A device for testing the actuation performance of a linkage mechanism operating handle under simulated load.

Abstract

This invention discloses a testing device for the operating performance of a lever mechanism simulating load, belonging to the field of high-end equipment performance testing. The core innovation of the device lies in the sequential connection of the lever, crank, connecting rod, slider, and frame assembly to form a crank-connecting rod-slider core transmission and load simulation mechanism. This mechanism integrates adjustable load simulation and integrated synchronous measurement functions. By configuring counterweights, replacing elastic elements, and adjusting connection angles and lever arms, it can accurately simulate nonlinear, multi-dimensional coupled actual operating loads. Simultaneously, a sensor network composed of force sensors, tilt sensors, and acceleration sensors respectively set at key nodes such as the lever and crank synchronously collects multi-dimensional force / torque, displacement, and acceleration parameters throughout the entire operating process. This invention solves the problems of load distortion, single measurement, and asynchronous data in traditional testing, achieving accurate and universal testing of the operating performance of lever mechanisms.

Description

Technical Field

[0001] This invention belongs to the technical field of high-end equipment performance testing and support equipment, specifically relating to an integrated actuation performance testing device for simulating the connection and load mode of various operating handles (such as hatch handles, control levers, valve handles, etc.) and simultaneously detecting their multi-dimensional mechanical response and motion parameters. Background Technology

[0002] In the research, development, manufacturing, and maintenance of high-end equipment such as aviation, ships, vehicles, and heavy machinery, the mechanical properties of operating handles are one of the core indicators of ergonomics, safety, and reliability. However, the current industry standard for measuring the operating force of such handles generally suffers from systematic inaccuracies, stemming from the following technical bottlenecks:

[0003] The load simulation is disconnected from real-world operating conditions. Previous load tests used fixed weights or simple actuators for single-point loading, which could not reproduce the nonlinear loads experienced by the operating handle during opening and closing. These included the exponential increase in the sealing strip compression reaction force with displacement, the additional resistance from airflow pressure differences, and the coupled loads from inertial loads, latching mechanisms, and related operating mechanical structures. This resulted in laboratory test data being unable to effectively predict the performance and lifespan of components in actual use.

[0004] The measurement dimensions are limited and the data is not synchronized. Most devices can only measure thrust or pull in a single direction, failing to simultaneously acquire the multidimensional torque generated by the handle under complex force conditions. Furthermore, force and displacement / angle measurements are often performed by different instruments at different times, lacking strict time synchronization and making it difficult to plot accurate hysteresis curves, thus hindering the calculation of key parameters such as backlash and friction. The operating handle is a pivotal point for spatial force system transformation, experiencing a precise coupling of multidimensional forces and torques. Traditional measurements focus only on the pulling or pushing force in a single direction, completely ignoring the lateral forces, torsional torques, and bending torques acting on the handle base. These neglected multidimensional components are precisely the potential causes of handle vibration, abnormal mechanism wear, and even unlocking failure. The lack of measurement dimensions makes it difficult for researchers to accurately locate weak points in the transmission chain.

[0005] The equipment is highly specialized but lacks versatility. Test fixtures are typically designed for specific handle models. When products are iterated or new parts are tested, the entire set of fixtures and transmission mechanisms need to be redesigned and manufactured, resulting in long development cycles, high costs, and low equipment utilization.

[0006] Therefore, there is an urgent need to develop a standardized testing platform that can provide accurate and adjustable load simulation, realize simultaneous measurement of multi-dimensional mechanical and motion parameters, and have good versatility, scalability and robustness for various operating handles and similar linkage mechanisms, so as to meet the common technical needs for accurate performance evaluation of human-machine interaction components in the research and development and support of high-end equipment. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a versatile, accurate, and flexibly configurable adjustable linkage mechanism multidimensional mechanical performance testing device and method that simulates an operating handle. This device, through an innovative "crank-connecting rod-slider" load simulation mechanism and an integrated multidimensional sensor network, achieves high-precision synchronous acquisition and correlation analysis of parameters across the entire "load input—mechanical mechanical response—motion output" chain, thereby accurately evaluating the operating performance of the operating handle and its transmission mechanism.

[0008] To make the objectives, technical solutions, and advantages of this invention clearer, the following description will be provided in conjunction with the appendix. Figure 1-8 The present invention will be described in detail below. The following content serves as a static structural overview and is used to illustrate the present invention, but is not intended to limit the scope of the invention.

[0009] Unless otherwise stated, the terms "connection," "hinged connection," and "fixed connection" used in this document to refer to the assembly of components, all referring to connections achieved through conventional mechanical connection methods in this field, such as using threaded fasteners including bolts, screws, and various washers in conjunction with corresponding open or threaded holes. For the sake of brevity, these will not be elaborated further below.

[0010] like Figure 1-2 As shown, the device of the present invention mainly consists of a handle assembly 1, a crank assembly 2, a connecting rod assembly 3, a slider assembly 4, and a frame assembly 5.

[0011] As a further embodiment of the present invention: such as Figure 3 As shown, the handle assembly 1 is a drive force input and test handle mounting unit. Its core components include a handle shaft 101, handle side plates 102, flange bearings 103, handle mounting plate 104, a handle six-dimensional force sensor 105, a sensor mounting plate 106, a handle tilt sensor 107, connecting studs 109, ball bearing positioning screws 108, a clamp mounting plate 110, a handle acceleration sensor 111, and a clamp 112. The handle shaft 101 is supported on the two handle side plates 102 via flange bearings 103, and the handle side plates 102 are fixed to the handle mounting plate 104. The handle six-dimensional force sensor 105 and the sensor mounting plate 106 are sequentially connected to the other side of the handle mounting plate 104 via threads. The sensor mounting plate 106 is equipped with the handle tilt sensor 107, the connecting studs 109, and the ball bearing positioning screws 108 for setting the initial angle. The entire handle assembly 1 can be tightly fixed to the crankshaft 201 of the crank assembly 2 via the clamp mounting plate 110 and clamp 112.

[0012] As a further aspect of the present invention: Further, the aforementioned... Figure 4As shown, crank assembly 2 is the core of motion and force conversion. It includes crankshaft 201, crankshaft mounting plate 202, bearing 203, lower crank section 204, middle crank section 205, crank tilt sensor 206, crank acceleration sensor 207, crank six-dimensional force sensor 208, upper crank section 209, and bearing assembly 210. Crankshaft 201 is mounted on crankshaft mounting plate 202 via bearing 203. Lower crank section 204, middle crank section 205, and upper crank section 209 are connected sequentially. Crank tilt sensor 206 and crank acceleration sensor 207 are mounted on middle crank section 205 and connected to upper crank section 209 via crank six-dimensional force sensor 208. Upper crank section 209 has a row of connecting holes for hinged connection with connecting rod assembly 3.

[0013] As a further embodiment of the present invention: such as Figure 5 As shown, the connecting rod assembly 3 connects the crank and the slider and transmits tension and force. It mainly consists of a fisheye bearing 301, a double-ended stud 302, a connecting rod connecting post 303, a connecting rod tension / compression sensor 304, and a connecting rod acceleration sensor 305. An adjustable-length connecting rod is formed through a threaded connection, with the connecting rod tension / compression sensor 304 integrated in the middle for measuring axial force.

[0014] As a further embodiment of the present invention: such as Figure 6 As shown, the slider assembly 4 is a load application and simulation unit. It includes a slider 401, a buffer rubber pad 402, a slider mounting plate 403, a hook 404, a hook mounting plate 405, a connecting rod connector 406, a displacement baffle 407, a slider acceleration sensor 408, a counterweight mounting plate 409, a counterweight mounting bolt 410, and a counterweight 411. The slider 401 can slide along the guide rail. The slider mounting plate 403 integrates various functional components: the hook 404 connects to the load spring, the connecting rod connector 406 hinges the connecting rod, the displacement baffle 407 senses displacement, and the counterweight mounting plate 409 loads the counterweight plate.

[0015] As a further embodiment of the present invention: such as Figure 7As shown, the platform assembly 5 is the rigid foundation and functional integration platform of the device. In the platform assembly 5, four sets of foot pads 501 are connected to the base plate 502 through threaded holes for leveling and stabilizing the base plate 502. The base plate 502 is bolted to four L-shaped brackets 503 through its upper threaded holes, and then connected to the upright plate 504 through the threaded holes on the L-shaped brackets 503 to ensure that the upright plate 504 is placed vertically. The upright plate 504 has mounting holes in each functional area for mounting pulley guide rails 505, two sets of limit blocks 506 (each limit block 506 is equipped with a thin film pressure sensor assembly 507), displacement sensor mounting posts 508 (on which infrared displacement sensors 509 are mounted), two sets of spring tension sensor mounting seats 510 (on which spring tension sensors 511, spring hanging rings 512 and tension springs 516 are mounted through threaded holes), and a crank mounting plate 513 on the back. The crank mounting plate 513 is connected to the crank connecting seat 514 through a pair of its multiple threaded holes. The crank connecting seat 514 is fixedly connected to the stop screw 515 through the threaded holes, thereby connecting the frame assembly 5 and the crank assembly 2. The pulley guide rail 505 mates with the slider 401 through its matching guide rail groove, thereby connecting the frame assembly 5 and the slider assembly 4. A tension spring 516 can be connected between the upper and lower sets of spring hanging rings 512 and the hooks 404 on the slider assembly 4.

[0016] As a further embodiment of the present invention, the testing device further includes one or more of the following adjustment and adaptation mechanisms: an angle positioning mechanism 109 for setting and locking the initial angle of the handle assembly 1; multiple connection holes provided at the output end of the crank assembly 2 for adjusting the effective lever arm length of the crank assembly 2 by changing the connection position of the connecting rod assembly 3; and a handle mounting plate 104 detachably provided on the handle assembly 1 for adapting to different models of the operating handle to be tested.

[0017] The beneficial effects of this invention are as follows:

[0018] This invention utilizes innovative mechanical configuration, integrated sensor network, and modular design, with a testing process as follows: Figure 8 As shown, this method fundamentally solves the three core problems mentioned in the background section and has the following significant advantages:

[0019] 1. A highly integrated and synchronized test architecture

[0020] The device organically integrates a motion load simulation module (crank assembly 2, connecting rod assembly 3, and slider assembly 4), a driving force input module (handle assembly 1), a test bench assembly 5, and a comprehensive sensing and acquisition assembly. The measurement of all key physical quantities (six-dimensional force / torque, linear / angular displacement, and acceleration) is performed by built-in sensors, achieving microsecond-level time synchronization through a unified acquisition system. This completely eliminates the data asynchrony errors caused by traditional time-sharing and instrument-based measurements, enabling the direct plotting of high-precision force-displacement and torque-angle hysteresis curves, providing a unique and reliable data foundation for calculating key performance parameters such as hysteresis, friction coefficient, and energy loss.

[0021] 2. Highly adjustable modular load mechanism simulation, realistically reproducing complex working conditions.

[0022] Accurate simulation of nonlinear loads: The linear motion of the slider assembly 4 is converted into rotational motion acting on the crank assembly 2 and the handle assembly 1 through the crank-connecting rod mechanism. The lever arm changes continuously with the angle, thus constituting a primary nonlinear load. Combined with replaceable nonlinear spring assemblies or pneumatic / hydraulic dampers, and replaceable buffer rubber pads 402, complex load curves such as nonlinear loads like the compression reaction force of sealing strips and airflow pressure difference resistance can be accurately reproduced. The magnitude and variation of the load can be adjusted over a wide range with high degrees of freedom by changing the spring stiffness, adjusting the counterweight mass, and changing the effective length of the crank by adjusting the position of the fisheye bearing connection point.

[0023] Multidimensional coupled load introduction refers specifically to the capability of a testing device to actively and controllably apply and reproduce the complex mechanical load state that the device experiences in a real working environment, where loads exist simultaneously in multiple spatial directions and interact with each other. The device's structure allows for the simulation of non-pure axial tensile / thrust forces during testing. For example, by adjusting the initial angle of the handle or the load asymmetry, multidimensional couples caused by lateral wind loads or mechanism jamming can be simulated, thus more realistically reflecting the complex spatial force system faced by the handle in actual human-machine interaction.

[0024] 3. Comprehensive multi-dimensional mechanical and motion parameter synchronous sensing capability

[0025] Complete decoupling of spatial force system: Six-dimensional force sensors are installed at the two key force transmission nodes, the handle and the crank, respectively, enabling synchronous and independent measurement of forces (F) in three directions. x , F y , F z ) and torque in three directions (M) x M y M zThis achieves complete decoupling and quantification of input force, output force, and internal transmitted torque during the application of external force to the operating handle, enabling precise analysis of the transmission efficiency, internal force distribution, and mechanical causes of abnormal wear in the linkage mechanism.

[0026] Full-link motion parameter monitoring: Inclination and acceleration sensors are integrated into the handle, crank, connecting rod, and slider, enabling real-time synchronous monitoring of angular displacement, angular velocity, and linear acceleration of all components throughout the entire link, from operation input to load output. Combined with displacement sensor measurements of the slider assembly 4, the kinematic state of the entire transmission chain during testing can be completely reconstructed, providing a comprehensive dataset for dynamic analysis.

[0027] 4. Excellent versatility, scalability, and robustness

[0028] Modular and Adjustable Design: Handle Assembly 1 allows for quick replacement of different models of operating handle adapters through standardized clamp and connecting stud design. The length and connection point position of the crank-connecting rod mechanism are adjustable. The counterweight and load spring of Slider Assembly 4 can be flexibly changed. This design allows the same device to adapt to the testing needs of various models and sizes of operating handles or similar linkage mechanisms without re-manufacturing the core structure, simply by adjusting or replacing modules. This significantly improves equipment utilization and accelerates the iterative process of R&D testing.

[0029] High-rigidity frame and safety protection: The high-rigidity main frame, composed of an L-shaped bracket and upright plate, ensures minimal overall deformation and stable measurement reference during testing. It is equipped with an integrated thin-film pressure sensor limit stop and buffer rubber pad, effectively preventing damage from accidental overtravel while simulating contact with nonlinear loads, thus ensuring testing safety and extending equipment lifespan.

[0030] Standardized interfaces and data fusion: All sensor output signals are processed through a unified acquisition module with a standard data interface, which facilitates integration with upper-level test management software or data analysis platforms to achieve automated testing processes, real-time data analysis, and automatic report generation. Attached Figure Description

[0031] Figure 1 Overall installation diagram of the device

[0032] Figure 2 Disassembled view of main modules of the device

[0033] The components include: handle assembly 1, crank assembly 2, connecting rod assembly 3, slider assembly 4, and frame assembly 5.

[0034] Figure 3 Handle component assembly diagram

[0035] The components include: handle shaft 101, handle side plate 102, flange bearing 103, handle mounting plate 104, handle six-dimensional force sensor 105, sensor mounting plate 106, handle tilt sensor 107, connecting stud 109, ball positioning screw 108, clamp mounting plate 110, handle acceleration sensor 111, and clamp 112.

[0036] Figure 4 Crank assembly drawing

[0037] Among them: crankshaft 201, crankshaft mounting plate 202, bearing 203, lower crank section 204, middle crank section 205, crank tilt sensor 206, crank acceleration sensor 207, crank six-dimensional force sensor 208, upper crank section 209, bearing assembly 210.

[0038] Figure 5 Linkage assembly drawing

[0039] Among them: fisheye bearing 301, double-ended stud 302, connecting rod connecting post 303, connecting rod tension / compression sensor 304, connecting rod acceleration sensor 305.

[0040] Figure 6 Slider component assembly diagram

[0041] Among them: on slider 401, there is buffer rubber pad 402, slider mounting plate 403, hook 404, hook mounting plate 405, connecting rod connecting seat 406, displacement baffle 407, slider acceleration sensor 408, counterweight mounting plate 409, counterweight mounting bolt 410, and counterweight 411.

[0042] Figure 7 Bench assembly drawing

[0043] The components include: foot pad 501, base plate 502, L-shaped bracket 503, upright plate 504, pulley guide rail 505, limit stop block 506, thin film pressure sensor assembly 507, displacement sensor mounting post 508, infrared displacement sensor 509, spring tension sensor mounting base 510, spring tension sensor 511 and spring hanging ring 512, crank mounting plate 513, crank connecting seat 514, plug screw 515, and tension spring 516.

[0044] Figure 8 Device Measurement Flowchart Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0046] This invention achieves synchronous acquisition of parameters across the entire process through an integrated multidimensional sensor network. This network includes: six-dimensional force sensors (105, 208) installed on the handle assembly 1 and crank assembly 2 to decouple the spatial force system; tilt sensors (107, 206) and acceleration sensors (111, 207, 305, 408) distributed on the handle, crank, connecting rod, and slider assemblies to monitor motion parameters; a tension / compression sensor 304 integrated on the connecting rod assembly 3 to measure axial force; a displacement sensor 509 mounted on the platform assembly 5 to monitor slider displacement; and a spring tension sensor 511 and a thin-film pressure sensor 507 installed on the load mechanism and limit mechanism to measure load and contact force. All sensor signals are synchronized at the microsecond level through a unified data acquisition system, providing a complete data foundation for accurate analysis.

[0047] Please see Figures 1 to 8 The following describes in detail, with reference to the accompanying drawings, the specific assembly method, working principle and testing process of the testing device provided in the embodiments of the present invention.

[0048] 1. Device Assembly

[0049] Before testing, the testing device involved in this invention needs to be initialized. First, the handle assembly 1, crank assembly 2, connecting rod assembly 3, slider assembly 4 and frame assembly 5 are connected and installed according to the working conditions.

[0050] First, assemble and securely place the platform assembly 5: ensure the base plate 502 is level by adjusting the four sets of foot pads 501. Fix the four L-shaped brackets 503 to the base plate 502 with bolts, and then vertically install the upright plate 504 to the base plate 502 with bolts to form a highly rigid main frame.

[0051] Furthermore, functional modules are installed on the upright plate 504: a pair of pulley guide rails 505 are installed parallel to each other in the preset guide rail mounting area of ​​the upright plate 504; upper limit stop blocks 506-1 and lower limit stop blocks 506-2 are installed in the mounting holes near both ends of the guide rail stroke, and each limit stop block 506 integrates a thin film pressure sensor assembly 507; an infrared displacement sensor 509 is installed on the displacement sensor mounting post 508 on one side of the guide rail, with its detection direction aligned with the displacement baffle 407 on the slider assembly 4; a crank mounting plate 513 is installed on the back of the upright plate 504 by bolts. Depending on the type of load required for testing, spring tension sensors 511 and spring hanging rings 512 can be installed on the spring tension sensor mounting seats 510 at the upper and lower parts of the upright plate 504 to connect the load spring for load and mechanism balance assistance simulation.

[0052] Further, assemble slider assembly 4: Secure slider mounting plate 403 to slider 401 with locking knob using bolts. On slider mounting plate 403, sequentially install hook mounting plate 405 (with one hook 404 mounted on its top and bottom), connecting rod connecting seat 406, displacement baffle 407, slider acceleration sensor 408, and counterweight mounting plate 409 using bolts. Attach buffer rubber pads 402 to the upper and lower end faces of slider 401. Fit the assembled slider assembly 4 into pulley guide rail 505 via pulley grooves in slider 401, ensuring smooth sliding.

[0053] Further, assemble connecting rod assembly 3: Take two studs 302 and connect them to two fisheye bearings 301 via threads and tighten them. Connect the other end of one stud 302 to a connecting rod connecting post 303, and connect the other end of the connecting rod connecting post 303 to a connecting rod tension / compression sensor 304, thus forming the upper half of the connecting rod. Assemble the lower half of the connecting rod in the same way. When assembling the lower half, connect a connecting rod acceleration sensor 305 between the stud 302 and the connecting rod connecting post 303 via threads.

[0054] Further, assemble crank assembly 2: Pass crankshaft 201 through bearings 203 on both crankshaft mounting plates 202. Connect lower crank section 204 to both crankshaft mounting plates 202 using bolts, and then connect its lower part to middle crank section 205 using bolts. Install crank tilt sensor 206 and crank acceleration sensor 207 in pre-drilled holes in middle crank section 205. Connect one end of crank six-dimensional force sensor 208 to the interface above middle crank section 205, and the other end to upper crank section 209. Finally, pass screws 515 through and install bearing assembly 210 in predetermined holes in upper crank section 209.

[0055] Furthermore, the assembled crank assembly 2 is connected and fixed to the crank connecting seat 514 on the crank mounting plate 513 mounted on the back of the bench assembly 5 using a stopper screw 515. Simultaneously, the spherical bearing 301 of the lower half of the connecting rod assembly 3 is connected to the connecting rod connecting seat 406 on the slider assembly 4. Then, the spherical bearing 301 of the upper half of the connecting rod assembly 3 is connected to one of the threaded holes in the upper crank section 209 of the crank assembly 2. Thus, the crank assembly 2 and the slider assembly 4 are hinged together through the connecting rod assembly 3, forming a complete "crank-connecting rod-slider" load simulation and motion transmission mechanism.

[0056] Further, assemble handle assembly 1: Install two flange bearings 103 onto the two handle side plates 102 respectively. Pass the handle shaft 101 through and support it between the flange bearings 103 of the two handle side plates 102. Fix the two handle side plates 102 to one side of the handle mounting plate 104 with bolts, and install the handle six-dimensional force sensor 105 on the other side of the handle mounting plate 104. The handle six-dimensional force sensor 105 is then connected to the sensor mounting plate 106. Install the handle tilt sensor 107, connecting studs 109, and ball positioning screws 108 on the sensor mounting plate 106. Fix the clamp 112 with the clamp mounting plate 110, and install the handle acceleration sensor 111 on the clamp mounting plate 110. Clamp the entire handle assembly 1 onto the crank shaft 201 of the crank assembly 2 through the clamp 112, completing the connection between the handle drive input mechanism and the load simulation mechanism. By rotating the nut on the connecting stud 109, the extension length of the ball positioning screw 108 can be finely adjusted, thereby setting the initial installation angle of the handle relative to the crank. In this embodiment, by adjusting the ball positioning screw 108, the measuring coordinate systems of the handle tilt sensor 107 and the crank tilt sensor 206 can maintain a preset alignment relationship when the device is in the initial position. When the handle assembly 1 rotates 180° relative to the crank assembly 2 to reach the end of its stroke, the ball positioning screw 108 on the other side acts as a mechanical limit.

[0057] 2. Load mechanism simulation

[0058] Simulation of basic inertial load and constant load: By adding or removing the number of counterweights 411 (0-10 in this embodiment) on the four counterweight mounting bolts 410 on the counterweight mounting plate 409, the inertial mass and part of the constant resistance of the moving parts of the tested mechanism can be simulated.

[0059] Nonlinear elastic load simulation: A tension spring with a specific stiffness curve is selected as the load spring. An auxiliary spring with the opposite direction of action to the load spring is set up, and its two ends are respectively hooked onto the hook 404 of the slider assembly 4 and the corresponding spring hanging ring 512 on the platform assembly 5. The auxiliary spring is connected in the same way. The spring force is measured in real time by the spring tension sensor 511. By replacing springs with different stiffnesses, using multiple springs in combination, or replacing the buffer rubber pad 402 on the end face of the slider 401 (to simulate different contact stiffness), nonlinear loads similar to the compression reaction force of the sealing strip can be simulated.

[0060] 3. Testing Process

[0061] Data acquisition system initialization: Connect all sensors to the data acquisition system. Set test parameters in the control software, such as sampling frequency, test stroke, and target load curve.

[0062] Test execution: The operator or robotic arm operates the handle assembly 1 in a pre-defined pattern, causing the crankshaft 201 to rotate. The crank rotation is converted into linear motion of the slider assembly 4 on the pulley guide rail 505 via the connecting rod assembly 3. During this motion, the slider assembly 4 overcomes the configured counterweight 411, spring load, and other resistances. Throughout the operation, the data acquisition system synchronously records the following data: force / torque on the handle and crank (F). x , F y , F z M x M y M z ), the tensile and compressive forces (F) on the connecting rod a ), load / resistance spring force (F1, F2); real-time tilt angle, linear acceleration, and angular acceleration of the handle, crank, connecting rod, and slider during the movement, as well as the real-time displacement of the slider; the pressure (F) collected by the thin-film pressure sensor at the initial and final positions of the buffer rubber pad 402 contacting the limit stop 506 during the movement of the slider assembly 4. n1 ,F n2 ) .

[0063] Data Analysis: After the test, the software automatically synchronizes all time-domain data. It can plot various hysteresis curves such as "operating force / torque - handle angle," "crank torque - crank angle," and "connecting rod force - slider displacement," and automatically calculate key performance indicators such as peak operating force, backlash, friction loss, transmission efficiency, and the proportion of torque in different directions. By comparing the multi-dimensional mechanical data input at the handle and output at the crank, the software can accurately analyze the force conversion and loss mechanisms in the transmission chain, and pinpoint potential weak points.

[0064] 4. Expanding Applications

[0065] When testing different models and sizes of operating handles, simply:

[0066] (1) Replace the handle mounting plate 104 and the adapter clamp with the new handle;

[0067] (2) Adjust the connection point between the upper section 209 of the crank and the connecting rod as needed, i.e., select different threaded holes to change the lever arm;

[0068] (3) Reconfigure the load springs and counterweights.

[0069] Without requiring modifications to the core test bench, guide rails, and sensing system, the equipment's versatility and testing efficiency are greatly improved.

[0070] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A device for testing the actuation performance of a linkage mechanism under simulated load, characterized in that, The device includes a handle assembly (1), a crank assembly (2), a connecting rod assembly (3), a slider assembly (4), and a test bench assembly (5); the handle assembly (1) is used to mount the operating handle to be tested and input the operating force; one end of the connecting rod assembly (3) is hinged to the output end of the crank assembly (2); the slider assembly (4) is hinged to the other end of the connecting rod assembly (3); the test bench assembly (5) is provided with a guide mechanism, and the slider assembly (4) can move linearly along the guide mechanism; the test bench assembly (5) is used to support and mount the handle assembly (1), the crank assembly (2), the connecting rod assembly (3), and the slider assembly (4); the slider assembly (4) is provided with an adjustable counterweight mechanism; and / or, at least one set of replaceable elastic load mechanisms are connected between the slider assembly (4) and the test bench assembly (5).

2. The testing apparatus according to claim 1, characterized in that, The testing device also includes an integrated multidimensional sensor network; The integrated multidimensional sensing network includes: a six-dimensional force sensor, including at least a handle six-dimensional force sensor (105) disposed on the handle assembly (1) and a crank six-dimensional force sensor (208) disposed on the crank assembly (2); an tilt sensor, including at least a handle tilt sensor (107) disposed on the handle assembly (1) and a crank tilt sensor (206) disposed on the crank assembly (2); and an acceleration sensor, including at least a handle acceleration sensor (111) disposed on the handle assembly (1), a crank acceleration sensor (207) disposed on the crank assembly (2), and a connecting rod acceleration sensor disposed on the connecting rod assembly (3). (305) and a slider acceleration sensor (408) disposed on the slider assembly (4); a spring tension sensor (511) for measuring the tension of the elastic load mechanism; and one or more of the following sensors: a link tension sensor (304) integrated in the link assembly (3) for measuring its axial tension and compression; a non-contact displacement sensor (509) mounted on the test bench assembly (5) for detecting the linear displacement of the slider assembly (4); a thin film pressure sensor assembly (507) disposed on the upper limit stop (506) of the test bench assembly (5) for measuring the contact pressure of the end buffer pad (402) of the slider assembly (4).

3. The testing apparatus according to claim 1, characterized in that, The testing device further includes one or more of the following adjustment and adaptation mechanisms: an angle positioning mechanism (109) for setting and locking the initial angle of the handle assembly (1); multiple connection holes provided at the output end of the crank assembly (2) for adjusting the effective lever arm length of the crank assembly (2) by changing the connection position of the connecting rod assembly (3); and a handle mounting plate (104) detachably provided on the handle assembly (1) for adapting to different models of operating handles to be tested.

4. A method for testing the actuation performance of an operating handle, using the testing apparatus as described in any one of claims 1 to 3, characterized in that, Includes the following steps: Step S1: According to the test requirements, configure a simulated load on the test device. The configuration of the simulated load includes: replacing the elastic load mechanism, adjusting the mass of the adjustable counterweight mechanism, and / or changing the effective lever arm length of the crank assembly (2) to simulate different load curves, and adjusting the handle assembly (1) to a preset initial angle. Step S2: Apply an operating force to the handle assembly (1) to drive the crank assembly (2), connecting rod assembly (3) and slider assembly (4) to move in order to overcome the simulated load; Step S3: During the test, the integrated multidimensional sensor network on the test device synchronously collects a variety of multidimensional mechanical and motion parameters, including the following parameters: six-dimensional force and torque acting on the handle and crank, the tilt angle of the handle and crank, the acceleration of the handle, crank, connecting rod and slider, the axial tension and compression of the connecting rod, the linear displacement of the slider, the tension of the load spring, and the contact pressure between the buffer pad at the end of the slider and the limit stop. Step S4: Based on the synchronously acquired multidimensional data, calculate and evaluate the operational performance of the operating handle and its transmission mechanism.

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