Multifunctional ball valve matching pair friction-wear test device

Abstract

The invention discloses a multifunctional ball valve matching pair friction-wear test device. The device comprises a rack, a button, a multi-axis mechanical arm, a linear guide rail group, a guide rail motor, a guide rail connecting panel, a high-speed camera, two sets of loading mechanisms, a driving mechanism and a controller, the axial symmetry loading mechanism is adopted, so that the contact pressure distribution of the friction pair is more uniform, and the accuracy and reliability of test data are remarkably improved; and valve balls and sample valve seats of different sizes can be conveniently adapted, the detection cost is reduced, and the detection efficiency is improved. The force sensor detects loading force in real time, the torque sensor detects friction torque in real time, experimental parameters such as the rotating speed, the test force and the friction torque of the main shaft can be obtained in real time in combination with other detection components, and real-time monitoring of the surface microstructure in the dynamic abrasion process of the valve friction pair can be achieved through the high-speed camera. And the controller can draw a corresponding test curve according to the collected data, so that an operator can know the test process and result in time, and the accuracy and reliability of detection are improved.

Description

Technical Field

[0001] This invention belongs to the technical field of valve service life testing equipment, specifically relating to a multifunctional ball valve pair friction and wear testing device. Background Technology

[0002] As a critical fluid control component, the wear resistance of the ball-seat friction pair in ball valves directly affects their sealing performance and service life. Accurately assessing the friction and wear performance of valves is crucial during their research, development, production, and quality inspection. Traditional valve friction and wear testing methods have several shortcomings: existing testing devices are often designed for specific valve sizes and types, exhibiting low compatibility with different specifications of friction pairs, valve seats, and valve cores. When testing valves of different sizes, it is usually necessary to replace the entire testing equipment or perform complex modifications, which is not only cumbersome but also costly, significantly limiting the efficiency and flexibility of testing work. During testing, it is difficult to precisely control the loading force and sample rotation state. Unstable loading force and fluctuations in rotation speed lead to large errors in the test results, failing to accurately reflect the true friction and wear performance of the valve. Furthermore, due to limited measurement methods, comprehensive and accurate experimental parameters cannot be obtained in real time, resulting in insufficient and in-depth analysis of valve performance. In the operation of traditional devices, once a malfunction occurs, it is difficult to detect and diagnose it in a timely manner, easily leading to equipment damage and affecting the normal progress of testing work. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a multifunctional ball valve pair friction and wear testing device.

[0004] To achieve the above objectives, the multifunctional ball valve pair friction and wear testing device provided by the present invention includes a frame, a button, a multi-axis robotic arm, a linear guide rail assembly, a guide rail motor, a guide rail connection panel, a high-speed camera, two sets of loading mechanisms, a drive mechanism, and a controller. The frame is a rectangular box-shaped structure with two elongated guide grooves spaced along the front-to-back direction in the center of the top surface, and one elongated guide groove on each side along the front-to-back direction. A rectangular opening is formed between the two guide grooves in the center. The linear guide rail assembly consists of three sets of guide rails. Each set of guide rails includes a guide rail body, a lead screw, and a slider. The three guide rail bodies are arranged side-by-side along the front-to-back direction inside the frame via a support plate horizontally mounted inside the frame. Side and middle sections; each lead screw is rotatably mounted on a guide rail body in the front-to-back direction, and multiple sliders are mounted on it; the output end of each guide rail motor is connected to one end of a lead screw; the guide rail connection panel includes a middle guide rail connection panel and two side guide rail connection panels, wherein the two side guide rail connection panels are arranged vertically in a parallel manner, and their lower ends are respectively connected to the sliders of the two sets of guide rails located on both sides, and their upper parts extend upward from the guide grooves on both sides of the top surface of the frame; the middle guide rail connection panel is a U-shaped plate composed of two vertical plates and one horizontal plate, the bottom of the horizontal plate is connected to the slider of the guide rail located in the middle section, and the upper parts of the two vertical plates extend upward from the two guide grooves in the middle of the top surface of the frame;

[0005] The drive mechanism includes a torque motor, a torque sensor, a spindle dust cover, a torque sensor base, a rotating spindle, fixed pads, a lock nut, a bearing support, and a bearing housing. The torque motor is mounted on the middle of the rear end of the top surface of the test bench, with its output shaft pointing forward. The torque sensor base is mounted on the front side of the torque motor. The torque sensor is mounted on the torque sensor base, and its front and rear ends are connected to the rear end of the rotating spindle and the output shaft of the torque motor, respectively. The spindle dust cover covers the outer side of the middle section of the rotating spindle. The bearing support is fixed to the horizontal plate of the middle guide rail connecting panel through a rectangular opening on the top surface of the test bench. A bearing housing for supporting the sample valve ball is mounted at the upper end, providing stable support and guidance for the rotation of the rotating spindle, effectively reducing friction and shaking during rotation, and ensuring dynamic balance during testing. Fixed pads are located at the front and rear ends of the sample valve ball. The front end of the rotating spindle passes through the fixed pad at the rear end, the cavity of the sample valve ball, and the fixed pad at the front end in sequence, and is then secured by a lock nut.

[0006] Two loading mechanisms are symmetrically arranged on both sides of the center of the top surface of the test bench. Each loading mechanism includes a linear bearing, a linear bearing fixing component, a loading motor, a motor reducer, a force sensor, a loading spring, a lower sliding plate, a loading spindle, an upper sliding plate, sliding rods, a sample valve seat, and a sample valve seat connector. The two sliding rods are horizontally arranged vertically, with their ends connected to a side guide rail connecting panel and a vertical plate of the central guide rail connecting panel, respectively. The lower and upper sliding plates are vertically arranged, with their upper and lower parts slidingly mounted on the two sliding rods from the outside in. The two ends of the loading spring are connected between the inner side of the lower sliding plate and the middle of the outer side of the upper sliding plate, respectively. The main shaft is horizontally positioned, with a bearing passing through the upper part of a side guide rail connecting panel, the middle of the lower slide plate, the interior of the loading spring, and the middle of the upper slide plate. The loading motor and motor reducer are mounted on the outer surface of the side guide rail connecting panel. The output shaft of the loading motor is connected to the input end of the motor reducer, and the output end of the motor reducer is connected to the outer end of the loading main shaft. The inner end of the loading main shaft is connected to a force sensor. Each linear bearing is fixed to the upper part of a vertical plate on the middle guide rail connecting panel via a linear bearing connector, with its outer end facing the force sensor. The outer end of the sample valve seat is connected to the inner end of the linear bearing via a sample valve seat connector, with the inner end located on the side of the sample valve ball.

[0007] The lower end of the multi-axis robotic arm is fixed to the top surface of the spindle dust cover; a high-speed camera is mounted at the end of the multi-axis robotic arm.

[0008] The buttons are mounted on the side of the stand and are used to control the operation of the device, including starting, stopping, loading, and unloading.

[0009] The controller is electrically connected to the torque motor, torque sensor, button, loading motor, force sensor, multi-axis robotic arm, guide rail motor and high-speed camera via connecting cables.

[0010] The multifunctional ball valve pair friction and wear testing device also includes a base set at the bottom of the stand to effectively support the entire device and ensure its stability during operation.

[0011] The multi-axis robotic arm is a six-degree-of-freedom robotic arm.

[0012] The test bench is also equipped with a window on its side, which allows operators to observe the test conditions inside the test bench.

[0013] The front outer circumferential surface of the rotating spindle and the central hole of the sample valve seat connector are both provided with stepped mounting grooves to accommodate sample valve balls and sample valve seats of different sizes.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. This invention employs an axisymmetric loading mechanism, which effectively eliminates the problem of eccentric torque caused by traditional unilateral loading through the principle of mechanical symmetry compensation. This makes the contact pressure distribution of the friction pair more uniform, significantly improving the accuracy and reliability of the test data. At the same time, it realizes the bidirectional dynamic fit test function of valve seat-valve core, and the wear detection under bidirectional motion conditions can be completed in a single test, improving the test efficiency and avoiding the reference error caused by repeated disassembly and assembly of samples in traditional devices. It provides an experimental platform for studying the material wear mechanism under alternating loads.

[0016] 2. This device adopts a unique stepped fixing structure. The rotating spindle is equipped with stepped mounting grooves, which can be adapted to install valve core shaft holes of different sizes. It can easily adapt to valve balls and sample valve seats of different sizes, so that the sample valve seat and sample valve ball maintain a good fit. This greatly improves the compatibility of the device with different friction pair sizes, reduces the testing cost, and improves the testing efficiency.

[0017] 3. Through the collaborative design of linear guideways and a modular sliding platform, rapid disassembly and portable replacement of friction pair components are achieved. Specifically, the bench is equipped with a high-precision linear guideway system, which, together with the standardized positioning interface of the friction pair mounting base, allows the specimen mounting module to be axially slidably positioned along the guideway. When the friction pair needs to be replaced, the operator only needs to release the locking device to slide the friction pair component out of the test area along the guideway. After replacement, the guideway's guiding positioning function achieves millimeter-level repeatability. The controller and infrared equipment ensure coaxial alignment of the valve friction pair, reducing wear failure and measurement inaccuracies caused by errors in specimen installation and improving specimen replacement efficiency. Simultaneously, the coaxial alignment of the bearing housing and the rotating spindle reduces the impact of the cantilever shaft's dynamic balance on the test results. This structure effectively solves the technical pain point of traditional test benches requiring repeated disassembly and reassembly of bolts and readjustment when replacing friction pairs, ensuring test accuracy and improving work efficiency.

[0018] 4. It enables precise control of loading on the same friction pair. Commands are input via buttons, and the motors and torque motors precisely adjust their outputs to achieve accurate control of the loading force and the rotational state of the sample valve ball. Simultaneously, a force sensor detects the loading force in real time, and a torque sensor detects the friction torque in real time. Combined with other detection components, it can acquire experimental parameters such as spindle speed, test force, and friction torque in real time. A high-speed camera allows for real-time monitoring of the surface microstructure of the valve friction pair during dynamic wear. The controller can plot corresponding test curves based on the collected data, facilitating timely understanding of the test process and results by the operator, thus improving the accuracy and reliability of the testing. Attached Figure Description

[0019] Figure 1 A three-dimensional structural view of the multifunctional ball valve pair friction and wear testing device provided by the present invention;

[0020] Figure 2 Left view of the multifunctional ball valve pair friction and wear testing device provided by the present invention;

[0021] Figure 3 Top view of the multifunctional ball valve pair friction and wear testing device provided by the present invention;

[0022] Figure 4 An internal bottom view of the test stand in the multifunctional ball valve pair friction and wear testing device provided by the present invention;

[0023] Figure 5 A top-view three-dimensional structural front cross-sectional view of the multifunctional ball valve pair friction and wear testing device provided by the present invention;

[0024] Figure 6 A schematic diagram of the multifunctional ball valve pair friction and wear testing device provided by the present invention after removing the test stand;

[0025] Figure 7 Rear view of the multifunctional ball valve pair friction and wear testing device provided by the present invention;

[0026] Figure 8 Right view of the multifunctional ball valve pair friction and wear testing device provided by the present invention;

[0027] Figure 9 for Figure 3 Enlarged view of part A in the middle. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] like Figures 1-9As shown, the multifunctional ball valve pair friction and wear testing device provided by the present invention includes a frame 1, a button 10, a multi-axis robotic arm 24, a linear guide rail assembly 27, a guide rail motor 28, a guide rail connecting panel 29, a high-speed camera 32, two sets of loading mechanisms, a drive mechanism, and a controller. The frame 1 is a rectangular box-shaped structure with two elongated guide grooves spaced along the front-rear direction in the center of the top surface, and one elongated guide groove on each side along the front-rear direction. A rectangular opening is formed between the two guide grooves in the center. The linear guide rail assembly 27 consists of three sets of guide rails. Each set of guide rails includes a guide rail body, a lead screw, and a slider. The three guide rail bodies are arranged side-by-side in the frame 1 along the front-rear direction via a support plate that spans the interior of the frame 1. The two sides and the middle part of the part; each lead screw is rotatably mounted on a guide rail body in the front-back direction, and multiple sliders are mounted on it; the output end of each guide rail motor 28 is connected to one end of a lead screw; the guide rail connection panel 29 includes a middle guide rail connection panel and two side guide rail connection panels, wherein the two side guide rail connection panels are arranged vertically in a parallel manner, and the lower ends are respectively connected to the sliders of the two sets of guide rails located on both sides, and the upper parts extend upward from the guide grooves on both sides of the top surface of the frame 1; the middle guide rail connection panel is a U-shaped plate composed of two vertical plates and one horizontal plate, the bottom of the horizontal plate is connected to the slider of the guide rail located in the middle part, and the upper parts of the two vertical plates extend upward from the two guide grooves in the middle of the top surface of the frame 1;

[0030] The drive mechanism includes a torque motor 3, a torque sensor 4, a spindle dust cover 5, a torque sensor base 6, a rotating spindle 21, a fixing pad 25, a locking nut 26, a bearing support 30, and a bearing housing 31. The torque motor 3 is mounted on the middle of the rear end of the top surface of the test bench 1, and its output shaft extends forward. The torque sensor base 6 is mounted on the front side of the torque motor 3. The torque sensor 4 is mounted on the torque sensor base 6, and its front and rear ends are respectively connected to the rear end of the rotating spindle 21 and the output shaft of the torque motor 3. The spindle dust cover 5 covers the rotating spindle 21. On the outer side of the middle section; the bearing seat support 30 is fixed to the horizontal plate of the middle guide rail connecting panel through the rectangular opening on the top surface of the stand 1. The upper end is equipped with a bearing seat 31 for supporting the sample valve ball 9, which provides stable support and guidance for the rotation of the rotating spindle 21, effectively reducing friction and shaking during rotation, and ensuring rotational dynamic balance during the test; the front and rear ends of the sample valve ball 9 are respectively provided with fixing pads 25; the front end of the rotating spindle 21 passes through the fixing pad 25 located at the rear end, the cavity of the sample valve ball 9 and the fixing pad 25 located at the front end in sequence, and is then fastened by a locking nut 26;

[0031] Two loading mechanisms are symmetrically arranged on both sides of the top center of the test bench 1. Each loading mechanism includes a linear bearing 7, a linear bearing fixing component 8, a loading motor 12, a motor reducer 13, a force sensor 14, a loading spring 15, a lower slide plate 16, a loading spindle 17, an upper slide plate 19, a slide rod 20, a sample valve seat 22, and a sample valve seat connector 23. The two slide rods 20 are horizontally arranged vertically, with their ends connected to a side guide rail connecting panel and a vertical plate of the middle guide rail connecting panel, respectively. The lower slide plate 16 and the upper slide plate 19 are both vertically arranged, and their upper and lower parts are slidably mounted on the two slide rods 20 from the outside to the inside. The two ends of the loading spring 15 are connected between the inner side of the lower slide plate 16 and the middle of the outer side of the upper slide plate 19, respectively. The loading spindle 17 is horizontally positioned, with a bearing passing through the upper part of a side guide rail connecting panel, the middle part of the lower slide plate 16, the interior of the loading spring 15, and the middle part of the upper slide plate 19. The loading motor 12 and the motor reducer 13 are mounted on the outer surface of the side guide rail connecting panel. The output shaft of the loading motor 12 is connected to the input end of the motor reducer 13, and the output end of the motor reducer 13 is connected to the outer end of the loading spindle 17. The inner end of the loading spindle 17 is connected to the force sensor 14. Each linear bearing 7 is fixed to the upper part of a vertical plate of the middle guide rail connecting panel through a linear bearing connector 8, with its outer end facing the force sensor 14. The outer end of the sample valve seat 22 is connected to the inner end of the linear bearing 7 through a sample valve seat connector 23, with the inner end located on the side of the sample valve ball 9.

[0032] The lower end of the multi-axis robotic arm 24 is fixed to the top surface of the main shaft dust cover 5; the high-speed camera 32 is installed at the end of the multi-axis robotic arm 24.

[0033] Button 10 is installed on the side of the stand 1 and is used to control the operation of the device, including starting, stopping, loading, and unloading.

[0034] The controller is electrically connected to the torque motor 3, torque sensor 4, button 10, loading motor 12, force sensor 14, multi-axis robotic arm 24, guide rail motor 28 and high-speed camera 32 via connecting cable 11.

[0035] The multifunctional ball valve pair friction and wear test device also includes a base 2 set at the bottom of the stand 1, which is used to effectively support the entire device and ensure the stability of the device during operation.

[0036] The multi-axis robotic arm 24 is a six-degree-of-freedom robotic arm.

[0037] The test bench 1 is also provided with a window 18 on its side, which allows the operator to observe the test conditions inside the test bench 1.

[0038] The front outer circumferential surface of the rotating spindle 21 and the central hole of the sample valve seat connector 23 are both provided with stepped mounting grooves to accommodate sample valve balls 9 and sample valve seats 22 of different sizes.

[0039] The working principle of the multifunctional ball valve pair friction and wear testing device provided by the present invention is described below:

[0040] When this device is used to perform friction and wear tests on the sample valve ball 9, the operator first selects a suitable sample valve seat connector 23 according to the dimensions of the sample valve seat 22 and the valve core on the sample valve ball 9 that make up the friction pair. Then, the sample valve seat 22 is installed in the corresponding stepped mounting groove on the sample valve seat connector 23 and locked in place by a pin. The machined sample valve ball 9 is then installed on the corresponding stepped mounting groove on the rotating spindle 21 and secured by a fixing pad 25 and a locking nut 26. When it is necessary to replace the sample valve ball 9 and sample valve seat 22 with samples of different sizes, the operator first releases the locking device and uses the guide rail motor 28 to slide the guide rail connecting panel 29 and its components forward along the linear guide rail assembly 27 out of the test area. After replacing the sample valve ball 9 and sample valve seat 22, the operator uses the controller and infrared equipment to center the device to ensure that the sample valve seat 22 and sample valve ball 9 are coaxially aligned. This ensures the test accuracy and improves the compatibility of the device with different friction pair sizes.

[0041] Then, according to the test requirements, set the test parameters such as preload and rotational torque on the controller. Press button 10 to turn on the device. Under the control of the controller, start the torque motor 3 and the loading motor 12. The torque motor 3 drives the rotating spindle 21 to rotate the sample valve ball 9 to simulate the actual opening and closing process of the sample valve ball 9. At the same time, the torque sensor 4 accurately measures the frictional torque generated when the sample valve ball 9 rotates.

[0042] After the loading motor 12 starts, the motor reducer 13 reduces speed and increases torque, driving the loading spindle 17 and force sensor 14 to rotate. Simultaneously, the lower slide plate 16 and upper slide plate 19 compress the loading spring 15. The slide rod 20 provides precise guidance for the lower slide plate 16 and upper slide plate 19. The loading force provided by the loading spring 15 is transmitted to the force sensor 14, which then contacts the outer end of the linear bearing 7 to transmit the preload force of the loading spring 15. The linear bearing 7 then applies the preload force through the sample valve seat connector 23 and the sample valve seat 22 to both sides of the sample valve ball 9, clamping it. At the same time, the force sensor 14 accurately measures the magnitude of the loading force to ensure the accuracy of the test force.

[0043] During the experiment, the high-speed camera 32 is positioned at an observation position perpendicular to the upper surface of the sample valve ball 9 by the multi-axis robotic arm 24. After the experiment is completed, the X / Y / Z three-axis linkage mechanism and rotary joint of the multi-axis robotic arm 24 are controlled to drive the high-speed camera 32 to perform multi-angle pose adjustment along the normal and circumferential directions of the spherical surface of the sample valve ball 9, so as to realize the acquisition of three-dimensional images of wear morphology in the full field of view of 0-180°.

[0044] The experimental data and images are transmitted to the controller via connection line 11. Based on the loading force collected by force sensor 14, the friction torque data collected by torque sensor 4, and the images collected by high-speed camera 32, the controller can acquire in real-time experimental parameters such as the rotational speed of the rotating spindle 21, the test force, and the friction torque, as well as the real-time microscopic friction morphology of the friction pair surface. It can also plot corresponding experimental curves based on the collected data, facilitating timely understanding of the experimental process and results by the operator, thus improving the accuracy and reliability of the detection. If a malfunction occurs during the experiment or the experiment ends, the operator can immediately stop the operation of the device using button 10.

Claims

1. A multifunctional ball valve pair friction and wear testing device, characterized in that: The multifunctional ball valve pair friction and wear test device includes a frame (1), a button (10), a multi-axis robotic arm (24), a linear guide rail assembly (27), a guide rail motor (28), a guide rail connection panel (29), a high-speed camera (32), two sets of loading mechanisms, a drive mechanism, and a controller; wherein, the frame (1) is a rectangular box structure, with two long strip-shaped guide grooves spaced apart along the front-back direction in the middle of the top surface, and one long strip-shaped guide groove formed along the front-back direction on each side, and a rectangular opening formed between the two guide grooves in the middle; the linear guide rail assembly (27) consists of three sets of guide rails; each set of guide rails includes a guide rail body, a lead screw, and a slider; the three guide rail bodies are arranged side by side along the front-back direction on the frame (1) by a support plate that is cross-mounted inside the frame (1). 1) The inner sides and middle part; each lead screw is rotatably mounted on a guide rail body in the front-back direction, and multiple sliders are mounted on it; the output end of each guide rail motor (28) is connected to one end of a lead screw; the guide rail connection panel (29) includes a middle guide rail connection panel and two side guide rail connection panels, wherein the two side guide rail connection panels are arranged vertically in a parallel manner, and the lower ends are respectively connected to the sliders of the two sets of guide rails located on both sides, and the upper parts extend upward from the guide grooves on both sides of the top surface of the frame (1); the middle guide rail connection panel is a U-shaped plate composed of two vertical plates and one horizontal plate, the bottom of the horizontal plate is connected to the slider of the guide rail located in the middle part, and the upper parts of the two vertical plates extend upward from the two guide grooves in the middle of the top surface of the frame (1); The drive mechanism includes a torque motor (3), a torque sensor (4), a spindle dust cover (5), a torque sensor base (6), a rotating spindle (21), a fixing block (25), a locking nut (26), a bearing seat support (30), and a bearing seat (31); wherein, the torque motor (3) is installed at the middle of the rear end of the top surface of the stand (1), and the output shaft is forward; the torque sensor base (6) is installed on the front side of the torque motor (3); the torque sensor (4) is installed on the torque sensor base (6), and its front and rear ends are respectively connected to the rear end of the rotating spindle (21) and the torque sensor base (31). The output shaft of the motor (3) is connected; the dust cover (5) of the main shaft covers the middle outer side of the rotating main shaft (21); the bearing seat support (30) is fixed to the horizontal plate of the middle guide rail connection panel through the rectangular opening on the top surface of the stand (1), and the upper end is equipped with a bearing seat (31) for supporting the sample valve ball (9); the front and rear ends of the sample valve ball (9) are respectively provided with fixing pads (25); the front end of the rotating main shaft (21) passes through the fixing pad (25) at the rear end, the cavity of the sample valve ball (9) and the fixing pad (25) at the front end in sequence and is then fastened by a locking nut (26); Two loading mechanisms are symmetrically arranged on both sides of the top center of the test bench (1); each loading mechanism includes a linear bearing (7), a linear bearing fixing part (8), a loading motor (12), a motor reducer (13), a force sensor (14), a loading spring (15), a lower slide plate (16), a loading spindle (17), an upper slide plate (19), a slide rod (20), a sample valve seat (22), and a sample valve seat connector (23); the two slide rods (20) are arranged horizontally, and their two ends are respectively connected between a side guide rail connecting panel and a vertical plate of the middle guide rail connecting panel; the lower slide plate (16) and the upper slide plate (19) are both arranged vertically, and the upper and lower parts of the lower slide plate (16) and the upper slide plate (19) are installed on the two slide rods (20) in a sliding manner from the outside to the inside; the two ends of the loading spring (15) are respectively connected to the inner side of the lower slide plate (16) and the outer side of the upper slide plate (19). Between the parts; the loading spindle (17) is set horizontally, and the middle part is set through the upper part of a side guide rail connecting panel, the middle part of the lower slide plate (16), the inside of the loading spring (15) and the middle part of the upper slide plate (19) in sequence through the bearing; the loading motor (12) and the motor reducer (13) are installed on the outer side of the side guide rail connecting panel, the output shaft of the loading motor (12) is connected to the input end of the motor reducer (13), and the output end of the motor reducer (13) is connected to the outer end of the loading spindle (17); the inner end of the loading spindle (17) is connected to the force sensor (14); each linear bearing (7) is fixed to the upper part of a vertical plate of the middle guide rail connecting panel through the linear bearing connector (8), and the outer end faces the force sensor (14); the outer end of the sample valve seat (22) is connected to the inner end of the linear bearing (7) through the sample valve seat connector (23), and the inner end is located on the side of the sample valve ball (9); The lower end of the multi-axis robotic arm (24) is fixed to the top surface of the main shaft dust cover (5); a high-speed camera (32) is installed at the end of the multi-axis robotic arm (24); Button (10) is mounted on the side of stand (1); The controller is electrically connected to the torque motor (3), torque sensor (4), button (10), loading motor (12), force sensor (14), multi-axis robotic arm (24), guide rail motor (28) and high-speed camera (32) via connecting cable (11).

2. The multifunctional ball valve pair friction and wear testing device according to claim 1, characterized in that: The multi-functional ball valve pair friction and wear test device also includes a base (2) set at the bottom of the stand (1).

3. The multifunctional ball valve pair friction and wear testing device according to claim 1, characterized in that: The multi-axis robotic arm (24) is a six-degree-of-freedom robotic arm.

4. The multifunctional ball valve pair friction and wear testing device according to claim 1, characterized in that: The platform (1) is also provided with a window (18) on its side.

5. The multifunctional ball valve pair friction and wear testing device according to claim 1, characterized in that: The front outer circumferential surface of the rotating spindle (21) and the center hole of the sample valve seat connector (23) are both provided with stepped mounting grooves.

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