Servo mechanism transportation simulation test device

Abstract

A servo mechanism transportation simulation test device comprises a universal base, a load installation mechanism, a counterweight mechanism and an installation support assembly, the bottom surface of an L-shaped support is fixed on a vibration table, a mechanical load vibration test in a transportation state is carried out, and a servo mechanism transportation simulation test is completed. According to the scheme, the balancing weight on the inclined strut rocker arm mechanism directly simulates the dispersed weight of the engine jet pipe, the transportation test of the servo mechanism supporting the engine jet pipe in the horizontal state can be simulated, the device is wide in universality, simple in structure and low in manufacturing cost, and cost can be reduced and efficiency can be improved in practical application.

Description

Technical Field

[0001] The invention relates to a servo mechanism transport simulation test device, belonging to the field of aerospace equipment servo design. Background Art

[0002] The servo mechanism is an important actuator for controlling the flight of a rocket. The servo mechanism receives control instructions from the electrical system, drives the engine to achieve controlled actions as required, completes closed-loop control, and realizes thrust vector control of the rocket.

[0003] In order to test whether the servo mechanism can withstand the complex mechanical environment during long-distance transportation while supporting the engine nozzle, a real engine nozzle is used as a load for transportation testing, which is costly and has a large structure. Therefore, it is necessary to develop a simulation test device for equivalent test and verification that the servo mechanism meets the transportation requirements.

[0004] Chinese patent CN219416635U discloses a vibration test fixture for a grid rudder servo, which consists of a base, front and rear clamp rings, handles, bolts, pins, etc. The fixture cannot simulate the actual installation state of the servo on the arrow, and the installation direction is limited to a single direction. During the test, multiple vibrations in multiple directions are required and the vertical platform and the sliding platform need to be replaced back and forth, which is costly and inefficient. The use limitations are large.

[0005] Chinese patent CN108168812A discloses a vibration loading combination device for a steering gear cabin, which realizes the functions of rudder surface loading and vibration clamping through torsional moment loading and vibration tooling combination. However, the vibration direction is single, and the test bench needs to be replaced when XYZ three-way vibration is required. The test bench needs to be disassembled and replaced on the sliding table and the vertical table, and the installation direction of the vibration tooling needs to be changed to change the test direction.

[0006] Chinese patent CN106338374A discloses a vibration impact test fixture, which performs tests by setting up multiple fixture mounting surfaces and product mounting surfaces. During the test, the fixture mounting surfaces need to be replaced to implement vibration impact tests in different directions. The test product is mounted on the fixture in a cantilevered manner and has not yet been reliably connected. Summary of the invention

[0007] The technical problem solved by the present invention is: in view of the problem that the servo structure lacks a stable and reliable transportation mechanism and the test direction is not adjustable in the current prior art, a servo mechanism transportation simulation test device is proposed.

[0008] The present invention solves the above technical problems by the following technical solutions:

[0009] A servo mechanism transport simulation test device comprises a universal base, a load mounting mechanism, a counterweight mechanism and a mounting support assembly, wherein:

[0010] The universal base is an L-shaped structure. The mounting end of the load mounting mechanism used to support the servo mechanism is arranged at the long end position of the universal base, and the extended end of the load mounting mechanism extends to the outside of the universal base structure according to a preset mounting angle; the extended end of the load mounting mechanism is connected to the top of the servo mechanism, and the bottom of the servo mechanism is installed and connected between the mounting end of the load mounting mechanism and the bottom angle of the universal base; the counterweight mechanism is arranged opposite to the extension end of the load mounting mechanism at the top connection point of the servo mechanism to balance the servo mechanism for transportation; the mounting support components are respectively arranged at the connection position between the mounting end of the load mounting mechanism and the long end of the universal base, the connection position between the bottom of the servo mechanism and the long end of the universal base, and the connection position between the extended end of the load mounting mechanism and the top of the servo mechanism, so as to ensure the stable connection of the servo mechanism during transportation.

[0011] The universal base comprises a back plate, a bottom plate, a first side plate, and a second side plate, wherein:

[0012] The back panel is pre-installed on the bottom panel by screws to form an L-shaped structure. The first side panel and the second side panel are pre-installed with the back panel and the bottom panel respectively by screws. The connection positions of the back panel, the bottom panel, the first side panel and the second side panel are welded and fixed. The first side panel and the second side panel are symmetrically installed relative to the L-shaped structure.

[0013] The back plate is evenly provided with mounting holes for fixing the mounting support; the design positions of the mounting holes and the mounting support are determined according to the transportation requirements of the servo mechanism and adjusted upward or downward according to the actual transportation conditions; the bottom plate is provided with table mounting holes for cooperating with the servo mechanism and fixing on the external transport test vibration table.

[0014] The first side plate and the second side plate are both reserved with connection windows for realizing electrical connection with an external measurement and control system according to the characteristics of the servo mechanism; the back plate, the bottom plate, the first side plate and the second side plate are all made of aluminum alloy.

[0015] The load installation mechanism includes a load installation upper plate, a load upper pressure plate, a load lower pressure plate, a load installation lower plate, a load installation lug, a load installation left crossbeam and a load installation right crossbeam, wherein:

[0016] The load-mounting upper plate and the load-mounting lower plate are symmetrically arranged and are both provided with counterweight mounting holes for installing the counterweight mechanism. The load-mounting left beam and the load-mounting right beam are installed side by side to form a load body structure. The load-mounting upper plate and the load-mounting lower plate are symmetrically arranged on both sides of one end of the load body structure. The load upper pressure plate and the load lower pressure plate are symmetrically arranged on both sides of the other end of the load body structure. On one side of the installation position of the load-mounting upper plate and the load-mounting lower plate, mounting ears are arranged at the connection position of the load upper pressure plate and the load lower pressure plate, which are used to connect the mounting end of the load mounting mechanism and the mounting support assembly arranged at the connection position of the long end of the universal base.

[0017] After the components in the load installation mechanism are screwed together, they are welded as a whole to avoid deformation and improve structural rigidity.

[0018] The counterweight mechanism comprises a first counterweight block, a second counterweight block and a third counterweight block, wherein:

[0019] The first counterweight block, the second counterweight block and the third counterweight block are used to simulate the engine nozzle load. The first counterweight block, the second counterweight block and the third counterweight block are all provided with threaded holes and mounting through holes of the same depth. The threaded holes are used to achieve fixed connection with other counterweight blocks; the mounting through holes are used to achieve connection with the load mounting upper plate and the load mounting lower plate of the load mounting mechanism.

[0020] The calculation method of the weight m3 of the counterweight mechanism is:

[0021] m3=[F N Sin(θ-α)L4-F1 L4Cos(θ-α)-m2g CosαL2] / g CosαL3

[0022] m2g CosαL2+m3g CosαL3+F1 L4Cos(θ-α)=F N Sin(θ-α)L4

[0023] CosθL=CosαL4, L4=CosθL / Cosα;

[0024] Where α is the angle between the load installation mechanism and the horizontal plane, G2 is the weight of the load installation mechanism itself, G2=m2g, G3 is the weight of the counterweight mechanism itself, G3=m3g, L4 is the length from the extension end of the load installation mechanism to the active end support ear, ΣM O ’ =0.

[0025] The calculation method of the force F1 on the extension end of the load installation mechanism is:

[0026] F1L=G1 L1Cosθ ， F1=m1g L1Cosθ / LΣMO=0;

[0027] Where, L is the zero position length of the servo mechanism, F N is the pressure on the servo mechanism, and the servo mechanism’s own gravity is G1=m1g.

[0028] The overall structural connection angle of the universal base, load mounting mechanism, counterweight mechanism and mounting support assembly is adjusted according to the transportation test of the servo mechanisms of different projects, the load characteristics of the servo mechanisms in different states, the weight of each servo mechanism, and the weight of the counterweight structure. After completing a transportation test, the servo mechanism can be disassembled for repeated use.

[0029] The advantages of the present invention compared with the prior art are:

[0030] (1) The present invention provides a servo mechanism transportation simulation test device, which uses an L-shaped bracket and a diagonal rocker arm mechanism to simulate the fixing method and mass characteristics of the engine nozzle in a horizontal state, and conducts a simulation test scheme for the overall transportation of the servo mechanism and the engine in an assembled state. A counterweight block is fixedly placed on the diagonal rocker arm mechanism, and the position of the counterweight block relative to the hinge point in the L-shaped bracket coincides with the center of mass position of the engine nozzle in a horizontal state. The two ends of the servo mechanism under test are hingedly mounted on the L-shaped bracket and the diagonal rocker arm mechanism, realizing the load of the servo mechanism and the engine nozzle in an assembled state. The bottom surface of the L-shaped bracket is fixed on a vibration table, and a mechanical load vibration test is conducted in a transportation state to complete the servo mechanism transportation simulation test. The counterweight block on the diagonal rocker arm mechanism in this scheme directly simulates the dispersed weight of the engine nozzle, and has the characteristics of simple structure, small space volume, and good economy.

[0031] (2) The side panels of the L-shaped bracket of the present invention are provided with longitudinally evenly distributed mounting holes, and the mounting seats of the diagonally supported rocker arm mechanism and the servo mechanism to be tested are installed up and down. When the up and down position relationship of the two mounting seats is adjusted, the engine nozzle can be transported horizontally and installed above or below the engine nozzle. The load characteristic test of the servo mechanism to be tested with the inclined support can be carried out in two states. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the horizontal transport test device provided by the present invention;

[0033] Figure 2 A schematic cross-sectional view of the horizontal transport test device provided by the present invention;

[0034] Figure 3 A schematic diagram of a universal base provided by the present invention;

[0035] Figure 4 A schematic diagram of the load installation mechanism provided by the present invention;

[0036] Figure 5 A schematic diagram of a counterweight mechanism provided by the present invention;

[0037] Figure 6 A schematic diagram of the force of the servo mechanism provided by the present invention;

[0038] Figure 7 This is a force diagram of the load installation mechanism provided by the present invention. DETAILED DESCRIPTION

[0039] A servo mechanism transportation simulation test device comprises a universal base, a load mounting mechanism, a counterweight mechanism and a mounting support assembly. The bottom surface of an L-shaped bracket is fixed on a vibration table, and a mechanical load vibration test under a transportation state is carried out to complete a servo mechanism transportation simulation test. The counterweight block on the diagonal rocker arm mechanism in the scheme directly simulates the dispersed weight of an engine nozzle, and can simulate a transportation test in which a servo mechanism supports an engine nozzle in a horizontal state. The device has wide versatility, a simple structure, and a low manufacturing cost, and can reduce costs and increase efficiency in practical applications.

[0040] The universal base is an L-shaped structure. The mounting end of the load mounting mechanism used to support the servo mechanism is arranged at the long end position of the universal base, and the extended end of the load mounting mechanism extends to the outside of the universal base structure according to a preset mounting angle; the extended end of the load mounting mechanism is connected to the top of the servo mechanism, and the bottom of the servo mechanism is installed and connected between the mounting end of the load mounting mechanism and the bottom angle of the universal base; the counterweight mechanism is arranged opposite to the extension end of the load mounting mechanism at the top connection point of the servo mechanism to balance the servo mechanism for transportation; the mounting support components are respectively arranged at the connection position between the mounting end of the load mounting mechanism and the long end of the universal base, the connection position between the bottom of the servo mechanism and the long end of the universal base, and the connection position between the extended end of the load mounting mechanism and the top of the servo mechanism, so as to ensure the stable connection of the servo mechanism during transportation.

[0041] The universal base comprises a back plate, a bottom plate, a first side plate, and a second side plate, wherein:

[0042] The back panel is pre-installed on the bottom panel by screws to form an L-shaped structure. The first side panel and the second side panel are pre-installed with the back panel and the bottom panel respectively by screws. The connection positions of the back panel, the bottom panel, the first side panel and the second side panel are welded and fixed. The first side panel and the second side panel are symmetrically installed relative to the L-shaped structure.

[0043] The back plate is evenly provided with mounting holes for fixing the mounting supports; the design positions of the mounting holes and mounting supports are determined according to the transportation requirements of the servo mechanism and are adjusted upward or downward according to the actual transportation conditions; the bottom plate is provided with table mounting holes for cooperating with the servo mechanism and fixing on the external transport test vibration table.

[0044] The first side plate and the second side plate are both reserved with connection windows for realizing electrical connection with an external measurement and control system according to the characteristics of the servo mechanism; the back plate, the bottom plate, the first side plate and the second side plate are all made of aluminum alloy.

[0045] The load installation mechanism includes a load installation upper plate, a load upper pressure plate, a load lower pressure plate, a load installation lower plate, a load installation lug, a load installation left crossbeam and a load installation right crossbeam, wherein:

[0046] The load-mounting upper plate and the load-mounting lower plate are symmetrically arranged and are both provided with counterweight mounting holes for installing the counterweight mechanism. The load-mounting left beam and the load-mounting right beam are installed side by side to form a load body structure. The load-mounting upper plate and the load-mounting lower plate are symmetrically arranged on both sides of one end of the load body structure. The load upper pressure plate and the load lower pressure plate are symmetrically arranged on both sides of the other end of the load body structure. On one side of the installation position of the load-mounting upper plate and the load-mounting lower plate, mounting ears are arranged at the connection position of the load upper pressure plate and the load lower pressure plate, which are used to connect the mounting end of the load mounting mechanism and the mounting support assembly arranged at the connection position of the long end of the universal base.

[0047] After the components in the load installation mechanism are screwed together, they are welded as a whole to avoid deformation and improve structural rigidity.

[0048] The counterweight mechanism includes a first counterweight block, a second counterweight block and a third counterweight block, wherein:

[0049] The first counterweight block, the second counterweight block and the third counterweight block are used to simulate the engine nozzle load. The first counterweight block, the second counterweight block and the third counterweight block are all provided with threaded holes and mounting through holes of the same depth. The threaded holes are used to achieve fixed connection with other counterweight blocks; the mounting through holes are used to achieve connection with the load mounting upper plate and the load mounting lower plate of the load mounting mechanism.

[0050] The overall structural connection angle of the universal base, load mounting mechanism, counterweight mechanism and mounting support assembly is adjusted according to the transportation test of the servo mechanisms of different projects, the load characteristics of the servo mechanisms in different states, the weight of each servo mechanism, and the weight of the counterweight structure. After completing a transportation test, the servo mechanism can be disassembled for repeated use.

[0051] The following is further described in conjunction with the accompanying drawings and preferred embodiments of the specification:

[0052] In the current embodiment, the transport simulation test device is structured as follows: Figure 1 As shown, it is mainly composed of a universal base 1 (L-shaped bracket), a load installation mechanism 2 (oblique support rocker arm mechanism), a counterweight mechanism 3, a mounting support 4 and other parts; the universal base 1 includes a back plate 11, a bottom plate 12 and side plates 13 and 14 on both sides for reinforcing the structure; the back plate 11 is pre-installed on the bottom plate 12 by screws; the side plates 13 and 14 are pre-installed with the back plate 11 and the bottom plate 12 respectively by screws; secondly, the connection between the back plate 11, the bottom plate 12 and the side plates 13 and 14 is welded and fixed.

[0053] like Figure 2As shown, the mounting support assembly is respectively arranged at the connection position 41 between the mounting end of the load mounting mechanism and the long end of the universal base, the connection position 42 between the bottom of the servo mechanism and the long end of the universal base, and the connection position 43 between the extension end of the load mounting mechanism and the top of the servo mechanism, so as to ensure the stable connection of the servo mechanism during transportation.

[0054] like Figure 3 As shown, a plurality of evenly distributed mounting holes are provided on the back plate 11, and the mounting bracket 4 can be fixed on the back plate by screws. The selection of the mounting hole positions here is based on the servo mechanism being installed above or below the engine nozzle for adjustment when the engine nozzle is transported horizontally.

[0055] A plurality of table mounting holes are evenly distributed on the bottom plate 12 for being matched with fasteners to be fixedly mounted on the transport test vibration table.

[0056] The side panel 14 is for facilitating the communication between the servo mechanism and the measurement and control system during the transportation test. An external connection window can be reserved for the electrical interface according to the characteristics of each product.

[0057] The universal base of the L-shaped bracket is made of aluminum alloy, which has good weldability and can meet the strength requirements of use. Compared with conventional transportation devices made of steel, it can reduce product weight.

[0058] like Figure 4 As shown, the load installation mechanism 2 includes a load installation upper plate 21 , a load upper pressure plate 22 , a load lower pressure plate 23 , a load installation lower plate 24 , a load installation lug 25 , a load installation left crossbeam 26 and a load installation right crossbeam 27 .

[0059] There are multiple sets of counterweight installation holes on the load-mounted upper plate 21. The counterweight installed there can directly simulate the dispersed weight of the engine nozzle, and the position of the counterweight relative to the mounting seat hinge point O' on the back plate 11 coincides with the center of mass of the engine nozzle in the horizontal state. The load-mounted left crossbeam 26 and the load-mounted right crossbeam 27 are connected between the load-mounted upper plate 21, the load-mounted upper pressure plate 22, the load-mounted lower pressure plate 23, and the load-mounted lower plate 24. Counterweight installation holes are provided on the load-mounted upper plate 21 and the load-mounted lower plate 24. The load-mounted left crossbeam 26 and the load-mounted right crossbeam 27, which are supporting components, are sheet metal parts, located between the upper plate and the lower plate, and symmetrically distributed at the center of the mounting lug 25. After the above components are screwed together, they are welded as a whole to reduce unnecessary distortion of the counterweight mechanism and improve the overall rigidity of the load-mounted mechanism.

[0060] like Figure 5 As shown, the counterweight mechanism 3 is composed of a counterweight block 31, a counterweight block 32 and a counterweight block 33 (which can be combined according to the servo mechanism products of multiple projects), each of which simulates the engine nozzle load. Each counterweight block has an M12 threaded hole of the same depth and The through hole facilitates the connection between the counterweight blocks and the fixed connection between the counterweight and the load mounting mechanism 2 (the diagonal rocker arm mechanism).

[0061] like Figure 6 As shown in the figure, it is a load diagram of the servo mechanism installed under the engine nozzle for tilted support when simulating the horizontal transportation of the engine nozzle. The servo mechanism under pressure is used as an example for explanation, where θ is the installation inclination angle of the servo mechanism, L is the zero position length of the servo mechanism, and F N is the pressure on the servo mechanism, the servo mechanism's own gravity G1=m1g, from ΣMO=0, F1L=G1 L1Cosθ ， Therefore, F1=m1g L1Cosθ / L.

[0062] like Figure 7 As shown in the figure, it is a schematic diagram of the load installation mechanism, where α is the angle between the load installation plate and the horizontal plane, G2 is the weight of the load installation mechanism itself, G2=m2g, G3 is the weight of the counterweight mechanism itself, G3=m3g, and L4 is the fixed support point O of the load installation mechanism. ’ From the distance to the active end ear, we know that CosθL=CosαL4, L4=CosθL / Cosα; By ΣM O ’ =0,m2gCosαL2+m3g CosαL3+F1 ’ L4Cos(θ-α)=F N ’ Sin(θ-α)L4, since F1=F1 ’ , F N =F N ’ Therefore, the mass of counterweight m3 is

[0063] [F N Sin(θ-α)L4-F1 L4Cos(θ-α)-m2g CosαL2] / g CosαL3.

[0064] Through fasteners such as screws, during actual transport tests, multiple groups of counterweights are combined in parallel to simulate the mass characteristics of the engine nozzle. When the servo mechanisms of different projects conduct transport tests, the mass of the counterweights is calculated according to their own characteristics, and each counterweight is effectively utilized. The relative position of the counterweights can be adjusted according to the position of the center of mass of the engine nozzle, and the counterweights can be reused in a cycle to reduce costs and improve efficiency.

[0065] There are multiple sets of fastening screw installation positions on each counterweight block. By calculating and selecting the counterweight combination of the corresponding project according to the product characteristics, transportation simulation tests of products of different projects can be realized. The relative installation position of the counterweight block on the load installation mechanism can be changed to meet different force arm requirements and simulate the mass characteristics of different engine nozzles in the horizontal state, thereby realizing transportation tests of various servo products, expanding the scope of application of the transportation test device, improving its versatility and practicality, and achieving the purpose of reducing costs and increasing efficiency.

[0066] In order to facilitate design and later processing and installation, the present invention uniformly designs the mounting brackets 41, 42, and 43, and the external mounting interfaces are consistent, and adaptive changes can be made here according to the mounting interfaces of different servo mechanism products.

[0067] In this embodiment, the overall height of the horizontal transport test device is less than 1000 mm, wherein the thickness of each counterweight block is less than 40 mm, and the thickness of the back plate 11, the bottom plate 12, and the side plates 13 and 14 are less than 20 mm.

[0068] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0069] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A servo mechanism transport simulation test device, characterized in that: It includes a universal base, a load mounting mechanism, a counterweight mechanism and a mounting support assembly, wherein: The universal base is an L-shaped structure. The mounting end of the load mounting mechanism used to support the servo mechanism is arranged at the long end position of the universal base, and the extended end of the load mounting mechanism extends to the outside of the universal base structure according to a preset mounting angle; the extended end of the load mounting mechanism is connected to the top of the servo mechanism, and the bottom of the servo mechanism is installed and connected between the mounting end of the load mounting mechanism and the bottom angle of the universal base; the counterweight mechanism is arranged opposite to the extension end of the load mounting mechanism at the top connection point of the servo mechanism to balance the servo mechanism for transportation; the mounting support components are respectively arranged at the connection position between the mounting end of the load mounting mechanism and the long end of the universal base, the connection position between the bottom of the servo mechanism and the long end of the universal base, and the connection position between the extended end of the load mounting mechanism and the top of the servo mechanism, so as to ensure the stable connection of the servo mechanism during transportation.

2. A servo mechanism transport simulation test device according to claim 1, characterized in that: The universal base comprises a back plate, a bottom plate, a first side plate, and a second side plate, wherein: The back panel is pre-installed on the bottom panel by screws to form an L-shaped structure. The first side panel and the second side panel are pre-installed with the back panel and the bottom panel respectively by screws. The connection positions of the back panel, the bottom panel, the first side panel and the second side panel are welded and fixed. The first side panel and the second side panel are symmetrically installed relative to the L-shaped structure.

3. A servo mechanism transport simulation test device according to claim 2, characterized in that: The back plate is evenly provided with mounting holes for fixing the mounting support; the design positions of the mounting holes and the mounting support are determined according to the transportation requirements of the servo mechanism and adjusted upward or downward according to the actual transportation conditions; the bottom plate is provided with table mounting holes for cooperating with the servo mechanism and fixing on the external transport test vibration table.

4. A servo mechanism transport simulation test device according to claim 2, characterized in that: The first side plate and the second side plate are both reserved with connection windows for realizing electrical connection with an external measurement and control system according to the characteristics of the servo mechanism; the back plate, the bottom plate, the first side plate and the second side plate are all made of aluminum alloy.

5. The servo mechanism transport simulation test device according to claim 2, characterized in that: The load installation mechanism includes a load installation upper plate, a load upper pressure plate, a load lower pressure plate, a load installation lower plate, a load installation lug, a load installation left crossbeam and a load installation right crossbeam, wherein: The load-mounting upper plate and the load-mounting lower plate are symmetrically arranged and are both provided with counterweight mounting holes for installing the counterweight mechanism. The load-mounting left beam and the load-mounting right beam are installed side by side to form a load body structure. The load-mounting upper plate and the load-mounting lower plate are symmetrically arranged on both sides of one end of the load body structure. The load upper pressure plate and the load lower pressure plate are symmetrically arranged on both sides of the other end of the load body structure. On one side of the installation position of the load-mounting upper plate and the load-mounting lower plate, mounting ears are arranged at the connection position of the load upper pressure plate and the load lower pressure plate, which are used to connect the mounting end of the load mounting mechanism and the mounting support assembly arranged at the connection position of the long end of the universal base.

6. A servo mechanism transport simulation test device according to claim 5, characterized in that: After the components in the load installation mechanism are screwed together, they are welded as a whole to avoid deformation and improve structural rigidity.

7. The servo mechanism transport simulation test device according to claim 5, characterized in that: The counterweight mechanism comprises a first counterweight block, a second counterweight block and a third counterweight block, wherein: The first counterweight block, the second counterweight block and the third counterweight block are used to simulate the engine nozzle load. The first counterweight block, the second counterweight block and the third counterweight block are all provided with threaded holes and mounting through holes of the same depth. The threaded holes are used to achieve fixed connection with other counterweight blocks; the mounting through holes are used to achieve connection with the load mounting upper plate and the load mounting lower plate of the load mounting mechanism.

8. The servo mechanism transport simulation test device according to claim 5, characterized in that: The calculation method of the weight m3 of the counterweight mechanism is: m3=[F N 'Sin(θ-α)L4-F1 L4Cos(θ-α)-m2g CosαL2] / g CosαL3 m2g CosαL2+m3g CosαL3+F1'L4Cos(θ-α)=F N 'Sin(θ-α)L4 CosθL=CosαL4, L4=CosθL / Cosα; Where α is the angle between the load installation mechanism and the horizontal plane, G2 is the weight of the load installation mechanism itself, G2=m2g, G3 is the weight of the counterweight mechanism itself, G3=m3g, L4 is the length from the extension end of the load installation mechanism to the active end support ear, ΣM O ’ =0.

9. A servo mechanism transport simulation test device according to claim 8, characterized in that: The calculation method of the force F1 on the extension end of the load installation mechanism is: F1L=G1 L1Cosθ ， F1=m1g L1Cosθ / LΣMO=0; Where, L is the zero position length of the servo mechanism, F N is the pressure on the servo mechanism, and the servo mechanism’s own gravity is G1=m1g.

10. A servo mechanism transport simulation test device according to claim 9, characterized in that: The overall structural connection angle of the universal base, load mounting mechanism, counterweight mechanism and mounting support assembly is adjusted according to the transportation test of the servo mechanisms of different projects, the load characteristics of the servo mechanisms in different states, the weight of each servo mechanism, and the weight of the counterweight structure. After completing a transportation test, the servo mechanism can be disassembled for repeated use.

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