Composite load simulation test device and simulation test method thereof

Abstract

The present invention discloses a composite load simulation test device and a simulation test method thereof, which relate to the technical field of linear actuator simulation test. The device includes an external force load component, an elastic load component, a damping load component, an inertial load component, a load connecting plate, and a linear actuator. The first four are movably connected to the linear actuator via the load connecting plate. The device can use one or more load types of the external force load component, the elastic load component, the damping load component, and the inertial load component to perform simulation tests on robot joint loads according to different simulation test requirements, and can realize simulation methods of multiple load combinations. The method has the same beneficial effects as the device. In addition, the design and implementation method of the external force load component in the method ensure the precise controllability of the plunger output pressure, and can accurately simulate and test the performance changes of the robot joints under different degrees of external force loads.

Description

Technical Field

[0001] The invention relates to the technical field of linear actuator simulation testing, and in particular to a composite load simulation testing device and a simulation testing method thereof. Background Art

[0002] Linear actuators are widely used in robot joint drives, such as electric cylinders, hydraulic servo valve-controlled cylinders, electrostatic linear actuators, etc. The linear motion they output rotates the joints through the connecting rod mechanism. Robot joint loads generally include external forces, elasticity, damping, inertia and other load types. Therefore, in the process of developing linear actuators, it is necessary to simulate these loads to perform performance tests on linear actuators, so as to debug the linear actuator control algorithm before applying it to robot joint drives, and evaluate its performance.

[0003] At present, the simulated load for testing linear actuators is generally only a single load type, such as only inertial load, only external force load, or only gravity load. It is impossible to simulate multiple load combinations, so it is impossible to simulate the robot joint load well, and further, it is impossible to conduct a more comprehensive test and verification of the performance of the linear actuator. Summary of the invention

[0004] The purpose of the present invention is to provide a composite load simulation test device and a simulation test method thereof, which has four load types: external force, elasticity, damping and inertia, and can simulate four loads to perform performance tests on linear actuators in response to the above-mentioned problems.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A composite load simulation test device, characterized in that it includes an external force load component, an elastic load component, a damping load component, an inertial load component, a load connecting plate, and a linear actuator. The first four are movably connected to the linear actuator through the load connecting plate, and the four and the linear actuator are respectively located on two opposite sides of the load connecting plate.

[0007] Preferably, the external force load component includes a driver, a hydraulic pump, an oil tank, and a relief valve connected in sequence, and also includes a plunger hydraulic cylinder, a first one-way valve, and a second one-way valve. The first one-way valve is connected to the hydraulic pump, the plunger hydraulic cylinder, and the relief valve, and the second one-way valve is connected to the oil tank, the plunger hydraulic cylinder, and the relief valve; the plunger hydraulic cylinder is equipped with a plunger; the external force load component is connected to the load connecting plate through the plunger.

[0008] Preferably, the elastic load assembly includes a fixed tube, an elastic member located inside the fixed tube, and a push rod connected to the elastic member, one end of the push rod extending out of the fixed tube; the elastic load assembly is connected to the load connecting plate via the push rod.

[0009] Preferably, the damping load assembly includes a double-rod hydraulic cylinder with at least two chambers, all the chambers are connected, and at least two one-way adjustable damping valves are connected at the connecting points between the two chambers, and each chamber is equipped with at least one one-way adjustable damping valve; the double-rod hydraulic cylinder is equipped with a hydraulic rod; the damping load assembly is connected to the load connecting plate through the hydraulic rod.

[0010] Preferably, the inertial load assembly includes a base, a slide plate slidably connected to the base, and a gravity member fixed on the slide plate. There are several gravity members, and different numbers of gravity members can be fixed on the slide plate. The inertial load assembly is connected to the load connecting plate through the slide plate.

[0011] Preferably, an actuator connecting plate is further connected between the load connecting plate and the linear actuator, and the load connecting plate and the actuator connecting plate are movably connected.

[0012] A simulation test method for a composite load simulation test device includes four parts: an implementation method of an external force load component, an implementation method of an elastic load component, an implementation method of a damping load component, and an implementation method of an inertia load component. The implementation method of the external force load component is:

[0013] (1) The external force load component acts on the linear actuator: the pressure of the oil in the oil tank is regulated by the relief valve; the driver drives the hydraulic pump, the hydraulic pump draws oil from the oil tank and pressurizes it, and discharges high-pressure oil. The high-pressure oil enters the plunger hydraulic cylinder through the first one-way valve, pushing the plunger out of the plunger hydraulic cylinder; the extension speed of the plunger is defined as the set speed under the maximum output flow of the hydraulic pump; if the extension speed of the plunger does not exceed the set speed, the second one-way valve is closed, and the output thrust of the plunger is determined by the set pressure of the relief valve; if the output speed of the plunger exceeds the set speed, the relief valve cannot adjust the output thrust of the plunger;

[0014] (2) The external force load component is acted upon by the linear actuator: When the plunger is acted upon by the linear actuator to retract into the plunger hydraulic cylinder, the output thrust of the plunger is adjusted by adjusting the set pressure of the relief valve.

[0015] Preferably, the elastic load component is realized as follows: when the push rod is acted upon by the linear actuator, the elastic member is compressed by the push rod, and an output thrust of the elastic member is generated. The greater the compression of the elastic member, the greater its output thrust.

[0016] Preferably, the damping load component is implemented as follows: when the hydraulic rod is acted upon by the linear actuator, one end of the hydraulic rod close to the linear actuator is retracted into the double-rod hydraulic cylinder, and the other end away from the linear actuator is extended out of the double-rod hydraulic cylinder; the oil in at least one cavity close to the extended end of the hydraulic rod in the double-rod hydraulic cylinder flows into at least one other cavity away from the extended end of the hydraulic rod through a one-way adjustable damping valve; the one-way adjustable damping valve of the cavity from which the oil flows out plays a damping role; and the output thrust of the hydraulic rod is adjusted by adjusting the opening size of the one-way adjustable damping valve.

[0017] Preferably, the inertial load assembly is implemented as follows: when the slide plate is acted upon by the linear actuator, the slide plate slides in a direction away from the base, and the output thrust of the slide plate is adjusted by changing the mass of the gravity member.

[0018] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are: the device can use one or more load types of external force load components, elastic load components, damping load components, and inertial load components to simulate the load of the robot joint according to different simulation test requirements, and can realize the simulation mode of multiple load matching; the device also has four load simulation test devices, which can comprehensively test and verify the performance of the linear actuator. The method is a simulation test method based on the device, which has the same beneficial effects as the device. In addition, the design and implementation method of the external force load component in the method ensures the precise controllability of the plunger output pressure, and can accurately simulate the performance changes of the robot joints under different degrees of external force loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the composite load simulation test device.

[0020] Figure 2 for Figure 1 Schematic diagram of the structure from another angle.

[0021] Figure 3 It is a schematic diagram of the structure of the external force load component.

[0022] Figure 4 This is the principle structural diagram of the external force load component.

[0023] Figure 5 It is a structural schematic diagram of the elastic load component.

[0024] Figure 6 It is a longitudinal section view of the elastic load component.

[0025] Figure 7 Schematic diagram of the structure of the damping load component.

[0026] Figure 8The schematic diagram of the load damping component.

[0027] Fig. 9 It is a structural schematic diagram of the inertial load component.

[0028] Fig.10 The present invention is a flow chart of a method for implementing an external force load component in an external force load component to act on a linear actuator.

[0029] Markings in the figure: external force load component-1, driver-11, hydraulic pump-12, oil tank-13, overflow valve-14, first one-way valve-15, second one-way valve-16, plunger hydraulic cylinder-17, plunger-171, pressure gauge-18, housing-19, elastic load component-2, fixed cylinder-21, elastic member-22, push rod-23, damping load component-3, double-rod hydraulic cylinder-31, hydraulic rod-311, first one-way adjustable damping valve-32, second one-way adjustable damping valve-33, inertial load component-4, base-41, slide plate-42, gravity member-43, load connecting plate-5, actuator connecting plate-6, non-directional bearing-7, linear actuator-8, workbench-9. DETAILED DESCRIPTION

[0030] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0031] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] Please see Figure 1 to Figure 2A composite load simulation test device comprises an external force load component 1, an elastic load component 2, a damping load component 3, an inertial load component 4, a load connecting plate 5, an actuator connecting plate 6, a non-directional bearing 7, a linear actuator 8, and a workbench 9. The external force load component 1, the elastic load component 2, the damping load component 3, and the inertial load component 4 are all connected to the load connecting plate 5 and arranged side by side along the length direction of the load connecting plate 5. The load connecting plate 5 is connected to the actuator connecting plate 6 through the non-directional bearing 7, and the actuator connecting plate 6 is connected to the linear actuator 8; the external force load component 1, the elastic load component 2, the damping load component 3, and the inertial load component 4 are directly opposite to the linear actuator 8. The fixed parts of the external force load component 1, the elastic load component 2, the damping load component 3, the inertial load component 4, and the linear actuator 8 are all fixed on the table surface of the workbench 9, the load connecting plate 5 does not contact the table surface of the workbench 9, the actuator connecting plate 6 is slidably connected to the table surface of the workbench 9, and the sliding direction of the actuator connecting plate 6 is horizontally close to or away from the load connecting plate 5. The non-directional bearing 7 is a ball bearing. Universal wheels are arranged at the bottom of the workbench 9 to enable the workbench 9 to have a mobile function.

[0033] Please see Figure 3 to Figure 4 The external force load component 1 includes a driver 11, a hydraulic pump 12, an oil tank 13, a relief valve 14, a first one-way valve 15, a second one-way valve 16, a plunger hydraulic cylinder 17, a pressure gauge 18, and a housing 19. The housing or housing 19 of the hydraulic pump 12 is fixed on the table surface of the workbench 9; the driver 11 is connected to the hydraulic pump 12 to drive the hydraulic pump 12 to rotate, the inlet of the hydraulic pump 12 is connected to the oil tank 13, the outlet is connected to the first one-way valve 15, and the outlet of the oil tank 13 is also connected to the overflow valve 15. The overflow valve 14 and the second one-way valve 16 are connected to each other. The overflow valve 14 is also connected to the first one-way valve 15, the second one-way valve 16, and the plunger hydraulic cylinder 17. The first one-way valve 15 and the second one-way valve 16 are also connected to the plunger hydraulic cylinder 17. The plunger hydraulic cylinder 17 is connected to a pressure gauge 18. The pressure gauge 18 is used to display the pressure value of the oil in the plunger hydraulic cylinder 17. The plunger hydraulic cylinder 17 is equipped with a plunger 171. One end of the plunger 171 protruding from the plunger hydraulic cylinder 17 is fixed on the load connecting plate 5. The flow direction of the first one-way valve 15 is from the hydraulic pump 12 to the plunger hydraulic cylinder 17, and the flow direction of the second one-way valve 16 is from the oil tank 13 to the plunger hydraulic cylinder 17. The hydraulic pump 12, the oil tank 13, the first one-way valve 15, and the second one-way valve 16 are all located inside the housing 19. The driver 11, the overflow valve 14, the plunger hydraulic cylinder 17, and the pressure gauge 18 are all located outside the housing 19. The setting position of the overflow valve 14 is used to facilitate adjustment. The driver 11 is a motor.

[0034] Please see Figures 5 and 6The elastic load assembly 2 includes a fixed cylinder 21, an elastic member 22, and a push rod 23. The fixed cylinder 21 is fixed on the table surface of the workbench 9; the elastic member 22 is located inside the fixed cylinder 21, one end of the elastic member 22 is fixed to the inner wall of one end of the fixed cylinder 21, and the other end is connected to one end of the push rod 23. The other end of the push rod 23 passes through the other end of the fixed cylinder 21 and is located outside the fixed cylinder 21. This end of the push rod 23 is fixed on the load connecting plate 5. The elastic member 22 is a spring.

[0035] Please see Figures 7 and 8 The damping load assembly 3 includes a double-rod hydraulic cylinder 31, a first one-way adjustable damping valve 32, and a second one-way adjustable damping valve 33. The shell of the double-rod hydraulic cylinder 31 is fixed on the table top of the workbench 9; the double-rod hydraulic cylinder 31 has two chambers, and the two chambers are separated by a vertically arranged partition, wherein the chamber close to the load connecting plate 5 is the right chamber, and the chamber away from the load connecting plate 5 is the left chamber; the left chamber and the right chamber are connected through the first one-way adjustable damping valve 32 and the second one-way adjustable damping valve 33, the first one-way adjustable damping valve 32 is close to the left chamber, and the second one-way adjustable damping valve 33 is close to the right chamber; the double-rod hydraulic cylinder 31 is equipped with a hydraulic rod 311, and the end of the hydraulic rod 311 close to the load connecting plate 5 is connected to the load connecting plate 5.

[0036] Please see Fig. 9 The inertial load assembly 4 includes a base 41, a slide plate 42, and a weight member 43. The bottom of the base 41 is fixed on the table surface of the workbench 9; the slide plate 42 is slidably connected to the upper surface of the base 41, and the sliding direction of the slide plate 42 is horizontally close to or away from the load connecting plate 5. The weight member 43 is detachably connected to the slide plate 42 and fixed on the slide plate 42. Different numbers of weight members 43 are fixed on the slide plate 42 according to different mass requirements; the end of the slide plate 42 facing the load connecting member is connected to the load connecting plate 5. The weight member 43 is a weight of standard mass.

[0037] A simulation test method for a composite load simulation test device is implemented using the composite load simulation test device, including an implementation method of an external force load component 1, an implementation method of an elastic load component 2, an implementation method of a damping load component 3, and an implementation method of an inertial load component 4.

[0038] 1. There are two methods for implementing the external force load component 1. One is a method for implementing the external force load component 1 acting on the linear actuator 8, and the other is a method for implementing the external force load component 1 being acted upon by the linear actuator 8:

[0039] Please see Figure 4, the pressure of the oil in the oil tank 13 is regulated by the relief valve 14; the pressure gauge 18 displays the pressure value of the oil in the plunger hydraulic cylinder 17 in real time. When the pressure value exceeds the set pressure value of the relief valve 14, the high-pressure oil in the plunger hydraulic cylinder 17 overflows from the relief valve 14. At this time, the pressure of the oil in the plunger 171 pressure cylinder is maintained at the set pressure of the relief valve 14, that is, the pressure value of the pressure gauge 18 is the set pressure value of the relief valve 14;

[0040] (1) The external force load component 1 acts on the linear actuator 8: the driver 11 drives the hydraulic pump 12 to rotate, the hydraulic pump 12 draws oil from the oil tank 13 and pressurizes it, and discharges the high-pressure oil. The high-pressure oil enters the plunger hydraulic cylinder 17 through the first one-way valve 15, pushing the plunger 171 out of the plunger hydraulic cylinder 17. At this time, the output thrust of the plunger 171 is determined by the set pressure of the relief valve 14. Therefore, the output thrust of the plunger 171 is adjusted by adjusting the set pressure of the relief valve 14, so that the external force load can be infinitely adjusted;

[0041] Please see Fig.10 , it is defined that when the hydraulic pump 12 is at the maximum output flow, the extension speed of the plunger 171 is the set speed; if the speed at which the plunger 171 extends out of the plunger hydraulic cylinder 17 does not exceed the set speed, the second one-way valve 16 is in a closed state, at which time the extension speed of the plunger 171 is determined by the output flow of the hydraulic pump 12, and the output thrust of the plunger 171 is determined by the set pressure of the relief valve 14; if the output speed of the plunger 171 exceeds the set speed, that is, the output flow of the hydraulic pump 12 is less than the requirement for the extension movement of the plunger 171, the oil pressure in the plunger hydraulic cylinder 17 decreases, and when the pressure drops to a value lower than the pressure of the oil in the oil tank 13, the oil in the oil tank 13 pushes open the second one-way valve 16 and enters the plunger hydraulic cylinder 17, at which time the output thrust of the plunger 171 is small, and the oil in the plunger hydraulic cylinder 17 does not overflow from the relief valve 14, and the relief valve 14 does not work, that is, the relief valve 14 cannot adjust the output thrust of the plunger 171;

[0042] (2) The external force load component 1 is acted upon by the linear actuator 8: when the plunger 171 is acted upon by the linear actuator 8 to retract into the plunger hydraulic cylinder 17, no matter how the plunger 171 retracts into the plunger hydraulic cylinder 17 at a speed, the output thrust of the plunger 171 can be adjusted by adjusting the set pressure of the relief valve 14, thereby realizing stepless adjustment of the output pressure of the plunger 171; at this time, the driver 11 and the hydraulic pump 12 are both not working.

[0043] The external force load of the existing simulated linear actuator 8 is currently generally simulated by another linear actuator 8. For example, the servo valve controlled cylinder is a relatively common load device for realizing the output of external force. The external force size can be well adjusted by controlling the servo valve, thereby meeting the test requirements of the linear actuator 8. However, this load system is complex, requires a separate hydraulic pump station, occupies a large site, has high investment cost, and high use and maintenance costs. For applications with limited space and cost, this external force load device is not suitable. The external force load component 1 of the present invention adopts a compact, modular and low-cost structure and implementation method, which can realize stepless adjustment of the external force load. Compared with the traditional external force load implementation method, it greatly reduces the cost investment and space requirements.

[0044] 2. The implementation method of elastic load component 2 is: Please refer to Figure 6 When the push rod 23 is acted upon by the linear actuator 8, the elastic member 22 is compressed by the push rod 23, and an output thrust of the elastic member 22 is generated. The greater the compression amount of the elastic member 22, the greater the output thrust.

[0045] 3. The implementation method of the damping load component 3 is: please refer to Figure 8 When the hydraulic rod 311 is acted upon by the linear actuator 8, the end of the hydraulic rod 311 close to the linear actuator 8 retracts into the double-rod hydraulic cylinder 31, and the end away from the linear actuator 8 extends out of the double-rod hydraulic cylinder 31. The oil in the double-rod hydraulic cylinder 31 flows from the left cavity into the right cavity, and the oil passes through the first one-way adjustable damping valve 32 and the second one-way adjustable damping valve 33 in turn. At this time, the first one-way adjustable damping valve 32 plays a damping role, while the second one-way adjustable damping valve 33 does not play a damping role. The output thrust of the hydraulic rod 311 is adjusted by adjusting the opening size of the damping hole of the first one-way adjustable damping valve 32.

[0046] 4. The implementation method of inertial load component 4 is: please refer to Fig. 9 When the slide plate 42 is acted upon by the linear actuator 8 , it slides in a direction away from the base 41 , and the output thrust of the slide plate 42 is adjusted by changing the number of the weight members 43 fixed on the slide plate 42 .

[0047] The principles and implementation methods of the present invention are described in this article using specific embodiments. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A composite load simulation test device, characterized in that: It includes an external force load component, an elastic load component, a damping load component, an inertial load component, a load connecting plate, and a linear actuator. The first four are movably connected to the linear actuator through the load connecting plate and are arranged side by side along the length direction of the load connecting plate. The load connecting plate is connected to the actuator connecting plate through a non-directional bearing, and the four and the linear actuator are respectively located on two opposite sides of the load connecting plate; The external force load component includes a driver, a hydraulic pump, an oil tank, and an overflow valve connected in sequence, and also includes a plunger hydraulic cylinder, a first one-way valve, and a second one-way valve. The first one-way valve is connected to the hydraulic pump, the plunger hydraulic cylinder, and the overflow valve, and the second one-way valve is connected to the oil tank, the plunger hydraulic cylinder, and the overflow valve; the plunger hydraulic cylinder is equipped with a plunger; the external force load component is connected to the load connecting plate through the plunger; the elastic load component includes a fixed cylinder, an elastic member located inside the fixed cylinder, and a push rod connected to the elastic member, and one end of the push rod extends out of the fixed cylinder; the elastic load component is connected to the load connecting plate through the push rod The damping load assembly includes a double-rod hydraulic cylinder with at least two chambers, all the chambers are connected, and at least two one-way adjustable damping valves are connected at the two-to-two connections, and each chamber is equipped with at least one one-way adjustable damping valve; the double-rod hydraulic cylinder is equipped with a hydraulic rod; the damping load assembly is connected to the load connecting plate through the hydraulic rod, and the inertial load assembly includes a base, a slide plate slidably connected to the base, and a gravity member fixed on the slide plate. There are several gravity members, and different numbers of gravity members can be fixed on the slide plate; the inertial load assembly is connected to the load connecting plate through the slide plate.

2. The composite load simulation test device according to claim 1, characterized in that: An actuator connecting plate is also connected between the load connecting plate and the linear actuator, and the load connecting plate is movably connected to the actuator connecting plate.

3. A simulation test method of a composite load simulation test device, using the composite load simulation test device according to claim 1 or 2, characterized in that: The invention comprises four parts: an implementation method of an external force load component, an implementation method of an elastic load component, an implementation method of a damping load component, and an implementation method of an inertia load component. The implementation method of the external force load component is: (1) The external force load assembly acts on the linear actuator: the pressure of the oil in the oil tank is regulated by the relief valve; the driver drives the hydraulic pump, the hydraulic pump draws oil from the oil tank and pressurizes it, and discharges high-pressure oil. The high-pressure oil enters the plunger hydraulic cylinder through the first check valve, pushing the plunger out of the plunger hydraulic cylinder; (2) The external force load component is acted upon by the linear actuator: When the plunger is acted upon by the linear actuator to retract into the plunger hydraulic cylinder, the output thrust of the plunger is adjusted by adjusting the set pressure of the relief valve.

4. The simulation test method of the composite load simulation test device according to claim 3, characterized in that: The implementation method of the elastic load component is as follows: when the push rod is acted upon by the linear actuator, the elastic member is compressed by the push rod, and an output thrust of the elastic member is generated.

5. The simulation test method of the composite load simulation test device according to claim 3, characterized in that: The damping load component is implemented as follows: when the hydraulic rod is acted upon by the linear actuator, one end of the hydraulic rod close to the linear actuator is retracted into the double-rod hydraulic cylinder, and the other end away from the linear actuator is extended out of the double-rod hydraulic cylinder. The oil in at least one cavity close to the extended end of the hydraulic rod in the double-rod hydraulic cylinder flows into at least one other cavity away from the extended end of the hydraulic rod through a one-way adjustable damping valve. The one-way adjustable damping valve of the cavity from which the oil flows out plays a damping role. The output thrust of the hydraulic rod is adjusted by adjusting the opening size of the one-way adjustable damping valve.

6. The simulation test method of the composite load simulation test device according to claim 3, characterized in that: The inertial load assembly is implemented as follows: when the slide plate is acted upon by the linear actuator, the slide plate slides in a direction away from the base, and the output thrust of the slide plate is adjusted by changing the mass of the gravity member.

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