An electric cylinder loading test device

Abstract

The application provides an electric cylinder loading test device, which comprises a loading test table and an electric control system; the loading test table comprises a frame, a movable beam, at least one bracket and a rear mounting seat; the frame is horizontally fixed on the ground; the movable beam, the bracket and the rear mounting seat are sequentially arranged on the frame from front to back; the two brackets are matched with the electric cylinder; the movable beam and the rear mounting seat are connected with the electric cylinder; the movable beam and the two brackets are movably arranged on the frame; the electric control system comprises a host computer, a PCL controller and a sensor group; the host computer is in information communication with the PCL controller; the PCL controller is connected with the sensor group; and the PCL controller is connected with the frame and the movable beam respectively. The application overcomes the technical problems of slow response speed, unstable load force, large fluctuation and the like caused by manual operation in the current experiment, effectively improves the response speed and robustness of the loading test device, effectively reduces the overshoot, and improves the intelligent degree of the electric cylinder loading test.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of push-pull force loading, and particularly relates to an electric cylinder loading test device. BACKGROUND

[0002] The electric cylinder is an actuating mechanism for converting the rotary motion of a servo motor into the linear reciprocating motion of a lead screw. The electric cylinder has the advantages of high positioning accuracy, fast response speed, high transmission efficiency, strong stability, and small space occupation.

[0003] The dynamic performance of the electric cylinder needs to test multiple index parameters such as speed, stroke, and load. The test includes no-load operation under different speeds, no-load operation within a specific stroke range, dynamic load performance under specific load and specific speed, and locking performance under static load. The existing hydraulic cylinder test bench mainly tests the pressure, leakage, and pressure retention performance of the hydraulic cylinder. It cannot meet all performance tests and needs a new electric cylinder test device to test performance indexes under different conditions to ensure that the quality of the electric cylinder meets the design requirements.

[0004] Meanwhile, during the test of the electric cylinder, dynamic load tests need to be performed under different load forces according to test requirements, that is, the electric cylinder is subjected to several constant load forces in the process of uniform extension, and the dynamic load performance is tested. The load force needs to be constant during the test and cannot have too much fluctuation and deviation, otherwise the actual test performance of the electric cylinder will be affected. At present, the operator manually adjusts the pressure during the test, which is prone to slow response, unstable load force, and large fluctuation. SUMMARY

[0005] In view of the technical problems that the current experiment is mostly manual experiment, which is prone to slow response speed, unstable load force, and complex test, the present application provides an electric cylinder loading test device, which solves the problems of slow response speed and poor robustness of the current electric cylinder experiment and improves the intelligent degree of the electric cylinder loading test.

[0006] To achieve the above object, the technical scheme of the present application is as follows: an electric cylinder loading test device, comprising a loading test bench and an electric control system; the loading test bench comprises a frame, a movable beam, at least one bracket, and a rear mounting seat, the frame is horizontally fixed on the ground, the movable beam, the bracket, and the rear mounting seat are sequentially arranged on the frame from front to back; the two brackets are matched with the electric cylinder, the movable beam and the rear mounting seat are connected with the electric cylinder, and the movable beam and the two brackets are movably arranged on the frame; the electric control system comprises an upper computer, a PCL controller, and a sensor group (43), the upper computer is in information communication with the PCL controller, the PCL controller is connected with the sensor group (43), and the PCL controller is connected with the frame and the movable beam.

[0007] The sensor group (43) includes a displacement sensor and a torque sensor, the displacement sensor is arranged on the frame, and the torque sensor is arranged on the movable beam; the frame includes a front tailstock, a crossbeam and a rear tailstock, the front tailstock, the crossbeam and the rear tailstock form a rectangular support structure, the front tailstock is arranged in front of the crossbeam, and the rear tailstock is arranged at the rear of the crossbeam; a loading hydraulic cylinder is fixedly arranged on the front tailstock, the loading hydraulic cylinder is arranged horizontally and perpendicular to the front tailstock, and is connected to the movable beam, and a displacement sensor is also arranged on the front tailstock, and the displacement sensor and the loading hydraulic cylinder are both connected to a PLC controller.

[0008] A slot is provided in the middle of the vertical surface of the front tailstock, a loading hydraulic cylinder is provided through the slot, a rectangular slot is provided on each side of the slot, the crossbeam is connected to the front tailstock through the rectangular slot, and a pin shaft for fixing is provided at the horizontal plane of the intersection of the crossbeam and the front tailstock; four threaded holes are provided on the lower side of the horizontal surface of the front tailstock, each threaded hole is provided with a displacement sensor interface, the four displacement sensor interfaces are all connected to the displacement sensor, and the tail of the displacement sensor is connected to the movable beam.

[0009] The movable beam is an "I"-shaped structure, and the movable beam includes a loading hydraulic ear shaft, a movable frame, a torque sensor and a displacement sensor interface; the movable frame is movably arranged on a slide in the middle of the crossbeam, and the front, rear and top surfaces of the movable frame are provided with mounting interfaces. The front side of the movable frame is provided with a loading hydraulic cylinder ear shaft, and the loading hydraulic cylinder is connected to the loading hydraulic cylinder ear shaft. The rear side of the movable frame is connected to the torque sensor, and the torque sensor is connected to one end of the electric cylinder ear shaft, and the other end of the electric cylinder ear shaft is connected to the electric cylinder. A linear displacement sensor interface is installed on the top surface of the movable beam, and the linear displacement sensor interface matches the displacement sensor, and the torque sensor is connected to the PLC controller.

[0010] The bracket includes a U-shaped bracket, a support plate, a roller, a cover plate and a pressure plate; the U-shaped bracket and the cover plate are combined to form a rectangular groove, the upper end of the rectangular groove is provided with a pressure plate, the lower end of the rectangular groove is provided with a support plate, the upper part of the support plate and the lower part of the pressure plate are both provided with arc surfaces, and the arc surfaces match the electric cylinder; at least one roller is provided on each side of the U-shaped bracket, the roller is fixed on the U-shaped bracket and the roller is slidably connected to the slide.

[0011] The rear mounting seat is detachably connected to the crossbeam of the frame; the rear mounting seat is a "earth" type structural component arranged on the crossbeam slide, and the rear mounting seat includes a base plate and a rib plate, pin holes are provided on both sides of the base plate, and the crossbeam is connected to the rear mounting seat through the pin holes, a circle of threaded hole interface I is provided in the center of the base plate, and two rows of threaded hole interfaces II are symmetrically provided on both sides of the threaded hole interface I, the threaded hole interface I matches the mounting plate fixedly connected to the base type electric cylinder, and the threaded hole interface II matches the ear shaft fixedly connected to the ear type electric cylinder.

[0012] The front tail seat bottom surface is provided with two ground feet, the front tail seat groove hole outer circle is provided with a threaded hole, the front tail seat is fixedly connected with the loading hydraulic cylinder through a flange arranged in the threaded hole, and the rear tail seat is arranged at the rear part of the frame and is provided with two ground feet on the bottom surface.

[0013] The PCL controller is internally provided with a PCL control module; the PCL control module is composed of an organization block OB block, a plurality of execution blocks FB block, an FC block and a DB block; the OB block is an interface between an operating system and a user program, the FB block is a user-written module with a storage function, the FC block is a user-written module without a storage area, and the DB block is a background data and shared data module.

[0014] The FB block is internally provided with a load force PID control algorithm, the PID control algorithm has two input variables and three output variables, the input variable e(t) is a load force error, ec(t) is a load force error change rate, and the output variables Δkp, Δki and Δkd are PID parameter adjustment amounts, wherein Δkp is a proportional adjustment coefficient, Δki is an integral adjustment coefficient, and Δkd is a differential adjustment coefficient; the electric cylinder loading test device obtains the size of the real-time load value of the electric cylinder through the PID control algorithm by using real-time information collected by a torque sensor, and transmits the load value to an upper computer; the upper computer compares the current load value with a set load value, obtains the input variables e(t) and ec(t) of the PID control, and performs fuzzy control on e(t) and ec(t) through the PID control algorithm to correct the PID parameter adjustment amounts Δkp, Δki and Δkd online; the fuzzy control method includes fuzzification, fuzzy reasoning and defuzzification; first, the error e(t) and the error change rate ec(t) are subjected to fuzzification processing, the data after the fuzzification processing is taken as two inputs of a fuzzy controller, fuzzy reasoning is performed according to fuzzy rules, the obtained fuzzy value is subjected to defuzzification processing, the fuzzy value is multiplied by a proportional factor to be converted into Δkp, Δki and Δkd, the obtained value is added to the original value to obtain the latest set of PID parameter adjustment amounts, and finally the output value is obtained to complete the control task.

[0015] The no-load experiment method is as follows: first, the electric cylinder is installed on a bracket, the electric cylinder tail is connected with the rear mounting seat, and the servo motor of the electric cylinder is powered on, then a speed and position control instruction is input through the upper computer to perform a no-load experiment, the running position of the electric cylinder is determined through the value fed back by the displacement sensor, and after reaching the set position, the upper computer sends a signal to the test device to stop running.

[0016] Its loading test method is: after observing that the current value generated by the electric cylinder in the no-load experiment is not abnormal, first, adjust the electric cylinder to return to the initial position, fix the electric cylinder through the bracket, so that the electric cylinder only push rod load end can reciprocate, then, connect the electric cylinder with the movable beam, control the loading test device to execute constant speed operation instruction through the upper computer, at the same time, provide certain pressure for the electric cylinder through the loading hydraulic cylinder, call the PID control algorithm through the PCL controller to make the hydraulic cylinder pressure keep constant in the running process, to simulate the normal working state of the electric cylinder, judge the performance of the electric cylinder by detecting the size and stability of the current value generated by the electric cylinder;

[0017] Its static load test method is: first, adjust the electric cylinder to run to a certain position, then cut off the power supply of the electric cylinder motor, input the instruction through the upper computer, provide constant thrust or pull through the loading hydraulic cylinder, to judge whether the structural strength and mechanical locking performance of the electric cylinder meet the requirements.

[0018] The present application has the advantages of fast response, small overshoot and strong robustness by designing a self-adaptive PID self-tuning pressure regulating system, which realizes real-time control of the control object, and overcomes the shortcomings of slow response, unstable load force and large fluctuation in the prior art. The electric cylinder test device of the present application is used to test the performance index of the electric cylinder under different conditions, to ensure that the quality of the electric cylinder meets the design requirements, and the intelligent degree of the loading test bench is effectively improved by combining the loading test bench with the electric control system. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0020] Figure 1 It is the front view of the loading test bench of the present application.

[0021] Figure 2 It is the side view of the loading test bench of the present application.

[0022] Figure 3 a is the front view of the movable beam of the present application.

[0023] Figure 3 b is the top view of the movable beam of the present application.

[0024] Figure 4 It is the structure diagram of the bracket.

[0025] Figure 5 c is the front mounting seat as a front view.

[0026] Figure 5 d is the front mounting seat as a left view.

[0027] Figure 5 e is the front mounting seat as a top view.

[0028] Figure 6 is the use state diagram of the present application.

[0029] Figure 7 is the program framework.

[0030] Figure 8 is the overall framework of the control system.

[0031] Figure 9 is the intelligent PID controller structure diagram.

[0032] The names of the components corresponding to the corresponding reference signs in the figure are: 1 is a front tail beam, 2 is a cross beam, 3 is a rear tail beam, 4 is a pin shaft, 5 is a loading hydraulic cylinder, 6 is a flange, 7 is a displacement sensor, 8 is a displacement sensor interface, 10 is a movable beam, 11 is a loading hydraulic cylinder trunnion, 12 is a movable frame, 13 is a screw, 14 is a torque sensor, 15 is an electric cylinder trunnion, 16 is a displacement sensor interface, 20 is a bracket, 21 is a U-shaped bracket, 22 is a supporting plate, 23 is a roller, 24 is a nut, 25 is a cover plate, 26 is a pressing plate, 30 is a rear mounting seat, 31 is a bottom plate, 32 is an electric cylinder trunnion, 33 is a rib plate, 34 is a screw, 41 is an upper computer, 42 is a PCL controller, and 43 is a sensor group. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0034] Embodiment 1

[0035] As Figure 1 With Figure 2As shown, an electric cylinder loading test device includes a loading test bench and an electric control system. The loading test bench is a mechanical loading frame fixed horizontally on the ground. The loading test bench is composed of a frame, a movable beam 10, two brackets 20 and a rear mounting seat 30. The movable beam 10, the two brackets 20 and the rear mounting seat 30 are sequentially arranged on the frame from front to back. The bracket 20 is matched with the electric cylinder, and the movable beam 10 and the rear mounting seat 30 are connected with the electric cylinder. The movable beam 10 and the bracket 20 are movably arranged on the frame. The frame is integrally welded and assembled by alloy steel plates. The frame is composed of a front tail seat 1, a cross beam 2 and a rear tail seat 3. The cross beam 2 is a rectangular frame welded together. The horizontal plane of the cross beam 2 is a sliding table ground by a plane. The middle part of the vertical plane of the front tail seat 1 is provided with a slot hole. A loading hydraulic cylinder 5 is arranged through the slot hole. Twelve threaded holes are arranged on the outer ring of the slot hole. A flange 6 for fixing the loading hydraulic cylinder 5 is arranged in the threaded hole. A rectangular groove is arranged on each side of the threaded hole. The cross beam 2 is connected with the front tail seat 1 through the rectangular groove. A fixing pin shaft 4 is arranged at the intersection of the cross beam 2 and the front tail seat 1. Four threaded holes are arranged on the lower side of the horizontal plane of the front tail seat 1. A displacement sensor interface 8 is arranged in each threaded hole. The four displacement sensor interfaces 8 are connected with a displacement sensor 7. The tail of the displacement sensor 7 is connected with the movable beam 10. Two footings are arranged on the bottom surface of the front tail seat 1. The main function of the movable beam 10 is to connect the loading hydraulic cylinder and the test electric cylinder. The movable beam 10 can move forward and backward with the cylinder body through the movable connection with the frame. On the one hand, the movable beam 10 is used to limit the degree of freedom of the cylinder body to ensure the horizontal loading of the pushing and pulling force of the cylinder body. On the other hand, the sensor installed on the movable beam 10 can measure the pushing and pulling force, displacement and other parameters. The main function of the bracket 20 is to provide bottom support for the electric cylinder and limit the degree of freedom of the electric cylinder in the upward and downward directions. The main function of the rear mounting seat 30 is to fix the electric cylinder.

[0036] The electric control system includes an upper computer 41, a PCL controller 42 and a sensor group 43. The upper computer 41 and the PCL controller 42 communicate through the Modbus RTU protocol to realize information connection. The PCL controller 42 and the sensor group 43 realize information connection through PROFIBUS-DP. The PCL controller 42 is connected with the frame and the movable beam 10. The upper computer serves as a man-machine interface. On the one hand, the upper computer receives various data collected by the PLC controller and performs related processing. On the other hand, the upper computer is responsible for issuing operation instructions and monitoring the production process. The PCL controller 42 serves as an intermediate layer. On the one hand, the PCL controller 42 collects signals of field devices through the sensor group 43 and transmits the data to the upper computer for analysis and processing. On the other hand, the PCL controller 42 receives field control instructions from the upper computer to control various actions. The main function of the sensor group 43 is to collect experimental information in real time and transmit the collected information to the PCL controller 42.

[0037] Example 2

[0038] like Figure 3 As shown, an electric cylinder loading test device, the movable beam (10) is an "I" type structure, including a loading hydraulic ear shaft 11, a movable frame 12, a torque sensor 14 and a displacement sensor interface 16. The movable frame 12 is movably set on the slide in the middle of the crossbeam 2, and the front, rear and top surfaces of the movable frame 12 are provided with mounting interfaces. The front side of the movable frame 12 is provided with a loading hydraulic cylinder ear shaft 11, and the loading hydraulic cylinder 5 is connected to the loading hydraulic cylinder ear shaft 11. The rear side of the movable frame 12 is connected to the torque sensor 14. The torque sensor 14 is mainly used to collect the push and pull forces applied by the device and transmit the data to the PCL controller 42. The torque sensor 14 is connected to one end of the electric cylinder ear shaft 15, and the other end of the electric cylinder ear shaft 15 is connected to the electric cylinder. A linear displacement sensor interface 16 is installed on the top surface of the movable beam 10, and the linear displacement sensor interface 16 matches the displacement sensor 7. The torque sensor 14 is connected to the PLC controller.

[0039] Other structures and principles are the same as those in Example 1.

[0040] Example 3

[0041] like Figure 4 As shown, a loading test device for an electric cylinder is shown. The bracket 20 includes a U-shaped bracket 21, a support plate 22, a roller 23, a nut 24, a cover plate 25 and a pressure plate 26. The main function of the bracket 20 is to provide bottom support for the electric cylinder. The U-shaped bracket 21 and the cover plate 25 are combined to form a rectangular groove. A pressure plate 26 is provided at the upper end of the rectangular groove. After the electric cylinder is installed, the cover plate 25 and the pressure plate 26 are tightened with screws to limit the freedom of the electric cylinder in the upper and lower directions. A support plate 22 is provided at the lower end of the rectangular groove. The upper part of the support plate 22 and the lower part of the pressure plate 26 are both provided with arc surfaces. The arc surfaces are matched and processed according to the cylinder diameter of the electric cylinder to achieve a complete support effect. At least one roller 23 is provided on each side of the U-shaped bracket 21, and each roller 23 is fixed to the U-shaped bracket 21 by a nut 24.

[0042] like Figure 5As shown, the rear mounting seat 30 is a "soil" type structure assembly arranged on the slide of the crossbeam 2, including a bottom plate 31, a motor cylinder trunnion 32, a rib plate 33 and a screw 34. Each side of the bottom plate 31 is provided with a pin hole, and the size of the pin hole is the same as that of the crossbeam 2. In order to adapt to motor cylinders of different structures and sizes, each side of the bottom plate 31 is provided with a pin hole, and the size of the pin hole is the same as that of the crossbeam 2. A circle of threaded hole interfaces is arranged at the center of the bottom plate 31, and two rows of threaded hole interfaces are symmetrically arranged on both sides of the threaded hole interfaces. When testing the base type motor cylinder, an installation plate can be fixed on the two rows of threaded holes, and the motor cylinder is fixed on the rear mounting seat 30 through the installation plate. When testing the lug type motor cylinder, an ear shaft can be installed on the circle of threaded holes, and the motor cylinder is fixed on the rear mounting seat 30 through the ear shaft. Three pin holes are arranged on the crossbeam 2 at the position where the rear mounting seat 30 is arranged. For motor cylinders of different lengths, the fixing position of the rear mounting seat 30 can be adjusted for fixation. The front side of the bottom plate 31 is provided with the motor cylinder trunnion 32, and the bottom plate 31 and the motor cylinder trunnion 32 are fixedly connected through the screw 34. The back of the rear mounting seat 30 is provided with at least one rib plate 33 for increasing the structural strength and ensuring the rigidity of the structure during testing.

[0043] The other structures and principles are the same as those of embodiment 2.

[0044] Embodiment 4

[0045] As shown in Figure 7 A motor cylinder loading test device, the electric control system includes a host computer 41, a PCL controller 42 and a sensor 43. The host computer 41 and the PCL controller 42 communicate through the Modbus RTU protocol, and the PCL controller 42 and the sensor 43 communicate through the PROFIBUS-DP. Specifically, the host computer 41 is installed with an operating system, and the PCL controller 42 is installed with a PCL control program. The PCL control program is developed and debugged by the Siemens PCL programming software TIA Portal V15.

[0046] As shown in Figure 8As shown, the PCL control program includes OB block and a plurality of FB block, FC block and DB block, FB1, FB2, FB3, FC1, FC2, FB1080 and FB1082 can be called by OB1, DB1 can be called by FB1, DB2 can be called by FB2, DB3 can be called by FB3, FB1080 can be called by FC1, FB109 can be called by FC2, DB14 can be called by FB1080, and DB15 can be called by FB1082. Among them, the role of OB1 is to control the system organization block, after the CPU starts to complete, the operating system in the host computer 41 executes OB1 in a loop, and through OB1, the system initialization upper electronic program, reading various sensor value subprogram, actuator action subprogram, load force PID control subprogram and Modbus, Profibus DP communication subprogram are called to make them execute in a loop. FB1 is the system initialization upper electronic program, mainly used for the power-on initialization and program start of each control unit. FB2 is the load force PID control subprogram and the PID control algorithm of adaptive adjustment of load force. FB3 is the actuator action subprogram, mainly used for selecting different action instructions to send to the actuator, so that the actuator executes according to the specified action. FB1080 is the reading various sensor value subprogram, used for initializing various sensor parameters after the system is powered on. FB1082 is the Modbus client function block, used to respond to the acceptance and sending commands sent by the host computer 41.

[0047] As Figure 9As shown, FB2 is a load force PID control program, which has two input variables and three output variables, the input variable e(t) is the load force error, ec(t) is the load force error rate, and the output variable Δkp, Δki, Δkd is the PID parameter adjustment amount. Through the PID control algorithm, the response speed and robustness of the loading test device are effectively improved, and the overshoot is effectively reduced. Moreover, according to the control experience in actual production for many years and big data analysis, the influence of nonlinear factors can be overcome to realize real-time control of the control object. The electric cylinder loading test device collects real-time information collected by the torque sensor 14 to obtain the real-time load size of the electric cylinder, and transmits the load data to the upper computer 41. The upper computer 41 compares the current load value with the set load value to obtain the input variables e(t) and ec(t) of the PID control algorithm. The PID control algorithm performs fuzzy reasoning on e(t) and ec(t) and corrects the PID parameter adjustment amount Δkp, Δki, Δkd online. The fuzzy controller includes fuzzification, rule base, fuzzy reasoning, and defuzzification. The specific process of fuzzy reasoning is as follows: first, the error e(t) and the error rate ec(t) are fuzzified to determine the fuzzy language value of the input variable and the corresponding membership function. First, the fuzzy domain of the input variable e(t) and the input variable ec(t), the fuzzy set language and the proportion factor are determined, and the membership function of the input variable and the output variable of the fuzzy controller is determined. The membership function is a triangular membership function. Then, the processed data is taken as the two inputs of the fuzzy controller, and fuzzy reasoning is performed according to the fuzzy rules. The fuzzy rules are compiled according to the control experience of the user, and the algorithm used in the fuzzy reasoning is the Mamdani fuzzy reasoning algorithm. After fuzzy reasoning, the output variable of the fuzzy controller is a membership function in the fuzzy domain range. Then, the fuzzy value obtained after reasoning is defuzzified to a certain value, and the fuzzy value is multiplied by the proportion factor to convert Δkp, Δki, Δkd. Among them, Δkp is the proportional adjustment coefficient, which plays a role in accelerating the response speed of the system, improving the adjustment accuracy of the system, and quickly adjusting the error in the PID regulator; Δki is the integral adjustment coefficient, which plays a role in eliminating error and adjusting steady-state time in the PID regulator; Δkd is the differential adjustment coefficient, which plays a role in improving the dynamic performance of the system, predicting error trends, and adjusting errors in advance in the PID regulator. Finally, the obtained value is added to the original value to obtain the latest set of PID parameter values, and the output value is finally obtained to complete the control task.

[0048] Other structures and principles are the same as in Embodiment 3.

[0049] Embodiment 5

[0050] An electric cylinder loading test device, as Figure 6As shown, when the electric cylinder is installed, first place the electric cylinder horizontally on the bracket 20 by the crane equipment, then pull the bracket 20 back and forth to adjust the position of the electric cylinder, align the tail interface of the electric cylinder with the rear mounting seat 30, and then insert the pin shaft 4 into the shaft hole to fix the electric cylinder to the rear mounting seat. At this time, the tail of the electric cylinder has been installed on the test bench, and the movable end of the electric cylinder is empty, so the servo motor and the driver of the electric cylinder can be powered on, the rotation speed and position control command are input to the upper computer 41, the motor is controlled to rotate forward and backward, thereby driving the electric cylinder push rod to extend and retract, and the empty load test of the electric cylinder is carried out. The starting position and stopping position parameters are input on the upper computer 41, the running position of the electric cylinder is judged by the value fed back by the displacement sensor 7, and after the in-place signal is sent, the electric cylinder stops running.

[0051] Observe the current value collected during the empty load operation, and perform the load test after there is no abnormality. The load test is a test in which the load hydraulic cylinder 5 is connected to the load end of the electric cylinder, so that the load hydraulic cylinder 5 moves with the electric cylinder, and at the same time provides a constant pushing and pulling force for the electric cylinder. First, the electric cylinder is retracted to the initial position for safety protection. Place the pressing plate 26 into the clamping groove, and after the circular arc surface is attached to the electric cylinder barrel, place the cover plate 22 above the U-shaped bracket 21 in alignment, and tighten it with screws. At this time, the electric cylinder has been fixed on the test bench, and only the load end of the push rod can reciprocate. Through the input instruction of the upper computer 41, the load hydraulic cylinder 5 is controlled to extend, driving the movable beam 10 connected to the load hydraulic cylinder 5 to move until the electric cylinder ear shaft 15 is connected to the head interface of the electric cylinder, and is fixed with the pin shaft 4. At this time, the load end of the electric cylinder and the load hydraulic cylinder 5 are successfully connected. When the electric cylinder extends, the load hydraulic cylinder 5 will retract, and when the electric cylinder retracts, the load hydraulic cylinder 5 will extend. The upper computer 41 inputs the instruction to drive the electric cylinder to run at a constant speed, while controlling the load hydraulic cylinder 5 to provide a certain pressure. The PID control algorithm is called by the PCL controller 42 to adjust the pressure system to keep the pressure of the load hydraulic cylinder 5 constant during operation, to ensure the force of the electric cylinder during operation. Through the input of relevant instructions by the upper computer 5, the motor is controlled to rotate forward and backward, and the load hydraulic cylinder is controlled to extend and retract, to ensure that the electric cylinder and the load hydraulic cylinder 5 move simultaneously, and at the same time a certain pushing and pulling force is applied to the electric cylinder. By controlling the number of rotations of the servo motor, the running speed of the electric cylinder is ensured, and by controlling the on-off of the oil circuit and the pressure of the load hydraulic system, the extension and retraction of the load hydraulic cylinder 5, as well as the size and direction of the load, are ensured.

[0052] The static load test is to continuously provide a certain pushing and pulling force to the electric cylinder to test the structural strength and mechanical locking performance of the electric cylinder. The specific steps of the static load test are as follows: first, control the electric cylinder to run to a certain position, cut off the power supply of the servo motor of the electric cylinder, input the instruction to the upper computer 41, and the load hydraulic cylinder 5 provides a constant pushing and pulling force to determine whether the structural strength and mechanical locking performance of the electric cylinder meet the requirements.

[0053] Other structures and principles are the same as in Example 4.

[0054] Example 6

[0055] The electric cylinder loading test device is first hoisted by a crane, and the electric cylinder is placed on the test device by the front and rear brackets 20. The position of the front and rear adjusting brackets is adjusted. If the electric cylinder is a base type electric cylinder, a mounting plate can be fixed on the threaded hole interface I, and the electric cylinder is fixed on the rear mounting seat 30 through the mounting plate. If the electric cylinder is a lug type electric cylinder, an ear shaft can be installed on the threaded hole interface II, and the electric cylinder is fixed on the rear mounting seat 30 through the ear shaft. At this time, the electric cylinder has been fixed on the test device, the movable end of the electric cylinder is not connected with the movable beam 10, and the load is empty, so the no-load test of the electric cylinder can be carried out. The test device is powered on for the electric cylinder servo motor and the driver, the rotation speed and position command are input through the upper computer 41, the electric cylinder servo motor is controlled to rotate forward and reverse, and then the electric cylinder push rod is driven to extend and retract. The initial position and stop position parameters of the electric cylinder are set through the upper computer 41, the operation and stop of the test device are controlled, the state of the electric cylinder is monitored in real time through the displacement sensor 7, and the monitoring data is transmitted to the upper computer 41 through the PCL controller 42 to determine whether there is any abnormality in the electric cylinder under no load.

[0056] After confirming that the electric motor is normal in the no-load test, the electric cylinder is placed back to the initial position, the pressing plate 26 is placed in the bracket 20 clamping groove and fixed with the bracket 20 to limit the freedom degree of the electric cylinder in the up-down direction. At this time, if the electric cylinder cannot be connected with the movable beam 10 due to length problem, the position of the electric cylinder can be adjusted by moving the bracket 20 and replacing the fixed position of the rear mounting seat 30. After adjusting to the appropriate position, the movable end of the electric cylinder is connected with the movable beam 10, and the electric cylinder is connected with the loading hydraulic cylinder 5 through the movable beam 10. At this time, when the electric cylinder extends, the loading hydraulic cylinder 5 will retract, and when the electric cylinder retracts, the loading hydraulic cylinder 5 will extend. After the connection is completed, the test personnel can input the test command through the upper computer 41, and the PID control algorithm is called through the PCL controller 42 to make the loading hydraulic cylinder 5 keep constant during the movement, so as to ensure that the electric cylinder is subjected to constant force during the experiment, so as to simulate the normal working condition of the electric cylinder. The current size and stability of the electric cylinder are monitored through the electric control system to determine the performance of the electric cylinder.

[0057] The static load test is to test the strength and mechanical locking performance of the electric cylinder structure by continuously providing a pushing force or pulling force to the electric cylinder. During the test, the electric cylinder is first fixed at a certain position, then the power supply of the electric cylinder servo motor is cut off, and the instruction is input through the upper computer 41 to control the loading hydraulic cylinder 5 to provide a constant pulling force or pushing force to the electric cylinder, so as to determine whether the structural strength and mechanical locking performance of the electric cylinder meet the requirements.

[0058] Other structures and principles are identical to embodiment 5.

[0059] The above description is merely that of the preferred embodiments of the application, and is not intended to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. An electric cylinder loading test device, characterized by: The invention comprises a loading test bench and an electric control system; the loading test bench comprises a frame, a movable beam (10), at least one bracket (20) and a rear mounting seat (30); the frame is fixed horizontally on the ground; the movable beam (10), the bracket (20) and the rear mounting seat (30) are arranged on the frame in sequence from front to back; the brackets (20) are matched with the electric cylinders, the movable beam (10) and the rear mounting seat (30) are connected to the electric cylinders, and the movable beam (10), the two brackets (20) and the rear mounting seat (30) are all movably arranged on the frame; The electric control system includes a host computer (41), a PLC controller (42) and a sensor group (43), wherein the host computer (41) and the PLC controller (42) are in information communication, the PLC controller (42) is connected to the sensor group (43), and the PLC controller (42) is respectively connected to the frame and the movable beam (10); The sensor group (43) includes a displacement sensor (7) and a torque sensor (14), wherein the displacement sensor (7) is arranged on the frame, and the torque sensor (14) is arranged on the movable beam; the frame includes a front tailstock (1), a crossbeam (2) and a rear tailstock (3), wherein the front tailstock (1), the crossbeam (2) and the rear tailstock (3) form a rectangular support structure, wherein the front tailstock (1) is arranged in front of the crossbeam (2), and the rear tailstock (3) is arranged in rear of the crossbeam (2); a loading hydraulic cylinder (5) is fixedly arranged on the front tailstock (1), wherein the loading hydraulic cylinder (5) is arranged horizontally and perpendicular to the front tailstock (1), and the loading hydraulic cylinder (5) is connected to the movable beam (10); a displacement sensor (7) is also arranged on the front tailstock (1), and the torque sensor (14), the displacement sensor (7) and the loading hydraulic cylinder (5) are all connected to a PLC controller; The movable beam (10) is an "I"-shaped structure, and includes a loading hydraulic cylinder trunnion (11), a movable frame (12), a torque sensor (14), and a linear displacement sensor interface (16); The movable frame (12) is movably arranged on a slide in the middle of the crossbeam (2). The front side, rear side and top surface of the movable frame (12) are all provided with mounting interfaces. The front side of the movable frame (12) is provided with a loading hydraulic cylinder ear shaft (11). The loading hydraulic cylinder (5) is connected to the loading hydraulic cylinder ear shaft (11). The rear side of the movable frame (12) is connected to a torque sensor (14). The torque sensor (14) is connected to one end of an electric cylinder ear shaft (15). The other end of the electric cylinder ear shaft (15) is connected to the electric cylinder. A linear displacement sensor interface (16) is installed on the top surface of the movable beam (10). The linear displacement sensor interface (16) matches the displacement sensor (7). The torque sensor (14) is connected to a PLC controller.

2. The electric cylinder loading test device according to claim 1, characterized in that: A slot is provided in the middle of the vertical surface of the front tailstock (1), a loading hydraulic cylinder (5) is provided through the slot, a rectangular slot is provided on each side of the slot, the crossbeam (2) is connected to the front tailstock (1) through the rectangular slot, and a pin shaft (4) for fixing is provided at the horizontal plane of the intersection of the crossbeam (2) and the front tailstock (1); four threaded holes are provided on the lower side of the horizontal plane of the front tailstock (1), a displacement sensor interface (8) is provided in each threaded hole, the four displacement sensor interfaces (8) are all connected to the displacement sensor (7), and the tail of the displacement sensor (7) is connected to the movable beam (10).

3. The electric cylinder loading test device according to claim 1, characterized in that: The bracket (20) includes a U-shaped bracket (21), a supporting plate (22), a roller (23), a cover plate (25) and a pressure plate (26); the U-shaped bracket (21) and the cover plate (25) are combined to form a rectangular groove, the upper end of the rectangular groove is provided with a pressure plate (26), the lower end of the rectangular groove is provided with a supporting plate (22), the upper part of the supporting plate (22) and the lower part of the pressure plate (26) are both provided with arc surfaces, and the arc surfaces match the electric cylinder; at least one roller (23) is provided on each side of the U-shaped bracket (21), the roller (23) is fixed on the U-shaped bracket (21), and the roller (23) is slidably connected to the slide.

4. The electric cylinder loading test device according to claim 3, characterized in that: The rear mounting seat (30) is detachably connected to the crossbeam (2) of the frame; the rear mounting seat (30) is a "soil" type structural component arranged on the slide of the crossbeam (2); the rear mounting seat (30) comprises a base plate (31) and a rib plate (33); pin holes are arranged on both sides of the base plate (31); the crossbeam (2) is connected to the rear mounting seat (30) through the pin holes; a circle of threaded hole interfaces I is arranged at the center of the base plate (31); two rows of threaded hole interfaces II are symmetrically arranged on both sides of the threaded hole interface I; the threaded hole interface I matches the mounting plate fixedly connected to the base type electric cylinder; the threaded hole interface II matches the ear shaft fixedly connected to the ear type electric cylinder.

5. The electric cylinder loading test device according to claim 4, characterized in that: The front tailstock (1) has two footings on its bottom surface, a threaded hole is provided on the outer ring of the slot of the front tailstock (1), and the front tailstock (1) is fixedly connected to the loading hydraulic cylinder (5) via a flange (6) provided in the threaded hole. The rear tailstock (3) is provided at the rear of the frame and has two footings on its bottom surface. At least one rib plate (33) is provided on the back of the rear mounting seat (30).

6. The electric cylinder loading test device according to any one of claims 3 to 5, characterized in that: The PLC controller (42) is equipped with a PLC control module; the PLC control module is composed of an organization block (OB) and a plurality of execution blocks (FB), FC, and DB. The OB block is an interface between the operating system and the user program, the FB block is a user-written module with a storage function, the FC block is a user-written module without a storage area, and the DB block is a background data and shared data module.

7. The electric cylinder loading test device according to claim 6, characterized in that: The FB block is provided with a load force PID control algorithm, which has two input variables and three output variables. The input variable e(t) is the load force error, ec(t) is the load force error change rate, and the output variables Δkp, Δki, and Δkd are PID parameter adjustment variables, where Δkp is the proportional adjustment coefficient, Δki is the integral adjustment coefficient, and Δkd is the differential adjustment coefficient. The electric cylinder loading test device uses the real-time information collected by the torque sensor (14) to obtain the size of the real-time load value of the electric cylinder through the PID control algorithm, and transmits the load value to the host computer (41). The host computer (41) compares the current load value with the set load value to obtain the input quantities e(t) and ec(t) of the PID control, performs fuzzy control on e(t) and ec(t) through the PID control algorithm, and corrects the PID parameter adjustment quantities Δkp, Δki, and Δkd online; The fuzzy control method includes fuzzification, fuzzy reasoning and defuzzification. First, the error e(t) and the error change rate ec(t) are fuzzified, and the fuzzified data are used as two inputs of the fuzzy controller. Fuzzy reasoning is performed according to fuzzy rules. After fuzzy reasoning, the fuzzy value obtained is defuzzified, and the fuzzy value is multiplied by a proportional factor to convert it into Δkp, Δki, and Δkd. The obtained value is then added to the original value to obtain the latest set of PID parameter adjustment amounts. Finally, the output value is obtained to complete the control task.

8. The electric cylinder loading test device according to claim 7, characterized in that: The no-load test method is as follows: first, the electric cylinder is mounted on the bracket (20), the tail of the electric cylinder is connected to the rear mounting seat (30), and the servo motor of the electric cylinder is powered on. Then, the speed and position control instructions are input through the host computer (41) to perform a no-load test. The operating position of the electric cylinder is judged by the value fed back by the displacement sensor (7). After reaching the set position, the host computer (41) sends an in-position signal, and the test device stops running. The loading test method is as follows: after observing that the current value generated by the electric cylinder in the no-load test is normal, first, the electric cylinder is adjusted back to the initial position, and the electric cylinder is fixed by the bracket (20) so that only the push rod load end of the electric cylinder can reciprocate. Subsequently, the electric cylinder is connected to the movable beam (10), and the loading test device is controlled by the upper computer (41) to execute the constant speed operation instruction. At the same time, a certain pressure is provided to the electric cylinder by the loading hydraulic cylinder (5). The PID control algorithm is called by the PLC controller (42) to keep the hydraulic cylinder pressure constant during the operation process to simulate the normal working state of the electric cylinder. The performance of the electric cylinder is judged by detecting the magnitude and stability of the current value generated by the electric cylinder. The static load test method is as follows: first, the electric cylinder is adjusted to a specific position, then the power supply of the electric cylinder motor is cut off, and a command is input through the host computer (41), and a constant thrust or pull is provided by loading the hydraulic cylinder (5), so as to judge whether the structural strength and mechanical locking performance of the electric cylinder meet the requirements.

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