CN112555231B - Shield constructs quick-witted tool changing arm electro-hydraulic actuator unit test system - Google Patents

Abstract

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 directional control valve. 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.

Description

A test system for electro-hydraulic actuator unit of shield machine tool changing manipulator

technical field

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

Background technique

Shield machine is a kind of tunnel construction machinery, which has been widely used in practical engineering. During the construction process of the shield machine, the tool consumption is large and the replacement is frequent. The tool changing operation time accounts for more than 10% of the tunnel construction period. The existing tool changing work mainly relies on manual operation, and the operation is safe in construction environments such as large burial depth and high water pressure. The hidden danger is big, and it is prone to major safety accidents such as casualties. With the growth of tunnel construction projects such as subways, highways, and railways in my country, the market for shield tunneling machines will continue to expand, and it is imperative to realize the tool change operation with an efficient and safe "machine-replacement" operation mode. The replacement of the cutter head and hob of the shield machine requires that the actuator of the tool change robot has the characteristics of high pressure resistance, high humidity resistance, high power density, and high integration. Electro-Hydrostatic Actuator (EHA) is an integrated actuator that highly integrates discrete components such as motors, pumps, valves, cylinders, and actuators. It has high integration, large power-to-weight ratio, and reliability. It has the advantages of high performance, high efficiency, good installation and maintenance, etc. It is very suitable for the drive of the tool changing robot arm. Before the actual installation and application, it is necessary to build a test system that simulates the actual load conditions, and test the main performance of the electro-hydraulic actuator, including the minimum speed required for the bidirectional high-pressure plunger pump to establish different pressures, and the actuator under different loads. Position control accuracy under working conditions. At present, the maximum output pressure of the common hydraulic pump stations on the market is often lower than 25MPa, which is difficult to be directly used for the performance test of the electro-hydraulic actuator system with a maximum pressure of 35MPa.

SUMMARY OF THE INVENTION

In order to solve the problems in the background technology, the present invention provides a test system and test method for the electro-hydraulic actuator unit of a shield machine tool-changing mechanical arm, which has a simple structure, low cost, convenient operation, and comprehensively simulates the unidirectional effect of the actuator. Positive load (the direction of the load is opposite to the direction of movement), negative load (the direction of the load is the same as the direction of movement), or two-way positive load conditions, there is no need to process a complete set of complex and expensive robotic arms in the testing phase.

The technical scheme adopted in the present invention is as follows:

The invention includes an electro-hydraulic actuator, a hydraulic pump station, a top oil cylinder, a hydraulic cylinder, a first manual reversing valve and a second manual reversing valve; The diameter cylinder and the top cylinder share a piston rod, the small diameter cylinder of the top cylinder and the large diameter cylinder of the top cylinder share a common piston rod of the top cylinder, the hydraulic pump station and the two chambers of the large diameter cylinder of the top cylinder The electro-hydraulic actuator communicates with the two cavities of the hydraulic cylinder through the first manual reversing valve, and the electro-hydraulic actuator communicates with the two cavities of the small diameter cylinder of the top cylinder through the second manual reversing valve.

The hydraulic cylinder is installed on the tool changing mechanical arm in the installation space of the shield machine cutter head, and is located near the shield machine cutter head. The piston rod of the hydraulic cylinder is provided with a first displacement sensor; The rodless cavity and the rod cavity are respectively connected to the hydraulic cylinder A oil port and the hydraulic cylinder B oil port, and the hydraulic cylinder A oil port is respectively connected to the first manual reversing valve through the second external relief valve and the second external one-way valve. The A port of the hydraulic cylinder is connected to the B port of the first manual reversing valve through the first external check valve and the first external relief valve respectively; the hydraulic cylinder A oil port and the hydraulic cylinder B oil port The oil pipelines are respectively provided with a second pressure sensor and a first pressure sensor.

In the said topping oil cylinder, a second displacement sensor is provided at the common piston rod of the topping oil cylinder; the rodless cavity and the rod-bearing cavity of the small diameter cylinder barrel of the topping oil cylinder are respectively connected to the oil port A and the small diameter cylinder barrel of the topping oil cylinder. The oil port B of the small-diameter cylinder barrel of the overhead cylinder, the oil port A of the small-diameter cylinder barrel of the overhead cylinder and the oil port B of the small-diameter cylinder barrel of the overhead cylinder are respectively connected to the A port and the B port of the second manual reversing valve; The rod cavity and the rodless cavity of the large-diameter cylinder of the oil cylinder are respectively connected to the oil port A of the large-diameter cylinder of the top cylinder and the oil port B of the large-diameter cylinder of the top cylinder. The hydraulic pump station has a hydraulic pump station pressure gauge and a fifth The pressure sensor and the pressure gauge of the hydraulic pump station are installed at the oil inlet of the relief valve of the hydraulic pump station. The oil port B of the large-diameter cylinder barrel of the oil cylinder is connected; the fifth pressure sensor is installed on the pipeline where the pressure gauge of the hydraulic pump station is located.

The electro-hydraulic actuator includes an electro-hydraulic actuator servo motor, an electro-hydraulic actuator bidirectional high-pressure plunger pump, a first overflow valve of the electro-hydraulic actuator, a second overflow valve of the electro-hydraulic actuator, and an electro-hydraulic actuator. The first balance valve of the hydraulic actuator, the second balance valve of the electro-hydraulic actuator, the third pressure sensor, the fourth pressure sensor; the output end of the electro-hydraulic actuator servo motor and the electro-hydraulic actuator two-way high-pressure plunger pump The first oil port of the two-way high-pressure plunger pump of the electro-hydraulic actuator is connected to one port of the first overflow valve of the electro-hydraulic actuator and the first balance valve of the electro-hydraulic actuator, respectively. The other port of the first relief valve of the electro-hydraulic actuator is connected to the oil tank, the other port of the first balance valve of the electro-hydraulic actuator is used as the oil port of the electro-hydraulic actuator, and the oil port A of the electro-hydraulic actuator is respectively connected to the first manual The P port of the reversing valve and the second manual reversing valve; the second oil port of the two-way high pressure plunger pump of the electro-hydraulic actuator is respectively connected with the second overflow valve of the electro-hydraulic actuator and the second oil port of the electro-hydraulic actuator. One port of the balance valve is connected, the other port of the second relief valve of the electro-hydraulic actuator is connected to the oil tank, and the other port of the second balance valve of the electro-hydraulic actuator is used as the B oil port of the electro-hydraulic actuator. The oil port B of the device is respectively connected to the T port of the first manual reversing valve and the second manual reversing valve; A third pressure sensor is installed on the oil pipeline between the flow valve and the first balance valve of the electro-hydraulic actuator, and the second oil port of the two-way high-pressure plunger pump of the electro-hydraulic actuator and the second oil port of the electro-hydraulic actuator A fourth pressure sensor is installed on the oil pipeline between the relief valve and the second balance valve of the electro-hydraulic actuator.

It also includes a computer, the computer is respectively connected to 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 connected to the electro-hydraulic actuation at the same time. The servo motor of the electro-hydraulic actuator is used to control the work of the servo motor of the electro-hydraulic actuator.

Beneficial effects of the present invention:

The invention is used for the unit test of the electro-hydraulic actuator of the tool-changing mechanical arm of the shield machine, which can simulate the actual loading situation of the mechanical arm with a simple structure, occupies a small space and has low cost, and comprehensively simulates the actuator being subjected to a unidirectional positive load ( The load direction is opposite to the movement direction), the negative load (the load direction is the same as the movement direction), or the two-way positive load condition. Combined with the semi-automatic test method, it is convenient to complete the performance test and position control experiment of the electro-hydraulic actuator of the tool changing manipulator.

Description of drawings

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

FIG. 2 is a schematic diagram of the practical application of the electro-hydraulic actuator of the present invention.

Figure 3 is a schematic diagram of the movement force of the top oil cylinder;

Figure 4 is a schematic diagram of the movement force of the hydraulic cylinder;

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

In the picture:

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

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

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

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

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

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

701- the first external check valve; 702- the first external relief valve; 703- the second external relief valve; 704- the second external check valve; 705- the first manual reversing valve; 706- the first Two manual reversing valve;

707-computer; 708-tool changer arm; 709-shield machine cutter head.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation processes.

As shown in FIG. 1 , the system includes an electro-hydraulic actuator 100, a hydraulic pump station 200, a lift cylinder 300, a hydraulic cylinder 400, a first manual switch valve 705 and a second manual switch valve 706; the lift cylinder 300 includes The small-diameter cylinder barrel 301 of the top cylinder, the large-diameter cylinder 302 of the top cylinder, and the top cylinder share a piston rod 303, and the small-diameter cylinder 301 of the top cylinder and the large-diameter cylinder 302 of the top cylinder share a common top cylinder. The piston rod 303, that is, the piston rods of the small-diameter cylinder barrel 301 of the top cylinder and the large-diameter cylinder 302 of the top cylinder are coaxially fixed to form a shared piston rod 303 for the top cylinder, and the coaxiality is higher; The two cavities of the large-diameter cylinder barrel 302 of the top oil cylinder are connected, the electro-hydraulic actuator 100 is connected to the two cavities of the hydraulic cylinder 400 through the first manual reversing valve 705, and the electro-hydraulic actuator 100 is connected through the second manual reversing valve. 706 communicates with the two cavities of the small-diameter cylinder barrel 301 of the top oil cylinder.

The test object of the present invention is the electro-hydraulic actuator, and the simulation relationship between the electro-hydraulic actuator and the top oil cylinder of the shield machine tool changing manipulator is tested, and the test is also performed between the electro-hydraulic actuator and the hydraulic cylinder. test.

The hydraulic pump station 200 supplies oil to the large-diameter cylinder 302 of the counter top cylinder to provide loading pressure, the electro-hydraulic actuator 100 supplies oil to the small-diameter cylinder 301 of the counter top cylinder, and the counter top cylinder 300 is used to test the electro-hydraulic action. The minimum rotational speed required for the bidirectional high-pressure piston pump 104 to maintain different pressures.

On the other hand, the top cylinder 300 is used to simulate the positive load (the direction of the load force is opposite to the direction of movement) or the negative load (the direction of the load force is the same as the direction of movement) of the shield machine tool changing robot arm in a constant direction. The position control accuracy of the common piston rod 303 for the top oil cylinder under working conditions.

The first external check valve 701, the first external relief valve 702, the second external relief valve 703, and the second external check valve 704 are used to generate the oil return back pressure of the hydraulic cylinder 400 and ensure normal oil intake. The working condition in which the piston rod of the hydraulic cylinder 400 is subjected to positive loads in both directions is simulated, and together with the hydraulic cylinder 400, the position control accuracy of the piston rod of the hydraulic cylinder 400 under the condition of bidirectional positive load is tested.

As shown in FIG. 2 , the hydraulic cylinder 400 is installed on the tool changing manipulator 708 near the cutter head 709 of the shield machine. The piston rod of the hydraulic cylinder 400 is provided with a first displacement sensor 501, and the first displacement sensor 501 is used to detect hydraulic pressure The displacement of the cylinder 400 piston rod;

The rodless cavity and the rod cavity of the hydraulic cylinder 400 are respectively connected to the hydraulic cylinder A oil port 401 and the hydraulic cylinder B oil port 402. The hydraulic cylinder A oil port 401 is respectively connected to the second external relief valve 703 and the second external one-way valve. 704 is connected to port A of the first manual reversing valve 705, that is, the second external relief valve 703 and the second external one-way valve 704 are connected in parallel between the hydraulic cylinder A oil port 401 and the first manual reversing valve 705 , the B oil port 402 of the hydraulic cylinder is respectively connected to the B port of the first manual reversing valve 705 through the first external one-way valve 701 and the first external relief valve 702, that is, the first external one-way valve 701, the first external one-way valve 701, the first external one-way valve The external relief valve 702 is connected in parallel between the hydraulic cylinder B oil port 402 and the first manual reversing valve 705; the oil pipelines at the hydraulic cylinder A oil port 401 and the hydraulic cylinder B oil port 402 are respectively provided with a second pressure sensor 602. 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 top cylinder 300, a second displacement sensor 502 is provided at the common piston rod 303 of the top cylinder, and the second displacement sensor 502 is used to detect the displacement of the common piston rod 303 of the top cylinder; The rod cavity and the rod cavity are respectively connected to the oil port 304 of the small-diameter cylinder barrel of the top cylinder and the oil port 305 of the small-diameter cylinder barrel of the top cylinder, the oil port 304 of the small-diameter cylinder barrel of the top cylinder and the small-diameter cylinder of the top cylinder The oil port 305 of the cylinder B is respectively connected to the A port and the B port of the second manual reversing valve 706; the rod cavity and the rodless cavity of the large diameter cylinder tube 302 of the top cylinder are respectively connected to the oil port A of the large diameter cylinder tube of the top cylinder 306 and the oil port 307 of the large-diameter cylinder barrel of the top cylinder, and two hydraulic hoses from the hydraulic pump station 200 are respectively connected to the oil port 306 of the large-diameter cylinder barrel of the top cylinder and the oil port 307 of the large-diameter cylinder barrel of the top cylinder. , the hydraulic pump station 200 has a hydraulic pump station pressure gauge 201 and a fifth pressure sensor 605, the hydraulic pump station pressure gauge 201 is installed at the oil inlet of the relief valve of the hydraulic pump station 200, and the outlet of the hydraulic pump station 200 passes through the hydraulic pump The station electromagnetic reversing valve 202 is respectively connected with the oil port 306 of the large-diameter cylinder barrel A of the top oil cylinder and the oil port 307 of the large-diameter cylinder barrel of the opposite top oil cylinder; the fifth pressure sensor 605 is installed on the pipeline where the pressure gauge 201 of the hydraulic pump station is located. , used to detect the pressure of the relief valve of the hydraulic pump station 200 .

The electro-hydraulic actuator 100 includes an electro-hydraulic actuator servo motor 103, an electro-hydraulic actuator bidirectional high-pressure plunger pump 104, an electro-hydraulic actuator first relief valve 105, and an electro-hydraulic actuator second relief valve 106. The first balance valve 107 of the electro-hydraulic actuator, the second balance valve 108 of the electro-hydraulic actuator, the third pressure sensor 603, the fourth pressure sensor 604; the output end of the electro-hydraulic actuator servo motor 103 and the electro-hydraulic actuator The input shaft of the bidirectional high-pressure plunger pump 104 of the actuator is connected, and the first oil port of the bidirectional high-pressure plunger pump 104 of the electro-hydraulic actuator is respectively connected with the first relief valve 105 of the electro-hydraulic actuator and the electro-hydraulic actuator. One port of the first balance valve 107 is connected, the other port of the first relief valve 105 of the electro-hydraulic actuator is connected to the oil tank, and the other port of the first balance valve 107 of the electro-hydraulic actuator is used as the oil port 101 of the electro-hydraulic actuator A , the A oil port 101 of the electro-hydraulic actuator is respectively connected to the P port of the first manual reversing valve 705 and the second manual reversing valve 706; the second oil port of the electro-hydraulic actuator bidirectional high pressure plunger pump 104 is respectively It is connected to one port of the second overflow valve 106 of the electro-hydraulic actuator and the second balance valve 108 of the electro-hydraulic actuator, and the other port of the second overflow valve 106 of the electro-hydraulic actuator is connected to the oil tank, and the electro-hydraulic actuation The other port of the second balance valve 108 is used as the B oil port 102 of the electro-hydraulic actuator, and the B oil port 102 of the electro-hydraulic actuator is respectively connected to the T port of the first manual reversing valve 705 and the second manual reversing valve 706 .

Install the first oil pipeline between the first oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump 104, the first relief valve 105 of the electro-hydraulic actuator, and the first balance valve 107 of the electro-hydraulic actuator. Three pressure sensors 603, the oil between the second oil port of the electro-hydraulic actuator bidirectional high-pressure plunger pump 104, the second relief valve 106 of the electro-hydraulic actuator, and the second balance valve 108 of the electro-hydraulic actuator A fourth pressure sensor 604 is installed on the road pipeline.

The specific implementation also includes a computer 707, which is respectively connected to 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 pressure sensor 501. The displacement sensor 502 and the computer 707 are simultaneously connected to the electro-hydraulic actuator servo motor 103 to control the work of the electro-hydraulic actuator servo motor 103 .

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

The top cylinder 300 includes a small diameter cylinder 301 of the top cylinder, a large diameter cylinder 302 of the top cylinder, a common piston rod 303 of the top cylinder, a small diameter cylinder A oil port 304 of the top cylinder, and a small diameter cylinder of the top cylinder B oil port 305, large diameter cylinder barrel A oil port 306, large diameter cylinder barrel B oil port 307, the two cylinder barrels share a piston rod, the coaxiality is higher, and the inner diameter of the small diameter cylinder barrel 30mm, the inner diameter of the large-diameter cylinder is 63mm, the diameter of the common piston rod is 20mm, the electro-hydraulic actuator 100 supplies oil to the small-diameter cylinder, and the hydraulic pump station 200 supplies oil to the large-diameter cylinder, because the force on the piston rod = oil pressure × Oil action area, the large diameter cylinder has a larger oil action area, so the electro-hydraulic actuator 100 with a higher maximum output pressure can be tested with a hydraulic pump station 200 with a lower maximum output pressure.

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 common piston rod 303 of the 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 the first oil port on the left side of the bidirectional high-pressure plunger pump 104 of the electro-hydraulic actuator, and the measurement value of the third pressure sensor 603 is related to the electro-hydraulic actuator. The difference between the actual pressure of the left oil port of the bidirectional high pressure plunger pump 104 is the pressure difference before and after the check valve on the left side of the plunger pump, and the difference is less than 0.1MPa; the fourth pressure sensor 604 detects the electro-hydraulic actuator of the bidirectional high pressure plunger pump 104 The oil pressure of the right oil port, the difference between the two is the pressure difference before and after the check valve on the right side of the plunger pump, and the difference is less than 0.1MPa; 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 electro-hydraulic actuator servo motor 103 feeds back the speed and position to the computer 707, and simultaneously receives the speed and position commands sent by the computer 707 to work, as shown in Figure 5.

The top oil cylinder 300 is used to simulate the unidirectional load of the electro-hydraulic actuator 100. The magnitude of the load is adjusted by adjusting the overflow pressure of the relief valve in the hydraulic pump station 200, and the direction of the load force is adjusted by adjusting the electromagnetic reversal of the hydraulic pump station. Valve 202 is changed.

As shown in Figure 3, when the force of the oil on the piston rod on the side of the large diameter cylinder 302 of the top cylinder is F1, no matter whether the movement direction of the piston rod is v1 or v2, the hydraulic pump station 200 shares the piston rod with the top cylinder 303 The direction of the acting force is all to the left; when the force of the oil on the piston rod on the 302 side of the large diameter cylinder of the top cylinder is F2, no matter whether the movement direction of the piston rod is v1 or v2, the hydraulic pump station 200 pairs of top The directions of the forces acting on the common piston rod 303 of the oil cylinders are all to the right.

The first external relief valve 702 and the second external relief valve 703 are used to generate the oil return back pressure of the hydraulic cylinder 400 and ensure normal oil intake, simulating a two-way positive load. As shown in FIG. 4 , when the piston rod of the hydraulic cylinder 400 moves When the direction is v3, the force direction of the piston rod is F3; when the movement direction of the piston rod is v4, the force direction of the piston rod is F4. The size of F3 is changed by adjusting the overflow pressure of the first external relief valve 702, and the size of F4 is changed by adjusting the relief pressure of the second external relief valve 703. The first external relief valve 702 and the second external relief valve are changed. The pressure regulation range of 703 is 0～31.5MPa. When the direction of movement of the piston rod changes, the direction of the load force changes accordingly.

The control connection is shown in Figure 5, and the implementation work and process 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 the first relief valve (105) side of the electro-hydraulic actuator and maintains the minimum speed under different output pressures, operate The process is as follows:

① First, adjust the overflow pressure of the first overflow valve (105) of the electro-hydraulic actuator and the second overflow valve (106) of the electro-hydraulic actuator in the electro-hydraulic actuator (100) to the maximum value of 35MPa, The overflow pressure of the first balance valve (107) of the electro-hydraulic actuator and the second balance valve (108) of the electro-hydraulic actuator are adjusted to the maximum value of 35MPa, and the pressure of the overflow valve in the hydraulic pump station (200) is adjusted to the minimum value , the first manual reversing valve (705) is changed to the right position, so that the A port and the P port of the first manual reversing valve (705) are not connected, and the B port and the T port are not connected, and the oil is cut off from the hydraulic cylinder (400) The flow of the second manual reversing valve (706) is changed to the left position, so that the A port and the P port of the second manual reversing valve (706) are connected, and the B port and the T port are connected, allowing the electro-hydraulic actuator (100) Supply oil to the small diameter cylinder (301) of the top cylinder;

②Switch the electromagnetic reversing valve (202) of the hydraulic pump station to the right position, turn on the motor of the hydraulic pump station (200), supply oil to the rodless cavity of the large-diameter cylinder barrel (302) of the opposite top cylinder, and return oil to the rod cavity , at this time the electro-hydraulic actuator (100) does not work, due to the locking effect of the two balance valves in the electro-hydraulic actuator (100), the piston rod (303) shared by the top oil cylinder cannot move;

③ While observing the reading of the pressure gauge of the hydraulic pump station (201), turn up the pressure regulating knob of the overflow valve in the hydraulic pump station (200), and adjust the overflow pressure roughly until the pointer of the pressure gauge points to about 0.2MPa, and then By observing the reading of the fifth pressure sensor (605) displayed in the computer (707), finely adjust the overflow pressure of the overflow valve in the hydraulic pump station (200) until it approaches 0.2MPa;

④The computer (707) sends the speed setting value to the electro-hydraulic actuator servo motor (103), so that the electro-hydraulic actuator servo motor (103) rotates in one direction at a constant speed, and drives the electro-hydraulic actuator bidirectional high-voltage plunger The pump (104) discharges oil to the left side of the first relief valve (105) of the electro-hydraulic actuator, and the initial speed of the electro-hydraulic actuator servo motor (103) is 0 rpm, which is set by the computer (707). Gradually increase the rotational speed with a speed difference of 100 rpm, until the second displacement sensor (502) detects the displacement of the piston rod (303) shared by the top cylinder, and then reduces the motor speed, and continuously searches for the piston shared by the top cylinder according to the binary search method. The critical rotational speed of the electro-hydraulic actuator servo motor (103) required for the rod (303) to generate displacement;

⑤ After reaching the critical speed, keep running for 10s at the above critical speed, and record the feedback of the second displacement sensor (502), the third pressure sensor (603), the fourth pressure sensor (604), and the fifth pressure sensor (605) in the whole process of the experiment data, and the rotational speed of the electro-hydraulic actuator servo motor (103) at this time, and stored in the computer (707), wherein the rotational speed values of the third pressure sensor (603) and the electro-hydraulic actuator servo motor (103), They are the output pressure of the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) when oil is discharged to the left side of the first relief valve (105) side of the electro-hydraulic actuator and the minimum motor required to maintain the output pressure. Speed, the search for the above critical speed and the recording of data can be done automatically by the program;

⑥ With the difference of 0.2MPa, continuously manually increase the overflow pressure of the overflow valve in the hydraulic pump station (200), and repeat the above experiment until the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) moves toward the electro-hydraulic The oil outlet pressure on the left side of the first relief valve (105) of the device reaches 35MPa;

2. When the two-way high-pressure plunger pump (104) of the electro-hydraulic actuator is measuring the oil from the right side, and the minimum speed under different output pressures is maintained, the electromagnetic reversing valve (202) of the hydraulic pump station needs to be switched to the left position, and the hydraulic The pump station (200) supplies oil to the rod cavity of the large-diameter cylinder barrel (302) of the top oil cylinder, and returns oil to the rodless cavity, and the electro-hydraulic actuator servo motor (103) drives the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) Oil comes out from the right side. The test process is the same as above, but the device selection, movement and flow direction are opposite. The rotational speed values of the fourth pressure sensor (604) and the electro-hydraulic actuator servo motor (103) are respectively The output pressure of the two-way high-pressure piston pump (104) of the electro-hydraulic actuator when the oil is discharged from the right side and the minimum speed of the motor required to maintain the pressure;

3. The position control accuracy test plan when the electro-hydraulic actuator (100) drives the common piston rod (303) of the top cylinder to move and is subjected to one-way load:

① First, adjust the overflow pressure of the first overflow valve (105) of the electro-hydraulic actuator and the second overflow valve (106) of the electro-hydraulic actuator in the electro-hydraulic actuator (100) to the maximum value of 35MPa, The overflow pressure of the first balance valve (107) of the electro-hydraulic actuator and the second balance valve (108) of the electro-hydraulic actuator are adjusted to the maximum value of 35MPa, and the pressure of the overflow valve in the hydraulic pump station (200) is adjusted to the minimum value , the first manual reversing valve (705) is changed to the right position, so that the A port and the P port of the first manual reversing valve (705) are not connected, and the B port and the T port are not connected, and the oil is cut off from the hydraulic cylinder (400) The flow of the second manual reversing valve (706) is changed to the left position, so that the A port and the P port of the second manual reversing valve (706) are connected, and the B port and the T port are connected, allowing the electro-hydraulic actuator (100) Supply oil to the small diameter cylinder (301) of the top cylinder;

②Switch the electromagnetic reversing valve (202) of the hydraulic pump station to the right position, turn on the motor of the hydraulic pump station (200), supply oil to the rodless cavity of the large-diameter cylinder barrel (302) of the opposite top cylinder, and return oil to the rod cavity , at this time the electro-hydraulic actuator (100) does not work, due to the locking effect of the balance valve in the electro-hydraulic actuator (100), the piston rod (303) shared by the top oil cylinder cannot move;

③ While observing the reading of the pressure gauge of the pressure gauge of the hydraulic pump station (201), turn up the pressure regulating knob of the overflow valve in the hydraulic pump station (200), adjust the overflow pressure, and observe the reading of the pressure gauge and the display in the computer (707). The fifth pressure sensor (605) reads until the overflow pressure value meets the required load force;

④ Set the position to be reached by the common piston rod (303) of the top oil cylinder through the computer (707), and send a position command to control the electro-hydraulic actuator servo motor (103) to drive the electro-hydraulic actuator bidirectional high-pressure plunger pump ( 104) Rotate, finally drive the extension/retraction of the common piston rod (303) of the top oil cylinder, the second displacement sensor (502) detects and feeds back the actual position of the piston rod in real time to the computer (707), and the computer (707) feedbacks the position through a closed loop The control realizes the position control of the common piston rod (303) of the top oil cylinder;

⑤ Switch the electromagnetic reversing valve (202) of the hydraulic pump station to the left position, and change the direction in which the hydraulic pump station (200) exerts the force on the common piston rod (303) of the top cylinder. Device selection and motion and flow directions are opposite.

4. The test plan of the position control accuracy when the electro-hydraulic actuator (100) drives the hydraulic cylinder (400) to move and is subjected to a two-way positive load:

① Adjust the overflow pressure of the first overflow valve (105) of the electro-hydraulic actuator and the second overflow valve (106) of the electro-hydraulic actuator in the electro-hydraulic actuator (100) to the maximum value of 35MPa, The overflow pressure of the first balance valve (107) of the hydraulic actuator and the second balance valve (108) of the electro-hydraulic actuator is adjusted to the maximum value of 35MPa, and the pressure of the overflow valve in the hydraulic pump station (200) is adjusted to the minimum value. The first manual reversing valve (705) is changed to the left position, so that the A port and the P port of the first manual reversing valve (705) are connected, and the B port and the T port are connected, so that the electro-hydraulic actuator (100) is connected to the hydraulic cylinder. (400) Oil supply, the second manual reversing valve (706) is changed to the right position, so that the A port, P port, B port and T port of the second manual reversing valve (706) are not connected to each other, blocking the electro-hydraulic The actuator (100) supplies oil to the top oil cylinder (300), and turns off the motor in the hydraulic pump station (200);

②When the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) discharges oil to the left side of the first relief valve (105) side of the electro-hydraulic actuator, the oil will pass through the electro-hydraulic actuator A oil port ( 101), the first manual reversing valve (705), and the second external check valve (704) are transported to the hydraulic cylinder A oil port (401) into the rodless cavity of the hydraulic cylinder (400), the hydraulic cylinder (400) The oil in the rod cavity returns from the hydraulic cylinder B oil port (402) to the electro-hydraulic actuator B oil port (102) through the first external relief valve (702) and the first manual reversing valve (705), wherein The first external relief valve (702) is used to generate the oil return back pressure of the rod cavity, simulating the actual working load of the hydraulic cylinder (400) installed on the tool changing mechanical arm (708). The first pressure sensor (601) Used to record the back pressure value of the rod cavity oil return;

③When the electro-hydraulic actuator bidirectional high-pressure plunger pump (104) discharges oil to the right side of the second relief valve (106) side of the electro-hydraulic actuator, the oil will pass through the electro-hydraulic actuator B oil port ( 102), the first manual reversing valve (705), and the first external check valve (701) are transported to the hydraulic cylinder B oil port (402) into the rod cavity of the hydraulic cylinder (400), the hydraulic cylinder (400) The oil in the rodless cavity returns to the electro-hydraulic actuator A oil port (101) from the hydraulic cylinder A oil port (401) through the second external relief valve (703) and the first manual reversing valve (705), wherein The second external relief valve (703) is used to generate the oil return back pressure of the rodless cavity, simulating the actual working load of the hydraulic cylinder (400) installed on the tool changer arm (708). The second pressure sensor (602) It is used to record the oil return back pressure value of the rodless cavity;

④The computer (707) sets the position that the piston rod of the hydraulic cylinder (400) needs to reach, and sends a position command to control the electro-hydraulic actuator servo motor (103) to drive the electro-hydraulic actuator two-way high-pressure plunger pump (104) Rotation, finally drives the extension/retraction of the piston rod of the hydraulic cylinder (400), the first displacement sensor (501) feeds back the actual position of the piston rod in real time, and realizes the position control of the piston rod of the hydraulic cylinder (400) through the position closed-loop feedback control.

It can be seen from the implementation that the present invention can provide a test system and a semi-automatic test method with a small occupied space and low cost for the electro-hydraulic actuator unit of the shield machine tool changing mechanical arm, and can fully simulate the mechanical arm with a simple structure. Various actual loading conditions can easily complete the performance test and position control experiment of the electro-hydraulic actuator of the tool-changing robot arm.

Claims (4)

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 directional change 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 directional change valve (706);

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 first manual reversing valve (705) and a second manual reversing valve (706); 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).

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 2, 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 valve (202); 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 3, 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).

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