Locomotive articulator testing device and method

Abstract

The invention relates to a locomotive articulation device testing device and method, and belongs to the technical field of locomotive articulation devices, and the device comprises a testing structure platform which is used for installing an articulation device so as to test the articulation device; the hydraulic driving unit is used for driving the test structure platform to simulate the operation condition of the locomotive to rotate; and the electric control operation table is used for testing logic control and collecting and processing test data so as to generate a test result. By adopting the locomotive articulator testing device, the damping performance of a trackless locomotive articulator damping control system under various operation conditions can be more accurately tested, and the stability of the performance of the articulator in the actual operation process of a trackless rubber-tyred vehicle is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of locomotive articulations, and in particular to a locomotive articulation testing device and method. Background Art

[0002] Trackless rubber-tyred vehicles are a type of transportation equipment widely used in mining, underground engineering and other fields. Trackless rubber-tyred vehicles do not require tracks and can travel freely in more complex terrains. They can adapt to different working environments, such as narrow lanes and curves, and can change their routes at any time according to actual needs, thereby improving transportation efficiency.

[0003] Compared with rail freight trains, rubber-tyred trackless vehicles can run without tracks and have high flexibility. The front and rear bodies are connected by articulations. The articulation principles of rail trains and trackless locomotives are quite different. The articulations of trackless locomotives have a damping control system, which attenuates the excitation energy and suppresses serpentine motion without affecting the steering function of the trackless locomotive. In order to ensure the smooth operation of the trackless locomotive carriage, the articulation of the trackless locomotive needs to be tested to ensure the stability of the articulation performance during the locomotive's lane change, serpentine, turning and straight-line operation. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present application provides a locomotive articulation testing device and method, aiming to provide a device and method that can more accurately test the damping control system of a trackless locomotive articulation.

[0005] To achieve the above objectives, the present application provides a locomotive articulation test device, comprising: A test structure platform, used for mounting the articulator to test the articulator; A hydraulic drive unit, used to drive the test structure platform to perform rotational motion to simulate the operating conditions of a locomotive; and The electronic control console is used for test logic control and test data collection and processing to generate test results.

[0006] Optionally, the test structure platform comprises: a bearing and a rotating shaft support, wherein the rotating shaft support is sleeved on the bearing; A connecting device having a base end connecting portion and a rotating end connecting portion, wherein the connecting device is detachably connected to the hinge; An angle sensor for acquiring the angle of the articulator; and The pressure sensor is used to collect the pressure of the damping system.

[0007] Optionally, the hydraulic drive unit comprises: a hydraulic station and a hydraulic cylinder; the hydraulic drive unit simulates the operating conditions of the locomotive by adjusting the angular velocity, angular acceleration and motion amplitude of the test platform; The rotating shaft support platform has a rocker arm extending downward, and the hydraulic cylinder is connected to the rocker arm to drive the rotating shaft support platform to rotate around the bearing.

[0008] Optionally, the base end connecting portion is arranged on the rotating shaft support platform and has a through hole and a connecting bolt to connect the base end of the hinge; The rotating end connecting part is connected to the bearing and is fixedly arranged on the test structure platform. The rotating end connecting part has a through hole and a connecting bolt to connect the rotating end of the hinge.

[0009] Optionally, the hydraulic drive unit further includes: a push cylinder for dislocating the hinge, the push cylinder having a base and a free end, and the base is fixed to the central cavity of the bearing by a flange and connecting bolts.

[0010] Optionally, the free end has a cross-structure support plate, and a groove is provided on the support plate.

[0011] Optionally, a displacement sensor is provided in the hydraulic cylinder for monitoring the displacement of the hydraulic cylinder so as to locate the installation angle of the articulator according to the displacement of the hydraulic cylinder.

[0012] Optionally, the electric control console further includes: a signal isolation module; a memory for storing test data of the articulator; and a display for displaying the test results.

[0013] In addition, to achieve the above-mentioned purpose, the present application also provides a locomotive articulation test method, using the locomotive articulation test device as described above, the method comprising: Installing a hinge, wherein the base end of the hinge is connected to the base end connecting portion, and the rotating end of the hinge is connected to the rotating end connecting portion; Performing zero calibration on the base end connection part, the rotation end connection part and the angle sensor; Testing the articulator according to the control signal simulating the locomotive operating condition; The test data of the locomotive operating condition is collected to determine the test result of the articulated joint according to the test data.

[0014] Optionally, the locomotive operating conditions include: straight driving, lane changing and turning under various speed conditions; the speed conditions include: a first speed condition, a second speed condition and a third speed condition.

[0015] The present application provides a locomotive articulation testing device and method, which includes: a test structure platform for installing an articulation to test the articulation; a hydraulic drive unit for driving the test structure platform to perform rotational motion to simulate the operating conditions of a locomotive; and an electronic control console for testing logic control and collecting and processing test data to generate test results.

[0016] Compared with the prior art, the locomotive articulation test device provided in the present application simulates the operating conditions of the locomotive during lane changing, serpentine, turning and straight-line motion, and performs corresponding rotational motion according to the operating conditions to test the damping performance of the articulation under various operating conditions, thereby ensuring the stability of the articulation performance during the actual operation of the rubber-tyred trackless vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural schematic diagram of a locomotive articulation testing device according to an embodiment of a locomotive articulation testing device and method of the present application; Figure 2 This is a cross-sectional view of the testing device AA of an embodiment of a testing device and method for a locomotive articulation of the present application; Figure 3 A side view of a testing device of an embodiment of a testing device and method for a locomotive articulation according to the present application; Figure 4 This is a front view of a test device of an embodiment of a test device and method for a locomotive articulation of the present application; Figure 5 This is a schematic diagram of a test device and an articulation structure of an embodiment of a test device and method for a locomotive articulation of the present application; Figure 6 This is a cross-sectional view of a test device and a joint DD of an embodiment of a test device and method for a locomotive joint of the present application; Figure 7 This is a cross-sectional view of a test device and an articulation EE of an embodiment of a test device and method for a locomotive articulation of the present application; Figure 8 A locomotive articulation testing device and method according to an embodiment of the present invention Figure 5 A local enlarged structural schematic diagram of area A; Fig. 9 This is a schematic diagram of the push cylinder structure of an embodiment of a locomotive articulation testing device and method of the present application; Fig.10 This is a schematic diagram of the structure of a rotating shaft support platform according to an embodiment of a locomotive articulation testing device and method of the present application.

[0018] Reference numerals: Test structure platform 100, central axis 101, rotating shaft support 110, base end connection part 120, rotating end connection part 121, angle sensor 130; Hydraulic station 200, hydraulic cylinder 210, push cylinder 220; The electric control console 300 has an articulator 400 , a base end 401 , and a rotating end 402 . DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] A trackless rubber-tyred vehicle can run without tracks. Its front and rear bodies are connected by articulations. Since it runs without tracks, the articulations have a damping control system to cope with various operating conditions, such as lane changes, serpentine, turning, and high-speed straight lines. The testing principle for trackless vehicle articulations is quite different from the existing testing principle for rail train articulations. The trackless vehicle articulation 400 has a base end 401, a rotating end 402, and a damping control system.

[0022] In the first embodiment of a locomotive articulator testing device and method of the present application, a locomotive articulator testing device includes: a test structure platform 100, used to install an articulator 400 to test the articulator 400; a hydraulic drive unit, used to drive the test structure platform 100 to perform rotational motion to simulate the operating conditions of a locomotive; and an electronic control console 300, used to test logic control and collect and process test data to generate test results.

[0023] It should be noted that, refer to Figures 1 to 4The test structure platform 100 has a connection device for installing and fixing the trackless locomotive articulator 400. The connection part fixes the base end 401 and the rotating end 402 of the trackless locomotive articulator 400 respectively to ensure that the articulator 400 can operate normally during the test. During the test, the test structure platform 100 simulates the locomotive operation condition to perform rotational motion. The hydraulic drive unit provides power drive for the test structure platform 100, simulates the speed condition of the articulator 400 when the locomotive turns, and converts the speed condition during the turn into the angular velocity, angular acceleration and motion amplitude of the test structure platform 100. The locomotive operation condition includes: straight running, lane change, serpentine and turning conditions under different locomotive running speeds. The electric control console 300 has: a programmable logic controller (PLC) for test logic control; a data acquisition card for collecting test data. The test results include the damping curve of the articulator cylinder, etc.

[0024] In this embodiment, the locomotive articulation test device simulates the operating conditions of the locomotive during straight running, lane changing, serpentine and turning movements at different speeds, and performs corresponding rotational movements according to the operating conditions to test the damping performance of the articulation under various operating conditions, thereby ensuring the stability of the articulation performance during the actual operation of the rubber-tyred trackless vehicle.

[0025] Furthermore, the test structure platform 100 includes: a bearing, a rotating shaft support 110, and the rotating shaft support 110 is sleeved on the bearing; a connecting device, having a base end connecting part 120 and a rotating end connecting part 121, and the connecting device is detachably connected to the hinge 400; an angle sensor 130, used to collect the angle of the hinge 400; and a pressure sensor, used to collect the damping system pressure of the hinge 400.

[0026] It should be noted that, refer to Figures 5 to 8 The articulator 400 has a base end 401, a rotating end 402 and a damping system, and the bearing is concentric with the rotating axis of the articulator 400. The base end 401 of the trackless locomotive articulator 400 is connected to the front body, and the rotating end 402 is connected to the rear body. When the locomotive turns, the rotating end 402 drives the rear body to turn according to the turning of the front body and the base end 401; the damping control system of the articulator 400 reduces the excessive swing of the rear body without affecting the steering function of the trackless locomotive. The base end 401 is detachably connected to the base end connection part 120, and the rotating end 402 is detachably connected to the rotating end connection part 121. The angle of the articulator 400 includes the angle of the base end 401 and the angle of the rotating end 402, and the damping system pressure is the pressure on the left damping and the right damping of the articulator 400 during the test.

[0027] In this embodiment, refer to Fig.10The central axis 101 of the rotating shaft support 110 has a circular ring, and the rotating shaft support 110 is sleeved on the outer ring of the bearing through the circular ring, and the circular ring is fixed to the outer ring of the bearing by bolts. The rotating shaft support 110 can rotate around the bearing at the central axis 101, and is used to support the base end 401 of the hinge 400, so as to drive the base end 401 to rotate during testing. During testing, the rotating end 402 and the rotating end connecting part 121 are fixed to the test structure platform 100.

[0028] Specifically, the base end connection part 120 and the rotation end connection part 121 both have connection bolts, which are connected and locked with the hinge 400 .

[0029] Furthermore, the hydraulic drive unit includes: a hydraulic station 200 and a hydraulic cylinder 210; the hydraulic drive unit simulates the operating conditions of a locomotive by adjusting the angular velocity, angular acceleration and motion amplitude of the test platform; the rotating shaft support 110 has a rocker arm extending downward, and the hydraulic cylinder 210 is connected to the rocker arm to drive the rotating shaft support to rotate around the bearing.

[0030] It should be noted that, refer to Figure 1 The hydraulic cylinder 210 includes two left and right hydraulic cylinders 210 connected to the rotating shaft support 110. The left and right hydraulic cylinders 210 move in arcs with the central axis 101 to simulate the angular velocity change and amplitude change when the vehicle turns. The hydraulic station 200 provides power for the hydraulic cylinders 210. Fig.10 The rotating shaft support 110 has at least one rocker arm extending toward the test structure platform 100, and the piston rods of the left and right hydraulic cylinders 210 clamp the rocker arm. The test structure platform 100 is provided with an arc track or an arc cavity for the rocker arm to slide, and the arc structure is consistent with the trajectory of the rocker arm rotating around the bearing. The lower end of the rocker arm has a structure that matches the shape of the aforementioned track or cavity, which facilitates the rotation of the rotating shaft support 110.

[0031] For example, when the locomotive articulation test device needs to simulate high-speed straight-line operation of the locomotive, the left and right hydraulic cylinders 210 push the rotating shaft support 110 left and right with the central axis 101 to vibrate slightly, so as to drive the base end 401 to simulate the change in the movement amplitude during high-speed straight-line operation, and the rotating end 402 is fixed. In this case, the angle of the articulation and the damping force of the damping system are tested.

[0032] Furthermore, the base end connection part 120 is arranged on the rotating shaft support 110, and has a through hole and connecting bolts to connect the base end 401 of the hinge 400; the rotating end connection part 121 is connected to the bearing and is fixedly arranged on the test structure platform 100, and the rotating end connection part 121 has a through hole and connecting bolts to connect the rotating end 402 of the hinge 400.

[0033] It should be noted that, refer to Figure 1and Fig.10 The base end connection part 120 and the rotating end connection part 121 both have through holes at multiple positions to connect different types of articulators for testing. The rotating end connection part 121 is also provided with a lateral extension structure, which is fixedly connected to the cylinder barrels of the left and right hydraulic cylinders 210 through an axle pin.

[0034] In this embodiment, the rotating end connection portion 121, the bearing, the transverse extension structure and the arc-shaped track or arc-shaped cavity are arranged on the same component, and the component is fixed during testing.

[0035] Furthermore, the hydraulic drive unit also includes: a push cylinder 220, which is used for dislocation of the articulator 400, and the push cylinder has a base and a free end, and the base is fixed to the central cavity of the bearing through a flange and connecting bolts.

[0036] Furthermore, the free end has a cross-structured support plate, and a groove is provided on the support plate.

[0037] It should be noted that, refer to Figure 6 , Figure 7 and Fig. 9 The push cylinder 220 is arranged at the central axis 101 of the test structure platform 100. The push cylinder 220 can push the articulator 400 in the up and down direction, so as to push the articulator 400 out of the test position before or after the test, so as to facilitate the installation and removal of the articulator 400. The hydraulic station 200 also provides power for the push cylinder 220. A groove is provided on the support plate to prevent the articulator from shifting when lifting.

[0038] Furthermore, a displacement sensor is disposed in the hydraulic cylinder 210 for monitoring the displacement of the hydraulic cylinder 210 so as to locate the installation angle of the articulator 400 according to the displacement of the hydraulic cylinder 210 .

[0039] It should be noted that displacement sensors are provided in the left and right hydraulic cylinders 210. The installation angle of the base end 401 of the articulator 400 can be calculated based on the displacement of the left and right hydraulic cylinders 210 to ensure that the initial angles of the base end 401 and the rotating end 402 are consistent before testing. It can also be used to position the angle of the base end 401 of the articulator 400 during testing.

[0040] Furthermore, the electric control console 300 further includes: a signal isolation module; a memory for storing the test data of the articulator 400; and a display for displaying the test results.

[0041] Specifically, refer to Figure 5The electric control console 300 is composed of industrial control computing system, LCD display, inverter, programmable logic controller (PLC), USB interface CAN card, small circuit breaker, digital input and output module, analog input and output module, filter, sensor and other auxiliary materials and other hardware and software, which can realize logic control and multi-type data collection.

[0042] The process control of the locomotive articulation test device is realized by a programmable logic controller (PLC) and a signal isolation module, and the logic control of the test structure platform is realized through software settings. The test data acquisition is realized by an industrial control computer and a high-speed acquisition card, making full use of the high speed, large-capacity storage and powerful calculation and analysis functions of the industrial control computer and the acquisition card. During the test, the pressure parameters of the articulation damping system of the articulation device in operation are collected. While collecting data, data analysis and calculation are performed to automatically generate the articulation cylinder damping curve of the tested articulation, and the damping curve, test report, etc. are stored at the same time.

[0043] In addition, the present application also provides a locomotive articulation test method, which is applied to the locomotive articulation test device as described above, and the method includes: Step S10, installing the hinge, wherein the base end 401 of the hinge is connected to the base end connection part 120, and the rotating end 402 of the hinge is connected to the rotating end connection part 121; For example, after the locomotive articulation device is assembled, it is hoisted to the installation symmetry center of the locomotive articulation device test device. The base end 401 is connected with bolts and locked, and the rotating end 402 is connected and locked.

[0044] Step S20, performing zero calibration on the base end connection part 120, the rotation end connection part 121 and the angle sensor 130; Exemplarily, after the articulation is assembled, the angle of the base end 401 and the angle of the rotating end 402 measured by the angle sensor 130 are zeroed and calibrated, and the displacement sensor in the hydraulic cylinder 210 ensures that the connecting lines of the central axes 101 of the base end connection part 120 and the rotating end connection part 121 are parallel, so that the angle calculated by the displacement sensor is consistent with the measured angle of the angle sensor 130, thereby calibrating the initial angle.

[0045] Step S30, testing the articulator by simulating the locomotive operating condition according to the control signal; It should be noted that the control signal is an externally input vehicle speed signal, a reverse signal, a turning angle signal, a brake signal, etc. To simulate the locomotive operation condition, the test structure platform 100 rotates, and the hydraulic cylinder 210 moves in an arc with the installation symmetry center as the axis, and the rotation angular velocity, angular acceleration and movement amplitude of the test structure platform 100 are adjusted according to the control signal to simulate the locomotive operation condition.

[0046] Exemplarily, the left and right hydraulic cylinders 210 drive the base end 401 to move in a left and right arc with the central axis 101 as the axis to detect whether the limit rotation of the articulator meets the design requirements and whether there is interference, jitter and abnormal noise during rotation.

[0047] For example, the speed parameters are set according to the locomotive operating conditions (lane change, serpentine, straight line, turn), and the damping force and torque of the articulated damping system are obtained according to different operating conditions, as well as whether the current signal meets the design requirements of the articulated joint. When performing a durability test on the articulated joint 400, the test device is further operated to detect whether the service life of the articulated damping system meets the design requirements in a preset form.

[0048] Furthermore, the locomotive operating conditions include: straight running, serpentine, lane change and turning under various speed conditions; the speed conditions include: a first speed condition, a second speed condition and a third speed condition.

[0049] It should be noted that the first speed condition is a low speed of less than 30 km / h; the second speed condition is a medium speed of 30 to 50 km / h; and the third speed condition is a high speed of more than 50 km / h. The test structure platform 100 simulates the vehicle's straight-running, serpentine, lane-changing and turning vehicle-side motion conditions under the first speed condition, the second speed condition and the third speed condition, and collects test data.

[0050] In this embodiment, the locomotive articulation test device collects locomotive articulation test data of straight running, serpentine running, lane changing and turning under various speed conditions, so as to test the articulation under various locomotive operating conditions, taking into account the actual operating conditions of various locomotives, and obtain more comprehensive test results.

[0051] Step S40, collecting test data of the locomotive operating condition to determine the test result of the articulator according to the test data.

[0052] Specifically, the test data includes the pressure signal in the damping system, the electromagnetic proportional valve signal, the overflow valve signal, the two-position three-way reversing valve signal, the pressure sensor signal, and the angle sensor signal.

[0053] It should be noted that the above signal may be a current or voltage signal, and the electromagnetic proportional valve signal and the overflow valve signal are the electromagnetic proportional valve signal and the overflow valve signal at the output end of the controller (ACU). The above test results include: the damping curve of the articulated cylinder.

[0054] In this embodiment, the locomotive articulation testing device and method of the present application are mainly used to test the damping characteristics of the articulation, obtain relevant data and the damping curve of the articulation cylinder, and provide data for the control of the electro-hydraulic proportional valve, so that the articulation can play a damping role during the driving of the rubber-tyred trackless vehicle, thereby ensuring the smooth operation of the rubber-tyred trackless vehicle under various operating conditions.

[0055] Specifically, the electric control console 300 has a universal electrical interface to connect the controller (ACU), and reads the current signal, vehicle speed signal, angular velocity signal, angle signal, pressure signal value, etc. transmitted between the ACU and the oil cylinder, and can be displayed and printed on the display; the connection that meets the requirements of the Controller Area Network (CAN) communication protocol can drive the base end 401 of the articulator to simulate multiple angular velocity changes; the display of the electric control console 300 displays the damping force of the damping system and / or the torque of the articulator 400, and the actual matching relationship with the pressure signal; it can also display the corresponding relationship or corresponding curve graph between the measured damping system pressure value and the actual output damping force of the damping system. The electric control console can manually control the ACU to adjust the current value or pressure value to match the damping force value or output torque output by the damping system under the preset angular velocity of the articulator sample; the electric control console can manually control the vehicle speed signal variable input to the ACU to perform tests under the constant preset angular velocity; the electric control console can also perform motion interference analysis and simulate the movement of the articulator test device on a curved road.

[0056] Furthermore, in some feasible embodiments, after the above step S40, the locomotive articulation testing method may also include: loosening the connecting bolts between the base end connection part 120 and the rotating end connection part 121 and the articulation 400, controlling the lifting cylinder 220 to lift the articulation, and then removing the tested articulation.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A locomotive articulation test device, characterized in that: include: A test structure platform, used for mounting the articulator to test the articulator; A hydraulic drive unit, used to drive the test structure platform to perform rotational motion to simulate the operating conditions of a locomotive; as well as The electronic control console is used for test logic control and test data collection and processing to generate test results.

2. The locomotive joint test device according to claim 1, characterized in that: The test structure platform comprises: a bearing and a rotating shaft support, wherein the rotating shaft support is sleeved on the bearing; A connecting device having a base end connecting portion and a rotating end connecting portion, wherein the connecting device is detachably connected to the hinge; An angle sensor for acquiring the angle of the articulator; and The pressure sensor is used to collect the pressure of the damping system.

3. The locomotive joint test device according to claim 2, characterized in that: The hydraulic drive unit comprises: a hydraulic station and a hydraulic cylinder; the hydraulic drive unit simulates the operating conditions of the locomotive by adjusting the angular velocity, angular acceleration and motion amplitude of the test platform; The rotating shaft support platform has a rocker arm extending downward, and the hydraulic cylinder is connected to the rocker arm to drive the rotating shaft support platform to rotate around the bearing.

4. The locomotive joint test device according to claim 3, characterized in that: The base end connecting portion is arranged on the rotating shaft support platform and has a through hole and a connecting bolt to connect the base end of the hinge; The rotating end connecting part is connected to the bearing and is fixedly arranged on the test structure platform. The rotating end connecting part has a through hole and a connecting bolt to connect the rotating end of the hinge.

5. The locomotive joint test device according to claim 3, characterized in that: The hydraulic drive unit further includes: a push cylinder used for dislocation of the hinge, the push cylinder having a base and a free end, and the base is fixed to the central cavity of the bearing through a flange and connecting bolts.

6. The locomotive joint test device according to claim 5, characterized in that: The free end has a cross-structured support plate, and a groove is arranged on the support plate.

7. The locomotive joint test device according to claim 3, characterized in that: A displacement sensor is arranged in the hydraulic cylinder for monitoring the displacement of the hydraulic cylinder so as to locate the installation angle of the articulator according to the displacement of the hydraulic cylinder.

8. The locomotive joint test device according to claim 1, characterized in that: The electric control console also includes: a signal isolation module; a memory for storing the test data of the articulator; and a display for displaying the test results.

9. A locomotive articulation testing method, applied to the locomotive articulation testing device according to any one of claims 1 to 8, characterized in that: include: Installing a hinge, wherein the base end of the hinge is connected to the base end connecting portion, and the rotating end of the hinge is connected to the rotating end connecting portion; Performing zero calibration on the base end connection part, the rotation end connection part and the angle sensor; Testing the articulator according to the control signal simulating the locomotive operating condition; The test data of the locomotive operating condition is collected to determine the test result of the articulated joint according to the test data.

10. The locomotive joint test method according to claim 9, characterized in that: The locomotive operating conditions include: straight running, serpentine, lane change and turning under various speed conditions; the speed conditions include: a first speed condition, a second speed condition and a third speed condition.

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