Performance testing device and testing method for pneumatic actuator

Abstract

This invention relates to the field of pneumatic actuator performance testing technology, specifically to a performance testing device and method for pneumatic actuators. The performance testing device includes a real-time performance feedback unit and a testing platform. The real-time performance feedback unit is used to collect, process, and analyze the performance data of the pneumatic actuators in real time. The testing platform is equipped with a regulating valve assembled in preset positions, two connecting pipes, two test station groups, and two cylinder groups. Each test station group includes multiple test positions. The pneumatic actuators are positioned at the test stations during testing. Each cylinder group includes multiple cylinders. A piston rod is inserted into each cylinder. The output shaft of the pneumatic actuator is mounted on the piston rod. A piston is fixedly sleeved on each piston rod. The rodless chamber of the cylinder, the connecting pipes, and the regulating valve are all filled with a liquid medium. The regulating valve is used to ensure that all pneumatic actuators have a consistent load during operation, thereby guaranteeing the accuracy of the test results.

Description

Technical Field

[0001] This invention relates to the field of pneumatic actuator performance testing technology, and in particular to a performance testing device and method for pneumatic actuators. Background Technology

[0002] Pneumatic actuators are a type of power device that uses compressed air as a power source, converting air pressure signals into linear or rotary mechanical displacement, thereby driving valves and other actuators to complete corresponding actions. Among various pneumatic actuators, cylinders are one of the most widely used core types.

[0003] After the cylinder is manufactured, its durability needs to be tested to ensure its quality. This durability test requires specific testing equipment. For example, Chinese patent application CN117969056A discloses a pneumatic actuator durability testing device, which includes a load mechanism, a real-time performance feedback device, and a counting device. The load mechanism is connected to the cylinder's valve stem. During testing, the cylinder is started, synchronously driving the valve stem to reciprocate. The load mechanism provides the load to the valve stem during movement, while the real-time performance feedback device collects, processes, and analyzes the pneumatic actuator's performance data in real time, and the counting device counts the number of times the pneumatic actuator operates in real time.

[0004] In existing cylinder durability testing, some methods involve directly mounting counterweights onto the valve stem to create a load. However, when the valve stem moves horizontally, the weight of the counterweight is perpendicular to the direction of valve stem movement. The load causing the valve stem to move is primarily the friction between the counterweight, the valve stem as a whole, and the cylinder body. In this case, the counterweight cannot directly provide an effective load for the horizontal movement of the valve stem. Furthermore, as the test progresses, the contact surface between the valve stem and the cylinder body gradually becomes smooth due to wear, leading to reduced friction and load, thus affecting the accuracy of the test results. Summary of the Invention

[0005] Therefore, it is necessary to provide a performance testing device and testing method for pneumatic actuators to address the problem of low accuracy in the current durability testing process.

[0006] The above objectives are achieved through the following technical solutions:

[0007] A performance testing device for pneumatic actuators, comprising a real-time performance feedback device and a testing platform;

[0008] Among them, the real-time performance feedback device is configured to collect, process and analyze the performance data of the pneumatic actuator in real time;

[0009] The testing platform is equipped with a regulating valve, two connecting pipes, two test station groups, and two cylinder groups. The two connecting pipes are parallel and spaced apart; the regulating valve is located between the two connecting pipes; each test station group includes multiple test stations, which are arranged side-by-side, parallel to the connecting pipes, and located on both sides of the regulating valve; the pneumatic actuator is placed at each test station during testing; each cylinder group includes multiple cylinders, which are arranged side-by-side, parallel to the connecting pipes, and located between the connecting pipes and the test station groups; each cylinder is fitted with a piston rod. The output shaft of the pneumatic actuator is mounted on the piston rod and can drive the piston rod to slide along its extension direction. A piston is fixedly fitted onto each piston rod, located within the cylinder body, forming a piston-like fit and dividing the cylinder body into separate rod-side and rodless-side chambers. Each connecting pipe has a main flow path and multiple branch flow paths connected to the main flow path. The branch flow paths are connected to the rodless-side chamber on the same side, and both main flow paths are connected to a regulating valve. The rodless-side chamber, connecting pipes, and regulating valve are all filled with a liquid medium. The regulating valve is configured to ensure that all pneumatic actuators have a consistent load during testing.

[0010] Furthermore, the regulating valve includes a valve body, inside which are an annular flow channel and a cavity, both filled with a liquid medium. The annular flow channel is located on the periphery of the cavity and is divided circumferentially into four branch channels: branch channel one, branch channel two, branch channel three, and branch channel four. Branch channels one and three are arranged opposite each other, as are branch channels two and four. The cavity has a four-way structure with four ports, each connecting to branch channels one, two, three, and four respectively. The connections between branch channels one, three, and the cavity are all equipped with... A valve core is provided, and two valve cores are arranged opposite each other and connected by an elastic element. Under the action of the elastic element, the two valve cores tend to move away from each other and tend to cut off the communication between the first and third branch channels and the cavity. A one-way valve is provided at the connection between the first and second branch channels, and the opening direction of the one-way valve is from the second branch channel to the first branch channel. A one-way valve is provided at the connection between the second and third branch channels, and the opening direction of the one-way valve is from the second branch channel to the third branch channel. The fourth branch channel is in a cut-off state.

[0011] Furthermore, a valve core two is provided at the connection between the flow channel four and the cavity. The valve core two can slide along the slide connecting the flow channel four and the cavity. One side of the valve core two is connected to the side of the valve body near the cavity through an elastic element two, and the other side is connected to the side of the valve body away from the cavity through an elastic element three. Under the action of the elastic element two, the valve core two has a tendency to slide away from the cavity. Under the action of the elastic element three, the valve core two has a tendency to slide towards the cavity. The valve core two is configured to cut off the flow channel four. A connecting hole two is provided on the valve core two, and the connecting hole two is configured to restore the connection of the flow channel four.

[0012] Furthermore, the second elastic element is a compression spring.

[0013] Furthermore, the elastic element three is a compression spring three.

[0014] Furthermore, the elastic element is a compression spring.

[0015] Furthermore, a termination valve is provided at the connection point between each branch flow path and the rodless cavity, and the termination valve is configured to open / close the connection between the branch flow path and the rodless cavity.

[0016] Furthermore, the performance testing device for the pneumatic actuator also includes a counter, which is configured to count the number of times the pneumatic actuator operates in real time.

[0017] Furthermore, the liquid medium is hydraulic oil.

[0018] This invention also provides a performance testing method for pneumatic actuators, employing a performance testing device for pneumatic actuators. The performance testing method for pneumatic actuators includes the following steps:

[0019] S1. Start the pneumatic actuator and set the output shaft of the pneumatic actuator on one side to extend, and the output shaft of the pneumatic actuator on the other side to retract.

[0020] S2. When the pressure difference between the two sides of the valve core on the output shaft extension side of the pneumatic actuator reaches the first set value, the valve core on the output shaft extension side of the pneumatic actuator overcomes the elastic force of the elastic element and moves closer to the other valve core. The cavity and the flow channel one / flow channel three are connected. At this time, the performance data of the pneumatic actuator is collected in real time through the performance real-time feedback device and processed and analyzed.

[0021] The beneficial effects of this invention are:

[0022] This invention relates to a performance testing device and method for pneumatic actuators. By setting up a regulating valve and utilizing its regulating characteristics, during the durability test of pneumatic actuators, all pneumatic actuators not only have a consistent load, but also a consistent bidirectional load, thus ensuring the accuracy of the test results.

[0023] Furthermore, by setting valve core two and utilizing the elastic sliding motion characteristics of valve core two, during the durability test of the pneumatic actuator, when a certain pneumatic actuator fails, the piston driven by other normal pneumatic actuators on the same side reaches the limit position first, and then the connection of the flow channel four is restored through the connecting hole two, ensuring the stability of the load.

[0024] Furthermore, by setting a stop valve, when the number of pneumatic actuators being tested is large, the stop valve can close the connection between the branch flow path and the rodless chamber corresponding to the faulty pneumatic actuator, as well as the connection between the branch flow path and the rodless chamber corresponding to the pneumatic actuator set opposite to the faulty pneumatic actuator, to avoid excessive wear of the piston; when the number of pneumatic actuators being tested is small, the stop valve remains open to ensure that sufficient sample data can be obtained. Attached Figure Description

[0025] Figure 1 A three-dimensional structural diagram of the performance testing device for a pneumatic actuator provided in an embodiment of the present invention during cylinder testing;

[0026] Figure 2 A front view of the pneumatic actuator performance testing device provided in an embodiment of the present invention during cylinder testing;

[0027] Figure 3 for Figure 2 AA-direction cross-sectional view;

[0028] Figure 4 for Figure 3 A magnified schematic diagram of the structure at point Z in the middle;

[0029] Figure 5 A top view of the pneumatic actuator performance testing device provided in an embodiment of the present invention during cylinder testing.

[0030] Figure 6 for Figure 5 BB-direction cross-sectional view;

[0031] Figure 7 A three-dimensional perspective structural diagram of the valve core 2 of the performance testing device for the pneumatic actuator provided in an embodiment of the present invention.

[0032] in:

[0033] 1. Testing platform;

[0034] 2. Control valve; 201. Valve body; 2011. Cavity; 20111. Port; 2012. Annular flow channel; 20121. Flow branch channel one; 20122. Flow branch channel two; 20123. Flow branch channel three; 20124. Flow branch channel four; 202. Valve core one; 2021. Connecting hole one; 203. Compression spring one; 204. Valve core two; 2041. Connecting hole two; 205. Compression spring two; 206. Compression spring three;

[0035] 3. Connecting pipe; 301. Main pipe; 3011. Main flow path; 302. Branch pipe one; 3021. Branch flow path; 303. Branch pipe two;

[0036] 4. Cylinder block; 401. Rodless chamber;

[0037] 5. Piston rod;

[0038] 6. Piston;

[0039] 7. One-way valve;

[0040] 8. One-way valve two;

[0041] 9. Termination valve;

[0042] 10. Cylinder. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0044] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage," unless otherwise specified, include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0045] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] In the current method of constructing a load test for the durability of cylinder 10 by directly mounting a counterweight on the valve stem, when the valve stem is in a horizontal movement state, the direction of gravity generated by the counterweight is perpendicular to the direction of valve stem movement. Under this condition, the counterweight cannot directly provide an effective load for the horizontal movement of the valve stem. At this time, the load borne by the valve stem movement mainly comes from the friction between the overall structure formed by the counterweight and the valve stem and the contact surface inside the cylinder body of cylinder 10. During long-term testing, as the contact surface between the valve stem and the cylinder body of cylinder 10 continues to rub against each other, the roughness of the contact surface will gradually decrease and tend to become smoother. This leads to a gradual decrease in the friction between the two, causing the actual load borne by the valve stem to continuously decrease, resulting in a deviation from the preset test load and ultimately affecting the accuracy of the test results.

[0047] Based on this, embodiments of the present invention provide a performance testing device for pneumatic actuators, which is particularly suitable for durability testing of pneumatic actuators (such as cylinder 10). Of course, it is also suitable for durability testing of hydraulic actuators (such as hydraulic cylinders) and electric actuators (such as electric cylinders).

[0048] Specifically, refer to Figures 1 to 7 The performance testing device for the pneumatic actuator is configured to include a real-time performance feedback device (not shown) and a test platform 1; wherein, the real-time performance feedback device is configured to collect, process and analyze the performance data of the pneumatic actuator in real time, which is existing technology and its structure will not be described in detail.

[0049] The base of the test platform 1 is a plate-shaped structure with a horizontal plate surface. The test platform 1 is equipped with a regulating valve 2, two connecting pipes 3, two test station groups, and two cylinder groups. The regulating valve 2, the two connecting pipes 3, the two test station groups, and the two cylinder groups are all located on the top of the test platform 1, and from back to front, they are arranged in the following order: test station group, cylinder group, connecting pipe 3, regulating valve 2, connecting pipe 3, cylinder group, and test station group. The two connecting pipes 3, the two test station groups, and the two cylinder groups are all symmetrically arranged about the regulating valve 2.

[0050] Both connecting pipes 3 extend horizontally in the left-right direction, making them parallel. They are also spaced horizontally in the front-back direction to allow space for the installation of the regulating valve 2, placing it between the two connecting pipes 3. Each test station group includes multiple test stations, arranged side-by-side parallel to the connecting pipes 3 and on either side of the regulating valve 2. Test stations in different test station groups are arranged accordingly. For example, a test station group with five test stations is arranged horizontally in the left-right direction. During testing, the pneumatic actuator is positioned at the test station with its output shaft pointing towards the regulating valve 2. For example, if the pneumatic actuator is cylinder 10, the output shaft of the rear cylinder 10 faces forward horizontally, and the output shaft of the front cylinder 10 faces backward horizontally.

[0051] Each cylinder group includes multiple cylinders 4, which are arranged side by side, parallel to the connecting pipe 3, and located between the connecting pipe 3 and the test station group; cylinders 4 on the same side are correspondingly arranged with the test station. Taking a cylinder group with five cylinders 4 as an example, the five cylinders 4 in the same cylinder group are arranged side by side horizontally in the left-right direction. The cylinders 4 extend horizontally in the front-back direction; each cylinder 4 is fitted with a piston rod 5, which extends horizontally in the front-back direction, with its inner end located inside the cylinder 4 and its outer end located outside the cylinder 4. The output shaft of the pneumatic actuator is set on the piston rod 5 and can drive the piston rod 5 to slide along its own extension direction; when the pneumatic actuator is set as a cylinder 10, the output shaft of the cylinder 10 is coaxial with the piston rod 5 and fixed to the outer end of the piston rod 5, so as to synchronously drive the piston rod 5 to slide along its own extension direction. Each piston rod 5 is fixedly fitted with a piston 6. The piston 6 is located inside the cylinder 4 and forms a piston fit with the cylinder 4, dividing the inside of the cylinder 4 into a rod chamber and a rodless chamber 401 that are not connected to each other. The rodless chamber 401 is located inside the piston 6.

[0052] Each connecting pipe 3 has a main flow path 3011 and multiple branch flow paths 3021 connected to the main flow path 3011. Each branch flow path 3021 is connected to a rodless cavity 401 on the same side. Both main flow paths 3011 are connected to the regulating valve 2. Taking a connecting pipe 3 with five branch flow paths 3021 as an example, the five branch flow paths 3021 of the same connecting pipe 3 are respectively connected to the rodless cavities 401 of the five cylinders 4 of the same cylinder group.

[0053] Specifically, each connecting pipe 3 has a main pipe 301, five branch pipes 302, and one branch pipe 303. The main pipe 301 extends horizontally in the left-right direction and is sealed at both ends. The main flow path 3011 is formed inside the main pipe 301. Branch pipes 302 are perpendicular to the main pipe 301 and are located on the side of the main pipe 301 away from the regulating valve 2. Branch flow paths 3021 are formed inside branch pipes 302. The five branch pipes 302 are arranged horizontally side by side in the left-right direction and are respectively set to correspond to the five cylinders 4 of the same cylinder group. Branch pipe 303 is perpendicular to the main pipe 301 and is located on the side of the main pipe 301 closer to the regulating valve 2, and is connected to the regulating valve 2. The rodless chamber 401, the connecting pipes 3, and the regulating valve 2 are all filled with a liquid medium; the liquid medium can be hydraulic oil.

[0054] The regulating valve 2 is configured to ensure that all cylinders 10 have a consistent load during testing.

[0055] Specifically, the regulating valve 2 includes a valve body 201, inside which are an annular flow channel 2012 and a cavity 2011, both filled with a liquid medium. The annular flow channel 2012 is located around the cavity 2011, has a square structure, and is horizontally arranged. The annular flow channel 2012 is divided into four branches along the circumference: branch channel one 20121, branch channel two 20122, branch channel three 20123, and branch channel four 20124. Branch channels one 20121 and three 20123 extend horizontally in the left-right direction and are arranged horizontally at intervals in the front-back direction. Branch channel one 20121 is located behind branch channel three 20123. Branch channels two 20122 and four 20124 extend horizontally in the front-back direction and are arranged horizontally at intervals in the left-right direction. Diversion channel 20122 is located to the right of diversion channel 40124; cavity 2011 has a four-way structure and has four ports 20111, which are connected to diversion channel 1 20121, diversion channel 20122, diversion channel 3 20123, and diversion channel 4 20124 respectively; valve core 1 202 is provided at the connection between diversion channel 1 20121, diversion channel 3 20123 and cavity 2011. Two valve cores 1 202 are horizontally opposite each other in the front-back direction and spaced apart. An elastic element 1 is connected between the two valve cores 1 202. Under the action of the elastic element 1, the two valve cores 1 202 tend to move away from each other and tend to cut off the connection between diversion channel 1 20121 and cavity 2011, and the connection between diversion channel 3 20123 and cavity 2011. Each valve core 202 is provided with a connecting hole 2021, which is configured to connect the flow channel 20121 and the cavity 2011, or the flow channel 20123 and the cavity 2011. The elastic element can be a compression spring 203, which is inserted into the cavity 2011 and extends horizontally in the front-rear direction, with its two ends respectively disposed on the two valve cores 202. Under the action of the compression spring 203, the two valve cores 202 tend to move away from each other. Initially, the rear valve core 202 cuts off the connection between the flow channel 20121 and the cavity 2011, and the front valve core 202 cuts off the connection between the flow channel 20123 and the cavity 2011.

[0056] A one-way valve 7 is installed at the connection between flow channel 1 20121 and flow channel 2 20122. The opening direction of one-way valve 7 is from flow channel 2 20122 to flow channel 1 20121. One-way valve 7 has a spring-loaded structure to facilitate automatic opening and closing of flow channel 1 20121 and flow channel 2 20122. A one-way valve 8 is installed at the connection between flow channel 2 20122 and flow channel 3 20123. One-way valve 8 has a spring-loaded structure to facilitate automatic opening and closing of flow channel 2 20122 and flow channel 3 20123. Initially, check valve 7 is closed, disconnecting flow channel 1 20121 and flow channel 2 20122; check valve 8 is closed, disconnecting flow channel 2 20122 and flow channel 3 20123. Flow channel 4 20124 is cut off.

[0057] During the testing process, all cylinders 10 are started simultaneously, and the output shaft of the rear cylinder 10 is set to retract first, then extend, and then alternate, while the output shaft of the front cylinder 10 extends first, then retracts, and then alternate.

[0058] Taking the retraction of the output shaft of the rear cylinder 10 and the extension of the output shaft of the front cylinder 10 as an example: When the output shaft of the rear cylinder 10 retracts, it simultaneously drives the rear piston rod 5 to move backward and pulls out the cylinder body 4; when the rear piston rod 5 moves backward, it simultaneously drives the rear piston 6 to move backward, increasing the volume and decreasing the pressure of the rear rodless chamber 401. Through the transmission of the rear connecting pipe 3, this creates a negative pressure in the first flow channel 20121, opening the one-way valve 7 and connecting the first flow channel 20121, the second flow channel 20122, and the cavity 2011, creating a negative pressure in the cavity 2011 as well; when the output shaft of the front cylinder 10 extends, it simultaneously... The first step drives the front piston rod 5 to move backward and insert into the cylinder 4; when the front piston rod 5 moves backward, it simultaneously drives the front piston 6 to move backward, the volume of the front rodless chamber 401 decreases and the pressure increases, and through the transmission of the front connecting pipe 3, the flow channel 20123 is under positive pressure, and the one-way valve 8 remains closed. At this time, a pressure difference will appear on the front and rear sides of the front valve core 202, and the thrust generated by this pressure difference on the front valve core 202 is horizontally backward, opposite to the direction of the elastic force of the compression spring 203 on the front valve core 202.

[0059] As piston 6 moves, the volume of the rear rodless chamber 401 continues to increase, and the negative pressure continues to increase. This increase is transmitted through the rear connecting pipe 3, causing the negative pressure within cavity 2011 to continue to increase. Meanwhile, the volume of the front rodless chamber 401 continues to decrease, and the positive pressure continues to increase. This increase is transmitted through the front connecting pipe 3, causing the positive pressure in the diversion channel 20123 to continue to increase. Simultaneously, the pressure difference between the front and rear sides of the front valve core 202 gradually increases, and the resulting backward thrust on the front valve core 202 gradually increases. When the pressure difference between the front and rear sides of the front valve core 202 reaches... When the first set value is reached, the thrust generated by the pressure difference on the front valve core 202 is greater than the elastic force of the compression spring 203. At this time, the resultant force on the front valve core 202 is horizontally backward. Under the action of the resultant force, the front valve core 202 moves backward, so that the cavity 2011 and the flow channel 3 20123 are connected through the connecting hole 2021 on it. Then, the hydraulic oil in the front connecting pipe 3 can enter the rear connecting pipe 3 in sequence through the flow channel 3 20123, the cavity 2011, the flow channel 2 20122, the check valve 7, and the flow channel 1 20121. When the cavity 2011 and the flow channel 3 20123 are connected, the pressure in the flow channel 3 20123 will decrease, which will reduce the pressure difference between the front and rear sides of the front valve core 202 until the thrust generated by the pressure difference on the front valve core 202 and the elastic force generated by the compression spring 203 are equal. The front valve core 202 will remain stationary and remain in the open state.

[0060] Before the front valve core 202 moves, the output shaft of the front cylinder 10 is extended, simultaneously pushing the piston rod 5 and piston 6 into the cylinder body 4. This causes the rodless chamber 401 of the front cylinder body 4 to be compressed, creating positive pressure in the hydraulic oil within the rodless chamber 401. At this time, the load on the front cylinder 10 directly comes from the pressure generated by this positive pressure acting on the end face of piston 6. As piston 6 continues to advance, the volume of the rodless chamber 401 decreases continuously, the positive pressure gradually increases, and the pressure acting on piston 6 also increases accordingly, thus causing the load on the output shaft of the front cylinder 10 to increase synchronously. When the pressure difference across the front valve core 202 reaches the first set value, the valve core 202 moves against the force of the compression spring 203, ultimately connecting the cavity 2011 with the flow channel 20123. At this time, the rodless chamber 401 forms a pressure balance with the entire fluid circuit, and the positive pressure in the front cylinder body 4 remains stable. Because hydraulic oil has the characteristic of uniformly transmitting pressure, the rodless chambers 401 of all front cylinders 10 on the same side are connected to the main flow path 3011 through the branch flow path 3021 of the connecting pipe 3. The positive pressure in each rodless chamber 401 is always consistent, so the load borne by all front cylinders 10 is consistent.

[0061] Similarly, before the front valve core 202 moves, the output shaft of the rear cylinder 10 is in a retracted state, driving the piston rod 5 and piston 6 to move outwards from the cylinder body 4. This expands the volume of the rodless chamber 401 in the rear cylinder body 4, creating a negative pressure in the hydraulic oil within the rodless chamber 401. The load on the rear cylinder 10 originates from the adsorption pressure generated by this negative pressure on the end face of piston 6. As piston 6 continues to move outwards, the volume of the rodless chamber 401 continuously increases, the negative pressure gradually strengthens, and the adsorption pressure acting on piston 6 increases synchronously. Consequently, the load on the output shaft of the rear cylinder 10 also gradually increases. Once the front valve core 202 stops moving and the fluid circuit achieves pressure balance, the negative pressure within the rear cylinder body 4 remains stable. Utilizing the characteristic of hydraulic oil to uniformly transmit pressure, the rodless chambers 401 of all rear cylinders 10 on the same side maintain a consistent negative pressure through interconnected flow paths, thereby ensuring that the load on all rear cylinders 10 tends to be uniform.

[0062] Since the output shafts of all cylinders 10 move at a constant speed, they are in force balance. This balance is transmitted to piston 6 through the force transmission of piston rod 5, ensuring that piston 6 also maintains force balance. The driving force on piston 6 comes from the thrust (or pull) of the output shaft of cylinder 10, while the resistance is the load formed by the fluid pressure (positive or negative). Because the structural design of the cylinders 10 on both the front and rear sides is identical, the magnitude of the driving force of their output shafts on the corresponding pistons 6 follows the same mechanical logic. Therefore, with the consistent transmission of fluid pressure, the load borne by the output shafts of the cylinders 10 on both the front and rear sides is also consistent.

[0063] After the front side valve core 202 stops moving, the performance data of the pneumatic actuator is collected in real time through the real-time performance feedback device and processed and analyzed. Since all cylinders 10 are subjected to the same load, the accuracy of the test results can be guaranteed.

[0064] In a further embodiment, when any cylinder 10 malfunctions, to ensure that the load on the other cylinders 10 remains approximately constant, a valve core 204 is provided at the connection between the flow divider 20124 and the cavity 2011. The valve core 204 can slide along the slide connecting the flow divider 20124 and the cavity 2011. One side of the valve core 204 is connected to the side of the valve body 201 near the cavity 2011 via an elastic element 2. Under the action of the elastic element 2, the valve core 204 has a tendency to slide away from the cavity 2011. The elastic element 2 can be configured as a compression spring 205, which extends horizontally in the left-right direction, and its two ends are respectively located on the right side of the valve core 204. Between the valve core 204 and the valve body 201, under the action of the second spring 205, the valve core 204 tends to slide to the left. The opposite side of the valve core 204 connected to the first elastic element is connected to the side of the valve body 201 away from the cavity 2011 through the third elastic element. Under the action of the third elastic element, the valve core 204 tends to slide towards the side closer to the cavity 2011. The third elastic element can be set as the third spring 206, which extends horizontally in the left and right direction, and its two ends are respectively set between the left side of the valve core 204 and the valve body 201. Under the action of the third spring 206, the valve core 204 tends to slide to the right, and the space where the third spring 206 is located is connected to the outside, ensuring that the space is under normal pressure. Initially, under the combined action of the second spring 205 and the third spring 206, the valve core 204 remains stationary and cuts off the fourth diversion channel 20124. A connecting hole 2041 is provided on the side wall of valve core 204. The connecting hole 2041 is configured to restore the connection of the diversion channel 4 20124.

[0065] During the testing process, taking the retraction of the output shaft of the rear cylinder 10 and the extension of the output shaft of the front cylinder 10 as an example, when any of the front cylinders 10 malfunctions, its output shaft cannot move according to the preset trajectory, which causes the piston rod 5 and piston 6 connected to it to lose driving force and remain stationary. Since the piston 6 forms a sealed fit with the cylinder body 4, the hydraulic oil in the rodless chamber 401 corresponding to the malfunctioning cylinder 10 loses its flow channel and cannot participate in the circuit circulation with the movement of other normal cylinders 10; while the other normal cylinders 10 on the front side can still drive the piston rod 5 and piston 6 to move according to the set program, and the hydraulic oil in their corresponding rodless chamber 401 can flow normally to transmit pressure.

[0066] Only the piston 6 of the normal cylinder 10 provides positive pressure thrust on the front side, while the faulty cylinder 10 cannot participate in pressure output. At this time, the thrust resistance borne by the piston 6 of the normal cylinder 10 on the front side is relatively reduced, causing it to reach the limit position of motion first under the same driving force. Subsequently, the rear cylinder 10 needs to continuously increase the negative pressure in order to attempt to extract the static hydraulic oil in the rodless chamber 401 of the faulty cylinder 10.

[0067] As the rear cylinder 10 continues to operate, the negative pressure it generates continuously increases and is transmitted to the cavity 2011 through the connecting pipe 3, causing the negative pressure in the cavity 2011 to gradually rise. One side of the valve core 204 is connected to the cavity 2011, and the other side is connected to the atmospheric pressure space through the compression spring 3 206. The increase in the negative pressure in the cavity 2011 creates a pressure difference on both sides of the valve core 204, and this pressure difference continues to increase as the negative pressure in the cavity 2011 rises. When the pressure difference reaches the second set value, the valve core 204 will overcome the balancing force of the compression springs 205 and 3 206 on both sides and slide to the right. The connecting hole 2041 on its side wall then connects with the flow channel 4 20124, providing a new flow channel for the static hydraulic oil in the rodless chamber 401 of the faulty cylinder 10.

[0068] Through the above process, the hydraulic oil in the rodless chamber 401 of the faulty cylinder 10 can participate in the circuit circulation through the branch channel 20124, completing the medium flow without the need for excessive negative pressure in the rear cylinder 10. This results in the negative pressure in the cavity 2011 only slightly increasing compared to normal operating conditions, without significant fluctuations. Since the load of the normal cylinder 10 is determined by the fluid pressure difference in the circuit, the small and stable pressure changes ensure that the load borne by the front normal cylinder 10 and all the rear cylinders 10 remains approximately constant, thereby avoiding interference from a single cylinder 10 failure on the overall test load environment and ensuring the reliability of the test results.

[0069] In other embodiments, to improve applicability, a termination valve 9 is provided at the connection point between each branch flow path 3021 and the rodless chamber 401, and the termination valve 9 is configured to open / close the connection between the branch flow path 3021 and the cylinder 4.

[0070] Thus, when there are many cylinders 10 being tested, the connection between the faulty pneumatic actuator and the corresponding branch flow path 3021 and rodless chamber 401 of the opposite pneumatic actuator can be closed by the stop valve 9, so as to avoid excessive wear of the piston 6; when there are few cylinders 10 being tested, the stop valve 9 remains open to ensure that sufficient sample data can be obtained.

[0071] In other embodiments, to count the number of times the pneumatic actuator operates, the performance testing device for the pneumatic actuator is configured to also include a counter.

[0072] Another embodiment of the present invention also provides a performance testing method for a pneumatic actuator, using any of the above-described pneumatic actuator performance testing devices, the performance testing method for the pneumatic actuator includes the following steps:

[0073] S1. Start the pneumatic actuator and set the output shaft of the pneumatic actuator on one side to extend, and the output shaft of the pneumatic actuator on the other side to retract.

[0074] Specifically, it can be set so that the output shaft of the rear cylinder 10 retracts first, then extends, and then alternates, while the output shaft of the front cylinder 10 extends first, then retracts, and then alternates.

[0075] S2. When the pressure difference between the two sides of the valve core 202 on the output shaft extension side of the pneumatic actuator reaches the first set value, the valve core 202 on the output shaft extension side of the pneumatic actuator overcomes the elastic force of the elastic element and moves closer to the other valve core 202. The cavity 2011 and the flow channel 20121 / flow channel 20123 are connected. At this time, the performance data of the pneumatic actuator is collected in real time through the performance real-time feedback device and processed and analyzed.

[0076] Specifically, before the front valve core 202 moves, the load on the front cylinder 10 is the pressure generated by the positive pressure inside the front cylinder 4 on the front piston 6. As the positive pressure gradually increases, the load on the output shaft of the front cylinder 10 gradually increases. After the front valve core stops moving, the positive pressure inside the front cylinder 4 remains unchanged, and the load on the output shaft of the front cylinder 10 remains unchanged. Since the medium that transmits pressure inside the front cylinder 4 is hydraulic oil, all the front cylinders 10 are subjected to the same load.

[0077] Similarly, before the front valve core 202 moves, the load on the rear cylinder 10 is the pressure generated by the negative pressure in the rear cylinder body 4 on the rear piston 6. As the negative pressure gradually increases, the pressure gradually increases, and the load on the rear cylinder 10 gradually increases. After the front valve core stops moving, the negative pressure in the rear cylinder body 4 remains unchanged, and the load when the output shaft of the rear cylinder 10 moves remains unchanged. Since the medium that transmits pressure in the rear cylinder body 4 is hydraulic oil, all the rear cylinders 10 are subjected to the same load.

[0078] Since the output shafts of all cylinders 10 move at a constant speed, the output shafts are in a state of force balance. The force is transmitted to the piston 6 through the piston rod 5, and the piston 6 is also in a state of force balance. The assistance received by the piston 6 comes from the output shafts of the cylinders 10, and the resistance received by the piston 6 comes from the load. The assistance provided by the output shafts of the cylinders 10 on both the front and rear sides to the piston 6 is the same. Therefore, the load is the same when the output shafts of the cylinders 10 on both the front and rear sides move.

[0079] After the front side valve core 202 stops moving, the performance data of the pneumatic actuator is collected in real time through the real-time performance feedback device and processed and analyzed. Since all cylinders 10 are subjected to the same load, the accuracy of the test results can be guaranteed.

[0080] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above embodiments are merely illustrative of several implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. A performance testing device for a pneumatic actuator, characterized by The performance testing device for pneumatic actuators includes a real-time performance feedback device and a testing platform; Among them, the real-time performance feedback device is configured to collect, process and analyze the performance data of the pneumatic actuator in real time; The testing platform is equipped with a regulating valve, two connecting pipes, two test station groups, and two cylinder groups. The two connecting pipes are parallel and spaced apart; the regulating valve is located between the two connecting pipes; each test station group includes multiple test stations, which are arranged side-by-side, parallel to the connecting pipes, and located on both sides of the regulating valve; the pneumatic actuator is placed at each test station during testing; each cylinder group includes multiple cylinders, which are arranged side-by-side, parallel to the connecting pipes, and located between the connecting pipes and the test station groups; each cylinder is fitted with a piston rod. The output shaft of the pneumatic actuator is mounted on the piston rod and can drive the piston rod to slide along its own extension direction. A piston is fixedly sleeved on each piston rod, located within the cylinder body, forming a piston-like fit and dividing the cylinder body into non-communicating rod-side and rodless-side chambers. Each connecting pipe has a main flow path and multiple branch flow paths connected to the main flow path. The branch flow paths are connected to the rodless-side chamber on the same side, and both main flow paths are connected to a regulating valve. The rodless-side chamber, connecting pipes, and regulating valve are all filled with a liquid medium. The regulating valve is configured to ensure that all pneumatic actuators have a consistent load during testing. The regulating valve includes a valve body, inside which are an annular flow channel and a cavity, both filled with a liquid medium. The annular flow channel is located on the periphery of the cavity and is divided circumferentially into four branch channels: branch channel one, branch channel two, branch channel three, and branch channel four. Branch channels one and three are positioned opposite each other, as are branch channels two and four. The cavity has a four-way structure with four ports, each connecting to branch channels one, two, three, and four respectively. A valve is installed at each connection point between branch channels one, three, and the cavity. Two valve cores are arranged opposite each other and connected by an elastic element. Under the action of the elastic element, the two valve cores tend to move away from each other and tend to cut off the connection between the first and third branch channels and the cavity. A one-way valve is provided at the connection between the first and second branch channels, and the opening direction of the one-way valve is from the second branch channel to the first branch channel. A one-way valve is provided at the connection between the second and third branch channels, and the opening direction of the one-way valve is from the second branch channel to the third branch channel. The fourth branch channel is in a cut-off state.

2. A performance testing device for a pneumatic actuator according to claim 1, characterized in that A valve core 2 is provided at the connection between the flow channel 4 and the cavity. The valve core 2 can slide along the slide connecting the flow channel 4 and the cavity. One side of the valve core 2 is connected to the side of the valve body near the cavity through an elastic element 2, and the other side is connected to the side of the valve body away from the cavity through an elastic element 3. Under the action of the elastic element 2, the valve core 2 has a tendency to slide away from the cavity. Under the action of the elastic element 3, the valve core 2 has a tendency to slide towards the cavity. The valve core 2 is configured to cut off the flow channel 4. A connecting hole 2 is provided on the valve core 2, and the connecting hole 2 is configured to restore the connection of the flow channel 4.

3. A performance testing device for a pneumatic actuator according to claim 2, characterized in that The second elastic element is a compression spring.

4. The performance testing device for a pneumatic actuator according to claim 2, characterized in that, The third elastic element is a compression spring.

5. The device for testing the performance of a pneumatic actuator according to claim 1, characterized in that, The elastic element is a compression spring.

6. The device for testing the performance of a pneumatic actuator according to claim 1, characterized in that Each branch flow path and rodless cavity is equipped with a termination valve at the connection point, and the termination valve is configured to open / close the connection between the branch flow path and the rodless cavity.

7. The device for testing the performance of a pneumatic actuator according to claim 1, characterized in that The performance testing device for pneumatic actuators also includes a counter, which is configured to count the number of times the pneumatic actuator operates in real time.

8. The device for testing the performance of a pneumatic actuator according to claim 1, characterized in that The liquid medium is hydraulic oil.

9. Method for performance testing of a pneumatic actuator, characterized in that Using the performance testing device for pneumatic actuators as described in claim 1, the performance testing method for pneumatic actuators includes the following steps: S1. Start the pneumatic actuator and set the output shaft of the pneumatic actuator on one side to extend, and the output shaft of the pneumatic actuator on the other side to retract. S2. When the pressure difference between the two sides of the valve core on the output shaft extension side of the pneumatic actuator reaches the first set value, the valve core on the output shaft extension side of the pneumatic actuator overcomes the elastic force of the elastic element and moves closer to the other valve core. The cavity and the flow channel one / flow channel three are connected. At this time, the performance data of the pneumatic actuator is collected in real time through the performance real-time feedback device and processed and analyzed.

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