A multi-mode switching electro-hydraulic servo test system

Abstract

The present invention provides a multi-mode switching electro-hydraulic servo test system, which relates to the technical field of servo performance test equipment; it includes a frame, a passive load mechanism and an active load mechanism. The frame is provided with two connecting parts and a loading shaft is rotatably provided thereon, and a first rocker arm and a second rocker arm are provided on the outer periphery of the loading shaft respectively; the two ends of the servo are respectively hinged to the first rocker arm and the corresponding connecting parts; the passive load mechanism includes a spring rod, a fixing assembly, a torque transmission unit and an inertia disk; the fixing assembly is provided on the frame, one end of the spring rod is connected to the fixing assembly, and the other end passes through the inner hole of the loading shaft, the torque transmission unit is provided between the spring rod and the loading shaft, and the inertia disk is sleeved on the loading shaft; the two ends of the active load mechanism are respectively hinged to the second rocker arm and the corresponding connecting parts. The multi-mode switching electro-hydraulic servo test system of the present invention can conveniently perform active load and passive load tests on the servo.

Description

Technical Field

[0001] The present invention relates to the technical field of steering gear testing equipment, and in particular to a multi-mode switching electro-hydraulic servo testing system. Background Art

[0002] In the aerospace field, servos are usually used to control the movement of the aircraft's control surfaces, thereby achieving precise control of flight attitude and heading. The electro-hydraulic servo test system is used to perform load simulation tests on servos to evaluate their dynamic and static performance indicators.

[0003] Currently, some servo integrated test benches perform active loading tests on the servo under test by attaching the output of a loading hydraulic cylinder and the free end of the servo under test to the same rocker arm. This allows the output of the loading hydraulic cylinder to be applied to the servo under test. Alternatively, some servo integrated test benches perform passive loading tests on the servo under test by rotating an elastic rod and inertia disk using the output of the servo under test.

[0004] However, the above scheme has the following drawbacks: if active load loading test and passive load loading test are required for the tested servo, two simulation test systems need to be built, and the states need to be frequently switched during the simulation test, which requires a large investment in equipment and occupies a large space. Summary of the Invention

[0005] To this end, the present invention proposes a multi-mode switching electro-hydraulic servo test system to at least partially solve the technical problem that existing steering gear test equipment cannot perform active load loading test and passive load loading test at the same time.

[0006] The technical solutions of the present invention are as follows:

[0007] A multi-mode switching electro-hydraulic servo test system, comprising:

[0008] A frame, the frame being provided with two connecting portions and rotatably provided with a loading shaft, wherein a first rocker arm and a second rocker arm are respectively provided on the outer periphery of the loading shaft corresponding to the two connecting portions; the first rocker arm is used to be hingedly connected to the output end of the servo to be tested, and the corresponding connecting portion is used to be hingedly connected to the other end of the servo;

[0009] A passive load mechanism comprises a spring rod, a fixing assembly, a torque transmission unit and an inertia disk; the fixing assembly is arranged on the frame, one end of the spring rod is connected to the fixing assembly, and the other end passes through the inner hole of the loading shaft, the torque transmission unit is arranged between the spring rod and the loading shaft, and the inertia disk is sleeved on the loading shaft;

[0010] The active load mechanism comprises a linear power output unit, wherein an output end of the linear power output unit is hinged to the second rocker arm, and the other end is hinged to the corresponding connecting portion.

[0011] Furthermore, the torque transmission unit includes a clamping tube, which is fixed on one end of the loading shaft, and the spring rod passes through the clamping tube. A dividing groove is constructed on the end surface of the clamping tube away from the end of the loading shaft, and the clamping tubes on both sides of the dividing groove can be connected by fasteners to clamp the spring rod.

[0012] Furthermore, the torque transmission unit also includes two clamping blocks, the outer circumferences of the two clamping blocks are adapted to the inner hole of the clamping tube, and the two clamping blocks are respectively constructed with grooves adapted to the outer circumferences of the spring rod. When the clamping tubes on both sides of the dividing groove are connected by fasteners, the two clamping blocks are clamped, and the two clamping blocks clamp the spring rod.

[0013] Furthermore, the fixing assembly includes a fixing seat, a torque sensor and a connecting seat; the fixing seat is connected to the frame, one end of the torque sensor is fixed on the fixing seat, the connecting seat is connected to the input end of the torque sensor, and the spring rod is fixedly connected to the connecting seat.

[0014] Furthermore, the fixing seat includes a base, a mounting seat, a transmission member and a driving unit; the base is arranged on the frame, the transmission member is slidably arranged on the base, the mounting seat is rotatably arranged on the base and the transmission member, and the driving unit is arranged between the transmission member and the base, and can drive the transmission member to slide on the mounting seat along the length direction of the spring rod to lock or unlock the rotation of the mounting seat relative to the base.

[0015] Furthermore, a screw parallel to the loading axis is rotatably mounted on the frame, and a nut threadedly connected to the screw is provided on the fixing assembly; two first T-slots extending along the axial direction of the screw are provided on the frame, and at least two positioning holes corresponding to each of the first T-slots are provided on the fixing assembly; the positioning holes and the first T-slots are connected via fasteners, so that the fixed position of the fixing assembly on the frame can be adjusted along the length direction of the first T-slot.

[0016] Furthermore, an encoder is included, wherein the housing of the encoder is fixed on the frame, and the encoder shaft of the encoder is coaxial with the loading shaft and fixedly connected.

[0017] Furthermore, a mounting plate is fixedly provided on the outer periphery of the loading shaft, the thickness direction of which is parallel to the axial direction of the loading shaft, and the first rocker arm and the second rocker arm are respectively provided on both sides of the mounting plate.

[0018] Furthermore, a guide seat is provided on the output end of the linear power output unit, a connecting rod is provided on the guide seat, an end of the connecting rod away from the guide seat is hinged to the second rocker arm, and a limit assembly is operably provided on the guide seat, and the limit assembly can selectively limit the sliding of the connecting rod.

[0019] Furthermore, the guide seat is provided with a first guide hole with a square cross-section, the connecting rod can be slidably passed through the first guide hole, and a through hole is provided on the side wall of the first guide hole, and the connecting rod is provided with a limiting column passing through the through hole; the limiting assembly includes a second motor, a cam, a clamping block and an elastic member, the second motor is fixed on the guide seat, the cam is fixedly sleeved on the motor shaft of the motor, the clamping block can slide on the guide seat in a direction perpendicular to the axial direction of the first guide hole, and the clamping block is provided with a clamping slot; the clamping block can be pushed by the cam to make the limiting column clamped in the clamping slot, and the clamping block can be pushed by the elastic member to make the limiting column disengage from the clamping slot.

[0020] The working principle and beneficial effects of the present invention are:

[0021] The multi-mode switching electro-hydraulic servo test system provided by the present invention is configured such that a loading shaft is arranged on a frame, a passive load mechanism is arranged on the loading shaft, and an active load mechanism connected to the loading shaft is arranged on the frame. That is, the electro-hydraulic servo test system of the present invention can perform both active load loading tests on the tested servo and passive load loading tests on the servo to be tested. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Figure 1 A three-dimensional diagram of a multi-mode switching electro-hydraulic servo test system provided by an embodiment of the present invention;

[0024] Figure 2 A three-dimensional diagram from another angle of the multi-mode switching electro-hydraulic servo test system provided by an embodiment of the present invention;

[0025] Figure 3 A cross-sectional view of a multi-mode switching electro-hydraulic servo test system provided by an embodiment of the present invention;

[0026] Figure 4 A cross-sectional view of the structure of another fixing seat provided by an embodiment of the present invention;

[0027] Figure 5 An exploded view of another fixing base provided by an embodiment of the present invention;

[0028] Figure 6 A three-dimensional diagram of the cooperation between the guide seat and the connecting rod provided in an embodiment of the present invention;

[0029] Figure 7 An exploded view of the cooperation between the guide seat and the connecting rod provided in an embodiment of the present invention;

[0030] In the figure: 100, frame; 110, bearing seat; 120, first hinge seat; 130, second hinge seat; 101, first T-slot; 102, second T-slot; 103, mounting hole; 200, passive load mechanism; 210, spring rod; 220, fixing assembly; 221, fixing seat; 222, torque sensor; 223, connecting seat; 224, nut; 225, base; 226, mounting seat; 2261, second plug-in block; 227, transmission member; 2271, first plug-in block; 228, drive unit; 2281, first motor; 2282, screw; 230, torque transmission unit; 231, clamping cylinder; 232, clamping block; 240 , inertia disk; 201, dividing groove; 202, positioning hole; 203, first socket; 204, second socket; 205, threaded hole; 300, active load mechanism; 400, loading shaft; 410, mounting plate; 420, first rocker arm; 430, second rocker arm; 500, servo; 600, linear power output unit; 610, guide seat; 620, connecting rod; 621, limit column; 630, limit assembly; 631, second motor; 632, cam; 633, block; 6331, guide column; 634, elastic member; 601, through hole; 602, slot; 603, second guide hole; 700, screw; 800, encoder. DETAILED DESCRIPTION

[0031] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0032] This embodiment provides a multi-mode switching electro-hydraulic servo test system, which will be referred to as the test system in the following text. Figures 1 to 3 As shown, it includes a frame 100, a passive load mechanism 200, and an active load mechanism 300. A loading shaft 400 is rotatably mounted on the frame 100, and two connecting portions are provided on the frame 100. Corresponding to the two connecting portions, a first rocker arm 420 and a second rocker arm 430 are provided on the outer periphery of the loading shaft 400. The first rocker arm 420 is configured to be hingedly connected to the output end of the servo 500 to be tested, and the corresponding connecting portion is configured to be hingedly connected to the other end of the servo 500.

[0033] The passive load mechanism 200 of this embodiment includes a spring rod 210, a fixing assembly 220, a torque transmission unit 230, and an inertia disc 240. The fixing assembly 220 is fixed to the frame 100. One end of the spring rod 210 is connected to the fixing assembly 220, and the other end passes through the inner hole of the loading shaft 400. The torque transmission unit 230 is disposed between the spring rod 210 and the loading shaft 400. Specifically, the other end of the spring rod 210 passes through the inner hole of the loading shaft 400, and the torque transmission unit 230 fixes the spring rod 210 to the loading shaft 400. The inertia disc 240 is fixedly mounted on the loading shaft 400. The active load mechanism 300 of this embodiment includes a linear power output unit 600. The output end of the linear power output unit 600 is hinged to the second rocker arm 430, and the other end is hinged to the corresponding connection portion.

[0034] Based on the above structure, when the testing system of this embodiment is in use, the servo 500 to be tested drives the loading shaft 400 to rotate, which in turn drives the spring rod 210 to twist and rotate the inertia plate 240. The torsional moment load generated by the spring rod 210 acts on the servo 500 to simulate the torque load it is subjected to. The rotation of the inertia plate 240 simulates the inertia moment experienced by the servo 500 in actual operation. This allows for a passive load test of the servo 500 to be performed.

[0035] It should be noted that the inertia required to be provided by the inertia disk 240 needs to be calculated based on the inertia required to be applied by the servo 500 being tested minus the structural inertia and damping inertia of the linear power output unit 600. The structural inertia can be calculated using simulation software. The formula for calculating the damping inertia is: Damping inertia = mass force * R 2 . Among them, R is the rotation radius of the linear power output unit 600 pushing the second rocker arm 430 to rotate around the loading shaft 400, or the distance between the axis of the hinge hole on the second rocker arm 430 and the axis of the loading shaft 400. The mass force can be equivalent to the damping force on the output end of the linear power output unit 600. The calculation process of the damping force is: Damping force = Damping coefficient * speed; wherein the damping coefficient is a constant, and the speed is the first-order derivative of the displacement of the output end of the linear power output unit 600, and the displacement of the output end of the linear power output unit 600 can be collected in real time by a displacement sensor.

[0036] When in use, the test system of this embodiment can also be driven by the linear power output unit 600 to rotate the loading shaft 400, which in turn twists the spring rod 210 and rotates the inertia plate 240. The torque output by the linear power output unit combined with the torque generated by the spring rod 210 simulates the aerodynamic hinge torque of the control surface. The rotation of the inertia plate 240 simulates the inertia torque experienced by the servo 500 during actual operation, thereby performing an active load test on the servo 500 under test.

[0037] In general, the test system of this embodiment can perform both passive load testing and active load loading testing on the servo 500 being tested. There is no need to set up two independent sets of equipment, and there is no need to frequently move the servo 500 to be tested between the two devices, thereby simplifying the test steps and improving the test efficiency.

[0038] refer to Figures 1 to 3 As shown, two bearing seats 110 are fixedly mounted on the frame 100. The two bearing seats 110 are arranged parallel and spaced apart. Bearings are mounted on each of the two bearing seats 110. The loading shaft 400 is fixedly mounted in the inner holes of the two bearings, allowing the loading shaft 400 to rotate on the frame 100. A mounting plate 410 is fixedly mounted on one side of the loading shaft 400, with its thickness parallel to the axial direction of the loading shaft 400. The first rocker arm 420 and the second rocker arm 430 are respectively arranged on either side of the mounting plate 410. For ease of description, the connection portion opposite the first rocker arm 420 will be referred to as the first connection portion, and the connection portion opposite the second rocker arm 430 will be referred to as the second connection portion.

[0039] refer to Figure 2 As shown, the first connection portion is a first hinged seat 120 fixed to the frame 100. The output end of the servo 500 to be tested is hinged to the first rocker arm 420, and the other end of the servo 500 is hinged to the first hinged seat 120. Based on this structure, when the telescopic end of the servo 500 is extended or retracted, it can drive the loading shaft 400 to rotate.

[0040] refer to Figure 1 As shown, the torque transmission unit 230 of this embodiment includes a clamping tube 231, which is fixed to one end of the loading shaft 400. The above-mentioned spring rod 210 passes through the clamping tube 231. A dividing groove 201 is constructed on the end face of one end of the clamping tube 231. The clamping tubes 231 on both sides of the dividing groove 201 can be connected by fasteners to clamp the spring rod 210. When the clamping tubes 231 on both sides of the dividing groove 201 are connected by fasteners and clamp the spring rod 210, the torque generated by the spring rod 210 is transmitted to the loading shaft 400 and then applied to the servo 500.

[0041] refer to Figure 1As shown, the torque transmission unit 230 of this embodiment also includes two clamping blocks 232. The outer circumferences of the two clamping blocks 232 are adapted to the inner hole of the clamping tube 231. The two clamping blocks 232 are respectively provided with grooves adapted to the outer circumference of the spring rod 210. When the clamping tubes 231 on both sides of the dividing groove 201 are connected by fasteners, the two clamping blocks 232 are tightly clamped, and the two clamping blocks 232 also tightly clamp the spring rod 210. A torque transmission unit 230 with the same structure is provided between the spring rod 210 and the fixing assembly 220, and will not be described in detail here.

[0042] In this embodiment, the torque transfer unit 230 facilitates the replacement of spring rods 210 of varying sizes in the test system, thereby applying varying torque loads to the servo 500 under test. Specifically, when a spring rod 210 of a different size is required, only the corresponding clamping block 232 needs to be replaced. By changing the size of the grooves in the clamping blocks 232 without changing the outer dimensions of the clamping blocks 232, both clamping blocks 232 can still be securely gripped by the gripping tube 231, thereby securing the spring rod 210.

[0043] In some embodiments, the spring rod 210 can also be directly clamped by the clamping tube 231. However, replacing the spring rod 210 of different sizes requires replacing the clamping tube 231 with a different inner diameter, which is more troublesome than the solution of this embodiment.

[0044] refer to Figures 1 to 3 As shown, the fixing assembly 220 of this embodiment includes a fixing base 221, a torque sensor 222, and a connecting base 223. The fixing base 221 is fixedly connected to the frame 100. One end of the torque sensor 222 is mounted on the fixing base 221. The connecting base 223 is connected to the input end of the torque sensor 222. The spring rod 210 is connected to the connecting base 223. By installing the torque sensor 222, the torque applied to the spring rod 210 can be conveniently measured, that is, the torque load applied to the servo 500 can be measured.

[0045] By installing the aforementioned torque sensor 222 at one end of the spring rod 210, it is convenient for the user to calibrate the desired stiffness coefficient. Specifically, before testing, the current stiffness coefficient of the spring rod 210 can be calculated using feedback from the torque sensor 222 and the encoder 800 described below. The stiffness coefficient is specifically the ratio of the torque value measured by the torque sensor 222 to the torsion angle measured by the encoder 800. Although the stiffness coefficient of the spring rod 210 is calibrated before shipment, the calibrated stiffness coefficient may not meet the user's requirements due to actual operating conditions. This method allows the user to find a stiffness coefficient that meets the test conditions.

[0046] On the other hand, the data feedback from the torque sensor 222 and the data feedback from the servo 500 can reflect the characteristic data of the servo 500 under different linear loads, such as the relationship between any two parameters such as torque, rotation angle of the servo 500, voltage, current, power, etc. These parameter relationships can provide a deep understanding of the performance of the servo 500 and evaluate the system bandwidth of the servo 500.

[0047] refer to Figure 2 and Figure 3 As shown, in this embodiment, a lead screw 700 parallel to the loading axis 400 is rotatably mounted on the frame 100, and a nut 224 threadedly connected to the lead screw 700 is provided on the fixing seat 221. Two first T-slots 101 extending along the axial direction of the lead screw 700 are provided on the frame 100, and at least two positioning holes 202 are provided on the fixing seat 221 corresponding to each first T-slot 101. Through the two first T-slots 101 and the positioning holes 202, the fixing seat 221 can be fixed to the frame 100 by a bolt pair, and the fixed position of the fixing seat 221 on the frame 100 can be adjusted along the length direction of the first T-slot 101.

[0048] By adjusting the fixed position of the fixing seat 221 on the frame 100 in the manner described above, the torque load applied to the servo 500 can be adjusted. Specifically, by rotating the lead screw 700, the distance between the fixing seat 221 and the loading shaft 400 can be adjusted, thereby adjusting the clamping length of the spring rod 210 and, consequently, adjusting the torque. Different clamping lengths of the spring rod 210 result in different torsional stiffness, and the product of torsional stiffness and rotation angle is the torque.

[0049] In some embodiments, reference Figure 4 and Figure 5 As shown, the fixing base 221 includes a base 225, a mounting base 226, a transmission member 227, and a drive unit 228. The base 225 is disposed on the frame 100, the transmission member 227 is slidably disposed on the base 225, and the mounting base 226 is rotatably disposed on the base 225 and the transmission member 227. The aforementioned torque sensor 222 is specifically disposed on the mounting base 226. The drive unit 228 is disposed between the transmission member 227 and the base 225. The transmission member 227 can be driven by the drive unit 228 to slide on the mounting base 226 along the length of the spring rod 210 to lock or unlock the rotation of the mounting base 226 relative to the base 225.

[0050] That is, in this embodiment, when the transmission member 227 locks the rotation of the mounting base 226 relative to the base 225, the base 225 can restrict the rotation of the spring rod 210. When the servo 500 to be tested drives the loading shaft 400 to rotate, the spring rod 210 can twist along with the rotation of the loading shaft 400, thereby simulating the torque load on the servo 500. This is suitable for passive load testing of the servo 500.

[0051] When the transmission member 227 does not restrict the rotation of the mounting seat 226 relative to the base 225, when the output end of the linear power output unit 600 drives the loading shaft 400 to rotate, the spring rod 210 will rotate freely with the loading shaft 400 without twisting. Therefore, when the active load test of the servo 500 is performed, the torque load applied to the servo 500 is only derived from the linear power output unit 600. Compared with the aforementioned active load test of the servo 500, in which the torque load applied to the servo 500 is derived from both the linear power output unit 600 and the spring rod 210, the solution of this embodiment is more accurate and controllable when the active load test of the servo 500 is performed.

[0052] refer to Figure 4 and Figure 5 As shown, in this embodiment, a plurality of first insertion holes 203 are configured on the base 225, and a first insertion block 2271 is provided on the transmission member 227, corresponding to each first insertion hole 203, capable of sliding within each insertion hole. This allows the transmission member 227 to be guided and slide on the base 225. Furthermore, a plurality of second insertion holes 204 are provided on the transmission member 227, and a second insertion block 2261 is provided on the mounting seat 226, corresponding to each second insertion hole 204. When the transmission member 227 slides away from the mounting seat 226, the second insertion block 2261 is not inserted into the second insertion hole 204, allowing the mounting seat 226 to rotate relative to the base 225. However, when the transmission member 227 slides toward the mounting seat 226, each second insertion block 2261 is inserted into the corresponding second insertion hole 204. The base 225 and transmission member 227 then restrict the rotation of the mounting seat 226. At this point, the rotation of the loading shaft 400 causes the spring rod 210 to twist.

[0053] By providing the fixing seat 221 as described above, the connection between the spring rod 210 and the base 225 can be conveniently cut off, or the spring rod 210 and the base 225 can be connected, thereby conveniently switching between the two modes of active load testing of the servo 500 and passive load testing of the servo 500.

[0054] The drive unit 228 of this embodiment includes a first motor 2281 fixed to the base 225, and a screw 2282 that is rotatably driven by the first motor 2281 and is threadedly connected to the threaded hole 205. Based on this structure, the first motor 2281 can drive the screw 2282 to rotate. As each first plug 2271 slides within its corresponding first insertion hole 203, the transmission member 227 can slide on the mounting base 226 along the length of the spring rod 210, thereby inserting the second plug 2261 into the corresponding second insertion hole 204, or removing the second plug 2261 from the corresponding second insertion hole 204.

[0055] refer to Figure 2 As shown, the test system of this embodiment also includes an encoder 800. The housing of the encoder 800 is fixed to one of the bearing seats 110, and the encoder shaft of the encoder 800 is coaxial and fixedly connected to the loading shaft 400. By providing the encoder 800, the torsion angle of the loading shaft 400, i.e., the spring rod 210, can be conveniently measured. In the prior art, the encoder 800 is generally fixed to the end of the spring rod 210. However, the torsion angle at the end of the spring rod 210 may deviate from the torsion angle at the force-bearing point of the spring rod 210. Therefore, in this embodiment, by connecting the encoder 800 shaft to the loading shaft 400, the torsion angle of the spring rod 210 can be measured more accurately.

[0056] The second connection portion is a second hinged seat 130 provided on the frame 100. The output end of the linear power output unit 600 is hingedly connected to the second rocker arm 430, and the other end of the linear power output unit 600 is hingedly connected to the second hinged seat 130. Based on this structure, when the output end of the linear power output unit 600 is extended or retracted, it can drive the loading shaft 400 to rotate. It should be noted that the above-mentioned hinged structure can refer to the existing technology and will not be described in detail here.

[0057] like Figure 2 As shown, in this embodiment, two second T-slots 102 are provided on the frame body 100. The extending direction of the two second T-slots 102 is perpendicular to the axial direction of the loading shaft 400, and at least two mounting holes 103 are provided on the second hinge seat 130, corresponding to each second T-slot 102. Through the two second T-slots 102 and the mounting holes 103, the second hinge seat 130 can be fixed to the frame body 100 via fasteners, and the fixed position of the second hinge seat 130 on the frame body 100 can be adjusted along the length direction of the second T-slot 102.

[0058] In this embodiment, the fixed position of the second articulated seat 130 on the frame 100 can be adjusted along the length of the second T-slot 102, thereby conveniently replacing linear power output units 600 of different specifications to accommodate varying loading torque requirements. In this embodiment, the linear power output unit 600 is a hydraulic cylinder. In some embodiments, the linear power output unit 600 may also be a pneumatic cylinder or an electric cylinder.

[0059] In some embodiments, as Figure 6 and Figure 7 As shown, a guide seat 610 is provided on the output end of the linear power output unit 600, and a connecting rod 620 is slidably provided on the guide seat 610. The end of the connecting rod 620 away from the guide seat 610 is hinged to the second rocker arm 430, and a limit assembly 630 is operably provided on the guide seat 610. The limit assembly 630 can selectively limit the sliding of the connecting rod 620 on the guide seat 610.

[0060] When the limit assembly 630 restricts the sliding of the connecting rod 620 on the guide seat 610, the output end of the linear power output unit 600 can drive the loading shaft 400 to rotate via the connecting rod 620, thereby applying a torque load to the servo 500 under test. This is suitable for active loading testing of the servo 500. When the limit assembly 630 does not restrict the sliding of the connecting rod 620 on the guide seat 610, when the servo 500 drives the loading shaft 400 to rotate, the sliding of the connecting rod 620 on the guide seat 610 prevents the loading shaft 400 from being subjected to the load from the linear power output unit 600. This is suitable for passive loading testing of the servo 500.

[0061] refer to Figure 6 and Figure 7 As shown, the guide base 610 is provided with a first guide hole with a square cross-section. A connecting rod 620 is slidably inserted into the first guide hole. A through-hole 601 is provided on the sidewall of the first guide hole. The connecting rod 620 is provided with a limiting post 621 that passes through the through-hole 601. The limiting assembly 630 includes a second motor 631, a cam 632, a clamping block 633, and an elastic member 634. The second motor 631 is fixedly mounted on the guide base 610. The cam 632 is fixedly mounted on the motor shaft of the motor. The guide base 610 also has two second guide holes 603 with an axial direction perpendicular to the axial direction of the first guide hole. The clamping block 633 is provided with a guide post 6331 that can slide and guide the two second guide holes. The clamping block 633 is also provided with a clamping groove 602. The elastic member 634 is a spring that is mounted on the guide post 6331 and abuts between the clamping block 633 and the guide base 610.

[0062] Based on the above structure, when the motor shaft of the second motor 631 drives the cam 632 to rotate until the high point of the cam 632 abuts the block 633, the block 633 is driven to slide until the limiting post 621 on the connecting rod 620 slides into the slot 602, thereby restricting the sliding movement of the connecting rod 620 relative to the guide seat 610. When the cam 632 rotates until the low point of the cam 632 abuts the block 633, the block 633 is pushed by the elastic member 634, causing the limiting post 621 to disengage from the slot 602, thereby allowing the connecting rod 620 to slide on the guide seat 610. In this solution, the second motor 631 can be used to lock and unlock the connecting rod 620 on the guide seat 610, thereby conveniently switching between active load testing and passive load testing of the servo 500.

[0063] It should be noted that the test system of this embodiment can also be simply disassembled to complete the passive load simulation test and the active load simulation test respectively, specifically:

[0064] Passive load simulation test: The output end of the linear power take-off unit 600 is disconnected from the second rocker arm 430, that is, the connecting pin is removed. The servo 500 under test rotates the loading shaft 400 via the first rocker arm 420, causing the spring rod 210 to twist, generating a torsional torque load that is applied to the servo 500 under test. As the servo 500 under test rotates the first rocker arm 420, the inertia plate 240 simulates the rotational inertia of the load that the servo 500 needs to drive in actual operation.

[0065] Active load simulation test: The spring rod 210 is disconnected from the loading shaft 400, and the output end of the linear power output unit 600 is connected to the second rocker arm 430 via a pin. The linear power output unit 600 is controlled by instructions to output a torque that simulates the pneumatic hinge torque of the rudder surface. During the rotation of the loading shaft 400, the inertia disk 240 simulates the rotational inertia of the load that the servo needs to drive in actual operation.

[0066] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-mode switching electro-hydraulic servo test system, characterized in that: include: A frame, the frame being provided with two connecting portions and rotatably provided with a loading shaft, wherein a first rocker arm and a second rocker arm are respectively provided on the outer periphery of the loading shaft corresponding to the two connecting portions; the first rocker arm is used to be hingedly connected to the output end of the servo to be tested, and the corresponding connecting portion is used to be hingedly connected to the other end of the servo; A passive load mechanism comprises a spring rod, a fixing assembly, a torque transmission unit and an inertia disk; the fixing assembly is arranged on the frame, one end of the spring rod is connected to the fixing assembly, and the other end passes through the inner hole of the loading shaft, the torque transmission unit is arranged between the spring rod and the loading shaft, and the inertia disk is sleeved on the loading shaft; an active load mechanism, comprising a linear power output unit, wherein an output end of the linear power output unit is hinged to the second rocker arm, and the other end is hinged to the corresponding connecting portion; The fixing assembly includes a fixing base, a torque sensor and a connecting base; the fixing base is connected to the frame, one end of the torque sensor is fixed to the fixing base, the connecting base is connected to the input end of the torque sensor, and the spring rod is fixedly connected to the connecting base; The fixing seat includes a base, a mounting seat, a transmission member and a driving unit; the base is provided on the frame, the transmission member is slidably provided on the base, the mounting seat is rotatably provided on the base and the transmission member, and the driving unit is provided between the transmission member and the base, and can drive the transmission member to slide on the mounting seat along the length direction of the spring rod to lock or unlock the rotation of the mounting seat relative to the base.

2. The multi-mode switching electro-hydraulic servo test system according to claim 1, characterized in that: The torque transmission unit includes a clamping tube, which is fixed on one end of the loading shaft. The spring rod passes through the clamping tube, and a dividing groove is constructed on the end surface of the clamping tube away from the end of the loading shaft. The clamping tubes on both sides of the dividing groove can be connected by fasteners to clamp the spring rod.

3. The multi-mode switching electro-hydraulic servo test system according to claim 2, characterized in that: The torque transmission unit also includes two clamping blocks, the outer circumferences of the two clamping blocks are adapted to the inner hole of the clamping tube, and the two clamping blocks are respectively constructed with grooves adapted to the outer circumferences of the spring rod. When the clamping tubes on both sides of the dividing groove are connected by fasteners, the two clamping blocks are clamped, and the two clamping blocks clamp the spring rod.

4. The multi-mode switching electro-hydraulic servo test system according to claim 1, characterized in that: A screw parallel to the loading axis is rotatably mounted on the frame, and a nut threadedly connected to the screw is provided on the fixing assembly; two first T-slots extending along the axial direction of the screw are provided on the frame, and at least two positioning holes corresponding to each of the first T-slots are provided on the fixing assembly; the positioning holes and the first T-slots are connected via fasteners, so that the fixed position of the fixing assembly on the frame can be adjusted along the length direction of the first T-slot.

5. The multi-mode switching electro-hydraulic servo test system according to claim 1, characterized in that: It also includes an encoder, the housing of the encoder is fixed on the frame, and the encoder shaft of the encoder is coaxial with the loading shaft and fixedly connected.

6. The multi-mode switching electro-hydraulic servo test system according to claim 1, characterized in that: A mounting plate is fixedly provided on the outer periphery of the loading shaft, the thickness direction of which is parallel to the axial direction of the loading shaft, and the first rocker arm and the second rocker arm are respectively provided on both sides of the mounting plate.

7. The multi-mode switching electro-hydraulic servo test system according to claim 1, characterized in that: A guide seat is provided on the output end of the linear power output unit, and a connecting rod is provided on the guide seat. The end of the connecting rod away from the guide seat is hinged to the second rocker arm, and a limit assembly is operably provided on the guide seat, and the limit assembly can selectively limit the sliding of the connecting rod.

8. The multi-mode switching electro-hydraulic servo test system according to claim 7, characterized in that: The guide seat is provided with a first guide hole with a square cross-section, the connecting rod can be slidably passed through the first guide hole, and the side wall of the first guide hole is provided with a through hole, and the connecting rod is provided with a limiting column passing through the through hole; the limiting assembly includes a second motor, a cam, a clamping block and an elastic member, the second motor is fixed on the guide seat, the cam is fixedly sleeved on the motor shaft of the motor, the clamping block can slide on the guide seat in a direction perpendicular to the axial direction of the first guide hole, and the clamping block is provided with a clamping slot; the clamping block can be pushed by the cam to make the limiting column clamped in the clamping slot, and the clamping block can be pushed by the elastic member to make the limiting column disengage from the clamping slot.

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