Manipulator balance cylinder delivery opposite-pull running-in test board and test method
By setting up multiple test stations on the pull-out stand on the special test bench and using the active cylinder and sensor for automated testing, the problems of low factory testing efficiency and high cost of robot balance cylinders are solved, and efficient and low-cost test results are achieved.
Patent Information
- Application Number
- CN202510499593.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-21
- Publication Date
- 2025-07-25
AI Technical Summary
In the prior art, the factory-to-pull-to-pull-to-load test efficiency of the robot balance cylinder is low and has high cost, making it difficult to meet the efficient and low-cost testing needs.
A special test bench is adopted, including a pull-out pedal and an active cylinder. By setting test stations in pairs on the pedal, the active cylinder drives the balance cylinder for telescopic action, and is equipped with a displacement sensor and pressure sensor to monitor real-time, combined with automated data processing, synchronous testing of multiple sets of balance cylinders is achieved.
It significantly improves testing efficiency, reduces equipment procurement costs, ensures the accuracy and reliability of test results, simplifies the testing process, and reduces human error.
Smart Images
Figure CN120369290A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of balance cylinder testing, and particularly to a pull-and-run-in test bench and a test method for a manipulator balance cylinder at the time of factory shipment. Background Art
[0002] The manipulator balance cylinder is an important component for maintaining the motion stability and balance of the manipulator in the field of industrial automation. Its main function is to dynamically balance the weight of the mechanical arm part to ensure that the manipulator can accurately complete tasks in various postures.
[0003] The performance of the balance cylinder directly affects the stability and accuracy of the manipulator. Usually, a pull-and-run-in test needs to be carried out on the manipulator before leaving the factory to prevent pressure instability, hydraulic oil leakage, etc. of the balance cylinder leaving the factory, and to ensure the reliability and service life of the product. In the related art, the balance cylinder is usually assembled on the manipulator, and the reciprocating motion of the manipulator is used to simulate the use conditions and loads. However, this method usually takes a long time to complete the test, which to a certain extent affects the test efficiency, and a large amount of funds are required to purchase the manipulator, resulting in a high cost.
[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 pull-and-run-in test bench and a test method for a manipulator balance cylinder at the time of factory shipment, so as to improve the pull-and-run-in test efficiency of the balance cylinder and reduce the test cost.
[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a pull-and-run-in test bench for a manipulator balance cylinder at the time of factory shipment, comprising: A test mechanism, including a pull-and-run-in bench and a main cylinder, for carrying the balance cylinder to be tested and performing a pull-and-run-in test; A driving mechanism, connected to the main cylinder, for driving the main cylinder to reciprocate; Wherein, at least two test stations are arranged in pairs on the pull-and-run-in bench, the balance cylinder is assembled on the test stations, the main cylinder is arranged vertically between the test stations, and the telescopic direction of the main cylinder is arranged parallel to the telescopic direction of the balance cylinder; A displacement sensor is assembled on the main cylinder, and a pressure sensor is assembled on each test station. The reciprocating movement of the main cylinder drives the balance cylinder to repeatedly perform telescopic actions. The displacement sensor senses and records the distance of each reciprocating movement of the main cylinder in real time, and the pressure sensor senses and records the pressure change in the balance cylinder in real time.
[0007] Further, the tensile test bench includes an upper support plate, a lower support plate, and at least four guide rods. The upper support plate and the lower support plate are arranged parallel to each other. The guide rods are arranged perpendicular to the upper support plate and the lower support plate. One end of each guide rod is fixedly connected to the lower support plate, and the other end is slidably arranged in a guide sleeve of the upper support plate. The test station is arranged between the upper support plate and the lower support plate.
[0008] Further, it further includes a processing mechanism. The processing mechanism is electrically connected to the test mechanism and the driving mechanism, and records the readings of the pressure sensor and the displacement sensor in real time.
[0009] Further, the driving mechanism includes a motor, an electro-hydraulic proportional displacement piston pump, an electro-hydraulic proportional displacement valve, a pressure cut-off valve, and a power valve. The motor is connected to the electro-hydraulic proportional displacement piston pump. The electro-hydraulic proportional displacement valve, the pressure cut-off valve, and the power valve are arranged in parallel on the electro-hydraulic proportional displacement piston pump. The electro-hydraulic proportional displacement piston pump is connected to the active cylinder.
[0010] Further, the driving mechanism further includes a circulating filter cooling pump set, a pilot oil control pump set, a liquid level and liquid temperature integrated sensor, and a filter. The liquid level and liquid temperature integrated sensor and the filter are arranged between the circulating filter cooling pump set and the electro-hydraulic proportional displacement piston pump. The pilot oil control pump set is connected to the inlet of the electro-hydraulic proportional displacement piston pump.
[0011] The present invention also provides a method for tensile running-in test of a manipulator balance cylinder during factory production. Using the tensile running-in test bench for manipulator balance cylinder during factory production as described above, it includes the following steps: Symmetrically arrange at least two balance cylinders to be tested on corresponding test stations, such that the telescopic directions of the active cylinders are parallel to the telescopic directions of the balance cylinders. The driving mechanism controls the active cylinder to reciprocally extend and retract according to a set number of repetitions, and records and saves the readings of the displacement sensor and the pressure sensor in real time. If the readings of the displacement sensor and the pressure sensor meet the test requirements until the repetitions are completed, no alarm is issued, and it is determined that the balance cylinder meets the test requirements, and the next group of balance cylinders to be tested is replaced. If the readings of the displacement sensor or the pressure sensor do not meet the test requirements during the repetition process, an alarm is immediately issued and the machine is stopped, and it is determined that the balance cylinder does not meet the test requirements.
[0012] Further, the driving mechanism controls the active cylinder to reciprocally extend and retract according to a set number of repetitions, including the following steps: The driving mechanism controls the active cylinder to extend into the fast jacking state, controls and determines the upstroke of the balance cylinder in place through the displacement sensor, and issues a slow jacking signal. The drive mechanism receives the slow jacking signal and controls the active cylinder to enter the slow jacking state. It controls and determines the completion of the slow jacking stroke of the balance cylinder through the displacement sensor, and issues a fast contraction signal. The drive mechanism receives the fast contraction signal and controls the active cylinder to enter the fast contraction state. It controls and determines the completion of the descending stroke of the balance cylinder through the displacement sensor, and issues a slow contraction signal. The drive mechanism receives the slow contraction signal and controls the active cylinder to enter the slow contraction state. It controls and determines the completion of the slow contraction stroke of the balance cylinder through the displacement sensor, and issues a fast jacking signal, and the active cylinder completes one expansion and contraction process. The drive mechanism receives the fast jacking signal and sequentially repeats the above steps to control the active cylinder to complete the expansion and contraction process again until the number of expansion and contraction times of the active cylinder reaches the set number of repetitions.
[0013] Further, according to the readings of the displacement sensor and the pressure sensor saved, a displacement-pressure comparison table and a displacement-pressure curve corresponding to the balance cylinder to be tested are output.
[0014] Further, the drive mechanism has an automatic mode and a manual mode. The automatic mode has at least two groups of automatic test programs built in, and a set of control parameters are preset in each group of automatic test programs. The control parameters include displacement zero point, maximum displacement point, minimum displacement point, pilot pressure value, pressure threshold, and number of repetitions. When the drive mechanism is in the automatic mode, any automatic test program is selected for the pull-in running-in test. When the drive mechanism is in the manual mode, the control parameters can be customized.
[0015] Further, when the test mechanism is in the shutdown state waiting for installation and disassembly, the drive mechanism automatically switches to the manual mode.
[0016] The beneficial effects of the present invention are as follows: The present invention uses a special test bench to replace the expensive manipulator body as the test carrier, saving the equipment procurement cost; by arranging multiple test stations in pairs on the pull-in bench, multiple groups of balance cylinders can be tested simultaneously, significantly shortening the test cycle, and directly driving the balance cylinder to perform the expansion and contraction action through the active cylinder, without relying on the complex motion simulation of the manipulator, simplifying the test process; in addition, by monitoring the displacement and pressure changes in real time through the displacement sensor and the pressure sensor, the accuracy of the test results is ensured. Description of the Drawings
[0017] 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 the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0018] Figure 1 It is a structural schematic diagram of the pulling and running-in test bench for the manipulator balance cylinder at the factory in the embodiment of the present invention; Figure 2 It is a structural schematic diagram of the test mechanism in the embodiment of the present invention; Figure 3 It is a schematic diagram of the working principle of the test bench in the embodiment of the present invention; Figure 4 It is Figure 3 The enlarged view of part A in Figure 5 It is Figure 3 The enlarged view of part B in Figure 6 It is a flow schematic diagram of the pulling and running-in test method for the manipulator balance cylinder at the factory in the embodiment of the present invention; Figure 7 It is a flow schematic diagram of the reciprocating telescoping of the active cylinder according to the set number of repetitions in the embodiment of the present invention.
[0019] Reference numerals: 1, balance cylinder; 10, test mechanism; 11, pulling bench; 111, upper support plate; 112, lower support plate; 113, guide rod; 12, active cylinder; 13, test station; 14, displacement sensor; 15, pressure sensor; 20, drive mechanism; 21, motor; 22, electro-hydraulic proportional displacement plunger pump; 23, electro-hydraulic proportional displacement valve; 24, pressure cut-off valve; 25, power valve; 26, circulating filtration and cooling pump group; 27, pilot oil control pump group; 28, liquid level and liquid temperature integrated sensor; 29, filter; 30, processing mechanism. Detailed implementation manners
[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments.
[0021] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there may also be an intermediate 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 an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are only for the purpose of illustration and do not represent the only implementation.
[0022] Unless otherwise defined, all technical and scientific terms used in this article have the same meaning as those commonly understood by those skilled in the technical field to which this invention belongs. The terms used in the description of this invention are only for the purpose of describing specific embodiments and are not intended to limit this invention. The term "and / or" used in this article includes any and all combinations of one or more of the related listed items.
[0023] As Figures 1 to 5 shown in the pull-and-run-in test bench for the manipulator balance cylinder at the factory, including: A test mechanism 10, including a pull-and-run-in bench 11 and a driving cylinder 12, is used to hold the balance cylinder 1 to be tested and perform the pull-and-run-in test; A driving mechanism 20, connected to the driving cylinder 12, is used to drive the driving cylinder 12 to reciprocate; Among them, at least two test stations 13 are arranged in pairs on the pull-and-run-in bench 11. The balance cylinder 1 is assembled on the test station 13. The driving cylinder 12 is arranged vertically between the test stations 13, and the telescopic direction of the driving cylinder 12 is parallel to the telescopic direction of the balance cylinder 1; A displacement sensor 14 is assembled on the driving cylinder 12, and a pressure sensor 15 is assembled on each test station 13. The reciprocating movement of the driving cylinder 12 drives the balance cylinder 1 to repeatedly perform telescopic actions. The displacement sensor 14 senses and records the distance of each reciprocating movement of the driving cylinder 12 in real time, and the pressure sensor 15 senses and records the pressure change in the balance cylinder 1 in real time.
[0024] This invention uses a special test bench to replace the expensive manipulator body as the test carrier, saving the equipment procurement cost; by arranging multiple test stations 13 in pairs on the pull-and-run-in bench 11, multiple groups of balance cylinders 1 can be tested simultaneously. Taking this embodiment as an example, four balance cylinders 1 can be tested simultaneously at a time, significantly shortening the test cycle, and directly driving the balance cylinder 1 to perform telescopic actions through the driving cylinder 12 without relying on the complex motion simulation of the manipulator, simplifying the test process; in addition, by monitoring the displacement and pressure changes in real time through the displacement sensor 14 and the pressure sensor 15, the accuracy of the test results is ensured.
[0025] Specifically, the tensile test bench 11 provides a rigid support structure for the test of the balance cylinder 1, which can fix the balance cylinder 1 and ensure the stable force of the balance cylinder 1 during the test; the paired test stations 13 on the tensile test bench 11 can not only test multiple balance cylinders 1 simultaneously, but also ensure the balanced force on both sides of the active cylinder 12 during the test, guaranteeing the accuracy of the test results; the active cylinder 12 is arranged vertically as the power source, and drives the balance cylinder 1 to synchronously expand and contract through reciprocating motion, simulating the working state of the balance cylinder 1, and by controlling the motion parameters of the active cylinder 12, the precise execution of the test action can be achieved; the displacement sensor 14 and the pressure sensor 15 can record the displacement and internal pressure fluctuations of the balance cylinder 1 in real time, so as to issue an alarm in time when detecting potential defects such as hydraulic leakage or unstable pressure of the balance cylinder 1.
[0026] On the basis of the above embodiment, the tensile test bench 11 includes an upper support plate 111, a lower support plate 112 and at least four guide rods 113. The upper support plate 111 and the lower support plate 112 are arranged parallel to each other. The guide rods 113 are arranged perpendicular to the upper support plate 111 and the lower support plate 112. One end of the guide rod 113 is fixedly connected to the lower support plate 112, and the other end is slidably arranged in the guide sleeve of the upper support plate 111. The test station 13 is arranged between the upper support plate 111 and the lower support plate 112; through the parallel rigid connection of the upper support plate 111 and the lower support plate 112, a stable frame structure is formed to avoid deformation caused by load impact during the test, and the guide rods 113 are evenly distributed and provide lateral constraints, thereby suppressing lateral vibration or offset during the test, ensuring that the expansion and contraction directions of the active cylinder 12 and the balance cylinder 1 are along the axis direction of the guide rod 113, and guaranteeing the accuracy of the test data; the sliding fit connection between the guide rod 113 and the guide sleeve reduces the frictional resistance when the active cylinder 12 is driven, ensures the smoothness of the test action, and avoids abnormal pressure or displacement data caused by mechanical jamming.
[0027] In addition, the modular structural form also facilitates the separate forming and assembly of the tensile test bench 11 according to the test requirements of balance cylinders 1 of different specifications, and lifting rings can be respectively arranged on the upper support plate 111 and the lower support plate 112, which is convenient for hoisting and transferring during the assembly and forming process.
[0028] On the basis of the above embodiment, a processing mechanism is further included. The processing mechanism is electrically connected to the test mechanism 10 and the driving mechanism 20, and records the readings of the pressure sensor 15 and the displacement sensor 14 in real time; through the electrical connection of the processing mechanism with the test mechanism 10 and the driving mechanism 20, a data acquisition and automatic collection process is formed, and the test process can be completed without manual intervention, significantly improving the test standardization level; and the formed test data can be stored for a long time, providing a basis for subsequent analysis.
[0029] Among them, the capacity of the processing mechanism to store data should be large enough to store at least the data of 1,000 tests of 100 balance cylinders 1 for more than 1,000 times. On the basis of the above embodiment, the driving mechanism 20 includes a motor 21, an electro-hydraulic proportional displacement piston pump 22, an electro-hydraulic proportional displacement valve 23, a pressure cut-off valve 24, and a power valve 25. The motor 21 is connected to the electro-hydraulic proportional displacement piston pump 22. The electro-hydraulic proportional displacement valve 23, the pressure cut-off valve 24, and the power valve 25 are arranged in parallel on the electro-hydraulic proportional displacement piston pump 22. The electro-hydraulic proportional displacement piston pump 22 is connected to the active cylinder 12. Through the combination of the electro-hydraulic proportional displacement piston pump 22 and the electro-hydraulic proportional displacement valve 23, it supports the stepless adjustment of the movement speed and thrust of the active cylinder 12 to meet the test requirements of different specifications of balance cylinders 1, such as low-speed high-precision or high-speed durability tests. The pressure cut-off valve 24 and the power valve 25 provide multiple protection mechanisms to avoid equipment damage caused by overload or system abnormalities. The electro-hydraulic proportional displacement piston pump 22 dynamically adjusts the output flow according to the load demand, reduces the ineffective power consumption. The power valve 25 optimizes the power distribution of the hydraulic system, avoids energy waste, and reduces the long-term operation cost. By adjusting the opening degree of the electro-hydraulic proportional displacement valve 23, the switching between different movement states of the active cylinder 12 can be realized, simulating the dynamic load changes of the manipulator under actual working conditions.
[0030] On the basis of the above embodiment, the driving mechanism 20 further includes a circulating filtration and cooling pump group 26, a pilot oil control pump group 27, a liquid level and liquid temperature integrated sensor 28, and a filter. The liquid level and liquid temperature integrated sensor 28 and the filter are arranged between the circulating filtration and cooling pump group 26 and the electro-hydraulic proportional displacement piston pump 22. The pilot oil control pump group 27 is connected to the oil inlet of the electro-hydraulic proportional displacement piston pump 22. The circulating filtration and cooling pump group 26 provides the circulating power of the hydraulic oil, maintains the oil temperature stable through the cooler, and filters the pollutants in the oil at the same time. The pilot oil control pump group 27 provides a stable pilot pressure for the electro-hydraulic proportional displacement piston pump 22 to ensure its quick response to the control signal and improve the dynamic performance of the system. The liquid level and liquid temperature integrated sensor 28 monitors the liquid level and temperature of the hydraulic oil in real time, providing data support to optimize the operation state of the system, such as oil replenishment, cooling, etc. The filter removes the particulate pollutants in the hydraulic oil, protects the hydraulic components from wear, and extends the service life of the system.
[0031] Through multiple filtration and cooling mechanisms, ensure the long-term stable operation of the hydraulic system and reduce the failure rate; dynamically adjust the oil temperature and liquid level, optimize the operation efficiency of the system, and extend the service life of key components; extend the hydraulic oil replacement cycle, reduce the filter element replacement frequency, and reduce the comprehensive maintenance cost.
[0032] It should be noted that other valve body structures such as check valves, electromagnetic overflow valves, and safety valves are also provided in the driving mechanism 20. Through the cooperation of the above valve body structures for power transmission, the active cylinder 12 is controlled to achieve the effect of reciprocating movement.
[0033] As Figures 6 to 7 shown, the present invention also provides a method for the factory pull-in running-in test of the manipulator balance cylinder 1. Using the above-mentioned factory pull-in running-in test bench for the manipulator balance cylinder 1, it includes the following steps: Symmetrically arrange at least two balance cylinders 1 to be tested on the corresponding test stations 13, so that the telescopic direction of the active cylinder 12 is parallel to the telescopic direction of the balance cylinder 1; ensure that its telescopic direction is strictly parallel to the active cylinder 12, and through the constraints of the guide rod 113 and the guide sleeve, ensure that the movement trajectories of the upper support plate 111 and the lower support plate 112 are consistent, and avoid non-axial force caused by assembly deviation; After the assembly is completed, it is necessary to confirm that the displacement sensor 14 and the pressure sensor 15 are working properly, establish a communication connection with the processing mechanism, and set test parameters, motion parameters, judgment criteria, etc., including the number of repetitions, such as 10,000 cycles; the stroke of the active cylinder 12, such as ±50 mm; the speed, such as 10 mm / s; the pressure fluctuation range, such as ±5% of the rated pressure; the displacement deviation, such as ±0.1 mm; after the parameters are confirmed, start the circulating filtration cooling pump group 26 and the pilot oil control pump group 27 to ensure that the hydraulic system is in the best operating state; The driving mechanism 20 controls the active cylinder 12 to reciprocate telescopically according to the set number of repetitions, and records and saves the readings of the displacement sensor 14 and the pressure sensor 15 in real time; the driving mechanism 20 controls the active cylinder 12 to reciprocate according to the set parameters, driving the balance cylinder 1 to synchronously expand and contract; the displacement sensor 14 records the actual displacement of each reciprocating motion in real time to judge whether it exceeds the allowable deviation; the pressure sensor 15 monitors the internal pressure change of the balance cylinder 1 in real time to detect hydraulic leakage or unstable pressure; the processing mechanism saves the data of the displacement sensor 14 and the pressure sensor 15 in real time for subsequent analysis; If the readings of the displacement sensor 14 and the pressure sensor 15 meet the test requirements until the repetition is completed, no alarm is issued, and it is determined that the balance cylinder 1 meets the test requirements, and the next group of balance cylinders 1 to be tested is replaced; if no alarm is triggered during the test process and all data meet the requirements, it is determined that the balance cylinder 1 is qualified; the processing mechanism automatically generates a qualified report and marks the test parameters and key data, such as the maximum pressure and the average displacement; If the readings of the displacement sensor 14 or the pressure sensor 15 do not meet the test requirements during the repetition process, an alarm is immediately issued and the machine is stopped, and it is determined that the balance cylinder 1 does not meet the test requirements; if the displacement or pressure data exceeds the set threshold, according to different situations, the processing mechanism immediately issues an alarm and stops the machine, and further analyzes whether a failure occurs or the balance cylinder 1 fails the test in combination with historical data and test logs, generates a relevant exception report, and at the same time isolates the unqualified balance cylinder 1 and transfers it to other areas to avoid entering the next link; Specifically, when the driving mechanism 20 is over-pressured and loses power, the system automatically relieves pressure and alarms. When the motor 21 is still under high pressure when it is de-energized, such as greater than 50 bar, the motor 21 is controlled to cut off the power. The pilot pressure is continuously detected at the active cylinder 12 and maintained between 35 - 40 bar. When the pressure suddenly increases or drops steeply, the system alarms; the current value of the electro-hydraulic proportional displacement valve 23 connected to the electro-hydraulic proportional displacement piston pump 22 is set, and upper and lower limit alarm values are set to ensure safe operation, prevent damage to components, and the alarm programs between each pressure sensor 15 are interlocked, and the test processes do not interfere with each other. The signal line uses a shielded wire, and strong electricity or weak electricity is not allowed to affect the signal line transmission and signal accuracy, ensuring that the test data value is true and reliable and not affected by the electronic control; the components related to the cooling and filtration cycle are not interfered by the automatic driving program of the active cylinder 12 and can be controlled independently.
[0034] After each single test is completed, remove the tested balance cylinder 1 and install the next group of samples to be tested; perform the test according to the same process until all batches of samples are tested.
[0035] The method for the factory draw-in running-in test of the manipulator balance cylinder 1 provided by the present invention realizes a comprehensive improvement in test efficiency, accuracy and reliability through the method of multi-station parallel testing + automated data acquisition + real-time anomaly monitoring, supports synchronous testing of multiple groups of balance cylinders 1, significantly shortens the test cycle; and makes an objective judgment based on sensor data to avoid human errors; realizes real-time monitoring and immediate response to ensure the safety and reliability of the test process.
[0036] On the basis of the above embodiments, the driving mechanism 20 controls the active cylinder 12 to reciprocate and extend according to the set number of repetitions, including the following steps: The driving mechanism 20 controls the active cylinder 12 to extend and enter the fast top extension state, controls and determines the upward stroke of the balance cylinder 1 to be in place through the displacement sensor 14, and issues a slow top extension signal; the driving mechanism 20 receives the slow top extension signal and controls the active cylinder 12 to enter the slow top extension state, controls and determines the slow top extension stroke of the balance cylinder 1 to be in place through the displacement sensor 14, and issues a fast contraction signal; The driving mechanism 20 receives the fast contraction signal and controls the active cylinder 12 to enter the fast contraction state, controls and determines the downward stroke of the balance cylinder 1 to be in place through the displacement sensor 14, and issues a slow contraction signal; The driving mechanism 20 receives the slow contraction signal and controls the active cylinder 12 to enter the slow contraction state, controls and determines the slow contraction stroke of the balance cylinder 1 to be in place through the displacement sensor 14, and issues a fast top extension signal, and the active cylinder 12 completes one extension and contraction process; The driving mechanism 20 receives the fast top extension signal and repeats the above steps in sequence, and controls the active cylinder 12 to complete the extension and contraction process again until the number of extension and contraction times of the active cylinder 12 reaches the set number of repetitions.
[0037] For example, the program automatic process can be set as follows: the electro-hydraulic proportional signal current can be input and set to gradually decrease from 600 mA to 200 mA, the decrease time is 250 ms, the response time for the pump switching flow from small to large is 200 ms, and the maximum current safety value can be set to 750 mA for safety protection.
[0038] The signals given by the displacement sensor 14 are used to determine whether the strokes in different stages during the movement of the active cylinder 12 are in place, so as to give different signals, and different valve body components in the drive mechanism 20 are switched according to the given signals to achieve the action switching between different movement strokes of the active cylinder 12. Through the stroke control process of rapid extension, slow extension, rapid contraction, and slow contraction, it is ensured that the balance cylinder 1 is accurately in place at the end of the stroke, avoiding positioning errors caused by inertia or mechanical clearances, reducing hydraulic shock, and protecting the mechanical structures of the balance cylinder 1 and the test bench; the soft switching between the fast and slow states reduces the instantaneous load fluctuation of the hydraulic system and prolongs the service life of the equipment.
[0039] Based on the above embodiments, according to the readings of the displacement sensor 14 and the pressure sensor 15 saved, a displacement-pressure comparison table and a displacement-pressure curve corresponding to the balance cylinder 1 to be tested are output.
[0040] The displacement-pressure comparison table lists the corresponding relationship between displacement and pressure in tabular form, which is convenient for quickly viewing key data points, such as the maximum pressure and the minimum displacement; the displacement-pressure curve graphically shows the dynamic change trend of displacement and pressure, and can intuitively reflect the performance characteristics of the balance cylinder 1, such as pressure fluctuation and displacement repeatability accuracy; by analyzing the displacement-pressure curve, abnormal patterns can be identified and the cause of the failure can be located, such as hydraulic leakage and mechanical jamming; through the combination of the comparison table and the curve, data support is provided for the monitoring of the test process of the balance cylinder 1, and the efficiency of subsequent data analysis is improved.
[0041] Based on the above embodiments, the drive mechanism 20 has an automatic mode and a manual mode. The automatic mode has at least two groups of automatic test programs, and each group of automatic test programs is preset with a set of control parameters. The control parameters include displacement zero point, maximum displacement point, minimum displacement point, pilot pressure value, pressure threshold, and number of repetitions; when the drive mechanism 20 is in the automatic mode, any automatic test program is selected for the draw-in running-in test, and when the drive mechanism 20 is in the manual mode, the control parameters can be custom-set.
[0042] The automatic mode has multiple sets of built-in test programs, which can adapt to the test requirements of different types of balancing cylinders 1, such as the different parameters of small cylinders and large cylinders, reducing manual configuration time; it can also connect two active cylinders 12 at the same time to realize the rotation measurement of eight different balancing cylinders 1 on two test mechanisms 10, saving the time for assembling the balancing cylinders 1 and greatly improving the test efficiency. The automatic mode has built-in preset parameters to simplify the operating process, ensure the consistency of test conditions, and improve the comparability of results; the manual mode supports custom control parameters to meet special test requirements. By combining the automatic mode with the manual mode, it adapts to diversified test needs and further improves the test efficiency.
[0043] Among them, the measuring range can be quantified by electrical signals, and the displacement 0 point, maximum and minimum displacement points can be set. The automatic mode can control the extension and reciprocation of the main oil cylinder according to the set displacement point stroke value, and control the slow point and stop. The number of reciprocating times 1000 times can be counted by the displacement point position, one round trip is counted once, and the displacement data is stored synchronously.
[0044] On the basis of the above embodiment, when the test mechanism 10 is in a stopped state waiting for installation and disassembly, the drive mechanism 20 automatically switches to manual mode; the current of the electric proportional displacement piston pump 22 is automatically adjusted down according to the preset value to avoid accidental startup of the equipment due to misoperation, thereby ensuring the safety of the operator. In addition, the state of the test bench can be flexibly adjusted in manual mode to facilitate the installation and disassembly of the balance cylinder 1, achieve fine control, and ensure the installation and centering accuracy of the balance cylinder 1.
[0045] In addition, redundancy is set up in the electronic control program, the central relay and other wiring terminals, with about 5% of the points reserved. At least 3 spare temporary replacement parts of the central relay should be placed in the electrical cabinet. Due to frequent switching, solid-state relays are often used to ensure the safety of the test work.
[0046] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.
Claims
1. A pull-opposite running-in test bench for a manipulator balance cylinder at the time of factory production, characterized in that, Comprising: A testing mechanism (10), including an opposing pull bench (11) and a main cylinder (12), for supporting a balance cylinder (1) to be tested and performing an opposing pull running-in test; A driving mechanism (20), connected to the main cylinder (12), for driving the main cylinder (12) to reciprocate; Wherein, at least two testing stations (13) are arranged in pairs on the opposing pull bench (11), the balance cylinder (1) is assembled on the testing station (13), the main cylinder (12) is arranged vertically between the testing stations (13), and the telescopic direction of the main cylinder (12) is parallel to the telescopic direction of the balance cylinder (1); A displacement sensor (14) is assembled on the main cylinder (12), a pressure sensor (15) is assembled on each testing station (13), the reciprocating movement of the main cylinder (12) drives the balance cylinder (1) to repeatedly perform telescopic actions, the displacement sensor (14) senses and records the distance of each reciprocating movement of the main cylinder (12) in real time, and the pressure sensor (15) senses and records the pressure change in the balance cylinder (1) in real time.
2. The pull-in running-in test bench for the manipulator balance cylinder at the time of factory shipment according to claim 1, characterized in that The opposing pull bench (11) includes an upper support plate (111), a lower support plate (112) and at least four guide rods (113), the upper support plate (111) and the lower support plate (112) are arranged parallel to each other, the guide rods (113) are arranged perpendicular to the upper support plate (111) and the lower support plate (112), and one end of the guide rod (113) is fixedly connected to the lower support plate (112), and the other end is slidably arranged in a guide sleeve of the upper support plate (111), and the testing station (13) is arranged between the upper support plate (111) and the lower support plate (112).
3. The pull-opposing running-in test bench for the manipulator balance cylinder at the time of factory production according to claim 1, characterized in that, It further includes a processing mechanism, the processing mechanism is electrically connected to the testing mechanism (10) and the driving mechanism (20), and records the readings of the pressure sensor (15) and the displacement sensor (14) in real time.
4. The pull-in running-in test bench for the manipulator balance cylinder at the time of factory shipment according to claim 1, wherein The driving mechanism (20) includes a motor (21), an electro-hydraulic proportional displacement piston pump (22), an electro-hydraulic proportional displacement valve (23), a pressure cut-off valve (24) and a power valve (25), the motor (21) is connected to the electro-hydraulic proportional displacement piston pump (22), the electro-hydraulic proportional displacement valve (23), the pressure cut-off valve (24) and the power valve (25) are arranged in parallel on the electro-hydraulic proportional displacement piston pump (22), and the electro-hydraulic proportional displacement piston pump (22) is connected to the main cylinder (12).
5. The pull-in running-in test bench for the manipulator balance cylinder at the time of factory shipment according to claim 4, characterized in that, The driving mechanism (20) further includes a circulating filtration and cooling pump group (26), a pilot oil control pump group (27), a liquid level and liquid temperature integrated sensor (28) and a filter, the liquid level and liquid temperature integrated sensor (28) and the filter are arranged between the circulating filtration and cooling pump group (26) and the electro-hydraulic proportional displacement piston pump (22), and the pilot oil control pump group (27) is connected to the oil inlet of the electro-hydraulic proportional displacement piston pump (22).
6. A method for in - factory pull - running and running - in test of a manipulator balance cylinder, using the in - factory pull - running and running - in test bench for the manipulator balance cylinder as described in any one of claims 1 to 5, characterized in that, Including the following steps: At least two balance cylinders (1) to be tested are symmetrically arranged on corresponding test stations (13) such that the telescopic direction of the active cylinder (12) is parallel to the telescopic direction of the balance cylinder (1). The driving mechanism (20) controls the active cylinder (12) to reciprocally extend and retract according to the set number of repetitions, and the readings of the displacement sensor (14) and the pressure sensor (15) are recorded and saved in real time. If the readings of the displacement sensor (14) and the pressure sensor (15) meet the test requirements until the repetition is completed, no alarm is issued, it is determined that the balance cylinder (1) meets the test requirements, and the next group of balance cylinders (1) to be tested is replaced. If the readings of the displacement sensor (14) or the pressure sensor (15) do not meet the test requirements during the repetition process, an alarm is immediately issued and the machine is stopped, and it is determined that the balance cylinder (1) does not meet the test requirements.
7. The method for the factory pull-in running-in test of the manipulator balance cylinder according to claim 6, characterized in that, It includes: The driving mechanism (20) controlling the active cylinder (12) to reciprocally extend and retract according to the set number of repetitions includes the following steps: The driving mechanism (20) controls the active cylinder (12) to extend and enter the fast top-extending state, controls and determines the upward stroke of the balance cylinder (1) to be in place through the displacement sensor (14), and issues a slow top-extending signal. The driving mechanism (20) receives the slow top-extending signal and controls the active cylinder (12) to enter the slow top-extending state, controls and determines the slow top-extending stroke of the balance cylinder (1) to be in place through the displacement sensor (14), and issues a fast retracting signal. The driving mechanism (20) receives the fast retracting signal and controls the active cylinder (12) to enter the fast retracting state, controls and determines the downward stroke of the balance cylinder (1) to be in place through the displacement sensor (14), and issues a slow retracting signal. The driving mechanism (20) receives the slow retracting signal and controls the active cylinder (12) to enter the slow retracting state, controls and determines the slow retracting stroke of the balance cylinder (1) to be in place through the displacement sensor (14), and issues a fast top-extending signal, and the active cylinder (12) completes one telescopic process. The driving mechanism (20) receives the fast top-extending signal and sequentially repeats the above steps, and controls the active cylinder (12) to complete the telescopic process again until the number of telescopic times of the active cylinder (12) reaches the set number of repetitions.
8. The pull - running - in test method for the manipulator balance cylinder at the factory as claimed in claim 6, characterized in that, According to the saved readings of the displacement sensor (14) and the pressure sensor (15), a displacement-pressure comparison table and a displacement-pressure curve corresponding to the balance cylinder (1) to be tested are output.
9. The method for factory pull-in running-in test of the manipulator balance cylinder according to claim 1, characterized in that, The driving mechanism (20) has an automatic mode and a manual mode. The automatic mode has at least two sets of automatic test programs, and each set of automatic test programs is preset with a set of control parameters. The control parameters include displacement zero point, maximum displacement point, minimum displacement point, pilot pressure value, pressure threshold, number of repetitions. When the driving mechanism (20) is in the automatic mode, any automatic test program is selected for the pull-in running-in test. When the driving mechanism (20) is in the manual mode, the control parameters can be customarily set.
10. The method for the factory pull-in running-in test of the manipulator balance cylinder according to claim 9, characterized in that, When the test mechanism (10) is in the shutdown state waiting for installation and disassembly, the driving mechanism (20) automatically switches to the manual mode.