CN112762055A - Angle stroke regulation type executor moment of torsion simulation load device - Google Patents
Angle stroke regulation type executor moment of torsion simulation load device Download PDFInfo
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- CN112762055A CN112762055A CN202110061600.9A CN202110061600A CN112762055A CN 112762055 A CN112762055 A CN 112762055A CN 202110061600 A CN202110061600 A CN 202110061600A CN 112762055 A CN112762055 A CN 112762055A
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- 238000004088 simulation Methods 0.000 title claims abstract description 20
- 239000003921 oil Substances 0.000 claims abstract description 99
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 48
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 6
- 239000012530 fluid Substances 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 abstract description 4
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 13
- 238000001816 cooling Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000007363 regulatory process Effects 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/007—Simulation or modelling
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Abstract
The invention discloses a torque simulation load device of an angle stroke adjusting type actuator. The disclosed device comprises a hydraulic rotary oil cylinder, wherein two chambers are arranged in the hydraulic rotary oil cylinder, and an outlet of the hydraulic rotary oil cylinder is used for connecting a measured angle and stroke adjusting type actuator; the two chambers are respectively connected with a first hydraulic oil path and a second hydraulic oil path. The pump is used as a power source and is respectively connected with the two oil ports of the rotary oil cylinder to form two hydraulic oil paths which are independently controlled, so that the hydraulic oil paths are not influenced by each other, the cavitation problem is avoided, the torque loads in the forward direction and the reverse direction can be output, and the follow-up can be realized no matter how large the oil pressure is born by the output shaft of the oil cylinder; the pressure of two cavities of the rotary oil cylinder is regulated and controlled through electromagnetic proportional overflow valves in two oil ways, so that quick response can be realized, and the risk of dead reversing is avoided; and the hydraulic pressure in the hydraulic cylinder can be adjusted through controlling the proportional valves on the oil ways, so that the control of the output torque is finally realized, and the static load and the dynamic load are simulated.
Description
Technical Field
The invention relates to a testing technology of an angle stroke adjusting type actuator, in particular to a torque simulation load device of the angle stroke adjusting type actuator, which is used for performance test and testing under rated output torque when various types of angle stroke adjusting type actuators such as electric, pneumatic and electro-hydraulic are developed or delivered from factories and the like.
Background
The actuator product needs to be tested under various load working conditions in the development process and the factory test so as to fully verify the performance of the actuator, and the performance is used as one of the judgment bases for product qualification.
The existing actuator torque simulation load system usually adopts a scheme of combining an overflow valve and a reversing valve, and the technical scheme is feasible when an oil cylinder does not displace or move in a single direction. However, the load test of the adjusting type actuator requires that the analog load device can output a normal load (the load direction is opposite to the movement direction of the actuator) and an overrunning load (the load direction is the same as the movement direction of the actuator), and the oil cylinder displacement of the analog load device must follow up, namely, the oil cylinder output shaft rotates along with the output shaft of the actuator no matter how large the oil pressure is applied to the piston, and no matter how the force direction is applied to the piston, the oil pressure is not influenced. If the stress direction is required to be changed when the output shaft of the oil cylinder moves in a one-way mode, a short middle process can occur in the reversing process of the reversing valve, oil inlet and oil outlet at two ends of the oil cylinder are affected, namely normal movement can be affected, and the requirement cannot be met. In addition, when the moving direction is opposite to the stress direction, the oil cylinder feeds oil from the low-pressure end, discharges oil from the high-pressure end, and sucks oil from the oil tank at the low-pressure end, so that cavitation is easy to occur.
At present, most of common load test devices are dynamometer systems or are used for load tests of characteristic products, and no torque simulation load test device suitable for an angle stroke adjusting type actuator exists.
Disclosure of Invention
Aiming at the defects or shortcomings of the prior art, the invention provides a torque simulation load device of an angle stroke adjusting type actuator.
Therefore, the hydraulic rotary oil cylinder comprises an angle stroke adjusting type actuator torque simulation load device, two chambers are arranged in the hydraulic rotary oil cylinder, and an outlet of the hydraulic rotary oil cylinder is used for being connected with an angle stroke adjusting type actuator to be measured; the two chambers are respectively connected with a first hydraulic oil path and a second hydraulic oil path, and a first pressure monitoring instrument, a first proportional valve and a first working pump are connected in series on the first hydraulic oil path; a second pressure monitoring instrument, a second proportional valve and a second working pump are connected in series on the second hydraulic oil path; the first working pump and the second working pump are respectively used for supplying hydraulic oil for the two hydraulic oils.
Further, the apparatus of the present invention further includes a controller that controls output pressures of the first working pump and the second working pump according to equations (1), (2), and (3), the output torque T:
wherein, T represents the output torque of the load device, Nm;
P1the pressure of a chamber of the hydraulic rotary oil cylinder is MPa;
P2the pressure of the other chamber of the hydraulic rotary oil cylinder is MPa;
d, the inner diameter of a cylinder barrel of the hydraulic rotary oil cylinder is mm;
d is the diameter of the reference circle of the hydraulic rotary oil cylinder, mm;
wherein, I1-the input current of the first proportional valve, mA;
I2-the input current of the second proportional valve, mA;
a1-a pressure coefficient of the first proportional valve;
a2-the pressure coefficient of the second proportional valve;
b1-a pressure correction value for the first proportional valve;
b2-a pressure correction value of the second proportional valve.
Preferably, the minimum displacement of the first working pump and the second working pump is the same, and the minimum displacement of both pumps is determined according to equation (4):
wherein Q is the minimum displacement of the pump, L/min;
v is the displacement of the hydraulic rotary oil cylinder from 0 to 90 degrees of stroke, L;
t is the output time of the torque simulation load device, s, and the minimum execution time of the stroke of the actuator to be measured from 0 degree to 90 degrees under the rated torque is taken.
In a further aspect, a tandem pump may be used as the first working pump and the second working pump.
Optionally, the first proportional valve or/and the second proportional valve is/are an electromagnetic proportional overflow valve.
Optionally, the first hydraulic oil path and the second hydraulic oil path are respectively connected with a safety overflow valve.
Optionally, the outlets of the first working pump and the second working pump are both connected with a filter.
Furthermore, the device also comprises a workbench, wherein the hydraulic rotary oil cylinder, the first pressure monitoring instrument and the second pressure monitoring instrument are arranged on the workbench.
Furthermore, the device also comprises a hydraulic oil supply tank, inlets of the first working pump and the second working pump are both connected with the hydraulic oil supply tank, and the first proportional valve and the second proportional valve are connected with the hydraulic oil supply tank.
Further, the safety overflow valve is connected with the hydraulic oil supply tank.
Furthermore, a coupler is connected to an outlet of the hydraulic rotary oil cylinder.
The invention has the beneficial effects that:
the two pumps are used as power sources and are respectively connected with the two oil ports of the rotary oil cylinder to form two paths of hydraulic oil paths which are independently controlled, the hydraulic oil paths are not mutually influenced, the cavitation problem does not exist, the simulation load device can output torque loads in the forward direction and the reverse direction, and the follow-up can be realized no matter how large the oil pressure is born by the output shaft of the oil cylinder; the pressure of two cavities of the rotary oil cylinder is regulated and controlled through electromagnetic proportional overflow valves in two oil ways, so that quick response can be realized, and the risk of dead reversing is avoided; and the hydraulic pressure in the hydraulic cylinder can be adjusted through controlling the proportional valves on the oil ways, so that the control of the output torque is finally realized, and the static load and the dynamic load are simulated.
Further, a double pump can be selected as a power source.
Furthermore, the electromagnetic proportional overflow valve can be selected, and the overflow pressure (the electric signal is in one-to-one correspondence with the pressure) of the overflow valve is adjusted by controlling the input electric signal (which is adjusted along with the change of time), so that the hydraulic pressure in the hydraulic cylinder is controlled.
Drawings
FIG. 1 is a schematic diagram of a test system according to the present invention.
Detailed Description
Unless otherwise indicated, the terms herein are to be understood in accordance with the conventional wisdom of one of ordinary skill in the relevant art.
The invention controls the pressure of two cavities of the rotary oil cylinder by adjusting the opening degrees of the two proportional valves, under the action of pressure difference, the rotary oil cylinder outputs corresponding torque to act on the measured angle stroke adjusting type actuator, the output torque calculation formula is a formula (1) with the clockwise direction of the output torque as positive and the anticlockwise direction as negative,
wherein, T represents the output torque of the load device, Nm;
P1the pressure of the left cavity of the hydraulic rotary oil cylinder is MPa;
P2the pressure of the right cavity of the hydraulic rotary oil cylinder is MPa;
d, the inner diameter of a cylinder barrel of the hydraulic rotary oil cylinder is mm;
d is the diameter of the reference circle of the hydraulic rotary oil cylinder, mm;
wherein, I1-input current, mA, of the first proportional valve 1.8;
I2-input current, mA, of the second proportional valve 1.12;
a1-pressure coefficient of the first proportional valve 1.8;
a2-pressure coefficient of the second proportional valve 1.12;
b1-a pressure correction value of the first proportional valve 1.8;
b2pressure correction of the second proportional valve 1.12.
In a further scheme, the proportional valve is an electromagnetic proportional overflow valve, so that redundant hydraulic oil can flow back to an oil tank of the device in the pressure regulating process.
In the preferred scheme of the invention, the safety overflow valves in the two hydraulic oil paths overflow when the proportional valve fails, so that the simulation load device is protected, and the damage to a product to be tested caused by the output of an overlarge load is also prevented. When the device works, the safety overflow valve sets a safety value, and the safety value is set according to the maximum torque value of the simulation load device. In a further scheme, the hydraulic oil overflowing from the safety valve is converged to an oil tank of the device.
The following are specific examples provided by the inventors to further explain the technical solutions of the present invention in detail.
Example (b):
as shown in fig. 1, the angular stroke adjusting type actuator torque simulation load device of the embodiment mainly comprises two major parts, namely a hydraulic power station 1 and a pipeline on a workbench 2, wherein the hydraulic power station is formed by connecting an oil tank 1.1, a first working pump P1, a second working pump P2, a first electromagnetic proportional overflow valve 1.8, a second electromagnetic proportional overflow valve 1.12, a first safety overflow valve 1.7 and a second safety overflow valve 1.11 through oil pipes; a hydraulic rotary oil cylinder 2.2, a first pressure gauge 2.8 and a second pressure gauge 2.5 are arranged on the workbench 2, and components on the workbench are connected with the hydraulic power station 1 through an oil pipe 3; the hydraulic oil is divided into two paths through a first working pump P1 and a second working pump P2:
on the first path of hydraulic oil path, hydraulic oil supplied by a first working pump P1 pushes a check valve 1.5 open and flows through a filter 1.6, enters a left cavity of a rotary oil cylinder 2.2 along an oil pipe 3.1, the pressure of the first path of hydraulic oil, namely the left cavity of the oil cylinder, is controlled by the opening degree of an electromagnetic proportional overflow valve 1.8, redundant oil flows back to an oil tank 1.1 through the electromagnetic proportional overflow valve 1.8, and when the pressure of the left cavity is higher than the set value of a first safety overflow valve 1.7, the oil flows back to the oil tank 1.1 through the first safety overflow valve 1.7;
on the second hydraulic oil path, the hydraulic oil supplied by the second working pump P2 pushes the check valve 1.9 open and flows through the filter 1.10, enters the right cavity of the hydraulic oil cylinder 2.2 along the oil pipe 3.2, the pressure of the second hydraulic oil path, namely the right cavity of the hydraulic oil cylinder, is controlled by the opening degree of the electromagnetic proportional overflow valve 1.12, the redundant oil flows back to the oil tank 1.1 through the electromagnetic proportional overflow valve 1.12, and when the pressure of the right cavity is higher than the set value of the second safety overflow valve 1.11, the oil flows back to the oil tank 1.1 through the second safety overflow valve 1.11.
When the device is used, the to-be-measured adjusting actuator is arranged on a load workbench and is connected with a hydraulic oil cylinder rotary oil cylinder 2.2 through a coupler 2.1, the pressure of two cavities of the rotary oil cylinder is controlled by controlling the opening degrees of two proportional overflow valves, namely a first electromagnetic proportional overflow valve 1.8 and a second electromagnetic proportional overflow valve 1.12, and a preset torque load is output based on pressure difference; when the to-be-measured adjusting actuator is in a static state, the output torque of the analog load device acts on the to-be-measured actuator statically, and hydraulic oil output by the P1 and P2 pumps overflows to an oil return tank through a first electromagnetic proportional overflow valve 1.8 and a second electromagnetic proportional overflow valve 1.12; when the to-be-measured adjusting type actuator drives the piston rod of the rotary oil cylinder 2.2 to move clockwise, the P2 pump continuously supplies oil to the right cavity of the hydraulic oil cylinder, the left cavity is compressed in volume, and hydraulic oil output by the P1 pump overflows from the first electromagnetic proportional overflow valve 1.8 to return to the oil tank, so that the follow-up of the output shaft of the hydraulic rotary oil cylinder is realized. In a further embodiment, the entire device is integrated with a controller which controls the device to output the corresponding torques according to the above equations (1) to (3).
In other schemes, a first working pump and a second working pump can be specifically selected as a double pump to be used as a power source of a hydraulic power station, the double pump is composed of two gear pumps with the same displacement, a motor drives the double pump to rotate, hydraulic oil output by a pump P1 enters a left cavity of a rotary oil cylinder through a one-way valve 1.5 and a filter 1.6, and the pressure of an oil way is controlled by the opening degree of a first electromagnetic proportional overflow valve 1.8; the hydraulic oil output by the pump P2 enters the right cavity of the oil cylinder through the check valve 1.9 and the filter 1.10, and the pressure of the oil circuit is controlled by the opening degree of the second electromagnetic proportional overflow valve 1.12.
In a further scheme, the oil tank is provided with a set of air cooling assembly 1.13, the air cooling assembly 1.13 is a general air cooling assembly in the related field, hydraulic oil in the oil tank 1.1 can be circulated by the 1.13 air cooling assembly to play a role in reducing the oil temperature, and the oil temperature is controlled to be in a proper range through air cooling.
On the basis of the scheme, the pressure gauge on each oil way is installed on the oil way through the stop valve 2.4(2.7) so as to conveniently replace and maintain the pressure gauge and prevent oil leakage.
In order to realize real-time monitoring, pressure sensors 2.3(2.6) are connected to each hydraulic oil path, a torque sensor is installed at the output end of the rotary oil cylinder, pressure of two cavities of the hydraulic cylinder can be fed back in real time through the pressure sensors, and output torque is fed back by the torque sensors in real time.
In another embodiment, an air filter 1.2 is installed in the oil tank 1.1 to prevent air from contaminating the hydraulic oil in the oil tank.
The torque simulation test is carried out on a specific actuator by utilizing the device:
the execution angle range of the actuator to be tested in the embodiment is 0-90 degrees, the minimum execution time from 0 degree to 90 degrees is 10s, and the rated torque is +/-10000 Nm;
correspondingly, the travel time t of the torque simulation load device required by the actuator is detected to be 10s from 0 degrees to 90 degrees; the maximum output torque load T is +/-10000 Nm, the specification of a rotary oil cylinder is selected according to the standard specification of the rotary oil cylinder, the cylinder diameter D is 100mm, the diameter D of a reference circle is 144mm, the displacement V of the rotary oil cylinder from 0-90 DEG stroke is 1.2L, and the minimum displacement of the used pump can be calculated to be 7.2L/min according to the formula (4) of the invention;
the electromagnetic valve pressure and current comparison formula of the embodiment is as follows:
the test procedure current input versus torque output records and relationships are shown in table 1:
table 1 input and output parameter table of analog load test device
After the output shaft of the rotary oil cylinder in the output shaft thrust load simulation device of the actuator to be tested is connected well through the coupler, the following tests are carried out:
testing the execution time of the actuator to be tested from 0 to 90 DEG under the rated torque: the actuator to be measured is parked at the position of 0 degree, under the condition that the torque load simulation device outputs the rated torque load of the actuator to be measured (the rated torque of the actuator to be measured in the embodiment is +/-10000 Nm), the actuator to be measured is worked to the position of 90 degrees, and the execution time of measuring the actuator to be measured from the position of 0 degree to the position of 90 degrees is 11 s;
testing the actual execution values of the actuator to be tested under different torques and different execution angles: the output load of the torque load simulation device is added to 0Nm, -5000Nm, -10000Nm, +5000Nm and +10000Nm respectively, the rotary oil cylinder works at the positions of 0 degree, 45 degrees, 90 degrees, 45 degrees and 0 degrees respectively, the actual stroke value of the hydraulic cylinder of the actuator to be measured is recorded at the corresponding position, and the positioning precision of the hydraulic cylinder is calculated.
Claims (10)
1. The torque simulation load device of the angle stroke adjusting type actuator is characterized by comprising a hydraulic rotating oil cylinder, wherein two chambers are arranged in the hydraulic rotating oil cylinder, and an outlet of the hydraulic rotating oil cylinder is used for being connected with the angle stroke adjusting type actuator to be measured;
the two chambers are respectively connected with a first hydraulic oil path and a second hydraulic oil path, and a first pressure monitoring instrument, a first proportional valve and a first working pump are connected in series on the first hydraulic oil path; a second pressure monitoring instrument, a second proportional valve and a second working pump are connected in series on the second hydraulic oil path; the first working pump and the second working pump are respectively used for supplying hydraulic oil for the two hydraulic oils.
2. The angle stroke adjusting actuator torque loads simulator of claim 1, further comprising a controller that controls the output pressures of the first working pump and the second working pump according to equations (1), (2) and (3), the output torque T:
wherein, T represents the output torque of the load device, Nm;
P1the pressure of a chamber of the hydraulic rotary oil cylinder is MPa;
P2the pressure of the other chamber of the hydraulic rotary oil cylinder is MPa;
d, the inner diameter of a cylinder barrel of the hydraulic rotary oil cylinder is mm;
d is the diameter of the reference circle of the hydraulic rotary oil cylinder, mm;
wherein, I1-the input current of the first proportional valve, mA;
I2-the input current of the second proportional valve, mA;
a1-a pressure coefficient of the first proportional valve;
a2-the pressure coefficient of the second proportional valve;
b1-a pressure correction value for the first proportional valve;
b2-a pressure correction value of the second proportional valve.
3. The angle-stroke modulating actuator torque loads analog device of claim 1 wherein the minimum displacement of the first and second working pumps is the same and the minimum displacement of both pumps is determined according to equation (4):
wherein Q is the minimum displacement of the pump, L/min;
v is the displacement of the hydraulic rotary oil cylinder from 0 to 90 degrees of stroke, L;
t is the output time of the torque simulation load device, s, and the minimum execution time of the stroke of the actuator to be measured from 0 degree to 90 degrees under the rated torque is taken.
4. The angle-stroke adjusting actuator torque loads simulator of claim 1, wherein a twin pump is selected as the first working pump and the second working pump.
5. The angle stroke modulation actuator torque analog load device of claim 1, wherein the first proportional valve or/and the second proportional valve is/are an electromagnetic proportional relief valve.
6. The angle stroke adjusting actuator torque loads simulator of claim 1, wherein a safety relief valve is connected to each of said first and second hydraulic fluid passages.
7. The angle travel actuator torque analog load device of claim 1, wherein a filter is connected to the outlets of the first working pump and the second working pump.
8. The angle stroke adjusting actuator torque loads analog devices of claim 1 further comprising a table on which the hydraulic rotary cylinder, first and second pressure monitoring instruments are mounted.
9. The angle stroke adjusting actuator torque loads simulator of claim 1 or 8, further comprising a hydraulic oil supply tank to which both the first and second working pump inlets are connected, the first and second proportional valves being connected to the hydraulic oil supply tank.
10. The angle stroke adjusting actuator torque loads according to claim 5, wherein the relief valve is connected to the hydraulic oil supply tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110061600.9A CN112762055A (en) | 2021-01-18 | 2021-01-18 | Angle stroke regulation type executor moment of torsion simulation load device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110061600.9A CN112762055A (en) | 2021-01-18 | 2021-01-18 | Angle stroke regulation type executor moment of torsion simulation load device |
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| CN112762055A true CN112762055A (en) | 2021-05-07 |
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| CN202110061600.9A Pending CN112762055A (en) | 2021-01-18 | 2021-01-18 | Angle stroke regulation type executor moment of torsion simulation load device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113237645A (en) * | 2021-05-08 | 2021-08-10 | 苏克执行器(宁波)有限公司 | Multifunctional testing machine for electric actuator |
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| DE4030950A1 (en) * | 1990-09-29 | 1992-04-02 | Bosch Gmbh Robert | Hydraulic controller for servomotor esp. on agricultural machinery - performs operational mode selection between simple and double-acting hydraulic controls by means of electronic logic |
| CN103471836A (en) * | 2013-09-22 | 2013-12-25 | 浙江博恩自控阀门有限公司 | Fatigue strength testing device of simulation torque |
| CN103527563A (en) * | 2013-09-30 | 2014-01-22 | 天津工程机械研究院 | Hydraulic motor starting performance testing device and method |
| CN104179740A (en) * | 2014-07-25 | 2014-12-03 | 中南大学 | Loading method of double-jacking-cylinder structure and hydraulic system of double-jacking-cylinder structure |
-
2021
- 2021-01-18 CN CN202110061600.9A patent/CN112762055A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4030950A1 (en) * | 1990-09-29 | 1992-04-02 | Bosch Gmbh Robert | Hydraulic controller for servomotor esp. on agricultural machinery - performs operational mode selection between simple and double-acting hydraulic controls by means of electronic logic |
| CN103471836A (en) * | 2013-09-22 | 2013-12-25 | 浙江博恩自控阀门有限公司 | Fatigue strength testing device of simulation torque |
| CN103527563A (en) * | 2013-09-30 | 2014-01-22 | 天津工程机械研究院 | Hydraulic motor starting performance testing device and method |
| CN104179740A (en) * | 2014-07-25 | 2014-12-03 | 中南大学 | Loading method of double-jacking-cylinder structure and hydraulic system of double-jacking-cylinder structure |
Non-Patent Citations (1)
| Title |
|---|
| 吴振顺: "《气压传动与控制》", 31 July 2009 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113237645A (en) * | 2021-05-08 | 2021-08-10 | 苏克执行器(宁波)有限公司 | Multifunctional testing machine for electric actuator |
| CN113237645B (en) * | 2021-05-08 | 2022-11-18 | 苏克执行器(宁波)有限公司 | Multifunctional testing machine for electric actuator |
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