Continuous on-load simulation launching ground test device

Abstract

The invention discloses a continuous on-load simulation launching ground test device, which comprises a test bearing frame, a switching platform, an airborne launching system, a launching recovery device, a vertical loading and lateral loading control system, an electromagnetic release device and a high-speed image acquisition system, the vertical loading and lateral loading control system is a servo actuation system or an electric hoist tension system, the test bearing frame comprises a base, a first stand column, a bearing beam and a triangular block, and the airborne launching system comprises an airborne launching device, a throwing object, a launching control simulation test bed and a small oil source. The electromagnetic release device comprises a disc type loading tool, a sucker type electromagnet, a correlation type photoelectric switch, a relay and a first power supply, and the high-speed image acquisition system comprises a high-speed camera, a multi-channel time sequence controller and an image acquisition upper computer. The device can be widely applied to the launch test of various airborne launchers and the launch test in a continuous loading state, and the design and construction of a launch test system.

Description

Technical Field

[0001] The present invention belongs to the technical field of testing, and particularly relates to a continuous load-bearing simulation dropping ground test device. Background Art

[0002] The dropping test is the main test method for verifying the stability of the electronic control system, the safety of the separation mechanism and the mission reliability of the airborne launch device. By simulating the mechanical and environmental factors of the airborne launch device in the actual use environment on the ground, and evaluating its key performance indicators such as dropping accuracy, dropping speed, dropping distance, etc., it has a decisive significance for the mission execution effect and success rate, and provides an important reference basis for the subsequent equipment research and development and performance improvement. The airborne launch device uses a flight vehicle as a platform and is used to throw a payload at a designated target, and is an important link for executing mission instructions, completing payload separation and ensuring mission realization. With the continuous development of modern technical equipment, the performance requirements for airborne launch devices are increasing day by day. In order to cope with complex operating environments and diverse mission requirements, airborne launch devices not only need to be able to withstand mechanical shocks under extreme conditions such as high-speed flight and sharp maneuvers without structural failure, but also need to ensure the safety and reliability of the electronic control system and the separation mechanism to ensure the accurate transmission and smooth execution of the mission.

[0003] To verify the reliability of the airborne launch device during the payload dropping process, by reproducing the airborne launch state through ground simulation tests and comprehensively testing the functional performance of the airborne launch device, it can not only ensure its reliability and stability in actual use, but also discover potential design defects and performance problems, providing strong data support for subsequent improvement and optimization. Therefore, conducting a simulated ground dropping reliability assessment of the airborne launch device is of great significance for ensuring the safety of the flight vehicle and mission reliability.

[0004] The airborne launch device delivery test is to install the airborne launch device in the test bearing frame and conduct the delivery test after loading the centroid of the thrown object to the specified load. However, for the airborne launch device with a mechanism extension action before delivery, there are the following problems: (1) When the vertical positive overload load is loaded in place, at the moment when the mechanism extends, the response speed of the servo actuator lags behind the mechanism extension speed, and it is impossible to maintain the dynamic adjustment of load synchronization, which will cause the loss of load data during the mechanism extension period, thus affecting the accuracy of test data; (2) When the lateral simulated rolling load is loaded in place, the loading axis deviates after the mechanism extends, and it does not act vertically on the loading surface to produce an angle, resulting in a deviation between the actual loading load and the expected load, thereby affecting the accuracy of test data; (3) During the test process, parameters such as the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation and time of the airborne launch device need to be measured and recorded. Through the launch trajectory and separation attitude of the thrown object, the separation safety between the thrown object and the carrier aircraft is judged to avoid interference or collision between the load and the carrier aircraft after separation. Summary of the Invention

[0005] To solve the deficiencies in the prior art, the present invention provides a continuous load-carrying simulation delivery ground test device.

[0006] The present invention provides the following technical solutions:

[0007] A continuous load-carrying simulation delivery ground test device includes a test bearing frame, a transfer platform, an airborne launch system, a delivery and recovery device, a vertical loading and lateral loading control system, an electromagnetic release device and a high-speed image acquisition system, wherein:

[0008] The test bearing frame includes a base, a first column on the base, a bearing beam above the first column and a triangular block, and the test bearing frame is installed on the foundation;

[0009] The airborne launch system includes an airborne launch device, a thrown object, a firing control simulation test bench and a small oil source. The thrown object is suspended and connected to the airborne launch device. The airborne launch device is connected to the small oil source through high and low pressure oil pipes, and the airborne launch device is connected to the firing control simulation test bench through cables;

[0010] The delivery and recovery device includes a buffer pad, a rubber ring and an explosion-proof wall;

[0011] The vertical loading and lateral loading control system is a servo actuator system. The servo actuator system includes an oil source control host computer, an oil source power system, an oil source cooling system, a hydraulic sub-station, a loading control host computer, a servo actuator, a servo controller and a transfer cabinet;

[0012] The electromagnetic release device includes a disc-type loading tooling, a suction cup type electromagnet, an opposed type photoelectric switch, a relay, and a first power source. The disc-type loading tooling is connected to the projectile, and the suction cup type electromagnet is magnetically connected to the disc-type loading tooling.

[0013] Further, the servo actuator includes a support, a cylinder barrel, a piston rod, a servo valve, a force sensor, a displacement sensor, and a safety valve group. The oil source control host computer is connected to the oil source power system for transmitting instructions to the oil source power system. The oil source power system, the hydraulic sub-station, and the servo actuator are sequentially connected through pipelines for supplying oil to the servo actuator. The oil source power system is connected to the oil source cooling system for cooling the oil source equipment and the oil fluid. The loading control host computer is connected to the servo controller for transmitting instructions to the servo controller. The servo controller, the servo valve, the force sensor, and the displacement sensor are all connected to the transfer cabinet. The loading control host computer sends a control signal to the servo controller, which reaches the servo actuator through the transfer cabinet. The servo valve converts the electrical signal into a hydraulic signal, and further the servo actuator converts the hydraulic signal into an action signal. The servo controller then controls the piston rod to execute the loading action through the signals fed back by the reference force sensor and the displacement sensor to form a closed-loop control.

[0014] Further, the opposed type photoelectric switch includes a photoelectric switch emitter, a photoelectric switch receiver, and an opposed type photoelectric switch transfer tooling. The photoelectric switch emitter and the photoelectric switch receiver are respectively arranged on both sides of the projectile. The first power source provides electrical energy for the electromagnetic release device. The photoelectric switch emitter emits a laser beam to the photoelectric switch receiver to form a detection circuit. When the projectile is launched, the optical path of the laser beam changes, triggering the relay to act, thereby controlling the on-off of the circuit, and realizing the closed-loop control of the electromagnetic release device through the magnetic attraction and demagnetization of the suction cup type electromagnet.

[0015] Further, the high-speed image acquisition system includes a high-speed camera, a multi-channel timing controller, and an image acquisition host computer.

[0016] Furthermore, the vertical loading and lateral loading control system is an electric hoist tension system. The electric hoist tension system includes an electric hoist, a load measurement host computer, a load sensor, a signal amplifier, a data collector, and a second power supply. Fish-eye bolts are arranged at both the upper and lower ends of the load sensor. The fish-eye bolt at the upper end of the load sensor is connected to the electric hoist through a steel wire rope. The signal amplifier and the load sensor are connected through a cable. The load measurement host computer, the data collector, the signal amplifier, and the second power supply are connected in sequence. The load sensor monitors the dynamic change of the load signal in real time, amplifies and transmits the load signal through the signal amplifier. The data collector processes and sends the amplified transmitted signal. The load measurement host computer displays and records the received data in real time, realizes the integrity and smoothness of the entire signal transmission link, and completes the real-time transmission and monitoring of data.

[0017] Furthermore, a threaded hole is formed in the lower side of the projectile. The threaded part of the first eyebolt is threadedly connected to the threaded hole. The eyebolt part of the first eyebolt is connected to a steel wire rope. The steel wire rope is wound around a fixed pulley and then connected to one end of an elastic cord. The other end of the elastic cord is connected to the piston rod of the servo actuator. The fixed pulley is installed on a pulley adapter tooling, and the pulley adapter tooling is installed on the foundation.

[0018] Furthermore, a threaded hole is formed in the lower side of the projectile. The threaded part of the first eyebolt is threadedly connected to the threaded hole. The eyebolt part of the first eyebolt is connected to a steel wire rope. The steel wire rope is wound around a fixed pulley and then connected to one end of an elastic cord. The other end of the elastic cord is connected to the fish-eye bolt at the lower end of the load sensor. The fixed pulley is installed on a pulley adapter tooling, and the pulley adapter tooling is installed on the foundation.

[0019] Furthermore, a threaded hole is formed in the side of the projectile. The disc-type loading tooling includes a first magnetic disc and a screw rod in the middle of the disc. The disc-type loading tooling and the projectile are threadedly connected through the screw rod. The sucker electromagnet includes a second magnetic disc and a second eyebolt threadedly connected to the second magnetic disc. The sucker electromagnet and the disc-type loading tooling are magnetically connected. The second eyebolt is connected to a steel wire rope, and this steel wire rope is connected to one end of an elastic cord. The other end of the elastic cord is connected to the piston rod of the servo actuator. The servo actuator is installed on the second column through a triangular block.

[0020] Furthermore, a threaded hole is formed in the side of the projectile. The threaded part of the first eyebolt is threadedly connected to the threaded hole. The eyebolt part of the first eyebolt is connected to a steel wire rope. This steel wire rope is connected to one end of an elastic cord. This elastic cord is wound around a fixed pulley and then connected to the fish-eye bolt at the lower end of the load sensor. The fixed pulley is installed on a pulley adapter tooling, and the pulley adapter tooling is installed on the second column.

[0021] Furthermore, the transfer platform is connected to the lower part of the load-bearing beam, and the projectile is connected to the lower part of the transfer platform.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. The test load-bearing frame can replace the quantity, length, etc. of the beams, columns, and triangular blocks according to the size requirements of the airborne launch device, and can modularly design the structural shape of the test load-bearing frame, improving the flexibility of the test load-bearing frame structure to meet the load-bearing and size requirements of various airborne launch devices.

[0024] 2. The transfer platform can be designed and processed according to the installation interface size of the airborne launch device, truly simulating the installation boundary of the airborne launch device on the aircraft to meet the installation requirements of different models of airborne launch devices.

[0025] 3. The delivery and recovery device can purchase mature products according to different model requirements, and the materials are all reusable and recyclable, improving the assessment efficiency of the delivery test of the airborne launch device in the continuous loaded state, effectively reducing the test cost, and at the same time, the buffer recovery area can be adjusted according to different test technical requirements to meet the recovery requirements of different models of projectiles.

[0026] 4. Both the servo actuator system and the electric hoist tension system can apply mechanical loads for the lateral simulated roll ejection delivery and vertical positive overload ejection delivery of the airborne launch device.

[0027] 5. The high-speed image acquisition system measures and analyzes parameters such as the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation, and time of the airborne launch device, realizing the accuracy assessment of the airborne launch device to complete the delivery in the continuous loaded state.

[0028] 6. The present invention can realize the synchronous dynamic adjustment of the load when the delivery mechanism of the airborne launch device extends, maintaining the continuous loaded state to meet the assessment requirements of different models of airborne launch devices to complete the delivery test on the ground. Description of the Drawings

[0029] Figure 1 is a schematic diagram of the first vertical positive overload ejection delivery scheme;

[0030] Figure 2 is a schematic diagram of the second vertical positive overload ejection delivery scheme;

[0031] Figure 3 is a schematic diagram of the first lateral simulated roll ejection delivery scheme;

[0032] Figure 4 is a schematic diagram of the second lateral simulated roll ejection delivery scheme;

[0033] Figure 5 is a schematic structural diagram of the test bearing frame;

[0034] Figure 6 is a schematic structural diagram of the transfer platform;

[0035] Figure 7 is Figure 1 and Figure 2 a schematic diagram of the loading and unloading device in

[0036] Figure 8 is Figure 3 and Figure 4 a schematic diagram of the loading and unloading device in

[0037] Figure 9 is a schematic diagram of the explosion-proof brick;

[0038] Figure 10 is a schematic diagram of the servo actuator;

[0039] Figure 11 is a schematic diagram of the disc-type loading tooling;

[0040] Figure 12 is a schematic diagram of the sucker-type electromagnet;

[0041] Figure 13 is a schematic diagram of the opposed photoelectric switch;

[0042] Figure 14 is a schematic diagram of the electric hoist;

[0043] Figure 15 is a schematic combined structure diagram of the load sensor, fish-eye bolt and signal amplifier;

[0044] Figure 16 is a schematic diagram of the first eyebolt;

[0045] Figure 17 is a schematic diagram of the fixed pulley;

[0046] Figure 18 is a schematic diagram of the pulley transfer tooling;

[0047] Figure 19 is a schematic diagram of the electric hoist transfer tooling;

[0048] Figure 20 is a schematic diagram of the shackle;

[0049] Figure 21 is a schematic diagram of the airborne launch system;

[0050] Figure 22 is a schematic diagram of the servo actuator system;

[0051] Figure 23 is the schematic diagram of the electromagnetic release device;

[0052] Figure 24 is the schematic diagram of the electric hoist pulling force system;

[0053] Figure 25 is the schematic diagram of the high-speed image acquisition system;

[0054] Figure 26 is Figure 1 the schematic diagram of the removal of Figure 7 in;

[0055] Figure 27 is Figure 2 the schematic diagram of the removal of Figure 7 in;

[0056] Figure 28 is Figure 3 the schematic diagram of the removal of Figure 8 in;

[0057] Figure 29 is Figure 4 the schematic diagram of the removal of Figure 8 in.

[0058] Among them, 1 - test bearing frame, 111 - base, 112 - first column, 113 - bearing beam, 114 - triangular block, 115 - second column, 2 - transfer platform, 211 - flat plate, 212 - mounting boss, 213 - counterbore, 3 - foundation, 4 - airborne launch device, 5 - projectile, 6 - firing control simulation test bench, 7 - small oil source, 8 - buffer pad, 9 - rubber ring, 10 - explosion-proof wall, 101 - explosion-proof brick, 11 - upper computer for oil source control, 12 - oil source power system, 13 - oil source cooling system, 14 - hydraulic sub-station, 15 - upper computer for loading control, 16 - servo actuator, 161 - support, 162 - cylinder barrel, 163 - piston rod, 164 - servo valve, 165 - force sensor, 166 - displacement sensor, 167 - safety valve group, 17 - servo controller, 18 - transfer cabinet, 19 - disc-type loading tooling, 191 - first magnetic adsorption disc, 192 - screw, 20 - sucker-type electromagnet, 201 - second magnetic adsorption disc, 202 - second lifting ring bolt, 21 - opposed photoelectric switch, 2111 - photoelectric switch transmitter, 2112 - photoelectric switch receiver, 2113 - opposed photoelectric switch transfer tooling, 22 - relay, 23 - first power supply, 24 - high-speed camera, 25 - multi-channel timing controller, 26 - image acquisition upper computer, 27 - electric hoist, 28 - upper computer for load measurement, 29 - load sensor, 30 - signal amplifier, 31 - data acquisition instrument, 32 - second power supply, 33 - fish-eye bolt, 34 - steel wire rope, 35 - first lifting ring bolt, 36 - fixed pulley, 37 - elastic cord, 38 - pulley transfer tooling, 39 - wireless remote control, 40 - wiring handle, 41 - overhead crane, 42 - electric hoist transfer tooling, 43 - shackle, 44 - power distribution cabinet. Specific embodiments

[0059] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0060] As Figure 1 - Figure 29 shown, a continuous load-bearing simulation delivery ground test device includes a test bearing frame 1, a transfer platform 2, an airborne launch system, a delivery and recovery device, a vertical loading and lateral loading control system, an electromagnetic release device, and a high-speed image acquisition system, wherein:

[0061] The test bearing frame 1 includes a base 111, a first column 112 on the base 111, a bearing beam 113 above the first column 112, and a triangular block 114. The test bearing frame 1 is installed on the foundation 3;

[0062] The airborne launch system includes an airborne launch device 4, a projectile 5, a firing control simulation test bench 6, and a small oil source 7. The projectile 5 is suspended and connected to the airborne launch device 4. The airborne launch device 4 is connected to the small oil source 7 through high- and low-pressure oil pipes. The airborne launch device 4 is connected to the firing control simulation test bench 6 through a cable.

[0063] The dropping and recovery device includes a buffer pad 8, a rubber ring 9, and an explosion-proof wall 10.

[0064] The vertical loading and lateral loading control system is a servo actuator system. The servo actuator system includes an oil source control host computer 11, an oil source power system 12, an oil source cooling system 13, a hydraulic sub-station 14, a loading control host computer 15, a servo actuator 16, a servo controller 17, and a transfer cabinet 18.

[0065] The electromagnetic release device includes a disc-type loading tooling 19, a sucker-type electromagnet 20, an opposed-beam photoelectric switch 21, a relay 22, and a first power supply 23. The disc-type loading tooling 19 is connected to the projectile 5. The sucker-type electromagnet 20 is magnetically connected to the disc-type loading tooling 19.

[0066] For the continuous load-bearing simulation dropping ground test device, the servo actuator 16 includes a support 161, a cylinder barrel 162, a piston rod 163, a servo valve 164, a force sensor 165, a displacement sensor 166, and a safety valve group 167. The oil source control host computer 11 is connected to the oil source power system 12 and is used to transmit instructions to the oil source power system 12. The oil source power system 12, the hydraulic sub-station 14, and the servo actuator 16 are sequentially connected through pipelines and are used to supply oil to the servo actuator 16. The oil source power system 12 is connected to the oil source cooling system 13 and is used to cool the oil source equipment and the oil. The loading control host computer 15 is connected to the servo controller 17 and is used to transmit instructions to the servo controller 17. The servo controller 17, the servo valve 164, the force sensor 165, and the displacement sensor 166 are all connected to the transfer cabinet 18. The loading control host computer 15 sends a control signal to the servo controller 17, which reaches the servo actuator 16 through the transfer cabinet 18. The servo valve 164 converts the electrical signal into a hydraulic signal, and further the servo actuator 16 converts the hydraulic signal into an action signal. The servo controller 17 then controls the piston rod 163 to perform a loading action through the signals fed back by the reference force sensor 165 and the displacement sensor 166 to form a closed-loop control.

[0067] For the described continuous load-carrying simulation delivery ground test device, the opposed photoelectric switch 21 thereof includes a photoelectric switch transmitter 2111, a photoelectric switch receiver 2112, and an opposed photoelectric switch adapter tooling 2113. The photoelectric switch transmitter 2111 and the photoelectric switch receiver 2112 are respectively arranged on both sides of the projectile 5. The first power supply 23 supplies electrical energy to the electromagnetic release device. The photoelectric switch transmitter 2111 emits a laser beam to the photoelectric switch receiver 2112 to form a detection circuit. When the projectile 5 is delivered, the optical path of the laser beam changes, triggering the relay 22 to act, thereby controlling the on-off of the circuit. The closed-loop control of the electromagnetic release device is realized through the magnetic attraction and demagnetization of the suction cup electromagnet 20.

[0068] For the described continuous load-carrying simulation delivery ground test device, its high-speed image acquisition system includes a high-speed camera 24, a multi-channel timing controller 25, and an image acquisition host computer 26.

[0069] For the described continuous load-carrying simulation delivery ground test device, its vertical loading and lateral loading control system is an electric hoist tension system. The electric hoist tension system includes an electric hoist 27, a load measurement host computer 28, a load sensor 29, a signal amplifier 30, a data acquisition instrument 31, and a second power supply 32. The upper and lower ends of the load sensor 29 are provided with fish-eye bolts 33. The fish-eye bolt 33 at the upper end of the load sensor 29 is connected to the electric hoist 27 through a steel wire rope 34. The signal amplifier 30 and the load sensor 29 are connected through a cable. The load measurement host computer 28, the data acquisition instrument 31, the signal amplifier 30, and the second power supply 32 are sequentially connected. The load sensor 29 monitors the dynamic change of the load signal in real time, and realizes the amplification and transmission of the load signal through the signal amplifier 30. The data acquisition instrument 31 processes and sends the transmitted amplified signal. The load measurement host computer 28 displays and records the received data in real time, realizes the integrity and smoothness of the entire signal transmission link, and completes the real-time transmission and monitoring of data.

[0070] For the described continuous load-carrying simulation delivery ground test device, a threaded hole is opened on the lower side of the projectile 5. The threaded part of the first eye bolt 35 is threadedly connected to the threaded hole. The eye part of the first eye bolt 35 is connected to the steel wire rope 34. The steel wire rope 34 bypasses a fixed pulley 36 and then is connected to one end of an elastic rope 37. The other end of the elastic rope 37 is connected to the piston rod 163 of the servo actuator 16. The fixed pulley 36 is installed on a pulley adapter tooling 38. The pulley adapter tooling 38 is installed on the foundation 3.

[0071] For the described continuous load-bearing simulation dropping ground test device, a threaded hole is provided on the lower side of the projectile 5, and the threaded part of the first eyebolt 35 is threadedly connected to this threaded hole. The eyebolt part of the first eyebolt 35 is connected to the wire rope 34. The wire rope 34 is wound around the fixed pulley 36 and then connected to one end of the elastic rope 37. The other end of the elastic rope 37 is connected to the fish-eye bolt 33 at the lower end of the load sensor 29. The fixed pulley 36 is installed on the pulley adapter tooling 38, and the pulley adapter tooling 38 is installed on the foundation 3.

[0072] For the described continuous load-bearing simulation dropping ground test device, a threaded hole is provided on the side of the projectile 5. The disc-type loading tooling 19 includes a first magnetic suction disc 191 and a screw rod 192 in the middle of the disc. The disc-type loading tooling 19 and the projectile 5 are threadedly connected through the screw rod 192. The sucker-type electromagnet 20 includes a second magnetic suction disc 201 and a second eyebolt 202 threadedly connected to the second magnetic suction disc 201. The sucker-type electromagnet 20 and the disc-type loading tooling 19 are magnetically connected. The second eyebolt 202 is connected to the wire rope 34, and this wire rope 34 is connected to one end of the elastic rope 37. The other end of the elastic rope 37 is connected to the piston rod 163 of the servo actuator 16. The servo actuator 16 is installed on the second column 115 through the triangular block 114.

[0073] For the described continuous load-bearing simulation dropping ground test device, a threaded hole is provided on the side of the projectile 5. The threaded part of the first eyebolt 35 is threadedly connected to this threaded hole. The eyebolt part of the first eyebolt 35 is connected to the wire rope 34. This wire rope 34 is connected to one end of the elastic rope 37. This elastic rope 37 is wound around the fixed pulley 36 and then connected to the fish-eye bolt 33 at the lower end of the load sensor 29. The fixed pulley 36 is installed on the pulley adapter tooling 38, and the pulley adapter tooling 38 is installed on the second column 115.

[0074] For the described continuous load-bearing simulation dropping ground test device, the transfer platform 2 is connected to the lower part of the bearing beam 113, and the projectile 5 is connected to the lower part of the transfer platform 2.

[0075] The normally open contact end of the relay 22 is electrically connected to the positive pole end of the sucker-type electromagnet 20, and the negative pole of the sucker-type electromagnet 20 is connected to the negative pole of the first power supply 23 through a wire.

[0076] The transfer platform 2 includes a flat plate 211, a mounting boss 212 on the flat plate 211, and a countersunk hole 213. The countersunk hole 213 is connected to the top bearing beam 113 of the test bearing frame 1 through bolts. The mounting boss 212 is connected to the mechanical interface on the airborne launch device 4 through bolts. At the same time, the mounting boss 212 abuts against the anti-support interface on the airborne launch device 4.

[0077] The support 161 of the servo actuator 16 is connected to the triangular block 114, which is connected to the foundation 3 or the second column 115.

[0078] The first eyebolt 35 has the same structure as the second eyebolt 202.

[0079] The test load-bearing frame 1 is used to provide stable structural support and withstand the reaction force generated by the ejection of the projectile 5.

[0080] The base 111 is stably and reliably connected to the foundation 3 through bolts, and undertakes the transfer of the reaction force of the airborne launch device 4 to the foundation 3 during the vertical positive overload ejection and the lateral simulated roll ejection. The test load-bearing frame 1 has a high load-bearing capacity of 10T, and the deformation amount does not exceed 0.5mm. The base 111, the first column 112, the load-bearing beam 113, the triangular block 114 and the second column 115 all have common standard interfaces. According to the size of the airborne launch device 4, the structural shape of the test load-bearing frame 1 can be modularly designed, greatly improving the flexibility of building the test load-bearing frame 1 to meet the load-bearing and size requirements of various airborne launch devices 4. It has the characteristics of simple structure, efficient building, reusable and safety guarantee, and can effectively improve the test efficiency.

[0081] The adapter platform 2 is used to fix the airborne launch device 4 and simulate the installation boundary of the airborne launch device 4 on the aircraft.

[0082] The adapter platform 2 is designed with countersunk holes 213 distributed in an array, so as to ensure a flat surface, avoid interference, and can also effectively disperse the load and reduce local stress concentration. The countersunk holes 213 are connected to the top load-bearing beam 113 of the test load-bearing frame 1 through bolts. The adapter platform 2 is designed with mounting bosses 212 with the same height at the mechanical interface and the anti-support interface positions of the airborne launch device 4, which not only ensures the flatness of the mounting plane, improves the stability and reliability of the connection, but also facilitates positioning and installation. Threaded mounting holes are machined on the mounting bosses 212 corresponding to the mechanical interfaces and connected to the mechanical interfaces on the airborne launch device 4 through bolts. At the same time, the mounting bosses 212 are abutted against the corresponding anti-support interfaces of the airborne launch device 4 to provide a support surface for the airborne launch device 4, increasing the stability of the airborne launch device 4, ensuring that the airborne launch device 4 can maintain an accurate position and attitude during flight, accurately simulating the installation boundary of the airborne launch device 4 on the aircraft, and ensuring the authenticity, accuracy and effectiveness of the delivery assessment.

[0083] The airborne launch system includes an airborne launch device 4, a projectile 5, a firing control simulation test bench 6 and a small oil source 7. The airborne launch device 4 is energized by the small oil source 7, and the firing control simulation test bench 6 issues commands to execute the ejection action of the projectile 5.

[0084] The airborne launch device 4, as the test article, connects the carrier aircraft and the projectile, enabling the projectile to be stably mounted on the aircraft and controlling the unlocking, ejection, and separation of the projectile during mission execution, ensuring that the projectile can leave the carrier aircraft in the best attitude and speed and fly towards the target; the projectile 5 is used to verify the performance of the airborne launch device 4 under actual loads. Through the launch process of the projectile 5, the dynamic characteristics of the airborne launch device 4 can be evaluated to ensure that the projectile can be smoothly and safely separated from the carrier aircraft; the small oil source 7 is the power source of the airborne launch device 4, providing ejection power for the projectile 5. The small oil source 7 adopts a mobile and integrated design for easy movement and use. Its features include: using YH-15 hydraulic oil as the working medium, with a stable system working pressure not less than 28 MPa, adopting an efficient constant-pressure variable mode to meet the power requirements of the airborne launch device 4. The outlet pressure of the oil source is adjustable, the rated flow is not less than 10 L / min, the back pressure of the return oil is not less than 2 MPa, and it can be continuously adjusted between 0 and 2 MPa to improve the adaptability and stability of the hydraulic system. The effective volume of the oil source is not less than 50 L to meet the requirements of the airborne launch device 4 for the amount of hydraulic oil. The oil source is equipped with a separate oil drain port for easy maintenance and replacement of hydraulic oil. Pressure measurement points are set at the pump outlet, oil source outlet, and return oil to facilitate real-time monitoring and regulation of the system pressure. To ensure the efficient and stable operation of the oil source, an air-cooling method is used for cooling, and an oil temperature alarm function is equipped. An alarm is issued when the oil temperature exceeds 60 °C, and automatic shutdown occurs when it exceeds 70 °C. A high-precision filter is set at the oil source outlet, with a filtration accuracy not less than 3 µm. At the same time, a filter is also set in the return oil pipeline, with a filtration accuracy not less than 20 µm, to maintain the cleanliness of the hydraulic oil and ensure the stable operation of the system. A valve is installed between the suction port of the pump and the fuel tank, and manual valves are set at the outlet of the high-pressure pipeline and the return oil port of the fuel tank for easy disassembly, replacement, and maintenance; the firing control simulation test bench 6 is the core control hub of the airborne launch device 4. The small oil source 7 is connected to the airborne launch device 4. The hydraulic oil is manually pressurized to the specified pressure, and the opening and closing states of the solenoid valves in the airborne launch device 4 are controlled through the built-in logic algorithm of the firing control simulation test bench 6 to realize the input of the hydraulic oil from the small oil source 7, thereby driving the airborne launch device 4 to complete the launch action.

[0085] The servo actuation system is used to perform vertical positive overload and lateral simulated roll load loading, and can achieve precise control and multi-dimensional loading of the load.

[0086] The loading control host computer 15 and the oil source control host computer 11 can remotely control the servo controller 17 and the oil source power system 12 respectively and monitor the equipment status. The oil source power system 12, as the power source of the servo loading system, is responsible for delivering the required high-pressure hydraulic oil; the hydraulic sub-station 14 contains an oil distributor. Through the pre-positioned oil distributor, the high-pressure hydraulic oil output by the oil source power system 12 is first separated into multiple paths and output to the hydraulic sub-station 14. At the same time, the hydraulic sub-station 14, as the secondary pressure regulating unit of the servo loading system, can not only perform secondary regulation and voltage stabilization on the high-pressure oil provided by the oil distributor, but also filter the oil; the main function of the oil source cooling system 13 is to cool the oil source equipment and the oil to ensure the normal operation of the hydraulic system; the servo actuator 16 performs the loading action according to the test instructions; the servo controller 17, through the real-time feedback of the displacement and load sensor of the servo actuator 16, regulates the oil supply flow of the oil source power system 12 to achieve precise control of the output displacement or output force of the servo actuator 16, thereby forming a servo actuation closed-loop control system; during the test process, the servo controller can perform manual intervention on loading, unloading, starting, stopping, loading rate, control parameters and emergency unloading at any time to ensure the accuracy of the test load and the requirements of gradient loading.

[0087] Apply vertical positive overload and lateral simulated rolling load through the servo controller 17. Confirm the installation height and position of the servo actuator 16 according to the end position of the load force line. Connect the support 161 of the servo actuator 16 to the second column 115 through bolts. Connect the high and low pressure oil pipes to the hydraulic interfaces on the safety valve group 167 respectively. Connect the servo valve 164 interface, the force sensor 165 interface, and the displacement sensor 166 interface to the transfer cabinet 18 through the integrated cable respectively. The oil source control host computer 11 sends a control signal to the oil source power system 12, and then the high-pressure hydraulic oil output by the oil source power system 12 is separated into multiple paths and output to the hydraulic sub-station 14 through the pre-positioned oil distributor, and then output to the servo actuator 16. The oil source cooling system 13 cools the oil source equipment and the oil. The loading control host computer 15 sends a control signal, which reaches the servo actuator 16 after being processed by the servo controller 17 and the transfer cabinet 18. The servo valve 164 converts the electrical signal into a hydraulic signal, and further converts the hydraulic signal into an output displacement signal and a force signal through the servo actuator 16. The displacement sensor 166 and the force sensor 165 convert them into electrical signals to control the piston rod 163 in the cylinder barrel 162 to perform the loading action, thereby realizing the closed-loop control function of the servo actuation system.

[0088] The throwing and recovery device is used for the recovery of the ejection of the projectile 5, and includes a buffer pad 8, a rubber ring 9 and an explosion-proof wall 10. The buffer pad 8 is a high-damping and low-rebound buffer pad. The explosion-proof wall 10 is stacked by explosion-proof bricks 101. The explosion-proof bricks 101 are hollow structures filled with sand and gravel, and can quickly absorb energy and buffer when encountering impacts. This device can effectively reduce the rebound of the projectile 5 and the sliding impact after landing, and reduce the damage of the projectile 5.

[0089] The laying area of the throwing and recovery device needs to be designed according to the test technical requirements. When designing the load loading forms of the vertical positive overload ejection and the lateral simulated rolling ejection, the steel wire rope 34 is used as the main force transmission medium. To further optimize the integrity and accuracy of the load during the throwing process, a high-elasticity elastic rope 37 is installed at the connection between the steel wire rope 34 and the servo actuator 16 or the electric hoist 27, which can effectively absorb and disperse the impact energy generated during throwing, thereby ensuring the stability and safety of the projectile ejection test process. Among them, the vertical positive overload ejection movement trajectory of the projectile 5 can be approximately regarded as a vertical downward throwing movement under the action of gravity acceleration, and the landing point position of the projectile 5 is directly below the airborne launch device 4. The lateral simulated rolling ejection movement trajectory of the projectile 5 can be approximately regarded as a horizontal projectile movement under the action of gravity acceleration, and it is necessary to estimate the landing point position of the projectile 5 in the horizontal direction.

[0090] Based on the law of conservation of energy, the projectile obtains an initial velocity v at the moment of throwing 0 :

[0091]

[0092]

[0093] Among them, v is the instantaneous throwing velocity of the projectile, m / s; m is the weight of the projectile, kg, k is the elastic coefficient of the elastic rope, N / m; x is the elongation of the elastic rope, m.

[0094] The falling time t of the projectile is:

[0095]

[0096] Among them, h is the falling height of the projectile, m; g is the gravity acceleration, m / s 2 ; t is the falling time, s.

[0097] The horizontal distance x of the projectile landing point 1 is:

[0098]

[0099] Through the above theoretical calculations, the horizontal landing point interval [-x1, x1] of the thrown object can be obtained. Considering factors such as the deviation distance, potential error, size of the delivery and recovery device, and layout of the test bearing frame 1 in extreme cases, an appropriate safety margin x is reserved in combination with engineering experience 2 , to ensure that the delivery and recovery device can effectively and reliably recover the thrown object. Finally, the buffer recovery interval [-x1 - x2, x1 + x2] is obtained, and the range for laying the high-damping and low-rebound buffer pad can be confirmed accordingly.

[0100] To avoid secondary rebound when the thrown object falls onto the delivery and recovery device, causing damage to the thrown object, airborne launch device, delivery test device, and surrounding equipment, it is necessary to verify the rebound height through theoretical calculations. Based on the law of conservation of energy, a simplified model can be established to approximately estimate the rebound height. When the thrown object falls onto the buffer pad, its kinetic energy begins to decrease. Part of the energy is absorbed by the buffer pad, and the other part is converted into the rebound kinetic energy of the thrown object. Due to the high-damping characteristics of the buffer pad, most of the energy is absorbed, and a small part of the energy is used for the rebound of the object.

[0101] The initial kinetic energy E k is:

[0102]

[0103] The rebound kinetic energy E r is:

[0104]

[0105] where v 1 is the rebound velocity of the thrown object, in m / s.

[0106] Neglecting the influence of air resistance, the relationship between the rebound height h 1 and the rebound velocity is:

[0107]

[0108] The rebound kinetic energy E r is finally expressed as:

[0109]

[0110] The rebound kinetic energy E of the thrown object r should be equal to the initial kinetic energy E k minus the energy E absorbed by the buffer pad abs , that is:

[0111]

[0112] Among them, E abs needs to be confirmed according to the performance parameters of the cushion. Due to the characteristics of the high-damping and low-rebound cushion, E abs will be much greater than E r .

[0113] Furthermore, the approximate formula for the rebound height h 1 is obtained as follows:

[0114]

[0115] Through the above theoretical calculations, the rebound height of the projectile can be obtained, so as to effectively evaluate the safety of the delivery test device, avoid potential safety risks, and ensure the personal safety of the test personnel.

[0116] Based on the 5-level landing point interval of the projectile calculated above, the minimum longitudinal span of the test bearing frame 1 can be determined, and an appropriate operating space is reserved to ensure that the projectile 5 can land stably and accurately within the test bearing frame 1, avoiding safety problems caused by landing point deviation. Based on the rebound height and loading method of the projectile 5 calculated above, the laying form and laying height of the delivery and recovery device can be determined to ensure that the projectile 5 is accurately recovered during the delivery process, improving the reliability and safety of the test.

[0117] There are two loading schemes for the vertical positive overload ejection delivery. A downward delivery load is applied to the centroid of the projectile 5 through a servo actuator system or an electric hoist tension system. A fixed pulley 36 is installed on the foundation 3 directly below the centroid of the projectile 5 to realize the steering application of the delivery load.

[0118] According to the technical conditions of the vertical positive overload ejection delivery, a hierarchical layout design from bottom to top is adopted. The lower layer consists of a bearing beam 113 and a rubber ring 9, and the upper layer is a cushion 8. Two longitudinally arranged bearing beams 113 are connected to the foundation 3 by bolts, and a rubber ring 9 is laid in the middle. Among them, the bearing beam 113 not only provides rigid support for both sides of the cushion 8, but also acts as a baffle for the rubber ring 9 to prevent the cushion 8 from sinking due to the side slip displacement of the rubber ring 9 under extrusion, which may lead to the failure of the delivery and recovery device. The rubber ring 9 provides flexible support for the middle part of the cushion 8, and the laying height of the rubber ring 9 is higher than the height of the fixed pulley 36, which can effectively prevent the projectile 5 from hitting the fixed pulley 36 during the fall and causing damage to the projectile. Explosion-proof bricks 101 are stacked on both sides in the transverse direction to form an explosion-proof wall 10 as a safety barrier to fully protect the projectile, test personnel and test site, further enhancing the safety of the delivery and recovery device.

[0119] There are two loading schemes for lateral simulated roll ejection and delivery to choose from. The first is through a servo actuator system and an electromagnetic release device, and the second is through an electric hoist tension system to apply a lateral delivery load to the centroid of the projectile 5. The delivery and recovery device for lateral simulated roll ejection and delivery consists of a buffer pad 8 and explosion-proof bricks 101. It is designed based on the above-mentioned theoretical calculation of the horizontal landing point interval of the projectile 5. The buffer pad 8 is laid in the buffer recovery area, and the explosion-proof bricks 101 are stacked unilaterally along the initial velocity direction of the projectile 5 to form an explosion-proof wall 10 as a safety barrier, effectively blocking the bouncing or rolling of the projectile 5 in extreme cases, reducing the accidental risk, enhancing the safety protection ability of the delivery and recovery device, providing a solid safety guarantee for the test process, and thus realizing the effective recovery of the projectile 5.

[0120] The size of the explosion-proof brick 101 is 500mm×250mm×100mm, and the size of the stacked explosion-proof wall 10 is 1750mm×500mm×1000mm. According to the technical conditions of lateral simulated roll ejection and delivery and the theoretical calculation of the horizontal landing point interval of the projectile 5, the buffer pad 8 is laid in the buffer recovery area, and the explosion-proof bricks 101 are stacked unilaterally along the initial velocity direction of the projectile 5 to form the explosion-proof wall 10. According to the test technical conditions, the lengths of the two types of projectiles 5 are both about 4m, and the weights are about 700kg and 550kg respectively. The specification size of a single buffer pad 8 is 2500mm×1500mm×500mm. It can be confirmed that the area of the buffer recovery area of the delivery and recovery device is about 15m2. The range and laying structure form of the buffer recovery area can also be adjusted according to different test technical conditions to meet the effective recovery of the ejection and delivery of various types and large-sized projectiles 5.

[0121] The buffer pad 8, rubber ring 9, and explosion-proof bricks 101 can all be directly purchased as mature products according to different model requirements, and the materials all have the characteristics of being reusable and recyclable, which can effectively reduce the test cost and shorten the time for building the delivery and recovery platform.

[0122] The electromagnetic release device is used to realize the instantaneous release of the load during delivery after the servo actuator system has loaded the lateral simulated roll load in place. When the loading device is the servo actuator 16, before delivery, the lateral simulated roll load is input through the loading control host computer 15, and the servo actuator 16 performs the loading. The force sensor 165, displacement sensor 166, and servo valve 164 feedback signals to the servo controller 17, and then dynamically adjust the oil output of the oil source power system 12 to form a closed-loop control circuit. During delivery, the force sensor 165 will change, and the servo actuator 16 maintains the preset load to continuously and stably output through its closed-loop control function. Therefore, at the moment of delivery, the front end of the loading force line uses an electromagnetic release device to instantaneously cut off the load, avoiding the projectile 5 continuously connecting with the servo actuator 16 and causing the kinetic energy carried by the projectile to impact the side of the test bearing frame 1, thus causing safety problems.

[0123] The electromagnetic release device is used for the situation where the electric hoist tension system loads the lateral simulated rolling load. The electric hoist tension system is a one-way open-loop control process. The load data is fed back to the load measurement host computer through the front-end load sensor to observe the real-time display data. It is manually remotely controlled by using a wireless remote control by an operator. After continuously tightening the steel wire rope to adjust to the predetermined lateral simulated rolling load, the load is released.

[0124] The electromagnetic release device is an automatic release control mechanism based on the electromagnetic principle. The first power supply 23 provides stable electric energy for the electromagnetic release device. The photoelectric switch emitter 2111 emits a laser beam to the photoelectric switch receiver 2112 to form a detection loop. When the projectile 5 is released, the change of the laser beam blocking is caused, triggering the relay 22 to act, thereby controlling the on-off of the connection circuit. The closed-loop control function of the electromagnetic release device is realized through the magnetic attraction and demagnetization of the suction cup electromagnet 20.

[0125] The opposed photoelectric switch 21 is an M18 cylindrical laser photoelectric sensor of model E3FA-M18TN300A-L, with an NPN normally open output signal and an adjustable detection distance of 0 - 30 m. The opposed photoelectric switch 21 includes a photoelectric switch emitter 2111, a photoelectric switch receiver 2112, and an opposed photoelectric switch adapter tooling 2113, which are respectively arranged transversely along the test bearing frame 1 on both sides of the projectile 5. The installation height should be lower than the bottom of the projectile 5 after the release mechanism of the airborne launch device 4 extends. When the projectile 5 is released, the laser beam is blocked, and the photoelectric switch emitter 2111 detects the change of the laser beam, and the signal line outputs a low-level signal. The relay coil is energized and attracted, and the normally open contact is closed. The relay 22 is an 8-pin 5A DC 24V two-open two-closed intermediate relay of model RXM2LB2BD, with a response speed of 5 - 20 ms, which is used to receive the electrical signal of the opposed photoelectric switch 21, and changes the contact state by controlling the on-off of the coil, thereby further controlling the on-off of the connection circuit to realize the magnetic attraction and demagnetization control of the suction cup electromagnet 20. The first power supply 23 is a 5A DC 24V power supply of model LRS-120-24, which provides stable electric energy for the electromagnetic release device to ensure the normal operation of each component.

[0126] On the premise that the projectile 5 allows for drilling, vertical or lateral threaded holes can be machined at the centroid position of the projectile 5. The first eyebolt 35 can be screwed onto the projectile 5 through the vertical threaded hole, and the disc - type loading tooling 19 can be screwed onto the projectile 5 through the lateral threaded hole. On the premise that the projectile 5 does not allow for drilling, positioning can be achieved by pasting a sailcloth bag at the centroid position of the projectile 5. One end of the flexible sling is looped around the projectile 5 along the sailcloth bag. After stretching the flexible sling until the two end loops are aligned, a horseshoe ring is installed, and the wire rope 34 is connected to the horseshoe ring. A sufficient number of bundles of elastic ropes 37 of sufficient length are connected between the end of the wire rope 34 and the electric hoist 27 or the servo actuator 16 to prevent plastic deformation of the elastic ropes 37 due to long - term stress. When the delivery load is loaded in place, the elastic ropes 37 undergo large deformations. At the moment when the delivery mechanism of the airborne launch device 4 extends, to prevent the load from decaying too quickly, the elastic ropes 37 adjust through elastic deformation to maintain a stable elongation, thereby reducing the load fluctuation range and ensuring that it is within the tolerance range, so as to achieve the continuous load - carrying state of the projectile 5 before the delivery mechanism of the airborne launch device 4 extends and the instantaneous disconnection of the load during delivery.

[0127] The disc - type loading tooling 19 is an integrated structure composed of the first magnetic - adsorption disc 191 and the M16 screw rod 192 in the middle of the disc. The disc - type loading tooling 19 is screwed into the projectile 5 by laterally drilling an M16 threaded hole at the centroid position of the projectile 5. The material of the disc - type loading tooling 19 is a magnetically conductive metal. The adsorption surface of the first magnetic - adsorption disc 191 should be as smooth and flat as possible, and the adsorption area is not less than the suction surface of the suction - type electromagnet 20, ensuring that it can fully fit with the suction surface of the suction - type electromagnet 20, thereby achieving a stable magnetic - adsorption connection.

[0128] The suction - type electromagnet 20 includes a second magnetic - adsorption disc 201 with M14 threaded holes reserved on the connection surface. The M14 second eyebolt 202 can be screwed into it. For loading according to the pulling - load form, it can be connected to the servo actuator 16 or the electric hoist 27 through the wire rope 34 and a sufficient number of bundles of elastic ropes 37 of sufficient length. The model of the suction - type electromagnet 20 is BP - P120 / 60 - 24V - 500. The diameter of the second magnetic - adsorption disc 201 is 120mm, the height is 60mm, the suction force is 500 Kg, the internal material is a copper coil, which has good temperature stability, insulation performance and electrical conductivity. The external part is made of pure iron for electrical use and is of an integrally formed design, having the advantages of simple structure, low power consumption, low temperature rise, strong adsorption force and no residual magnetism after demagnetization.

[0129] The electric hoist 27, as the core execution component, and the load sensor 29, as the detection and feedback component, both have a maximum load - bearing capacity of 3T, which can provide stable and reliable load support for the test and ensure normal operation within the delivery load range required by the test.

[0130] The electric hoist 27 is a single-chain fixed electric hoist with the model number HSY03-01S, with a load capacity of 3T. It can be used immediately after hanging and is flexible to use.

[0131] The electric hoist 27 supports both remote and near-range dual control modes through a wireless remote control 39 or a wiring handle 40 on the electric hoist 27. It can be directly operated through the wiring handle 40, which is intuitive and stable, ensuring the accuracy and timeliness of the operation. It can also be remotely operated through the wireless remote control 39, smoothly adjusting the running speed to ensure the safety and working efficiency of the loading process, thus meeting the control requirements in different working environments; the load sensor 29 is an S-type load sensor with the model number BK-2C-3T and a maximum load of 3T, which is used for measuring the tensile load during the dropping process. It is connected to a signal amplifier 30 with the model number TS-2 to achieve signal amplification and transmission. The two ends of the load sensor 29 are designed with M18×1.5 internal threads, and a fish-eye bolt 33 can be installed to connect the steel wire rope 34; the data acquisition instrument 31 is a multi-functional data acquisition instrument with the model number Gantner-Sation B, which is used for real-time monitoring and analysis of the signals of the load sensor 29; the second power supply 32 is also a 5A DC 24V power supply with the model number LRS-120-24, which is used to supply power to the load sensor 29; the load sensor 29 is connected to the data acquisition instrument 31, and the load sensor 29 is separately powered by a 24V power supply. Through the wireless remote control 39, the electric hoist 27 is remotely controlled to tighten. The load measurement host computer 28 displays the load changes in real time and records the load. When the load reaches the predetermined value, the electric hoist 27 can stop, or the electric hoist 27 can also be manually operated to apply the pulling load and manually control the electric hoist 27 to stop, thereby realizing the loading of the dropped load.

[0132] Shackles 43 can be connected to both ends of the steel wire rope 34 or the elastic cord 37, and then connected to other components through the shackles.

[0133] The high-speed image acquisition system is used to measure and analyze parameters such as the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation, and time of the airborne launch device 4. The high-speed dynamic changes of the airborne launch device 4 and the projectile 5 during the dropping process in a very short time are captured by the high-speed camera 24. The high-speed image acquisition host computer 26 is responsible for receiving the image data transmitted by the high-speed camera 24, and tracking the spatial coordinates of each marker point during the dropping process according to the three-dimensional digital image correlation algorithm. According to the changes in the spatial coordinates of the marker points, the storage, processing, and analysis of performance parameters such as the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation, and time of the airborne launch device 4 are completed.

[0134] The model of the high-speed camera 24 is SH3-502, and a total of 3 units are used. The model of the multi-channel timing controller 25 is HMIDemo. Before the drop test, according to the test requirements, quadrant marking points are arranged at appropriate positions on the airborne launch device 4 and the projectile 5, such as the positions with large deformation of the airborne launch device 4 and the centroid position of the projectile 5. In addition, to analyze the separation attitude and separation angular velocity, at least 3 non-collinear quadrant marking points need to be arranged on the projectile. To obtain accurate roll angular velocity, at least 2 quadrant marking points need to be arranged at the projectile tail. Two of the high-speed cameras 24 are evenly installed horizontally along the airborne launch device 4 at a certain angle, and one is installed at the longitudinal center of the airborne launch device 4. A stroboscopic-free light source is placed beside the high-speed camera 24 to simultaneously collect the high-speed dynamic changes of the airborne launch device 4 and the projectile 5 in a very short time during the drop process from different perspectives. The multi-channel timing controller 25 and the high-speed camera 24 are connected by signal lines to achieve trigger shooting and timing control of the high-speed camera 24, and the shooting frame rate is usually controlled at 1000 fps and above. The high-speed image acquisition host computer 26 and the high-speed camera 24 are connected by a network cable for real-time transmission of image data. After completing the image acquisition of the drop process and storing it in the high-speed image acquisition host computer 26, the digital image correlation method is used to track the displacement and spatial coordinates of the quadrant marking points. The basic principle and steps are as follows:

[0135] 1. Before tracking the displacement and spatial coordinates of the marking points, it is necessary to calibrate the internal and external parameter matrices of the camera. According to the size of the measurement field of view in the drop test, a rigid dot calibration plate not smaller than the size of A1 paper is used to calibrate the 2 high-speed cameras horizontally on the airborne launch device and the 1 high-speed camera at the longitudinal center respectively. The 2 high-speed cameras horizontally form a binocular high-speed photogrammetry system, and the projection model of the high-speed camera is:

[0136] (10)

[0137] In the formula, A is the internal parameter matrix of the camera, R is the rotation matrix, T is the translation matrix, and [R T] constitutes the external parameter matrix of the system. is the pixel coordinate, is the three-dimensional space coordinate.

[0138] For the 1 high-speed camera at the longitudinal center, only the actual length corresponding to a unit pixel needs to be calibrated.

[0139] 2. Feature point matching: To obtain the pixel coordinates of the marked points in each frame of the images captured by each high-speed camera during the movement process, the zero-mean normalized sum of squared differences correlation function (ZNSSD) is used to match the marked points between the reference image and the target image. This correlation function has undergone mean removal and normalization processes, eliminating the influence of image gray-scale changes caused by light variations and having strong anti-interference ability. The calculation expression of ZNSSD is as follows:

[0140]

[0141] In the formula, and are the gray-scale values of each pixel in the sub-region of the reference image and the sub-region of the target image, and are the average gray-scales of the sub-region of the reference image and the sub-region of the target image, and The expressions of

[0142]

[0143]

[0144] Select the image at the zero moment of launch as the reference image, and perform correlation operations with each frame of the image after launch respectively, then the pixel coordinates of the marked points on the image after launch can be obtained.

[0145] 3. Reconstruction of the three-dimensional space coordinates of the marked points: For the binocular measurement system composed of 2 horizontally installed high-speed cameras, after obtaining the pixel coordinates of the marked points on the images captured by the 2 high-speed cameras, a three-dimensional reconstruction method based on spatial point cloud is adopted, that is, according to the internal and external parameter matrices of the 2 cameras calibrated in 8.1, and the position relationship between a point in the three-dimensional space coordinate system and the positions in the image coordinate systems of the 2 cameras, the three-dimensional space coordinates of the marked points are calculated. For the image captured by 1 high-speed camera at the longitudinal center, according to the actual length corresponding to each pixel calibrated in 8.1, the pixel coordinates of the marked points can be converted into spatial coordinates.

[0146] After obtaining the spatial coordinates of each marked point on the captured image, that is, after obtaining the spatial coordinates of each marked point at different moments, then through operations such as difference, fitting, and derivative calculation based on the spatial coordinates, and motion parameter transformation operations, the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation, and time of the airborne launch device can be obtained.

[0147] The specific steps of the experiment are as follows:

[0148] 1. Mount the base 111 on the foundation 3 with bolts. Next, sequentially mount the first upright column 112 and the triangular block 114 with bolts. Finally, fix the load-bearing beam 113 to the first upright column 112 of the column with bolts to complete the assembly of the test load-bearing frame 1.

[0149] 2. Install the countersunk holes 213 of the adapter platform 2 on the load-bearing beam 113 of the test load-bearing frame 1 with bolts. Install the mounting bosses 212 of the adapter platform 2 on the mechanical interface of the airborne launch device 4 with bolts. At the same time, abut against the anti-support interface on the airborne launch device 4 through the mounting bosses 212.

[0150] 3. Move the small oil source 7 and the firing control simulation test bench 6 to appropriate positions near the test load-bearing frame 1. Connect the airborne launch device 4 and the small oil source 7 through high- and low-pressure oil pipes, and connect the airborne launch device 4 and the firing control simulation test bench 6 through cables. After the connection is completed, turn on the machine for a pre-test to verify whether the electric control system can accurately receive and respond to the instructions from the firing control simulation test bench 6, and whether the ejection mechanism can correctly perform the locking and unlocking actions after receiving the instructions.

[0151] 4. Drive the trolley to the longitudinal side of the test load-bearing frame 1, and horizontally lift the projectile 5 onto the trolley with a gantry crane 41, ensuring that the lugs of the projectile 5 face upward for easy connection with the suspension hook of the airborne launch device 4. The lifting arm of the trolley lifts the projectile 5 to the position of the suspension hook of the airborne launch device 4, finely adjust the position of the trolley, and connect the lugs of the projectile 5 with the suspension hook of the airborne launch device 4 through hanging bolts to complete the hanging of the projectile 5.

[0152] 5. The present invention provides two test schemes for the vertical positive overload ejection and launch test in the simulation of continuous load-carrying and dropping ground test device.

[0153] 5.1 Vertical positive overload ejection and release test plan 1: Load according to the loading form. Machine an M16 threaded hole on the vertical lower side of the centroid position of the projectile 5, screw the first eyebolt 35 onto the projectile 5, connect the steel wire rope 34 to the eyebolt of the first eyebolt 35, ensure that the steel wire rope 34 is tangent to the groove wall of the fixed pulley 36 along the loading force line trajectory, install the pulley adapter tooling 38 on the foundation 3 through bolts, and then install the fixed pulley 36 on the pulley adapter tooling 38. The vertical load is transmitted along the steel wire rope 34 and guided by the fixed pulley 36 to apply a lateral load. Install the triangular block 114 on the foundation 3 through bolts. According to the end position of the load force line, install the support 161 of the servo actuator 16 on the triangular block 114 through bolts. Determine the installation height of the servo actuator 16 by adjusting the waist-shaped hole on the support 161. Then connect the high and low pressure oil pipes to the hydraulic interfaces on the safety valve group 167 respectively. Connect the servo valve 164 interface, force sensor 165 interface, and displacement sensor 166 interface to the hydraulic sub-station 14 through the integrated cable. After the connection is completed, conduct a pre-test to confirm whether the overall performance and functions of the servo actuator system are normal. Confirm the number of bundles and length of the elastic ropes 37 through theoretical calculation and pre-test. Connect a sufficient number of bundles of elastic ropes 37 with sufficient length between the end of the steel wire rope 34 and the servo actuator 16 to complete the connection of the vertical positive overload ejection and release test plan 1.

[0154] 5.2 Vertical positive overload ejection and release test plan 2: Load according to the pulling form. Machine an M16 threaded hole on the vertical lower side of the centroid position of the projectile 5, screw the first eyebolt 35 onto the projectile 5, connect the steel wire rope 34 to the eyebolt of the first eyebolt 35, ensure that the steel wire rope 34 is tangent to the groove wall of the fixed pulley 36 along the loading force line trajectory, install the pulley adapter tooling 38 on the foundation 3 through bolts, and then install the fixed pulley 36 on the pulley adapter tooling 38. The vertical load is transmitted along the steel wire rope 34 and is guided by the fixed pulley 36 to apply a lateral load. Install the triangular block 114 on the foundation 3 through bolts, install the electric hoist adapter tooling 42 on the triangular block 114 through bolts, then install the electric hoist 27 on the electric hoist adapter tooling 42 through pins, and finally support the lower surface of the electric hoist 27 with a jack. Confirm the number of bundles and length of the elastic cord 37 through theoretical calculation and pre-test. Connect a sufficient number of bundles of the elastic cord 37 with a sufficient length between the end of the steel wire rope 34 and the eyebolt 33 at one end of the load sensor 29. Connect the steel wire rope 34 between the hook of the electric hoist 27 and the eyebolt 33 at the other end of the load sensor 29. Connect the load sensor 29 to the signal amplifier 30 through a cable. The second power supply 32 provides electrical energy for the signal amplifier 30. Connect the data acquisition instrument 31 to the signal amplifier 30 through a cable, and then connect the data acquisition instrument 31 and the load measurement upper computer 28 through a network cable. Finally, connect the electric hoist 27 to the power distribution cabinet 44 through a cable. Manually operate and control the electric hoist 27 to apply the load, observe the data displayed in real time on the load measurement upper computer 28, and confirm whether the overall performance and function of the electric hoist pulling force system are normal to complete the connection of the vertical positive overload ejection and release test plan 2.

[0155] 6. Determine the landing position of the projectile 5 according to the test technical requirements, and lay the delivery and recovery device in this area. This area adopts a hierarchical layout design from bottom to top. The lower layer consists of the bearing beam 113 and the rubber ring 9. Connect the bearing beam 113 to the foundation 3 through bolts. The rubber ring 9 is laid flat in two layers in an array on the foundation 3, avoiding the installation position of the fixed pulley 36 and the loading area where the steel wire rope 34 or the traction rope is laterally led out. And the laying height of the rubber ring 9 should be higher than the height of the fixed pulley 36 to prevent the projectile 5 from hitting the fixed pulley 36 when it falls and causing damage to the projectile 5; the upper layer is the buffer pad 8, which is placed longitudinally from the head end of the bearing beam 113 and laid horizontally to the tail end of the bearing beam 113, with a gap reserved in the middle to prevent interference with the steel wire rope 34 or the traction rope during loading. At the same time, on both lateral sides of the buffer recovery area, stack explosion-proof bricks 101 longitudinally to form an explosion-proof wall 10 as a safety barrier to fully protect the projectile 5, the test personnel and the test site.

[0156] 7. The present invention provides two test plans for the lateral simulated rolling ejection and release test in the ground test device for simulating continuous load-carrying delivery.

[0157] 7.1 Lateral simulated roll ejection and release test plan 1: Lateral simulated roll ejection and release test plan 1: Loading is carried out according to the pulling load form. An M16 threaded hole is machined laterally at the centroid position of the projectile 5, and the screw 192 of the disc-type loading tooling 19 is screwed onto the projectile 5. The two bases 111 are horizontally installed on the foundation 3 along the longitudinal center line of the test bearing frame 1 through bolts. The two second columns 115 are respectively installed on the two bases 111 through bolts. According to the height of the bottom of the projectile 5 after the mechanism extends, the two transmissive photoelectric switch adapter toolings 2113 are respectively installed on the second columns 115 of the two columns through bolts. The installation height is determined by adjusting the waist-shaped holes on the transmissive photoelectric switch adapter tooling 2113. The photoelectric switch emitter 2111 and the photoelectric switch receiver 2112 are successively installed on the two transmissive photoelectric switch adapter toolings 2113 through bolts. The positive and negative power supply lines of the photoelectric switch emitter 2111 and the photoelectric switch receiver 2112 are respectively connected in parallel to the positive and negative poles of the first power supply 23. The signal line of the photoelectric switch emitter 2111 is connected to one end of the control coil of the relay 22, and the other end is connected to the positive pole of the first power supply 23 to form a loop. When the transmissive photoelectric switch 21 is triggered (the laser beam is blocked), the signal line outputs a low-level signal, the coil of the relay 22 is energized and attracted, and the normally open contact is closed. One end of the normally open contact of the relay 22 is connected to the positive pole of the suction cup electromagnet 20, and the other end is used as the common terminal. The positive pole of the suction cup electromagnet 20 is connected to the normally open contact of the relay 22, and the negative pole of the suction cup electromagnet 20 is connected to the negative pole of the first power supply 23 to complete the wiring of the electromagnetic release device. Turn on the first power supply 23 and conduct a functional test on the electromagnetic release device to ensure that it can work normally. After confirmation, turn off the first power supply 23, connect the steel wire rope 34 to the lifting ring at the installation end of the suction cup electromagnet 20, and install the base 111 on the foundation 3 through bolts along the loading force line direction. Install the second column 115 on the base 111 through bolts. According to the end position of the load force line, install the support 161 of the servo actuator 16 on the second column 115 through bolts. The installation height of the servo actuator 16 is determined by adjusting the waist-shaped holes on the support 161. Then, connect the high- and low-pressure oil pipes to the hydraulic interfaces on the safety valve group 167 respectively. Connect the interfaces of the servo valve 164, the force sensor 165, and the displacement sensor 166 to the hydraulic sub-station 14 through the integrated cable respectively. After the wiring is completed, conduct a pre-test to confirm whether the overall performance and function of the servo actuator system are normal. Confirm the number of bundles and the length of the elastic ropes 37 through theoretical calculation and pre-test, and connect enough bundles of elastic ropes 37 between the end of the steel wire rope 34 and the middle of the servo actuator 16. Turn on the first power supply 23, and connect the magnetic adsorption end of the suction cup electromagnet 20 and the magnetic adsorption end of the disc-type loading tooling 19 through electromagnetic action to complete the connection of the lateral simulated roll ejection and release test plan 1.

[0158] 7.2. Lateral simulated roll ejection and release test plan two: Load according to the pulling form. Machine M16 threaded holes laterally at the centroid position of the projectile 5, screw the first eyebolt 35 onto the projectile 5, confirm the number of bundles and length of the elastic ropes 37 through theoretical calculation and pre-tests, connect the front end of the steel wire rope 34 to the eyebolt of the first eyebolt 35, and connect the end of the steel wire rope 34 to the front end of the elastic rope 37. Install the base 111 on the foundation 3 through bolts along the loading force line direction, install the second column 115 on the base 111 through bolts, install the pulley adapter tooling 38 on the second column 115 through bolts, ensure that the elastic rope 37 is tangent to the groove wall of the fixed pulley 36 along the loading force line trajectory, adjust the waist hole on the pulley adapter tooling 38 according to the end position of the load force line to determine the installation height, and then install the fixed pulley 36 on the pulley adapter tooling 38. The longitudinal load is transmitted along the elastic rope 37 and is guided by the fixed pulley 36 to apply a vertical load. Install the electric hoist 27 on the hook of the overhead crane 41 through the steel wire rope 34, connect the end of the elastic rope 37 to the fish-eye bolt 33 at one end of the load sensor 29, connect the steel wire rope 34 between the hook of the electric hoist 27 and the fish-eye bolt 33 at the other end of the load sensor 29, connect the load sensor 29 to the signal amplifier 30 through a cable, the second power supply 32 provides electrical energy for the signal amplifier 30, connect the data acquisition instrument 31 to the signal amplifier 30 through a cable, then connect the data acquisition instrument 31 and the load measurement upper computer 28 through a network cable, and finally connect the electric hoist 27 to the power distribution cabinet 44 through a cable. Manually operate to control the electric hoist 27 for loading, observe the data displayed in real time by the load measurement upper computer 28, and confirm whether the overall performance and function of the electric hoist pulling force system are normal to complete the connection of the lateral simulated roll ejection and release test plan two.

[0159] 8. Determine the landing position of the projectile 5 according to the test technical requirements, and lay the delivery and recovery device in this area. Lay a layer of buffer pads 8 longitudinally in an array on the foundation 3 in this area. At the same time, stack explosion-proof bricks 101 longitudinally on one side along the initial velocity direction of the projectile 5 to form an explosion-proof wall 10 as a safety barrier to fully protect the projectile 5, the test personnel and the test site.

[0160] 9. Two high-speed cameras 24 are evenly distributed horizontally and mounted on the foundation 3 through tripods, and one high-speed camera 24 is mounted on the test bearing foundation 3 along the longitudinal center through a tripod. The high-speed camera 24 is connected to the multi-channel timing controller 25 through a signal line to achieve the functions of timing control and trigger shooting. The high-speed image acquisition host computer 26 is connected to the high-speed camera 24 through a network cable to facilitate real-time transmission and acquisition of image feedback data. Adjust the lens angle, focal length, and installation position of the high-speed camera 24 to ensure that all three cameras can capture the complete image of the projectile 5 and cover the entire area of the delivery process. The high-speed dynamic changes of the projectile 5 in a very short time during the delivery process are captured by the high-speed camera 24, and the high-speed image acquisition host computer 26 is responsible for receiving the image data transmitted by the high-speed camera 24, thereby completing the storage, processing, and analysis of performance parameters such as the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation, and time of the airborne launch device 4.

[0161] 10. The vertical and lateral mechanical loads on the projectile 5 in Test Plans 1 and 2 of the vertical positive overload ejection delivery test and Test Plans 1 and 2 of the lateral simulated rolling ejection delivery test are respectively applied through the servo actuator system and the electric hoist tension system. Before the test, start the high-speed image acquisition system and manually pressurize the oil pressure of the small oil source 7 to the specified pressure through manual operation. After the delivery load is loaded in place, first control the ejection mechanism of the airborne launch device 4 to extend through the firing control simulation test bench 6, and then control the projectile 5 of the airborne launch device 4 to be delivered to the delivery and recovery device through the firing control simulation test bench 6, completing the vertical positive overload ejection delivery test and the lateral simulated rolling ejection delivery test of the ground-simulated airborne launch device 4 in a continuously loaded state.

[0162] In this way, the accuracy assessment of the delivery of the airborne launch device in a continuously loaded state is achieved.

[0163] Compared with the prior art, the present invention designs a ground test device for simulating continuous loaded delivery, which can meet the state requirements of the airborne launch device being continuously loaded before the delivery test, complete the measurement and analysis of parameters such as the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation, and time of the airborne launch device, ensure the accuracy and integrity of the test data, and effectively recover the ejection delivery of the projectile, thereby realizing the reliability assessment of the delivery of the ground-simulated airborne launch device.

[0164] The present invention can be widely used in the delivery tests of various airborne launch devices and the delivery tests in a continuously loaded state, as well as the design and construction of the delivery test system.

[0165] In this text, specific examples are used to elaborate on the principles and implementation modes of the present invention. The descriptions of the above examples are only for helping to understand the method of the present invention and its core idea. The above is only the preferred implementation mode of the present invention. It should be noted that due to the limited nature of literal expression and objectively there are infinite specific structures. For those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, shall all be regarded as the protection scope of the present invention.

Claims

1. A continuous load-carrying simulated ground test device, characterized in that: It includes a test bearing frame (1), a transfer platform (2), an airborne launch system, a delivery and recovery device, a vertical loading and lateral loading control system, an electromagnetic release device and a high-speed image acquisition system, wherein: The test load-bearing frame (1) comprises a base (111), a first column (112) on the base (111), a load-bearing beam (113) above the first column (112), and a triangular block (114); the test load-bearing frame (1) is installed on a foundation (3); The airborne launch system comprises an airborne launch device (4), a projectile (5), a launch control simulation test bench (6) and a small oil source (7); the projectile (5) is suspended and connected to the airborne launch device (4); the airborne launch device (4) is connected to the small oil source (7) via high-pressure and low-pressure oil pipes; and the airborne launch device (4) is connected to the launch control simulation test bench (6) via cables; The delivery and recovery device comprises a buffer pad (8), a rubber ring (9) and an explosion-proof wall (10); The vertical loading and lateral loading control system is a servo actuation system, which comprises an oil source control host computer (11), an oil source power system (12), an oil source cooling system (13), a hydraulic substation (14), a loading control host computer (15), a servo actuator (16), a servo controller (17) and a switching cabinet (18); The electromagnetic release device comprises a disc-type loading tool (19), a suction cup electromagnet (20), a beam-type photoelectric switch (21), a relay (22) and a first power supply (23); the disc-type loading tool (19) is connected to the thrown object (5); and the suction cup electromagnet (20) is connected to the disc-type loading tool (19) by magnetic attraction.

2. The continuous load simulation ground test device according to claim 1 is characterized in that: The servo actuator (16) comprises a support (161), a cylinder (162), a piston rod (163), a servo valve (164), a force sensor (165), a displacement sensor (166) and a safety valve group (167). The oil source control host computer (11) is connected to the oil source power system (12) and is used to transmit instructions to the oil source power system (12). The oil source power system (12), the hydraulic substation (14) and the servo actuator (16) are connected in sequence through pipelines and are used to supply oil to the servo actuator (16). The oil source power system (12) is connected to the oil source cooling system (13) and is used to cool the oil source equipment and oil. The loading control host computer (15) is connected to the servo controller (17) is connected to transmit instructions to the servo controller (17). The servo controller (17), servo valve (164), force sensor (165) and displacement sensor (166) are all connected to the adapter cabinet (18). The loading control host computer (15) sends a control signal to the servo controller (17), which reaches the servo actuator (16) through the adapter cabinet (18). The servo valve (164) converts the electrical signal into a hydraulic signal, which is further converted into an action signal through the servo actuator (16). The servo controller (17) then controls the piston rod (163) to perform the loading action to form a closed-loop control by referring to the feedback signals from the force sensor (165) and the displacement sensor (166).

3. The continuous load simulation ground test device according to claim 1 is characterized in that: The opposing-type photoelectric switch (21) comprises a photoelectric switch transmitter (2111), a photoelectric switch receiver (2112) and an opposing-type photoelectric switch adapter (2113); the photoelectric switch transmitter (2111) and the photoelectric switch receiver (2112) are respectively arranged on both sides of a thrown object (5); the first power supply (23) provides electric energy for an electromagnetic release device; the photoelectric switch transmitter (2111) emits a laser beam to the photoelectric switch receiver (2112) to form a detection circuit; when the thrown object (5) is dropped, the optical path of the laser beam changes, triggering the action of the relay (22), thereby controlling the on and off of the circuit; and closed-loop control of the electromagnetic release device is achieved through the magnetic attraction and magnetic disconnection of the suction cup type electromagnet (20).

4. The continuous load-carrying simulated ground test device according to claim 1 is characterized in that: The high-speed image acquisition system comprises a high-speed camera (24), a multi-channel timing controller (25) and an image acquisition host computer (26).

5. The continuous load simulation ground test device according to claim 1 is characterized in that: The vertical loading and lateral loading control system is an electric hoist tension system, which includes an electric hoist (27), a load measurement host computer (28), a load sensor (29), a signal amplifier (30), a data acquisition instrument (31) and a second power supply (32). The load sensor (29) is provided with fisheye bolts (33) at both ends. The fisheye bolts (33) at the upper end of the load sensor (29) are connected to the electric hoist (27) through a steel wire rope (34). The signal amplifier (30) and the load sensor (29) are connected to the electric hoist (27). ) are connected by cables, the load measurement host computer (28), the data acquisition instrument (31), the signal amplifier (30) and the second power supply (32) are connected in sequence, the load sensor (29) monitors the dynamic changes of the load signal in real time, amplifies and transmits the load signal through the signal amplifier (30), the data acquisition instrument (31) processes and transmits the amplified signal, and the load measurement host computer (28) displays and records the received data in real time, so as to realize the integrity and smoothness of the entire signal transmission link and complete the real-time transmission and monitoring of data.

6. The continuous load-carrying simulated ground test device according to claim 1 is characterized in that: A threaded hole is provided at the lower side of the throwing object (5), a threaded portion of a first eyebolt (35) is threadedly connected to the threaded hole, a lifting eye portion of the first eyebolt (35) is connected to a steel wire rope (34), the steel wire rope (34) passes around a fixed pulley (36) and is then connected to one end of an elastic rope (37), the other end of the elastic rope (37) is connected to a piston rod (163) of a servo actuator (16), the fixed pulley (36) is mounted on a pulley transfer fixture (38), and the pulley transfer fixture (38) is mounted on a foundation (3).

7. The continuous load-carrying simulated ground test device according to claim 5 is characterized in that: A threaded hole is provided at the lower side of the throwing object (5), and a threaded portion of a first eyebolt (35) is threadedly connected to the threaded hole. The eye portion of the first eyebolt (35) is connected to a steel wire rope (34). The steel wire rope (34) passes around a fixed pulley (36) and is then connected to one end of an elastic rope (37). The other end of the elastic rope (37) is connected to a fisheye bolt (33) at the lower end of a load sensor (29). The fixed pulley (36) is mounted on a pulley transfer tool (38), and the pulley transfer tool (38) is mounted on a foundation (3).

8. The continuous load-carrying simulated ground test device according to claim 1 is characterized in that: A threaded hole is provided on the side of the throwing object (5); the disc-type loading tool (19) comprises a first magnetic disk (191) and a screw (192) in the middle of the disk; the disc-type loading tool (19) and the throwing object (5) are threadedly connected via the screw (192); the suction cup-type electromagnet (20) comprises a second magnetic disk (201) and a second eye bolt (202) threadedly connected to the second magnetic disk (201); the suction cup-type electromagnet (20) and the disc-type loading tool (19) are connected by magnetic attraction; the second eye bolt (202) is connected to a steel wire rope (34); the steel wire rope (34) is connected to one end of an elastic rope (37); the other end of the elastic rope (37) is connected to a piston rod (163) of a servo actuator (16); and the servo actuator (16) is mounted on a second column (115) via a triangular block (114).

9. The continuous load-carrying simulated ground test device according to claim 5 is characterized in that: A threaded hole is provided on the side of the throwing object (5), and a threaded portion of a first eyebolt (35) is threadedly connected to the threaded hole. The eye portion of the first eyebolt (35) is connected to a steel wire rope (34), and the steel wire rope (34) is connected to one end of an elastic rope (37). The elastic rope (37) passes around a fixed pulley (36) and is then connected to a fisheye bolt (33) at the lower end of a load sensor (29). The fixed pulley (36) is mounted on a pulley adapter (38), and the pulley adapter (38) is mounted on a second column (115).

10. The continuous load-carrying simulated ground test device according to claim 1 is characterized in that: The transfer platform (2) is connected to the lower part of the load-bearing beam (113), and the thrown object (5) is connected to the lower part of the transfer platform (2).

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