Actuator dynamic debugging loading self-balancing device

Abstract

The application discloses a self-balancing device for dynamic debugging and loading of an actuator, which comprises a chassis, a power mechanism and a motion mechanism; the power mechanism and the motion mechanism are arranged on the chassis and are connected with each other at the same horizontal level; the power mechanism comprises a motion crossbeam, an upper roller assembly, a lower roller assembly and a long screw nut assembly; the long screw nut assembly is vertically inserted into the motion crossbeam and the chassis and extends out from the lower portion of the chassis; the top portion and the middle portion of the long screw nut assembly are connected with the motion crossbeam; the upper roller assembly is connected to the middle portion of the long screw nut assembly, and the lower roller assembly is connected to the bottom portion of the long screw nut assembly; the self-balancing device can be used for servo actuator and control system joint test, servo actuators with good dynamic performance are selected before test, and the parameter matching of the key dynamic loading channel is verified, so that important test means and guarantee are provided for the smooth performance of major structure strength test.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of structural strength test, and particularly relates to a self-balancing device for dynamic debugging and loading of an actuator. BACKGROUND

[0002] In structural strength test, the dynamic loading of many test channels needs to be tested before the test, so as to ensure that the selected servo actuator has the performance of main and passive dynamic action, coordination and control system matching under real load, and to preliminarily adjust the test parameters before the test, so that the test can be smoothly carried out. Or the newly purchased loading actuator or the newly purchased coordination loading control system needs to show the main and passive action and coordination under real load in order to verify the dynamic quality. However, because the dynamic loading needs load balance, reciprocating action and main and passive cooperation are needed to be completed, it is not easy to realize, so the previous test is usually completed in the mode of dynamic no-load and static load combination. This mode cannot truly examine the action under real-time dynamic loading, especially the coordination and bearing of main and passive under multi-channel. SUMMARY

[0003] The application aims to provide a self-balancing device for dynamic debugging and loading of an actuator, so as to solve the problem that the servo actuator cannot reciprocate under main and passive loading.

[0004] The technical scheme of the application is as follows: a self-balancing device for dynamic debugging and loading of an actuator, comprising a base frame, a power mechanism and a moving mechanism; the power mechanism and the moving mechanism are arranged on the base frame, and the power mechanism and the moving mechanism are connected to each other at the same horizontal height; the moving mechanism can move horizontally on the base frame under the power of the power mechanism; the power mechanism comprises a moving beam, an upper roller assembly, a lower roller assembly and a long screw nut assembly; the long screw nut assembly is vertically inserted into the moving beam and the base frame and extends from the lower side of the base frame; the top and middle parts of the long screw nut assembly are connected to the moving 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 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 pushing of the moving mechanism, the moving mechanism can roll on the base frame through the upper roller assembly and the lower roller assembly.

[0005] Preferably, the power mechanism comprises 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 hingedly connected to the base frame, and the piston rods are fixedly connected to the moving mechanism; the second servo actuator is arranged between the first servo actuator and the third servo actuator.

[0006] Preferably, the first servo actuator, the second servo actuator and the third servo actuator are each provided below with a corresponding straight beam, the spacing between the straight beam below the first servo actuator and the straight beam below the second servo actuator is adjustable, and the spacing between the straight beam below the second servo actuator and the straight beam below the third servo actuator is adjustable, so that 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 first servo actuator, the second servo actuator and the third servo actuator are each provided on the piston rod with a front end ear, the long screw nut assembly is inserted into the front end ear, the upper channel steel and the lower channel steel are each provided with a waist-shaped long hole, and the long screw nut assembly is inserted into the waist-shaped long hole, so that the moving cross beam, the upper roller assembly and the lower roller assembly are connected with the long screw nut assembly to form a load-bearing moving component that can slide on the straight beam.

[0008] Preferably, the base frame includes support cross beams, straight beams and first end plates. The straight beams are in a cylindrical structure, there are multiple groups of straight beams, the multiple groups of straight beams are arranged side by side horizontally and have spacing between adjacent straight beams, there are two groups of support cross beams which are symmetrically arranged at the two ends of the straight beams, and there are four groups of first end plates which are vertically arranged at the two ends of the two groups of support cross beams.

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

[0010] Preferably, the first servo actuator, the second servo actuator and the third servo actuator are each hingedly connected with an actuator tail seat at the bottom, the support cross beam is provided with double vertical plates at positions corresponding to the actuator tail seats, the double vertical plates are provided with a second backing plate and a fourth screw nut assembly, the second backing plate is vertically arranged on the side wall outside the double vertical plates, and the second screw nut assembly is arranged between the double vertical plates and is in threaded connection with the second backing plate and the actuator tail seat, so as to complete the horizontal fixation of the actuator.

[0011] Preferably, the straight beam is provided with a clamping plate and a fifth screw nut assembly at a position corresponding to the front end of the first servo actuator, the second servo actuator and the third servo actuator, there are two groups of clamping plates which are horizontally arranged on the upper and lower sides of the straight beam, and there are two groups of fifth screw nut assemblies which are vertically connected to the two ends of the two groups of clamping plates, and the nuts on the fifth screw nut assemblies are tightened to clamp the first servo actuator, the second servo actuator and the third servo actuator into one body, so as to support the upper and lower portions of the servo actuator cylinder during the pulling and pressing loading action of the servo actuator and prevent the servo actuator cylinder from deviating.

[0012] Preferably, the first servo actuator, the second servo actuator and the third servo actuator are each provided below the front end cover with a pad in threaded connection.

[0013] Preferably, the base frame further comprises a third screw-nut assembly and a first pad plate, the first pad plate is vertically arranged on the outer wall of the support beam, the third screw-nut assembly is threaded through the support beam and is connected between the first pad plate and the end of the straight beam, thereby achieving clamping and fixing between the straight beam and the support beam.

[0014] Preferably, the moving beam comprises an upper channel steel, a lower channel steel and connecting side plates, the upper channel steel and the lower channel steel are horizontally arranged in pairs, the connecting side plates are arranged on both sides of the upper channel steel and the lower channel steel, the connecting side plates are fixedly connected with the upper channel steel and the lower channel steel, and the upper channel steel and the lower channel steel are integrally welded; the upper channel steel and the lower channel steel form a cavity for accommodating the upper roller assembly and the piston rod 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; the upper roller shafts are arranged on both sides of the long screw-nut assembly in pairs, the middle part of the upper roller shaft is rotatably connected with the movable upper roller, the two ends of the upper roller shaft are fixedly connected with the upper roller side plate, the outer side of the upper roller side plate is screwed with upper nuts which are threadedly connected with the upper roller shaft to fix the upper roller shaft; the movable upper rollers are arranged in pairs in a symmetrical manner through the middle part of the upper roller shaft; the short screw-nut assembly is threadedly connected with 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 in the waist-shaped long hole position on the lower channel steel through the short screw-nut assembly; the middle part of the upper roller side plate is provided with a first rectangular window corresponding to the short screw-nut assembly, and the first side roller is arranged in the first rectangular window and is rotatably connected with the short screw-nut assembly; the first bolt is threadedly connected between the upper roller side plate and the moving beam.

[0016] Preferably, the upper roller assembly further comprises two groups of upper roller stop cylinders, each group of upper roller stop cylinders is provided with three upper roller stop cylinders which are arranged in pairs along the positions between adjacent movable upper rollers and on both sides, thereby fixing the positions of the movable upper rollers.

[0017] Preferably, the short screw-nut assembly is provided with a first side roller stop ring on both sides of the position corresponding to the first side roller, and the first side roller stop ring is arranged in the first rectangular window to fix the position of the first side roller.

[0018] Preferably, the lower roller assembly comprises 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; the lower roller shaft has two groups and is arranged side by side on both sides of the long screw nut assembly, the middle part of the lower roller shaft is rotationally connected with the movable lower roller, and the two ends of the lower roller shaft are fixedly connected with the lower roller side plate; the movable lower roller has four groups, and each two groups are symmetrically arranged 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, the middle part of the lower roller side plate is provided with a second rectangular window corresponding to the second bolt, and the second side roller is arranged in the second rectangular window and rotationally connected with the second bolt; the lower roller bottom plate is horizontally arranged below the lower roller shaft, the second bolt is connected between the middle part of the lower roller side plate and the lower roller bottom plate, and the third bolt is threadedly connected between the two sides of the lower roller side plate and the lower roller bottom plate; rotating the third bolt so that it passes through the lower roller side plate and the end part is abutted on 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 blocking cylinders, each group of lower roller blocking cylinders has three and is arranged between and on both sides of adjacent two movable lower rollers, and the position of the movable lower roller is fixed.

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

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

[0022] 1) It can be used for servo actuator and control system joint test, and servo actuators with good dynamic performance are selected before test to verify the parameter matching of the key dynamic loading channel after initial adjustment, thereby providing an important pre-test means and guarantee for the smooth performance of major structure strength test.

[0023] 2) Not only the load bearing of a single servo actuator is detected, but also the active and passive dynamic action performance and coordination performance of multiple servo actuators under load and loading are detected.

[0024] 3) The load lever ratio can be freely adjusted, the load ratio of the coordinated actuators can be freely changed, and the action coordination of the actuators under different load ratios can be formally tested.

[0025] 4) Multiple structures can be freely adjusted to meet the needs of different specifications of servo actuators, and the use range is wide, the structure is simple, and the practicability is strong; it is easy to use and popularize.

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

[0027] In order to more clearly illustrate the technical solutions provided by the present application, the following will briefly introduce the drawings. Obviously, the drawings described below are only some embodiments of the present application.

[0028] Figure 1 is a schematic view of the overall structure of the present application;

[0029] Figure 2 is an enlarged view of part I of the drawing;

[0030] Figure 3 is a schematic view of the overall structure of the present application; Figure 2 is a sectional view along A-A;

[0031] Figure 4 is a schematic view of the power mechanism of the present application;

[0032] Figure 5 is a schematic view of the moving crossbeam of the present application;

[0033] Figure 6 is a combined view of the upper roller assembly and the lower roller assembly of the present application;

[0034] Figure 7 is a sectional view along B-B; Figure 6

[0035] is a sectional view along C-C; Figure 8 Figure 6 is a schematic view of the overall structure of the lower roller assembly of the present application;

[0036] Figure 9 is a sectional view along D-D;

[0037] Figure 10 Figure 9 is a sectional view along E-E.

[0038] Figure 11 is a sectional view along E-E. Figure 10

[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 plate; 9, actuator tailstock; 10, support cross beam; 11, first end plate; 12, cavity; 13, third screw nut assembly; 14, first pad plate; 15, cushion block; 16, moving cross 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 blocking cylinder; 18-5, short screw nut assembly; 18-6, first bolt; 18-7, first side roller blocking 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 blocking cylinder; 19-5, second bolt; 19-6, third bolt; 19-7, second side roller blocking 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 technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0041] The actuator dynamic debugging loading self-balancing device comprises a chassis, a power mechanism and a moving mechanism. The power mechanism and the moving mechanism are arranged on the chassis, and the power mechanism and the moving mechanism are connected to each other at the same horizontal height; the moving mechanism can move horizontally on the chassis under the power of the power mechanism.

[0042] As Figures 1-4 , 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 hingedly connected to the chassis, and the piston rods are fixedly connected to the moving mechanism. The second servo actuator 2 is arranged between the first servo actuator 1 and the third servo actuator 3.

[0043] The power mechanism comprises a moving cross beam 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 moving cross beam 16 and the chassis and extends out from below the chassis; the top and middle of the long screw nut assembly 20 are connected to the moving cross beam 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 chassis and rolls with the chassis, and the lower roller assembly 19 is arranged below the chassis and rolls with the chassis. Under the pushing of the moving mechanism, the moving mechanism can roll on the chassis through the upper roller assembly 18 and the lower roller assembly 19.

[0044] The chassis comprises a support cross beam 10, straight beams 5 and first end plates 11. The straight beams 5 are cylindrical structures, and there are multiple groups of straight beams 5 arranged side by side horizontally with a spacing between adjacent straight beams 5; there are two groups of support cross beams 10 symmetrically arranged at the two ends of the straight beams 5, and there are four groups of first end plates 11 vertically arranged at the two ends of the two groups of support cross beams 10 respectively.

[0045] The first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 are each arranged below a corresponding straight beam 5, the spacing between the straight beam 5 below the first servo actuator 1 and the straight beam 5 below the second servo actuator 2 is adjustable, and the spacing 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 satisfy different load ratios of the first servo actuator 1 and the third servo actuator 3.

[0046] When the servo actuators are of different specifications, their sizes change, which is reflected in the device as changes in the installation height of the servo actuators (corresponding to changes in the radius of the servo actuators), changes in the width of the servo actuators, and adjustable spacing between the servo actuators. Therefore, changes in the width of the servo actuators can be fully satisfied.

[0047] The load relationship of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 is that the load directions of the first servo actuator 1 and the third servo actuator 3 are the same, 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 in direction to the load of the second servo actuator 2 and has the same value. 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.

[0048] Therefore, the self-balancing of the actuator dynamic debugging load can be realized 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, the reciprocating action under the servo actuator active and passive load can be realized by controlling the extension and retraction of the piston rod of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3.

[0049] In combination Figures 5-6 Preferably, the motion crossbeam 16 comprises an upper channel steel 16-1, a lower channel steel 16-2 and connecting side plates 16-3, the upper channel steel 16-1 and the lower channel steel 16-2 are horizontally arranged in pairs, the connecting side plates 16-3 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 with 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. The upper channel steel 16-1 and the lower channel steel 16-2 form a cavity 12 for accommodating the upper roller assembly 18 and the piston rods of the servo actuators.

[0050] Preferably, the piston rod of each of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 is provided with a front end ear 17, the long screw nut assembly 20 is inserted and matched with the front end ear 17, and the upper channel steel 16-1 and the lower channel steel 16-2 are provided with a waist-shaped long hole, and the long screw nut assembly 20 is inserted and matched with the waist-shaped long hole. The motion crossbeam 16, the upper roller assembly 18 and the lower roller assembly 19 are connected with the long screw nut assembly 20, and are combined into a load-bearing movable component which can slide on the straight beam 5.

[0051] In combination Figures 6-8Preferably, 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. The upper roller shaft 18-2 has two groups and is 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 rotationally connected with the movable upper roller 18-3. The two ends of the upper roller shaft 18-2 are fixedly connected with 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 which is threadedly connected with the upper roller shaft 18-2, so as to fix the upper roller shaft 18-2. The movable upper roller 18-3 has four groups, and each two groups are symmetrically arranged 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. The upper roller side plate 18-1 is inserted into the edge strip of the lower channel steel 16-2 and fixed in the waist-shaped long hole position on the lower channel steel 16-2 through the short nut screw assembly. The middle part of the upper roller side plate 18-1 is provided with a first rectangular window corresponding to the short screw nut assembly 18-5. The first side roller 18-8 is arranged in the first rectangular window and rotationally connected with the short screw nut assembly 18-5. The first bolt 18-6 is threadedly connected between the upper roller side plate 18-1 and the moving cross beam 16. Rotating the first bolt 18-6 makes the head of the first bolt 18-6 abut on the upper roller shaft 18-2, so as to prevent the upper roller shaft 18-2 from rotating and moving.

[0052] Preferably, the upper roller assembly 18 further comprises two groups of upper roller blocking cylinders 18-4. Each group of upper roller blocking cylinders 18-4 has three upper roller blocking cylinders 18-4 which are arranged along the positions between and on both sides of the adjacent two movable upper rollers 18-3, so as to fix the positions of the movable upper rollers 18-3.

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

[0054] In combination with Figures 9-11Preferably, 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. The lower roller shaft 19-2 has two groups and is 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 rotationally connected with the movable lower roller 19-3, and the two ends of the lower roller shaft 19-2 are fixedly connected with the lower roller side plate 19-1; the movable lower roller 19-3 has four groups, and each two groups are symmetrically arranged 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 middle part of the lower roller side plate 19-1 is provided with a second rectangular window corresponding to the second bolt 19-5, and the second side roller 19-8 is arranged in the second rectangular window and rotationally connected with the second bolt 19-5. The lower roller bottom plate 19-9 is horizontally arranged below the lower roller shaft 19-2, the second bolt 19-5 is connected between the middle part of the lower roller side plate 19-1 and the lower roller bottom plate 19-9, and the third bolt 19-6 is threadedly connected between the two sides of the lower roller side plate 19-1 and the lower roller bottom plate 19-9. Rotate the third bolt 19-6 so that it passes through the lower roller side plate 19-1 and the end part is abutted on 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 further comprises two groups of lower roller blocking cylinders 19-4, each group of lower roller blocking cylinders 19-4 has three and is arranged between and on both sides of adjacent two movable lower rollers 19-3 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 blocking ring 19-7 at positions corresponding to both sides of the second side roller 19-8, and the second side roller 19-8 blocking ring 19-7 is arranged in the second rectangular window to fix the position of the second side roller 19-8.

[0057] Preferably, the chassis further comprises a third screw nut assembly 13 and a first backing plate 14, the first backing plate 14 is vertically arranged on the outer wall of the support beam 10, the third screw nut passes through the support beam 10 and is threadedly connected between the first backing plate 14 and the end part of the straight beam 5 to complete the clamping and fixing between the straight beam 5 and the support beam 10.

[0058] Preferably, the support beam 10 side wall is provided with a second end plate 4 corresponding to the position above the straight beam 5, and the second end plate 4 positions the straight beam 5.

[0059] Preferably, the bottom of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 is hinged with an actuator tailstock 9, the support beam 10 is provided with double vertical plates 6 at the position corresponding to the actuator tailstock 9, the double vertical plates 6 are provided with the second pad plate 8 and the fourth screw nut assembly 7, the second pad plate 8 is vertically arranged on the side wall outside the double vertical plates 6, and the second screw nut assembly is arranged between the double vertical plates 6 and is in threaded connection with the second pad plate 8 and the actuator tailstock 9, so as to complete the horizontal fixation of the actuator.

[0060] Preferably, the straight beam 5 is provided with the clamping plate 21 and the fifth screw nut assembly 22 at the position corresponding to the front end of the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3. The clamping plate 21 has two groups and is horizontally arranged on the upper and lower sides of the straight beam 5, and the fifth screw nut assembly 22 has two groups and is vertically connected to the two ends of the two groups of clamping plates 21. The first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 are clamped together by tightening the nut on the fifth screw nut assembly 22, and the servo actuator is supported when the servo actuator is loaded in tension or compression, so as to prevent the servo actuator cylinder from deviating.

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

[0062] Through the above design, the spacing between the first servo actuator 1 and the corresponding straight beam 5 relative to the second servo actuator 2 and the corresponding straight beam 5 in the middle can be adjusted: 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 support beam 10 and the straight beam 5 is completed through the fifth screw nut assembly 22 and the first pad plate 14. The fifth screw nut assembly 22 and the first pad plate 14 can freely move in the channel formed by the two webs of the support beam 10, so that the tail of the first servo actuator 1 and the corresponding straight beam 5 can freely move horizontally, and the front end 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 freely move horizontally in the long waist-shaped hole in the middle of the moving beam 16, so that the spacing between the first servo actuator 1 and the corresponding straight beam 5 relative to the second servo actuator 2 and the corresponding straight beam 5 in the middle can be adjusted.

[0063] Similarly, the spacing between the third servo actuator 3 relative to 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 actuators are different specifications, their sizes change, which is reflected in the device as changes in the mounting height of the servo actuators (corresponding to changes in the radius of the servo actuators), changes in the width of the servo actuators, and adjustable spacing between the servo actuators. Therefore, the change in the width of the servo actuators can be fully satisfied. The change in the mounting height of the servo actuators is due to the fact that the fourth screw nut assembly 7 of the fixed actuator tailstock 9 and the second backing plate 8 can freely move up and down between the double vertical plates 6, and the front end ear 17 at the front end of the servo actuator can freely move up and down between the upper channel steel 16-1 and the lower channel steel 16-2, so that the change in the mounting height of the servo actuator can be satisfied.

[0065] According to the load relationship of 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 has the same value. 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 structures can be freely adjusted to meet the needs of servo actuators of different specifications, and the lever ratio of the first servo actuator 1, the third servo actuator 3, and 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.

[0067] As a specific embodiment, the following is described with a specific example:

[0068] An acceptance test of newly purchased loading actuators and a newly purchased 24-channel coordinated loading control system was conducted in a structural strength test plant.

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

[0070] According to the foregoing content and installation method, the first servo actuator 1, the second servo actuator 2, and the third servo actuator 3 are installed in their respective positions.

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

[0072] After control debugging, under the total load of 3 tons, the first servo actuator 1, the second servo actuator 2 and the third servo actuator 3 move smoothly, the load is stable, the active and passive action under the real load is truly displayed, the control coordination performance of the newly purchased coordinated loading control system is fully verified, and the dynamic mass of the newly purchased loading actuator is fully verified.

[0073] By replacing the different control channels of the newly purchased coordinated loading control system and the loading actuators of different specifications, the performance of the newly purchased equipment is comprehensively verified, which provides strong test evidence for equipment acceptance and use. At the same time, the applicability, practicality and universality of the device are also reflected.

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

[0075] 1) It can be used for servo actuator and control system joint test. Before the test, servo actuators with good dynamic performance are selected, the parameter matching of the key dynamic loading channel is verified, and important pre-test means and protection are provided for the smooth progress of the major structure strength test;

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

[0077] 3) The load lever ratio can be freely adjusted, the load ratio of the coordinated actuators can be freely changed, and the action coordination of the actuators 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, and the use range is wide. The structure is simple, practical, easy to use and popularize;

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

[0080] Finally, it should be noted that: the present application discloses the structure involved in the embodiment, other structures can be referred to the general design, under the condition of no conflict, the same embodiment and different embodiments of the present application can be combined with each other;

[0081] Finally: the above only for the preferred embodiment of the present application, and not for limiting the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A dynamic adjustment and self-balancing device for actuators, characterized in that: It includes a base frame, a power mechanism, and a motion mechanism; both the power mechanism and the motion mechanism are mounted on the base frame and are connected to each other at the same horizontal level; the motion mechanism can move horizontally on the base frame under the power of the power mechanism; the power mechanism includes a motion beam (16), an upper roller assembly (18), a lower roller assembly (19), and a long screw and nut assembly (20); the long screw and nut assembly (20) is vertically inserted into the motion beam (16) and the base frame, and extends from below the base frame; the long screw and nut assembly... The top and middle of component (20) are connected to the motion beam (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 located above the base frame and rolls with the base frame, and the lower roller assembly (19) is located 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 (18) and the lower roller assembly (19); 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 all hinged to the base frame, and the piston rods are all fixedly connected to the motion mechanism; the second servo actuator (2) is located between the first servo actuator (1) and the third servo actuator (3); Each of the first servo actuator (1), the second servo actuator (2), and the third servo actuator (3) has a corresponding straight beam (5) below it. 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. This can change the lever ratio of the first servo actuator (1) and the third servo actuator (3) relative to the second servo actuator (2) to meet the different load ratios of the first servo actuator (1) and the third servo actuator (3).

2. The actuator dynamic debugging and self-balancing device as described in claim 1, 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 front end ears (17). The long screw nut assembly (20) is inserted into the front end ears (17). The upper channel steel (16-1) and the lower channel steel (16-2) are all provided with waist-shaped long holes. The long screw nut assembly (20) is inserted into the waist-shaped long holes. This makes the moving crossbeam (16), the upper roller assembly (18), and the lower roller assembly (19) all connected to the long screw nut assembly (20), forming a component that can slide on the straight beam (5) and bear motion.

3. The actuator dynamic debugging and self-balancing device as described in claim 1, characterized in that: 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 sets of straight beams (5). The multiple sets of straight beams (5) are arranged horizontally side by side and there is a gap between adjacent straight beams (5); there are two sets of supporting crossbeams (10) symmetrically arranged at both ends of the straight beams (5), and there are four sets of first end plates (11) vertically arranged at both ends of the two sets of supporting crossbeams (10).

4. The actuator dynamic debugging and self-balancing device as described in claim 3, characterized in that: A second end plate (4) is provided on the side wall of the supporting beam (10) above the straight beam (5), and the second end plate (4) positions the straight beam (5).

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

6. The actuator dynamic debugging and self-balancing device as described in claim 3, characterized in that: The straight beam (5) is equipped with clamping plates (21) and fifth screw nut assemblies (22) at the front ends of the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3). There are two sets of clamping plates (21) and they are horizontally set on the upper and lower sides of the straight beam (5). There are two sets of fifth screw nut assemblies (22) and they are vertically connected to the two ends of the two sets of clamping plates (21). Tightening the nuts on the fifth screw nut assembly (22) clamps the first servo actuator (1), the second servo actuator (2) and the third servo actuator (3) into one unit. When the servo actuator is in the tension and compression loading action, it supports the upper and lower parts of the servo actuator cylinder to prevent the servo actuator cylinder from shifting.

7. The actuator dynamic debugging and self-balancing device as described in claim 3, characterized in that: The front end caps of the first servo actuator (1), the second servo actuator (2), and the third servo actuator (3) are all threaded with pads (15).

8. The actuator dynamic debugging and self-balancing device as described in claim 3, characterized in that: The base frame also includes a third screw nut assembly (13) and a first pad (14). The first pad (14) is vertically set on the outer wall of the support beam (10). The third screw nut passes through the support beam (10) and is threaded between the first pad (14) and the end of the straight beam (5), thus completing the clamping and fixing between the straight beam (5) and the support beam (10).

9. The actuator dynamic debugging and self-balancing device as described in claim 1, characterized in that: The moving crossbeam (16) includes 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 each other. There are multiple sets 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 plate (16-3) is 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 integrally welded. A cavity (12) is formed between the upper channel steel (16-1) and the lower channel steel (16-2) to accommodate the upper roller assembly (18) and the piston rods of each servo actuator.

10. The actuator dynamic debugging and self-balancing device as described in 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 sets 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), and both 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 threaded with an upper nut (18-9) that is threadedly connected to the upper roller shaft (18-2) to fix the upper roller shaft (18-2); there are four sets of movable upper rollers (18-3). The rollers are symmetrically arranged in pairs through the middle of the upper roller shaft (18-2); the short screw nut assembly (18-5) is threaded to the middle of the upper roller side plate (18-1), the upper roller side plate (18-1) is inserted into the flange of the lower channel steel (16-2), and is fixed to the waist-shaped elongated hole on the lower channel steel (16-2) by the short nut screw assembly; the middle of the upper roller side plate (18-1) is provided with a first rectangular window corresponding to the short screw nut assembly (18-5), and a first side roller (18-8) is provided in the first rectangular window. The first side roller (18-8) is rotatably connected to the short screw nut assembly (18-5); the first bolt (18-6) is threaded between the upper roller side plate (18-1) and the moving crossbeam (16).

11. The actuator dynamic debugging and self-balancing device as described in claim 10, characterized in that: The upper roller assembly (18) also includes two sets of upper roller baffles (18-4). Each set of upper roller baffles (18-4) has three baffles, which are arranged at intervals between and on both sides of two adjacent movable upper rollers (18-3) to fix the position of the movable upper rollers (18-3).

12. The actuator dynamic debugging and self-balancing device as described in claim 10, characterized in that: The short screw nut assembly (18-5) is provided with a retaining ring (18-7) for the first side roller (18-8) on both sides. The retaining ring (18-7) for the first side roller (18-8) is located in the first rectangular window to fix the position of the first side roller (18-8).

13. The actuator dynamic debugging and self-balancing device as described in claim 1, characterized in that: 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 base plate (19-9). There are two sets of lower roller shafts (19-2) arranged side-by-side on both sides of the long screw nut assembly (20). The middle of the lower roller shaft (19-2) is rotatably connected to the movable lower roller (19-3), and both ends of the lower roller shaft (19-2) are fixedly connected to the lower roller side plate (19-1). There are four sets of movable lower rollers (19-3) arranged symmetrically in pairs through the middle of the lower roller shaft (19-2). The second bolt (19-5) is threaded to the middle of the lower roller side plate (19-1). -1) has a second rectangular window in the middle corresponding to the second bolt (19-5). The second rectangular window has a second side roller (19-8) and the second side roller (19-8) is rotatably connected to the second bolt (19-5). The lower roller base plate (19-9) is horizontally located directly below the lower roller shaft (19-2). The middle part of the lower roller side plate (19-1) is connected to the lower roller base plate (19-9) by the second bolt (19-5). The two sides of the lower roller side plate (19-1) are threadedly connected to the lower roller base plate (19-9) by the third bolt (19-6). Rotate the third bolt (19-6) so that it passes through the lower roller side plate (19-1) and the end abuts against the lower roller shaft (19-2) to prevent the lower roller shaft (19-2) from rotating and moving.

14. The actuator dynamic debugging and self-balancing device as described in claim 13, characterized in that: The lower roller assembly (19) also includes two sets of lower roller baffles (19-4). Each set of lower roller baffles (19-4) has three baffles, which are spaced apart between and on both sides of two adjacent movable lower rollers (19-3) to fix the position of the movable lower rollers (19-3).

15. The actuator dynamic debugging and self-balancing device as described in claim 13, characterized in that: 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). The second side roller (19-8) retaining ring (19-7) is located in the second rectangular window to fix the position of the second side roller (19-8).

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