CN107014599B - A follow-up passive servo loading device and load acquisition method - Google Patents
A follow-up passive servo loading device and load acquisition method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
本发明涉及一种随动式被动伺服加载装置及载荷获取方法，包括被加载对象滑轨和基座，其中，被加载对象滑轨固定安装在基座上，被加载对象安装在被加载对象滑轨上且能够在被加载对象滑轨上滑动；被加载对象与用于获取位移量且随被加载对象同步移动的随动机构始终相接触，随动机构与用于获得加载力大小的压力输出机构相连。本发明随动机构通过与被加载对象的紧密接触获得被加载对象的位移量，通过随动机构驱动压力输出机构运动，并通过压力输出机构获得加载力的大小，具有压力采集及时、准确的优势，既对被加载对象的位移敏感，也对加载载荷敏感。本发明系统响应频率远大于被加载对象运动频率，可以提高系统响应的及时性和准确性。
The invention relates to a follow-up passive servo loading device and a load acquisition method, comprising a loaded object slide rail and a base, wherein the loaded object slide rail is fixedly installed on the base, and the loaded object is mounted on the loaded object slide rail rail and can slide on the loaded object slide rail; the loaded object is always in contact with the follow-up mechanism that is used to obtain the displacement and moves synchronously with the loaded object, and the follow-up mechanism is used to obtain the pressure output of the loading force institutions connected. The follower mechanism of the present invention obtains the displacement of the loaded object through close contact with the loaded object, drives the pressure output mechanism to move through the follower mechanism, and obtains the magnitude of the loading force through the pressure output mechanism, which has the advantages of timely and accurate pressure collection , which is sensitive to both the displacement of the loaded object and the loading load. The system response frequency of the invention is much higher than the motion frequency of the loaded object, which can improve the timeliness and accuracy of the system response.
Description
技术领域technical field
本发明属于测试平台技术领域，具体涉及一种随动式被动伺服加载装置及载荷获取方法。The invention belongs to the technical field of test platforms, and in particular relates to a follow-up passive servo loading device and a load acquisition method.
背景技术Background technique
随着社会对大型高精设备的需求越来越多，零件加载试验台的需求也随之增大，其获得载荷的及时性和准确性要求也不断提高。传统被动式加载实验台使用了带有流量阀的液压缸，这种加载系统的主要问题是是，只能适用于小刚度被加载对象的状态。With the increasing demand for large-scale high-precision equipment in society, the demand for parts loading test benches also increases, and the requirements for the timeliness and accuracy of obtaining loads are also increasing. The traditional passive loading test bench uses a hydraulic cylinder with a flow valve. The main problem with this loading system is that it can only be applied to the state of the loaded object with small stiffness.
F＝kxF=kx
对于小刚度被加载对象的状态，k为有限值，当F一定时，则x可以精确控制。For the state of the loaded object with small stiffness, k is a finite value, and when F is constant, then x can be precisely controlled.
对于大刚度被加载对象的状态，k为无限大，当F一定时，x很小，无法精确控制。For the state of the loaded object with large stiffness, k is infinite, and when F is constant, x is very small and cannot be precisely controlled.
压力阀本身性能仅与液压缸容腔大小相关，其响应频宽远小于流量阀相应频宽，对于被加载对象运动频率较大时又无法满足。The performance of the pressure valve itself is only related to the size of the hydraulic cylinder cavity, and its response bandwidth is much smaller than the corresponding bandwidth of the flow valve, which cannot satisfy the load object when the movement frequency is high.
发明内容Contents of the invention
本发明的目的在于克服现有技术中存在的问题，提供一种随动式被动伺服加载装置及载荷获取方法，能够同时对被加载对象的位移和加载载荷敏感，满足加载要求。The purpose of the present invention is to overcome the problems existing in the prior art, and provide a follow-up passive servo loading device and a load acquisition method, which can be sensitive to the displacement and load of the loaded object at the same time, and meet the loading requirements.
为了达到上述目的，本发明装置采用如下技术方案：In order to achieve the above object, the device of the present invention adopts the following technical solutions:
包括被加载对象滑轨和基座，其中，被加载对象滑轨固定安装在基座上，被加载对象安装在被加载对象滑轨上且能够在被加载对象滑轨上滑动；被加载对象与用于获取位移量且随被加载对象同步移动的随动机构始终相接触，随动机构与用于获得加载力大小的压力输出机构相连。It includes a loaded object slide rail and a base, wherein the loaded object slide rail is fixedly installed on the base, the loaded object is installed on the loaded object slide rail and can slide on the loaded object slide rail; the loaded object and The follow-up mechanism used to obtain the displacement and move synchronously with the loaded object is always in contact, and the follow-up mechanism is connected with the pressure output mechanism used to obtain the magnitude of the loading force.
进一步地，随动机构包括随动阀和随动液压缸，其中随动液压缸固定安装在基座上，随动液压缸的活塞杆与压力输出机构固定相连；随动阀的活塞与被加载对象始终相接触。Further, the follow-up mechanism includes a follow-up valve and a follow-up hydraulic cylinder, wherein the follow-up hydraulic cylinder is fixedly installed on the base, and the piston rod of the follow-up hydraulic cylinder is fixedly connected with the pressure output mechanism; the piston of the follow-up valve is connected to the loaded Objects are always touching.
进一步地，随动阀采用流量阀。Further, the follow-up valve adopts a flow valve.
进一步地，压力输出机构包括压力液压缸和随动平台，压力液压缸固定在基座上，随动平台安装在基座上且能够相对基座滑动；随动液压缸的活塞杆与随动平台固定相连。Further, the pressure output mechanism includes a pressure hydraulic cylinder and a servo platform, the pressure hydraulic cylinder is fixed on the base, the servo platform is installed on the base and can slide relative to the base; the piston rod of the servo hydraulic cylinder and the servo platform Fixed connection.
进一步地，压力液压缸为带有压力阀的液压缸。Further, the pressure hydraulic cylinder is a hydraulic cylinder with a pressure valve.
进一步地，随动平台通过随动平台滑动机构安装在基座上。Further, the accompanying platform is installed on the base through the sliding mechanism of the accompanying platform.
本发明方法采用如下技术方案：The inventive method adopts following technical scheme:
包括以下步骤：Include the following steps:
步骤一：将被加载对象通过被加载对象滑轨安装在基座上，且被加载对象与用于开启随动液压缸的随动阀始终保持接触，随动液压缸的活塞杆通过随动平台连接压力液压缸的活塞杆，随动液压缸和压力液压缸均固定安装在基座上，压力液压缸带有压力阀；Step 1: Install the loaded object on the base through the loaded object slide rail, and the loaded object is always in contact with the servo valve used to open the servo hydraulic cylinder, and the piston rod of the servo hydraulic cylinder passes through the servo platform The piston rod connected to the pressure hydraulic cylinder, the follower hydraulic cylinder and the pressure hydraulic cylinder are all fixedly installed on the base, and the pressure hydraulic cylinder has a pressure valve;
步骤二：被加载对象滑动，随动阀被动牵引并开启，导通油路，使液压油快速进入随动液压缸的容腔，随动液压缸的活塞杆发生移动并推动随动平台移动；Step 2: The object to be loaded slides, and the servo valve is passively pulled and opened to conduct the oil circuit, so that the hydraulic oil quickly enters the cavity of the servo hydraulic cylinder, and the piston rod of the servo hydraulic cylinder moves to push the servo platform to move;
步骤三：随动平台推动压力液压缸的活塞杆移动，压力液压缸内部压力产生变化，通过开启压力阀使压力液压缸内部压力平衡，并输出压力值，获得随动式被动伺服加载载荷。Step 3: The servo platform pushes the piston rod of the pressure hydraulic cylinder to move, the internal pressure of the pressure hydraulic cylinder changes, and the internal pressure of the pressure hydraulic cylinder is balanced by opening the pressure valve, and the pressure value is output to obtain the servo passive servo loading load.
与现有技术相比，本发明具有以下有益的技术效果：Compared with the prior art, the present invention has the following beneficial technical effects:
本发明随动机构通过与被加载对象的紧密接触获得被加载对象的位移量，通过随动机构驱动压力输出机构运动，并通过压力输出机构获得加载力的大小，通过本发明可获得被加载对象径向载荷，具有压力采集及时、准确的优势，既对被加载对象的位移敏感，也对加载载荷敏感。本发明系统响应频率远大于被加载对象运动频率，可以提高系统响应的及时性和准确性。本发明系统刚度较大，避免因刚度不够导致的系统损坏。本发明系统结构简单，能够达到即时压力输出，造价低廉，便于推广，具有广阔的应用前景。The follower mechanism of the present invention obtains the displacement of the loaded object through close contact with the loaded object, drives the pressure output mechanism to move through the follower mechanism, and obtains the magnitude of the loading force through the pressure output mechanism, and the loaded object can be obtained through the present invention Radial load has the advantages of timely and accurate pressure collection, and is sensitive to both the displacement of the loaded object and the loading load. The system response frequency of the invention is much higher than the motion frequency of the loaded object, which can improve the timeliness and accuracy of the system response. The system of the present invention has relatively high rigidity and avoids damage to the system caused by insufficient rigidity. The system of the invention has a simple structure, can achieve instant pressure output, is cheap to manufacture, is easy to popularize, and has broad application prospects.
进一步地，本发明使用机液伺服机构，大大降低了电气控制传输的误差，提高了获得载荷的准确性。Further, the present invention uses a mechanical-hydraulic servo mechanism, which greatly reduces the error of electrical control transmission and improves the accuracy of obtaining the load.
本发明方法中采用了两个液压缸，分别带有对位移敏感的流量阀和对压力敏感的压力阀，使得两个液压缸分别对位移和压力敏感，把两个液压缸通过类似于杠杆的随动平台有机的结合在一起，随动机构通过与被加载对象始终保持紧密接触，当被加载对象发生位移时，随动阀即被动牵引，随动阀对位移敏感，而对压力不敏感，所以当随动阀被牵引时，阀门会随即打开，导致随动液压缸活塞杆发生移动，活塞杆推动随动平台移动，随动平台带动压力液压缸活塞杆移动，导致压力液压缸内部发生压力变化，压力液压缸带有的压力阀对压力敏感，对位移不敏感，所以当压力液压缸内部发生压力变化时，压力阀会随即打开，进而输出压力值，使系统更好地对被加载对象的位移敏感，也对加载载荷敏感，本发明带有流量阀的随动液压缸和带有压力阀的压力液压缸结合使用，既可以满足被加载对象运动频率的情况，又可以满足大刚度被加载对象的加载需求。Adopted two hydraulic cylinders in the method of the present invention, respectively have the flow valve that is sensitive to displacement and the pressure valve that is sensitive to pressure, make two hydraulic cylinders sensitive to displacement and pressure respectively, two hydraulic cylinders are passed through similar lever The follow-up platform is organically combined. The follow-up mechanism maintains close contact with the object to be loaded. When the object to be loaded is displaced, the follow-up valve is passively pulled. The follow-up valve is sensitive to displacement but not to pressure. Therefore, when the follow-up valve is pulled, the valve will open immediately, causing the piston rod of the follow-up hydraulic cylinder to move. Change, the pressure valve of the pressure hydraulic cylinder is sensitive to pressure, not to displacement, so when the pressure changes inside the pressure hydraulic cylinder, the pressure valve will open immediately, and then output the pressure value, so that the system can better control the loaded object Sensitive to displacement and load, the combination of the servo hydraulic cylinder with flow valve and the pressure hydraulic cylinder with pressure valve in the present invention can not only meet the condition of the motion frequency of the object being loaded, but also meet the requirement of large rigidity. The loading requirements of the loading object.
附图说明Description of drawings
图1是本发明的装置示意图。Figure 1 is a schematic diagram of the device of the present invention.
1-随动机构；2-被加载对象滑动机构；3-压力输出机构；4-随动阀；5-随动液压缸；6-被加载对象；7-被加载对象滑轨；8-压力液压缸；9-随动平台；10-随动平台滑动机构；11-基座。1-following mechanism; 2-sliding mechanism of the loaded object; 3-pressure output mechanism; 4-following valve; 5-following hydraulic cylinder; 6-loaded object; 7-loaded object slide rail; 8-pressure Hydraulic cylinder; 9-follow-up platform; 10-follow-up platform sliding mechanism; 11-base.
具体实施方式Detailed ways
下面结合附图对本发明做进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
参见图1，本发明装置包括：随动机构1、被加载对象滑动机构2、压力输出机构3和基座11。Referring to FIG. 1 , the device of the present invention includes: a follower mechanism 1 , a loaded object sliding mechanism 2 , a pressure output mechanism 3 and a base 11 .
随动机构1包括随动阀4和随动液压缸5。被加载对象滑动机构2包括被加载对象6和被加载对象滑轨7。压力输出机构3包括压力液压缸8、随动平台9和随动平台滑动机构10。The follow-up mechanism 1 includes a follow-up valve 4 and a follow-up hydraulic cylinder 5 . The loaded object sliding mechanism 2 includes a loaded object 6 and a loaded object slide rail 7 . The pressure output mechanism 3 includes a pressure hydraulic cylinder 8 , a servo platform 9 and a servo platform sliding mechanism 10 .
随动液压缸5为带有随动阀4的液压缸，对位移敏感。随动阀4为随动液压缸5的阀门，直接与随动液压缸5连接，且固定安装在随动液压缸5顶部；随动阀4采用流量阀，随动阀4的活塞与被加载对象6始终保持紧密接触；随动阀4的活塞的位移与被加载对象6的位移相关，并引起随动液压缸5的活塞杆运动，即随动液压缸5的活塞杆随着被加载对象6的移动而移动，形成随动。随动液压缸5固定在基座11上；随动液压缸5的活塞杆驱动随动平台9运动。The follow-up hydraulic cylinder 5 is a hydraulic cylinder with a follow-up valve 4, which is sensitive to displacement. The follow-up valve 4 is the valve of the follow-up hydraulic cylinder 5, directly connected with the follow-up hydraulic cylinder 5, and fixedly installed on the top of the follow-up hydraulic cylinder 5; the follow-up valve 4 adopts a flow valve, and the piston of the follow-up valve 4 is connected The object 6 is always in close contact; the displacement of the piston of the follow-up valve 4 is related to the displacement of the loaded object 6, and causes the piston rod of the follow-up hydraulic cylinder 5 to move, that is, the piston rod of the follow-up hydraulic cylinder 5 follows the load of the loaded object 6 moves to form follow-up. The follow-up hydraulic cylinder 5 is fixed on the base 11; the piston rod of the follow-up hydraulic cylinder 5 drives the follow-up platform 9 to move.
被加载对象6与被加载对象滑轨7相连，可以自由滑动。被加载对象滑轨7固定在基座11上。通过被加载对象6与被加载对象滑轨7的相对滑动，实现被加载对象6与基座11的相对运动。The loaded object 6 is connected with the loaded object slide rail 7 and can slide freely. The loaded object slide rail 7 is fixed on the base 11 . The relative movement of the loaded object 6 and the base 11 is realized by the relative sliding of the loaded object 6 and the loaded object slide rail 7 .
压力液压缸8固定在基座11上。压力液压缸8为带有压力阀的液压缸，对压力敏感。压力液压缸8的活塞杆与随动平台9相连接。压力液压缸8通过压力阀获得加载在被加载对象6上的载荷大小。随动平台9通过随动平台滑动机构10与基座11相连。随动平台9通过随动平台滑动机构10实现与基座11的相对运动。The pressure hydraulic cylinder 8 is fixed on the base 11 . The pressure hydraulic cylinder 8 is a hydraulic cylinder with a pressure valve, which is sensitive to pressure. The piston rod of the pressure hydraulic cylinder 8 is connected with the follow-up platform 9 . The pressure hydraulic cylinder 8 obtains the magnitude of the load applied to the loaded object 6 through the pressure valve. The follow-up platform 9 is connected with the base 11 through the follow-up platform sliding mechanism 10 . The follow-up platform 9 realizes the relative movement with the base 11 through the follow-up platform sliding mechanism 10 .
随动机构1通过与被加载对象6的紧密接触获得被加载对象6的位移量，通过随动平台9把位移量传递给压力液压缸8，通过压力液压缸8获得被加载对象6所加载载荷的大小。随动机构1通过与被加载对象6的紧密接触获得被加载对象6的位移量，引起随动平台9位移，随动平台9的位移引起与其连接的压力液压缸8的活塞杆的移动，导致压力液压缸8内部发生压力变化，压力液压缸8带有压力阀，压力阀对压力敏感，对位移不敏感，所以当液压缸内部发生压力变化时，主动控制压力阀打开，使得压力液压缸8压力平衡，进而输出压力值。The follow-up mechanism 1 obtains the displacement of the loaded object 6 through close contact with the loaded object 6, transmits the displacement to the pressure hydraulic cylinder 8 through the follow-up platform 9, and obtains the load loaded by the loaded object 6 through the pressure hydraulic cylinder 8 the size of. The follow-up mechanism 1 obtains the displacement of the loaded object 6 through close contact with the loaded object 6, causing the displacement of the follow-up platform 9, and the displacement of the follow-up platform 9 causes the movement of the piston rod of the pressure hydraulic cylinder 8 connected to it, resulting in A pressure change occurs inside the pressure hydraulic cylinder 8. The pressure hydraulic cylinder 8 has a pressure valve. The pressure valve is sensitive to pressure but not to displacement. Therefore, when the pressure changes inside the hydraulic cylinder, the pressure valve is actively controlled to open, so that the pressure hydraulic cylinder 8 Pressure balance, and then output the pressure value.
本发明主要的工作过程及原理：Main working process and principle of the present invention:
使用时，随动阀4的活塞与被加载对象6始终保持紧密接触，被加载对象6通过与被加载对象滑轨7连接，可以自由滑动，随动液压缸5与压力液压缸8通过随动平台9相连接，把位移量传递给压力液压缸8，随动平台9通过与随动平台滑动机构10连接，实现自由滑动。When in use, the piston of the follow-up valve 4 is always in close contact with the loaded object 6, and the loaded object 6 can slide freely by connecting with the loaded object slide rail 7, and the follow-up hydraulic cylinder 5 and the pressure hydraulic cylinder 8 pass through The platforms 9 are connected to each other, and the displacement is transmitted to the pressure hydraulic cylinder 8, and the follow-up platform 9 is connected with the slide mechanism 10 of the follow-up platform to realize free sliding.
当被加载对象6滑动产生位移时，随动阀4被动牵引，随动阀4采用流量阀，流量阀对位移敏感，而对压力不敏感，所以当随动阀4被牵引时，获得被加载对象6的位移量，阀门会随即打开，随动阀4开启，导通油路，使液压油快速进入随动液压缸5容腔，导致随动液压缸5的活塞杆发生移动，随动液压缸5的活塞杆推动随动平台9移动，随动平台9带动压力液压缸8的活塞杆移动，把位移传递给压力液压缸8，压力液压缸8的活塞杆发生位移，导致压力液压缸8内部压力变化，此时对压力敏感的压力阀开启，使得压力液压缸8内部压力平衡，即可快速获得被加载对象6所加载荷大小。When the loaded object 6 slides to generate displacement, the follow-up valve 4 is passively towed, and the follow-up valve 4 adopts a flow valve, which is sensitive to displacement but not to pressure, so when the follow-up valve 4 is pulled, it is loaded The displacement of the object 6, the valve will be opened immediately, the follow-up valve 4 will be opened, and the oil circuit will be conducted, so that the hydraulic oil will quickly enter the cavity of the follow-up hydraulic cylinder 5, causing the piston rod of the follow-up hydraulic cylinder 5 to move, and the follow-up hydraulic pressure will The piston rod of cylinder 5 pushes the servo platform 9 to move, and the servo platform 9 drives the piston rod of the pressure hydraulic cylinder 8 to move, and transmits the displacement to the pressure hydraulic cylinder 8, and the piston rod of the pressure hydraulic cylinder 8 is displaced, causing the pressure hydraulic cylinder 8 to move. When the internal pressure changes, the pressure-sensitive pressure valve is opened at this time, so that the internal pressure of the pressure hydraulic cylinder 8 is balanced, and the magnitude of the load applied by the loaded object 6 can be quickly obtained.
针对现有加载试验台的各种弊端，本发明提出了一种新型随动式被动伺服加载装置，分别采用带有压力阀的液压缸和带有流量阀的液压缸，把随动液压缸5和压力液压缸8通过类似于杠杆的随动平台9进行了有机的结合，达到既对位移敏感，又可以快速获得载荷的目的，解决了以往加载系统使用单一液压缸，无法同时对两种不同参数进行有效反应的弊端，使得系统响应频率远大于被加载对象运动频率，可以提高系统响应的及时性和准确性，系统刚度较大，避免因刚度不够导致的系统损坏，装置使用机液伺服机构，大大降低了电气控制传输的误差，提高了获得载荷的准确性，该系统结构简单，造价低廉，便于推广。Aiming at the various disadvantages of the existing loading test bench, the present invention proposes a new follow-up passive servo loading device, which uses a hydraulic cylinder with a pressure valve and a hydraulic cylinder with a flow valve respectively, and the follow-up hydraulic cylinder 5 And the pressure hydraulic cylinder 8 is organically combined through the follow-up platform 9 similar to the lever to achieve the purpose of being sensitive to displacement and quickly obtaining the load. The disadvantage of effective response of parameters makes the system response frequency much larger than the motion frequency of the loaded object, which can improve the timeliness and accuracy of the system response, and the system has a large rigidity to avoid system damage caused by insufficient rigidity. The device uses a machine-hydraulic servo mechanism , which greatly reduces the error of electrical control transmission and improves the accuracy of load acquisition. The system has a simple structure, low cost and is easy to popularize.
本发明中随动机构1通过与被加载对象6的紧密接触获得被加载对象6的位移量，通过随动液压缸5驱动随动平台9运动，随动平台9与压力输出装置相连，通过随动平台9把位移量传递给压力液压缸8，并通过压力输出机构获得加载力的大小，通过本发明，可获得被加载对象径向载荷，具有压力采集及时、准确的优势，本发明结构简单，造价低廉，充分利用了两种带有不同阀门的液压缸对不同参数的敏感程度完成系统要求，具有广阔的应用前景。In the present invention, the follow-up mechanism 1 obtains the displacement of the loaded object 6 through close contact with the loaded object 6, drives the follow-up platform 9 to move through the follow-up hydraulic cylinder 5, and the follow-up platform 9 is connected with the pressure output device. The moving platform 9 transmits the displacement to the pressure hydraulic cylinder 8, and obtains the magnitude of the loading force through the pressure output mechanism. Through the present invention, the radial load of the object to be loaded can be obtained, which has the advantage of timely and accurate pressure collection. The present invention has a simple structure , low cost, full use of the sensitivity of two hydraulic cylinders with different valves to different parameters to complete the system requirements, and has broad application prospects.
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