Hydraulic integrated joint test bed

Abstract

The invention discloses a hydraulic integrated joint test bed, and relates to the field of rotary joint test bed structures. The problem that an existing rotary joint test bed cannot comprehensively evaluate the comprehensive performance of the hydraulic integrated joint is solved. A joint fixing module is installed on a test bearing module and used for fixing a tested hydraulic joint shell. The two ends of the oil port adapter are connected with an oil port of the tested hydraulic joint and a hydraulic pipeline of an external oil supply system respectively to achieve oil supply of the tested hydraulic joint, and the oil pipe fixing device is installed on the test bearing module and used for fixing the hydraulic pipeline; the two ends of the torque and rotating speed detection device are connected with an output shaft of a tested hydraulic joint and the magnetic powder dynamometer respectively, the magnetic powder dynamometer is installed on the test bearing module, and the dynamometer loading module is connected with the magnetic powder dynamometer so as to adjust excitation current in real time and simulate a variable load scene in an actual working condition by changing load torque. The method is used for comprehensively evaluating the comprehensive performance of the hydraulic integrated joint.

Description

Technical Field

[0001] The present invention relates to the field of rotary joint test bench structures, in particular to a test bench used for measuring joints of hydraulic humanoid robots, and specifically to a hydraulic integrated joint test bench. Background Art

[0002] The robot rotary joint test bench is a key piece of equipment in robot development and testing, primarily used to evaluate the performance, reliability, and lifespan of rotary joints. Currently, there are a wide variety of commercialized robot modular joint products, with the main differences reflected in control algorithms and mechanical structure design (such as drive layout, reducer type, etc.). In terms of joint testing and research, the University of Texas at Austin has developed a large-scale joint test bench that visually displays the optimal working range of joints through performance graphs; Harbin Institute of Technology has conducted tests on space manipulator joints and studied a method for dynamic parameter identification; Beijing University of Posts and Telecommunications has developed a test platform based on LabWindows / CVI, verified the feasibility of intelligent control algorithms, and tested joint performance under different loads; Beijing University of Technology has developed a small joint testing machine that supports integrated measurement of transmission performance, electrical parameters, and mechanical parameters, and has developed automated testing software to provide a reference for modular joint testing standards.

[0003] Most of the existing testing technologies mentioned above test the reducer or motor separately, which cannot fully evaluate the comprehensive performance of the joint. In addition, the test parameters are single and it is difficult to reflect the overall performance under actual working conditions. In addition, since the existing rotary joint test bench is mainly for electrically driven joints, the structural design of the test bench does not provide suitable layout space for the oil pipeline. The clamping method of the joint and the selection of connectors cannot meet the testing requirements of large torque. Therefore, it is crucial to design a test bench for measuring hydraulic integrated joints by improving the structure, which is crucial for conducting comprehensive performance testing and optimization research on modular hydraulic joints.

[0004] Based on the above analysis, this study proposes a design scheme for a hydraulic integrated joint test bench, which aims to break through the limitations of existing joint testing, meet the requirements of high dynamics, large loads, and complex environments, and provide key support for the performance improvement and reliability design of hydraulically driven robots. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem that the existing rotary joint test bench cannot fully evaluate the comprehensive performance of the hydraulic integrated joint, and thus provide a hydraulic integrated joint test bench.

[0006] The technical solution of the present invention is:

[0007] A hydraulic integrated joint test bench, comprising:

[0008] Test carrying module;

[0009] The joint fixing module is installed on the test bearing module and is used to fix the shell of the hydraulic joint 1 under test;

[0010] The hydraulic connection module includes: an oil port adapter 17 and an oil pipe fixing device 20;

[0011] The two ends of the oil port adapter 17 are respectively connected to the oil port of the hydraulic joint 1 under test and the hydraulic pipeline of the external oil supply system to realize the oil supply of the hydraulic joint 1 under test. The oil pipe fixing device 20 is installed on the test bearing module to fix the hydraulic pipeline;

[0012] The dynamic test module includes a torque and speed detection device, a magnetic powder dynamometer 8 and a dynamometer loading module 12; the two ends of the torque and speed detection device are respectively connected to the output shaft of the hydraulic joint 1 under test and the magnetic powder dynamometer 8, the magnetic powder dynamometer 8 is installed on the test bearing module, and the dynamometer loading module 12 is connected to the magnetic powder dynamometer 8 to adjust the excitation current in real time and simulate the variable load scenario in actual working conditions by changing the load torque.

[0013] Furthermore, the test carrying module includes:

[0014] Test bench 9, the top plate of the test bench 9 is provided with a plurality of evenly arranged fine threaded holes;

[0015] The dynamometer base plate 10 is installed at the bottom of the magnetic powder dynamometer 8. The dynamometer base plate 10 is provided with base plate connecting holes corresponding to the fine thread holes. The dynamometer base plate 10 is detachably connected to the top table plate of the test bench 9 by screws.

[0016] Furthermore, the test carrying module further includes:

[0017] Two guide rails 15 are installed horizontally and side by side on the dynamometer base plate 10 along the axis of the hydraulic joint 1 to be tested. The two guide rails 15 are symmetrically arranged on the left and right sides of the magnetic powder dynamometer 8, and an inverted T-shaped groove is provided on the upper surface of the guide rails 15;

[0018] A plurality of pairs of inverted T-nuts 21 are slidably embedded in the T-grooves of the guide rails 15 .

[0019] Furthermore, the joint fixation module includes:

[0020] The joint bracket 3, the bottom of the joint bracket 3 is threadedly connected to the corresponding T-nut 21 in the T-groove of the guide rail 15 through the bracket connecting bolt to adjust the axial position of the hydraulic joint 1 under test;

[0021] The joint mounting plate 2 is located on the side of the joint bracket 3 away from the torque and speed detection device. One end of the joint mounting plate 2 is connected to the joint bracket 3, and the mounting surface of the other end of the joint mounting plate 2 is provided with a cross groove that matches the cross protrusion on the outer shell of the hydraulic joint 1 to be tested, which is used to limit the circumferential rotation of the outer shell of the hydraulic joint 1 to be tested.

[0022] Furthermore, the joint fixation module further includes:

[0023] Two fixing screws 18 are arranged horizontally and side by side on both sides of the hydraulic joint 1 to be tested along the axis direction of the hydraulic joint 1 to be tested, and one end of the two fixing screws 18 passes through the joint mounting plate 2 and is fixedly connected to the joint bracket 3;

[0024] The pressure plate 19 is coaxially arranged on the side of the hydraulic joint 1 to be tested away from the joint mounting plate 2. The other ends of the two fixing screws 18 pass through the pressure plate 19. The pressure plate 19 presses the shell of the hydraulic joint 1 to be tested onto the joint mounting plate 2 through two fixing nuts.

[0025] Furthermore, the torque and speed detection device includes:

[0026] The torque and speed sensor 5 has its two ends connected to the output shaft of the hydraulic joint 1 under test and the magnetic powder dynamometer 8 through coupling 1 4 and coupling 2 7 respectively;

[0027] The torque and speed sensor support 6 is installed at the bottom of the torque and speed sensor 5. The bottom of the torque and speed sensor support 6 is threadedly connected to the corresponding T-nut 21 in the T-groove of the guide rail 15 through the sensor seat connecting bolt to adjust the axial position of the torque and speed sensor 5.

[0028] The measuring range of the torque and speed sensor 5 is not less than 500 Nm, and the coaxiality error among the axis of the torque and speed sensor 5, the hydraulic joint 1 to be measured, and the magnetic powder dynamometer 8 is not greater than 0.05 mm.

[0029] Furthermore, the oil pipe fixing device 20 includes:

[0030] The oil pipe support plate is horizontally arranged below the hydraulic pipe used to connect the external oil supply system and the hydraulic joint 1 under test. The oil pipe support plate is provided with two pipe clamp sockets and two screw sockets;

[0031] A U-shaped pipe clamp is inverted above the hydraulic pipeline, with both ends of the U-shaped pipe clamp vertically inserted into the two pipe clamp insertion holes, and the lower end of the U-shaped pipe clamp is threadedly connected to two pipe clamp connecting bolts to fix the hydraulic pipeline through the oil pipe support plate and the U-shaped pipe clamp;

[0032] Two support screws are vertically inserted into the two screw holes respectively. Each support screw is provided with two screw connecting bolts located on the upper and lower sides of the oil pipe support plate to fix the support screw and the oil pipe support plate. The bottom of the support screw is threadedly connected to the corresponding T-nut 21 in the T-groove of the guide rail 15 to adjust the axial position of the U-shaped pipe clamp.

[0033] Furthermore, the torque and speed detection device further includes a data acquisition system, and the data acquisition system includes:

[0034] The magnetic encoder 22 is installed on the hydraulic joint 1 to be tested, and is used to monitor the angular displacement and angular velocity of the hydraulic joint 1 to be tested in real time;

[0035] An oil pressure sensor is installed on the hydraulic joint 1 to be tested, and is used to monitor the oil pressure changes of the hydraulic joint 1 to be tested in real time;

[0036] The torque and speed meter 11 is installed on the meter bracket 13 and is connected to the magnetic encoder 22 and the torque and speed sensor 5 to achieve real-time measurement and monitoring of torque, speed, and power.

[0037] Furthermore, the oil port of the tested hydraulic joint 1 is tightly connected to the oil port adapter 17 through a connector, and an O-ring is provided at the connection between the oil port adapter 17 and the oil port of the tested hydraulic joint 1, and the sealing pressure is not less than 21 MPa.

[0038] Compared with the prior art, the present invention has the following effects:

[0039] Compared with various existing robot joint test benches, the hydraulic integrated joint test bench of the present invention has the following beneficial effects:

[0040] 1. Accurate Positioning and Easy Assembly and Disassembly: This invention utilizes a clamping method that combines screw compression with flange fixation, coupled with a cross-slot limiter design, to ensure high-precision positioning of the hydraulic joint under test, effectively preventing axial and radial offset during testing. Furthermore, the T-nut-guide rail adjustment system and modular quick-release structure enable rapid assembly and disassembly of the joint, significantly improving testing efficiency and meeting the needs of frequent replacement of test parts.

[0041] 2. Neat and Accurate Hydraulic Piping Layout: Targeting the unique characteristics of hydraulic systems, this system features a specially designed U-shaped pipe clamp fixture and oil port adapter to ensure secure and reliable piping connections and effectively suppress vibration interference caused by hydraulic pulsation. By optimizing the platform structure and installing a dedicated U-shaped pipe clamp, a rational layout of hydraulic and electrical lines is achieved, ensuring a neat and standardized piping layout while avoiding signal cross-interference and improving test data accuracy.

[0042] 3. Large measurement range and compact structure: The test bench designed in this invention utilizes a high-range torque sensor and heavy-duty couplings to meet the requirements of high-torque testing exceeding 500Nm. Key components are constructed from high-strength alloy steel to ensure structural reliability. Through an innovative split-plate design and integrated guide rail solution, core components such as the magnetic powder dynamometer and torque and speed sensor are efficiently integrated within a limited space, achieving a perfect combination of high-load testing capability and a compact structure.

[0043] 4. Modular design meets diverse operating requirements: This system utilizes a modular design, allowing the magnetic powder dynamometer to be quickly replaced with a practical rod structure. The platform supports multiple mounting methods, enabling flexible simulation of diverse operating conditions. Intelligent communication interfaces and compatibility design enable the system to be easily integrated into various test platforms, truly achieving "one machine for multiple uses" and providing a comprehensive solution for the diverse testing needs of hydraulic joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is an exploded view of a hydraulic integrated joint test bench of the present invention;

[0045] Figure 2 This is the main view of a hydraulic integrated joint test bench of the present invention

[0046] Figure 3 This is a side view of a hydraulic integrated joint test bench of the present invention;

[0047] Figure 4 This is a top view of a hydraulic integrated joint test bench of the present invention;

[0048] Figure 5 This is an axonometric drawing of a hydraulic integrated joint test bench of the present invention;

[0049] Figure 6 This is a cross-sectional view of a hydraulic integrated joint test bench of the present invention;

[0050] Figure 7 This is a working principle diagram of a hydraulic integrated joint test bench of the present invention.

[0051] In the figure: 1-hydraulic joint under test; 2-joint mounting plate; 3-joint bracket; 4-coupling 1; 5-torque and speed sensor; 6-torque and speed sensor support; 7-coupling 2; 8-magnetic powder dynamometer; 9-test bench; 10-dynamometer base plate; 11-torque and speed meter; 12-dynamometer loading module; 13-meter bracket; 14-guide rail base plate; 15-guide rail; 16-carrying handle; 17-oil pipe adapter; 18-fixing screw; 19-pressing plate; 20-oil pipe fixing device; 21-T-nut; 22-magnetic encoder. DETAILED DESCRIPTION

[0052] Specific implementation method 1: Combination Figures 1 to 7 This embodiment describes a hydraulic integrated joint test bench, which includes:

[0053] Test carrying module;

[0054] The joint fixing module is installed on the test bearing module and is used to fix the shell of the hydraulic joint 1 under test;

[0055] The hydraulic connection module includes: an oil port adapter 17 and an oil pipe fixing device 20;

[0056] The two ends of the oil port adapter 17 are respectively connected to the oil port of the hydraulic joint 1 under test and the hydraulic pipeline of the external oil supply system to realize the oil supply of the hydraulic joint 1 under test. The oil pipe fixing device 20 is installed on the test bearing module to fix the hydraulic pipeline;

[0057] The dynamic test module includes a torque and speed detection device, a magnetic powder dynamometer 8 and a dynamometer loading module 12; the two ends of the torque and speed detection device are respectively connected to the output shaft of the hydraulic joint 1 under test and the magnetic powder dynamometer 8, the magnetic powder dynamometer 8 is installed on the test bearing module, and the dynamometer loading module 12 is connected to the magnetic powder dynamometer 8 to adjust the excitation current in real time and simulate the variable load scenario in actual working conditions by changing the load torque.

[0058] Specific implementation method 2: Combination Figures 1 to 7 To illustrate this embodiment, the test carrying module of this embodiment includes:

[0059] Test bench 9, the top plate of the test bench 9 is provided with a plurality of evenly arranged fine threaded holes;

[0060] The dynamometer base plate 10 is installed at the bottom of the magnetic powder dynamometer 8. The dynamometer base plate 10 is provided with base plate connecting holes corresponding to the fine threaded holes. The dynamometer base plate 10 is detachably connected to the top table plate of the test bench 9 by screws. With such an arrangement, the split dynamometer base plate 10 is designed so that it can be assembled flexibly according to the simulation of different working conditions, saving table space. The designed hydraulic integrated joint test bench not only realizes the testing requirements of the hydraulic integrated joint for the first time, but also simplifies the test bench structure, and can reflect the overall performance under actual working conditions through different assembly forms. Other components and connection relationships are the same as those in the first specific embodiment.

[0061] In this embodiment, the magnetic powder dynamometer 8 is positioned at the end. The dynamometer loading module 12 adjusts the excitation current in real time, enabling rapid changes in load torque (with a response time of approximately tens of milliseconds) to simulate variable load scenarios (such as sudden load addition and removal) encountered in actual operating conditions. Alternatively, the magnetic powder dynamometer 8 can be replaced with a real rod structure to simulate actual operating conditions. The dynamometer base plate 10 is removable, facilitating transport and installation of the test bench 9.

[0062] Furthermore, the magnetic powder dynamometer 8 is directly fixed to the dynamometer base plate 10, with the rotating shaft connected by a key. Through holes are machined on both sides of the cylindrical housing of the magnetic powder dynamometer 8 for fixing. It is screwed to a separate small dynamometer base plate 10, which is then connected to the test bench 9. This allows for quick replacement and exchange of magnetic powder dynamometers 8 of different ranges, robotic arm models, and other equipment to simulate complex working conditions.

[0063] Furthermore, the dynamometer base plate 10 is constructed from stainless steel profiles, anodized on the surface, and secured to the test bench 9 with screws. The test bench 9 is constructed from cast iron and features 84 (14 x 6) M12 x 1.5 fine-thread threaded holes. During mounting, the dynamometer base plate 10 can be quickly adjusted horizontally in the X and Y directions, enabling compatible testing of hydraulic joints 1 of varying specifications.

[0064] Specific implementation method three: Combination Figures 1 to 7 To illustrate this embodiment, the test carrying module of this embodiment further includes:

[0065] Two guide rails 15 are installed horizontally and side by side on the dynamometer base plate 10 along the axis of the hydraulic joint 1 to be tested. The two guide rails 15 are symmetrically arranged on the left and right sides of the magnetic powder dynamometer 8, and an inverted T-shaped groove is provided on the upper surface of the guide rails 15;

[0066] A plurality of pairs of inverted T-nuts 21 are slidably embedded in the T-grooves of the guide rails 15. Other components and connection relationships are the same as those of the first or second embodiment.

[0067] Specific implementation method four: Combination Figures 1 to 7 To illustrate this embodiment, the joint fixation module of this embodiment includes:

[0068] The joint bracket 3, the bottom of the joint bracket 3 is threadedly connected to the corresponding T-nut 21 in the T-groove of the guide rail 15 through the bracket connecting bolt to adjust the axial position of the hydraulic joint 1 under test;

[0069] The joint mounting plate 2 is located on the side of the joint bracket 3 facing away from the torque and speed detection device. One end of the joint mounting plate 2 is connected to the joint bracket 3. The mounting surface on the other end of the joint mounting plate 2 features a cross-shaped groove that mates with the cross-shaped protrusion on the outer shell of the hydraulic joint 1 being tested, limiting circumferential rotation of the outer shell of the tested hydraulic joint 1. With this arrangement, the tested hydraulic joint 1 is secured to the joint bracket 3 via a fixing screw 18 and a pressure plate 19. Axial position adjustment is achieved via a T-nut 21 and guide rail 15. Other components and connections are identical to those in Specific Embodiments 1, 2, or 3.

[0070] In this embodiment, a cross-shaped groove is provided on the joint mounting plate 2 to limit the rotation of the cylindrical shell of the hydraulic joint 1 under test. The lower part of the joint bracket 3 is connected to the guide rail 15 by a T-nut 21, and the axial position can be adjusted.

[0071] Specific implementation method five: Combination Figures 1 to 7 To illustrate this embodiment, the joint fixation module of this embodiment further includes:

[0072] Two fixing screws 18 are arranged horizontally and side by side on both sides of the hydraulic joint 1 to be tested along the axis direction of the hydraulic joint 1 to be tested, and one end of the two fixing screws 18 passes through the joint mounting plate 2 and is fixedly connected to the joint bracket 3;

[0073] A pressure plate 19 is coaxially positioned on the side of the hydraulic joint 1 being tested, away from the joint mounting plate 2. The other ends of the two fixing screws 18 pass through the pressure plate 19. The pressure plate 19, via two fixing nuts, clamps the housing of the hydraulic joint 1 being tested against the joint mounting plate 2. This arrangement adopts a novel joint fixation method, balancing positioning accuracy with ease of assembly and disassembly. Other components and connections are identical to those in Specific Embodiments 1, 2, 3, or 4.

[0074] In this embodiment, in terms of the arrangement of the hydraulic joint 1 to be tested, the hydraulic joint 1 to be tested is pressed between the pressure plate 19 and the joint mounting plate 2 by the fixing screw 18, and then the whole is fixed to the joint bracket 3 through the flange on the joint mounting plate 2.

[0075] Specific implementation method six: combination Figures 1 to 7 The torque and speed detection device of this embodiment includes:

[0076] The torque and speed sensor 5 has its two ends connected to the output shaft of the hydraulic joint 1 under test and the magnetic powder dynamometer 8 through coupling 1 4 and coupling 2 7 respectively;

[0077] The torque and speed sensor support 6 is mounted on the bottom of the torque and speed sensor 5. The bottom of the torque and speed sensor support 6 is threadedly connected to the corresponding T-nut 21 in the T-groove of the guide rail 15 via the sensor support bolt, allowing for adjustment of the axial position of the torque and speed sensor 5. With this arrangement, the torque and speed sensor 5 is positioned between the hydraulic joint 1 under test and the magnetic powder dynamometer 8, connected to both via coupling 1 4 and coupling 2 7. The transmitted signal is connected to the torque and speed meter 11 for digital display. The remaining components and connections are identical to those of Embodiments 1, 2, 3, 4, or 5.

[0078] In this embodiment, the torque and speed sensor 5 is similarly connected to the guide rail 15 via the torque and speed sensor holder 6 and T-nut 21. The rotating shaft of the rotary drive unit is keyed. The LCD displays the torque, speed, and power in real time during measurement. A gold-plated, waterproof plug imported from Germany connects to the power and signal lines. The torque and speed sensor 5 communicates via RS485, supporting the active upload protocol and achieving a communication rate of 500 or 1000 times per second.

[0079] Specific implementation method seven: combination Figures 1 to 7 To explain this embodiment, the torque and speed sensor 5 has a measuring range of no less than 500 Nm. The coaxiality error between the axis of the torque and speed sensor 5, the hydraulic joint 1 being measured, and the magnetic powder dynamometer 8 is no more than 0.05 mm. This configuration, which selects a torque and speed sensor 5 with a relatively large measuring range, can meet the measurement requirements of high-torque joints. Other components and connections are identical to those in Specific Embodiments 1, 2, 3, 4, 5, or 6.

[0080] In this embodiment, a T-nut 21 and an adjusting screw are provided at the bottom of the torque and speed sensor support 6 for installing the torque and speed sensor 5 to ensure that the coaxiality error between the axis of the torque and speed sensor 5 and the hydraulic joint 1 to be measured and the magnetic powder dynamometer 8 is ≤0.05 mm, thereby reducing the influence of the additional bending moment and meeting the measurement accuracy requirements of industrial robots and transmission systems.

[0081] Specific implementation method eight: combination Figures 1 to 7 To describe this embodiment, the oil pipe fixing device 20 of this embodiment includes:

[0082] The oil pipe support plate is horizontally arranged below the hydraulic pipe used to connect the external oil supply system and the hydraulic joint 1 under test. The oil pipe support plate is provided with two pipe clamp sockets and two screw sockets;

[0083] A U-shaped pipe clamp is inverted above the hydraulic pipeline, with both ends of the U-shaped pipe clamp vertically inserted into the two pipe clamp insertion holes, and the lower end of the U-shaped pipe clamp is threadedly connected to two pipe clamp connecting bolts to fix the hydraulic pipeline through the oil pipe support plate and the U-shaped pipe clamp;

[0084] Two support screws are vertically inserted into the two screw holes. Each support screw is equipped with two screw connection bolts located on the upper and lower sides of the oil pipe support plate to secure the support screw to the oil pipe support plate. The bottom of the support screw is threadedly connected to the corresponding T-nut 21 in the T-groove of the guide rail 15 to adjust the axial position of the U-shaped pipe clamp. This arrangement provides a corresponding structural design for the layout and fixation of the hydraulic pipeline, preventing pipeline vibration from affecting experimental accuracy during experiments. The other components and connection relationships are the same as those of Specific Embodiments 1, 2, 3, 4, 5, 6, or 7.

[0085] In this embodiment, the oil supply line is connected and secured at the other end of the hydraulic joint 1 under test via an oil port adapter 17 and a U-shaped pipe clamp. During operation, the oil supply line supplies oil to the hydraulic joint 1 under test. The cylindrical housing of the hydraulic joint 1 under test is fixed, and torque is transmitted outward through a central rotating shaft.

[0086] Specific implementation method nine: Combination Figures 1 to 7 In this embodiment, the torque and speed detection device further includes a data acquisition system. The data acquisition system includes:

[0087] The magnetic encoder 22 is installed on the hydraulic joint 1 to be tested, and is used to monitor the angular displacement and angular velocity of the hydraulic joint 1 to be tested in real time;

[0088] An oil pressure sensor is installed on the hydraulic joint 1 to be tested, and is used to monitor the oil pressure changes of the hydraulic joint 1 to be tested in real time;

[0089] The torque and speed meter 11 is mounted on the instrument bracket 13 and connected to the magnetic encoder 22 and the torque and speed sensor 5 to achieve real-time measurement and monitoring of torque, speed, and power. With this arrangement, the torque and speed meter 11 provides real-time measurement and monitoring of torque, speed, and power, supporting both RS-485 (Modbus-RTU) and Ethernet (Modbus-TCP / ASCII / HEX) communication. The excitation controller of the dynamometer loading module 12 is connected to the analog output card of the host computer via a shielded twisted pair cable. It supports 0–10 V linear speed regulation and features hardware current limiting protection within the excitation controller to prevent overheating of the magnetic powder dynamometer 8. The excitation controller supports 0–10 V analog control or external potentiometer control and serves as the dynamometer loading module 12 for the magnetic powder dynamometer 8. These components are mounted together on one side of the test bench 9 via the instrument bracket 13, enabling real-time operation and monitoring. Other components and connections are the same as those of Specific Embodiments 1, 2, 3, 4, 5, 6, 7, or 8.

[0090] In this embodiment, a high-precision annular magnetic encoder is provided on the hydraulic joint 1 to be tested, which is used to monitor the angular displacement and angular velocity of the hydraulic joint 1 in real time. The signal is connected to the torque and speed meter 11 via a shielded cable to achieve closed-loop feedback.

[0091] Furthermore, the torque and speed meter 11 is integrated with an Ethernet interface on the back, supports the Modbus-TCP protocol, and can be directly connected to an industrial switch to realize test bench networking and remote monitoring.

[0092] Specific implementation method ten: Combination Figures 1 to 7 To describe this embodiment, the oil port of the tested hydraulic joint 1 is tightly connected to the oil port adapter 17 via a connector. An O-ring is installed at the connection between the oil port adapter 17 and the oil port of the tested hydraulic joint 1, ensuring a sealing pressure of no less than 21 MPa. With this arrangement, the high-pressure hose of the oil supply system is connected to the oil port of the tested hydraulic joint 1 via the oil port adapter 17. The oil port adapter 17 is tightly connected to the oil port of the tested hydraulic joint 1 via bolts and internally installed with an O-ring, ensuring no leakage under a pressure of 21 MPa. The remaining components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth embodiments.

[0093] How it works

[0094] Combine Figures 1 to 7 The working principle of a hydraulic integrated joint test bench of the present invention is described: the hydraulic joint 1 under test adopts a pressure plate 19, a joint mounting plate 2 and a fixing bolt 18 to achieve rapid installation and positioning, can flexibly adapt to different models of hydraulic joints 1 under test, and uses a guide rail 15 for position adjustment. In terms of power and load control, the hydraulic joint 1 under test is powered by an external oil pipe, and the magnetic powder dynamometer 8 applies precise reverse torque through a servo driver to simulate real working conditions, while converting the output mechanical energy into heat energy dissipation through friction between magnetic powders and eddy current effects. The data acquisition system integrates multi-dimensional high-precision sensing: the magnetic encoder 22 of the hydraulic joint 1 under test monitors the output shaft angle of the hydraulic joint 1 under test in real time, the oil pressure sensor of the hydraulic joint 1 under test monitors the oil pressure changes in real time, the torque and speed sensor 5 dynamically tracks the load torque, and the power analyzer synchronously collects parameters such as torque, speed and power. The entire system uses the EtherCAT bus to achieve high-speed real-time communication between the tested hydraulic joint 1, magnetic powder dynamometer 8 and the host computer. The PLC precisely controls the motion process, and the host computer software based on the TwinCAT platform completes the issuance of test instructions, data visualization and full-process monitoring, forming a complete closed-loop test system.

[0095] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A hydraulic integrated joint test bench, characterized in that: The test bench includes: Test carrying module; A joint fixing module, mounted on the test bearing module, for fixing the housing of the hydraulic joint (1) to be tested; A hydraulic connection module, comprising: an oil port adapter (17) and an oil pipe fixing device (20); The two ends of the oil port adapter (17) are respectively connected to the oil port of the hydraulic joint (1) to be tested and the hydraulic pipeline of the external oil supply system to realize the oil supply of the hydraulic joint (1) to be tested. The oil pipe fixing device (20) is installed on the test bearing module to fix the hydraulic pipeline; The dynamic test module includes a torque and speed detection device, a magnetic powder dynamometer (8) and a dynamometer loading module (12); the two ends of the torque and speed detection device are respectively connected to the output shaft of the hydraulic joint (1) to be tested and the magnetic powder dynamometer (8); the magnetic powder dynamometer (8) is installed on the test bearing module; the dynamometer loading module (12) is connected to the magnetic powder dynamometer (8) to adjust the excitation current in real time and simulate the variable load scenario in the actual working condition by changing the load torque.

2. The hydraulic integrated joint test bench according to claim 1, characterized in that: The test carrying module includes: A test bench (9), wherein a top plate of the test bench (9) is provided with a plurality of evenly arranged fine threaded holes on its upper surface; The dynamometer base plate (10) is installed at the bottom of the magnetic powder dynamometer (8). The dynamometer base plate (10) is provided with base plate connection holes corresponding to the fine thread holes. The dynamometer base plate (10) is detachably connected to the top table of the test bench (9) by screws.

3. A hydraulic integrated joint test bench according to claim 1 or 2, characterized in that: The test carrying module also includes: Two guide rails (15) are installed horizontally and side by side on the dynamometer base plate (10) along the axis direction of the hydraulic joint (1) to be tested. The two guide rails (15) are symmetrically arranged on the left and right sides of the magnetic powder dynamometer (8), and the upper surface of the guide rails (15) is provided with an inverted T-shaped groove; A plurality of pairs of inverted T-shaped nuts (21) are slidably embedded in the T-shaped grooves of the guide rail (15).

4. The hydraulic integrated joint test bench according to claim 3, characterized in that: The joint fixation module comprises: A joint bracket (3), the bottom of the joint bracket (3) is threadedly connected to a corresponding T-shaped nut (21) in a T-shaped groove of the guide rail (15) through a bracket connecting bolt to adjust the axial position of the hydraulic joint (1) to be tested; The joint mounting plate (2) is located on a side of the joint bracket (3) away from the torque and speed detection device. One end of the joint mounting plate (2) is connected to the joint bracket (3). The mounting surface of the other end of the joint mounting plate (2) is provided with a cross-shaped groove that matches the cross protrusion on the outer shell of the hydraulic joint (1) to be tested, and is used to limit the circumferential rotation of the outer shell of the hydraulic joint (1) to be tested.

5. The hydraulic integrated joint test bench according to claim 4, characterized in that: The joint fixation module further comprises: Two fixed screws (18) are arranged horizontally and side by side on both sides of the hydraulic joint (1) to be tested, respectively, along the axis direction of the hydraulic joint (1), and one end of the two fixed screws (18) passes through the joint mounting plate (2) and is fixedly connected to the joint bracket (3); The pressure plate (19) is coaxially arranged on the side of the hydraulic joint (1) to be tested away from the joint mounting plate (2), and the other ends of the two fixing screws (18) pass through the pressure plate (19). The pressure plate (19) presses the housing of the hydraulic joint (1) to be tested onto the joint mounting plate (2) through two fixing nuts.

6. The hydraulic integrated joint test bench according to claim 3, characterized in that: The torque and speed detection device comprises: The torque and speed sensor (5) has two ends connected to the output shaft of the hydraulic joint (1) to be tested and the magnetic powder dynamometer (8) through a coupling 1 (4) and a coupling 2 (7) respectively; The torque and speed sensor support (6) is mounted on the bottom of the torque and speed sensor (5). The bottom of the torque and speed sensor support (6) is threadedly connected to a corresponding T-nut (21) in the T-groove of the guide rail (15) through a sensor base connecting bolt to adjust the axial position of the torque and speed sensor (5).

7. A hydraulic integrated joint test bench according to claim 2, 5 or 6, characterized in that: The measuring range of the torque and speed sensor (5) is not less than 500 Nm, and the coaxiality error among the axis of the torque and speed sensor (5), the hydraulic joint (1) to be measured, and the magnetic powder dynamometer (8) is not greater than 0.05 mm.

8. The hydraulic integrated joint test bench according to claim 7, characterized in that: The oil pipe fixing device (20) comprises: An oil pipe support plate is horizontally arranged below a hydraulic pipe for connecting an external oil supply system and a hydraulic joint (1) to be tested, and the oil pipe support plate is provided with two pipe clamp jacks and two screw jacks; A U-shaped pipe clamp is inverted above the hydraulic pipeline, with both ends of the U-shaped pipe clamp vertically inserted into the two pipe clamp insertion holes, and the lower end of the U-shaped pipe clamp is threadedly connected to two pipe clamp connecting bolts to fix the hydraulic pipeline through the oil pipe support plate and the U-shaped pipe clamp; Two supporting screws are respectively vertically inserted into the two screw jacks. Each supporting screw is provided with two screw connecting bolts located on the upper and lower sides of the oil pipe support plate to achieve the fixation of the supporting screw and the oil pipe support plate. The bottom of the supporting screw is threadedly connected to the corresponding T-nut (21) in the T-groove of the guide rail (15) to adjust the axial position of the U-shaped pipe clamp.

9. The hydraulic integrated joint test bench according to claim 8, characterized in that: The torque and speed detection device further includes a data acquisition system, which includes: A magnetic encoder (22) is installed on the hydraulic joint (1) to be tested and is used to monitor the angular displacement and angular velocity of the hydraulic joint (1) to be tested in real time; An oil pressure sensor is installed on the hydraulic joint (1) to be tested and is used to monitor the oil pressure changes of the hydraulic joint (1) to be tested in real time; The torque-speed meter (11) is mounted on a meter bracket (13) and connected to a magnetic encoder (22) and a torque-speed sensor (5) to achieve real-time measurement and monitoring of torque, speed, and power.

10. The hydraulic integrated joint test bench according to claim 1 or 9, characterized in that: The oil port of the tested hydraulic joint (1) is tightly connected to the oil port adapter (17) through a connector. An O-ring is provided at the connection between the oil port adapter (17) and the oil port of the tested hydraulic joint (1), and the sealing pressure is not less than 21 MPa.

Images