具体实施方式

为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。

需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。

需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。

此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。

请一并参阅图1至图8，现对本发明实施例提供的后竖拉杆测试系统进行说明，后竖拉杆测试系统用于测试后竖拉杆8。后竖拉杆8包括杆体，在杆体的一端设有球销81，杆体的另一端设有衬套82。

后竖拉杆测试系统具体包括：球销加载夹持夹具9、单轴加载夹持夹具7、第一线性加载模块02、第二线性加载模块03、加载约束模块以及扭转加载模块01。其中，球销加载夹持夹具9用于固定球销81，单轴加载夹持夹具7用于固定衬套82，球销加载夹持夹具9与单轴加载夹持夹具7二者配合构成用于将后竖拉杆8固定的专用工装。

第一线性加载模块02用于向球销加载夹持夹具9加载第一方向直线载荷，第二线性加载模块03用于向球销加载夹持夹具9加载第二方向直线载荷；加载约束模块包括轴线方向为第三方向的加载约束机构13，加载约束机构13的末端转动安装于球销加载夹持夹具9。

扭转加载模块01用于向单轴加载夹持夹具7加载扭转载荷。

在使用本实施例中的后竖拉杆测试系统对后竖拉杆8进行测试前，将后竖拉杆8装入专用工装，也即将球销81固定至球销加载夹持夹具9，并将衬套82固定至单轴加载夹持夹具7。此时，可以通过第一线性加载模块02、第二线性加载模块03向后竖拉杆8施加两个直线方向的载荷，并通过扭转加载模块01加载扭转载荷，且在施加载荷的同时，由加载约束机构13限制后竖拉杆8的非目标方向运动，以约束后竖拉杆8的多余自由度，通过设定载荷的类型和时间，即可对后竖拉杆8进行测试，并可增加适配环境箱18，提供样件所需的温湿度、泥浆、老化等环境条件。

后竖拉杆测试系统可以进行单轴加载测试或者多种轴加载测试：

(1)后竖拉杆测试系统可以进行单轴加载测试，即只通过第一线性加载模块02或第二线性加载模块03向后竖拉杆8加载直线载荷，其他载荷模块均不参与测试，并且由加载约束模块限制其他自由度，实现单方向上施加直线载荷，以根据需要测试单向受力状态下的载荷情况。或者，第一线性加载模块02或第二线性加载模块03不参与测试，由扭转加载模块01施加载荷，测试单向扭转状态下的载荷情况。

(2)后竖拉杆测试系统也可以进行多轴加载测试，即第一线性加载模块02、第二线性加载模块03以及扭转加载模块01均参与测试，同时或者按照时间间隔各自对后竖拉杆8施加持续载荷、随时间规律变化的周期性载荷或者随机载荷，同时由加载约束模块限制其他自由度，按测试需求模拟实际行车状态下复杂的载荷情况。

因此，采用本实施例中的后竖拉杆测试系统既可以针对性的进行单轴向载荷测试，也可进行多轴随机载荷谱加载，可进行周期性载荷信号或随机载荷谱迭代信号加载，实现道路模拟测试或损伤等效于路试的周期性载荷信号测试，能够真实模拟实车中后竖拉杆8样件的受力和运动姿态，能对后竖拉杆8的衬套82及杆体结构进行快速考核，在开发早期或者针对出现问题进行验证，节约开发周期，在提高了测试效率的基础上，提高了测试的精度。后竖拉杆测试系统的测试能够覆盖单轴到三轴加载，并且根据实际需要自由进行切换，具有试验复现精确、重复性好等特点。

可选地，上述的第一方向、第二方向、第三方向之间两两相互垂直，构成直角坐标系中的三个坐标方向，以模拟后竖拉杆8实际的受力载荷方向，可以实现对后竖拉杆8三轴解耦合的模拟加载测试。

可选的，如图4和图5所示，本实施例中的球销加载夹持夹具9包括多轴加载夹持架91，多轴加载夹持架91内设有可供球销81插入固定的空腔，第一线性加载模块02、第二线性加载模块03以及加载约束模块均连接至多轴加载夹持架91。后竖拉杆8的球销81插入多轴加载夹持架91的空腔后，与多轴加载夹持架91相互固定，由于球销81插入多轴加载夹持架91的内部，因此多轴加载夹持架91受到的各方向的载荷能够均匀的传递至球销81，实现固定和传递载荷与运动的作用。

可选的，如图4和图5所示，多轴加载夹持架91的一侧设有连通至其空腔的开口，球销加载夹持夹具9还包括压紧盖板93、多个圆环管垫92以及多个紧固螺栓94。压紧盖板93具有中心孔，球销81插入空腔安装到位后正对中心孔。从中心孔中穿入球销81的螺纹轴，穿过开口进入空腔并插入球销81进行定位。在压紧盖板93的四周有多个锁紧孔，下方设置的两紧固螺栓94依次穿过压紧盖板93上的锁紧孔、圆环管垫92，两紧固螺栓94的末端穿过多轴加载夹持架91上的通孔后通过螺母锁紧，上方设置的两紧固螺钉95穿过压紧盖板93后直接旋入多轴加载夹持架91上的螺纹孔内固定，共同配合进而锁紧球销81螺纹轴与压紧盖板93，最终实现球销81结构的夹持固定，能满足在疲劳试验中不会松动的要求，提高试验复现精度。

可选的，如图4和图5所示，本实施例中的多轴加载夹持架91整体呈四棱柱状，在多轴加载夹持架91相邻的两各侧面上分别设有第一连接支耳911和第二连接支耳912，第一连接支耳911和第二连接支耳912的朝向相互垂直。在第一连接支耳911内安装有第一加载连接头971，第一连接支耳911外转动安装有加载约束头96，在第二连接支耳912内安装有第二加载连接头972，第一加载连接头971、第二加载连接头972和加载约束头96之间两两相互垂直。第一线性加载模块02连接至第一加载连接头971，第二线性加载模块03连接至第二加载连接头972，加载约束机构13连接至加载约束头96，共同对多轴加载夹持架91施加载荷进行测试。其中，多轴加载夹持架91的尺寸可根据球销81的尺寸进行专门的设计，以确保配合精度。

可选的，如图4和图5所示，本实施例中的加载约束头96为球面型转动连接结构，在多轴加载夹持架91受载荷后位置移动时，球面型转动连接结构可以转动倾斜但无法脱离，依然可以保证加载约束机构13轴线方向上的约束自由度，限制后竖拉杆8的非目标运动，也防止后竖拉杆8受到额外扭矩影响。球面型转动连接结构具体可以由万向节、球形关节、关节轴承等结构实现，具体不做赘述。多轴加载夹持架91连接支耳安装加载连接头97，加载连接头97选用标准件杆端关节轴承，可绕连接螺栓轴线转动，连接支耳的安装螺栓轴线为垂直设计，根据加载运动方向选择相应连接支耳的开口方向以保证运动不干涉，使得载荷施加准确，加载连接头97的螺纹轴部与第一线性加载模块02、第二线性加载模块03的加载连接机构连接。

可选的，如图4和图5所示，第一连接支耳911具有第一安装孔，加载约束头96包括设有穿过第一安装孔的约束螺杆和用于固定约束螺杆的约束螺帽，第一加载连接头971端部设有套设于约束螺杆上的关节轴承。约束螺杆与约束螺帽配合固定在第一连接支耳911上，从而将加载约束头96固定，与此同时，第一加载连接头971端部的关节轴承套设在约束螺杆上，实现与第一连接支耳911的固定，并且保证了加载约束头96与第一加载连接头971相互垂直。约束螺杆的轴线为垂直设计，根据加载运动方向选择相应连接支耳的开口方向以保证运动不干涉，使得载荷施加准确。第一加载连接头971端部设置的关节轴承能够在多轴加载夹持架91受载荷后位置移动时，依然保证第一加载连接头971与多轴加载夹持架91相互连接固定，保证后竖拉杆8最大范围运动的无干涉，并消除额外方向力及力矩影响。在本实施例中，第二加载连接头972与第二连接支耳912的固定方式，与第一加载连接头971的固定方式相似，同样设置了对应固定第二连接支耳912的螺杆、螺帽，然后通过关节轴承套设在螺杆上的方式与第二连接支耳912固定连接，具有相同的技术效果。在其他的实施例中，第二加载连接头972也可以采用其他的固定方式，例如，可通过球形关节与第二连接支耳912固定等。

可选的，如图1至图4所示，本实施例中的单轴加载夹持夹具7包括基板71和安装于基板71上的两安装臂72，衬套82插入两安装臂72之间进行固定；基板71所在平面与杆体平行，也即图示中的竖直平面，扭转加载模块01连接至基板71。基板71承载扭转载荷后在竖直平面内转动，通过安装臂72将扭转载荷传递至衬套82。单轴加载夹持夹具7是针对衬套82开发的通用夹具工装，通用化的球销加载夹持夹具9根据球销结构专门设计，无需拆除注塑一体球销81座，避免破坏后竖拉杆8样件的结构，保证试验结果不受影响，并满足测试中夹持不松动与安装拆卸便捷要求，且适用于不同车型后竖拉杆8的尺寸、安装臂72的距离以及长度，均可根据需要进行设计，以满足不同的后竖拉杆8测试。

可选的，如图6所示，本实施例中的扭转加载模块01包括伺依次连接的服电机1、减速机2、联轴器3、扭矩传感器4、角度传感器5和传动机构，传动机构连接至基板71。伺服电机1通过方形法兰与减速机2连接，扭矩传感器4通过联轴器3与减速机2连接，并一起固定于工作台。伺服电机1、扭矩传感器4与角度传感器5组成闭环控制模式，精确实现后竖拉杆8的摆动或扭转加载运动。伺服电机1输出转矩，经减速机2减速后通过联轴器3输出至基板71，并且通过扭矩传感器4检测扭矩，通过角度传感器5获得转动角度，二者建立关系即可获得后竖拉杆8的受力变形情况，使得用户根据检测数据对扭转载荷进行调节，以满足测试需求。在其他的实施例中，也可以液压扭转作动器替代伺服电机1实现扭矩输出。

可选的，本实施例中的扭转加载模块01还包括传动支撑机构6，传动支撑机构6本身为支架结构，传动支撑机构6开设有安装孔，扭矩传感器4通过花键与传动支撑机构6连接，传动支撑机构6通过传动机构(例如转动连接盘)与安装夹持模块连接，具体连接在本实施例中的基板71上。传动支撑机构6下端设有支脚，安装在工作台上，实现对整个单轴加载夹持夹具7的支撑和固定。本实施例中，传动机构为转动连接盘仅为示例性说明，在其他的实施例中，传动机构也可以为法兰盘，或者螺栓。

可选的，如图1和图7所示，本实施例中的第一线性加载模块02包括第一伺服电动缸11和第一加载连接机构10，第一加载连接机构10的一端连接至第一伺服电动缸11的输出端，第一加载连接机构10的另一端连接至第一加载连接头971，由第一伺服电动缸11输出直线载荷，通过第一加载连接机构10、第一加载连接头971最终传递至后竖拉杆8的球销81上。第一加载连接机构10中的接连杆为加载传力结构，接连杆是长度根据安装夹持模块运动范围设置，以减小摆角影响。

可选的，如图1和图7所示，本实施中的第二线性加载模块03与第一线性加载模块02结构可以完全相同，即第二线性加载模块03包括第二伺服电动缸15和第二加载连接机构14，第二加载连接机构14的一端连接至第二伺服电动缸15的输出端，第二加载连接机构14的另一端连接至第二加载连接头972，由第二伺服电动缸15输出直线载荷，通过第二加载连接机构14、第二加载连接头972最终传递至后竖拉杆8上。在其他的实施例中，也可以采用气缸、直线电机等结构实现第一线性加载模块02的功能，第一线性加载模块02和第二线性加载模块03可以分别采用不同的结构。

可选的，如图1和图8所示，本实施例中的加载约束模块包括安装在工作台上的固定立柱12以及转动连接在固定立柱12上的加载约束机构13，加载约束机构13将加载约束头96与固定立柱12连接，限制后竖拉杆8非目标方向的运动。加载约束机构13的连接杆为小直径轻质杆件，长度设置尽可能长，约束多余自由度。

可选的，如图1所示，本实施例中的后竖拉杆测试系统还包括环境箱18，环境箱18包括箱体、温湿度控制模块、泥浆喷射控制模块、臭氧老化作用模块，箱体上开设有观察窗。将前述的球销加载夹持夹具9、单轴加载夹持夹具7以及后竖拉杆8结构置入箱体内，箱体上开设有多个连接孔，以供相关的连接杆、线缆等穿过。通过环境箱18中的温湿度控制模块、泥浆喷射控制模块、臭氧老化作用模块模拟温度、湿度、泥浆喷射、臭氧等环境，可以模拟衬套82周期性老化处理、泥水喷射等工况，模拟真实的使用环境和使用周期，进一部提高对环境模拟的真实度，在更加逼真的环境中测试后竖拉杆8，确保了测试的准确性。

可选的，如图1所示，本实施例中的后竖拉杆测试系统还包括上位机17和与上位机17连接的控制器16，控制器16连接至环境箱18、第一线性加载模块02、第二线性加载模块03、扭转加载模块01。模拟加载执行系统、控制器16、上位机17间通过信号线建立连接，以进行实时的测试反馈与控制。在上位机17中运行相应的测试程序、确定测试时的载荷加载方案，并输出指令至控制器16，控制器16在控制环境箱18、第一线性加载模块02、第二线性加载模块03、扭转加载模块01时同步接收各模块的数据，实现闭环测试，更加自动化、智能化的完成整个测试过程。

采用本实施例中的后竖拉杆测试系统对后竖拉杆8的测试过程为：

确定测试方案，测试方案中包括测试环境(具体包括温度、湿度、泥浆、臭氧)、载荷数量(单轴或多轴载荷)、各载荷类型(持续、按时间规律波动、随机)等，并在上位机17控制界面完成控制程序编写后发送至控制器16实现加载模块目标驱动发送至控制器16。将后竖拉杆8的上端插入多轴加载夹持架91的内部，以使球销81与多轴加载夹持架91相互固定，将后竖拉杆8的下端插入基板71上的两安装臂72之间以使轴套与基板71相互固定。环境箱18接收控制器16的数据以模拟特定的环境。

第一线性加载模块02根据控制器16的指令控制第一伺服电动缸11输出相应线性载荷信号，并通过加载连接机构实现后竖拉杆8中球销81端中心绕衬套82轴线摆动至目标角度，后竖拉杆8的衬套82端由单轴加载夹持夹具7夹持，衬套82的金属内管绕轴线转动；第二线性加载模块03根据指令输出相应载荷信号，并通过加载连接机构实现对后竖拉杆8沿杆体方向拉压目标载荷，后竖拉杆8的衬套82端由单轴加载夹持夹具7夹持，衬套82的金属内管限制衬套82拉压作用时进行平动，同时加载约束模块通过加载约束机构13连接到安装夹持模块中，加载约束头96限制后竖拉杆8的横向运动，保证纵向运动载荷与垂向载荷精确作用于后竖拉杆8的考核部位；另外，球销加载夹持夹具9为专用设计工装，配合加载连接机构中的连接杆及加载约束机构13中的约束杆，保证线性加载运动或施加载荷无耦合，载荷作用精准，最终实现对衬套82及杆体结构等考核部位的多轴道路模拟加载测试。

扭转加载模块01根据控制器16指令控制伺服电机1输出相应转动或摆动信号，带动相连接的安装夹持模块中后竖拉杆8的衬套82端扭转至目标载荷或角度，同时加载约束模块连接到安装夹持模块中后竖拉杆8的球销81端，以限制后竖拉杆8的横向运动，保证扭转载荷精确作用于后竖拉杆8的衬套82及杆体结构等考核部位。

上述的检测过程可以在单轴载荷和多轴载荷之间切换，并且加入了环境影响因素，能够模拟后竖拉杆8实际的受力情况和运动条件，以尽早在测试过程中发现问题，以在开发早期或者针对出现问题进行测试验证，节约开发周期，提高测试效率和精度。

上述系统还可扩展应用于其他结构件的多轴考核，提高零部件结构试验能力。结合环境箱18使用提供后竖拉杆8所需的温湿度、泥浆、老化等环境条件对橡胶的衬套82或其他塑料结构考核，并进行全面综合评价。

上述系统根据控制模块驱动伺服电动缸或伺服电机1，适配相应载荷传感器完成闭环控制，具有随机载荷信号控制加载模式，设计连接工装安装固定各模块，系统成本较低，开发周期短，维护保养简单。

以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Specific embodiments

In order to solve the technical problems of the present invention, technical solutions and beneficial effects more clearly understood, the following in conjunction with the accompanying drawings and embodiments, the present invention will be further elaborated in detail. It should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to qualify the present invention.

It should be noted that when a component is said to be "fixed to" or "set to" another component, it can be directly on another component or indirectly on that other component. When a component is said to be "connected to" another component, it can be either directly connected to another component or indirectly connected to the other component.

It should be understood that the term "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and other indications of the orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, only to facilitate the description of the present invention and simplified description, rather than indicating or implying that the means or elements referred to must have a specific orientation, structured and operated in a particular orientation, and therefore cannot be understood as a limitation of the present invention.

Further, the terms "first", "second" are for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features limited to "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise expressly specifically qualified.

Referring to FIGS. 1 to 8, the rear tie rod test system provided in an embodiment of the present invention is described, the rear tie rod test system for testing the post tie rod 8. Rear tie rod 8 comprises a club body, with a pin 81 at one end of the club and a bushing 82 at the other end of the club.

The rear vertical rod test system specifically includes: ball pin loading clamping fixture 9, single-axis loading clamping fixture 7, first linear loading module 02, second linear loading module 03, loading constraint module and torsional loading module 01. Wherein, the ball pin loading clamping fixture 9 is used to fix the ball pin 81, the single-axis loading clamping fixture 7 is used to fix the bushing 82, the ball pin loading clamping fixture 9 and the single-axis loading clamping fixture 7 are combined to form a special tooling for fixing the rear vertical tie rod 8.

The first linear loading module 02 is used to load the clamping fixture to the ball pin 9 to load the linear load in the first direction, the second linear loading module 03 is used to load the clamping fixture to the ball pin 9 to load the second direction linear load; Loading constraint module includes a load restraint mechanism 13 with an axis direction in the third direction, the end rotation of the loading restraint mechanism 13 is mounted on the ball pin loading clamping fixture 9.

Torsional loading module 01 is used to load torsional loads to a single-axis loading clamping fixture 7.

Before using the rear vertical rod test system in the present embodiment of the rear vertical rod 8, the rear vertical rod 8 is loaded into a special tooling, the ball pin 81 is also fixed to the ball pin loading clamping fixture 9, and the bushing 82 is fixed to the uniaxial loading clamping fixture 7. At this time, the load may be applied by the first linear loading module 02, the second linear loading module 03 to the rear vertical tie rod 8 to apply two straight direction loads, and by torsional loading module 01 load to load the torsional load, and while applying the load, by the loading constraint mechanism 13 limits the non-target direction of movement of the rear vertical tie rod 8, to constrain the excess freedom of the rear vertical tie rod 8, by setting the type and time of the load, you can test the rear vertical tie rod 8, and can increase the adaptation environment box 18, providing the temperature and humidity required for the sample, mud, Environmental conditions such as aging.

The rear tie rod test system can perform single-axis load tests or multiple shaft load tests:

(1) The rear vertical tie rod test system can carry out a single-axis loading test, that is, only through the first linear loading module 02 or the second linear loading module 03 to load the straight line load backward vertical rod 8, other load modules are not involved in the test, and the loading constraint module limits other degrees of freedom, to achieve a one-way application of linear load, in order to test the load in the one-way force state as needed. Alternatively, the first linear loading module 02 or the second linear loading module 03 does not participate in the test, the load is applied by the torsional loading module 01, the load situation in the one-way torsional state is tested.

(2) The rear vertical tie rod test system can also carry out multi-axis loading test, that is, the first linear loading module 02, the second linear loading module 03 and the torsional loading module 01 are all involved in the test, and at the same time or according to the time interval, the rear vertical rod 8 is applied to continuous load, periodic load or random load that changes with the time law, and the load constraint module limits other degrees of freedom, simulating the complex load situation in the actual driving state according to the test requirements.

Therefore, the use of the rear vertical tie rod test system in the present embodiment can be targeted single axial load test, can also be multi-axis random load spectrum loading, can be carried out periodic load signal or random load spectrum iterative signal loading, to achieve road simulation test or damage equivalent to the road test of the periodic load signal test, can truly simulate the real car in the rear vertical rod 8 sample force and motion attitude, can be the rear vertical rod 8 bushing 82 and rod structure for rapid assessment, in the early stage of development or for the problem to verify , save the development cycle, on the basis of improving the test efficiency, improve the accuracy of the test. The test of the rear tie rod test system can cover single-axis to three-axis loading, and can be switched freely according to actual needs, with the characteristics of accurate test reproduction and good repeatability.

Alternatively, the first direction, the second direction, and the third direction are two perpendicular to each other, forming three coordinate directions in the Rectangular Coordinate System, in order to simulate the actual force load direction of the rear vertical tie rod 8, and the simulated loading test of the three-axis decoupling of the rear vertical tie rod 8 can be realized.

Optionally, as shown in FIGS. 4 and 5, the ball pin loading clamping fixture 9 in the present embodiment includes a multi-axis loading clamping frame 91, the multi-axis loading clamping frame 91 is provided with a cavity for the ball pin 81 to be inserted into a fixed cavity, the first linear loading module 02, the second linear loading module 03 and the loading constraint module are connected to the multi-axis loading clamping frame 91. After the ball pin 81 of the rear vertical lever 81 is inserted into the cavity of the multi-axis loading clamping frame 91, it is fixed with the multi-axis loading clamping frame 91, because the ball pin 81 is inserted into the interior of the multi-axis loading clamping frame 91, so the load received by the multi-axis loading clamping frame 91 can be uniformly transmitted to the ball pin 81, to achieve the role of fixing and transmitting load and motion.

Optionally, as shown in FIGS. 4 and 5, the side of the multi-axis loading clamping frame 91 is provided with an opening connected to its cavity, the spherical pin loading clamping fixture 9 further comprises a press-fit cover plate 93, a plurality of ring tube pads 92 and a plurality of fastening bolts 94. The press-fit cover plate 93 has a center hole, the spherical pin 81 is inserted into the cavity after being installed in place directly opposite the center hole. From the center hole into the threaded shaft of the spherical pin 81, through the opening into the cavity and inserted into the spherical pin 81 for positioning. There are multiple locking holes around the compression cover plate 93, the two fastening bolts 94 provided below sequentially pass through the locking hole on the compression cover plate 93, the ring tube pad 92, the end of the two fastening bolts 94 passes through the through hole on the multi-axis loading clamping frame 91 and locks through the nut, the two fastening screws 95 set above through the compression cover plate 93 are directly screwed into the threaded hole on the multi-axis loading clamping frame 91, and together they lock the ball pin 81 thread shaft and the pressed cover plate 93, and finally realize the clamping fixation of the ball pin 81 structure , can meet the requirements of not loosening in the fatigue test, improve the accuracy of test reproduction.

Alternatively, as shown in FIGS. 4 and 5, the multiaxial loading bracket 91 in the present embodiment is an overall quadriposic shape, and the two adjacent sides of the multiaxial loading clamping frame 91 are provided with a first connecting ear 911 and a second connecting ear 912, respectively, the first connecting ear 911 and the second connecting ear 912 are perpendicular to each other. In the first connection 911 is installed with a first loading connector 971, the first connection ear 911 is installed with a loading restraint head 96, in the second connection branch 912 is installed with a second loading connector 972, the first loading connector 971, the second loading connector 972 and the loading restraint head 96 are two perpendicular to each other. The first linear loading module 02 is connected to the first loading connector 971, the second linear loading module 03 is connected to the second loading connector 972, the loading constraint mechanism 13 is connected to the loading constraint head 96, and the load applied to the multi-axis loading clamping frame 91 is jointly tested. Among them, the dimensions of the multi-axis loading clamping frame 91 can be specially designed according to the size of the ball pin 81 to ensure the accuracy of the fit.

Optionally, as shown in FIGS. 4 and 5, the loading restraint head 96 in the present embodiment is a spherical type rotating connection structure, when the position of the multi-axis loading clamping frame 91 is loaded, the spherical type rotating connection structure can be rotated and tilted but cannot be detached, and the constraint freedom in the direction of the 13 axis of the loading restraint mechanism can still be guaranteed, limiting the non-target motion of the rear vertical pull rod 8, and also preventing the rear vertical pull rod 8 from being affected by additional torque. The spherical type rotating connection structure can be realized by the universal joint, spherical joint, spherical bearing and other structures, which will not be repeated. Multi-axis loading clamp frame 91 connection support installation loading connector 97, loading connector 97 select standard rod end bearing, can be rotated around the connecting bolt axis, the mounting bolt axis of the connecting ear is vertical design, according to the direction of the loading movement to select the opening direction of the corresponding connection of the support to ensure that the movement is not interfering, so that the load is applied accurately, the threaded shaft part of the loading connector 97 is connected with the loading connection mechanism of the first linear loading module 02 and the second linear loading module 03.

Optionally, as shown in FIGS. 4 and FIG. 5, the first connection ear 911 has a first mounting hole, the loading restraint head 96 includes a restraint screw provided through the first mounting hole and a restraint nut for fixing the constraint screw, the first loading connector 971 is provided with a spherical bearing mounted on the restraint screw. The restraint screw and the restraint nut are fixed on the first connection ear 911, so that the loading restraint head 96 is fixed, at the same time, the joint bearing at the end of the first loading connector 971 is set on the restraint screw to achieve the fixation of the first connection ear 911, and to ensure that the loading restraint head 96 and the first loading connector 971 are perpendicular to each other. The axis of the constraint screw is designed vertically, and the opening direction of the corresponding connecting ear is selected according to the direction of the loading motion to ensure that the movement is not interfered with, so that the load is applied accurately. The spherical bearings set at the end of the first loading connector 971 can still ensure that the first loading connector 971 and the multi-axis loading clamping frame 91 are connected and fixed to ensure that the maximum range of movement of the rear vertical tie rod 8 is non-interference- when the multi-axis loading clamping frame 91 is moved after the load is loaded, and the additional directional force and torque are eliminated. In the present embodiment, the second loading connector 972 and the second connection ear 912 fixing method, and the first loading connector 971 is similar to the fixing method, the same set corresponding to the fixing of the second connection ear 912 screw, nut, and then by the way of the spherical bearing sleeve on the screw and the second connection ear 912 fixed connection, the same technical effect. In other embodiments, the second loading connector 972 may also employ other fixing methods, e.g., through the spherical joint and the second connection ear 912 fixation and the like.

Optionally, as shown in FIGS. 1 to 4, the single-axis loading clamping fixture 7 in the present embodiment comprises a substrate 71 and a two mounting arms 72 mounted on the substrate 71, the bushing 82 is inserted between the two mounting arms 72 for fixing; The plane where the substrate 71 is located parallel to the rod body, that is, the vertical plane in the diagram, the torsional loading module 01 is connected to the substrate 71. Substrate 71 carries the torsional load after rotating in the vertical plane, through the mounting arm 72 the torsional load is transmitted to the bushing 82. Single-shaft loading clamping fixture 7 is a universal fixture tool developed for bushing 82, generalized ball pin loading clamping fixture 9 is specially designed according to the ball pin structure, no need to remove the injection molding of the integrated ball pin 81 seats, to avoid destroying the structure of the rear vertical tie rod 8 samples, to ensure that the test results are not affected, and to meet the test clamping does not loosen and installation and disassembly convenient requirements, and suitable for different models of rear vertical rod 8 size, the distance and length of the mounting arm 72, can be designed as needed to meet different rear vertical rod 8 tests.

Alternatively, as shown in FIG. 6, the torsional loading module 01 in the present embodiment includes a service motor 1, a reducer 2, a coupling 3, a torque sensor 4, an angle sensor 5 and a transmission mechanism, the transmission mechanism is connected to the substrate 71. The servo motor 1 is connected to the reducer 2 by means of a square flange, and the torque transducer 4 is connected to the reducer 2 by coupling 3 and is fixed to the table together. Servo motor 1, torque sensor 4 and angle sensor 5 constitute a closed-loop control mode to accurately realize the swing or torsional loading motion of the rear vertical tie rod 8. Servo motor 1 output torque, deceleration by the reducer 2 output to the substrate 71 through the coupling 3, and through the torque sensor 4 to detect the torque, through the angle sensor 5 to obtain the angle of rotation, the relationship between the two can obtain the force deformation of the rear vertical lever 8, so that the user according to the detection data to adjust the torsional load to meet the test needs. In other embodiments, the hydraulic torsional actuator may also be substituted for the servo motor 1 to achieve torque output.

Alternatively, the torsional loading module 01 in the present embodiment further comprises a transmission support mechanism 6, the transmission support mechanism 6 itself is a bracket structure, the transmission support mechanism 6 is opened with a mounting hole, the torque sensor 4 is connected to the transmission support mechanism 6 by spline, the transmission support mechanism 6 is connected to the mounting clamping module by means of a transmission mechanism (e.g., rotating the connection plate), specifically connected to the substrate 71 in the present embodiment. The lower end of the transmission support mechanism 6 is equipped with a foot, which is mounted on the table to achieve support and fixation of the entire single-shaft loaded clamping fixture 7. In the present embodiment, the transmission mechanism is a rotating connection disc is only an exemplary illustration, in other embodiments, the transmission mechanism may also be a flange, or a bolt.

Alternatively, as shown in FIGS. 1 and 7, the first linear loading module 02 in the present embodiment comprises a first servo-electric cylinder 11 and a first loading connection mechanism 10, one end of the first loading connection mechanism 10 is connected to the output end of the first servo electric cylinder 11, the other end of the first loading connection mechanism 10 is connected to the first loading connector 971, the linear load is output by the first servo electric cylinder 11, through the first loading connection mechanism 10, the first loading connector 971 is finally transmitted to the ball pin 81 of the rear vertical rod 8. The connecting rod in the first loading connection mechanism 10 is a loading force transmission structure, and the connecting rod is set according to the range of motion of the mounting clamping module to reduce the influence of the swing angle.

Alternatively, as shown in FIGS. 1 and 7, the second linear loading module 03 in the present embodiment may be identical to the structure of the first linear loading module 02, i.e., the second linear loading module 03 comprises a second servo electric cylinder 15 and a second loading connection mechanism 14, one end of the second loading connection mechanism 14 is connected to the output end of the second servo electric cylinder 15, the other end of the second loading connection mechanism 14 is connected to the second loading connector 972, the linear load is output by the second servo electric cylinder 15, By a second loading connection mechanism 14, the second loading connector 972 is finally transmitted to the rear vertical lever 8. In other embodiments, the first linear loading module 02 may also be employed in the structure of the cylinder, linear motor and the like to achieve the function of the first linear loading module 02, the first linear loading module 02 and the second linear loading module 03 may employ different structures.

Optionally, as shown in FIGS. 1 and 8, the loading constraint module in the present embodiment includes a fixed column 12 mounted on the table and a load constraint mechanism 13 rotating connected to the fixed column 12, the loading constraint mechanism 13 is connected to the loading restraint head 96 with the fixed column 12, limiting the movement of the vertical rod 8 in the non-target direction after the vertical tie rod. Loading the binding mechanism 13 of the connecting rod is a small diameter lightweight member, the length is set as long as possible, the constraint excess degrees of freedom.

Optionally, as shown in FIG. 1, the rear vertical rod test system in the present embodiment further comprises an environmental box 18, an environmental box 18 comprising a cabinet, a temperature and humidity control module, a mud injection control module, an ozone aging module, and an observation window is provided on the box. The aforementioned ball pin loading clamping fixture 9, single-axis loading clamping fixture 7 and rear vertical rod 8 structure are placed in the box body, and a plurality of connection holes are opened on the box for the relevant connecting rods, cables, etc. to pass through. Through the environment box 18 in the temperature and humidity control module, mud injection control module, ozone aging module to simulate temperature, humidity, mud injection, ozone and other environments, you can simulate the bushing 82 periodic aging treatment, slurry jetting and other working conditions, simulating the real use environment and the use cycle, further improve the realism of the environmental simulation, in a more realistic environment after testing the vertical tie rod 8, to ensure the accuracy of the test.

Alternatively, as shown in FIG. 1, the rear vertical rod test system in the present embodiment further comprises a host computer 17 and a controller 16 connected to the host computer 17, the controller 16 is connected to the environment box 18, the first linear loading module 02, the second linear loading module 03, the torsional loading module 01. Analog loading execution system, controller 16, host computer 17 through the signal line to establish a connection, in order to carry out real-time test feedback and control. Run the corresponding test program in the host computer 17, determine the load loading scheme during the test, and output instructions to the controller 16, the controller 16 in the control environment box 18, the first linear loading module 02, the second linear loading module 03, the torsional loading module 01 synchronously receive the data of each module, to achieve closed-loop testing, more automated and intelligent completion of the entire test process.

Using the rear tie rod test system in the present embodiment, the test process of the rear tie rod 8 is:

Determine the test scheme, the test scheme includes the test environment (specifically including temperature, humidity, mud, ozone), the number of loads (single-axis or multi-axis loads), each load type (continuous, time-based fluctuations, random), etc., and in the host computer 17 control interface to complete the control program after the completion of the control program is sent to the controller 16 to achieve the loading module target drive sent to the controller 16. The upper end of the rear vertical tie rod 8 is inserted into the interior of the multi-axis loading clamping frame 91 so that the ball pin 81 and the multi-axis loading clamping frame 91 are fixed to each other, and the lower end of the rear vertical rod 8 is inserted between the two mounting arms 72 on the substrate 71 so that the bushing and the substrate 71 are fixed to each other. The environmental box 18 receives data from the controller 16 to simulate a particular environment.

The first linear loading module 02 controls the first servo electric cylinder 11 according to the instructions of the controller 16 to output the corresponding linear load signal, and through the loading connection mechanism to achieve the rear vertical tie rod 8 in the ball pin 81 end center around the bushing 82 axis swing to the target angle, the rear vertical tie rod 8 bushing 82 end by a single shaft loading clamping fixture 7 clamping, the metal inner tube of the bushing 82 rotates the axis; The second linear loading module 03 outputs the corresponding load signal according to the instructions, and realizes the target load in the direction of the rod body by loading the connection mechanism, the bushing 82 end of the rear vertical tie rod 8 is clamped by a single-axis loading clamping fixture 7, the metal inner tube of the bushing 82 is translated when the tensioning action is carried out, and the loading constraint module is connected to the installation clamping module by loading the restraint mechanism 13, and the loading restraint head 96 limits the lateral movement of the rear vertical pull rod 8, Ensure that the longitudinal motion load and vertical load act accurately on the assessment site of the rear vertical tie rod 8; In addition, the ball pin loading clamping fixture 9 is a special design tooling, with the loading connection mechanism in the connection rod and the constraint rod in the loading constraint mechanism 13, to ensure that the linear loading movement or the applied load is not coupled, the load effect is precise, and finally realize the multi-axis road simulation loading test of the bushing 82 and the rod structure and other assessment parts.

Torsional loading module 01 according to the controller 16 instructions control servo motor 1 output corresponding rotation or swing signal, drive the connected installation clamping module in the rear vertical rod 8 bushing 82 ends to twist to the target load or angle, while loading constraint module connected to the installation clamping module in the rear vertical rod 8 of the ball pin 81 end, in order to limit the lateral movement of the rear vertical tie rod 8, to ensure that the torsional load accurately acts on the rear vertical rod 8 bushing 82 and the rod structure and other assessment parts.

The above detection process can be switched between single-axis load and multi-axis load, and added environmental influence factors, can simulate the actual force situation and motion conditions of the rear vertical rod 8, in order to find problems in the test process as early as possible, in order to test and verify in the early stage of development or for problems, saving the development cycle, improving test efficiency and accuracy.

The above system can also be extended to multi-axis assessment of other structural parts to improve the structural testing capabilities of parts. Combined with the environmental box 18 to provide the temperature and humidity required after the tie rod 8, mud, aging and other environmental conditions on the rubber bushing 82 or other plastic structure assessment, and a comprehensive evaluation.

The above system drives the servo electric cylinder or servo motor 1 according to the control module, adapts to the corresponding load sensor to complete the closed-loop control, has a random load signal control loading mode, designs and connects the tooling and installs the fixed modules, the system cost is low, the development cycle is short, and the maintenance is simple.

The above is only a better embodiment of the present invention, and is not intended to limit the present invention, where any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, etc., should be included within the scope of the present invention.