A servo loading test device

Abstract

The application discloses a follow-up loading test device, which comprises a foundation and left and right vertical columns on the foundation, wherein a test piece assembly, a radial loading actuator, a limiting cylinder, a sliding guide rail, a motion limiting structure, a wire pulling sensing device, a first pulley mechanism, a second pulley mechanism and an axial motion actuator are sequentially arranged between the right and left vertical columns; the axial motion actuator is controlled to work through a servo controller; the piston in the test piece assembly is moved through the pulling of the second pulley mechanism and the first pulley mechanism, and then the projectile is ejected. The application can meet the actual working conditions of some equipment or mechanism, the load borne by the equipment or mechanism changes with the change of the motion posture or the spatial position of the equipment or mechanism, when the test simulation verification is carried out, the test environment is highly consistent with the actual working conditions, and the accuracy, the reliability and the dynamic response capability of the test results are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of structural strength test, and particularly relates to a follow-up loading test device. BACKGROUND

[0002] In the load test of aviation movable mechanism, such as landing gear fatigue test, in order to simulate the real state of the landing gear in the process of take-off, cruising and landing, the landing gear buffer has different compression strokes in different stages, and the adjustment of the compression stroke also causes the deflection of the landing gear loading force line. In order to ensure the efficient and continuous operation of the test and the accurate application of the load, the landing gear fatigue test buffer strut stroke automatic adjustment and load synchronous follow-up application are required, the strut stroke automatic adjustment is realized through the buffer compression amount automatic adjustment technology, the load follow-up application is realized through the follow-up loading technology based on the electro-hydraulic servo system, and the buffer strut stroke automatic adjustment and the load follow-up application are corresponding in time during the test process. For example, the aircraft wing, as the unfolding attitude changes, the wind pressure load borne by it also changes, and the corresponding external wind pressure load needs to be applied according to different input angles. For example, in the working of a certain launching device, the lateral force borne by the launched object during the acceleration process in the box has a specific functional relationship with the launching distance, and the lateral force loading needs to be dynamically adjusted according to the real-time measured launching distance.

[0003] For the above working conditions, when the test simulation verification is carried out, it is necessary to ensure that the test environment is highly consistent with the actual working condition, and the accuracy and reliability of the test result are improved. Through accurate control of test parameters and real-time monitoring of data, it is ensured that various indexes in the test process are consistent with the actual working condition, so that the mechanical behavior in the real environment is effectively simulated, and the reference value of the test data is improved.

[0004] The conventional test method and the corresponding device cannot effectively simulate the complexity of such working conditions, and the adaptability to the changed external environment and the dynamic adjustment response ability are insufficient. SUMMARY

[0005] In order to solve the problems in the prior art, the present application provides a follow-up loading test device applied to the working condition of bearing changing load in the motion process of a test piece.

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

[0007] The present application relates to a kind of servo loading test device, including foundation and left column and right column on foundation, test piece assembly, radial loading actuator, limit cylinder, sliding guide, movement limiting structure, pull wire sensing device, first pulley mechanism, second pulley mechanism and axial movement actuator are sequentially arranged between right column and left column, the test piece assembly includes box, projectile in box, piston and buffer, the front end of the test piece assembly is provided with loading tool, a pair of limit ring and loading ring, the limit ring is fixed in the form of hoop on loading tool main body, one end of loading ring is on the camber of loading tool main body, one end is connected on radial loading actuator by double ear form, while limit ring clamps the both sides of loading ring, the front end of limit cylinder is stuck in loading tool main body, for axial movement actuator to carry out steel wire rope pre-tensioning process, prevent the piston of test piece assembly from moving by mistake, when test starts, limit cylinder is quickly retracted, after retraction, the limiting head of limit cylinder is completely separated, test piece assembly support is arranged on the foundation below the front end of the test piece assembly, the sliding guide is installed on foundation, the sliding guide is installed with sliding block, the lower end of radial loading actuator is connected with sliding block, for test piece assembly projectile to move radial loading actuator on sliding guide when shooting, limiting damper is installed on movement limiting structure, the pull wire sensing device includes pull wire sensor, pull wire sensor support and pull wire distance measuring rope, for real-time monitoring the movement position of test piece assembly projectile, axial movement actuator support is arranged below the front end of axial movement actuator, the rear end of axial movement actuator is fixedly connected with left column, by inputting the target position or trajectory coordinates of test piece assembly projectile in servo controller, the working of axial movement actuator is controlled, then the piston in test piece assembly moves by the pulling of second pulley mechanism and first pulley mechanism, in turn, projectile is shot, radial loading actuator follows projectile movement and applies radial load, to realize the servo radial loading of corresponding function relationship.

[0008] Further, photoelectric limit stop is arranged above loading tool without contact, for transmitting the signal that projectile in test piece assembly is away from monitoring position to servo controller.

[0009] Further, radial loading actuator, limit cylinder and axial movement actuator are connected with servo controller, radial force sensor is installed on radial loading actuator, for measuring radial loading force, closed-loop control is carried out by servo controller, inclination sensor is also installed on radial loading actuator, inclination sensor receives the inclination signal of test piece assembly projectile, then signal is transmitted to servo controller, axial displacement sensor is arranged on axial movement actuator, for participating in displacement closed-loop control of axial movement actuator.

[0010] Further, the sliding guide is arranged between the test piece assembly support and the first pulley support, and is arranged below the motion limiting structure and the pull wire sensor support.

[0011] Further, the motion limiting structure is an n-shaped rod structure, which is installed on the foundation.

[0012] Further, the pull wire sensor is installed on the pull wire sensor support and is used for transmitting the motion position signal of the projectile in the test piece assembly to the servo controller, the pull wire sensor is connected with the servo controller, and the two ends of the pull wire ranging rope are connected with the pull wire sensor and the loading tool main body respectively.

[0013] Further, the first pulley mechanism comprises a first pulley support, a first pulley and a first steel wire rope, and the second pulley mechanism comprises a second pulley support, a second pulley, a second steel wire rope and a main control steel wire rope.

[0014] Further, the first pulley is installed on the first pulley support, one end of the first steel wire rope is connected with the piston in the test piece assembly, the other end is fixed on the first pulley support by passing through the first pulley, and is used for transmitting the tensile load to pull the piston in the test piece assembly to move, so that the projectile in the test piece assembly is ejected, and the motion stroke of the second pulley mechanism is shortened.

[0015] Further, the second pulley is installed on the second pulley support, one end of the second steel wire rope is connected with the first pulley, and the other end is fixed on the first pulley support of the first pulley mechanism by passing through the second pulley, and is used for transmitting the tensile load to pull the first pulley to move, and the motion stroke of the axial motion actuator is shortened.

[0016] Further, one end of the main control steel wire rope is connected with the second pulley, and the other end is connected with the axial motion actuator.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] 1、In the present application, a full-automatic full-closed loop control mode is adopted, and the control principle diagram is shown in Figure 5 In the present application, only the target position or trajectory coordinates of the projectile in the test piece assembly need to be input in the servo controller, so that the corresponding function relationship can be realized.

[0019] 2、In the present application, the projectile in the test piece assembly drives the radial loading actuator to move, and the radial loading actuator is a micro oil cylinder, so that the motion inertia is relatively small, and the stability and accuracy of the radial loading point are ensured.

[0020] 3、The multiple protection measures are adopted in the application, for example, mechanical limit of the motion limiting structure, electrical limit of the photoelectric limiter, so that the emission of the test piece assembly can be recycled.

[0021] 4、In order to solve the misoperation caused by the steel wire rope pre-tensioning, the limiting cylinder is designed to ensure the data accuracy in the test process.

[0022] 5、All the collected data are stored in the servo controller, and are synchronized with the internal instructions of the controller, so that the relative relationship between the data can be accurately drawn in the later data analysis, and the analysis error caused by the asynchronous collection is avoided.

[0023] 6、The electro-hydraulic servo control technology is adopted in the application, the system frequency response is high, the wide range of motion speed can be met, and the whole dynamic control accuracy is better than 2%. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a schematic diagram of the application Figure 1 ;

[0025] Figure 2 is a schematic diagram of the application Figure 2 ;

[0026] Figure 3 is Figure 2 A part of the enlarged view in the application

[0027] Figure 4 is Figure 2 B part of the enlarged view in the application

[0028] Figure 5 is a schematic diagram of the control principle in the application

[0029] Figure 6 is a typical load and displacement test collection curve under the one-way motion condition

[0030] Figure 7 is a typical load and displacement test collection curve under the reciprocating motion condition

[0031] Among them, 1-foundation, 2-left column, 3-right column, 4-test piece assembly, 5-radial loading actuator, 6-limit cylinder, 7-sliding guide rail, 8-motion limiting structure, 9-pull wire sensing device, 911-pull wire sensor, 912-pull wire sensor bracket, 913-pull wire distance measuring rope, 10-first pulley mechanism, 101-first pulley bracket, 102-first pulley, 103-first wire rope, 11-second pulley mechanism, 111-second pulley bracket, 112- Second pulley, 113-Second wire rope, 114-Main control wire rope, 12-Axial motion actuator, 13-Loading fixture, 131-Loading fixture body, 132-Limit ring, 133-Loading ring, 14-Test piece assembly bracket, 15-Slider, 16-Limit damper, 17-Axial motion actuator bracket, 18-Servo controller, 19-Photoelectric limiter, 20-Radial force sensor, 21-Inclination sensor, 22-Axial displacement sensor, 23-Servo power station. Detailed Implementation

[0032] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] like Figures 1-7As shown, a follow-up loading test device includes a foundation 1 and a left column 2 and a right column 3 on the foundation 1. Between the right column 3 and the left column 2, a test piece assembly 4, a radial loading actuator 5, a limiting cylinder 6, a sliding guide rail 7, a motion limiting structure 8, a pull-wire sensing device 9, a first pulley mechanism 10, a second pulley mechanism 11, and an axial motion actuator 12 are arranged sequentially. The test piece assembly 4 includes a housing, a projectile inside the housing, a piston, and a buffer. A loading fixture 13 is provided at the front end of the test piece assembly 4. The loading fixture 13 includes a hollow cylindrical loading fixture body 13. 1. A pair of limiting rings 132 and loading rings 133. The limiting rings 132 are fixed to the loading fixture body 131 in the form of clamps. One end of the loading ring 133 rests on the arc surface of the loading fixture body 131, and the other end is connected to the radial loading actuator 5 through double ears. At the same time, the limiting rings 132 clamp the two sides of the loading ring 133. The front end of the limiting cylinder 6 extends and locks the loading fixture body 131. It is used to prevent the piston of the test piece assembly 4 from moving accidentally during the pre-tensioning of the wire rope by the axial motion actuator 12. When the test starts, the limiting cylinder 6 quickly retracts. After retraction, the limiting cylinder 6... The limiting head is completely disengaged. A test component assembly support 14 is installed on the foundation below the front end of the test component assembly 4. The sliding guide rail 7 is installed on the foundation 1, and a slider 15 is installed on the sliding guide rail 7. The lower end of the radial loading actuator 5 is connected to the slider 15, which is used to drive the radial loading actuator 5 to move on the sliding guide rail 7 when the projectile in the test component assembly 4 is ejected. A limit damper 16 is installed on the motion limiting structure 8. The pull wire sensing device 9 includes a pull wire sensor 911, a pull wire sensor support 912, and a pull wire ranging rope 913, which is used to monitor the test component assembly 4 in real time. The axial motion actuator 12 is positioned below the front end of the axial motion actuator 12, and the rear end of the axial motion actuator 12 is fixedly connected to the left column 2. By inputting the target position or trajectory coordinates of the launcher of the test piece assembly 4 into the servo controller 18, the axial motion actuator 12 is controlled to work. Then, the piston in the test piece assembly 4 moves by being pulled by the second pulley mechanism 11 and the first pulley mechanism 10, thereby pushing the launcher to eject. The radial loading actuator 5 follows the movement of the launcher and applies a radial load to achieve a radial loading with a corresponding functional relationship.

[0034] The aforementioned follow-up loading test device has a photoelectric limiter 19 non-contactly installed above the loading fixture 13, which is used to transmit the signal of the emitter leaving the monitoring position in the test piece assembly 4 to the servo controller 18.

[0035] The aforementioned follow-up loading test device has a radial loading actuator 5, a limiting cylinder 6, and an axial motion actuator 12, all of which are connected to the servo controller 18. The radial loading actuator 5 is equipped with a radial force sensor 20 for measuring the radial loading force and is controlled in a closed loop by the servo controller 18. The radial loading actuator 5 is also equipped with an tilt sensor 21, which receives the tilt angle signal of the projectile in the test piece assembly 4 and then transmits the signal to the servo controller 18. The axial motion actuator 12 is equipped with an axial displacement sensor 22 for participating in the displacement closed-loop control of the axial motion actuator 12.

[0036] The motion limiting structure 8 of the aforementioned follow-up loading test device is an n-shaped rod structure, which is installed on the foundation 1.

[0037] The aforementioned follow-up loading test device has a pull wire sensor 911 mounted on a pull wire sensor bracket 912, which is used to transmit the motion position signal of the launcher in the test piece assembly 4 to the servo controller 18. The pull wire sensor 911 is connected to the servo controller 18, and the two ends of the pull wire distance measuring rope 913 are respectively connected to the pull wire sensor 911 and the loading fixture body 131.

[0038] The aforementioned follow-up loading test device includes a first pulley mechanism 10 comprising a first pulley bracket 101, a first pulley 102, and a first wire rope 103, and a second pulley mechanism 11 comprising a second pulley bracket 111, a second pulley 112, a second wire rope 113, and a main control wire rope 114.

[0039] The sliding guide rail 7 of the aforementioned follow-up loading test device is disposed between the test piece assembly bracket 14 and the first pulley bracket 101, and the sliding guide rail 7 is disposed below the motion limiting structure 8 and the pull wire sensor bracket 912.

[0040] The aforementioned follow-up loading test device has a first pulley 102 mounted on a first pulley bracket 101. One end of the first steel wire rope 103 is connected to the piston in the test piece assembly 4, and the other end passes around the first pulley 102 and is fixed on the first pulley bracket 101. It is used to transmit tensile load to pull the piston in the test piece assembly 4 to move, thereby pushing the projectile in the test piece assembly 4 to eject and shorten the movement stroke of the second pulley mechanism 11.

[0041] The aforementioned follow-up loading test device has a second pulley 112 mounted on a second pulley bracket 111. One end of the second steel wire rope 113 is connected to the first pulley 102, and the other end passes around the second pulley 112 and is fixed on the first pulley bracket 101 of the first pulley mechanism 10. It is used to transmit tensile load to pull the first pulley 102 to move and shorten the movement stroke of the axial motion actuator 12.

[0042] The aforementioned follow-up loading test device has one end of the main control steel wire rope 114 connected to the second pulley 112, and the other end connected to the axial motion actuator 12.

[0043] The aforementioned follow-up loading test device is a test device used to withstand changing loads during the movement of a test piece.

[0044] Both the radial loading actuator 5 and the axial motion actuator 12 are servo actuators.

[0045] The loading ring 133 is T-shaped, with a groove on the top of the horizontal part for pressing against the arc surface of the loading fixture body 131, and a double-ear structure in the vertical part for connecting the radial loading actuator 5.

[0046] The radial loading actuator 5 is equipped with a radial force sensor 20 to monitor and control the applied radial load. It is controlled in a closed loop by a servo controller 18 and its power comes from a servo power station 23. The radial loading actuator 5 applies a radial load to the loading fixture body 131 through a loading ring 133.

[0047] The sliding guide rail 7 is installed on the foundation 1 to ensure that the installation axis and the movement trajectory are parallel. Under large overturning moments, two sliding guide rails can be installed in parallel. The bottom of the radial loading actuator 5 is mounted on the sliding guide rail 7 via a slider 15, ensuring that when the projectile in the test piece assembly 4 is ejected, the radial loading actuator 5 runs smoothly on the sliding guide rail 7. In addition, when the projectile in the test piece assembly 4 is ejected, it simultaneously drives the loading fixture 13 and the radial loading actuator 5 to move together.

[0048] The bottom of the motion limiting structure 8 is installed on the foundation 1, and its position is determined by the movement stroke of the projectile in the test piece assembly 4. It is equipped with a limiting damper 16, and its overall function is to limit and absorb energy for the sliding radial loading actuator 5.

[0049] The axial motion actuator 12 includes a built-in axial displacement sensor 22, one end of which is fixed on the left column 2 and the other end is supported by the axial motion actuator bracket 17. It is controlled in a closed loop by the servo controller 18 and its power comes from the servo power station 23. The axial motion actuator 12 pulls the piston in the test piece assembly 4 through the second pulley mechanism 11 and the first pulley mechanism 10.

[0050] The test component assembly 4 includes a projectile, a piston, a buffer, a housing, etc. (the specific structure is not shown in this invention; see schematic diagram). Figure 1The launcher, piston, and buffer are housed inside the chamber. The piston propels the launcher, which stops upon impact with the buffer. Due to inertia, the launcher continues to move, dragging the loading fixture body 131 and the radial loading actuator 5 together to impact the limit damper 16 before stopping. The end of the chamber is fixed to the right column 3, and the front end is fixed to the test piece assembly bracket 14 by a clamp.

[0051] The test specimen assembly bracket 14 is fixed at the bottom to the foundation 1. Its function is to fix the box of the test specimen assembly 4 and provide resistance to bending moment.

[0052] The limiting cylinder 6 has its upper end fixed on the bracket and its lower end extended to hold the loading fixture body 131. When the axial motion actuator 12 is performing wire rope pre-tensioning, it prevents the piston of the test piece assembly 4 from moving erroneously. When the test starts, the servo controller 18 sends a command to drive the limiting cylinder 6 to retract quickly. After retraction, the limiting head of the limiting cylinder 6 is completely disengaged.

[0053] The photoelectric limiter 19 is installed above the emitter of the test piece assembly 4. It is non-contact. When the emitter is detected to have left the monitoring position, a trigger signal is sent to the servo controller 18 to stop the system loading in order to protect the test piece.

[0054] The tilt sensor 21 is vertically mounted on the radial loading actuator 5, and its displacement monitoring probe rests on the loading fixture body 131. When the projectile of the test piece assembly 4 and the radial loading actuator 5 are ejected, a certain tilt angle will be generated. The tilt sensor 21 will transmit the collected data to the servo controller 18.

[0055] The main function of the servo controller 18 is to read the parameters of each sensor, perform closed-loop control based on the target value, and drive the actuator.

[0056] The servo power station 23 provides a stable power source for the radial loading actuator 5, the axial motion actuator 12, and the limit cylinder 6.

[0057] In this invention, the launcher of the test piece assembly 4 drives the radial loading actuator 5 to move. The radial loading actuator 5 is a miniature hydraulic cylinder with a relatively small moment of inertia, thereby ensuring the stability and accuracy of the radial loading point.

[0058] In this invention, multiple protection measures are adopted, such as adjusting the mechanical limit of the motion limiting structure 8 and the electrical limit of the photoelectric limiter 19, to ensure that the emitter of the test piece assembly 4 can be repeatedly recycled and reused.

[0059] In this invention, a limit cylinder 6 is designed to solve the problem of malfunction caused by wire rope pretensioning, ensuring the accuracy of data during the test process.

[0060] In this invention, all collected data is centrally stored in the servo controller 18 and synchronized with the controller's internal instructions. In subsequent data analysis, the relative relationships between the data can be accurately plotted, avoiding analysis errors caused by asynchronous data collection.

[0061] This invention employs electro-hydraulic servo control technology, which boasts a high system frequency response, capable of handling a wide range of motion speeds, and exhibits a dynamic control accuracy exceeding 2% throughout the entire process. Typical load and displacement test curves for two typical application conditions—unidirectional motion and reciprocating motion—are shown below. Figure 6 , Figure 7 .

[0062] In this invention, an axial motion actuator 12 pulls the piston in the test piece assembly 4 via a second pulley mechanism 11 and a first pulley mechanism 10 to drive the launcher to move at a constant speed; simultaneously, a radial loading actuator 5 applies a follow-up radial load to the loading fixture body 131. The launcher bears a varying load during its movement, with the load-bearing capacity having a corresponding functional relationship with the movement stroke. When the piston hits the buffer and stops moving, the launcher continues to move due to inertia. The launcher, along with the radial loading actuator 5, hits the limiting damper 16 and stops moving. The radial load and displacement relationship is maintained throughout the ejection process until the total ejection stroke of the launcher (including the piston's thrust stroke) reaches a specified condition, at which point loading stops.

[0063] In this invention, the position of the motion limiting structure 8 is adjusted to restrict the movement of the launcher after it exceeds the total stroke, ensuring that the launcher does not eventually detach from the housing, and the photoelectric limiter 19 provides double protection.

[0064] In this invention, the radial loading actuator 5 moves synchronously with the loading fixture body 131 on the sliding guide rail 7 via the limiting ring 132 and the slider 15. During the ejection process, the value of the tilt sensor 21 is constantly monitored to measure the launch tilt angle of the projectile after it leaves the buffer. This stage is decoupled by the double-ear bearing of the radial loading actuator 5.

[0065] In this invention, the radial load is applied by the radial loading actuator 5. The radial force sensor 20 is configured on the upper end of the radial loading actuator 5. The load value is input to the servo controller 18. The servo controller 18 dynamically controls the radial loading actuator 5 to output the load value in a closed loop according to the target and feedback values.

[0066] In this invention, the piston movement is controlled by the axial motion actuator 12. Because the stroke is large in this working condition, a pulley block (second pulley mechanism 11 and first pulley mechanism 10) is configured to shorten the actuator stroke. The axial motion actuator 12 is equipped with an axial displacement sensor 22, and the pulling speed of the main control wire rope 114 is controlled by the servo controller 18.

[0067] In this invention, the radial loading actuator 5 reads the relative displacement of the wire sensor 911 and adjusts the target load value of the radial loading actuator 5 in real time according to the target calculation relationship, thereby achieving follow-up control.

[0068] This invention employs a fully automatic, fully closed-loop control method, the schematic diagram of which is shown below. Figure 5 The invention employs a three-loop nested control method. Specifically, the launcher displacement / velocity target value is input into the servo controller 18. The servo controller 18 then uses PID calculations to provide a servo valve signal, driving the axial motion actuator 12 to perform a displacement / velocity closed-loop action, thereby pulling the launcher. The drawwire sensor 911 detects the real-time position of the launcher and transmits the signal to the servo controller 18. This signal is calibrated by software and hardware, converted into a displacement engineering quantity that the controller can recognize, and then converted into the load target value of the radial loading actuator 5 through a mapping relationship. The load target value is used by the PID calculations in the servo controller 18 to provide a servo valve signal, driving the radial loading actuator 5 to perform an action. This, combined with the radial force sensor 20, forms a force closed loop, thus achieving follow-up control. The drawwire sensor 911 and the radial force sensor 20 are two separate closed loops.

[0069] The specific steps of the experiment are as follows:

[0070] 1. Start the limit cylinder 6, and extend the lower end to lock the loading fixture body 131.

[0071] 2. Turn on the servo power station 23 and set the commands in the servo controller 18. Start the axial motion actuator 12 to pre-tension the main control wire rope 114, and control the pre-tension force of the main control wire rope 114 through the axial displacement sensor 22. Start the radial loading actuator 5 and control the initial load through the radial force sensor 20.

[0072] 3. The data from the radial force sensor 20, axial displacement sensor 22, wire sensor 911, and tilt sensor 21 are read synchronously through the servo controller 18.

[0073] 4. Activate the follow-up control function in servo controller 18. The control principle diagram is shown below. Figure 5 .

[0074] 5. The servo controller 18 sends a command to drive the limit cylinder 6 to retract quickly. After retraction, the limit head of the limit cylinder 6 is completely disengaged from the loading fixture body 131. At the same time, the axial motion actuator 12 pulls the piston in the test piece assembly 4 through the second pulley mechanism 11 and the first pulley mechanism 10.

[0075] 6. The piston pushes the projectile to be ejected, and the projectile drives the loading fixture body 131 to move synchronously. The loading fixture body 131 drives the radial loading actuator 5 to move synchronously through the limit ring 132.

[0076] 7. The radial loading actuator 5 reads the relative displacement of the wire sensor 911 and adjusts the target load value of the radial loading actuator 5 in real time according to the target calculation relationship (the launcher bears a changing load during its movement, and its load has a corresponding functional relationship with the movement stroke), thereby achieving follow-up control.

[0077] 8. When the piston hits the buffer and stops moving, the projectile continues to move due to inertia. The projectile continues to drive the loading fixture body 131 and the radial loading actuator 5 to hit the limit damper 16 and stop moving. During the ejection process, the relationship between radial load and displacement is maintained until the total launch stroke of the projectile (including the stroke pushed by the piston) reaches the specified conditions and the loading stops.

[0078] 9. Photoelectric limiter 19 is installed above the emitter of the test piece assembly 4. It is non-contact. When the emitter is detected to have left the monitoring position, a trigger signal is sent to the servo controller 18 to stop the system loading in order to protect the test piece.

[0079] 10. Inclination sensor 21 is vertically mounted on radial loading actuator 5. Its displacement monitoring probe rests on loading fixture body 131. When the projectile of test piece assembly 4 is ejected from loading fixture body 131, a certain tilt angle will be generated. Inclination sensor 21 will transmit the collected data to servo controller 18.

[0080] In this way, dynamic control of the launch or ejection motion is achieved.

[0081] Compared with the prior art, the present invention designs a follow-up loading test device, which can meet the needs of certain equipment or mechanisms under actual working conditions, whose load changes with their own motion posture or spatial position. When conducting test simulation verification, it can ensure that the test environment is highly consistent with the actual working conditions, thereby improving the accuracy, reliability and dynamic response capability of the test results.

[0082] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A servo loading test device, characterized by, The foundation (1) and the left column (2) and the right column (3) on the foundation (1), between the right column (3) and the left column (2) are sequentially provided with a test piece assembly (4), a radial loading actuator (5), a limiting cylinder (6), a sliding guide rail (7), a movement limiting structure (8), a pull wire sensing device (9), a first pulley mechanism (10), a second pulley mechanism (11) and an axial movement actuator (12), the test piece assembly (4) includes a box body, a projectile in the box body, a piston and a buffer, the test piece assembly (4) is provided with a loading tool (13) at the front end, the loading tool (13) includes a hollow cylindrical loading tool main body (131), a pair of limiting rings (132) and a loading ring (133), the limiting ring (132) is fixed on the loading tool main body (131) in the form of a hoop, one end of the loading ring (133) is abutted on the arc surface of the loading tool main body (131), and the other end is connected to the radial loading actuator (5) in the form of a double ear, and meanwhile the limiting ring (132) clamps the two sides of the loading ring (133), the front end of the limiting cylinder (6) is extended to clamp the loading tool main body (131), and is used for preventing the piston of the test piece assembly (4) from moving in error during the pre-tensioning process of the steel wire rope by the axial movement actuator (12), the limiting cylinder (6) is quickly retracted when the test starts, and the limiting head of the limiting cylinder (6) is completely separated after retraction, a test piece assembly support (14) is arranged on the foundation below the front end of the test piece assembly (4), the sliding guide rail (7) is installed on the foundation (1), a sliding block (15) is installed on the sliding guide rail (7), the lower end of the radial loading actuator (5) is connected with the sliding block (15), and the radial loading actuator (5) is moved on the sliding guide rail (7) when the projectile in the test piece assembly (4) is ejected, a limiting damper (16) is installed on the movement limiting structure (8), the pull wire sensing device (9) includes a pull wire sensor (911), a pull wire sensor support (912) and a pull wire distance measuring rope (913), and is used for monitoring the movement position of the projectile in the test piece assembly (4) in real time, an axial movement actuator support (17) is arranged below the front end of the axial movement actuator (12), the rear end of the axial movement actuator (12) is fixedly connected with the left column (2), the target position or trajectory coordinates of the projectile in the test piece assembly (4) are input in a servo controller (18), the axial movement actuator (12) is controlled to work, then the piston in the test piece assembly (4) moves by being pulled by the second pulley mechanism (11) and the first pulley mechanism (10), and further pushes the projectile to be ejected, the radial loading actuator (5) moves with the projectile and applies radial load, so that the corresponding function relationship is followed.

2. The servo loading test device of claim 1, wherein, A photoelectric limit switch (19) is arranged above the loading tool (13) in a non-contact manner, and is used for transmitting a signal that the projectile in the test piece assembly (4) is separated from the monitoring position to the servo controller (18).

3. The servo loading test device of claim 1, wherein, The radial loading actuator (5), the limit cylinder (6) and the axial movement actuator (12) are connected with the servo controller (18), a radial force sensor (20) is installed on the radial loading actuator (5) for measuring the radial loading force, and the servo controller (18) is used for closed-loop control, an inclination sensor (21) is also installed on the radial loading actuator (5), the inclination sensor (21) receives the inclination signal of the projectile in the test piece assembly (4), and then transmits the signal to the servo controller (18), and an axial displacement sensor (22) is arranged on the axial movement actuator (12) for participating in the displacement closed-loop control of the axial movement actuator (12).

4. The servo loading test device of claim 1, wherein The movement limiting structure (8) is an n-shaped rod structure installed on the foundation (1).

5. The servo loading test device of claim 1, wherein, The pull wire sensor (911) is installed on the pull wire sensor support (912) and is used for transmitting the movement position signal of the projectile in the test piece assembly (4) to the servo controller (18), the pull wire sensor (911) is connected with the servo controller (18), and the pull wire ranging rope (913) is connected with the pull wire sensor (911) and the loading tool main body (131) at two ends respectively.

6. The servo loading test device of claim 1, wherein, The first pulley mechanism (10) comprises a first pulley support (101), a first pulley (102) and a first steel wire rope (103), and the second pulley mechanism (11) comprises a second pulley support (111), a second pulley (112), a second steel wire rope (113) and a main control steel wire rope (114).

7. The servo loading test device of claim 6, wherein, The sliding guide rail (7) is arranged between the test piece assembly support (14) and the first pulley support (101), and the sliding guide rail (7) is arranged below the movement limiting structure (8) and the pull wire sensor support (912).

8. The servo loading test device of claim 6, wherein, The first pulley (102) is installed on the first pulley support (101), one end of the first steel wire rope (103) is connected with the piston in the test piece assembly (4), the other end passes through the first pulley (102) and is fixed on the first pulley support (101), and the first steel wire rope (103) is used for transmitting the tensile load to pull the piston in the test piece assembly (4) to move, so that the projectile in the test piece assembly (4) is ejected, and the movement stroke of the second pulley mechanism (11) is shortened.

9. The servo loading test device of claim 6, wherein, The second pulley (112) is installed on the second pulley support (111), one end of the second steel wire rope (113) is connected with the first pulley (102), the other end passes through the second pulley (112) and is fixed on the first pulley support (101) of the first pulley mechanism (10), and the second steel wire rope (113) is used for transmitting the tensile load to pull the first pulley (102) to move, and the movement stroke of the axial movement actuator (12) is shortened.

10. The servo loading test device of claim 6, wherein, One end of the main control steel wire rope (114) is connected with the second pulley (112), and the other end is connected with the axial movement actuator (12).

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