CN116181744A - EHA loading test bed with adjustable width and control method - Google Patents

EHA loading test bed with adjustable width and control method Download PDF

Info

Publication number
CN116181744A
CN116181744A CN202310350598.6A CN202310350598A CN116181744A CN 116181744 A CN116181744 A CN 116181744A CN 202310350598 A CN202310350598 A CN 202310350598A CN 116181744 A CN116181744 A CN 116181744A
Authority
CN
China
Prior art keywords
eha
vertical plate
loading
tested
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310350598.6A
Other languages
Chinese (zh)
Inventor
谢海波
李仁杰
黄勋伟
王承震
杨华勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University ZJU
Original Assignee
Zhejiang University ZJU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to CN202310350598.6A priority Critical patent/CN116181744A/en
Publication of CN116181744A publication Critical patent/CN116181744A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/855—Testing of fluid pressure systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)

Abstract

The invention discloses an EHA loading test bed with adjustable width and a control method. The working vertical plates are arranged on two sides of the mounting base, and the equal-arm lever rack is arranged between the working vertical plates; the tested electrohydraulic actuator is hinged with the equal arm lever frame and then hinged with the mounting base through the EHA connecting rod, and the pulling pressure sensor is hinged with the equal arm lever frame and then hinged with the mounting base through the loading cylinder. The method comprises the following steps: adjusting the space between the working vertical plates, connecting the extension shaft with the frame connecting shaft, and selecting an adjusting cushion block; acquiring a real-time swing angle of the equal arm lever frame, controlling a real-time axle center distance, and installing a tested electrohydraulic actuator; controlling the running speed, loading form and loading working condition; and acquiring real-time tension pressure and swing angle, acquiring a displacement curve, and acquiring a motion condition and a load to realize the control of the loading test bed. The invention can realize the loading of the EHA with low, medium and high speed, light, medium and heavy loads, and can adjust the width of the test bed according to different specifications, thereby more efficiently completing the loading test and performance analysis of the EHA with different specifications.

Description

EHA loading test bed with adjustable width and control method
Technical Field
The invention relates to a loading test bed, in particular to an EHA loading test bed with adjustable width and a control method.
Background
The hydraulic control system is always a commonly applied scheme of the flight control system because of the advantages of good balance, high relative working rigidity, rapid action response, small inertia, self-lubricity of an actuating mechanism and the like. However, with the rapid development of Power-By-Wire technology, the conventional hydraulic system is gradually replaced By an electrically driven Power-By-Wire flight control system due to the fact that the hydraulic system is easy to leak, has small Power-to-weight ratio, extremely complex pipelines distributed throughout the fuselage, high maintenance cost and the like. Electro-hydrostatic actuators (Electro-Hydrostatic Actuator), EHA, are a representative product of power Electro-mechanical actuators, which themselves offer the advantages of power Electro-mechanical technology. In addition, EHA is a closed pump control system that has less energy consumption than conventional valve control systems and is also more energy efficient due to the compactness of the system. Because of its high integration level, it is complicated to perform a performance test, and thus a loading test stand is required to perform a performance test on it.
The existing loading scheme for electro-hydraulic actuators is as follows: loading by a weight, loading by a spring, loading by a hydraulic cylinder lever and the like. A large load force loading can be achieved with a weight loading, but only with a constant force loading and with the need to manually change the weight. Sinusoidal alternating force loading can be achieved by spring loading, but constant force loading cannot be achieved, and achieving heavy load conditions is difficult. The existing lever loading mode using the hydraulic cylinder utilizes the linear slide rail and the T-shaped bracket to conduct acting force, the structure can cause that most of force is loaded on the connecting rod at the joint of the middle T-shaped bracket and the bottom plate, the efficiency is very low, and the stroke of the tested EHA of the test bed adopting the structure is smaller. Moreover, the existing test bed is a test bed with a fixed width for one tested EHA, and the loading test of the EHA with different specifications cannot be completed by only one test bed.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides an EHA loading test stand with adjustable width and a control method. The invention can solve the problems that the existing EHA loading test bed cannot realize various loading modes, the existing lever loading test bed has low loading efficiency, the tested EHA stroke is small, and the existing test bed can only complete one size specification EHA loading test, thereby realizing more comprehensive, more efficient and larger stroke EHA loading tests with different sizes.
The technical scheme adopted by the invention is as follows:
1. loading test bed of electrohydraulic actuator EHA:
the loading test bed comprises a first working vertical plate, an electro-hydraulic actuator EHA to be tested, an equal-arm lever rack, a second working vertical plate, a tension pressure sensor, an EHA connecting rod, a loading cylinder and a mounting base, wherein the bottom side surfaces of the first working vertical plate and the second working vertical plate are arranged on two symmetrical sides of the mounting base, the first working vertical plate and the second working vertical plate are vertically and oppositely arranged in parallel, and the equal-arm lever rack is horizontally arranged between the top side surfaces of the first working vertical plate and the second working vertical plate; the upper end of the tested electrohydraulic actuator EHA is hinged with one side of the middle part of the equal arm lever frame and then hinged with the top surface of the mounting base through an EHA connecting rod, and the upper end of the tension pressure sensor is hinged with the other side of the middle part of the equal arm lever frame through a connecting piece and then hinged with the top surface of the mounting base through a loading cylinder.
The loading test bed further comprises a first frame connecting shaft and a second frame connecting shaft, the upper parts of the first work vertical plate and the second work vertical plate are respectively provided with a through mounting hole along the plate surface direction of the first work vertical plate and the second work vertical plate, the two mounting holes are opposite to each other, the first work vertical plate is provided with a first square seat jackscrew outer spherical ball bearing with a boss on the upper part of one side plate surface far away from the second work vertical plate, the second work vertical plate is provided with a second square seat jackscrew outer spherical ball bearing with a boss on the upper part of one side plate surface far away from the first work vertical plate, the first square seat jackscrew outer spherical ball bearing with a boss and the second square seat jackscrew outer spherical ball bearing with a boss are opposite to each other, one end of the first frame connecting shaft penetrates through the mounting holes of the first work vertical plate and then is sleeved in the middle of the first square seat jackscrew outer spherical ball bearing with a boss, one end of the second frame connecting shaft penetrates through the mounting holes of the second work vertical plate and then is sleeved in the middle of the second square seat outer spherical ball bearing with a boss on the second side plate, and the other end of the second frame connecting shaft is connected with the other end of the second frame connecting shaft through levers and the other ends of the lever arms of the second frame connecting shafts respectively.
The equal-arm lever rack comprises an extension rod and a lever arm, the middle part of the lever arm and the middle part of the extension rod are fixedly connected into a whole to form a cross, one end of the lever arm is hinged with the upper end of an electro-hydraulic actuator EHA to be tested, the other end of the lever arm is hinged with the upper end of a tension pressure sensor through a connecting piece, a round hole is formed in the upper end of the connecting piece and is hinged with the lever arm of the lever rack, and a thread is arranged at the extension part of the lower end of the connecting piece and is connected with the upper end of the tension pressure sensor through the thread; the top surface and the bottom surface that are located the pole arm both sides stretch out the pole all along the even interval of pole length direction of self are equipped with a plurality of connecting holes that link up to stretch out the pole inside, and the top surface and the bottom surface that respectively of first frame connecting axle and second frame connecting axle all are equipped with a plurality of connecting holes that link up to the inside of self along the even interval of self axial length direction, and the both ends that stretch out the pole are respectively the sleeve-mounted behind the other end of first frame connecting axle and second frame connecting axle, and a plurality of connecting holes that stretch out the top surface of pole and bottom surface are just right with a plurality of connecting holes of top surface and bottom surface of respective first frame connecting axle and second frame connecting axle respectively, and every two just right connecting holes are connected through a pin or screw.
The arm lengths of the two sides of the lever arm of the equal-arm lever frame are equal, namely, the distance between one end connected with the tension pressure sensor and the center of the equal-arm lever frame is equal to the distance between one end connected with the tested electrohydraulic actuator EHA4 and the center of the equal-arm lever frame.
The diameters of the mounting holes of the first working vertical plate and the second working vertical plate are larger than the outer diameter of the extension rod, and the inner diameter of the extension rod is equal to the outer diameter of the first frame connecting shaft and the outer diameter of the second frame connecting shaft.
The connecting holes of the extension rods of the equal-arm lever rack are symmetrically distributed between the lever arm and the first working vertical plate and the second working vertical plate, the connecting holes of the top surface and the connecting holes of the bottom surface of the extension rod are symmetrically distributed on the upper side and the lower side of the central axis of the extension rod, and the distribution quantity and the positions of the connecting holes of the first rack connecting shaft and the second rack connecting shaft are the same as those of the connecting holes of the extension rod on one side of the lever arm; after the extending rod of the equal-arm lever rack is sleeved at the other ends of the first rack connecting shaft and the second rack connecting shaft, every two opposite connecting holes of the first rack connecting shaft and the second rack connecting shaft which are positioned in the extending rod are connected with the two opposite connecting holes in the extending rod through a pin or a screw.
The loading test bed further comprises a first adjusting cushion block and a second adjusting cushion block, the first adjusting cushion block is positioned between the bottom side surface of the first working vertical plate and one side of the mounting base, and the first working vertical plate, the first adjusting cushion block and one side of the mounting base are connected and mounted through a plurality of bolts; the second adjusting cushion block is positioned between the side surface of the bottom of the second working vertical plate and the other side of the mounting base, and the second working vertical plate, the second adjusting cushion block and the other side of the mounting base are connected and mounted through a plurality of bolts.
The first adjusting cushion block and the second adjusting cushion block are rectangular cushion blocks with thinner thickness or thicker thickness, when the thickness of the first adjusting cushion block and the second adjusting cushion block is thinner, the distance between the first working vertical plate and the second working vertical plate is closer, and when the thickness of the first adjusting cushion block and the second adjusting cushion block is thicker, the distance between the first working vertical plate and the second working vertical plate is farther.
The two side working vertical plates are fixedly connected with the mounting base by selecting corresponding adjusting cushion blocks according to the current width grade. When the total width requirement of the current EHA loading test bed is smaller, selecting a thinner expansion cushion block; when the total width requirement of the current EHA loading test bed is larger, a thicker expansion cushion block is selected.
The upper end of a first extending rod of the tested electrohydraulic actuator EHA is hinged to one side of the middle part of the equal-arm lever frame, the bottom end of a body of the tested electrohydraulic actuator EHA is connected with the upper end of an EHA connecting rod which is vertically arranged, and the lower end of the EHA connecting rod is hinged to a first bearing seat on the top surface of the mounting base through a first rotating pair.
The upper end of the tension pressure sensor is hinged with the other side of the middle part of the equal arm lever frame through a connecting piece, the lower end of the tension pressure sensor is connected with the upper end of a second extension rod of the loading cylinder, and the bottom end of the cylinder body of the loading cylinder is hinged with a second bearing seat arranged on the top surface of the base through the loading cylinder after passing through a second revolute pair.
The loading test bed further comprises an encoder, the encoder is installed on one side surface, far away from the second working vertical plate, of the outer spherical ball bearing of the second square seat jackscrew with the boss through an encoder fixing support, and the encoder is connected with one end of a second rack connecting shaft.
2. A control method of a loading test bed comprises the following steps:
the method comprises the following steps:
step one: the method comprises the steps that an electro-hydraulic actuator EHA to be tested is not mounted on a loading test bed in the initial period, firstly, the distance between a first working vertical plate and a second working vertical plate is adjusted to be a preset width, at the moment, one part of shaft bodies at the other ends of the first frame connecting shaft and the second frame connecting shaft are located in an extending rod of an equal-arm lever frame, the extending rod, the first frame connecting shaft and the second frame connecting shaft are fixedly connected through a plurality of pins or screws, a first adjusting cushion block and a second adjusting cushion block are fixedly mounted between the bottom side surfaces of the first working vertical plate and the second working vertical plate and the two sides of a mounting base through a plurality of bolts respectively, and the thickness of the first adjusting cushion block and the thickness of the second adjusting cushion block are equal to the thickness between the bottom side surfaces of the first working vertical plate and the second working vertical plate and the two sides of the mounting base.
Step two: the pressure sensor drives the lever arm of the equal arm lever rack to swing by controlling the extension and retraction of the second extension rod of the loading cylinder, at the moment, the equal arm lever rack drives the second rack connecting shaft to rotate, the real-time swing angle of the equal arm lever rack is obtained through the encoder, the position relationship of the equal arm lever rack, the first bearing seat and the second bearing seat is combined, the distance between the axle center of the joint of the equal arm lever rack and the tested electrohydraulic actuator EHA and the axle center of the joint of the EHA connecting rod and the tested electrohydraulic actuator EHA is further obtained to serve as the real-time axle center distance, and when the real-time axle center distance is the same as the length of the tested electrohydraulic actuator EHA, the loading cylinder is stopped, and the tested electrohydraulic actuator EHA is mounted on the loading test bench.
Step three: inputting a preset position command signal into the tested electro-hydraulic actuator EHA, and controlling a first extending rod of the tested electro-hydraulic actuator EHA to run at different speeds, including low speed, medium speed, high speed and the like; inputting a preset force loading signal into a loading cylinder at each running speed of a first extension rod of the tested electro-hydraulic actuator EHA, controlling a second extension rod of the loading cylinder to run under different loading forces, and enabling the second extension rod to extend upwards or retract downwards to apply pressure or tension to the tested electro-hydraulic actuator EHA so that the tested electro-hydraulic actuator EHA runs under different loading forms and different loading working conditions; the loading forms are specifically square wave loading, sine loading, triangular wave loading and the like; the different loading conditions are light load, medium load and heavy load.
Step four: in the running process of the tested electrohydraulic actuator EHA, as the force arms are equal, the real-time tension and pressure acting on the tested electrohydraulic actuator EHA can be obtained through the tension pressure sensor, the real-time swing angle of the equal-arm lever rack can be obtained through the encoder, the displacement curve of the first extension rod of the tested electrohydraulic actuator EHA can be obtained through the relative geometric position relation, the movement condition and the load of the tested electrohydraulic actuator EHA running under different loading forms, different loading working conditions and different running speeds can be obtained according to the displacement curve and the real-time tension and pressure acting on the tested electrohydraulic actuator EHA, the control of the loading test bed can be realized, and the performance test and the energy efficiency analysis can be carried out on the tested EHA according to the movement condition and the load of the tested electrohydraulic actuator EHA.
The force of loading jar to test electrohydraulic actuator EHA effect is surveyed by drawing pressure sensor, and loading jar can provide pulling force and pressure through control flexible, and loading jar can be with pulling force or pressure conduction to one side of waiting arm lever frame through the second of top stretch out the pole, draw pressure sensor, connecting piece, according to lever principle, the force on the lever frame can transmit the opposite side, acts on test electrohydraulic actuator EHA to accomplish the loading to test EHA.
The beneficial effects of the invention are as follows:
1. the invention can carry out loading test of any working condition (low, medium and high speed, light, medium and heavy load) on the EHA, including sine alternating force loading, constant force loading, triangular wave force loading and the like.
2. The force of the loading cylinder is directly transmitted to the tested EHA at the other side of the lever rack through one side of the lever rack, so that the efficiency is high, and the loading experiment of the large-stroke EHA can be realized.
3. According to the invention, the width of the test bed can be adjusted by connecting the lever rack with different hole sites of the connecting shafts of the racks on the two sides and selecting and connecting corresponding adjusting cushion blocks, so that the loading requirements of tested EHA with different specifications of one test bed are met.
Drawings
FIG. 1 is a schematic view of an overall assembly provided by an embodiment of the present invention;
FIG. 2 is a schematic view of the mounting of a lever housing with a test EHA, loading cylinder, etc. provided by an embodiment of the present invention;
in the figure: 1. the device comprises a first working vertical plate, 2, a first square seat jackscrew outer spherical ball bearing with a boss, 3, a first frame connecting shaft, 4, a tested electrohydraulic actuator EHA,4a1, a first extending rod, 5, an equal arm lever frame, 6, a second frame connecting shaft, 7, a second working vertical plate, 8, a second square seat jackscrew outer spherical ball bearing with a boss, 9, an encoder, 10, an encoder fixing support, 11, a connecting piece, 12, a tension pressure sensor, 13, an EHA connecting rod, 14, a first bearing seat, 14a1, a first rotating pair, 15, a loading cylinder, 15a1, a second extending rod, 16, a first adjusting cushion block, 17, a second bearing seat, 17a1, a second rotating pair, 18, a second adjusting cushion block, 19 and a mounting base.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in fig. 1 and 2, the loading test bed of the electro-hydraulic actuator EHA comprises a first working vertical plate 1, a tested electro-hydraulic actuator EHA4, an equal-arm lever frame 5, a second working vertical plate 7, a tension pressure sensor 12, an EHA connecting rod 13, a loading cylinder 15 and a mounting base 19, wherein the bottom side surfaces of the first working vertical plate 1 and the second working vertical plate 7 are arranged on two symmetrical sides of the mounting base 19, the first working vertical plate 1 and the second working vertical plate 7 are vertically and oppositely arranged in parallel, and the equal-arm lever frame 5 is horizontally arranged between the top side surfaces of the first working vertical plate 1 and the second working vertical plate 6; the upper end of the tested electrohydraulic actuator EHA4 is hinged with one side of the middle part of the equal arm lever frame 5 and then hinged with the top surface of the mounting base 19 through the EHA connecting rod 13, and the upper end of the tension pressure sensor 12 is hinged with the other side of the middle part of the equal arm lever frame 5 through the connecting piece 11 and then hinged with the top surface of the mounting base 19 through the loading cylinder 15.
The loading test bed further comprises a first rack connecting shaft 3 and a second rack connecting shaft 6, the upper parts of the first work vertical plate 1 and the second work vertical plate 7 are respectively provided with a through mounting hole along the plate surface direction of the first rack connecting shaft, the two mounting holes are opposite to each other, the first work vertical plate 1 is provided with a first square seat jackscrew outer spherical ball bearing 2 with a boss on the upper part of one side plate surface far away from the second work vertical plate 7, the second work vertical plate 7 is provided with a second square seat jackscrew outer spherical ball bearing 8 with a boss on the upper part of one side plate surface far away from the first work vertical plate 1, the first square seat jackscrew outer spherical ball bearing 2 with a boss and the second square seat jackscrew outer spherical ball bearing 8 with a boss are opposite to each other, one end of the first rack connecting shaft 3 penetrates through the mounting holes of the first work vertical plate 1 and then is sleeved in the middle of the first square seat jackscrew outer spherical ball bearing 2 with a boss, one end of the second rack connecting shaft 6 penetrates through the mounting holes of the second work vertical plate 7 and then is sleeved in the middle of the second square seat jackscrew outer spherical ball bearing 8 with a boss, and the two ends of the first rack connecting shaft 3 and the second rack connecting shaft 5 are respectively connected with two ends of the rack connecting shafts.
The loading test bed further comprises an encoder 9, the encoder 9 is arranged on one side surface of the second square seat jackscrew outer spherical ball bearing 8 with the boss, which is far away from the second working vertical plate 7, through an encoder fixing support 10, and the encoder 9 is connected with one end of the second frame connecting shaft 6.
The equal-arm lever frame 5 comprises an extension rod and a lever arm, the middle part of the lever arm and the middle part of the extension rod are fixedly connected into a whole to form a cross, one end of the lever arm is hinged with the upper end of the tested electrohydraulic actuator EHA4, the other end of the lever arm is hinged with the upper end of the tension pressure sensor 12 through a connecting piece 11, a round hole is formed in the upper end of the connecting piece 11 and is hinged with the lever arm of the lever frame 5, and a thread is arranged at the extension part of the lower end of the connecting piece 11 and is connected with the upper end of the tension pressure sensor 12 through the thread; the top surface and the bottom surface that are located the pole arm both sides stretch out the pole all along the pole length direction of self evenly spaced and are equipped with a plurality of connecting holes that link up to stretch out the pole inside, and the top surface and the bottom surface that respectively of first frame connecting axle 3 and second frame connecting axle 6 all are equipped with a plurality of connecting holes that link up to the inside along the axial length direction of self evenly spaced, and the both ends that stretch out the pole overlap respectively behind the other end of first frame connecting axle 3 and second frame connecting axle 6, and a plurality of connecting holes that stretch out the top surface and the bottom surface of pole are just right with a plurality of connecting holes of the top surface and the bottom surface of respectively first frame connecting axle 3 and second frame connecting axle 6, and every two just right connecting holes are connected through a pin or screw.
The arm lengths of the two sides of the lever arm of the equal-arm lever frame 5 are equal, namely, one end connected with the tension pressure sensor 12 is equal in distance from the center of the equal-arm lever frame 5 and one end connected with the tested electrohydraulic actuator EHA4 is equal in distance from the center of the equal-arm lever frame 5.
The diameters of the mounting holes of the first working vertical plate 1 and the second working vertical plate 7 are larger than the outer diameter of the cantilever lever frame 5 including the extension rod, and the inner diameter of the cantilever lever frame 5 including the extension rod is equal to the outer diameters of the first frame connecting shaft 3 and the second frame connecting shaft 6.
The connecting holes of the extending rods of the equal-arm lever frame 5 are symmetrically distributed between the lever arm and the first working vertical plate 1 and the second working vertical plate 7, the connecting holes of the top surface and the connecting holes of the bottom surface of the extending rods are symmetrically distributed on the upper side and the lower side of the central axis of the extending rods, and the distribution quantity and the positions of the connecting holes of the first frame connecting shaft 3 and the second frame connecting shaft 6 are the same as those of the connecting holes of the extending rods positioned on one side of the lever arm; after the extending rod of the equal-arm lever frame 5 is sleeved at the other ends of the first frame connecting shaft 3 and the second frame connecting shaft 6, every two opposite connecting holes of the first frame connecting shaft 3 and the second frame connecting shaft 6 positioned in the extending rod are connected with the two opposite connecting holes in the extending rod through a pin or a screw.
In the concrete implementation, 10 round holes or threaded holes are formed in the upper surface and the lower surface of the extending rods on the two sides of the lever rack 5 at equal intervals, and when the lever rack is connected with the first rack connecting shaft 3 and the second rack connecting shaft 6, the lever rack is connected adjacently only through 3 pins or 3 screws, so that the width adjustment is 8 grades in total, and proper holes are selected for connection according to the size specification of the tested electro-hydraulic actuator EHA 4.
The loading test bed also comprises a first adjusting cushion block 16 and a second adjusting cushion block 18, wherein the first adjusting cushion block 16 is positioned between the bottom side surface of the first working vertical plate 1 and one side of the mounting base 19, and the first working vertical plate 1, the first adjusting cushion block 16 and one side of the mounting base 19 are mutually connected and mounted through a plurality of bolts; the second adjusting cushion block 18 is located between the bottom side surface of the second working vertical plate 7 and the other side of the mounting base 19, and the second working vertical plate 7, the second adjusting cushion block 18 and the other side of the mounting base 19 are connected and mounted with each other through a plurality of bolts.
The first adjusting cushion block 16 and the second adjusting cushion block 18 are specifically rectangular cushion blocks with thinner thickness or thicker thickness, when the thickness of the first adjusting cushion block 16 and the second adjusting cushion block 18 is thinner, the distance between the first working vertical plate 1 and the second working vertical plate 7 is closer, and when the thickness of the first adjusting cushion block 16 and the second adjusting cushion block 18 is thicker, the distance between the first working vertical plate 1 and the second working vertical plate 7 is farther.
The two side working vertical plates 1, 7 select corresponding adjusting cushion blocks 16, 18 according to the current width grade to be fixedly connected with the mounting base. When the total width requirement of the current EHA loading test bed is smaller, selecting thinner expansion cushion blocks 16 and 18; when the total width requirements of the current EHA load stand are large, thicker expansion blocks 16, 18 are selected.
The upper end of a first extending rod 4a1 of the tested electrohydraulic actuator EHA4 is hinged to one side of the middle part of the equal-arm lever frame 5, the bottom end of a body of the tested electrohydraulic actuator EHA4 is connected with the upper end of an EHA connecting rod 13 which is vertically arranged, and the lower end of the EHA connecting rod 13 is hinged to a first bearing seat 14 on the top surface of a mounting base 19 through a first rotating pair 14a 1.
The upper end of the tension and pressure sensor 12 is hinged with the other side of the middle part of the equal arm lever frame 5 through a connecting piece 11, the lower end of the tension and pressure sensor 12 is connected with the upper end of a second extension rod 15a1 of the loading cylinder 15, and the bottom end of the cylinder body of the loading cylinder 15 is hinged with a second bearing seat 17 arranged on the top surface of the base 19 through the loading cylinder 15 after passing through a second revolute pair 17a 1.
The control method of the loading test bed comprises the following steps:
step one: the tested electrohydraulic actuator EHA4 is not mounted on a loading test bed in the initial stage, firstly, the distance between the first working vertical plate 1 and the second working vertical plate 7 is adjusted to be a preset width, at this time, one part of shaft bodies at the other ends of the first frame connecting shaft 3 and the second frame connecting shaft 6 are positioned in the extending rods of the equal-arm lever frame 5, the extending rods, the first frame connecting shaft 3 and the second frame connecting shaft 6 are fixedly connected through a plurality of pins or screws, a first adjusting cushion block 16 and a second adjusting cushion block 18 are fixedly mounted between the bottom side surfaces of the first working vertical plate 1 and the second working vertical plate 7 and the two sides of the mounting base 19 through a plurality of bolts respectively, and the thickness of the first adjusting cushion block 16 and the second adjusting cushion block 18 is equal to the thickness between the bottom side surfaces of the first working vertical plate 1 and the second working vertical plate 7 and the two sides of the mounting base 19.
Step two: the pressure sensor 12 drives the lever arm of the equal arm lever frame 5 to swing by controlling the extension and retraction of the second extension rod 15a1 of the loading cylinder 15, at this time, the equal arm lever frame 5 drives the second frame connecting shaft 6 to rotate, the real-time swing angle of the equal arm lever frame 5 is obtained through the encoder 10, the position relationship of the equal arm lever frame 5, the first bearing seat 14 and the second bearing seat 17 is combined, the distance between the axle center of the joint of the equal arm lever frame 5 and the tested electrohydraulic actuator EHA4 and the axle center of the joint of the EHA connecting rod 13 and the tested electrohydraulic actuator EHA4 is further obtained as the real-time axle center distance, and when the real-time axle center distance is the same as the length of the tested electrohydraulic actuator EHA4, the loading cylinder 15 is stopped, and the tested electrohydraulic actuator EHA4 is mounted on the loading test bench.
Step three: inputting a preset position command signal into the tested electro-hydraulic actuator EHA4, and controlling the first extension rod 4a1 of the tested electro-hydraulic actuator EHA4 to operate at different speeds, including low speed, medium speed, high speed and the like; at each operation speed of the first extension rod 4a1 of the tested electro-hydraulic actuator EHA4, inputting a preset force loading signal into the loading cylinder 15, controlling the second extension rod 15a1 of the loading cylinder 15 to operate under different loading forces, and enabling the second extension rod 15a1 to extend upwards or retract downwards to apply pressure or tensile force to the tested electro-hydraulic actuator EHA4 so that the tested electro-hydraulic actuator EHA4 operates under different loading forms and different loading working conditions; the loading forms are specifically square wave loading, sine loading, triangular wave loading and the like; the different loading conditions are light load, medium load and heavy load.
Step four: in the operation process of the tested electrohydraulic actuator EHA4, as the force arms are equal, the real-time tension and pressure acting on the tested electrohydraulic actuator EHA4 can be obtained through the tension and pressure sensor 12, the real-time swing angle of the equal-arm lever frame 5 can be obtained through the encoder 10, then the displacement curve of the first extension rod 4a1 of the tested electrohydraulic actuator EHA4 can be obtained through the relative geometric position relation, and the motion condition and the load of the tested electrohydraulic actuator EHA4 running under different loading forms, different loading working conditions and different operation speeds can be obtained according to the displacement curve and the real-time tension and pressure acting on the tested electrohydraulic actuator EHA4, so that the control of the loading test bed can be realized, and the performance test and the energy efficiency analysis can be carried out on the tested EHA according to the motion condition and the load of the tested electrohydraulic actuator EHA 4.
The force of the loading cylinder 15 acting on the tested electrohydraulic actuator EHA4 is measured by the tension pressure sensor 12, the loading cylinder 15 can provide tension and pressure by controlling the extension and retraction, the loading cylinder 15 can transmit the tension or the pressure to one side of the equal-arm lever frame 5 through the second extension rod 15a1 above, the tension pressure sensor 12 and the connecting piece 11, and the force on the lever frame 5 can be transmitted to the other side according to the lever principle and acts on the tested electrohydraulic actuator EHA4, so that the loading of the tested EHA4 is completed.

Claims (10)

1. The utility model provides a loading test platform of electrohydraulic actuator EHA which characterized in that: the device comprises a first working vertical plate (1), tested electrohydraulic actuators EHA (4), an equal arm lever rack (5), a second working vertical plate (7), a tension pressure sensor (12), an EHA connecting rod (13), a loading cylinder (15) and a mounting base (19), wherein the bottom side surfaces of the first working vertical plate (1) and the second working vertical plate (7) are arranged on two symmetrical sides of the mounting base (19), the first working vertical plate (1) and the second working vertical plate (7) are vertically and oppositely arranged in parallel, and the equal arm lever rack (5) is horizontally arranged between the top side surfaces of the first working vertical plate (1) and the second working vertical plate (6); the upper end of the tested electrohydraulic actuator EHA (4) is hinged to one side of the middle part of the equal arm lever frame (5) and then hinged to the top surface of the base (19) through an EHA connecting rod (13), and the upper end of the tension pressure sensor (12) is hinged to the other side of the middle part of the equal arm lever frame (5) through a connecting piece (11) and then hinged to the top surface of the base (19) through a loading cylinder (15).
2. The load test stand of an electro-hydraulic actuator EHA of claim 1, wherein: still include first frame connecting axle (3) and second frame connecting axle (6), the upper portion of first vertical board of work (1) and the vertical board of second work (7) all is equipped with the mounting hole that link up along the face direction of self, two mounting holes are just to arranging, first vertical board of work (1) is installed in one side face upper portion of keeping away from the vertical board of second work (7) and is taken square seat jackscrew outer spherical ball bearing (2), second vertical board of work (7) is being kept away from one side face upper portion of the vertical board of first work (1) and is taken square seat jackscrew outer spherical ball bearing (8) of second, first square seat jackscrew outer spherical ball bearing (2) of taking boss and the square seat jackscrew outer spherical ball bearing (8) of second are all just to a mounting hole of each, the one end of first frame connecting axle (3) is worn to establish by the cover at first square seat of taking boss outer spherical ball bearing (2) middle part, second frame connecting axle (6) is worn by the first square seat of second arm (7) and is worn by the second frame connecting axle (5) and is taken square seat (8) after the vertical board of second frame connecting axle one end is worn to establish the mounting hole of first vertical board (1).
3. The load test stand of an electro-hydraulic actuator EHA of claim 2, wherein: the equal-arm lever rack (5) comprises an extension rod and a lever arm, the middle part of the lever arm and the middle part of the extension rod are fixedly connected into a whole to form a cross, one end of the lever arm is hinged with the upper end of the tested electrohydraulic actuator EHA (4), and the other end of the lever arm is hinged with the upper end of the tension pressure sensor (12) through a connecting piece (11); the top surface and the bottom surface that are located the pole arm both sides stretch out the pole all along the pole length direction of self evenly spaced and are equipped with a plurality of connecting holes that link up to stretch out the pole inside, the top surface and the bottom surface of each of first frame connecting axle (3) and second frame connecting axle (6) all are equipped with a plurality of connecting holes that link up to the inside of self along the even interval of self axial length direction, the both ends that stretch out the pole overlap respectively behind the other end of first frame connecting axle (3) and second frame connecting axle (6), a plurality of connecting holes that stretch out the top surface and the bottom surface of pole are just right with a plurality of connecting holes of the top surface and the bottom surface of each of first frame connecting axle (3) and second frame connecting axle (6) respectively, every two just right connecting holes are connected through a pin or screw.
4. A load stand for an electro-hydraulic actuator EHA according to claim 3, wherein: the diameter of the mounting holes of the first working vertical plate (1) and the second working vertical plate (7) is larger than the outer diameter of the extension rod of the equal arm lever rack (5), and the inner diameter of the extension rod of the equal arm lever rack (5) is equal to the outer diameter of the first rack connecting shaft (3) and the outer diameter of the second rack connecting shaft (6).
5. A load stand for an electro-hydraulic actuator EHA according to claim 3, wherein: the connecting holes of the extending rods of the equal-arm lever rack (5) are symmetrically distributed between the lever arm and the first working vertical plate (1) and the second working vertical plate (7), the connecting holes of the top surface and the connecting holes of the bottom surface of the extending rods are symmetrically distributed on the upper side and the lower side of the central axis of the extending rods, and the number and the positions of the connecting holes of the first rack connecting shaft (3) and the connecting holes of the second rack connecting shaft (6) are the same as those of the connecting holes of the extending rods on one side of the lever arm; after the extending rod of the equal-arm lever frame (5) is sleeved at the other ends of the first frame connecting shaft (3) and the second frame connecting shaft (6), every two opposite connecting holes of the first frame connecting shaft (3) and the second frame connecting shaft (6) which are positioned in the extending rod are connected with the two opposite connecting holes in the extending rod through a pin or a screw.
6. A load stand for an electro-hydraulic actuator EHA according to claim 3, wherein: the device further comprises a first adjusting cushion block (16) and a second adjusting cushion block (18), wherein the first adjusting cushion block (16) is positioned between the bottom side surface of the first working vertical plate (1) and one side of the mounting base (19), and the first working vertical plate (1), the first adjusting cushion block (16) and one side of the mounting base (19) are connected and mounted through a plurality of bolts; the second adjusting cushion block (18) is positioned between the bottom side surface of the second working vertical plate (7) and the other side of the mounting base (19), and the second working vertical plate (7), the second adjusting cushion block (18) and the other side of the mounting base (19) are connected and mounted through a plurality of bolts.
7. The load stand of an electro-hydraulic actuator EHA of claim 6, wherein: the first adjusting cushion block (16) and the second adjusting cushion block (18) are rectangular cushion blocks with thinner thickness or thicker thickness, when the thickness of the first adjusting cushion block (16) and the second adjusting cushion block (18) is thinner, the distance between the first working vertical plate (1) and the second working vertical plate (7) is closer, and when the thickness of the first adjusting cushion block (16) and the second adjusting cushion block (18) is thicker, the distance between the first working vertical plate (1) and the second working vertical plate (7) is farther.
8. The load test stand of an electro-hydraulic actuator EHA of claim 1, wherein: the upper end of a first extending rod (4 a 1) of the tested electrohydraulic actuator EHA (4) is hinged with one side of the middle part of the equal-arm lever frame (5), the bottom end of a body of the tested electrohydraulic actuator EHA (4) is connected with the upper end of an EHA connecting rod (13) which is vertically arranged, and the lower end of the EHA connecting rod (13) is hinged with a first bearing seat (14) on the top surface of a mounting base (19) through a first rotating pair (14 a 1);
the upper end of the tension pressure sensor (12) is hinged to the other side of the middle part of the equal-arm lever frame (5) through a connecting piece (11), the lower end of the tension pressure sensor (12) is connected with the upper end of a second extension rod (15 a 1) of the loading cylinder (15), and the bottom end of the cylinder body of the loading cylinder (15) is hinged to a second bearing seat (17) arranged on the top surface of the base (19) through the loading cylinder (15) after passing through a second revolute pair (17 a 1).
9. The load test stand of an electro-hydraulic actuator EHA of claim 1, wherein: the novel hydraulic lifting device further comprises an encoder (9), the encoder (9) is arranged on one side surface of the second square seat jackscrew outer spherical ball bearing (8) with the boss, which is far away from the second working vertical plate (7), through an encoder fixing support (10), and the encoder (9) is connected with one end of the second frame connecting shaft (6).
10. The control method of a loading test stand according to any one of claims 1 to 9, characterized in that: the method comprises the following steps:
step one: the method comprises the steps that an electro-hydraulic actuator EHA (4) to be tested is not mounted on a loading test bed at first, the distance between a first working vertical plate (1) and a second working vertical plate (7) is adjusted to be a preset width, at the moment, one part of shaft bodies at the other ends of a first frame connecting shaft (3) and a second frame connecting shaft (6) are positioned in an extending rod of a lever frame (5) with equal arms, the extending rod, the first frame connecting shaft (3) and the second frame connecting shaft (6) are connected and fixed through a plurality of pins or screws, a first adjusting cushion block (16) and a second adjusting cushion block (18) are fixedly mounted between the bottom side surfaces of the first working vertical plate (1) and the second working vertical plate (7) and two sides of a mounting base (19) through a plurality of bolts respectively, and the thicknesses of the first adjusting cushion block (16) and the second adjusting cushion block (18) are equal to the thicknesses between the bottom side surfaces of the first working vertical plate (1) and the second working vertical plate (7) and two sides of the mounting base (19);
step two: the lever arm of the equal arm lever frame (5) is driven to swing by the pressure sensor (12) through controlling the extension and retraction of the second extension rod (15 a 1) of the loading cylinder (15), at the moment, the equal arm lever frame (5) drives the second frame connecting shaft (6) to rotate, the real-time swing angle of the equal arm lever frame (5) is obtained through the encoder (10), the distance between the axle center of the connecting position of the equal arm lever frame (5) and the tested electrohydraulic actuator EHA (4) and the axle center of the connecting position of the EHA connecting rod (13) and the tested electrohydraulic actuator EHA (4) is obtained as the real-time axle center distance, when the real-time axle center distance is the same as the length of the tested electrohydraulic actuator EHA (4), the loading cylinder (15) is stopped, and the tested electrohydraulic actuator EHA (4) is mounted on the loading test bed;
step three: inputting a preset position command signal into the tested electrohydraulic actuator EHA (4), and controlling a first extension rod (4 a 1) of the tested electrohydraulic actuator EHA (4) to operate at different speeds; inputting a preset force loading signal into a loading cylinder (15) at each running speed of a first extension rod (4 a 1) of a tested electro-hydraulic actuator EHA (4), controlling a second extension rod (15 a 1) of the loading cylinder (15) to run under different loading forces, and enabling the second extension rod (15 a 1) to extend upwards or retract downwards to apply pressure or tensile force to the tested electro-hydraulic actuator EHA (4) so that the tested electro-hydraulic actuator EHA (4) runs under different loading forms and under different loading working conditions;
step four: in the running process of the tested electrohydraulic actuator EHA (4), the real-time pulling force and the real-time pressing force acting on the tested electrohydraulic actuator EHA (4) are obtained through the pulling pressure sensor (12), the real-time swinging angle of the equal arm lever frame (5) is obtained through the encoder (10), the displacement curve of the first extending rod (4 a 1) of the tested electrohydraulic actuator EHA (4) is obtained through the relative geometric position relation, and the movement condition and the load of the tested electrohydraulic actuator EHA (4) running under different loading forms, different loading working conditions and different running speeds are obtained according to the displacement curve and the real-time pulling force and the pressing force acting on the tested electrohydraulic actuator EHA (4), so that the control of the loading test bed is realized.
CN202310350598.6A 2023-04-04 2023-04-04 EHA loading test bed with adjustable width and control method Pending CN116181744A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310350598.6A CN116181744A (en) 2023-04-04 2023-04-04 EHA loading test bed with adjustable width and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310350598.6A CN116181744A (en) 2023-04-04 2023-04-04 EHA loading test bed with adjustable width and control method

Publications (1)

Publication Number Publication Date
CN116181744A true CN116181744A (en) 2023-05-30

Family

ID=86449065

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310350598.6A Pending CN116181744A (en) 2023-04-04 2023-04-04 EHA loading test bed with adjustable width and control method

Country Status (1)

Country Link
CN (1) CN116181744A (en)

Similar Documents

Publication Publication Date Title
CN102519716B (en) Test stand for performance of linear electromechanical actuator
EP3182091B1 (en) Electromagnetic multiaxial fatigue testing machine
CN102866033B (en) Dynamic loading device for two-way tension and pressure
CN202433177U (en) Straight line electro-mechanical actuator performance test stand
CN106168535B (en) A kind of fatigue load experimental rig of leaf springs of car
CN102928220A (en) Experimental device for comprehensively testing dynamic characteristics of linear feeding system
CN201464350U (en) Concrete beam loading test device
CN106840725B (en) A kind of servo mechanism torque loading equipemtn
CN112213089A (en) Arm support fatigue test device and method
CN113335560B (en) Complex load box section or barrel section test device and method
CN219639181U (en) EHA loading test bed with adjustable width
CN114088553B (en) Large-tonnage inhaul cable test device
CN115127943A (en) Multifunctional testing platform and testing method for wind turbine blade
CN116181744A (en) EHA loading test bed with adjustable width and control method
CN112903481B (en) Pendulum testing machine
CN212621436U (en) Electronic jar capability test device
CN113340594A (en) Fatigue life testing device and method for heavy-load planetary roller screw
CN109632470B (en) Mechanical property test device for duct piece flat plate joint
CN111678663A (en) Robot reducer bending rigidity and loading fatigue performance combined test device
CN1039363C (en) Low-frequency fatigue test machine
CN116773156A (en) Unbalanced load test experiment device suitable for hydraulic cylinder and sealing element
CN116793674A (en) Servo actuator performance stability test loading device
CN107941489B (en) Simulate the standard section of tower crane reliability test bench of actual condition load
CN213749450U (en) Composite board pulsation uniform distribution load fatigue testing machine
CN114252362A (en) Biaxial loading fretting wear testing machine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination