Manipulator balance cylinder multifunctional performance test system, test bench and test method

Abstract

The invention relates to the technical field of performance testing, in particular to a mechanical arm balance cylinder multifunctional performance testing system, a mechanical arm balance cylinder multifunctional performance testing table and a mechanical arm balance cylinder multifunctional performance testing method. The flushing module is used for injecting oil into an internal channel of a front end cover of the cylinder to be detected for flushing, so that the internal of the cylinder to be detected reaches a set cleanliness grade; the vacuumizing module is used for extracting residual air in the cylinder to be detected, so that the interior of the cylinder to be detected reaches a set vacuum degree grade; the performance test module is used for executing oil injection, pressure relief and opposite-pull actions on the tested cylinder; a piston rod of the driving oil cylinder is connected with a piston rod of the tested cylinder through a connector, an oil inlet pipeline of the main module is detachably connected with an oil inlet one-way valve of the tested cylinder, and conduction of an oil way in the tested cylinder is controlled through an oil inlet ball valve; the flushing module, the vacuumizing module and the performance testing module are detachably connected to a pressure testing joint of the tested cylinder in sequence; and the integrated and high-precision performance test of the manipulator balance cylinder is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of performance testing, and particularly to a multi-functional performance testing system, a test bench and a test method for a manipulator balance cylinder. Background Art

[0002] As a core component of an industrial manipulator system, a manipulator balance cylinder is mainly used to offset the motion inertia or gravity load of the robotic arm to ensure motion stability and positioning accuracy. Its structural form is as Figure 1 shown, including components such as a pressure measuring joint 1a, a pressure gauge 1b, an inlet check valve 1c, an exhaust check valve 1d, an accumulator 1e, a relief valve 1f, etc. It is applied in fields such as automobile manufacturing and precision assembly. The cleanliness, sealing performance and pressure stability of its internal hydraulic system directly affect the performance of the manipulator.

[0003] In traditional testing methods, a split design is usually adopted, and the cylinder under test needs to be disassembled and assembled multiple times and different devices need to be switched, resulting in low efficiency. For example, cleanliness detection is usually carried out through off-line sampling analysis, making it difficult to evaluate the residual impurities inside, and the removal of impurities depends on external flushing equipment, and the cleanliness cannot be verified in real time; pressure testing usually determines the internal pressure by pressurizing and statically maintaining pressure through a hydraulic station, but lacks dynamic counter-pulling action simulation, making it difficult to reflect the pressure performance and leakage conditions under real simulation conditions; in addition, traditional methods have insufficient control over vacuum degree, and residual air may interfere with the stability of the hydraulic system. These scattered and inefficient testing links increase labor costs and error risks, and there is an urgent need for an integrated and high-precision multi-functional testing system to solve the above problems.

[0004] The information disclosed in this background art section is only intended to deepen the understanding of the overall background art of the present invention, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to provide a multi-functional performance testing system, a test bench and a test method for a manipulator balance cylinder to achieve integrated and high-precision performance testing of the manipulator balance cylinder.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a multi-functional performance testing system for a manipulator balance cylinder, including: A main module for delivering oil to the active oil cylinder and the cylinder under test; A flushing module for injecting oil into the internal channel of the front end cover of the cylinder under test for flushing to make the inside of the cylinder under test reach a set cleanliness level; A vacuum pumping module for extracting residual air in the cylinder under test to make the inside of the cylinder under test reach a set vacuum level; A performance testing module for performing oil injection, pressure relief, and counter-pulling actions on the cylinder under test; Among them, the piston rod of the active oil cylinder and the piston rod of the tested cylinder are connected through a connector, the oil inlet pipeline of the main module is detachably connected to the oil inlet check valve of the tested cylinder, and the conduction of the oil circuit in the tested cylinder is controlled by the oil inlet ball valve; the flushing module, the vacuum module and the performance testing module are detachably connected to the pressure measuring joint of the tested cylinder in sequence.

[0007] Furthermore, the main module includes a main oil supply unit, a first oil circuit control unit, a second oil circuit control unit, a temperature control and filtering unit, and an oil recovery and purification unit; The main oil supply unit includes a main oil tank and a main pump unit, and the main pump unit pumps oil from the main oil tank to the first oil circuit control unit and the second oil circuit control unit, and receives oil from the active cylinder and the tested cylinder; The first oil circuit control unit is arranged between the main oil supply unit and the active oil cylinder, and is used to receive the oil from the main oil supply unit and pump the oil to the rod chamber and / or rodless chamber of the active oil cylinder; The second oil circuit control unit is arranged between the main oil supply unit and the tested cylinder, and is used to receive the oil from the main oil supply unit and pump the oil into the tested cylinder through the oil inlet ball valve; The temperature control filter unit is located in the oil supply circuit of the main oil supply unit and is used to monitor and adjust the oil temperature in the main oil tank; The oil recovery unit is connected to the main oil supply unit and is used for recovering the oil from the flushing module and performing oil filtering and static treatment.

[0008] Furthermore, the temperature control and filtering unit comprises a circulation pump unit, a cooler and a bipolar filter, wherein the circulation pump unit pumps out the oil in the main oil tank and returns the oil to the main oil tank again after passing through the cooler and the bipolar filter; Furthermore, the oil recovery unit includes an oil return tank, an oil receiving pan, an oil return filter, an oil return pump unit and a liquid level sensor. The oil receiving pan receives the oil from the flushing module, the oil return filter is arranged between the oil receiving pan and the oil return tank, the liquid level sensor is built into the oil return tank, and when the liquid level sensor gives an alarm, the oil return pump unit is used to pump the oil after filtering, static sedimentation and treatment into the main oil tank.

[0009] Further, the flushing module includes a flushing joint, a flushing one-way valve, a cleanliness detector and a throttle, the flushing joint is detachably connected to the pressure measuring joint of the tested cylinder, the flushing one-way valve and the oil online cleanliness detector are arranged in parallel on the output oil path of the tested cylinder, and the flushing one-way valve is connected to the return oil tank, and the throttle is connected to the main oil tank of the cleanliness detector; The oil in the independent oil tank enters the internal channel of the front end cover of the cylinder under test through the inlet ball valve, and forms a flushing action when flowing in the internal channel of the front end cover of the cylinder under test during the pulling action between the active cylinder and the cylinder under test. The flushed oil flows into the return oil tank through the flushing check valve, and flows through the throttle element into the cleanliness detector for cleanliness detection, and then returns to the main oil tank.

[0010] Further, the vacuum pumping module includes a vacuum pump unit and a vacuum pressure sensor. The vacuum pump unit is connected to the pressure measuring joint of the cylinder under test, and the vacuum pressure sensor is arranged between the pressure measuring joint of the cylinder under test and the connecting pipeline of the vacuum pump unit; The vacuum pump unit extracts the air inside the cylinder under test from the pressure measuring joint of the cylinder under test, and the vacuum pressure sensor synchronously detects the internal pressure of the cylinder under test.

[0011] Further, the performance test module includes an internal pressure sensor, an internal pressure digital display meter, a low-speed pressure relief solenoid valve, a throttle needle valve, a high-speed pressure relief solenoid valve and an observation window. The internal pressure sensor is connected to the pressure measuring joint of the cylinder under test. The internal pressure digital display meter is used to display the real-time internal pressure sensed by the internal pressure sensor. The low-speed pressure measuring solenoid valve is connected to the throttle needle valve. The low-speed pressure relief solenoid valve and the high-speed pressure measuring solenoid valve are arranged in parallel, and both are connected to the return oil tank through the observation window.

[0012] The present invention also provides a multi-functional performance test bench for a manipulator balance cylinder, which is equipped with the multi-functional performance test system for a manipulator balance cylinder as described in any one of the above, including: At least one test station, each test station is equipped with an active cylinder, a fixed seat and a movable seat. The active cylinder and the fixed seat are relatively arranged at both ends of the test station. The movable seat is fixedly arranged at the end of the piston rod of the active cylinder, and the movable seat is equipped with a balance wheel, and the balance wheel is slidably arranged on the surface of the test station; One end of the piston rod of the cylinder under test is assembled on the movable seat, and the other end is assembled on the fixed seat, so that when the piston rod of the active cylinder is in the retracted state, the piston rod of the cylinder under test is in the extended state, and when the piston rod of the active cylinder is in the extended state, the piston rod of the cylinder under test is in the retracted state.

[0013] The present invention also provides a multi-functional performance test method for a manipulator balance cylinder, which is applied to the multi-functional performance test bench as described above, and includes the following steps: Assemble the cylinder under test on the test bench so that the cylinder under test and the active cylinder are in a pulling state; Connect the oil inlet pipeline of the main module to the oil inlet check valve of the cylinder under test, and keep the oil inlet ball valve in the open state. Replace the pressure measuring joint of the cylinder under test with a flushing joint, connect the flushing module and inject oil for flushing into the internal channel of the front end cover of the cylinder under test until the cleanliness level in the cylinder under test reaches the set level; Connect the oil inlet pipeline of the main module to the oil inlet check valve of the cylinder under test, and keep the oil inlet ball valve in the closed state. Replace the flushing joint with the pressure measuring joint of the cylinder under test again, connect the vacuum pumping module and extract the residual air in the cylinder under test until the vacuum degree level in the cylinder under test reaches the set level; Replace the vacuum module on the pressure measuring joint of the cylinder under test with a performance test module, perform oil injection, pressure relief, and pulling actions on the cylinder under test, and simultaneously observe whether the internal pressure value of the cylinder under test is normal and whether the cylinder under test leaks.

[0014] Further, the steps of performing oil injection, pressure relief, and pulling actions on the cylinder under test include the following steps: Connect the oil inlet pipeline of the main module to the oil inlet check valve of the cylinder under test, and keep the oil inlet ball valve in the open state. Inject oil into the cylinder under test until the internal pressure value of the cylinder under test reaches the oil filling set value; Keep the oil inlet ball valve in the closed state, and perform rapid oil draining and slow oil draining actions in sequence until the internal pressure value of the cylinder under test reaches the pressure relief set value; Disconnect the connection between the oil inlet pipeline and the oil inlet check valve of the cylinder under test. The telescopic rod of the active oil cylinder reciprocates to drive the cylinder under test to perform the pulling action. When the set pulling time is reached, or the internal pressure value of the cylinder under test is abnormal, or the cylinder under test leaks, the performance test of the cylinder under test is completed.

[0015] The beneficial effects of the present invention are as follows: Through the modular design structure, the present invention integrates the flushing, vacuum pumping, and dynamic performance testing processes of the cylinder under test. Through the detachable connection structure and the control process of the oil circuit conduction of the oil inlet ball valve, in different test stages, only the joints of the corresponding modules need to be connected to the cylinder under test to perform the corresponding test steps, reducing the disassembly times of the oil cylinder under test, significantly improving the test efficiency and automation level, and realizing the pulling process by the piston rod of the active oil cylinder pulling the piston rod of the cylinder under test to reciprocate, simulating the working state of the cylinder under test under actual working conditions, greatly improving the authenticity and accuracy of the performance test. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 This is the structural schematic diagram of the cylinder under test in the embodiment of the present invention; Figure 2 This is the structural schematic diagram of the main module in the embodiment of the present invention; Figure 3 This is the structural schematic diagram of the temperature control and filtration unit in the embodiment of the present invention; Figure 4 This is the structural schematic diagram of the recycled clean oil unit in the embodiment of the present invention; Figure 5 This is the structural schematic diagram of the flushing module in the embodiment of the present invention; Figure 6 This is the assembly schematic diagram of the flushing module in the embodiment of the present invention; Figure 7 This is the structural schematic diagram of the vacuum pumping module in the embodiment of the present invention; Figure 8 This is the assembly schematic diagram of the vacuum pumping module in the embodiment of the present invention; Figure 9 This is the structural schematic diagram of the performance testing module in the embodiment of the present invention; Figure 10 This is the assembly schematic diagram of the performance testing module in the embodiment of the present invention; Figure 11 This is the structural schematic diagram of the multi-functional performance testing platform for the manipulator balance cylinder in the embodiment of the present invention; Figure 12 This is the structural schematic diagram of the test station in the embodiment of the present invention; Figure 13 This is the flow schematic diagram of the multi-functional performance testing method for the manipulator balance cylinder in the embodiment of the present invention; Figure 14 This is the working flow schematic diagram of the performance testing module in the embodiment of the present invention.

[0018] Reference numerals: 1, cylinder to be measured; 1a, pressure measuring joint; 1b, pressure gauge; 1c, inlet check valve; 1d, exhaust check valve; 1e, accumulator; 1f, overflow valve; 2, driving oil cylinder; 01, test system; 02, test station; 02a, fixed seat; 02b, movable seat; 02c, balance wheel; 10, main module; 11, main oil supply unit; 111, main oil tank; 112, main pump unit; 12, first oil circuit control unit; 13, second oil circuit control unit; 131, inlet ball valve; 14, temperature control and filtration unit; 141, circulating pump unit; 142, cooler; 143, bipolar filter; 15, recovered clean oil unit; 151, return oil tank; 152, oil receiving tray; 153, return oil filter; 154, return oil pump unit; 155, liquid level sensor; 20, flushing module; 21, flushing joint; 22, flushing check valve; 23, cleanliness detector; 24, throttle element; 30, vacuum pumping module; 31, vacuum pump unit; 32, vacuum pressure sensor; 40, performance test module; 41, internal pressure sensor; 42, internal pressure digital display meter; 43, low-speed pressure relief solenoid valve; 44, throttle needle valve; 45, high-speed pressure relief solenoid valve; 46, observation window. Detailed implementation manners

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0020] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manners.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0022] As Figures 1 to 10 shown in the manipulator balance cylinder multi-functional performance test system, including: The main module 10 is used to convey oil to the driving oil cylinder 2 and the cylinder to be measured 1; The flushing module 20 is used to inject oil for flushing into the internal channel of the front end cover of the cylinder 1 to be measured, so that the cylinder 1 to be measured reaches the set cleanliness level; The vacuum pumping module 30 is used to pump out the residual air in the cylinder 1 to be measured, so that the cylinder 1 to be measured reaches the set vacuum level; The performance testing module 40 is used to perform oil injection, pressure relief, and pulling actions on the cylinder 1 to be measured; Among them, the piston rod of the active cylinder 2 and the piston rod of the cylinder 1 to be measured are connected through a connector. The oil inlet pipeline of the main module 10 is detachably connected to the oil inlet check valve 1c of the cylinder 1 to be measured, and the oil circuit in the cylinder 1 to be measured is controlled by the oil inlet ball valve 131; the flushing module 20, the vacuum pumping module 30, and the performance testing module 40 are sequentially detachably connected to the pressure measuring joint 1a of the cylinder 1 to be measured.

[0023] Through the modular design structure form, the present invention integrates the flushing, vacuum pumping, and dynamic performance testing processes of the cylinder 1 to be measured. Through the detachable connection structure form and the control process of the oil circuit conduction of the oil inlet ball valve 131, in different testing stages, only the joints of the corresponding modules need to be connected to the cylinder 1 to be measured to perform the corresponding testing steps, reducing the disassembly times of the cylinder to be measured, significantly improving the testing efficiency and automation level, and realizing the pulling process by pulling the piston rod of the cylinder 1 to be measured reciprocally by the piston rod of the active cylinder 2, simulating the working state of the cylinder 1 to be measured under actual working conditions, greatly improving the authenticity and accuracy of the performance testing.

[0024] Specifically, the main module 10 provides a stable oil supply for the active cylinder 2 and the cylinder 1 to be measured, and controls the on-off of the oil circuit through the oil inlet ball valve 131 and the oil inlet check valve 1c on the cylinder 1 to be measured, so as to push the piston rods of the two reciprocally move, realizing the pulling action and simulating the load working conditions; when the flushing module 20 is connected to the pressure measuring joint 1a of the cylinder 1 to be measured, the high-pressure oil flushes the inner cavity of the cylinder 1 to be measured through the front end cover of the cylinder 1 to be measured, and automatically detects the particulate matter concentration in the oil during the circulation process until the preset oil cleanliness level is reached, and the system automatically stops the testing process; at this time, the residual air in the cylinder 1 to be measured is pumped out by the vacuum pumping module 30, and the vacuum degree is monitored in real time to ensure that there is no bubble residue, avoiding cavitation from interfering with the hydraulic stability of the subsequent performance testing process; the performance testing module 40 can detect the working conditions during the pulling simulation movement load of the manipulator to determine whether there are product defects such as abnormal pressure or leakage. In the above process, through the detachable connection form, only by assembling and disassembling between different joints, different modules can be quickly switched to perform flushing, vacuum pumping, and performance testing operations on the cylinder 1 to be measured in sequence, without repeatedly disassembling the cylinder 1 to be measured, thus greatly reducing the downtime and improving the testing efficiency.

[0025] On the basis of the above embodiments, the main module 10 includes a main oil supply unit 11, a first oil circuit control unit 12, a second oil circuit control unit 13, a temperature control and filtration unit 14, and a recycled clean oil unit 15; The main oil supply unit 11 includes a main fuel tank 111 and a main pump unit 112. The main pump unit 112 pumps the oil from the main fuel tank 111 into the first oil circuit control unit 12 and the second oil circuit control unit 13, and receives the oil from the active cylinder 2 and the measured cylinder 1.

[0026] Specifically, the main oil supply unit 11 further includes a primary oil supply valve group, a secondary oil supply valve group, a safety valve, and a filtration assembly. The primary oil supply valve group and the secondary oil supply valve group are arranged in parallel between the main fuel tank 111 and the main pump unit 112 to control the on / off of the oil supply circuit. The safety valve is arranged between the main pump unit 112 and the first oil circuit control unit 12 and the second oil circuit control unit 13. The filtration assembly includes multiple filters, which are distributed in the main fuel tank 111 and the oil supply circuit. The main fuel tank 111 serves as the system oil storage and distribution center to ensure the stability of oil supply. During transportation, the filtration assembly can remove impurities in the oil to prevent them from entering the active cylinder 2 and the measured cylinder 1 later, which may affect the test process and results. By setting the primary oil supply valve group and the secondary oil supply valve group, the on / off of the pumping oil circuit of the main pump unit 112 is controlled to ensure the stability of oil supply during the test. The safety valve, as the core component for pressure protection, can unload the pressure when the pressure exceeds the set threshold to avoid damaging components and ensure the stable operation of the main oil supply unit 11.

[0027] The first oil circuit control unit 12 is arranged between the main oil supply unit 11 and the active cylinder 2, and is used to receive the oil from the main oil supply unit 11 and pump the oil into the rod chamber and / or the non-rod chamber of the active cylinder 2.

[0028] The first oil circuit control unit 12 includes a first electromagnetic reversing valve, a hydraulic lock, a rod chamber throttle valve, a rodless chamber throttle valve, a rod chamber pressure sensor, a rodless chamber pressure sensor and a first balancing valve; the first electromagnetic reversing valve and the hydraulic lock are arranged in series on an output end of the oil supply circuit, the rod chamber throttle valve and the rod chamber pressure sensor are connected to the hydraulic lock and the rod chamber of the active oil cylinder 2, the rodless chamber throttle valve and the rodless chamber pressure sensor are connected to the hydraulic lock and the rodless chamber of the active oil cylinder 2, the first balancing valve is located between the rod chamber of the active oil cylinder 2 and the rod chamber throttle valve, and a The first end is connected with the rodless chamber of the active oil cylinder 2; the flow direction of the oil in the active oil cylinder 2 is controlled by the first electromagnetic reversing valve, so that the oil enters the rod chamber or the rodless chamber, thereby controlling the telescopic action of the active oil cylinder 2; the hydraulic lock is used to lock the oil circuit to prevent the oil from flowing back, ensure that the active oil cylinder 2 remains stable at a specific position, and avoid accidental movement of the piston rod due to oil leakage; the rod chamber throttle valve and the rodless chamber throttle valve are used to adjust the amount of oil entering the rod chamber and the rodless chamber respectively, thereby realizing the precise adjustment of the movement speed of the piston rod of the active oil cylinder 2 during the telescopic process.

[0029] The second oil circuit control unit 13 is disposed between the main oil supply unit 11 and the tested cylinder 1 , and is used to receive the oil from the main oil supply unit 11 and pump the oil into the tested cylinder 1 through the oil inlet ball valve 131 .

[0030] The second oil circuit control unit 13 includes a high-pressure filter, a superimposed pressure reducing valve, an electromagnetic reversing valve, a manual throttle valve, and a proportional throttle valve connected in sequence. The oil enters the superimposed pressure reducing valve through the high-pressure filter. The high-pressure filter filters the oil entering the measured cylinder 1. The superimposed pressure reducing valve adjusts the pressure of the oil entering the measured cylinder 1. The electromagnetic reversing valve controls the on-off of the oil passage entering the measured oil cylinder. The oil then passes through the manual throttle valve and the proportional throttle valve in sequence. The manual throttle valve performs a first-level rough adjustment on the oil flow entering the measured cylinder 1, and the proportional throttle valve performs a second-level precise adjustment on the oil flow entering the measured cylinder 1. Before the oil enters the measured cylinder 1, an oil inlet ball valve 131 is set to control the conduction of the oil circuit in the measured cylinder 1, and an oil pressure sensor and an oil filling port pressure gauge are set to sense the pressure at the oil filling port in real time, and feed the data back to the control system. The control system adjusts the parameters of the superimposed pressure reducing valve and the throttle valve according to the pressure data to ensure the safety and stability of the oil filling process.

[0031] The temperature control filter unit 14 is located in the oil supply circuit of the main oil supply unit 11, and is used to monitor and adjust the oil temperature in the main oil tank 111; the temperature of the oil directly affects its viscosity and fluidity, and thus affects the performance of the hydraulic system. By accurately controlling the oil temperature, the physical properties of the oil can be ensured to be stable during the test, thereby improving the accuracy and reliability of the test results.

[0032] Specifically, the temperature control and filtration unit 14 includes a circulating pump unit 141, a cooler 142, and a bipolar filter 143. The circulating pump unit 141 pumps the oil in the main oil tank 111, and after passing through the cooler 142 and the bipolar filter 143, it returns to the main oil tank 111 again. The circulating pump unit 141 is the core power component of the temperature control and filtration unit 14, responsible for pumping out the oil in the main oil tank 111 and pushing the oil to circulate in the oil supply pipeline. Through continuous oil circulation, it ensures that the oil can evenly pass through the cooler 142 and the bipolar filter 143 to achieve the functions of temperature regulation and filtration. The cooler 142 is used to reduce the temperature of the oil to prevent the oil from getting too hot due to reasons such as friction and compression during the circulation process. The bipolar filter 143 is used to remove impurity particles in the oil to ensure the cleanliness of the oil. The inlet of the circulating pump unit 141 is connected to the main oil tank 111, and the outlet is connected to the cooler 142 and the bipolar filter 143 in sequence through pipelines. After being pressurized by the circulating pump unit 141, the oil enters the cooler 142 for temperature reduction treatment, and then enters the bipolar filter 143 for filtration treatment, and finally returns to the main oil tank 111.

[0033] Among them, the temperature control and filtration unit 14 also includes an air filter, a temperature and liquid level sensor, and a heater. The air filter is installed at the air inlet of the system and is connected to the intake pipelines of the main oil tank 111 and the circulating pump unit 141, used to filter the air entering the system to prevent impurity particles in the air from entering the oil and ensure the cleanliness of the oil. The temperature and liquid level sensor is installed in the main oil tank 111 and is in direct contact with the oil in the main oil tank 111, used to monitor the oil temperature and liquid level in the main oil tank 111 in real time, ensure that the oil works within the optimal temperature range, and prevent the oil liquid level from being too low or too high. The heater is installed in the main oil tank 111 and is in direct contact with the oil in the main oil tank 111, and is used in conjunction with the temperature and liquid level sensor to perform heating control according to the temperature feedback, used to heat the oil when the oil temperature is too low to ensure that the oil works within the optimal temperature range.

[0034] The oil recovery and immersion unit is connected to the main oil supply unit 11, used to recover the oil from the flushing module 20 and perform oil filtration and static treatment. By recovering and reusing the oil generated by the flushing module 20, oil waste is reduced and the test cost is lowered to ensure that the cleanliness and performance of the recycled oil meet the test requirements and avoid system failures caused by changes in oil performance.

[0035] Specifically, the oil recovery unit includes an oil return tank 151, an oil receiving tray 152, an oil return filter 153, an oil return pump unit 154, and a liquid level sensor 155. The oil receiving tray 152 receives the oil from the flushing module 20. The oil return filter 153 is disposed between the oil receiving tray 152 and the oil return tank 151. The liquid level sensor 155 is built into the oil return tank 151. When the liquid level sensor 155 gives an alarm, the oil return pump unit 154 is used to pump the oil that has been filtered, statically settled, and treated into the main oil tank 111. The oil receiving tray 152 is used to receive the oil from the flushing module 20 and guide the flushed oil to the oil return filter 153 through a pipeline. The oil generated by the flushing module 20 first flows into the oil return filter 153 through the oil receiving tray 152, and then enters the oil return tank 151. The oil return filter 153 preliminarily removes the impurity particles in the oil. After static settlement in the oil tank, the cleanliness of the oil is ensured. The liquid level sensor 155 is built into the oil return tank 151 and is in direct contact with the oil in the oil return tank 151, and is used to monitor the liquid level of the oil in the oil return tank 151 in real time to ensure that the liquid level of the oil is within a safe range. When the liquid level reaches the set high or low level, the liquid level sensor 155 will give an alarm. At this time, the oil return pump unit 154 can pump the oil that has been filtered and statically treated from the oil return tank 151 back into the main oil tank 111 to supplement the oil flow in the main oil tank 111.

[0036] Among them, the oil purification unit 15 further includes a three-way ball valve and an oil supply barrel. The oil supply barrel is connected to the oil return pump unit 154 through the three-way ball valve and is used to store spare oil. When the oil in the main oil tank 111 is insufficient, the oil supply barrel can provide additional oil to ensure the normal operation of the system. When the oil in both the main oil tank 111 and the oil return tank 151 is insufficient to maintain the operation of the test system 01, the connection path of the oil return pump unit 154 can be adjusted and changed through the three-way ball valve, so that the oil return pump unit 154 can transport the oil from the oil supply barrel to the main oil tank 111 for oil replenishment operation to ensure the continuous supply of oil.

[0037] On the basis of the above embodiments, the flushing module 20 includes a flushing joint 21, a flushing check valve 22, a cleanliness detector 23, and a throttle element 24. The flushing joint 21 is detachably connected to the pressure measuring joint 1a of the cylinder under test 1. The flushing check valve 22 and the on-line oil cleanliness detector 23 are arranged in parallel on the output oil path of the cylinder under test 1, and the flushing check valve 22 is connected to the oil return tank 151. The throttle element 24 is connected to the main oil tank 111 of the cleanliness detector 23; The oil flows from the main oil tank 111 into the internal channel of the front end cover of the cylinder under test 1 through the inlet ball valve 131, and forms a flushing action when flowing in the internal channel of the front end cover of the cylinder under test 1 during the pulling action between the active oil cylinder 2 and the cylinder under test 1. The flushed oil flows into the oil return tank 151 through the flushing check valve 22, and flows into the cleanliness detector 23 through the throttle element 24 for cleanliness detection and then returns to the main oil tank 111.

[0038] Since the diameter of the pressure measuring joint 1a of the cylinder 1 to be measured is too small, it is not conducive to flushing pollutants out of the cylinder 1 to be measured. During the flushing operation, it is necessary to replace the original pressure measuring joint 1a of the cylinder 1 to be measured with a large-diameter flushing joint 21 to connect the flushing module 20 and the cylinder 1 to be measured. The flushing one-way valve 22 is used to control the flow direction of the oil, ensuring that most of the oil can enter the return oil tank 151 through the flushing one-way valve 22 after flushing, and then enter the internal passage of the front end cover of the cylinder 1 to be measured after being cleaned and filtered by the return oil static unit to perform the flushing action; the cleanliness detector 23 is connected to the output oil circuit of the cylinder 1 to be measured and is connected to the main oil tank 111 through the throttle element 24, and is used to monitor the cleanliness of the oil after flushing in real time to ensure that the cleanliness inside the cylinder 1 to be measured reaches the set standard; the throttle element 24 is used to adjust the flow rate of the oil, control the speed and flow rate of the oil entering the cleanliness detector 23, so that a small amount of oil enters the cleanliness detector 23 for oil cleanliness detection and then returns to the main oil tank 111, forming a process of detecting the oil cleanliness once every time the oil flushing cycle is completed. When the set oil cleanliness level is reached, the system automatically stops the flushing cycle operation.

[0039] On the basis of the above embodiments, the vacuum pumping module 30 includes a vacuum pump unit 31 and a vacuum pressure sensor 32. The vacuum pump unit 31 is connected to the pressure measuring joint 1a of the cylinder 1 to be measured, and the vacuum pressure sensor 32 is arranged between the connection pipeline of the pressure measuring joint 1a of the cylinder 1 to be measured and the vacuum pump unit 31; The vacuum pump unit 31 extracts the air inside the cylinder 1 to be measured from the pressure measuring joint 1a of the cylinder 1 to be measured, and the vacuum pressure sensor 32 synchronously detects the internal pressure of the cylinder 1 to be measured.

[0040] To ensure the accuracy of the performance test results executed by the subsequent performance test module 40 and prevent the residual air in the cylinder 1 to be measured from interfering with the test results, the vacuum pump unit 31 is connected to the pressure measuring joint 1a of the cylinder 1 to be measured through a pipeline, and the residual air inside the cylinder 1 to be measured is extracted when the vacuum pump unit 31 is working to reach the set vacuum degree; during the extraction process, the vacuum pressure sensor 32 is arranged on the connection path between the vacuum pump unit 31 and the cylinder 1 to be measured to monitor the vacuum pressure inside the cylinder 1 to be measured in real time, and the pressure data is fed back to the control system. The control system dynamically adjusts the operating parameters of the vacuum pump unit 31 according to the data. For example, when the vacuum pressure reaches -0.9 bar, the set vacuum degree level is reached, and the vacuum pressure sensor 32 detects and feeds back an electrical signal to the system to control the vacuum pump unit 31 to stop the vacuum pumping operation.

[0041] Based on the above embodiments, the performance test module 40 includes an internal pressure sensor 41, an internal pressure digital display 42, a low-speed pressure relief solenoid valve 43, a throttle needle valve 44, a high-speed pressure relief solenoid valve 45, and an observation window 46. The internal pressure sensor 41 is connected to the pressure measuring joint 1a of the cylinder 1 to be measured. The internal pressure digital display 42 is used to display the real-time internal pressure sensed by the internal pressure sensor 41. The low-speed pressure measuring solenoid valve is connected to the throttle needle valve 44. The low-speed pressure relief solenoid valve 43 and the high-speed pressure measuring solenoid valve are arranged in parallel, and both are connected to the oil return tank 151 through the observation window 46.

[0042] During the performance test, it is necessary to go through oil injection, pressure relief, and pulling operations in sequence to determine the stability of the fast and slow pressure relief of the oil in the cylinder 1 to be measured during actual operation, the stability of the internal cavity pressure of the cylinder 1 to be measured in the dynamic pulling condition, and the leakage situation. By setting the internal pressure sensor 41 and the internal pressure digital display 42 to be connected to the pressure measuring joint 1a of the cylinder 1 to be measured, the internal pressure of the cylinder 1 to be measured is directly sensed and monitored to ensure the stability of the pressure data in different processes; the low-speed pressure relief solenoid valve 43 is connected to the throttle needle valve 44, and the throttle needle valve 44 is used to adjust the oil flow rate to control the outflow speed of the oil during low-speed pressure relief to ensure a smooth pressure relief process; the high-speed pressure relief solenoid valve 45 is arranged in parallel with the low-speed pressure relief solenoid valve 43 and is used to quickly release the oil during high-speed pressure relief to ensure a rapid decrease in the internal pressure of the cylinder 1 to be measured. Different pressure relief paths are controlled by the high-speed pressure relief solenoid valve 45 and the low-speed pressure relief solenoid valve 43 to test the pressure relief performance of the cylinder 1 to be measured; the observation window 46 is arranged on the connecting pipeline of the low-speed pressure relief solenoid valve 43 and the high-speed pressure relief solenoid valve 45 and is connected to the oil return tank 151, which is used to visually monitor the flow of the oil and determine whether there are bubbles in the oil; after the pressure relief is completed, the active cylinder 2 drives the cylinder 1 to be measured to perform a pulling operation for a set time to simulate the dynamic condition of the cylinder 1 to be measured, and observe whether the internal pressure is normal and whether the cylinder 1 to be measured leaks, so as to determine whether the performance of the cylinder 1 to be measured meets the test requirements.

[0043] The present invention also provides a multi-functional performance test bench for a manipulator balance cylinder, which is equipped with the multi-functional performance test system 01 for a manipulator balance cylinder as described in any one of the above, including: At least one test station, and each test station is equipped with an active cylinder 2, a fixed seat 02a, and a movable seat 02b. The active cylinder 2 and the fixed seat 02a are relatively arranged at both ends of the test station. The movable seat 02b is fixedly arranged at the end of the piston rod of the active cylinder 2, and the movable seat 02b is equipped with a balance wheel 02c, and the balance wheel 02c is slidably arranged on the surface of the test station. One end of the piston rod of the cylinder 1 to be measured is assembled on the movable seat 02b, and the other end is assembled on the fixed seat 02a, so that when the piston rod of the active oil cylinder 2 is in the retracted state, the piston rod of the cylinder 1 to be measured is in the extended state, and when the piston rod of the active oil cylinder 2 is in the extended state, the piston rod of the cylinder 1 to be measured is in the retracted state.

[0044] The test station is the core part of the test bench, used for installing and fixing the cylinder 1 to be measured and the active oil cylinder 2. Each test station is equipped with an active oil cylinder 2, a fixed seat 02a and a movable seat 02b; the active oil cylinder 2 is used to drive the piston rod of the cylinder 1 to be measured to perform telescopic movements, simulating the dynamic working conditions of the manipulator balance cylinder in actual work. One end of the cylinder 1 to be measured is fixed through the fixed seat 02a to ensure that the cylinder 1 to be measured remains stable during the test; the piston rod of the active oil cylinder 2 and the piston rod of the cylinder 1 to be measured are connected through the movable seat 02b to ensure that the piston rod of the active oil cylinder 2 can drive the piston rod of the cylinder 1 to be measured to perform telescopic movements synchronously during the telescopic movement. The balance wheel 02c supports the movable seat 02b to ensure the coaxiality of the piston rods of the two at the connection, preventing the piston rod from bending and deforming due to forces in all directions during the stretching action, affecting the execution of the pulling action, and during the working process, there is rolling friction between the balance wheel 02c and the test station, ensuring that the movable seat 02b can slide smoothly while also reducing the influence of the friction force on the pulling of the active oil cylinder 2 and the cylinder 1 to be measured and the test process.

[0045] Among them, at least one test station 02 is provided, and a spare module can also be connected to the test system 01, and two or more test stations 02 are set to test several valves to be measured simultaneously, improving the test efficiency.

[0046] The present invention also provides a multi-functional performance test method for a manipulator balance cylinder, which is applied to the above-mentioned multi-functional performance test bench for a manipulator balance cylinder, and includes the following steps: Assemble the cylinder 1 to be measured on the test bench so that the cylinder 1 to be measured and the active oil cylinder 2 are in a pulling state; Among them, after the assembly is completed, the test system 01 needs to be self-checked to ensure that each module is in a normal working state to prevent failures during the test.

[0047] Connect the oil inlet pipeline of the main module 10 to the oil inlet check valve 1c of the cylinder 1 to be measured, and keep the oil inlet ball valve 131 in the conducting state. Replace the pressure measuring joint 1a of the cylinder 1 to be measured with a flushing joint 21, connect the flushing module 20 and inject oil into the internal channel of the front end cover of the cylinder 1 to be measured for flushing until the set cleanliness level is reached in the cylinder 1 to be measured; The piston rod of the active oil cylinder 2 reciprocates and stretches. The main pump unit 112 pumps the filtered and processed high-pressure oil through the inlet oil ball valve 131 and injects it into the one-way valve, the rodless cavity, and the internal flow passage of the front end cover of the cylinder under test 1. Then, it flows out from the oil outlet, pipe joint, and pipeline of the cylinder under test 1. The above operations are repeated, so that the clean oil flushes the inside of the cylinder under test 1 repeatedly, thereby flushing out the pollutants remaining inside the oil cylinder during the assembly process.

[0048] The flushed oil is divided into two paths: Most of the oil passes through the flushing one-way valve 22 and enters the return oil tank 151 for filtration and static treatment; A small part of the oil is connected to the cleanliness monitor through the throttle element 24 and then returns to the main oil tank 111, so as to monitor the cleanliness of the flushed oil in real time until the flushed oil reaches the set grade and the flushing operation is completed.

[0049] Connect the inlet oil pipeline of the main module 10 to the inlet one-way valve 1c of the cylinder under test 1, and keep the inlet oil ball valve 131 in the closed state. Replace the flushing joint 21 with the pressure measuring joint 1a of the cylinder under test 1, connect the vacuum extraction module 30 and extract the residual air in the cylinder under test 1 until the set vacuum degree grade is reached in the cylinder under test 1; Start the vacuum pump unit 31 through system control to extract the residual gas in the cylinder under test 1. When the set vacuum degree grade is reached, the system controls the vacuum pump unit 31 to stop automatically. After the operator confirms that the operation is qualified, the next performance test is carried out.

[0050] Replace the vacuum module on the pressure measuring joint 1a of the cylinder under test 1 with the performance test module 40, and perform oil injection, pressure relief, and tension actions on the cylinder under test 1. At the same time, observe whether the internal pressure value of the cylinder under test 1 is normal and whether the cylinder under test 1 leaks.

[0051] Specifically, performing oil injection, pressure relief, and tension actions on the cylinder under test 1 includes the following steps: Connect the inlet oil pipeline of the main module 10 to the inlet one-way valve 1c of the cylinder under test 1, and keep the inlet oil ball valve 131 in the conducting state. Inject oil into the inside of the cylinder under test 1 until the internal pressure value of the cylinder under test 1 reaches the oil filling set value; Perform the oil filling action through the inlet oil ball valve 131. When the internal pressure value of the cylinder under test 1 reaches the set value, such as 210 bar, read from the internal pressure digital display 42 and stop injecting oil.

[0052] Keep the inlet oil ball valve 131 in the closed state, and perform the fast oil discharge action and the slow oil discharge action in sequence until the internal pressure value of the cylinder under test 1 reaches the pressure relief set value; When performing the quick oil discharge operation, the high-speed pressure relief solenoid valve 45 is energized, quickly reducing the pressure to near the set pressure for the counter-pulling operation, such as 180 bar. Then, the slow oil discharge operation is performed, and the low-speed pressure relief solenoid valve 43 is energized, slowly reducing the pressure to the set pressure for the counter-pulling operation, such as 170 bar, through the throttle needle valve 44.

[0053] Disconnect the connection between the oil inlet pipeline and the oil inlet check valve 1c of the cylinder under test 1. The telescopic rod of the active cylinder 2 reciprocates to drive the cylinder under test 1 to perform the counter-pulling operation. When the set counter-pulling time is reached, or the internal pressure value of the cylinder under test 1 is abnormal, or the cylinder under test 1 leaks, the performance test of the cylinder under test 1 is completed.

[0054] Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-functional performance test system for a manipulator balance cylinder, characterized in that, Comprising: A main module (10) for delivering hydraulic oil to the active cylinder (2) and the cylinder under test (1); A flushing module (20) for injecting oil for flushing into the internal passage of the front end cover of the cylinder under test (1) so that the inside of the cylinder under test (1) reaches a set cleanliness level; A vacuum pumping module (30) for pumping out the residual air inside the cylinder under test (1) so that the inside of the cylinder under test (1) reaches a set vacuum level; A performance testing module (40) for performing oil injection, pressure relief, and counter-pulling actions on the cylinder under test (1); Wherein, the piston rod of the active cylinder (2) and the piston rod of the cylinder under test (1) are connected by a connector, the oil inlet pipeline of the main module (10) is detachably connected to the oil inlet check valve (1c) of the cylinder under test (1), and the oil passage inside the cylinder under test (1) is controlled to be conducted through an oil inlet ball valve (131); the flushing module (20), the vacuum pumping module (30), and the performance testing module (40) are sequentially detachably connected to the pressure measuring joint (1a) of the cylinder under test (1).

2. The multi-functional performance testing system for a manipulator balance cylinder according to claim 1, wherein The main module (10) includes a main oil supply unit (11), a first oil circuit control unit (12), a second oil circuit control unit (13), a temperature control and filtration unit (14), and a recycled clean oil unit (15); The main oil supply unit (11) includes a main oil tank (111) and a main pump unit (112), and the main pump unit (112) pumps the hydraulic oil from the main oil tank (111) into the first oil circuit control unit (12) and the second oil circuit control unit (13), and receives the hydraulic oil from the active cylinder (2) and the cylinder under test (1); The first oil circuit control unit (12) is arranged between the main oil supply unit (11) and the active cylinder (2) for receiving the hydraulic oil from the main oil supply unit (11) and pumping the hydraulic oil into the rod chamber and / or the non-rod chamber of the active cylinder (2); The second oil circuit control unit (13) is arranged between the main oil supply unit (11) and the cylinder under test (1) for receiving the hydraulic oil from the main oil supply unit (11) and pumping the hydraulic oil into the inside of the cylinder under test (1) through the oil inlet ball valve (131); The temperature control and filtration unit (14) is located in the oil supply circuit of the main oil supply unit (11) for monitoring and adjusting the temperature of the hydraulic oil in the main oil tank (111); The recycled oil immersion unit is connected to the main oil supply unit (11) for recycling the hydraulic oil from the flushing module (20) and performing oil filtration and static treatment.

3. The multi-functional performance testing system for a manipulator balance cylinder according to claim 2, wherein The temperature control and filtration unit (14) includes a circulating pump unit (141), a cooler (142), and a bipolar filter (143), and the circulating pump unit (141) pumps out the hydraulic oil in the main oil tank (111), and after passing through the cooler (142) and the bipolar filter (143), returns to the main oil tank (111) again.

4. The multi-functional performance test system for the manipulator balance cylinder according to claim 2, characterized in that the oil recovery and immersion unit includes an oil return tank (151), an oil receiving tray (152), an oil return filter (153), an oil return pump unit (154) and a liquid level sensor (155). The oil receiving tray (152) receives the oil from the flushing module (20). The oil return filter (153) is arranged between the oil receiving tray (152) and the oil return tank (151). The liquid level sensor (155) is built into the oil return tank (151). When the liquid level sensor (155) gives an alarm, the oil return pump unit (154) is used to pump the oil after filtration, static precipitation treatment into the main oil tank (111).

5. The multi-functional performance test system for the manipulator balance cylinder according to claim 4, characterized in that the flushing module (20) includes a flushing joint (21), a flushing check valve (22), a cleanliness detector (23) and a throttle element (24). The flushing joint (21) is detachably connected to the pressure measuring joint (1a) of the cylinder under test (1). The flushing check valve (22) and the on-line oil cleanliness detector (23) are arranged in parallel on the output oil path of the cylinder under test (1), and the flushing check valve (22) is connected to the oil return tank (151). The throttle element (24) connects the cleanliness detector (23) to the main oil tank (111); The oil enters the internal passage of the front end cover of the cylinder under test (1) from the main oil tank (111) through the inlet oil ball valve (131), and forms a flushing action when flowing in the internal passage of the front end cover of the cylinder under test (1) during the pulling action between the active oil cylinder (2) and the cylinder under test (1). The flushed oil enters the oil return tank (151) through the flushing check valve (22), and enters the cleanliness detector (23) through the throttle element (24) for cleanliness detection, and then returns to the main oil tank (111).

6. The multi-functional performance test system for the manipulator balance cylinder according to claim 4, characterized in that the vacuum pumping module (30) includes a vacuum pump unit (31) and a vacuum pressure sensor (32). The vacuum pump unit (31) is connected to the pressure measuring joint (1a) of the cylinder under test (1). The vacuum pressure sensor (32) is arranged between the pressure measuring joint (1a) of the cylinder under test (1) and the connecting pipeline of the vacuum pump unit (31); The vacuum pump unit (31) extracts the air inside the cylinder under test (1) from the pressure measuring joint (1a) of the cylinder under test (1), and the vacuum pressure sensor (32) synchronously detects the internal pressure of the cylinder under test (1).

7. The multi-functional performance test system for the manipulator balance cylinder according to claim 4, characterized in that The performance test module (40) includes an internal pressure sensor (41), an internal pressure digital display (42), a low-speed pressure relief solenoid valve (43), a throttle needle valve (44), a high-speed pressure relief solenoid valve (45), and an observation window (46). The internal pressure sensor (41) is connected to a pressure measurement joint (1a) of the cylinder under test (1). The internal pressure digital display (42) is used to display the real-time internal pressure sensed by the internal pressure sensor (41). The low-speed pressure measurement solenoid valve is connected to the throttle needle valve (44). The low-speed pressure relief solenoid valve (43) and the high-speed pressure measurement solenoid valve are arranged in parallel and are both connected to the oil return tank (151) through the observation window (46).

8. The multi-functional performance test bench for the manipulator balance cylinder is equipped with the multi-functional performance test system for the manipulator balance cylinder as described in any one of claims 1 to 7, and is characterized in that, Comprising: At least one test station, on each of which an active oil cylinder (2), a fixed seat (02a), and a movable seat (02b) are assembled. The active oil cylinder (2) and the fixed seat (02a) are oppositely arranged at both ends of the test station. The movable seat (02b) is fixedly arranged at the end of the piston rod of the active oil cylinder (2), and a balance wheel (02c) is assembled on the movable seat (02b). The balance wheel (02c) is slidably arranged on the surface of the test station. One end of the piston rod of the cylinder under test (1) is assembled on the movable seat (02b), and the other end is assembled on the fixed seat (02a). When the piston rod of the active oil cylinder (2) is in the retracted state, the piston rod of the cylinder under test (1) is in the extended state. When the piston rod of the active oil cylinder (2) is in the extended state, the piston rod of the cylinder under test (1) is in the retracted state.

9. A multifunctional performance testing method for a manipulator balance cylinder, which is applied to the multifunctional performance testing bench for a manipulator balance cylinder as described in claim 8, is characterized in that, Comprising the following steps: Assemble the cylinder under test (1) onto the test bench so that the cylinder under test (1) and the active oil cylinder (2) are in a tension state. Connect the oil inlet pipeline of the main module (10) to the oil inlet check valve (1c) of the cylinder under test (1), and keep the oil inlet ball valve (131) in the open state. Replace the pressure measurement joint (1a) of the cylinder under test (1) with a flushing joint (21), connect the flushing module (20), and inject oil for flushing into the internal channel of the front end cover of the cylinder under test (1) until the set cleanliness level is reached inside the cylinder under test (1). Connect the oil inlet pipeline of the main module (10) to the oil inlet check valve (1c) of the cylinder under test (1), and keep the oil inlet ball valve (131) in the closed state. Replace the flushing joint (21) with the pressure measurement joint (1a) of the cylinder under test (1) again, connect the vacuum extraction module (30), and extract the residual air inside the cylinder under test (1) until the set vacuum level is reached inside the cylinder under test (1). Replace the vacuum module on the pressure measurement joint (1a) of the cylinder under test (1) with the performance test module (40), perform oil injection, pressure relief, and tension actions on the cylinder under test (1), and simultaneously observe whether the internal pressure value of the cylinder under test (1) is normal and whether the cylinder under test (1) leaks.

10. The multifunctional performance test method for the manipulator balance cylinder according to claim 9, wherein, Performing the oil injection, pressure relief, and tension actions on the cylinder under test (1) includes the following steps: Connect the oil inlet pipeline of the main module (10) to the oil inlet check valve (1c) of the cylinder under test (1), and keep the oil inlet ball valve (131) in the open state. Inject oil into the cylinder under test (1) until the internal pressure value of the cylinder under test (1) reaches the oil filling set value. Keep the oil inlet ball valve (131) in the closed state, and perform the rapid oil discharge action and the slow oil discharge action in sequence until the internal pressure value of the cylinder under test (1) reaches the pressure relief set value. Disconnect the connection between the oil inlet pipeline and the oil inlet check valve (1c) of the cylinder under test (1). The reciprocating movement of the telescopic rod of the active cylinder (2) drives the cylinder under test (1) to perform the tension test. When the set tension test time is reached, or the internal pressure value of the cylinder under test (1) is abnormal, or the cylinder under test (1) leaks, the performance test of the cylinder under test (1) is completed.

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