechanism and the motion mechanism are both arranged on the base frame, and the power mechanism and the motion mechanism are connected to each other at the same level; the motion mechanism can move horizontally on the base frame under the power of the power mechanism; the power mechanism comprises a motion crossbeam (16), an upper roller assembly (18), a lower roller assembly (19) and a long screw nut assembly (20); the long screw nut assembly (20) is vertically inserted into the motion crossbeam (16) and the base frame, and extends from the bottom of the base frame; the long screw nut assembly The top and middle of the component (20) are connected to the moving crossbeam (16); the upper roller assembly (18) is connected to the middle of the long screw nut assembly (20), and the lower roller assembly (19) is connected to the bottom of the long screw nut assembly (20); the upper roller assembly (18) is arranged above the base frame and rolls with the base frame, and the lower roller assembly (19) is arranged below the base frame and rolls with the base frame; under the push of the moving mechanism, the moving mechanism can roll on the base frame through the upper roller assembly (18) and the lower roller assembly (19).

2. The actuator dynamic debugging loading self-balancing device according to claim 1, characterized in that: The power mechanism comprises a first servo actuator (1), a second servo actuator (2) and a third servo actuator (3); the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3) are arranged side by side, and the bottoms of the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3) are all hinged to the base frame, and the piston rods are all fixedly connected to the motion mechanism; the second servo actuator (2) is arranged between the first servo actuator (1) and the third servo actuator (3).

3. The actuator dynamic debugging loading self-balancing device according to claim 2, characterized in that: Corresponding straight beams (5) are provided below the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3); the distance between the straight beam (5) below the first servo actuator (1) and the straight beam (5) below the second servo actuator (2) is adjustable; the distance between the straight beam (5) below the second servo actuator (2) and the straight beam (5) below the third servo actuator (3) is adjustable; in this way, the lever ratio of the first servo actuator (1) and the third servo actuator (3) relative to the second servo actuator (2) can be changed to meet different load ratios of the first servo actuator (1) and the third servo actuator (3).

4. The actuator dynamic debugging loading self-balancing device according to claim 2, characterized in that: The piston rods of the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3) are all provided with a front end ear (17), and the long screw nut assembly (20) is plugged into the front end ear (17). The upper channel steel (16-1) and the lower channel steel (16-2) are both provided with waist-shaped long holes, and the long screw nut assembly (20) is plugged into the waist-shaped long holes; so that the moving cross beam (16), the upper roller assembly (18) and the lower roller assembly (19) are all connected to the long screw nut assembly (20) to form a load-bearing component that can slide on the straight beam (5).

5. The actuator dynamic debugging loading self-balancing device according to claim 2, characterized in that: The base frame comprises a supporting crossbeam (10), a straight beam (5) and a first end plate (11). The straight beam (5) is a cylindrical structure, and there are a plurality of groups of straight beams (5), which are arranged horizontally side by side and have a spacing between adjacent straight beams (5); there are two groups of supporting crossbeams (10) and are symmetrically arranged at both ends of the straight beams (5), and there are four groups of first end plates (11) and are respectively vertically arranged at both ends of the two groups of supporting crossbeams (10).

6. The actuator dynamic debugging loading self-balancing device according to claim 5, characterized in that: A second end plate (4) is arranged at a position on the side wall of the supporting cross beam (10) corresponding to the position above the straight beam (5), and the second end plate (4) positions the straight beam (5).

7. The actuator dynamic debugging loading self-balancing device according to claim 5, characterized in that: The bottoms of the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3) are all hinged with an actuator tailstock (9), and a double vertical plate (6) is provided at a position of the supporting crossbeam (10) corresponding to the actuator tailstock (9), and a second pad (8) and a fourth screw nut assembly (7) are provided on the double vertical plate (6), and the second pad (8) is vertically arranged on the side wall outside the double vertical plate (6), and the second screw nut assembly is arranged between the double vertical plates (6) and is threadedly connected to the second pad (8) and the actuator tailstock (9), thereby completing the horizontal fixation of the actuator.

8. The actuator dynamic debugging loading self-balancing device according to claim 5, characterized in that: A clamping plate (21) and a fifth screw-nut assembly (22) are provided at positions of the straight beam (5) corresponding to the front ends of the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3); there are two groups of clamping plates (21) and they are respectively arranged horizontally on the upper and lower sides of the straight beam (5); there are two groups of fifth screw-nut assemblies (22) and they are vertically connected to the two ends of the two groups of clamping plates (21); by tightening the nut on the fifth screw-nut assembly (22), the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3) are clamped together; when the servo actuator is subjected to tension and compression loading, the servo actuator cylinder is supported up and down to prevent the servo actuator cylinder from deflecting.

9. The actuator dynamic debugging loading self-balancing device according to claim 5, characterized in that: A cushion block (15) is threadedly connected below the front end covers of the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3).

10. The actuator dynamic debugging loading self-balancing device according to claim 5, characterized in that: The base frame also includes a third screw nut assembly (13) and a first pad (14), wherein the first pad (14) is vertically arranged on the outer wall of the supporting crossbeam (10), and the third screw nut passes through the supporting crossbeam (10) and is threadedly connected between the first pad (14) and the end of the straight beam (5), thereby completing the clamping and fixing between the straight beam (5) and the supporting crossbeam (10).

11. The actuator dynamic debugging loading self-balancing device according to claim 1, characterized in that: The moving crossbeam (16) comprises an upper channel steel (16-1), a lower channel steel (16-2) and a connecting side plate (16-3). The upper channel steel (16-1) and the lower channel steel (16-2) are placed horizontally opposite to each other. There are a plurality of connecting side plates (16-3) which are arranged on both sides of the upper channel steel (16-1) and the lower channel steel (16-2). The connecting side plates (16-3) are fixedly connected to the upper channel steel (16-1) and the lower channel steel (16-2). The upper channel steel (16-1) and the lower channel steel (16-2) are welded as one piece. A cavity (12) for accommodating an upper roller assembly (18) and piston rods of each servo actuator is formed between the upper channel steel (16-1) and the lower channel steel (16-2).

12. The actuator dynamic debugging loading self-balancing device according to claim 1, characterized in that: The upper roller assembly (18) comprises an upper roller side plate (18-1), a movable upper roller (18-3), a short screw nut assembly (18-5), a first bolt (18-6) and a first side roller (18-8); there are two groups of upper roller shafts (18-2) arranged side by side on both sides of the long screw nut assembly (20); the middle part of the upper roller shaft (18-2) is rotatably connected to the movable upper roller (18-3); the two ends of the upper roller shaft (18-2) are fixedly connected to the upper roller side plate (18-1); the outer side of the upper roller side plate (18-1) is screwed with an upper nut (18-9) threadedly connected to the upper roller shaft (18-2) to fix the upper roller shaft (18-2); there are four groups of movable upper rollers (18-3) The short screw and nut assemblies (18-5) are symmetrically arranged in groups of two through the middle of the upper roller shaft (18-2); the short screw and nut assemblies (18-5) are threadedly connected to the middle of the upper roller side plate (18-1); the upper roller side plate (18-1) is inserted into the edge strip of the lower channel steel (16-2) and fixed to the waist-shaped long hole position on the lower channel steel (16-2) through the short nut and screw assemblies; a first rectangular window corresponding to the short screw and nut assemblies (18-5) is opened in the middle of the upper roller side plate (18-1); a first side roller (18-8) is arranged in the first rectangular window; the first side roller (18-8) is rotatably connected to the short screw and nut assemblies (18-5); and a first bolt (18-6) is threadedly connected between the upper roller side plate (18-1) and the moving crossbeam (16).

13. The actuator dynamic debugging loading self-balancing device according to claim 12, characterized in that: The upper roller assembly (18) further comprises two groups of upper roller stop cylinders (18-4), each group of upper roller stop cylinders (18-4) having three in total and arranged at intervals between two adjacent movable upper rollers (18-3) and on both sides to fix the position of the movable upper rollers (18-3).

14. The actuator dynamic debugging loading self-balancing device according to claim 12, characterized in that: The short screw nut assembly (18-5) is provided with a first side roller (18-8) retaining ring (18-7) at positions on both sides corresponding to the first side roller (18-8); the first side roller (18-8) retaining ring (18-7) is arranged in the first rectangular window to fix the position of the first side roller (18-8).

15. The actuator dynamic debugging loading self-balancing device according to claim 1, characterized in that: The lower roller assembly (19) comprises a lower roller side plate (19-1), a lower roller shaft (19-2), a movable lower roller (19-3), a second bolt (19-5), a second side roller (19-8) and a lower roller bottom plate (19-9); there are two groups of lower roller shafts (19-2) and they are arranged side by side on both sides of the long screw nut assembly (20); the middle part of the lower roller shaft (19-2) is rotatably connected to the movable lower roller (19-3), and the two ends of the lower roller shaft (19-2) are fixedly connected to the lower roller side plate (19-1); there are four groups of movable lower rollers (19-3) and they are symmetrically arranged in pairs through the middle part of the lower roller shaft (19-2); the second bolt (19-5) is threadedly connected to the middle part of the lower roller side plate (19-1); the lower roller side plate (19-1) is fixedly connected to the lower roller shaft (19-2 ... -1) is provided with a second rectangular window corresponding to the second bolt (19-5), and a second side roller (19-8) is provided in the second rectangular window, and the second side roller (19-8) is rotatably connected to the second bolt (19-5); the lower roller bottom plate (19-9) is horizontally arranged directly below the lower roller shaft (19-2), the middle of the lower roller side plate (19-1) and the lower roller bottom plate (19-9) are connected by the second bolt (19-5), and the two sides of the lower roller side plate (19-1) and the lower roller bottom plate (19-9) are threadedly connected with third bolts (19-6); the third bolt (19-6) is rotated to pass through the lower roller side plate (19-1), and the end of the third bolt is pressed against the lower roller shaft (19-2) to prevent the lower roller shaft (19-2) from rotating and moving.

16. The actuator dynamic debugging loading self-balancing device according to claim 15, characterized in that: The lower roller assembly (19) further comprises two groups of lower roller blocking cylinders (19-4), each group of lower roller blocking cylinders (19-4) having three in total and arranged at intervals between two adjacent movable lower rollers (19-3) and on both sides to fix the position of the movable lower rollers (19-3).

17. The actuator dynamic debugging loading self-balancing device according to claim 15, characterized in that: Second side roller (19-8) retaining rings (19-7) are provided at positions on both sides of the short screw nut assembly (18-5) corresponding to the second side roller (19-8); the second side roller (19-8) retaining rings (19-7) are arranged in the second rectangular window to fix the position of the second side roller (19-8).

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