阅读说明：本技术 一种盾构机换刀机械臂电液作动器单元测试系统 (Shield constructs quick-witted tool changing arm electro-hydraulic actuator unit test system ) 是由 谢海波 朱涛 杨华勇 于 2020-12-04 设计创作，主要内容包括：本发明公开了一种盾构机换刀机械臂电液作动器单元测试系统。对顶油缸包括对顶油缸小直径缸筒、对顶油缸大直径缸筒和对顶油缸共用活塞杆,对顶油缸小直径缸筒和对顶油缸大直径缸筒共用一根对顶油缸共用活塞杆,液压泵站和对顶油缸大直径缸筒的两腔体连通,电液作动器经第一手动换向阀和液压缸的两腔体连通,电液作动器经第二手动换向阀和对顶油缸小直径缸筒的两腔体连通。本发明给盾构机换刀机械臂电液作动器单元提供占用空间小,成本低的测试系统以及半自动化的测试方法,能够以简单的结构全面地模拟机械臂的各种实际加载情况,方便的完成换刀机械臂电液作动器的性能测试以及位置控制实验。(The invention discloses a shield tunneling machine tool changing mechanical arm electro-hydraulic actuator unit testing system. The opposite-vertex oil cylinder comprises an opposite-vertex oil cylinder small-diameter cylinder barrel, an opposite-vertex oil cylinder large-diameter cylinder barrel and an opposite-vertex oil cylinder shared piston rod, the opposite-vertex oil cylinder small-diameter cylinder barrel and the opposite-vertex oil cylinder large-diameter cylinder barrel share one opposite-vertex oil cylinder shared piston rod, a hydraulic pump station is communicated with two cavities of the opposite-vertex oil cylinder large-diameter cylinder barrel, an electro-hydraulic actuator is communicated with the two cavities of the hydraulic cylinder through a first manual directional control valve, and the electro-hydraulic actuator is communicated with the two cavities of the opposite-vertex oil cylinder small-diameter cylinder barrel through a second manual. The invention provides a test system with small occupied space and low cost and a semi-automatic test method for the shield machine tool changing mechanical arm electro-hydraulic actuator unit, can comprehensively simulate various actual loading conditions of the mechanical arm by a simple structure, and conveniently completes the performance test and position control experiment of the tool changing mechanical arm electro-hydraulic actuator.)

1. The utility model provides a shield constructs quick-witted tool changing arm electricity liquid actuator unit test system which characterized in that:

the hydraulic control system comprises an electro-hydraulic actuator (100), a hydraulic pump station (200), a jack cylinder (300), a hydraulic cylinder (400), a first manual reversing valve (705) and a second manual reversing valve (706); the opposite vertex oil cylinder (300) comprises an opposite vertex oil cylinder small-diameter cylinder barrel (301), an opposite vertex oil cylinder large-diameter cylinder barrel (302) and an opposite vertex oil cylinder shared piston rod (303), the opposite vertex oil cylinder small-diameter cylinder barrel (301) and the opposite vertex oil cylinder large-diameter cylinder barrel (302) share one opposite vertex oil cylinder shared piston rod (303), a hydraulic pump station (200) is communicated with two cavities of the opposite vertex oil cylinder large-diameter cylinder barrel (302), an electro-hydraulic actuator (100) is communicated with the two cavities of a hydraulic cylinder (400) through a first manual reversing valve (705), and the electro-hydraulic actuator (100) is communicated with the two cavities of the opposite vertex oil cylinder small-diameter cylinder barrel (301) through a second manual reversing valve (706).

2. The shield tunneling machine tool changing mechanical arm electro-hydraulic actuator unit testing system as claimed in claim 1, characterized in that: the hydraulic cylinder (400) is arranged on a tool changing mechanical arm (708) in a mounting space of a shield tunneling machine cutter head (709), and a first displacement sensor (501) is arranged at a piston rod of the hydraulic cylinder (400); the rodless cavity and the rod cavity of the hydraulic cylinder (400) are respectively communicated with an oil port A (401) of the hydraulic cylinder and an oil port B (402) of the hydraulic cylinder, the oil port A (401) of the hydraulic cylinder is respectively communicated with an oil port A of the first manual reversing valve (705) through a second external overflow valve (703) and a second external check valve (704), and the oil port B (402) of the hydraulic cylinder is respectively communicated with an oil port B of the first manual reversing valve (705) through a first external check valve (701) and a first external overflow valve (702); and oil pipelines at the oil port (401) of the hydraulic cylinder A and the oil port (402) of the hydraulic cylinder B are respectively provided with a second pressure sensor (602) and a first pressure sensor (601).

3. The shield tunneling machine tool changing mechanical arm electro-hydraulic actuator unit testing system as claimed in claim 1, characterized in that: in the opposite-vertex oil cylinders (300), a second displacement sensor (502) is arranged at the position of the opposite-vertex oil cylinder sharing piston rod (303); a rodless cavity and a rod cavity of the opposite-jacking oil cylinder small-diameter cylinder barrel (301) are respectively communicated with an oil port A (304) of the opposite-jacking oil cylinder small-diameter cylinder barrel and an oil port B (305) of the opposite-jacking oil cylinder small-diameter cylinder barrel, and the oil port A (304) of the opposite-jacking oil cylinder small-diameter cylinder barrel and the oil port B (305) of the opposite-jacking oil cylinder small-diameter cylinder barrel are respectively connected to an opening A and an opening B of a second manual reversing valve (706); a rod cavity and a rodless cavity of the opposite top oil cylinder large-diameter cylinder barrel (302) are respectively communicated with an oil port A (306) of the opposite top oil cylinder large-diameter cylinder barrel and an oil port B (307) of the opposite top oil cylinder large-diameter cylinder barrel, a hydraulic pump station pressure gauge (201) and a fifth pressure sensor (605) are arranged in a hydraulic pump station (200), the hydraulic pump station pressure gauge (201) is installed at an overflow valve oil inlet of the hydraulic pump station (200), and an outlet of the hydraulic pump station (200) is respectively communicated with the oil port A (306) of the opposite top oil cylinder large-diameter cylinder barrel and the oil port B (307) of the opposite top oil cylinder large-diameter cylinder barrel through a hydraulic pump station electromagnetic directional; and a fifth pressure sensor (605) is arranged on a pipeline where a pressure gauge (201) of the hydraulic pump station is arranged.

4. The shield tunneling machine tool changing mechanical arm electro-hydraulic actuator unit testing system as claimed in claim 1, characterized in that: the electro-hydraulic actuator (100) comprises an electro-hydraulic actuator servo motor (103), an electro-hydraulic actuator bidirectional high-pressure plunger pump (104), an electro-hydraulic actuator first overflow valve (105), an electro-hydraulic actuator second overflow valve (106), an electro-hydraulic actuator first balance valve (107), an electro-hydraulic actuator second balance valve (108), a third pressure sensor (603) and a fourth pressure sensor (604); the output end of a servo motor (103) of the electro-hydraulic actuator is connected with the input shaft of a bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator, a first oil port of the bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator is respectively connected with a first overflow valve (105) of the electro-hydraulic actuator and one port of a first balance valve (107) of the electro-hydraulic actuator, the other port of the first overflow valve (105) of the electro-hydraulic actuator is connected to an oil tank, the other port of the first balance valve (107) of the electro-hydraulic actuator serves as an A oil port (101) of the electro-hydraulic actuator, and the A oil port (101) of the electro-hydraulic actuator is respectively connected to P ports of; a second oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) is respectively connected with a second overflow valve (106) of the electro-hydraulic actuator and one port of a second balance valve (108) of the electro-hydraulic actuator, the other port of the second overflow valve (106) of the electro-hydraulic actuator is connected to an oil tank, the other port of the second balance valve (108) of the electro-hydraulic actuator is used as an oil port B (102) of the electro-hydraulic actuator, and the oil port B (102) of the electro-hydraulic actuator is respectively connected to T ports of a first manual reversing valve (705) and a second manual reversing valve (706);

and a third pressure sensor (603) is arranged on an oil pipeline between a first oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) and the electro-hydraulic actuator first overflow valve (105) and the electro-hydraulic actuator first balance valve (107), and a fourth pressure sensor (604) is arranged on an oil pipeline between a second oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) and the electro-hydraulic actuator second overflow valve (106) and the electro-hydraulic actuator second balance valve (108).

5. The shield tunneling machine tool changing mechanical arm electro-hydraulic actuator unit testing system as claimed in claim 1, characterized in that: the electro-hydraulic actuator servo motor control system is characterized by further comprising a computer (707), wherein the computer (707) is respectively connected with the second pressure sensor (602), the first pressure sensor (601), the third pressure sensor (603), the fourth pressure sensor (604), the fifth pressure sensor (605), the first displacement sensor (501) and the second displacement sensor (502), and the computer (707) is simultaneously connected to the electro-hydraulic actuator servo motor (103) to control the work of the electro-hydraulic actuator servo motor (103).

Technical Field

The invention relates to a test system for an electro-hydraulic actuator unit in the field of hydraulic test systems, in particular to a test system and a test method for a shield machine tool changing mechanical arm electro-hydraulic actuator unit.

Background

The shield machine is a tunnel construction machine and is widely applied to actual engineering at present. The cutter consumption is big, the change is frequent in the shield constructs quick-witted work progress, and the tool changing operating time accounts for tunnel construction cycle more than 10%, and current tool changing work mainly relies on manual work, and the operation potential safety hazard under construction environment such as big buried depth, high water pressure is big, major incident such as casualties easily appears. With the increase of the construction amount of tunnels such as subways, highways, railways and the like in China, the market of the shield tunneling machine is continuously expanded, and the tool changing operation is imperatively realized in a high-efficiency and safe robot changing operation mode. The actuator for replacing the hob of the cutter disc of the shield machine, which requires the replacement of the cutter changing mechanical arm, has the characteristics of high pressure resistance, high humidity resistance, high power density, high integration and the like. An Electro-hydraulic Actuator (EHA) is an integrated Actuator which integrates discrete elements such as a motor, a pump, a valve, a cylinder, an Actuator and the like, has the advantages of high integration level, large power-to-weight ratio, high reliability, high efficiency, good installation and maintenance performance and the like, and is very suitable for being used as the drive of a tool changing mechanical arm. Before actual installation and application, a test system for simulating actual load working conditions needs to be built to test the main performance of the electro-hydraulic actuator, and the test system comprises the lowest rotating speed required by the bidirectional high-pressure plunger pump for establishing different pressures and the position control precision of an actuator under different load working conditions. The highest output pressure of a common hydraulic pump station on the market at present is usually lower than 25MPa, and the common hydraulic pump station is difficult to be directly used for the performance test of an electro-hydraulic actuator system with the highest pressure reaching 35 MPa.

Disclosure of Invention

In order to solve the problems in the background art, the invention provides a system and a method for testing a shield machine tool changing mechanical arm electro-hydraulic actuator unit, which have the advantages of simple structure, low cost and convenience in operation, comprehensively simulate the working conditions of an actuator subjected to unidirectional positive load (the load direction is opposite to the movement direction), negative load (the load direction is the same as the movement direction) or bidirectional positive load, and do not need to process a whole set of complicated and expensive mechanical arms in the testing stage.

The technical scheme adopted by the invention is as follows:

the hydraulic control system comprises an electro-hydraulic actuator, a hydraulic pump station, a butting oil cylinder, a hydraulic cylinder, a first manual reversing valve and a second manual reversing valve; the opposite-vertex oil cylinder comprises an opposite-vertex oil cylinder small-diameter cylinder barrel, an opposite-vertex oil cylinder large-diameter cylinder barrel and an opposite-vertex oil cylinder shared piston rod, the opposite-vertex oil cylinder small-diameter cylinder barrel and the opposite-vertex oil cylinder large-diameter cylinder barrel share one opposite-vertex oil cylinder shared piston rod, a hydraulic pump station is communicated with two cavities of the opposite-vertex oil cylinder large-diameter cylinder barrel, an electro-hydraulic actuator is communicated with the two cavities of the hydraulic cylinder through a first manual directional control valve, and the electro-hydraulic actuator is communicated with the two cavities of the opposite-vertex oil cylinder small-diameter cylinder barrel through a second manual.

The hydraulic cylinder is arranged on a tool changing mechanical arm in the mounting space of the shield machine cutter head and is positioned near the shield machine cutter head, and a first displacement sensor is arranged at the piston rod of the hydraulic cylinder; the rodless cavity and the rod cavity of the hydraulic cylinder are respectively communicated with an oil port A of the hydraulic cylinder and an oil port B of the hydraulic cylinder, the oil port A of the hydraulic cylinder is respectively communicated with the port A of the first manual reversing valve through a second external overflow valve and a second external one-way valve, and the oil port B of the hydraulic cylinder is respectively communicated with the port B of the first manual reversing valve through a first external one-way valve and a first external overflow valve; and oil circuit pipelines at the oil port of the hydraulic cylinder A and the oil port of the hydraulic cylinder B are respectively provided with a second pressure sensor and a first pressure sensor.

In the opposite-vertex oil cylinders, a second displacement sensor is arranged at the position of the opposite-vertex oil cylinder sharing the piston rod; the rodless cavity and the rod cavity of the small-diameter cylinder barrel of the opposite-ejecting oil cylinder are respectively communicated with an oil port A of the small-diameter cylinder barrel of the opposite-ejecting oil cylinder and an oil port B of the small-diameter cylinder barrel of the opposite-ejecting oil cylinder, and the oil port A of the small-diameter cylinder barrel of the opposite-ejecting oil cylinder and the oil port B of the small-diameter cylinder barrel of the opposite-ejecting oil cylinder are respectively connected to an port A and a port B of a second; a rod cavity and a rodless cavity of the large-diameter cylinder barrel of the opposite-ejecting oil cylinder are respectively communicated with an oil port A of the large-diameter cylinder barrel of the opposite-ejecting oil cylinder and an oil port B of the large-diameter cylinder barrel of the opposite-ejecting oil cylinder, a hydraulic pump station pressure gauge and a fifth pressure sensor are arranged in a hydraulic pump station, the hydraulic pump station pressure gauge is installed at an oil inlet of an overflow valve of the hydraulic pump station, and an outlet of the hydraulic pump station is respectively communicated with the oil port A of the large-diameter cylinder barrel of the opposite-ejecting oil cylinder and the oil port B of; the fifth pressure sensor is arranged on a pipeline where a pressure gauge of the hydraulic pump station is positioned

The electro-hydraulic actuator comprises an electro-hydraulic actuator servo motor, an electro-hydraulic actuator bidirectional high-pressure plunger pump, an electro-hydraulic actuator first overflow valve, an electro-hydraulic actuator second overflow valve, an electro-hydraulic actuator first balance valve, an electro-hydraulic actuator second balance valve, a third pressure sensor and a fourth pressure sensor; the output end of a servo motor of the electro-hydraulic actuator is connected with the input shaft of a bidirectional high-pressure plunger pump of the electro-hydraulic actuator, a first oil port of the bidirectional high-pressure plunger pump of the electro-hydraulic actuator is respectively connected with a first overflow valve of the electro-hydraulic actuator and one port of a first balance valve of the electro-hydraulic actuator, the other port of the first overflow valve of the electro-hydraulic actuator is connected to an oil tank, the other port of the first balance valve of the electro-hydraulic actuator is used as an oil port A of the electro-hydraulic actuator, and the oil port A of the electro-hydraulic actuator is respectively; a second oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump is respectively connected with a second overflow valve of the electro-hydraulic actuator and one port of a second balance valve of the electro-hydraulic actuator, the other port of the second overflow valve of the electro-hydraulic actuator is connected to an oil tank, the other port of the second balance valve of the electro-hydraulic actuator serves as an oil port B of the electro-hydraulic actuator, and the oil port B of the electro-hydraulic actuator is respectively connected to a T port of a first manual reversing valve and a T port of a second manual reversing valve; and a third pressure sensor is arranged on an oil pipeline between the first oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump and the first overflow valve of the electro-hydraulic actuator as well as the first balance valve of the electro-hydraulic actuator, and a fourth pressure sensor is arranged on an oil pipeline between the second oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump and the second overflow valve of the electro-hydraulic actuator as well as the second balance valve of the electro-hydraulic actuator.

The electro-hydraulic actuator servo motor control system is characterized by further comprising a computer, wherein the computer is respectively connected with the second pressure sensor, the first pressure sensor, the third pressure sensor, the fourth pressure sensor, the fifth pressure sensor, the first displacement sensor and the second displacement sensor, and the computer is simultaneously connected to the electro-hydraulic actuator servo motor to control the electro-hydraulic actuator servo motor to work.

The invention has the beneficial effects that:

the invention is used for testing the shield machine tool changing mechanical arm electro-hydraulic actuator unit, can simulate the actual loading condition of the mechanical arm with a simple structure, has small occupied space and low cost, and comprehensively simulates the working condition that the actuator bears unidirectional positive load (the load direction is opposite to the movement direction), negative load (the load direction is the same as the movement direction) or bidirectional positive load. And the performance test and the position control experiment of the tool changing mechanical arm electro-hydraulic actuator can be conveniently completed by combining a semi-automatic test mode.

Drawings

FIG. 1 is a schematic diagram of the system of the present invention.

FIG. 2 is a schematic diagram of an electro-hydraulic actuator in accordance with the present invention.

FIG. 3 is a schematic diagram of the movement stress condition of the opposite-top oil cylinder;

FIG. 4 is a schematic diagram of the motion stress situation of the hydraulic cylinder;

fig. 5 is a control connection diagram of the present invention.

In the figure:

100-an electro-hydraulic actuator; 101-an oil port of an electro-hydraulic actuator A; 102-an oil port B of the electro-hydraulic actuator; 103-an electro-hydraulic actuator servo motor; 104-an electro-hydraulic actuator bidirectional high-pressure plunger pump; 105-a first overflow valve of the electro-hydraulic actuator; 106-a second overflow valve of the electro-hydraulic actuator; 107-an electro-hydraulic actuator first balance valve; 108-an electro-hydraulic actuator second balance valve;

200-a hydraulic pump station; 201-hydraulic pump station pressure gauge; 202-hydraulic pump station electromagnetic directional valve;

300-opposite-top oil cylinder; 301-opposite top oil cylinder small diameter cylinder barrel; 302-opposite top oil cylinder large diameter cylinder barrel; 303-the opposite-top oil cylinders share a piston rod; 304-oil port of small diameter cylinder barrel A of opposite top oil cylinder; 305-oil port of small diameter cylinder barrel B of opposite top oil cylinder; 306-oil port A of the large-diameter cylinder barrel of the opposite top oil cylinder; 307-oil port of large diameter cylinder barrel B of opposite top oil cylinder;

400-hydraulic cylinder; 401-hydraulic cylinder a oil port; 402-hydraulic cylinder B port;

501-a first displacement sensor; 502-a second displacement sensor;

601-a first pressure sensor; 602-a second pressure sensor; 603-a third pressure sensor; 604-a fourth pressure sensor; 605-a fifth pressure sensor;

701-a first external one-way valve; 702-a first external overflow valve; 703-a second external relief valve; 704-a second external one-way valve; 705-a first manual directional valve; 706-a second manual directional-change valve;

707-a computer; 708-a tool changing robot arm; 709-shield machine cutterhead.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the system comprises an electro-hydraulic actuator 100, a hydraulic pump station 200, an opposite-vertex oil cylinder 300, a hydraulic cylinder 400, a first manual reversing valve 705 and a second manual reversing valve 706; the opposite vertex oil cylinder 300 comprises an opposite vertex oil cylinder small-diameter cylinder barrel 301, an opposite vertex oil cylinder large-diameter cylinder barrel 302 and an opposite vertex oil cylinder shared piston rod 303, the opposite vertex oil cylinder small-diameter cylinder barrel 301 and the opposite vertex oil cylinder large-diameter cylinder barrel 302 share the opposite vertex oil cylinder shared piston rod 303, namely, the opposite vertex oil cylinder small-diameter cylinder barrel 301 and the opposite vertex oil cylinder large-diameter cylinder barrel 302 are coaxially and fixedly connected to form the opposite vertex oil cylinder shared piston rod 303, and the coaxiality is higher; the hydraulic pump station 200 is communicated with the two cavities of the large-diameter cylinder barrel 302 of the opposite-vertex oil cylinder, the electro-hydraulic actuator 100 is communicated with the two cavities of the hydraulic cylinder 400 through a first manual directional control valve 705, and the electro-hydraulic actuator 100 is communicated with the two cavities of the small-diameter cylinder barrel 301 of the opposite-vertex oil cylinder through a second manual directional control valve 706.

The test object of the invention is the electro-hydraulic actuator, and the test is carried out aiming at the simulation relation of the shield machine tool changing mechanical arm between the electro-hydraulic actuator and the opposite jacking oil cylinder and also aiming at the test between the electro-hydraulic actuator and the hydraulic cylinder.

The hydraulic pump station 200 supplies oil to the large-diameter cylinder barrel 302 of the opposite-vertex oil cylinder to provide loading pressure, the electro-hydraulic actuator 100 supplies oil to the small-diameter cylinder barrel 301 of the opposite-vertex oil cylinder, and the opposite-vertex oil cylinder 300 is used for testing the minimum rotating speed required by the bidirectional high-pressure plunger pump 104 of the electro-hydraulic actuator when different pressures are kept.

On the other hand, the opposite-vertex oil cylinder 300 is used for simulating the working condition that the shield tunneling machine tool changing mechanical arm is subjected to positive load (the direction of load force is opposite to the moving direction) or negative load (the direction of load force is the same as the moving direction), and testing the position control accuracy of the opposite-vertex oil cylinder shared piston rod 303 under the working condition.

The first external check valve 701, the first external overflow valve 702, the second external overflow valve 703 and the second external check valve 704 are used for generating oil return backpressure of the hydraulic cylinder 400 and ensuring normal oil inlet, simulate the working condition that the piston rod of the hydraulic cylinder 400 is subjected to positive and negative loads in two directions, and are used for testing the position control precision of the piston rod of the hydraulic cylinder 400 under the working condition of the two directions and the positive and negative loads together with the hydraulic cylinder 400.

As shown in fig. 2, a hydraulic cylinder 400 is mounted on a tool changing mechanical arm 708 near a shield tunneling machine cutterhead 709, a first displacement sensor 501 is arranged at a piston rod of the hydraulic cylinder 400, and the first displacement sensor 501 is used for detecting the displacement of the piston rod of the hydraulic cylinder 400;

a rodless cavity and a rod cavity of the hydraulic cylinder 400 are respectively communicated with an oil port 401 of a hydraulic cylinder A and an oil port 402 of a hydraulic cylinder B, the oil port 401 of the hydraulic cylinder A is respectively communicated with an oil port A of a first manual reversing valve 705 through a second external overflow valve 703 and a second external one-way valve 704, namely the second external overflow valve 703 and the second external one-way valve 704 are connected in parallel between the oil port 401 of the hydraulic cylinder A and the first manual reversing valve 705, the oil port 402 of the hydraulic cylinder B is respectively communicated with an oil port B of the first manual reversing valve 705 through a first external one-way valve 701 and a first external overflow valve 702, namely the first external one-way valve 701 and the first external overflow valve 702 are connected in parallel between the oil port B402 of the hydraulic cylinder B and the first manual reversing; the oil circuit pipelines at the oil port 401 of the hydraulic cylinder A and the oil port 402 of the hydraulic cylinder B are respectively provided with a second pressure sensor 602 and a first pressure sensor 601, the first pressure sensor 601 detects the oil pressure of the oil port 402 of the hydraulic cylinder B, and the second pressure sensor 602 detects the oil pressure of the oil port 401 of the hydraulic cylinder A.

In the opposite vertex oil cylinder 300, a second displacement sensor 502 is arranged at the position of the opposite vertex oil cylinder shared piston rod 303, and the second displacement sensor 502 is used for detecting the displacement of the opposite vertex oil cylinder shared piston rod 303; a rodless cavity and a rod cavity of the opposite-top oil cylinder small-diameter cylinder barrel 301 are respectively communicated with an oil port A304 of the opposite-top oil cylinder small-diameter cylinder barrel and an oil port B305 of the opposite-top oil cylinder small-diameter cylinder barrel, and the oil port A304 of the opposite-top oil cylinder small-diameter cylinder barrel and the oil port B305 of the opposite-top oil cylinder small-diameter cylinder barrel are respectively connected to an port A and a port B of a second manual reversing valve 706; a rod cavity and a rodless cavity of the opposite-ejection-cylinder large-diameter cylinder barrel 302 are respectively communicated with an oil port A306 of the opposite-ejection-cylinder large-diameter cylinder barrel and an oil port B307 of the opposite-ejection-cylinder large-diameter cylinder barrel, two hydraulic hoses are led out of a hydraulic pump station 200 and are respectively connected with the oil port A306 of the opposite-ejection-cylinder large-diameter cylinder barrel and the oil port B307 of the opposite-ejection-cylinder large-diameter cylinder barrel, a hydraulic pump station pressure gauge 201 and a fifth pressure sensor 605 are arranged in the hydraulic pump station 200, the hydraulic pump station pressure gauge 201 is installed at an overflow valve oil inlet of the hydraulic pump station 200, and an outlet of the hydraulic pump station 200 is respectively communicated with the oil port A306 of the opposite-ejection-cylinder large; the fifth pressure sensor 605 is installed on a pipeline where the hydraulic pump station pressure gauge 201 is located, and is used for detecting the pressure of the overflow valve of the hydraulic pump station 200.

The electro-hydraulic actuator 100 comprises an electro-hydraulic actuator servo motor 103, an electro-hydraulic actuator bidirectional high-pressure plunger pump 104, an electro-hydraulic actuator first overflow valve 105, an electro-hydraulic actuator second overflow valve 106, an electro-hydraulic actuator first balance valve 107, an electro-hydraulic actuator second balance valve 108, a third pressure sensor 603 and a fourth pressure sensor 604; the output end of a servo motor 103 of the electro-hydraulic actuator is connected with the input shaft of a bidirectional high-pressure plunger pump 104 of the electro-hydraulic actuator, a first oil port of the bidirectional high-pressure plunger pump 104 of the electro-hydraulic actuator is respectively connected with a first overflow valve 105 of the electro-hydraulic actuator and one port of a first balance valve 107 of the electro-hydraulic actuator, the other port of the first overflow valve 105 of the electro-hydraulic actuator is connected to an oil tank, the other port of the first balance valve 107 of the electro-hydraulic actuator serves as an oil port A101 of the electro-hydraulic actuator, and the oil port A101 of the electro-hydraulic actuator is respectively connected to; a second oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump 104 is respectively connected with one ports of an electro-hydraulic actuator second overflow valve 106 and an electro-hydraulic actuator second balance valve 108, the other port of the electro-hydraulic actuator second overflow valve 106 is connected to an oil tank, the other port of the electro-hydraulic actuator second balance valve 108 serves as an electro-hydraulic actuator B oil port 102, and the electro-hydraulic actuator B oil port 102 is respectively connected to a first manual reversing valve 705 and a second manual reversing valve 706T port.

And a third pressure sensor 603 is arranged on an oil pipeline between the first oil port of the electro-hydraulic actuator two-way high-pressure plunger pump 104 and the electro-hydraulic actuator first overflow valve 105 and the electro-hydraulic actuator first balance valve 107, and a fourth pressure sensor 604 is arranged on an oil pipeline between the second oil port of the electro-hydraulic actuator two-way high-pressure plunger pump 104 and the electro-hydraulic actuator second overflow valve 106 and the electro-hydraulic actuator second balance valve 108.

The specific implementation further comprises a computer 707, the computer 707 is respectively connected with the second pressure sensor 602, the first pressure sensor 601, the third pressure sensor 603, the fourth pressure sensor 604, the fifth pressure sensor 605, the first displacement sensor 501 and the second displacement sensor 502, and the computer 707 is simultaneously connected to the electro-hydraulic actuator servo motor 103 to control the operation of the electro-hydraulic actuator servo motor 103.

The electro-hydraulic actuator 100 in the specific implementation adopts an electro-hydraulic actuator unit in the Chinese patent application with the application number of 2020112859933 and the application date of 2020.11.17 or an electro-hydraulic actuator unit in the Chinese patent application with the application number of 2020112841817 and the application date of 2020.11.17. The hydraulic cylinder 400 in the specific implementation adopts a hydraulic cylinder in Chinese patent application with application number 2020112859933 and application number 2020.11.17 or a hydraulic cylinder in Chinese patent application with application number 2020112841817 and application number 2020.11.17.

The opposite-top oil cylinder 300 comprises an opposite-top oil cylinder small-diameter cylinder barrel 301, an opposite-top oil cylinder large-diameter cylinder barrel 302, an opposite-top oil cylinder shared piston rod 303, an opposite-top oil cylinder small-diameter cylinder barrel A oil port 304, an opposite-top oil cylinder small-diameter cylinder barrel B oil port 305, an opposite-top oil cylinder large-diameter cylinder barrel A oil port 306 and an opposite-top oil cylinder large-diameter cylinder barrel B oil port 307, wherein the two cylinder barrels share one piston rod and are coaxial and higher, the inner diameter of the small-diameter cylinder barrel is 30mm, the inner diameter of the large-diameter cylinder barrel is 63mm, the diameter of the shared piston rod is 20mm, the electro-hydraulic actuator 100 supplies oil to the small-diameter cylinder barrel, and the hydraulic pump station 200 supplies oil to the large-diameter cylinder barrel.

The first displacement sensor 501 detects the displacement of the piston rod of the hydraulic cylinder 400; the second displacement sensor 502 detects the displacement of the shared piston rod 303 of the opposite-top oil cylinder; the first pressure sensor 601 detects the oil pressure of the oil port 402 of the hydraulic cylinder B; the second pressure sensor 602 detects the oil pressure of the oil port 401 of the hydraulic cylinder a; the third pressure sensor 603 detects the oil pressure of a first oil port on the left side of the electro-hydraulic actuator bidirectional high-pressure plunger pump 104, the difference value between the measured value of the third pressure sensor 603 and the actual pressure of the oil port on the left side of the electro-hydraulic actuator bidirectional high-pressure plunger pump 104 is the front-back pressure difference of a one-way valve on the left side of the plunger pump, and the difference value is smaller than 0.1 MPa; a fourth pressure sensor 604 detects the oil pressure of an oil port on the right side of the two-way high-pressure plunger pump 104 of the electro-hydraulic actuator, the difference value of the oil pressure and the oil pressure is the front-back pressure difference of a one-way valve on the right side of the plunger pump, and the difference value is smaller than 0.1 MPa; the fifth pressure sensor 605 measures the output oil pressure of the hydraulic pump station 200.

The data collected by each displacement sensor and each pressure sensor is fed back to the computer 707; the servo motor 103 of the electro-hydraulic actuator feeds back the rotation speed and the position to the computer 707, and receives the rotation speed and the position command sent by the computer 707 to work, as shown in fig. 5.

The opposite-top oil cylinder 300 is used for simulating that the electro-hydraulic actuator 100 is subjected to unidirectional load, the load value is adjusted by adjusting the overflow pressure of an overflow valve in the hydraulic pump station 200, and the load force direction is changed by adjusting the electromagnetic directional valve 202 of the hydraulic pump station.

As shown in fig. 3, when the acting force of the oil on the large-diameter cylinder 302 side of the counter top cylinder on the piston rod is F1, no matter the movement direction of the piston rod is v1 or v2, the direction of the acting force of the hydraulic pump station 200 on the common piston rod 303 of the counter top cylinder is leftward; when the acting force of the oil on the large-diameter cylinder barrel 302 side of the opposite-top oil cylinder on the piston rod is F2, no matter the movement direction of the piston rod is v1 or v2, the direction of the acting force of the hydraulic pump station 200 on the common piston rod 303 of the opposite-top oil cylinder is rightward.

The first external overflow valve 702 and the second external overflow valve 703 are used for generating oil return back pressure of the hydraulic cylinder 400 and ensuring normal oil inlet, and simulating a bidirectional positive load, as shown in fig. 4, when the movement direction of a piston rod of the hydraulic cylinder 400 is v3, the stress direction of the piston rod is F3; when the piston rod moving direction is v4, the piston rod force receiving direction is F4. The size of the F3 is changed by adjusting the overflow pressure of the first external overflow valve 702, the size of the F4 is changed by adjusting the overflow pressure of the second external overflow valve 703, and the pressure regulating intervals of the first external overflow valve 702 and the second external overflow valve 703 are both 0-31.5 MPa. When the motion direction of the piston rod is changed, the direction of the load force is changed.

The control connection is as shown in fig. 5, and the implementation working conditions and processes of the invention are as follows:

1. when the bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator discharges oil to the left side of one side of a first overflow valve (105) of the electro-hydraulic actuator and maintains the lowest rotating speed under different output pressures, the operation flow is as follows:

firstly, the overflow pressure of a first overflow valve (105) and a second overflow valve (106) of an electro-hydraulic actuator in the electro-hydraulic actuator (100) is adjusted to be 35MPa at the maximum value, the overflow pressure of a first balance valve (107) and a second balance valve (108) of the electro-hydraulic actuator is adjusted to be 35MPa at the maximum value, the overflow pressure in a hydraulic pump station (200) is adjusted to be the minimum value, a first manual directional control valve (705) is switched to the right position, so that an A port and a P port of the first manual directional control valve (705) are not communicated, a B port and a T port are not communicated, the flow of oil to a hydraulic cylinder (400) is stopped, a second manual directional control valve (706) is switched to the left position, the A port and the P port of the second manual directional control valve (706) are communicated, the B port and the T port are communicated, and the electro-hydraulic actuator (100) is allowed to supply oil to a cylinder barrel (301) with the;

switching the electromagnetic directional valve (202) of the hydraulic pump station to the right position, starting a motor of the hydraulic pump station (200), supplying oil to a rodless cavity of the large-diameter cylinder barrel (302) of the opposite-top oil cylinder, returning oil to a rod cavity, and enabling the electro-hydraulic actuator (100) not to work at the moment, wherein the opposite-top oil cylinder can not move by virtue of the locking action of two balance valves in the electro-hydraulic actuator (100) and a common piston rod (303);

thirdly, observing the reading of a pressure gauge (201) of the hydraulic pump station, heightening a pressure regulating knob of an overflow valve in the hydraulic pump station (200), roughly regulating the overflow pressure until a pointer of the pressure gauge points to about 0.2MPa, and finely regulating the overflow pressure of the overflow valve in the hydraulic pump station (200) until the overflow pressure approaches to 0.2MPa by observing the reading of a fifth pressure sensor (605) displayed in a computer (707);

sending a speed set value to the servo motor (103) of the electro-hydraulic actuator by the computer (707), enabling the servo motor (103) of the electro-hydraulic actuator to rotate unidirectionally at a constant speed to drive the bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator to discharge oil to the left side of one side of the first overflow valve (105) of the electro-hydraulic actuator, wherein the initial rotating speed value of the servo motor (103) of the electro-hydraulic actuator is 0rpm, gradually increasing the rotating speed at intervals of 100rpm by setting the computer (707), until the second displacement sensor (502) detects that the shared piston rod (303) of the opposite-top oil cylinder generates displacement, reducing the rotating speed of the motor, and continuously searching the critical rotating speed of the servo motor (103) of the electro-hydraulic actuator, which is required for the displacement of the shared piston rod (303);

fifthly, continuously keeping the critical rotating speed for 10s after the critical rotating speed is reached, recording data fed back by a second displacement sensor (502), a third pressure sensor (603), a fourth pressure sensor (604) and a fifth pressure sensor (605) in the whole experiment process, recording the rotating speed of a servo motor (103) of the electro-hydraulic actuator at the moment, and storing the rotating speed into a computer (707), wherein the rotating speed values of the third pressure sensor (603) and the servo motor (103) of the electro-hydraulic actuator are respectively the output pressure when the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) discharges oil to the left side of one side of a first overflow valve (105) of the electro-hydraulic actuator and the lowest rotating speed of the motor required for maintaining the output pressure, and searching of the critical rotating speed and recording of the data can be automatically completed through a program;

continuously and manually increasing the overflow pressure of an overflow valve in the hydraulic pump station (200) by a difference value of 0.2MPa, and repeating the experiment until the left oil outlet pressure of the bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator to one side of a first overflow valve (105) of the electro-hydraulic actuator reaches 35 MPa;

2. when oil is discharged from the right side of the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) and the lowest rotating speed under different output pressures is maintained, the electromagnetic directional valve (202) of the hydraulic pump station needs to be switched to the left position, the hydraulic pump station (200) supplies oil to a rod cavity of a large-diameter cylinder barrel (302) of an opposite-top oil cylinder and returns oil without the rod cavity, the electro-hydraulic actuator servo motor (103) drives the right side of the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) to discharge oil, the test flow is the same as the above, but the selection, movement and flowing directions of devices are opposite, wherein the rotating speed values of the fourth pressure sensor (604) and the electro-hydraulic actuator servo motor (103) are respectively the output pressure when the right side of the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) discharges oil and the lowest;

3. the electro-hydraulic actuator (100) drives the opposite-vertex oil cylinder to share the piston rod (303) to move and receives a position control precision test scheme when unidirectional load is applied:

firstly, the overflow pressure of a first overflow valve (105) and a second overflow valve (106) of an electro-hydraulic actuator in the electro-hydraulic actuator (100) is adjusted to be 35MPa at the maximum value, the overflow pressure of a first balance valve (107) and a second balance valve (108) of the electro-hydraulic actuator is adjusted to be 35MPa at the maximum value, the overflow pressure in a hydraulic pump station (200) is adjusted to be the minimum value, a first manual directional control valve (705) is switched to the right position, so that an A port and a P port of the first manual directional control valve (705) are not communicated, a B port and a T port are not communicated, the flow of oil to a hydraulic cylinder (400) is stopped, a second manual directional control valve (706) is switched to the left position, the A port and the P port of the second manual directional control valve (706) are communicated, the B port and the T port are communicated, and the electro-hydraulic actuator (100) is allowed to supply oil to a cylinder barrel (301) with the;

switching the electromagnetic directional valve (202) of the hydraulic pump station to the right position, starting a motor of the hydraulic pump station (200), supplying oil to a rodless cavity of the large-diameter cylinder barrel (302) of the opposite-top oil cylinder, returning oil to a rod cavity, and enabling the electro-hydraulic actuator (100) not to work at the moment, wherein the common piston rod (303) of the opposite-top oil cylinder cannot move due to the locking effect of a balance valve in the electro-hydraulic actuator (100);

thirdly, the reading of a pressure gauge (201) of the hydraulic pump station is observed, a pressure regulating knob of an overflow valve in the hydraulic pump station (200) is increased, the overflow pressure is regulated, and the reading of the pressure gauge and the reading of a fifth pressure sensor (605) displayed in a computer (707) are observed until the overflow pressure value meets the required applied load force;

setting a position to be reached by the shared piston rod (303) of the opposite-top oil cylinder through a computer (707), sending a position instruction, controlling a servo motor (103) of the electro-hydraulic actuator to drive a bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator to rotate, finally driving the common piston rod (303) of the opposite-top oil cylinder to extend/retract, detecting the actual position of the feedback piston rod to the computer (707) in real time through a second displacement sensor (502), and realizing the position control of the shared piston rod (303) of the opposite-top oil cylinder through position closed-loop feedback control by the computer (707);

fifthly, the electromagnetic directional valve (202) of the hydraulic pump station is switched to the left position, the direction of the force applied by the hydraulic pump station (200) to the opposite top oil cylinder sharing piston rod (303) is changed, the rest experimental processes are the same as those in the first to the fourth, but the selection, the movement and the flowing direction of the device are opposite.

4. The electro-hydraulic actuator (100) drives the hydraulic cylinder (400) to move and receives a position control precision test scheme during bidirectional positive load:

the method comprises the steps that overflow pressures of a first overflow valve (105) and a second overflow valve (106) of an electro-hydraulic actuator in the electro-hydraulic actuator (100) are adjusted to be 35MPa at the maximum value, overflow pressures of a first balance valve (107) and a second balance valve (108) of the electro-hydraulic actuator are adjusted to be 35MPa at the maximum value, the overflow pressure in a hydraulic pump station (200) is adjusted to be minimum, a first manual directional control valve (705) is switched to the left position, so that an A port and a P port of the first manual directional control valve (705) are communicated, a B port and a T port are communicated, the electro-hydraulic actuator (100) supplies oil to a hydraulic cylinder (400), a second manual directional control valve (706) is switched to the right position, so that the A port, the P port, the B port and the T port of the second manual directional control valve (706) are not communicated with each other, the electro-hydraulic actuator (100) is blocked from supplying oil to an opposite-top oil cylinder (300), and a;

when oil is discharged to the left side of one side of a first overflow valve (105) of the electro-hydraulic actuator by a bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator, the oil is conveyed to an oil port (401) of a hydraulic cylinder A to enter a rodless cavity of the hydraulic cylinder (400) through an oil port (101) of the electro-hydraulic actuator A, a first manual reversing valve (705) and a second external check valve (704) in sequence, the oil in a rod cavity of the hydraulic cylinder (400) returns to an oil port (102) of the electro-hydraulic actuator B from an oil port (402) of the hydraulic cylinder B through a first external overflow valve (702) and the first manual reversing valve (705), wherein the first external overflow valve (702) is used for generating oil return back pressure of the rod cavity, the load of the hydraulic cylinder (400) during actual work mounted on a tool changing mechanical arm (708) is simulated, and a first pressure sensor (601;

when oil is discharged to the right side of one side of a second overflow valve (106) of the electro-hydraulic actuator by a bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator, the oil is conveyed to an oil port (402) of a hydraulic cylinder B to enter a rod cavity of the hydraulic cylinder (400) through an oil port (102) of the electro-hydraulic actuator B, a first manual reversing valve (705) and a first external check valve (701) in sequence, the oil in the rodless cavity of the hydraulic cylinder (400) returns to an oil port (101) of the electro-hydraulic actuator A from an oil port (401) of the hydraulic cylinder A through a second external overflow valve (703) and the first manual reversing valve (705), wherein the second external overflow valve (703) is used for generating oil return back pressure of the rodless cavity, the load of the hydraulic cylinder (400) during actual work mounted on a tool changing mechanical arm (708) is simulated, and a second pressure sensor (;

setting the position of the piston rod of the hydraulic cylinder (400) to be reached through a computer (707), sending a position instruction, controlling a servo motor (103) of the electro-hydraulic actuator to drive a bidirectional high-pressure plunger pump (104) of the electro-hydraulic actuator to rotate, finally driving the piston rod of the hydraulic cylinder (400) to extend/retract, feeding back the actual position of the piston rod in real time through a first displacement sensor (501), and realizing the position control of the piston rod of the hydraulic cylinder (400) through position closed-loop feedback control.

Therefore, the invention can provide a test system with small occupied space and low cost and a semi-automatic test method for the shield machine tool changing mechanical arm electro-hydraulic actuator unit, can comprehensively simulate various actual loading conditions of the mechanical arm by using a simple structure, and conveniently complete the performance test and position control experiment of the tool changing mechanical arm electro-hydraulic actuator.