Full state load simulation system for aircraft door actuator

Abstract

The application provides an aircraft cabin door actuator full-state load simulation system, and relates to the technical field of rotary actuator test equipment.The aircraft cabin door actuator full-state load simulation system comprises a base, a rotary actuator arranged on the base, a torque loading mechanism and an axial load loading mechanism.The torque loading mechanism comprises a rotary power output unit arranged on the base, an output shaft of the rotary power output unit is connected with a rotary shaft of the rotary actuator, and the rotary power output unit can drive the rotary shaft of the rotary actuator to rotate.The axial load loading mechanism comprises a first linear power output unit arranged on the base and a load loading unit arranged on a telescopic rod of the first linear power output unit.The load loading unit comprises a thrust seat, the thrust seat is rotatably sleeved on the telescopic rod and connected with the rotary shaft, and the thrust seat can be pushed or pulled by the telescopic rod to exert force on the rotary shaft along the axial direction of the rotary shaft.The aircraft cabin door actuator full-state load simulation system can better test the rotary actuator.

Description

Technical Field

[0001] This invention relates to the field of cabin door actuator testing equipment, specifically to an aircraft cabin door actuator full-state load simulation system. Background Technology

[0002] Rotary actuators are widely used devices in industrial control, especially in the aerospace field. They are typically designed to withstand high loads and possess high reliability and stability. For example, rotary actuators can be used on aircraft doors to ensure safe and reliable opening and closing under various flight conditions.

[0003] To ensure the performance of rotary actuators, they need to be tested after research and development or production. Their performance is verified and evaluated by simulating the load conditions in the actual working environment.

[0004] However, existing testing technologies do not fully consider the various loads that the door system experiences when the aircraft is in motion, cannot realistically simulate the opening and closing state of the aircraft door, and are difficult to fully test the performance of the rotary actuator. Summary of the Invention

[0005] To address this, the present invention proposes a full-state load simulation system for aircraft door actuators, which can comprehensively simulate the load conditions of rotary actuators when testing their performance.

[0006] The technical solution of the present invention is as follows:

[0007] A full-state load simulation system for an aircraft door actuator includes a base and a rotary actuator, wherein the cylinder of the rotary actuator is fixedly mounted on the base, and further includes:

[0008] The torque loading mechanism includes a rotary power output unit disposed on the base, wherein the output shaft of the rotary power output unit is connected to the rotary shaft of the rotary actuator and is capable of driving the rotary shaft to rotate;

[0009] An axial load loading mechanism includes a first linear power output unit disposed on the base and a load loading unit disposed on a telescopic rod of the first linear power output unit. The load loading unit includes a thrust seat, which is rotatably sleeved on the telescopic rod and connected to the rotating shaft. The thrust seat can be pushed or pulled by the telescopic rod to apply a force along the axial direction of the rotating shaft to the rotating shaft.

[0010] Furthermore, it also includes a radial load loading mechanism disposed around the circumference of the rotating shaft; the radial load loading mechanism includes two second linear power output units and a support seat, the rotating shaft can rotate relative to the support seat, the two second linear power output units are circumferentially spaced around the rotating shaft, and the cylindrical ends of the two second linear power output units are respectively hinged to the base, and the rod ends of the two second linear power output units are respectively hinged to the support seat.

[0011] Furthermore, the bearing seat includes two support plates and two pins; the two support plates are respectively sleeved on the rotating shaft, the rotating shaft can rotate relative to the two support plates, the two support plates are spaced apart along the axial direction of the rotating shaft, and the two pins are respectively connected between the two support plates; the rod ends of the two second linear power output units are rotatably connected to the two pins.

[0012] Furthermore, pressure sensors and connectors are respectively provided on the rod ends of the two second linear power output units. The connectors are rotatably sleeved on the corresponding pins, and the pressure sensors are located between the rod ends of the second linear power output units and the connectors.

[0013] Furthermore, the output forces of the two second linear power output units intersect at the same point on the axis of the rotation shaft.

[0014] Furthermore, it also includes an inertia simulation mechanism; the inertia simulation mechanism includes an inertia disk mounting base and a plurality of inertia disks, the inertia disk mounting base is fixedly connected to the rotation shaft and located on one side of the rotation shaft, and each of the inertia disks is detachably mounted on the inertia disk mounting base.

[0015] Furthermore, the inertia disk mounting base includes two mounting plates fixed to the rotating shaft and arranged in a fan shape. The two mounting plates are spaced apart along the axial direction of the rotating shaft, and a connecting plate connecting the two mounting plates is provided between the two mounting plates. The inertia disk is detachably mounted on the outer side of each of the two mounting plates. The output shaft of the torque loading mechanism is connected to the mounting plate near the torque loading mechanism via a cross shaft.

[0016] Furthermore, the inertia disk mounting base includes two mounting plates spaced apart along the axial direction of the rotation axis, and a connector is fixed on the rotation axis. A plurality of inertia disks are stacked and fixed on the end faces of the two mounting plates and the connector away from the rotation axis.

[0017] Furthermore, it also includes an inertia simulation mechanism; the inertia simulation mechanism includes an inertia disk mounting base and a plurality of inertia disks, the inertia disk mounting base is fixedly connected to the rotation axis and located on one side of the rotation axis, and each of the inertia disks is detachably mounted on the inertia disk mounting base; the inertia disk mounting base includes two mounting plates spaced apart along the axial direction of the rotation axis, and two support plates are respectively arranged corresponding to the two mounting plates and the mounting plates are rotatable relative to the support plates.

[0018] Furthermore, the base is provided with a plurality of rotary actuators spaced apart. The torque loading mechanism and the axial load loading mechanism are respectively disposed at both ends of the rotary actuators. The plurality of rotary actuators share one axial load loading mechanism. The output end of the axial load loading mechanism is connected to the rotary shaft of the rotary actuator. The rotary power output unit provided for each rotary actuator is a motor. The output shaft of the motor is provided with a through hole. The rotary shafts of two adjacent rotary actuators are connected by a connecting shaft passing through the through hole.

[0019] The working principle and beneficial effects of this invention are as follows:

[0020] The aircraft door actuator full-state load simulation system provided by this invention, by fixing the rotary actuator to a base and setting a torque loading mechanism and an axial load loading mechanism on the base, can simulate the axial load on the rotary shaft by applying an axial load to the rotary shaft through the axial load loading mechanism, and simulate the actual pneumatic hinge torque on the rotary actuator by applying torque to the rotary shaft through the torque loading mechanism. Furthermore, by setting the aforementioned load loading unit, the thrust seat rotatably fitted on the telescopic rod applies an axial load to the rotary shaft, thus avoiding the coupling effect of the axial load loading mechanism when applying torque to the rotary shaft. Attached Figure Description

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0022] Figure 1 A perspective view of the full-state load simulation system for an aircraft door actuator provided in an embodiment of the present invention;

[0023] Figure 2 This is a cross-sectional view of the full-state load simulation system for aircraft door actuators provided in an embodiment of the present invention.

[0024] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0025] Figure 4 Another perspective view of the full-state load simulation system for aircraft door actuators provided in an embodiment of the present invention;

[0026] Figure 5 for Figure 4 A magnified view of a section at point B in the middle;

[0027] Figure 6 A perspective view of another inertia simulation mechanism provided in an embodiment of the present invention;

[0028] Figure 7 for Figure 6 A magnified view of a section at point C;

[0029] In the diagram: 100, base; 110, limiting plate; 200, rotary actuator; 210, cylinder; 211, stationary lug; 220, rotating shaft; 221, moving lug; 300, torque loading mechanism; 310, motor; 400, axial load loading mechanism; 410, first linear power output unit; 420, telescopic rod; 430, thrust bearing; 440, thrust seat; 500, connecting shaft; 600, radial load loading mechanism; 610, second linear power output unit; 611, pressure sensor; 612, connector; 620, bearing seat; 621, support plate; 622, pin; 601, limiting hole; 700, inertia simulation mechanism; 710, mounting plate; 711, connecting sleeve; 720, connecting plate; 730, inertia disk; 740, adapter. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] This embodiment provides a full-state load simulation system for an aircraft door actuator, hereinafter referred to as the simulation system, referenced in [reference]. Figure 1 and Figure 2 As shown, it includes a base 100 and a rotary actuator 200. The cylindrical body 210 of the rotary actuator 200 is fixed on the base 100, and it also includes a torque loading mechanism 300 and an axial load loading mechanism 400. The torque loading mechanism 300 includes a rotary power output unit 310 disposed on the base 100. The output shaft 311 of the rotary power output unit 310 is connected to the rotary shaft 220 of the rotary actuator 200 and can drive the rotary shaft 220 of the rotary actuator 200 to rotate.

[0032] The axial load loading mechanism 400 includes a first linear power output unit 410 mounted on a base 100, and a load loading unit mounted on a telescopic rod 420 of the first linear power output unit 410. The load loading unit includes a thrust seat 440, which is rotatably mounted on the telescopic rod 420 and connected to a rotating shaft 220. The thrust seat 440 can be pushed or pulled by the telescopic rod 420 to apply a force along the axial direction of the rotating shaft 220. Preferably, the force applied by the first linear power output unit to the rotating shaft is on the same straight line as the axis of the rotating shaft.

[0033] Based on the above structure, the simulation system of this embodiment can apply an axial load to the rotating shaft 220 of the rotary actuator 200 by the axial load loading mechanism 400 to simulate the axial load that the rotary actuator 200 is subjected to in actual use, and then apply a torque to the rotating shaft 220 by the torque loading mechanism 300 to simulate the pneumatic hinge torque that the rotary actuator 200 is subjected to in actual use.

[0034] In this embodiment, reference Figure 1 As shown, the rotary actuator 200 is fixedly connected to the base 100 via a lug 211 on its cylindrical body 210. The structure of the rotary actuator 200 can refer to the prior art, while the structure of the base 100 can be set as needed, and will not be described in detail here.

[0035] In this embodiment, reference Figure 2 As shown, the first linear power output unit 410 is a hydraulic cylinder, and the telescopic rod 420 of the first linear power output unit 410 is the cylinder rod of the hydraulic cylinder. In some embodiments, the first linear power output unit 410 may also be a pneumatic cylinder, an electric cylinder, or a component that is driven by a motor and can move in a straight line. For example, the telescopic rod 420 may be a rack driven by a motor through gears.

[0036] In this embodiment, the output force of the first linear power output unit is on the same straight line as the rotation axis, which ensures that the output force of the first linear power output unit is only used to simulate the axial force on the rotary actuator 200, and will not generate torque on the rotary actuator 200.

[0037] refer to Figure 2 and Figure 3As shown, a thrust bearing 430 is fixedly sleeved on the telescopic rod 420, and the aforementioned thrust seat 440 is fixedly sleeved on the thrust bearing 430, allowing the thrust seat 440 to rotate on the telescopic rod 420. By rotatably sleeved on the telescopic rod 420, the axial load output by the axial load loading mechanism 400 can be prevented from affecting the torque applied to the rotating shaft 220 by the torque loading mechanism 300, thus avoiding coupling between the axial load and the rotational torque. Specifically, if the thrust seat 440 is fixedly connected to the telescopic rod 420, the torque applied to the rotating shaft 220 by the torque loading mechanism 300 will cause the thrust seat 440 to apply a reverse torque to the rotating shaft 220, affecting the test results. However, by sleeved on the thrust bearing 430, the reverse torque applied to the rotating shaft 220 by the thrust seat 440 can be avoided.

[0038] It should be noted that in some embodiments, an extension rod coaxial with and fixedly connected to the telescopic rod 420 may be provided at the top end of the telescopic rod 420, and the thrust seat 440 may be sleeved on the extension rod. This should also be considered as the thrust seat 440 being sleeved on the telescopic rod 420.

[0039] In this embodiment, the aforementioned rotary power output unit 310 is a motor. The motor 310 can be an existing product, specifically the blade oscillating motor disclosed in publication number CN106499690A, the structure of which will not be described in detail here. The output shaft 311 of the blade oscillating motor is coaxial and fixedly connected to the rotation shaft 220 of the rotary actuator 200 to apply torque to the rotation shaft 220.

[0040] In this embodiment, a through hole is provided on the output shaft 311 of the blade oscillation motor, extending axially through the output shaft 311. This through hole facilitates simultaneous testing of multiple rotary actuators 200. Specifically, a torque loading mechanism 300 and an axial load loading mechanism 400 are respectively disposed at both ends of the rotary actuator 200. Multiple rotary actuators 200 are spaced apart on the base 100, and these multiple rotary actuators 200 share a single axial load loading mechanism 400. The output end of the axial load loading mechanism 400 is connected to the rotation shaft 220 of the rotary actuator 200. (Refer to...) Figure 2As shown, the rotating shafts 220 of two adjacent rotary actuators 200 are connected by a connecting shaft 500 passing through the aforementioned through hole. The connecting shaft 500 is coaxial with and fixedly connected to the two rotating shafts 220, so that the axial load is sequentially transmitted to the rotating shafts 220 of each rotary actuator 200 through each connecting shaft 500. It should be noted that, for the sake of clarity, other rotary actuators 200 are not shown in the accompanying drawings of this embodiment. In this embodiment, by installing the torque loading mechanism 300 and the axial load loading mechanism 400 at both ends of the rotary actuator 200, it is convenient to apply rotational torque and axial load to the rotary actuator 200.

[0041] refer to Figure 4 As shown, the simulation system of this embodiment also includes a radial load loading mechanism 600, which is mounted circumferentially on the rotation shaft 220 of the rotary actuator 200. It includes two second linear power output units 610 and a support base 620. The rotation shaft 220 is rotatable relative to the support base 620. The two second linear power output units 610 are spaced apart circumferentially along the rotation shaft 220, and the cylindrical ends of the two second linear power output units 610 are respectively hinged to the base 100, and the rod ends of the two second linear power output units 610 are respectively hinged to the support base 620. Preferably, the two second linear power output units 610 intersect the axis of the rotation shaft 220 at the same point.

[0042] In this embodiment, the radial load loading mechanism 600 is installed in the circumference of the rotating shaft 220 to facilitate the application of radial loads to the rotating shaft 220, while avoiding positional interference to the torque loading mechanism 300 and the radial load loading mechanism 400 at both ends of the rotating shaft 220. By setting the bearing seat 620 sleeved on the rotating shaft 220 and applying a radial load along the rotating shaft 220 to the bearing seat 620 by the two second linear power output units 610, it is possible to avoid applying torque to the rotating shaft 220.

[0043] Specifically, the rotating shaft 220 can only rotate relative to the support 620. The support 620 is fixed to the base 100 via the second linear power output unit 610. That is, the radial force output by the second linear power output unit 610 is transmitted to the rotating shaft 220 through the support 620. Since the output forces of both second linear power output units 610 intersect the axis of the rotating shaft 220 at the same point—that is, the output force of one second linear power output unit 610 intersects the axis of the rotating shaft 220 at the first point, and the output force of the other second linear power output unit 610 intersects the axis of the rotating shaft 220 at the second point, with the first and second points coinciding—this ensures that the two second linear power output units 610 only apply radial force to the rotating shaft 220 and do not generate torque on the rotating shaft 220. This also avoids coupling effects on the torque loading mechanism 300.

[0044] In this embodiment, the two second linear power output units 610 are hydraulic cylinders, with the cylinder body end being the cylinder barrel and the rod body end being the cylinder rod. In some embodiments, the second linear power output unit 610 may also be a pneumatic cylinder or an electric cylinder.

[0045] refer to Figure 4 and Figure 5 As shown, the support base 620 of this embodiment includes two support plates 621 and two pins 622. The two support plates 621 are sleeved on a rotating shaft 220, which is rotatable relative to the two support plates 621. The two support plates 621 are spaced apart along the axial direction of the rotating shaft 220. The two pins 622 are respectively connected to the two support plates 621. The rod ends of the two second linear power output units 610 are rotatably connected to the two pins 622.

[0046] The two rod ends are rotatably connected to the corresponding pins 622 as follows: Figure 5 As shown, pressure sensors 611 and connectors 612 are respectively provided at the two ends of the rod. The connectors 612 are rotatably sleeved on the corresponding pins 622, and the pressure sensors 611 are located between the second straight rod end and the connectors 612. The pressure sensors 611 are used to detect the pressure applied by the rod end to the connectors 612, so that the radial load applied to the rotating shaft 220 can be calculated based on the detection result of the pressure sensors 611.

[0047] refer to Figure 4 As shown, in this embodiment, a limiting hole 601 is provided on a support plate 621, which extends through the support plate 621 along the thickness direction of the support plate 621, and a limiting plate 110 is fixed on the base 100 and inserted into the limiting hole 601. The limiting plate 110 can prevent the support plate 621 from rotating when the second linear power output unit 610 is installed.

[0048] In this embodiment, the simulation system further includes an inertia simulation mechanism 700 disposed on the rotating shaft 220 to simulate the inertial torque and centrifugal force experienced by the rotating shaft 220 during rotation. Specifically, the inertia simulation mechanism 700 includes an inertia disk mounting base and several inertia disks 730. The inertia disk mounting base is fixedly connected to the rotating shaft 220 and located on one side of the rotating shaft 220. Each inertia disk 730 is detachably disposed on the inertia disk mounting base.

[0049] In this embodiment, by setting the inertia disk mounting base and each inertia disk 730 as described above, it is possible to simulate different inertial torques experienced by the rotary actuator 200 by installing inertia disks 730 of different weights on the inertia disk mounting base.

[0050] In this embodiment, the inertia disk mounting base includes two fan-shaped mounting plates 710 fixedly connected to the rotation shaft 220. The two mounting plates 710 are spaced apart along the axial direction of the rotation shaft 220 and are fixedly connected to the lugs 221 of the rotation shaft 220, respectively. A connecting plate 720 is provided between the two mounting plates 710 to connect them, and an inertia disk 730 is detachably mounted on the outer surface of each of the two mounting plates 710. The output shaft of the aforementioned torque loading mechanism 300 is connected to the mounting plate 710 near the torque loading mechanism 300 via a cross shaft.

[0051] In terms of specific structure, refer to Figures 1 to 3 As shown, a connecting sleeve 711, coaxial with and suspended on the rotating shaft 220, is fixedly mounted on the mounting plate 710. The output shaft of the torque loading mechanism 300 is specifically coaxially and fixedly connected to this connecting sleeve 711 via a cross shaft. The aforementioned thrust seat 440 is coaxially and fixedly connected to the connecting sleeve 711 on the mounting plate 710 near the thrust seat 440. Bearings are respectively fitted onto the connecting sleeves 711 of the two mounting plates 710, and the aforementioned two support plates 621 are correspondingly fitted onto the two connecting sleeves 711, allowing the mounting plate 710 to rotate relative to the support plate 621. By providing the aforementioned two connecting sleeves 711, the connection between the torque loading mechanism 300, the axial load loading mechanism 400, and the radial load loading mechanism 600 and the rotating shaft 220 is facilitated.

[0052] refer to Figure 1 As shown, in this embodiment, the connecting plate 720 is sandwiched between two mounting plates 710 and is fixedly connected to the two mounting plates 710 to connect the two mounting plates 710. The outer side of the mounting plate 710 refers to the side of the mounting plate 710 facing away from the connecting plate 720. The inertia disk 730 can be detachably connected to the mounting plate 710, for example, by bolts.

[0053] In some embodiments, such as Figure 7 As shown, the inertia disk mounting base includes two mounting plates 710 spaced apart along the axial direction of the rotation shaft 220. Each mounting plate 710 has a connecting sleeve 711 coaxial with the rotation shaft 220 and suspended on it. An adapter 740 is fixedly mounted on the lug 221 of the rotation shaft 220, and several inertia disks are stacked and fixed on the end faces of the two mounting plates 710 and the adapter 740 away from the rotation shaft 220.

[0054] Based on the overall structure described above, the aircraft door actuator full-state load simulation system of this embodiment can apply torque to the rotating shaft 220 of the rotary actuator 200 under axial load, radial load, and inertial torque to test the performance of the rotary actuator 200, thereby providing a better test of the rotary actuator 200's performance. Furthermore, due to the thrust bearing 430, the rotation of the rotary actuator 200 and the torque loading mechanism 300 in the aircraft door actuator full-state load simulation system is not transmitted to the axial load loading mechanism 400. The oscillation of the rotary actuator 200 and the torque output of the torque loading mechanism 300 do not cause the oscillation of the radial load loading mechanism 600. Therefore, the output forces or torques of the torque loading mechanism 300, the axial load loading mechanism 400, and the radial load loading mechanism 600 do not exhibit coupling phenomena.

[0055] The above are merely preferred embodiments of the present invention and are 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 within the protection scope of the present invention.

Claims

1. A full-state load simulation system for an aircraft door actuator, comprising a base and a rotary actuator, wherein the cylinder of the rotary actuator is fixedly mounted on the base, characterized in that, Also includes: The torque loading mechanism includes a rotary power output unit disposed on the base, wherein the output shaft of the rotary power output unit is connected to the rotary shaft of the rotary actuator and is capable of driving the rotary shaft to rotate; An axial load loading mechanism includes a first linear power output unit disposed on the base and a load loading unit disposed on a telescopic rod of the first linear power output unit. The load loading unit includes a thrust seat, which is rotatably sleeved on the telescopic rod and connected to the rotating shaft. The thrust seat can be pushed or pulled by the telescopic rod to apply a force along the axial direction of the rotating shaft to the rotating shaft. It also includes a radial load loading mechanism disposed around the circumference of the rotating shaft; the radial load loading mechanism includes two second linear power output units and a bearing seat, the rotating shaft can rotate relative to the bearing seat, the two second linear power output units are circumferentially spaced around the rotating shaft, and the cylindrical ends of the two second linear power output units are respectively hinged to the base, and the rod ends of the two second linear power output units are respectively hinged to the bearing seat. The support base includes two support plates and two pins; the two support plates are respectively sleeved on the rotating shaft, the rotating shaft can rotate relative to the two support plates, the two support plates are spaced apart along the axial direction of the rotating shaft, and the two pins are respectively connected between the two support plates; the rod ends of the two second linear power output units are rotatably connected to the two pins.

2. The aircraft door actuator full-state load simulation system according to claim 1, characterized in that, Pressure sensors and connectors are respectively provided on the rod ends of the two second linear power output units. The connectors are rotatably sleeved on the corresponding pins, and the pressure sensors are located between the rod ends of the second linear power output units and the connectors.

3. The aircraft door actuator full-state load simulation system according to claim 1, characterized in that, The output forces of the two second linear power output units intersect at the same point on the axis of the rotating shaft.

4. The aircraft door actuator full-state load simulation system according to claim 1, characterized in that, It also includes an inertia simulation mechanism; the inertia simulation mechanism includes an inertia disk mounting base and a plurality of inertia disks, the inertia disk mounting base is fixedly connected to the rotation shaft and located on one side of the rotation shaft, and each of the inertia disks is detachably mounted on the inertia disk mounting base.

5. The aircraft door actuator full-state load simulation system according to claim 4, characterized in that, The inertia disk mounting base includes two mounting plates fixed to the rotating shaft and arranged in a fan shape. The two mounting plates are spaced apart along the axial direction of the rotating shaft, and a connecting plate is provided between the two mounting plates to connect them. The inertia disk is detachably mounted on the outer side of each of the two mounting plates. The output shaft of the torque loading mechanism is connected to the mounting plate near the torque loading mechanism via a cross shaft.

6. The aircraft door actuator full-state load simulation system according to claim 4, characterized in that, The inertia disk mounting base includes two mounting plates spaced apart along the axial direction of the rotation axis, and a connector is fixed on the rotation axis. A plurality of inertia disks are stacked and fixed on the end faces of the two mounting plates and the connector away from the rotation axis.

7. The aircraft door actuator full-state load simulation system according to claim 1, characterized in that, It also includes an inertia simulation mechanism; the inertia simulation mechanism includes an inertia disk mounting base and a plurality of inertia disks, the inertia disk mounting base is fixedly connected to the rotation axis and located on one side of the rotation axis, and each of the inertia disks is detachably mounted on the inertia disk mounting base; the inertia disk mounting base includes two mounting plates spaced apart along the axial direction of the rotation axis, and two support plates are respectively arranged corresponding to the two mounting plates and the mounting plates are rotatable relative to the support plates.

8. The aircraft door actuator full-state load simulation system according to any one of claims 1 to 6, characterized in that, The base is provided with a plurality of rotary actuators spaced apart. The torque loading mechanism and the axial load loading mechanism are respectively disposed at both ends of the rotary actuators. The plurality of rotary actuators share one axial load loading mechanism. The output end of the axial load loading mechanism is connected to the rotary shaft of the rotary actuator. The rotary power output unit provided for each rotary actuator is a motor. The output shaft of the motor is provided with a through hole. The rotary shafts of two adjacent rotary actuators are connected by a connecting shaft passing through the through hole.

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