CN112345215A

CN112345215A - Reciprocating operation test device for rotating part of fire-fighting lance

Info

Publication number: CN112345215A
Application number: CN202011057655.4A
Authority: CN
Inventors: 王珍
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-02-09
Anticipated expiration: 2040-09-30
Also published as: CN112345215B

Abstract

The invention belongs to the technical field of fire-fighting product quality inspection, and particularly relates to a reciprocating operation test device for a rotating part of a fire-fighting lance.

Description

Reciprocating operation test device for rotating part of fire-fighting lance

Technical Field

Background

The fire-fighting lance is generally composed of a connector, a lance body, a switch and a nozzle, and for the lance with rotary components such as switch switching, direct current spray switching, flow gear switching, double-channel switching, flushing function switching and the like, the rotary components of the lance should be subjected to 300 times of reciprocating operation tests, phenomena such as blockage or damage and the like should not occur, and the operating torque of the rotary components after the tests is not more than 15 N.m. The existing tests are manually completed, the test quality and efficiency are not high due to the fact that the labor intensity is high, the conditions that the rotating angle and the times are not enough are often generated, and a device special for the reciprocating operation test of the rotating part of the fire-fighting lance is not provided.

Disclosure of Invention

The invention aims to overcome the defects of the background technology and provide a test device for the reciprocating operation of a rotating part of a fire-fighting lance.

The invention is realized by the following technical scheme:

a reciprocating operation test device for a rotating part of a fire-fighting lance comprises a workbench, wherein two shaft seats are fixed on the left side of the workbench surface, screw shafts A of servo motors A are respectively fixed in the two shaft seats, and the two servo motors A are both fixed on the right side of the workbench surface; the two screw rod shafts A are parallel, the middle parts of the two screw rod shafts A are provided with tool withdrawal grooves, the screw rod shafts A on the left side and the right side of the tool withdrawal grooves are opposite in rotating direction, and nuts A are respectively rotated on the two sides of the tool withdrawal grooves of the two screw rod shafts A; a set of clamping device is fixed between two homodromous screw nuts A on the same side of the two screw rod shafts A, and the left clamping device and the right clamping device have the same structure; the clamping device comprises a dovetail groove plate A, two ends of the bottom surface of the dovetail groove plate A are respectively fixed on two homodromous screw nuts A on the same side, the dovetail groove plate A is vertical to a screw rod shaft A, the corresponding dovetail groove plate A above the screw nuts A is provided with a dovetail plate A, and the two dovetail plates A slide on the dovetail groove plate A; an arc-shaped holding plate A is fixed on each dovetail plate A, the two arc-shaped holding plates A are in mirror symmetry, and the upper end and the lower end of the concave arc of each arc-shaped holding plate A are respectively provided with a convex pressure sensor B; the screw nuts B are fixed below the two dovetail plates A and are respectively screwed at two ends of a screw rod shaft B of the servo motor B, the screw nuts B and the screw rod shaft B are positioned in the lower space of a dovetail groove of the dovetail groove plate A, the screw rod shaft B is parallel to the dovetail groove plate A, the rotating directions of two sides of the screw rod shaft B are opposite, two ends of the screw rod shaft B are respectively inserted into circular holes of end face plates at two ends of the dovetail groove plate A, and the servo motor B is fixed at any end of the dovetail groove plate A; the left side and the right side of the fire-fighting water gun wrench are respectively provided with a flat plate, the two flat plates are parallel and vertical plates, the inner sides of the two flat plates are respectively fixed with a pressure sensor A, the two flat plates are respectively welded with a dovetail plate B, the two dovetail plates B slide on the dovetail groove plate B, the two dovetail plates B are respectively fixed with a screw nut C, the two screw nuts C are respectively screwed at the two ends of a screw rod shaft C of a servo motor C, the screw nut C and the screw rod shaft C are both positioned in a dovetail groove space of the dovetail groove plate B, the screw rod shaft C is parallel to the dovetail groove plate B, the two ends of the screw rod shaft C are inserted into round holes of end plates at the two ends of the dovetail groove plate B, and the servo motor C is fixed at any end of the dovetail groove plate B; the dovetail groove plate B is fixed at one end of a vertical plate, a right-angle frame is upwards fixed on the vertical plate, a monitoring camera B is fixed on the right-angle frame, the other end of the vertical plate is fixed on a shaft E of a torque servo motor E, the shaft E is horizontally arranged perpendicular to a screw shaft A, the torque servo motor E is fixed on a flange plate C, the flange plate C is fixed at the right end of a shaft D of a telescopic shaft servo motor D, the shaft D is parallel to the screw shaft A, the telescopic shaft servo motor D is fixed on the flange plate B, the flange plate B is fixed at the front end of a shaft F of the telescopic shaft servo motor F, the bottom surface of the telescopic shaft servo motor F is fixed on the flange plate A, the bottom surface of the flange plate A is fixed at the top of a servo electric cylinder J, the cylinder of the servo electric cylinder J is perpendicular to a workbench surface; a vertical rod is fixed at the top of the telescopic shaft servo motor F, and a monitoring camera A is arranged on the vertical rod; the monitoring camera A, the monitoring camera B, the pressure sensor A, the pressure sensor B, the servo motor A, the servo motor B, the servo motor C, the telescopic shaft servo motor D, the torque servo motor E, the telescopic shaft servo motor F and the servo electric cylinder J are all electrically connected with the PLC.

Preferably, the dovetail plate a and the screw shaft B of the left-side clamping device are longer than the dovetail plate a and the screw shaft B of the right-side clamping device.

Preferably, the pressure sensor B is a convex pressure sensor B.

The device greatly reduces manual operation and human interference factors, and improves the test quality and efficiency.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a diagram of the operating torque test state of the present invention.

In the figure, 1 standard of a worktable, 2-axis seats, 3-screw shaft A, 4-servo electric cylinders J, 5-flange A, 6-PLC controllers, 7-telescopic-shaft servo motors F, 8-axis D, 9-telescopic-shaft servo motors D, 10-vertical rods, 11-monitoring cameras A, 14-flange C, 16-dovetail-groove-plate B, 17-flat plates, 18-pressure sensors A, 19-right angle frames, 20-monitoring cameras B, 21-vertical plates, 22-servo motors C, 23-torque servo motors E, 25-arc-shaped holding plates A, 26-dovetail-plate A, 27-dovetail-plate A, 28-screw A, 29-servo motors A, 30-screw B, 31-screw shaft B, 32-withdrawing grooves, 33-flange B, 34-axis F, 35-servo motors B, 36-wrench, 37-pressure sensors B, 38-dovetail-plate B, 39-axis E, 40-rotating arms, 41-screw shaft C, 42-screw C, 43-nylon-rope-pulling net, 44-dynamometer and the like, 45 pull ring, 46 concave arc and 47 rotating shaft horizontal center line.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Fig. 1 to 4 show one embodiment of the present invention, two parallel shaft seats 2 are fixed on the left side of a table top 1 by bolts, a screw shaft A3 is respectively installed in each of the two shaft seats 2, a screw shaft A3 is a shaft of a servo motor a29, and two servo motors a29 are both fixed on the right side of the table top 1 by bolts. The two screw shafts A3 are parallel and along the length of the table top 1. The middle parts of the two screw rod shafts A3 are provided with mechanically processed tool withdrawal grooves 32, the screw rod shafts A3 on the left side and the right side of the tool withdrawal grooves 32 are opposite in rotating direction, and the screw rod shafts A3 on the same side of the two tool withdrawal grooves 32 are identical in rotating direction. The screw shafts A3 on both sides of the tool withdrawal groove 32 are respectively screwed with a screw nut A28, the two screw shafts A3 are screwed with four screw nuts A28, the two screw nuts A28 on the left side have the same screwing direction and correspond to each other, and the two screw nuts A28 on the right side have the same screwing direction and correspond to each other.

A set of clamping device is fixed between two co-rotating direction nuts A28 on the left side and the right side of a screw rod shaft A3, the two sets of clamping devices are used for clamping an interface ring position of a fire-fighting lance and a front end holding part of the fire-fighting lance respectively, the structure of the clamping device on the left side is the same as that of the clamping device on the right side, and only one clamping device is described below.

The clamping device comprises a dovetail groove plate A27, two ends of the bottom surface of the dovetail groove plate A27 are fixed on two homodromous nuts A28 on the same side through bolts respectively, and the dovetail groove plate A27 is perpendicular to a screw rod shaft A3. A dovetail plate A26 is arranged on the corresponding dovetail groove plate A27 above each screw nut A28, the dovetail plate A26 and the dovetail groove plate A27 have matched dovetail structures, and the dovetail plate A26 can slide along a dovetail groove of the dovetail groove plate A27. An arc-shaped holding plate A25 is respectively fixed on the two dovetail plates A26 through bolts, and the two arc-shaped holding plates A25 are in mirror symmetry. Convex pressure sensors B37 are mounted on the upper and lower ends of the concave arc 46 of each arc-shaped holding plate a25, and the convex pressure sensor B37 means that the contact surface of the pressure sensor B37 is convex, and the pressure sensor contact surface has a plane shape, a concave shape, a convex shape, a cylindrical shape, a point shape and the like, and the convex pressure sensor used herein is called as a convex pressure sensor B37, so that the pressure sensor can be adapted to clamping of different diameters. Because the upper and lower parts of each arc-shaped holding plate A25 are provided with the convex pressure sensors B37, the inner concave arc 46 between the upper and lower convex pressure sensors B37 can be suitable for clamping fire-fighting lances with different specifications and sizes, see figure 3. A screw B30 is fixed below each dovetail plate A26 through a bolt, and the screw B30 is screwed on the front end and the rear end of a screw shaft B31 respectively, wherein the front end and the rear end are front when the front end and the rear end are perpendicular to the outer side of the paper surface of the drawing 1 and back when the front end and the rear end are perpendicular to the inner side of the paper surface of the drawing 1. The screw nut B30 and the screw shaft B31 are both positioned in the lower space of the dovetail groove plate A27, and the screw shaft B31 is parallel to the dovetail groove plate A27. The screw shaft B31 is a shaft of the servo motor B35, and the screw shaft B31 has opposite forward and backward rotation directions with the middle in the longitudinal direction. End face plates are arranged at two ends of the dovetail groove plate A27, a round hole is formed in each end face plate and used for inserting and releasing a screw rod shaft B31, two ends of the screw rod shaft B31 are respectively inserted and released in round holes in the end face plates at two ends of the dovetail groove plate A27, and a servo motor B35 corresponding to the screw rod shaft B31 is fixed outside the end face plate of the dovetail groove plate A27 through bolts.

The clamping device drives the screw A28 to move through rotation of the screw shaft A3, so that the clamping device is moved to the position of the fire-fighting water gun needing to be clamped, then the screw shaft B31 rotates to drive the screw B30 to move, the dovetail plate A26 slides in the dovetail groove of the dovetail groove plate A27, and the arc-shaped holding plate A25 of the clamping device is moved to a specified position to clamp the fire-fighting water gun. The left clamping device and the right clamping device are identical in structure. Because what the clamping device left side will be the centre gripping is the interface card ring position of fire-fighting lance, the diameter is great, what the right side will be the centre gripping is the anterior portion of holding of fire-fighting lance, the diameter compares interface snap ring diameter a little, therefore dovetail groove board A27 and lead screw axle B31 of left clamping device that can be preferred are slightly longer than dovetail groove board A27 and lead screw axle B31 length on right side, as shown in figure 2, two left side arc grip board A25 inner arc radiuses are greater than the inner arc radiuses of two right side arc grip board A25.

The rotating portion of the fire-fighting lance includes a rotating arm 40 and a wrench 36 integrally connected to the rotating arm 40, wherein the wrench 36 facilitates grasping of the structure for rotating the rotating arm 40, as shown in fig. 4. The left side and the right side of the fire-fighting lance wrench 36 are respectively provided with a flat plate 17, the two flat plates 17 are parallel and vertical plates, and the flat plates 17 are vertical to the length direction of the screw rod shaft A3. Pressure sensors a18 are fixed on the inner sides of the two flat plates 17, and the two pressure sensors a18 are parallel. Two flat plates 17 are respectively welded with a dovetail plate B38, two dovetail plates B38 are matched with a dovetail groove plate B16, the dovetail groove plate B16 is perpendicular to the flat plates 17 and along the length direction of a screw rod shaft A3, as shown in figure 3, a dovetail structure of the dovetail plate B38 is clamped in a dovetail groove of the dovetail groove plate B16, and the dovetail plate B38 can move along the dovetail groove of the dovetail groove plate B16. A space is reserved in a dovetail groove of the dovetail groove plate B16, nuts C42 are respectively fixed on the two dovetail plate B38 through bolts, the two nuts C42 are respectively screwed on two sides of a screw shaft C41, the nut C42 and the screw shaft C41 are both positioned in the dovetail groove space of the dovetail groove plate B16, and the screw shaft C41 is parallel to the dovetail groove plate B16. The screw shaft C41 has opposite rotation directions with the center as a boundary in the longitudinal direction, and the screw shaft C41 is the shaft of the servo motor C22. The end plates of the two ends of the dovetail groove plate B16 are provided with end plates, the end plates are provided with round holes, the round holes are used for inserting the screw rod shaft C41, the two ends of the screw rod shaft C41 are inserted into the round holes of the end plates of the two ends of the dovetail groove plate B16, and the servo motor C22 is fixed on the end plate of the dovetail groove plate B16. The above structure can be rotated by the screw shaft C41, so that the screw nut C42 moves to drive the dovetail plate B38 to slide along the dovetail plate B16, so that the two flat plates 17 move close to or away from the wrench 36.

The bottom end face of the dovetail groove plate B16 is fixed to one end of a vertical plate 21 through bolts, and the vertical plate 21 is perpendicular to the flat plate 17. A right-angle frame 19 is arranged on the vertical central line of the vertical plate 21 upwards through bolts, and a monitoring camera B20 is arranged on the right-angle side of the right-angle frame 19 parallel to the flat plate 17. The monitoring camera B20 is used to transmit the image of the position of the rotating part to the PLC controller 6.

The other end of the vertical plate 21 is fixed on a shaft E39 of a torque servo motor E23, the shaft E39 is horizontally arranged, the horizontally arranged direction of the shaft E39 is vertical to the length direction of a screw shaft A3, namely the shaft E39 is vertical to the arrangement direction of a fire-fighting water gun. The torque servo motor E23 is fixed on a flange C14 through bolts, the flange C14 is fixed at the right end of a horizontal shaft D8, the horizontal direction of the shaft D8 is parallel to the length direction of a screw rod shaft A3, namely the shaft D8 is parallel to the placement direction of the fire-fighting lance. The shaft D8 is the shaft of a telescopic shaft servo motor D9, the shaft D8 is a telescopic shaft, and the telescopic shaft servo motor D9 is fixed on a flange B33 through bolts. The flange B33 is fixed at the front end of a shaft F34, the shaft F34 is also a horizontally placed shaft, and the horizontally placed direction of the shaft F34 is vertical to the shaft D8, namely the horizontally placed direction of the shaft F34 is vertical to the placement direction of the fire-fighting lance. The shaft F34 is a telescopic shaft of a telescopic shaft servo motor F7, the bottom surface of the telescopic shaft servo motor F7 is fixed on a flange A5 through bolts, the bottom surface of the flange A5 is fixed at the top of a servo electric cylinder J4, the cylinder of the servo electric cylinder J4 is in the vertical direction and is vertical to the workbench table surface 1, and the servo electric cylinder J4 is fixed on the workbench table surface 1 through bolts.

A vertical rod 10 is fixed on the top of a telescopic shaft servo motor F7 through a bolt, the vertical rod 10 is vertically upward, and a monitoring camera A11 is arranged on the vertical rod 10. The monitoring camera A11 is used for transmitting the image of the rotating part of the fire-fighting lance to the PLC controller 6.

The electric control wires or signals of the monitoring camera A11, the monitoring camera B20, the pressure sensor A18, the pressure sensor B37, the servo motor A29, the servo motor B35, the servo motor C22, the telescopic shaft servo motor D9, the torque servo motor E23, the telescopic shaft servo motor F7 and the servo electric cylinder J4 are all connected with the PLC 6.

The using method comprises the following steps:

the clamping device moves to a prescribed clamping position: inputting the specification and the size of the fire-fighting lance into a PLC (programmable logic controller) 6, controlling two servo motors A29 to synchronously work by the PLC 6 to enable two screw shafts A3 to rotate, and controlling the two servo motors A29 to stop working after opposite-turning nuts A28 on the left side and the right side of the two screw shafts A3 move oppositely or backwards to respectively drive clamping devices on the two sides to a preset position.

The two side clamping devices clamp the fire-fighting lance: the PLC 6 respectively controls the two servo motors B35 to work, so that the two screw shafts B31 rotate, the screw shafts B31 rotate, the two nuts B30 with opposite rotation directions on each screw shaft B31 push the two dovetail plates A26 to move towards or away from the dovetail groove plates A27, and after the two dovetail plates A31 move to a specified distance, the two servo motors B35 are controlled to stop working, so that each pair of mirror symmetry arc-shaped holding plates A25 on the left and right dovetail plates A26 move to a specified position. Then the fire-fighting lance is horizontally placed, so that the fire-fighting lance is parallel to the length direction of the screw rod shaft A3, the joint clamping ring of the fire-fighting lance is placed in the two mirror symmetry arc-shaped holding plates A25 on the left side, the front holding part of the fire-fighting lance is placed in the two mirror symmetry arc-shaped holding plates A25 on the right side, and the fire-fighting lance rotating arm 40 is rotated to be horizontally placed and the wrench is used for punching ahead, as shown in the attached drawing 2. Then the PLC controller 6 is pressed to control the two servo motors B35 to work again, the mirror symmetry arc-shaped holding plates A25 on the left side and the right side respectively move close to the interface clamping ring and the front holding part, and when the pressure value transmitted to the PLC controller 6 by the pressure sensor B37 on the concave arc 46 reaches a set value, the PLC controller 6 controls the servo motors B35 to stop working. At this time, the clamping device clamps the interface snap ring and the front holding part of the fire-fighting lance.

Adjusting the position before rotation test: the PLC controller 6 determines the positions of the rotating arm 40 and the wrench 36 according to image data transmitted by the monitoring camera A11 and the monitoring camera B20, the PLC controller 6 controls the torque servo motor E23 to work on the shaft E39, the vertical plate 21 fixed on the shaft E39 rotates synchronously, so that the dovetail groove plate B16 and all parts fixed on the dovetail groove plate B16 also rotate synchronously, and the two flat plates 17 on the two dovetail plate B38 are parallel to the rotating arm 40 and the wrench 36 through rotation. At this time, the PLC 6 controls the servo electric cylinder J4 to work, the cylinder of the servo electric cylinder J4 vertically moves to enable the two flat plates 17 to vertically move upwards or downwards, the PLC 6 controls the shaft D8 of the telescopic shaft servo motor D9 to horizontally move, and finally the horizontal shaft center line of the torque servo motor E23 is coaxial with the horizontal center line 47 of the rotating shaft of the rotating part of the fire water gun. The PLC 6 controls the shaft F34 of the telescopic shaft servo motor F7 to move, so that the two flat plates 17 horizontally move to the positions corresponding to the rotating arm 40 and the wrench 36 along the direction vertical to the fire-fighting lance body, and then the servo motor F stops working. Then the PLC 6 controls the servo motor C22 to work again, the screw shaft C41 rotates, two nuts C42 with opposite rotation directions on the screw shaft C41 move oppositely, two dovetail plates B38 fixed on the nuts C42 synchronously move oppositely along the dovetail groove plates B16, the two flat plates 17 synchronously move oppositely, and the two flat plates 17 gradually contact the rotating arm 40 and the wrench 36. When the pressure value of the pressure sensor A18 on the two flat plates 17 reaches a set value, the PLC 6 controls the servo motor C22 to stop working.

Rotation test: after the position is adjusted, the PLC controller 6 controls the shaft E39 of the torque servo motor E23 to rotate to a predetermined angle and then return to the starting point, and the plate 17 rotates to rotate the rotary arm 40 and the wrench 36, which is performed once for reciprocating, and thus performed 300 times for reciprocating. In the reciprocating operation process, the torque servo motor E23 sends a torque value to the PLC controller 6 in real time, and the monitoring camera A11 and the monitoring camera B20 transmit images to the PLC controller 6 in real time.

When the torque value and the pressure value of the pressure sensor A18 suddenly increase to exceed specified values, which indicates that the rotating part of the fire-fighting lance is blocked, or the rotating part is loosened, falls off, damaged and the like in the images transmitted by the monitoring camera A11 and the monitoring camera B20, the PLC 6 sends out an alarm prompt tone and stops the torque servo motor E23 from working; if the torque value of the torque servo motor E23, the data and the image of the monitoring camera A11 and the data and the image of the monitoring camera B20 are normal in 300 times of reciprocating operation, the PLC controller 6 sends out a reciprocating operation test completion prompt sound, the PLC controller 6 controls the torque servo motor E23 to stop working, then controls the screw shaft C41 of the servo motor C22 to rotate, so that the two flat plates 17 move back and forth, the two flat plates 17 are not in contact with the rotating arm 40 and the wrench 36 of the fire-fighting lance any more, the PLC controller 6 controls the shaft F34 of the telescopic shaft servo motor F7 to stretch and retract, so that the torque servo motor E23 is far away from the rotating arm 40 and the wrench 36 and moves until the two flat plates 17 do not contact the rotating arm 40 and the wrench 36 even if rotating, and then the PLC controller 6 sends out a 300 times of reciprocating operation test completion prompt sound and automatically displays each time of reciprocating operation torque value. After hearing the prompt tone after the test, the tester pulls the pull ring 45 of the standard dynamometer 44 such as the third class after sleeving the nylon rope pull net 43 on the wrench 36, and then the tester measures whether the operating torque of the rotating part of the fire-fighting lance is larger than 15 N.m after 300 times of reciprocating operation tests, see the attached figure 4. The torque servo motor E23 determines the torque value for each of the 300 reciprocations, and the three-equal standard load cell 44 determines the torque value after 300 reciprocations. The device furthest has reduced manual operation and jamming factor, has improved experimental quality and efficiency.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; those of ordinary skill in the art will understand that: the technical solutions described in the above embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a reciprocal operation test device of fire-fighting lance rotating part, includes the workstation, its characterized in that: a two-shaft seat (2) is fixed on the left side of the workbench table top (1), a screw rod shaft A (3) of a servo motor A (29) is respectively fixed in the two-shaft seat (2), and the two servo motors A (29) are both fixed on the right side of the workbench table top (1); the two screw rod shafts A (3) are parallel, the middle parts of the two screw rod shafts A (3) are provided with tool withdrawal grooves (32), the rotating directions of the screw rod shafts A (3) on the left side and the right side of the tool withdrawal grooves (32) are opposite, and nuts A (28) are respectively rotated on the two sides of the tool withdrawal grooves (32) of the two screw rod shafts A (3); a set of clamping device is fixed between two homodromous screw nuts A (28) on the same side of the two screw rod shafts A (3), and the left clamping device and the right clamping device have the same structure; the clamping device comprises a dovetail groove plate A (27), two ends of the bottom surface of the dovetail groove plate A (27) are respectively fixed on two homodromous screw nuts A (28) on the same side, the dovetail groove plate A (27) is vertical to a screw rod shaft A (3), dovetail plates A (26) are respectively arranged on the corresponding dovetail groove plates A (27) above the screw nuts A (28), and the two dovetail plates A (26) slide on the dovetail groove plates A (27); an arc-shaped holding plate A (25) is fixed on each dovetail plate A (26), the two arc-shaped holding plates A (25) are in mirror symmetry, and pressure sensors B (37) are respectively arranged at the upper end and the lower end of an inner concave arc (46) of each arc-shaped holding plate A (25); the screw nuts B (30) are fixed below the two dovetail plates A (26), the screw nuts B (30) are respectively screwed at two ends of a screw rod shaft B (31) of the servo motor B (35), the screw nuts B (30) and the screw rod shaft B (31) are both positioned in the lower space of a dovetail groove of the dovetail groove plate A (27), the screw rod shaft B (31) is parallel to the dovetail groove plate A (27), the rotating directions of two sides of the screw rod shaft B (31) are opposite, two ends of the screw rod shaft B (31) are respectively inserted into circular holes of end face plates at two ends of the dovetail groove plate A (27), and the servo motor B (35) is fixed at any end of the dovetail groove plate A (27); the left side and the right side of the fire-fighting lance wrench (36) are respectively provided with a flat plate (17), the two flat plates (17) are parallel and vertical plates, pressure sensors A (18) are fixed on the inner sides of the two flat plates (17), a dovetail plate B (38) is welded on each of the two flat plates (17), the two dovetail plates B (38) slide on a dovetail groove plate B (16), nuts C (42) are fixed on each of the two dovetail plates B (38), the two nuts C (42) are screwed at two ends of a screw shaft C (41) of a servo motor C (22) respectively, the nuts C (42) and the screw shaft C (41) are located in dovetail groove spaces of the dovetail groove plates B (16), the screw shaft C (41) is parallel to the dovetail groove plates B (16), two ends of the screw shaft C (41) are inserted into round holes in end face plates at two ends of the dovetail groove plates B (16), and the servo motor C (22) is fixed at any dovetail of the dovetail groove plates B (16); the dovetail groove plate B (16) is fixed at one end of a vertical plate (21), a right-angle frame (19) is fixed on the vertical plate (21) upwards, a monitoring camera B (20) is fixed on the right-angle frame (19), the other end of the vertical plate (21) is fixed on a shaft E (39) of a torque servo motor E (23), the shaft E (39) is horizontally arranged perpendicular to a screw rod shaft A (3), the torque servo motor E (23) is fixed on a flange plate C (14), the flange plate C (14) is fixed at the right end of a shaft D (8) of a telescopic shaft servo motor D (9), the shaft D (8) is parallel to the screw rod shaft A (3), the telescopic shaft servo motor D (9) is fixed on a flange plate B (33), the flange plate B (33) is fixed at the front end part of a shaft F (34) of the telescopic shaft servo motor F (7), and the bottom surface of the telescopic shaft servo motor F (7) is fixed on the flange plate A (5), the bottom surface of the flange A (5) is fixed at the top of a servo electric cylinder J (4), the cylinder of the servo electric cylinder J (4) is vertical to the worktable surface (1), and the servo electric cylinder J (4) is fixed on the worktable surface (1); a vertical rod (10) is fixed at the top of the telescopic shaft servo motor F (7), and a monitoring camera A (11) is arranged on the vertical rod (10); the monitoring camera A (11), the monitoring camera B (20), the pressure sensor A (18), the pressure sensor B (37), the servo motor A (29), the servo motor B (35), the servo motor C (22), the telescopic shaft servo motor D (9), the moment servo motor E (23), the telescopic shaft servo motor F (7) and the servo electric cylinder J (4) are all connected with the PLC (6).

2. The reciprocal test device of claim 1, wherein: the dovetail plate A (27) and the screw shaft B (31) of the left clamping device are longer than the dovetail plate A (27) and the screw shaft B (31) of the right clamping device.

3. The reciprocal test device of claim 1, wherein: the pressure sensor B (37) is a convex pressure sensor B (37).