CN114802803B - Pneumatic type reverse-manipulation load simulator and simulation method thereof - Google Patents
Pneumatic type reverse-manipulation load simulator and simulation method thereofInfo
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- CN114802803B CN114802803B CN202110127421.0A CN202110127421A CN114802803B CN 114802803 B CN114802803 B CN 114802803B CN 202110127421 A CN202110127421 A CN 202110127421A CN 114802803 B CN114802803 B CN 114802803B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- Aviation & Aerospace Engineering (AREA)
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Abstract
本发明涉及一种气动式反操纵负载模拟器及其模拟方法，属于负载模拟技术领域，解决了现有反操纵负载模拟器元器件多、工作寿命短、控制复杂、加载精度低、体积大的问题。本发明的气动式反操纵负载模拟器包括：气缸组件、偏心轴、转接轴组件和伺服机构。气缸组件的输出端连杆通过吊耳与偏心轴转动连接，偏心轴能够在气缸组件的带动下绕伺服机构输出轴轴线旋转，偏心轴通过转接轴组件与伺服机构的输出轴连接，气缸带动偏心轴旋转时，能够通过偏心轴和转接轴组件对伺服机构的输出轴施加反操纵负载，结构简单，操控精度。
This invention relates to a pneumatic anti-manipulation load simulator and its simulation method, belonging to the field of load simulation technology. It solves the problems of existing anti-manipulation load simulators, such as numerous components, short service life, complex control, low loading accuracy, and large size. The pneumatic anti-manipulation load simulator of this invention includes: a cylinder assembly, an eccentric shaft, a transition shaft assembly, and a servo mechanism. The output end connecting rod of the cylinder assembly is rotatably connected to the eccentric shaft via a lug. The eccentric shaft can rotate around the output shaft axis of the servo mechanism under the drive of the cylinder assembly. The eccentric shaft is connected to the output shaft of the servo mechanism via the transition shaft assembly. When the cylinder drives the eccentric shaft to rotate, an anti-manipulation load can be applied to the output shaft of the servo mechanism through the eccentric shaft and the transition shaft assembly. The structure is simple and the control accuracy is high.
Description
Technical Field
The invention relates to the technical field of load simulation, in particular to a pneumatic back-manipulation load simulator and a simulation method thereof.
Background
The servo mechanism of the aircraft is easily affected by reverse manipulation in the flight process, which is unfavorable for the stable control of the aircraft, and the reverse manipulation is the phenomenon that the load reversely drives the servo mechanism to operate. To verify the capability of the servomechanism to resist reverse maneuvers, it is necessary to simulate the reverse maneuvers conditions during flight at the surface by means of a reverse maneuver load simulator.
The counter-control load simulator is connected with the servo mechanism through a switching shaft, and a loading gradient meeting the requirements is provided for the servo mechanism through load adjustment.
Depending on the load mode, the counter-steering load simulator is generally of two types, namely an electric type and an electrohydraulic type.
The electro-hydraulic load simulator has the vulnerable parts such as a hydraulic loop, and the like, has large volume, high manufacturing cost and large initial load, and is not beneficial to the test of a small-sized servo mechanism.
Disclosure of Invention
In view of the above analysis, the invention aims to provide a pneumatic back-manipulation load simulator and a simulation method thereof, which are used for solving the problems that the prior back-manipulation load simulator has more components, short service life, complex control, low loading precision, large volume, high manufacturing cost and large initial load, and is unfavorable for testing a small-sized servo mechanism.
The aim of the invention is mainly realized by the following technical scheme:
A pneumatic back-manipulation load simulator comprises a cylinder assembly, a connecting rod, an eccentric shaft, a switching shaft assembly, a servo mechanism and an output shaft;
the cylinder assembly can drive the connecting rod to output displacement;
The connecting rod is rotationally connected with the eccentric shaft, and the eccentric shaft is fixedly connected with an output shaft of the servo mechanism through the adapter shaft assembly;
the connecting rod, the eccentric shaft and the output shaft form a crank block mechanism, and the cylinder assembly drives the eccentric shaft to rotate through the connecting rod.
Further, the axis of the adapter shaft assembly coincides with the axis of the output shaft.
Further, the connecting rod is connected with the eccentric shaft in a rotating way through the lifting lug.
Further, the connecting rod is fixedly connected with the lifting lug, and the lifting lug is connected with the eccentric shaft through a joint bearing.
Further, the adapter shaft assembly includes a first adapter shaft, a torque sensor, and a second adapter shaft.
Further, the first switching shaft is fixedly connected with the eccentric shaft, the second switching shaft is fixedly connected with the output shaft, and two ends of the torque sensor are respectively and fixedly connected with the first switching shaft and the second switching shaft.
Further, the torque sensor is fixedly connected with the first connecting shaft through the second coupling, and the torque sensor is fixedly connected with the second connecting shaft through the first coupling.
The cylinder assembly comprises a cylinder body, a connecting rod, a piston and a cylinder end cover, wherein the piston is arranged in the cylinder body and divides the cylinder body into a first cavity and a second cavity, and the connecting rod can be driven to stretch and retract when the piston moves up and down.
Further, the cylinder assembly is supplied with air by an air source, which can be in communication with either the first cavity or the second cavity.
A method for simulating a back-steering load adopts a pneumatic back-steering load simulator to simulate the back-steering load, and comprises the following steps:
Step S1, a servo mechanism drives an output shaft to rotate, and the output shaft drives an eccentric shaft to rotate through a switching shaft assembly;
step S2, inflating the cylinder assembly through an air source, and enabling the connecting rod to stretch and retract;
And S3, driving the eccentric shaft to rotate by the connecting rod, wherein the torque direction applied to the eccentric shaft by the connecting rod is the same as the rotation direction of the output shaft, and simulating the counter-manipulation load.
The technical scheme of the invention can at least realize one of the following effects:
1. The pneumatic back-manipulation load simulator realizes the back-manipulation load simulation through the cooperation of the cylinder assembly and the eccentric shaft, adjusts the gas pressure of the cylinder assembly, the length of the connecting rod and the eccentric distance (crank length) of the eccentric shaft, and can meet the back-manipulation test requirements of various loading gradients of various types of servo mechanisms.
2. The pneumatic type reverse operation load simulator provided by the invention has the advantages that the eccentric shaft is driven to rotate through the air cylinder to simulate the reverse operation load, the structure is simple, the operation is convenient, the problems of short service life, large volume, high manufacturing cost, low loading precision and the like of the traditional load simulator are solved, and the requirement of a servo mechanism reverse operation test is met.
3. The counter-control load simulator is a crank slide block mechanism, a piston rod is a slide block and moves linearly, a connecting rod, a lifting lug and an eccentric shaft jointly form a rocker, the length L of the rocker is the distance from a piston to the axis of the eccentric shaft, a crank is formed between the eccentric shaft and a switching shaft, the length H of the crank is the distance from the axis of the eccentric shaft to the axis of an output shaft, namely the length of the crank is the eccentric distance of the eccentric shaft relative to the output shaft.
When the piston moves linearly under the action of air pressure, the connecting rod and the lifting lug are driven to perform linear and rotary compound movement. The lifting lug drives the eccentric shaft to do centrifugal motion through the joint bearing, namely, the eccentric shaft rotates around the axis of the output shaft, and the anti-steering torque applied to the eccentric shaft by the anti-steering load simulator is transmitted to the servo mechanism to simulate the anti-steering load applied to the servo mechanism of the aircraft.
4. According to the anti-manipulation load simulator, the torque sensor is arranged on the adapter shaft assembly, and the magnitude of the anti-manipulation torque is monitored in real time through the torque sensor.
In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a pneumatic back-steering load simulator of the present invention;
FIG. 2 is a side view of a pneumatic back-steering load simulator of the present invention;
FIG. 3 is a cross-sectional view of a drive cylinder of the present invention;
fig. 4 is a schematic diagram of the motion of the pneumatic back-steering load simulator of the present invention.
Reference numerals:
1-servo mechanism, 2-output shaft, 3-first adapter shaft, 4-second adapter shaft, 5-base, 6-cylinder component, 7-first adapter bracket, 8-first coupler, 9-torque sensor, 10-second coupler, 11-second adapter bracket, 12-lifting lug, 13-eccentric shaft, 14-lifting lug sleeve, 15-pressure reducing valve, 16-air source and 17-knuckle bearing;
601-connecting rod, 602-piston sleeve, 603-first cavity, 604-second cavity, 605-ball head, 606-first vent hole, 607-piston, 608-second vent hole, 609-cylinder end cover, 610-first sealing ring, 611-second sealing ring, 612-first guiding sealing ring, 613-second guiding sealing ring.
Detailed Description
The following detailed description of preferred embodiments of the invention is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the invention, are used to explain the principles of the invention and are not intended to limit the scope of the invention.
Example 1
The invention discloses a pneumatic back-manipulation load simulator, which solves the problems of short service life, large volume, high manufacturing cost, low loading precision and the like of the traditional load simulator and meets the back-manipulation test requirements of various types of servo mechanisms.
The servo mechanism of the aircraft is easily affected by inverse manipulation in the flight process, which is unfavorable for the stable control of the aircraft.
In one embodiment of the present invention, as shown in FIGS. 1-4, the pneumatic counter-steering load simulator comprises a cylinder assembly 6, an eccentric shaft 13, an adapter shaft assembly, and a servo 1. The eccentric shaft 13 can rotate under the drive of the air cylinder assembly 6, the eccentric shaft 13 is connected with the output shaft 2 of the servo mechanism 1 through the switching shaft assembly, and when the eccentric shaft 13 rotates, the anti-steering torque can be applied to the output shaft 2 of the servo mechanism 1.
Further, the connecting rods 601 of the cylinder assemblies 6 of the eccentric shafts 13 are rotatably connected. When the link 601 expands and contracts, the eccentric shaft 13 can be driven to rotate around the axis of the output shaft 2 of the servo mechanism 1.
In this embodiment, when the eccentric shaft 13 rotates, a reaction torque can be applied to the output shaft 2 of the servo mechanism 1. The invention realizes the ground simulation of the counter-steering load applied by the servo mechanism of the aircraft during the flight by applying the counter-steering torque to the output shaft 2 of the servo mechanism 1 in operation.
Further, the axis of the adapter shaft assembly coincides with the axis of the output shaft 2 of the servo 1.
Further, the axis of the eccentric shaft 13 is parallel to the axis of the output shaft 2 and has an eccentricity H, i.e. the eccentricity H between the axis of the eccentric shaft 13 and the axis of the adapter shaft assembly, as shown in fig. 2. By changing the magnitude of the eccentricity H, the anti-manipulation test requirement on various loading gradients of the servo mechanism can be realized.
In one embodiment of the invention, the servo 1, the adapter shaft assembly and the cylinder assembly 6 are all mounted on a base 5, the base 5 serving as the mounting base for the entire pneumatic counter-steering load simulator.
Further, the first adapting support 7 and the second adapting support 11 are fixedly installed on the base 5 through screws, and the adapting shaft assembly is installed on the first adapting support 7 and the second adapting support 11, and the first adapting support 7 and the second adapting support 11 are used for raising the height of the adapting shaft assembly, so that the adapting shaft assembly can be matched with the output shaft 2 of the servo mechanism 1.
In one embodiment of the invention, the pneumatic back-steering load simulator is further provided with a torque sensor 9, as shown in fig. 1. A torque sensor 9 is provided on the adapter shaft assembly for monitoring the reaction torque of the pneumatic reaction load simulator.
In one embodiment of the invention, the adapter shaft assembly comprises a first adapter shaft 3, a second adapter shaft 4, a first coupling 8, a second coupling 10 and a torque sensor 9. The first switching shaft 3 is fixedly connected with the eccentric shaft 13 and synchronously rotates, and the second switching shaft 4 is fixedly connected with the output shaft 2 of the servo mechanism 1. The two ends of the torque sensor 9 are respectively connected with the first adapter shaft 3 and the second adapter shaft 4, so that the reverse steering torque output by the pneumatic reverse steering load simulator can be monitored in real time.
Further, one end of the torque sensor 9 is fixedly connected with the second adapter shaft 4 through the first coupling 8, and the other end is fixedly connected with the first adapter shaft 3 through the second coupling 10.
Further, the first adapter shaft 3 is rotatably mounted on the second adapter bracket 11, and the second adapter shaft 4 is rotatably mounted on the first adapter bracket 7.
Specifically, the first adapter shaft 3 is mounted on the second adapter bracket 11 through a bearing, so that the first adapter shaft 3 can rotate relative to the second adapter bracket 11, and the second adapter shaft 4 is mounted on the first adapter bracket 7 through a bearing, so that the second adapter shaft 4 can rotate relative to the first adapter bracket 7.
In a specific embodiment of the present invention, the eccentric shaft 13 is rotatably connected to the connecting rod 601 of the cylinder assembly 6 through the lifting lug 12, and when the connecting rod 601 of the cylinder assembly 6 moves up and down, the eccentric shaft 13 rotates with the axis of the adapter shaft assembly as a rotation axis, and when the eccentric shaft 13 rotates, a counter-steering load can be applied to the output shaft 2 of the servo mechanism 1.
In one embodiment of the present invention, the cylinder assembly 6 includes a cylinder block, a connecting rod 601, a piston sleeve 602, a piston 607, a cylinder end cap 609, and a lifting lug 12, as shown in FIG. 3.
Wherein the piston 607 is disposed in the cylinder block and is movable up and down with respect to the cylinder block. The cylinder end cap 609 is disposed at the bottom of the cylinder block and fixedly connected thereto. The piston sleeve 602 is sleeved on the outer side of the connecting rod 601 and is fixedly connected with the piston 607.
Further, the piston 607 divides the cylinder body into a first cavity 603 and a second cavity 604, a first vent 606 and a second vent 608 are arranged on the side surface of the cylinder body, the first vent 606 is communicated with the first cavity 603, and the second vent 608 is communicated with the second cavity 604. The piston 607 can be pushed up and down by adjusting the volumes of the first cavity 603 and the second cavity 604.
Further, as shown in fig. 3, a first seal ring 610 is disposed between the piston 607 and the cylinder block, and a second seal ring 611 is disposed between the cylinder end cover 609 and the cylinder block.
Further, as shown in fig. 3, a first guide sealing ring 612 is provided between the piston sleeve 602 and the cylinder block, and a second guide sealing ring 613 is provided between the piston sleeve 602 and the cylinder head cover 609.
Further, the connecting rod 601 is a telescopic rod, the piston sleeve 602 is connected with the moving end of the connecting rod, and the moving end of the connecting rod 601 can move up and down under the driving of the piston 607.
Further, the connecting rod 601 comprises a ball head 605, a fixing part and a moving end, wherein the fixing part and the moving end are rod-shaped, the fixing part and the moving end are mutually sleeved and can slide relatively, and the expansion and contraction of the connecting rod 601 are realized through the sliding of the moving end relative to the fixing part.
Further, the fixing portion of the link 601 is integrally formed with the ball 605.
Further, the connecting rod 601 is hinged with the cylinder end cover 609 through a ball head 605 to form a ball pair. That is, when the piston 607 moves up and down, the moving end of the link 601 can be driven to move up and down, and the link 601 can be shifted back and forth and left and right in the piston sleeve 602.
Further, the connecting rod 601 is screwed with the lifting lug 12, and the upper end of the connecting rod 601 is rotatably connected with the eccentric shaft 13 through the lifting lug 12.
Specifically, the upper end of the connecting rod 601 is sleeved in the lifting lug sleeve 14 at the lower end of the lifting lug 12, the connecting rod 601 is connected with the lifting lug sleeve 14 of the lifting lug 12 through threads, and when the connecting rod 601 stretches, the lifting lug 12 moves up and down synchronously.
The eccentric shaft 13 is rotatably connected with the lifting lug 12 through a knuckle bearing 17. The upper end of the lifting lug 12 is provided with a bearing mounting hole, a joint bearing 17 is arranged in the bearing mounting hole, and the eccentric shaft 13 is fixedly connected with the inner ring of the joint bearing 17.
In one embodiment of the present invention, when the first vent 606 is connected to the line of the pressure reducing valve 15, the pressure reducing valve 15 is connected to the air source 16. The second ventilation hole 608 is in communication with the atmosphere, and when the air source 16 inflates and pressurizes the first cavity 603 through the first ventilation hole 606, the piston 607 moves downward, and the connecting rod 601 moves downward, thereby driving the eccentric shaft 13 (crank) to rotate counterclockwise.
When the second vent hole 608 is connected to the line connected to the pressure reducing valve 15, the pressure reducing valve 15 is connected to the air source 16. When the air source 16 charges air to the second cavity 604 through the second vent hole 608, the piston 607 moves upward, and the connecting rod 601 moves upward, thereby driving the eccentric shaft 13 (crank) to rotate clockwise.
That is, the first vent 606 and the second vent 608 may be functionally interchanged as desired. The high-pressure gas in the gas source 16 is depressurized by the depressurization valve 15 and then connected to the first vent hole 606 or the second vent hole 608. When the air source 16 inflates the first cavity 603 through the first vent hole 606, the second vent hole 608 serves as an air outlet, the first cavity 603 increases in volume to push the piston 607 to move downwards, or when the air source 16 inflates the second cavity 604 through the second vent hole 608, the first vent hole 606 serves as an air outlet, and the second cavity 604 increases in volume to push the piston 607 to move upwards.
The implementation process comprises the following steps:
the counter-steering load simulator is a crank slide block mechanism, a piston rod is a slide block and moves linearly, a connecting rod 601, a lifting lug 12 and an eccentric shaft 13 jointly form a rocker, the length L of the rocker is the distance from a piston 607 to the axis of the eccentric shaft 13, a crank is formed between the eccentric shaft 13 and a switching shaft, the length H of the crank is the distance from the axis of the eccentric shaft 13 to the axis of an output shaft 2 of the servo mechanism 1, namely the length of the crank is the eccentric distance between the eccentric shaft 13 and the output shaft 2.
When the piston 607 moves linearly under the action of air pressure, the connecting rod 601 and the lifting lug 12 are driven to perform combined linear and rotary movement. When the lifting lug 12 is connected with the eccentric shaft 13 through the knuckle bearing 17 and drives the eccentric shaft 13 to perform centrifugal motion (the eccentric shaft 13 rotates around the axis of the output shaft 2), the anti-steering torque applied to the eccentric shaft 13 by the anti-steering load simulator is transmitted to the servo mechanism through the adapter shaft assembly and the torque sensor to apply anti-steering load.
The principle of operation of the counter-steering load simulator is shown in fig. 4:
when the servo mechanism 1 is in a zero position, the crank coincides with the connecting rod, and the counter-steering load simulator does not generate counter-steering moment.
When the output shaft 2 of the servo mechanism 1 deflects, the output shaft 2 drives the eccentric shaft 13 to deflect through the switching shaft assembly, the crank and the connecting rod form an included angle with a certain angle, at the moment, the connecting rod 601 is driven to output displacement through the air cylinder assembly 6, the connecting rod 601 drives the eccentric shaft 13 to deflect further, the eccentric shaft 13 applies torque to the output shaft 2 of the servo mechanism 1 reversely, and the air cylinder assembly 6 operates the reverse operation load simulator to generate loading moment with the same movement direction as the output shaft 2 of the servo mechanism 1, namely the reverse operation moment.
Since the deflection angle of the servo 1 does not exceed 30 ° and the rocker length L is much greater than the length H of the crank, the counter-steering torque gradient does not vary with angle over this angle range. Different loading gradients are achieved by adjusting the displacement of the gas pressure regulating piston 607 and the connecting rod 601 into the cylinder assembly 6.
When the cylinder assembly 6 outputs displacement, the connecting rod 601 applies a counter-operating moment to the eccentric shaft 13 through the lifting lug 12 and the knuckle bearing 17, the counter-operating moment received by the eccentric shaft 13 is reversely transmitted to the servo mechanism 1 through the adapter shaft assembly, and the magnitude of the counter-operating moment is monitored in real time through the torque sensor 9.
Example 2
In another embodiment of the present invention, a method for simulating a reverse steering load is provided, wherein the method for simulating a reverse steering load by using the pneumatic reverse steering load simulator in embodiment 1 includes the following steps:
Step S1, a servo mechanism 1 drives an output shaft 2 to rotate, and the output shaft 2 drives an eccentric shaft 13 to rotate through a switching shaft assembly;
Step S2, inflating the cylinder assembly 6 through the air source 16, and enabling the connecting rod 601 to move in a telescopic mode;
Step S3, the connecting rod 601 drives the eccentric shaft 13 to rotate, and the torque direction applied to the eccentric shaft 13 by the connecting rod 601 is the same as the rotation direction of the output shaft 2, so that the counter-steering load is simulated.
In step S2, the air source 16 charges air into the air cylinder assembly 6 through the first air vent 606 or the second air vent 608, and controls the telescopic movement of the connecting rod 601;
In particular, the method comprises the steps of,
When the air source 16 is in communication with the first vent 606:
The air source 16 charges air into the first cavity 603 through the first vent hole 606, the second vent hole 608 serves as an air outlet, the volume of the first cavity 603 is increased, the volume of the second cavity 604 is reduced, and the piston 607 is pushed to move downwards.
When the air source 16 is in communication with the second vent 608:
The air source 16 charges air into the second cavity 604 through the second ventilation hole 608, the first ventilation hole 606 serves as an air outlet, the volume of the second cavity 604 is increased, the volume of the first cavity 603 is reduced, and the piston 607 is pushed upwards.
In the step S3, the connecting rod 601, the eccentric shaft 13 and the first adapter shaft 3 form a crank block structure, as shown in fig. 4.
Specifically, when the connecting rod 601 moves up and down, the eccentric shaft 13 can be driven to rotate around the first switching shaft 3 through the lifting lug 12, the servo mechanism 1 outputs torque through the output shaft 2 to drive the eccentric shaft 13 to rotate, the torque applied to the eccentric shaft 13 by the connecting rod 601 through the lifting lug 12 is in the same direction as the torque of the output shaft 2, and the anti-steering load applied to the aircraft in the flight state is simulated.
It is noted that when the link 601 moves up and down to drive the eccentric shaft 13 to rotate, the link 601 deflects with the center of the ball 605 as the rotation center.
Compared with the prior art, the counter-steering load simulator provided by the embodiment outputs linear displacement through the cylinder assembly 6, forms a crank block mechanism through the connecting rod 601, the lifting lug 12, the eccentric shaft 13 and the first adapter shaft 3, realizes the rotation driving of the eccentric shaft 13 through the up-and-down motion of the connecting rod 601, and is used for simulating counter-steering load applied to an aircraft through the counter-steering torque applied to the eccentric shaft 13 by the cylinder assembly 6 through the connecting rod 601.
The counter-steering load simulator of the invention can regulate the variation increment of the counter-steering load and the magnitude of the counter-steering load by controlling the displacement speed and the displacement amount of the piston 607, and can regulate the step increment of the counter-steering load, namely the magnitude of the counter-steering torque received by the eccentric shaft 13 corresponding to the unit displacement increment output by the connecting rod 601 by changing the eccentricity of the eccentric shaft 13 (the distance between the axis of the eccentric shaft 13 and the axis of the output shaft 2).
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (7)
1. The pneumatic back-manipulation load simulator is characterized by comprising an air cylinder assembly (6), a connecting rod (601), an eccentric shaft (13), a switching shaft assembly, a servo mechanism (1) and an output shaft (2);
The cylinder assembly (6) can drive the connecting rod (601) to output displacement, the connecting rod (601) is rotationally connected with the eccentric shaft (13), the eccentric shaft (13) is fixedly connected with the output shaft (2) of the servo mechanism (1) through the adapter shaft assembly, the axis of the eccentric shaft (13) is parallel to the axis of the output shaft (2) and has an eccentric distance, the connecting rod (601), the eccentric shaft (13) and the output shaft (2) form a crank slide block mechanism, the cylinder assembly (6) drives the eccentric shaft (13) to rotate through the connecting rod (601), the cylinder assembly (6) comprises a cylinder body, the connecting rod (601), a piston (607) and a cylinder end cover (609), the piston (607) is arranged in the cylinder body and divides the cylinder body into a first cavity (603) and a second cavity (604), when the piston (607) moves up and down, the connecting rod (601) can be driven to stretch out and draw back, the cylinder assembly (6) can supply air through the air source (16), the air source (16) can be communicated with the first cavity (603) or the second cavity (604) through the connecting rod (601) and the cylinder end cover (609), and the piston (607) is fixedly connected with the bottom of the cylinder end cover (601) through the connecting rod (605) The piston (607) can drive the moving end of the connecting rod (601) to move up and down when moving up and down, and the connecting rod (601) can shift back and forth and left and right in the piston sleeve (602);
The upper end of the connecting rod (601) is rotationally connected with the eccentric shaft (13) through the lifting lug (12), the eccentric shaft (13) is rotationally connected with the lifting lug (12) through the joint bearing (17), the piston sleeve (602) is sleeved on the outer side of the connecting rod (601) and is fixedly connected with the piston (607), the piston sleeve (602) is connected with the moving end of the connecting rod, the moving end of the connecting rod (601) can move up and down under the driving of the piston (607), when the piston (607) moves linearly under the action of air pressure, the connecting rod (601) and the lifting lug (12) are driven to perform linear and rotary compound motions, the lifting lug (12) is connected with the eccentric shaft (13) through the joint bearing (17), and the eccentric shaft (13) is driven to rotate around the axis of the output shaft (2), and the counter-steering torque applied to the eccentric shaft (13) by the counter-steering load simulator is transmitted to the servo mechanism through the switching shaft assembly and the torque sensor to apply counter-steering load;
The change increment of the back-steering load and the magnitude of the back-steering load can be regulated and controlled by controlling the displacement speed and the displacement amount of the piston (607), and the step increment of the back-steering load can be regulated and controlled by changing the magnitude of the eccentricity of the eccentric shaft (13).
2. A pneumatic back-steering load simulator according to claim 1, characterized in that the axis of the adapter shaft assembly coincides with the axis of the output shaft (2).
3. A pneumatic back-steering load simulator according to claim 2, characterized in that the connecting rod (601) is fixedly connected with the lifting lug (12), and the lifting lug (12) is connected with the eccentric shaft (13) through a knuckle bearing (17).
4. A pneumatic back-steering load simulator according to any of claims 1-3, wherein the adapter shaft assembly comprises a first adapter shaft (3), a torque sensor (9) and a second adapter shaft (4).
5. The pneumatic back-steering load simulator according to claim 4, wherein the first switching shaft (3) is fixedly connected with the eccentric shaft (13), the second switching shaft (4) is fixedly connected with the output shaft (2), and two ends of the torque sensor (9) are respectively fixedly connected with the first switching shaft (3) and the second switching shaft (4).
6. A pneumatic back-steering load simulator according to claim 5, characterized in that the torque sensor (9) is fixedly connected to the first adapter shaft (3) via a second coupling (10), and the torque sensor is fixedly connected to the second adapter shaft (4) via a first coupling (8).
7. A method for simulating a back-steering load, characterized in that the method comprises the steps of:
Step S1, a servo mechanism (1) drives an output shaft (2) to rotate, and the output shaft (2) drives an eccentric shaft (13) to rotate through a switching shaft assembly;
step S2, inflating the cylinder assembly (6) through an air source (16), and enabling the connecting rod (601) to stretch and retract;
And S3, driving the eccentric shaft (13) to rotate by the connecting rod (601), wherein the torque direction applied to the eccentric shaft (13) by the connecting rod (601) is the same as the rotation direction of the output shaft (2), and simulating the counter-steering load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110127421.0A CN114802803B (en) | 2021-01-29 | 2021-01-29 | Pneumatic type reverse-manipulation load simulator and simulation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110127421.0A CN114802803B (en) | 2021-01-29 | 2021-01-29 | Pneumatic type reverse-manipulation load simulator and simulation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114802803A CN114802803A (en) | 2022-07-29 |
| CN114802803B true CN114802803B (en) | 2025-10-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204253498U (en) * | 2014-10-23 | 2015-04-08 | 无锡气动技术研究所有限公司 | Balance cylinder |
| CN111717414A (en) * | 2020-06-23 | 2020-09-29 | 北京理工伺服科技有限公司 | Pneumatic load simulating device of steering engine |
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| SU1740769A1 (en) * | 1989-11-21 | 1992-06-15 | А.Н.Никитин и А.А.Михайлов | Swinging unit of axial-piston hydraulic or pneumatic machine |
| JPH05209588A (en) * | 1992-01-31 | 1993-08-20 | Toshiba Corp | Hermetic compressor |
| GB0605345D0 (en) * | 2006-03-16 | 2006-04-26 | Airbus Uk Ltd | Testing strut assembly |
| DE102009015689B4 (en) * | 2009-03-31 | 2013-07-18 | Industrieanlagen-Betriebsgesellschaft Mbh | Apparatus and method for testing the durability of an eccentric shaft |
| CN102486899B (en) * | 2010-12-02 | 2014-04-09 | 南京航空航天大学 | Load simulator for loading gradient following passive loading steering engine |
| RU2526224C1 (en) * | 2013-03-15 | 2014-08-20 | Открытое Акционерное Общество "Московский Вертолетный Завод Им. М.Л. Миля" | Differential loader for bench with mechanically-closed loop |
| CN112212004B (en) * | 2019-07-10 | 2022-04-01 | 广州汽车集团股份有限公司 | Parking device for vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204253498U (en) * | 2014-10-23 | 2015-04-08 | 无锡气动技术研究所有限公司 | Balance cylinder |
| CN111717414A (en) * | 2020-06-23 | 2020-09-29 | 北京理工伺服科技有限公司 | Pneumatic load simulating device of steering engine |
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