Low-cost batch rapid automatic detection method and device for miniature precision pneumatic actuator

Abstract

The invention discloses a low-cost batch rapid automatic detection method and device for a miniature precise pneumatic actuator, and the device is small in size, is low in cost, is suitable for the batch detection of the miniature precise pneumatic actuator with the diameter of a pneumatic shaft smaller than 3mm, the maximum displacement smaller than 5mm, and the displacement speed of 1-1.5 m / s. And moreover, multiple specific displacement detection can be realized on one detection station, and meanwhile, the stability and accuracy of reliable detection are kept in a batch detection process.

Description

Technical Field

[0001] The present invention relates to the technical field of pneumatic actuator detection, and in particular to a low-cost batch rapid automatic detection method and device for micro-precision pneumatic actuators. Background Art

[0002] The micro precision pneumatic actuator uses air pressure to drive its pneumatic shaft to move forward and backward. The micro precision pneumatic actuator opens and closes and adjusts the valve through the displacement of the pneumatic shaft, and changes the displacement of the pneumatic shaft by changing the pressure of the air pressure supplied to the pneumatic actuator. The air tightness of the micro precision pneumatic actuator determines its effectiveness. When the air tightness is poor or lost, the telescopic stroke of the pneumatic shaft will be unstable and the displacement accuracy will decrease. It will also cause the telescopic speed of the pneumatic shaft to slow down, or even the pneumatic shaft will not telescope. Therefore, each micro precision pneumatic actuator must be tested before leaving the factory to ensure the effectiveness of the micro precision pneumatic actuator.

[0003] First, the diameter of the pneumatic shaft of the micro precision pneumatic actuator is less than 3mm, the maximum displacement of the pneumatic shaft is less than 5mm, and the displacement speed of the micro precision pneumatic actuator is 1-1.5 m / s. The pneumatic shaft not only has a small diameter and an extremely short extension length, but also has an extremely short displacement distance and an extremely fast displacement speed when in action. The use of traditional micro collision switches, laser displacement sensors and other existing detection elements, detection devices and detection methods cannot meet the batch detection requirements of high-speed, extremely short displacement and multi-displacement detection of micro precision pneumatic actuators.

[0004] Second, multi-displacement detection means that the micro-precision pneumatic actuator also needs to detect whether the displacement distance of the pneumatic shaft meets the requirements under different corresponding air pressures, that is, displacement accuracy detection, for example, detecting whether the maximum displacement of the pneumatic shaft of the micro-precision pneumatic actuator under the set air pressure must reach 25%, 50%, 75% and 100% of its maximum displacement. However, since the maximum extension length (maximum displacement) of the pneumatic shaft is less than 5mm, and the space requirements of both are limited, there is obviously not enough space on the detection mechanism to install the second or more micro-collision switches and laser sensors and other detection elements. Therefore, the traditional detection method cannot detect only one displacement in one detection. It is necessary to install a micro-precision pneumatic actuator on different detection equipment and detect different displacements respectively. The detection process requires repeated disassembly and test, and the detection efficiency is extremely low. In addition, the segmented displacement is about 1mm, and the maximum allowable displacement error is about 0.01mm, which puts extremely high requirements on the detection accuracy, detection sensitivity, detection reaction speed and calculation speed of the sensor and the matching detection circuit. In addition, the current common detection devices and detection methods cannot detect the displacement error of each displacement of the pneumatic shaft.

[0005] At present, the detection accuracy of high-precision interferometric laser sensors can reach the micron level and can meet the detection requirements of various detection performances. However, this type of high-precision interferometric laser sensor is not only bulky, but also has extremely high equipment costs. In addition, it also has the problem of being unable to directly detect pneumatic axes due to space limitations.

[0006] Therefore, it is necessary for manufacturing companies to develop a small, low-cost detection device for batch testing of miniature precision pneumatic actuators with a pneumatic shaft diameter of less than 3mm, a maximum displacement of less than 5mm, and a displacement speed of 1-1.5 m / s. It can also realize multi-displacement detection of 2 displacements or more at one detection station, while maintaining the stability and accuracy of reliable detection during the batch testing process. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a low-cost batch rapid automatic detection method and device for miniature precision pneumatic actuators, so as to realize low-cost high-speed batch automatic detection, and at the same time improve the stability and accuracy of the batch detection process to maintain reliable detection.

[0008] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a batch automatic precision detection device for micro precision pneumatic actuators, which is used for rapid batch automatic detection of multiple specific displacements of micro precision pneumatic actuators with a maximum displacement of the pneumatic shaft less than 5mm.

[0009] Multiple independently arranged bottom plates as detection platforms are installed at intervals on the frame. A fixing fixture is installed on the front side of the bottom plate to fix the micro precision pneumatic actuator and make the pneumatic axis of the micro precision pneumatic actuator face the rear side and the air pressure interface face the front side.

[0010] A transfer rod capable of moving forward and backward is slidably mounted in the middle of the bottom plate, a spring reset mechanism for pushing the transfer rod forward to reset is mounted at the rear end of the transfer rod, and a truncated cone portion is disposed at the front end of the transfer rod.

[0011] In the initial state, the truncated cone is kept in a position where its front end surface just touches the end surface of the pneumatic shaft, and the rod displacement of the transfer rod is equal to the axial displacement of the pneumatic shaft.

[0012] The middle and rear part of the transfer rod extends to the rear area of ​​the bottom plate, and multiple objects to be inspected are fixed on the left and right sides of the middle and rear part of the transfer rod.

[0013] A plurality of laser displacement sensors electrically connected to the detection circuit are installed in the rear area of ​​the bottom plate, and each laser displacement sensor is respectively inductively matched with the corresponding detected object.

[0014] The control unit of the detection circuit receives the sensing signals of each laser displacement sensor. In the detection of a specific displacement of the pneumatic shaft, the control unit only receives the sensing signals of two or three laser displacement sensors corresponding to the specific displacement. The control unit performs logical judgment based on the corresponding sensing signals received and outputs the detection results of each specific displacement of the pneumatic shaft of the micro precision pneumatic actuator.

[0015] A further technical solution is that the fixing fixture includes a base, a composite cylinder with lifting and rotating functions, a pressure arm, a pressure head and a first electronic switching valve electrically connected to the control unit, the base is fixed to the bottom plate, the upper part of the base is provided with a lower cavity for placing the micro-precision pneumatic actuator, the composite cylinder is installed on one side of the base, the inner end of the pressure arm is fixed to the output shaft of the composite cylinder, the pressure head is fixed to the outer end of the pressure arm, the lower part of the pressure head is provided with an upper cavity for pressing the micro-precision pneumatic actuator in the lower cavity, and the electronic switching valve is connected to the composite cylinder through an air pipe to drive the dynamic pressure arm to lift and rotate;

[0016] A first linear cylinder is fixed to the middle of the bottom plate, a sliding platform is arranged above the first linear cylinder, a push rod of the first linear cylinder is fixedly connected to the rear end of the sliding platform, a linear slide is fixed above the sliding platform, the linear slide is parallel to the transfer rod, a slider is slidably mounted on the linear slide, the middle of the transfer rod is fixed above the slider, a first electronic switching valve is connected to the first linear cylinder through an air pipe, and is used to provide a forward force to the transfer rod during the retraction of the pneumatic shaft and keep the truncated cone of the transfer rod always against the pneumatic shaft during the forward and backward movement of the pneumatic shaft;

[0017] The spring return mechanism includes a sliding sleeve fixed to the sliding platform, a top column slidably mounted on the sliding sleeve, and a spring sleeved on the top column. The rear end of the top column is threaded with an adjusting nut, and the front end is provided with a push-butt head. The rear end of the spring abuts against the front end surface of the sliding sleeve, and the front end abuts against the push-butt head, so as to provide an adjustable elastic force to the top column and the transfer rod.

[0018] The rod body of the transfer rod is square, the length of the rod body of the transfer rod is greater than 10 cm, the diameter of the truncated cone portion is greater than 2 times the diameter of the pneumatic shaft, and the truncated cone portion is coaxially arranged with the pneumatic shaft;

[0019] An adapter plate is fixed on the left and right sides of the rear part of the rod body of the transfer rod, respectively. The adapter plate has a vertically arranged mounting plate and a horizontally arranged wing plate. The adapter plate is fixed to the transfer rod through the mounting plate. Each inspected object is respectively fixed on the outer side of the wing plate of the corresponding adapter plate. At least two inspected objects are respectively arranged on each adapter plate, and each inspected object is provided with at least one detection window.

[0020] It is used to quickly and automatically detect multiple specific displacements of miniature precision pneumatic actuators with a pneumatic shaft diameter of less than 3mm, a displacement speed of 1-1.5 m / s and a maximum displacement of the pneumatic shaft of less than 5mm in one workstation.

[0021] Two or three laser displacement sensors form a detection module. The laser displacement sensor of a detection module cooperates with the corresponding front edge sensing of the same detection window. Two detection modules are set on the left side of the middle and rear part of the transfer rod and two detection modules are set on the right side, which correspond to the detection of four different specific displacements of the pneumatic shaft, including 25% maximum displacement, 50% maximum displacement, 75% maximum displacement and 100% maximum displacement.

[0022] A further technical solution is to install a docking drive mechanism on the front side of the detection platform, the docking drive mechanism includes a second linear cylinder fixed to the detection platform and a clamping block of a push rod fixed to the second linear cylinder, the clamping block is installed with a quick-plug interface, the quick-plug interface is coaxially arranged with the air pressure interface, and the quick-plug interface is connected to the air pressure interface after the quick-plug interface moves toward the rear side;

[0023] A plurality of relatively independent fine-tuning platforms are arranged on the rear side of the detection platform. The fine-tuning platforms include a top plate fixed on the detection platform, a rack fixed on the bottom surface of the top plate, a bottom frame, a knob protruding from one side of the top plate, and a worm and a gear respectively rotatably mounted on the bottom frame. The top plate is slidably mounted on the top of the bottom frame through a slide rail. The worm and the gear meshing drive form a worm gear transmission mechanism. The knob is coaxially connected to the worm, and the gear transmission is connected to the rack.

[0024] The top plate of each fine-tuning platform is fixed with only one of the laser displacement sensors, forming a universal adjustable displacement detection module, and a plurality of adjustable displacement detection modules for correspondingly detecting different specific displacements of the pneumatic shaft are respectively installed on the left and right sides of the middle and rear part of the transfer rod;

[0025] The inspected object is a black light-absorbing metal plate, each of which is provided with a detection window, which penetrates the light-absorbing metal plate, and the light-absorbing metal plate is provided with a scale corresponding to the displacement of the pneumatic shaft at the outer edge of the detection window;

[0026] The laser displacement sensor includes two arms arranged opposite to each other up and down and a detection gap between the two arms. A laser transmitter is installed on the inner wall of one arm and a laser receiver is installed on the inner wall of the other arm. The laser displacement sensor receives the laser emitted by the laser transmitter through the laser receiver and aligns the laser with the corresponding scale to determine its displacement detection distance.

[0027] Each light-absorbing metal plate corresponding to a different displacement detection distance horizontally passes through the detection slit of the corresponding laser displacement sensor, and in the initial state, the laser emitted by each laser displacement sensor is located in the projection area of ​​the corresponding detection window, and the laser emitted by each laser displacement sensor vertically passes through the corresponding detection window, and the laser displacement sensor keeps sending a conduction sensing signal to the control unit;

[0028] A barcode scanner electrically connected to the detection circuit is also provided. The control unit receives the information of the barcode scanner scanning the QR code or barcode attached to the micro-precision pneumatic actuator and obtains the identity ID, model and other information of the micro-precision pneumatic actuator.

[0029] A low-cost batch rapid automatic detection method for micro precision pneumatic actuators, using the above-mentioned batch automatic precision detection device for micro precision pneumatic actuators for detection, is used to quickly batch automatically detect multiple specific displacements of micro precision pneumatic actuators with a pneumatic shaft diameter of less than 3mm, a displacement speed of 1-1.5 m / s, and a maximum displacement of the pneumatic shaft of less than 5mm at one station, including the following steps:

[0030] The fixing step includes installing a fixing fixture on the detection platform, quickly clamping, positioning and fixing the micro precision pneumatic actuator through the fixing fixture, and making the pneumatic shaft of the micro precision pneumatic actuator face the rear side and the air pressure interface face the front side, and the pneumatic shaft remains in a retracted state before air is supplied to the micro precision pneumatic actuator;

[0031] A gas supply step, supplying gas to the electronic pressure regulating valve through a gas pressure supply device, and transmitting gas pressure controlled by a control unit of a detection circuit to a gas pressure interface so as to move the pneumatic shaft toward the rear side;

[0032] The transfer detection step is to slide the front end face of the transfer rod installed on the detection platform to lightly touch the rear end face of the pneumatic shaft, and the transfer rod is kept against the rear end face of the pneumatic shaft through the spring return mechanism. The rod displacement of the transfer rod is equal to the shaft displacement of the pneumatic shaft.

[0033] The transfer rod adopts an extended design, and the middle and rear part of the transfer rod extends to the rear area of ​​the detection platform. A plurality of targets to be detected and a plurality of laser displacement sensors are arranged in the rear area of ​​the detection platform. The laser displacement sensors are respectively fixed on the detection platform, and each target to be detected is respectively fixed on the middle and rear part of the transfer rod. During the detection process, each laser displacement sensor is always kept fixed to obtain higher reliability and stability. By detecting multiple laser displacement sensors with different displacement detection distances, each corresponding target to be detected is respectively detected to obtain different specific rod displacements of the transfer rod;

[0034] The automatic detection step is to start the detection through the control unit, send multiple groups of detection instruction sets in sequence through the control unit, and control the electronic pressure regulating valve in sequence through each detection instruction set to provide air pressure of corresponding air pressure value to the air pressure interface respectively. The control unit receives the sensing signal of each laser displacement sensor, and simultaneously detects the displacement of the transfer rod in one displacement of the pneumatic shaft through multiple laser displacement sensors with different displacement detection distances. The control unit performs logical judgment according to the corresponding detection instruction set and the corresponding sensing signal and logical combination of the laser displacement sensor, and performs displacement detection and logical judgment on each displacement of the pneumatic shaft. The control unit outputs the result of the logical judgment to obtain the detection result of each specific axis displacement of the current pneumatic shaft.

[0035] A further technical solution is that the inspected object is a black light-absorbing metal plate with a detection window, the detection window penetrates the light-absorbing metal plate, and the light-absorbing metal plate is provided with a scale corresponding to the displacement of the pneumatic shaft at the outer edge of the detection window.

[0036] The laser displacement sensor comprises two arms arranged opposite to each other up and down and a detection gap between the two arms. A laser transmitter is installed on the inner wall of one arm and a laser receiver is installed on the inner wall of the other arm. The laser displacement sensor receives the laser emitted by the laser transmitter through the laser receiver and aligns the laser with the corresponding scale to determine its displacement detection distance.

[0037] Each light-absorbing metal plate corresponding to different displacement detection distances horizontally passes through the detection slit of the corresponding laser displacement sensor. In the initial state, the laser emitted by each laser displacement sensor is located in the projection area of ​​the corresponding detection window. The laser emitted by each laser displacement sensor vertically passes through the corresponding detection window. The laser displacement sensor keeps sending a conduction sensing signal to the control unit.

[0038] The displacement detection distance of the laser displacement sensor is determined by adjusting the distance between the laser emitted by each of the laser displacement sensors and the front edge of the corresponding detection window in the initial state. When the pneumatic shaft pushes the transfer rod to move backward, the transfer rod synchronously drives each light-absorbing metal plate to move backward. When the laser emitted by the laser displacement sensor reaches and exceeds the front edge of the corresponding detection window, the laser is blocked and cut off by the corresponding light-absorbing metal plate. The laser displacement sensor sends a disconnection sensing signal to the control unit. The control unit only receives the sensing signals of the corresponding two or three laser displacement sensors in one detection instruction set to complete the detection of a specific displacement of the pneumatic shaft.

[0039] The control unit detects the same specific displacement of the pneumatic shaft multiple times through a detection instruction set, and the control unit sequentially detects different specific displacements of the pneumatic shaft respectively through different detection instruction sets.

[0040] According to a further technical solution, the control unit indirectly detects a displacement of the pneumatic shaft in one of the detection instruction sets through two adjacently arranged lasers respectively passing through the detection windows of the same corresponding light-absorbing metal plate and respectively sensing and cooperating with the front edge of the detection window to improve the detection accuracy, wherein the displacement detection distance of one of the laser displacement sensors is equal to the minimum displacement distance allowed by the pneumatic shaft, and the displacement detection distance of the other laser displacement sensor is equal to the maximum displacement distance allowed by the pneumatic shaft;

[0041] In a detection instruction set, the control unit only receives the sensing signals of the two laser displacement sensors with the displacement detection distance corresponding to the current detection instruction set, and performs logical judgment according to the sensing signals of the two corresponding laser displacement sensors.

[0042] If the control unit does not receive the disconnection sensing signal of the laser displacement sensor corresponding to the minimum displacement distance, it is judged that the displacement is too small.

[0043] If the control unit receives the disconnection sensing signal of the laser displacement sensor corresponding to the minimum displacement distance and does not receive the disconnection sensing signal corresponding to the maximum displacement distance, it is judged that the detection is qualified.

[0044] If the control unit receives disconnection sensing signals of the laser displacement sensor corresponding to the minimum displacement distance and the maximum displacement distance in sequence, it is determined that the displacement is too long.

[0045] A further technical solution is that the detection instruction set is provided with a fast detection sub-instruction set,

[0046] In the early stage of executing each detection instruction set, if the control unit performs logical judgment and the displacement is too small or too long, and the cumulative number of times reaches the set number, the control unit immediately switches to execute the fast detection sub-instruction set to reduce the calculation amount of the control unit and improve the detection efficiency.

[0047] The control unit executes the rapid detection sub-instruction set to perform detection and rapid judgment in a relatively stable environment. The control unit repeats the current displacement detection 10 times, sets the time interval between two adjacent displacement detections to 1-2 seconds, and controls the electronic pressure regulating valve to supply air to the air pressure interface to maintain a stable air pressure for 1-2 seconds. The control unit performs logical judgment according to the sensing signals of the two corresponding laser displacement sensors during the detection process. If the detection result still shows that the displacement is too small or too long, the control unit determines that the detection is unqualified, and the control unit ends the current detection instruction set and executes the next detection instruction set. Alternatively, the control unit directly ends all detection instruction sets for the current micro-precision pneumatic actuator and outputs the detection result.

[0048] According to a further technical solution, the detection instruction set is further provided with a high-speed detection sub-instruction set.

[0049] In the early stage of executing each detection instruction set, the control unit first executes the high-speed detection sub-instruction set to perform high-speed detection. During the high-speed detection process, the control unit performs statistics on the judgment results of the logic judgment.

[0050] During the high-speed detection process, the control unit sets the time interval between two adjacent displacement detections to 0.5-1 second, and the number of high-speed detections is set to 500-1000 times. During the detection process, the control unit performs logical judgment according to the sensing signals of the two corresponding laser displacement sensors;

[0051] In the 100 displacement detections executed for each detection instruction set, if the result of the control unit's logical judgment is that the displacement is too small or too long for a cumulative number of more than 3 times, the control unit immediately switches to executing the fast detection sub-instruction set.

[0052] A further technical solution is that the control unit indirectly detects a displacement of the pneumatic shaft in one detection instruction set through three adjacently arranged lasers respectively passing through the detection windows of the same light-absorbing metal plate and respectively sensing and cooperating with the front edge of the detection window to improve the detection accuracy.

[0053] The displacement detection distance of the first laser displacement sensor is equal to the minimum displacement distance allowed by the pneumatic shaft, the displacement detection distance of the second laser displacement sensor in the middle is equal to the standard displacement of the pneumatic shaft, and the displacement detection distance of the third laser displacement sensor is equal to the maximum displacement distance allowed by the pneumatic shaft;

[0054] In one detection instruction set, the control unit only receives the sensing signals of the three laser displacement sensors corresponding to the current detection instruction set, and performs logic judgment according to the sensing signals of the corresponding three laser displacement sensors. The judgment results of the logic judgment include less than the minimum displacement distance allowed, between the minimum displacement distance allowed and the standard distance, equal to the standard displacement, between the standard displacement and the maximum displacement distance allowed, and greater than the maximum displacement distance allowed, so as to detect and obtain the displacement and displacement error of the pneumatic shaft;

[0055] The speed of the pneumatic shaft is calculated by recording the time interval between the triggering of the sensing signals of the two laser displacement sensors with the largest front-to-back distance.

[0056] A further technical solution is that a truncated cone is integrally formed at the front end of the transfer rod, the diameter of the truncated cone is more than twice the diameter of the pneumatic shaft, the truncated cone is coaxially arranged with the pneumatic shaft, the rod body of the transfer rod is designed to be square, the length of the rod body of the transfer rod is greater than 10 cm, a slider is installed at the middle of the rod body of the transfer rod, the slider is slidably installed on the linear slide rail, the linear slide rail is installed on the detection platform, and adapter plates are respectively fixed on the left and right sides of the rear part of the rod body of the transfer rod, the adapter plate has a vertically arranged mounting plate and a horizontally arranged wing plate, the adapter plate is fixed to the transfer rod through the mounting plate, each inspected target is respectively fixed on the outer side of the wing plate of the corresponding adapter plate, at least two inspected targets are respectively arranged on each adapter plate, and each inspected target is provided with at least two detection windows;

[0057] A bottom plate is used as a detection platform, a first linear cylinder is fixed in the middle of the bottom plate, a sliding platform is arranged above the first linear cylinder, and the sliding platform is pushed by the first linear cylinder to provide a forward force to the transfer rod during the retraction of the pneumatic shaft and to keep the truncated cone portion of the transfer rod always against the pneumatic shaft during the forward and backward movement of the pneumatic shaft;

[0058] The spring return mechanism includes a sliding sleeve fixed to the sliding platform, a top column slidably mounted on the sliding sleeve, and a spring sleeved on the top column. The rear end of the top column is threaded with an adjusting nut, and the front end is provided with a push-butt head. The rear end of the spring abuts against the front end surface of the sliding sleeve, and the front end abuts against the push-butt head, which is used to provide an adjustable elastic force to the top column and the transfer rod during the forward and backward movement, and the elastic force is adjusted by adjusting the nut.

[0059] The transfer rod is actively and quickly pushed to reset by the first linear cylinder, and at the same time, no gap appears between the pneumatic shaft and the pneumatic shaft during the process from the reset stop to the next rapid backward movement, and rigid collision between the transfer rod and the pneumatic shaft is avoided;

[0060] It also includes a position adjustment step, an automatic identification step and a docking step.

[0061] Before the fixing step, a position adjustment step is performed. The position adjustment step is implemented through a fine-tuning platform. One of the laser displacement sensors is fixed to the fine-tuning platform and prepared into a universal detection module for each specific displacement. The fine-tuning platform adjusts the front and rear positions of the corresponding laser displacement sensors through a knob, a worm gear connected to the knob, and a rack that cooperates with the worm gear and is fixed to the bottom surface of the fine-tuning platform. Two or three detection modules are combined to form a detection module to detect a specific displacement of the pneumatic shaft. Four detection modules are used to detect 25% maximum displacement, 50% maximum displacement, 75% maximum displacement and 100% maximum displacement of the pneumatic shaft respectively.

[0062] An automatic identification step is performed after completing the fixing step. Before the detection, the QR code or barcode information attached to the micro precision pneumatic actuator is scanned by a barcode scanner. The control unit obtains the identity ID and model and other information of the micro precision pneumatic actuator through the barcode scanner, and then performs the transfer detection step. The control unit automatically determines whether the micro precision pneumatic actuator currently being detected is qualified according to the model and corresponding qualified parameters during the detection process. After the detection is completed, the detection result and the identity ID of the micro precision pneumatic actuator are bound, and a complete electronic report is output.

[0063] Docking step, after completing the automatic identification step, the docking step is performed, a docking drive mechanism is installed on the front side of the detection platform, a quick-plug interface is installed on the upper part of the docking drive mechanism, and air pressure is supplied to the quick-plug interface through an electronic pressure regulating valve. The docking step is to drive the quick-plug interface toward the rear side through the docking drive mechanism, and the quick-plug interface is connected to the air pressure interface.

[0064] Compared with the prior art, the advantages of the present invention are as follows: the detection device of the present invention is small in size and low in cost, and is suitable for batch detection of miniature precision pneumatic actuators with a pneumatic shaft diameter of less than 3mm, a maximum displacement of less than 5mm, and a displacement speed of 1-1.5 meters per second. It can also realize multiple specific displacement detections at one detection station, while maintaining the stability and accuracy of reliable detection during the batch detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a schematic diagram of the structure of the present invention;

[0066] Figure 2 It is a schematic diagram of combining two laser displacement sensors of the present invention to detect a specific displacement;

[0067] Figure 3 is a schematic diagram of combining three laser displacement sensors of the present invention to detect a specific displacement;

[0068] Figure 4 It is an exploded view of the fixing fixture of the present invention.

[0069] Figure 5 It is an exploded view of the transfer rod and the mounting structure of the present invention.

[0070] Markings in the figure:

[0071] 1 Micro Precision Pneumatic Actuator 10 Pneumatic Axis

[0072] 20 bottom plate 21 transfer rod 211 truncated cone portion

[0073] 2 detection module 22 laser displacement sensor 221 detection seam

[0074] 23 first linear cylinder 24 sliding platform 25 linear guide rail 26 slider 27 adapter plate 28 wing plate

[0075] 3 Fixing fixture 31 Base 32 Composite cylinder 33 Pressing arm 34 Pressing head 35 Output shaft

[0076] 41 sliding sleeve 42 top column 43 spring 44 adjusting nut 45 push head

[0077] 51 light-absorbing metal plate 52 detection window

[0078] 61 top plate 62 knob 63 worm gear transmission mechanism 64 rack. DETAILED DESCRIPTION

[0079] A batch automatic precision detection device for micro precision pneumatic actuators 1 is used to quickly and automatically detect multiple specific displacements of micro precision pneumatic actuators 1 with a diameter of pneumatic shaft 10 less than 3mm, a displacement speed of 1-1.5 m / s and a maximum displacement of pneumatic shaft 10 less than 5mm at one workstation.

[0080] A plurality of independently arranged bottom plates 20 serving as detection platforms are installed at intervals on the frame, and a fixing fixture 3 is installed on the front side of the bottom plate 20 for fixing the micro precision pneumatic actuator 1 and making the pneumatic shaft 10 of the micro precision pneumatic actuator 1 face the rear side and the air pressure interface face the front side.

[0081] Specifically, the fixing fixture 3 includes a base 31, a composite cylinder 32 with lifting and rotating functions, a pressure arm 33, a pressure head 34, and a first electronic switching valve and a first electronic switching valve electrically connected to the control unit. The base 31 is fixed to the bottom plate 20, and the upper part of the base 31 is provided with a lower cavity for placing the micro precision pneumatic actuator 1. The composite cylinder 32 is installed on one side of the base 31, the inner end of the pressure arm 33 is fixed to the output shaft 35 of the composite cylinder 32, the pressure head 34 is fixed to the outer end of the pressure arm 33, and the lower part of the pressure head 34 is provided with an upper cavity for pressing the micro precision pneumatic actuator 1 in the lower cavity. The electronic switching valve is connected to the composite cylinder 32 through an air pipe, which is used to drive the dynamic pressure arm 33 to lift and rotate.

[0082] A transfer rod 21 capable of moving forward and backward is slidably installed in the middle of the bottom plate 20. The rod body of the transfer rod 21 is square, the length of the rod body of the transfer rod 21 is greater than 10 cm, the diameter of the truncated cone 211 is greater than 2 times the diameter of the pneumatic shaft 10, and the truncated cone 211 is coaxially arranged with the pneumatic shaft 10; a spring 43 reset mechanism for pushing the transfer rod 21 to move forward and reset is installed at the rear end of the transfer rod 21, and a truncated cone 211 is arranged at the front end of the transfer rod 21. Specifically, a first linear cylinder 23 is fixed in the middle of the bottom plate 20, and a sliding plane is arranged above the first linear cylinder 23. The push rod of the first linear cylinder 23 is fixedly connected to the rear end of the sliding platform 24, a linear slide rail 25 is fixed above the sliding platform 24, the linear slide rail 25 is parallel to the transfer rod 21, a slider 26 is slidably installed on the linear slide rail 25, the middle part of the transfer rod 21 is fixed above the slider 26, and the first electronic switching valve is connected to the first linear cylinder 23 through an air pipe, which is used to provide a forward force to the transfer rod 21 during the retraction of the pneumatic shaft 10 and to keep the frustum 211 of the transfer rod 21 always against the pneumatic shaft 10 during the forward and backward movement of the pneumatic shaft 10.

[0083] The spring 43 reset mechanism includes a sliding sleeve 41 fixed to the sliding platform 24, a top column 42 slidably installed on the sliding sleeve 41 and a spring 43 sleeved on the top column 42. The rear end of the top column 42 is threaded with an adjusting nut 44, and the front end is provided with a push head 45. The rear end of the spring 43 abuts against the front end surface of the sliding sleeve 41, and the front end abuts against the push head 45, so as to provide an adjustable elastic force to the top column 42 and the transfer rod 21.

[0084] In the initial state, the truncated cone portion 211 is maintained at a position where its front end surface just touches the end surface of the pneumatic shaft 10, and the rod displacement of the transfer rod 21 is equal to the shaft displacement of the pneumatic shaft 10.

[0085] The middle and rear part of the transfer rod 21 extends to the rear area of ​​the bottom plate 20. A plurality of inspected objects are fixed on the left and right sides of the middle and rear part of the transfer rod 21. A plurality of laser displacement sensors 22 electrically connected to the detection circuit are installed in the rear area of ​​the bottom plate 20. Each laser displacement sensor 22 senses and cooperates with the corresponding inspected object.

[0086] Specifically, adapter plates 27 are fixed on the left and right sides of the rear part of the rod body of the transfer rod 21, respectively. The adapter plate 27 has a vertically arranged mounting plate and a horizontally arranged wing plate 28. The adapter plate 27 is fixed to the transfer rod 21 through the mounting plate, and each inspected target is respectively fixed on the outer side of the wing plate 28 of the corresponding adapter plate 27. At least two inspected targets are respectively arranged on each adapter plate 27, and each inspected target is provided with at least one detection window 52. Two or three laser displacement sensors 22 form a detection module 2, and the laser displacement sensor 22 of a detection module 2 is inductively matched with the front edge of the corresponding detection window 52. Two detection modules 2 are arranged on the left side and two detection modules 2 are arranged on the right side of the middle and rear part of the transfer rod 21, respectively corresponding to the detection of four different specific displacements of the pneumatic shaft 10, including 25% maximum displacement, 50% maximum displacement, 75% maximum displacement and 100% maximum displacement.

[0087] The control unit of the detection circuit receives the sensing signals of each laser displacement sensor 22. In the detection of a specific displacement of the pneumatic shaft 10, the control unit only receives the sensing signals of two or three laser displacement sensors 22 corresponding to the specific displacement. The control unit performs logical judgment based on the corresponding sensing signals received, and outputs the detection results of each specific displacement of the pneumatic shaft 10 of the micro-precision pneumatic actuator 1. The speed of the pneumatic shaft 10 is calculated by recording the time interval when the sensing signals of the two laser displacement sensors 22 with the largest front-to-back distance are triggered.

[0088] A docking drive mechanism is installed on the front side of the detection platform. The docking drive mechanism includes a second linear cylinder fixed on the detection platform and a clamping block of a push rod fixed on the second linear cylinder. The clamping block is equipped with a quick-plug interface. The quick-plug interface is coaxially arranged with the air pressure interface. After the quick-plug interface moves toward the rear side, the quick-plug interface is connected with the air pressure interface to realize automatic air supply.

[0089] A plurality of relatively independent fine-tuning platforms are arranged on the rear side of the detection platform. The fine-tuning platforms include a top plate 61 fixed on the detection platform, a rack 64 fixed on the bottom surface of the top plate 61, a base frame, a knob 62 protruding from one side of the top plate 61, and a worm and a gear respectively rotatably mounted on the base frame. The top plate 61 is slidably mounted on the top of the base frame through a slide rail. The worm and the gear meshing drive form a worm gear transmission mechanism 63. The knob 62 is coaxially connected to the worm, and the gear is connected to the rack 64. Only one laser displacement sensor 22 is fixed to the top plate 61 of each fine-tuning platform to form a universal adjustable displacement detection module. A plurality of adjustable displacement detection modules for correspondingly detecting different specific displacements of the pneumatic shaft 10 are respectively installed on the left and right sides of the middle and rear part of the transfer rod 21. The front and rear positions of the laser displacement sensor 22 are adjusted by the knob 62, and the position of the laser emitted by the laser displacement sensor 22 is adjusted so that it can be used to detect different specific displacements of the pneumatic shaft 10.

[0090] The inspected target is a black light-absorbing metal plate 51, each of which is provided with a detection window 52, ​​which passes through the light-absorbing metal plate 51, and the light-absorbing metal plate 51 is provided with a scale corresponding to the displacement of the pneumatic shaft 10 at the outer edge of the detection window 52; the laser displacement sensor 22 includes two arms arranged opposite to each other up and down and a detection slit 221 between the two arms, a laser transmitter is installed on the inner wall surface of one arm, and a laser receiver is installed on the inner wall surface of the other arm, the laser displacement sensor 22 receives the laser emitted by the laser transmitter through the laser receiver, aligns the laser with the corresponding scale to determine its displacement detection distance, and the light-absorbing metal plates 51 corresponding to different displacement detection distances respectively pass horizontally through the detection slit 221 of the corresponding laser displacement sensor 22, in the initial state, the laser emitted by each laser displacement sensor 22 is located in the projection area of ​​the corresponding detection window 52, ​​and the laser emitted by each laser displacement sensor 22 passes vertically through the corresponding detection window 52, ​​and the laser displacement sensor 22 keeps sending a conduction sensing signal to the control unit.

[0091] A barcode scanner electrically connected to the detection circuit is also provided. The control unit receives the information of the barcode scanner scanning the QR code or barcode attached to the micro-precision pneumatic actuator 1 and obtains the identity ID, model and other information of the micro-precision pneumatic actuator 1.

[0092] A low-cost batch rapid automatic detection method for micro-precision pneumatic actuators 1, using the above-mentioned batch automatic precision detection device for micro-precision pneumatic actuators 1 for detection, is used to quickly batch automatically detect multiple specific displacements of micro-precision pneumatic actuators 1 with a diameter of pneumatic shaft 10 less than 3mm, a displacement speed of 1-1.5 m / s, and a maximum displacement of pneumatic shaft 10 less than 5mm at one station, including the following steps:

[0093] In the fixing step, a fixing fixture 3 is installed on the detection platform, and the micro precision pneumatic actuator 1 is quickly clamped, positioned and fixed by the fixing fixture 3, and the pneumatic shaft 10 of the micro precision pneumatic actuator 1 is directed to the rear side and the air pressure interface is directed to the front side. Before air is supplied to the micro precision pneumatic actuator 1, the pneumatic shaft 10 remains in a retracted state.

[0094] In the air supply step, air is supplied to the electronic pressure regulating valve through the air pressure supply device, and the air pressure controlled by the control unit of the detection circuit is transmitted to the air pressure interface through the electronic pressure regulating valve to move the pneumatic shaft 10 toward the rear side.

[0095] In the transfer detection step, the front end face of the transfer rod 21 slidably mounted on the detection platform lightly touches the rear end face of the pneumatic shaft 10, and the transfer rod 21 is kept against the rear end face of the pneumatic shaft 10 by the spring 43 reset mechanism. The rod displacement of the transfer rod 21 is equal to the axial displacement of the pneumatic shaft 10.

[0096] The transfer rod 21 adopts an extended design, and the middle and rear part of the transfer rod 21 extends to the rear area of ​​the detection platform. Multiple targets to be inspected and multiple laser displacement sensors 22 are set in the rear area of ​​the detection platform. The laser displacement sensors 22 are respectively fixed on the detection platform, and each target to be inspected is respectively fixed at the middle and rear part of the transfer rod 21. During the detection process, each laser displacement sensor 22 always remains fixed to obtain higher reliability and stability. By detecting multiple laser displacement sensors 22 with different displacement detection distances, each corresponding target to be inspected is detected to obtain different specific rod displacements of the transfer rod 21.

[0097] A truncated cone portion 211 is integrally formed at the front end portion of the transfer rod 21. The diameter of the truncated cone portion 211 is more than twice the diameter of the pneumatic shaft 10, so that the truncated cone portion 211 is coaxially arranged with the pneumatic shaft 10. The rod body of the transfer rod 21 is designed to be square. The length of the rod body of the transfer rod 21 is greater than 10 cm. A slider 26 is installed in the middle of the rod body of the transfer rod 21. The slider 26 is slidably installed on the linear slide rail 25. The linear slide rail 25 is installed on the detection platform. Adapter plates 27 are fixed on the left and right sides of the rear part of the rod body of the transfer rod 21. The adapter plate 27 has a vertically arranged mounting plate and a horizontally arranged wing plate 28. The adapter plate 27 is fixed to the transfer rod 21 through the mounting plate. Each inspected target is respectively fixed on the outer side of the wing plate 28 of the corresponding adapter plate 27. At least two inspected targets are respectively arranged on each adapter plate 27, and each inspected target is provided with at least two detection windows 52.

[0098] A base plate 20 is used as a detection platform. A first linear cylinder 23 is fixed in the middle of the base plate 20. A sliding platform 24 is arranged above the first linear cylinder 23. The sliding platform 24 is pushed by the first linear cylinder 23 to provide a forward force to the transfer rod 21 during the retraction of the pneumatic shaft 10 and to keep the conical portion 211 of the transfer rod 21 always against the pneumatic shaft 10 during the forward and backward movement of the pneumatic shaft 10.

[0099] The spring 43 reset mechanism includes a sliding sleeve 41 fixed to the sliding platform 24, a top column 42 slidably installed on the sliding sleeve 41 and a spring 43 sleeved on the top column 42. The rear end of the top column 42 is screwed with an adjusting nut 44, and the front end is provided with a pushing head 45. The rear end of the spring 43 abuts against the front end surface of the sliding sleeve 41, and the front end abuts against the pushing head 45, which is used to provide an adjustable elastic force to the top column 42 and the transfer rod 21 during the forward and backward movement. The elastic force is adjusted by adjusting the nut 44.

[0100] The first linear cylinder 23 actively and quickly pushes the transfer rod 21 to reset, and at the same time, during the process from the reset stop to the next rapid backward movement of the pneumatic shaft 10, no gap appears between the two and a rigid collision between the transfer rod 21 and the pneumatic shaft 10 is avoided.

[0101] The automatic detection step is to start the detection through the control unit, and send multiple groups of detection instruction sets in sequence through the control unit. The electronic pressure regulating valve is controlled in sequence through each detection instruction set to provide air pressure of corresponding air pressure value to the air pressure interface respectively. The control unit receives the sensing signal of each laser displacement sensor 22, and simultaneously detects the displacement of the transfer rod 21 in one displacement of the pneumatic shaft 10 through multiple laser displacement sensors 22 with different displacement detection distances. The control unit performs logical judgment according to the corresponding detection instruction set and the corresponding sensing signal and logical combination of the laser displacement sensor 22, and performs displacement detection and logical judgment on each displacement of the pneumatic shaft 10. The control unit outputs the result of the logical judgment to obtain the detection result of each specific axis displacement of the current pneumatic shaft 10.

[0102] The detection instruction set includes a fast detection sub-instruction set and a high-speed detection sub-instruction set.

[0103] The fast detection sub-instruction set, in the early stage of executing each detection instruction set, if the result of the control unit's logical judgment is that the displacement is too small or too long, and the cumulative number of times reaches the set number, the control unit will immediately switch to execute the fast detection sub-instruction set to reduce the calculation amount of the control unit and improve the detection efficiency.

[0104] The control unit executes the rapid detection sub-instruction set to perform detection and rapid judgment in a relatively stable environment. The control unit repeats the current displacement detection 10 times, sets the time interval between two adjacent displacement detections to 1-2 seconds, and controls the electronic pressure regulating valve to supply air to the air pressure interface to maintain a stable air pressure for 1-2 seconds. The control unit performs logical judgment according to the sensing signals of the two corresponding laser displacement sensors 22 during the detection process. If the detection result still shows that the displacement is too small or too long, the control unit determines that the detection is unqualified, and the control unit ends the current detection instruction set and executes the next detection instruction set, or the control unit directly ends all detection instruction sets for the current micro-precision pneumatic actuator 1 and outputs the detection result.

[0105] High-speed detection sub-instruction set. In the early stage of executing each detection instruction set, the control unit first executes the high-speed detection sub-instruction set to perform high-speed detection. During the high-speed detection process, the control unit counts the judgment results of the logical judgment.

[0106] During the high-speed detection process, the control unit sets the time interval between two adjacent displacement detections to 0.5-1 second, and the number of high-speed detections is set to 500-1000 times. During the detection process, the control unit performs logical judgment according to the sensing signals of the corresponding two laser displacement sensors 22;

[0107] In the 100 displacement detections executed for each detection instruction set, if the result of the control unit's logical judgment is that the displacement is too small or too long for a cumulative number of more than 3 times, the control unit immediately switches to execute the fast detection sub-instruction set.

[0108] The inspected target is a black light-absorbing metal plate 51 with a detection window 52, ​​and the detection window 52 passes through the light-absorbing metal plate 51. The light-absorbing metal plate 51 is provided with a scale corresponding to the displacement of the pneumatic shaft 10 at the outer edge of the detection window 52. The laser displacement sensor 22 includes two arms arranged opposite to each other up and down and a detection slit 221 between the two arms. A laser transmitter is installed on the inner wall of one arm, and a laser receiver is installed on the inner wall of the other arm. The laser displacement sensor 22 receives the laser emitted by the laser transmitter through the laser receiver, and aligns the laser with the corresponding scale to determine its displacement detection distance. Each light-absorbing metal plate 51 corresponding to different displacement detection distances passes horizontally through the detection slit 221 of the corresponding laser displacement sensor 22, and in the initial state, the laser emitted by each laser displacement sensor 22 is located in the projection area of ​​the corresponding detection window 52, ​​and the laser emitted by each laser displacement sensor 22 passes vertically through the corresponding detection window 52, ​​and the laser displacement sensor 22 keeps sending a conduction sensing signal to the control unit. The displacement detection distance of the laser displacement sensor 22 is determined by adjusting the distance between the laser emitted by each laser displacement sensor 22 and the front edge of the corresponding detection window 52 in the initial state. When the pneumatic shaft 10 pushes the transfer rod 21 to move backward, the transfer rod 21 synchronously drives each light-absorbing metal plate 51 to move backward. When the laser emitted by the laser displacement sensor 22 reaches and exceeds the front edge of the corresponding detection window 52, ​​the laser is blocked and intercepted by the corresponding light-absorbing metal plate 51. The laser displacement sensor 22 sends a disconnection sensing signal to the control unit. The control unit only receives the sensing signals of the corresponding two or three laser displacement sensors 22 in one detection instruction set to complete the detection of a specific displacement of the pneumatic shaft 10. The control unit detects the same specific displacement of the pneumatic shaft 10 multiple times through one detection instruction set, and the control unit sequentially detects different specific displacements of the pneumatic shaft 10 through different detection instruction sets.

[0109] The control unit indirectly detects a displacement of the pneumatic shaft 10 in one detection instruction set through two adjacently arranged laser displacement sensors 22 that respectively transmit the emitted lasers through the corresponding detection windows 52 of the same light-absorbing metal plate 51 and respectively sense and cooperate with the front edge of the detection window 52, ​​so as to improve the detection accuracy, wherein the displacement detection distance of one laser displacement sensor 22 is equal to the minimum displacement distance allowed by the pneumatic shaft 10, and the displacement detection distance of the other laser displacement sensor 22 is equal to the maximum displacement distance allowed by the pneumatic shaft 10;

[0110] In one detection instruction set, the control unit only receives the sensing signals of the two laser displacement sensors 22 with the displacement detection distance corresponding to the current detection instruction set, and performs logical judgment according to the sensing signals of the two corresponding laser displacement sensors 22.

[0111] If the control unit does not receive the disconnection sensing signal of the laser displacement sensor 22 corresponding to the minimum displacement distance, it is determined that the displacement is too small.

[0112] If the control unit receives a disconnection sensing signal from the laser displacement sensor 22 corresponding to the minimum displacement distance and does not receive a disconnection sensing signal from the laser displacement sensor 22 corresponding to the maximum displacement distance, the control unit determines that the detection is qualified.

[0113] If the control unit receives disconnection sensing signals of the laser displacement sensor 22 corresponding to the minimum displacement distance and the maximum displacement distance in sequence, it is determined that the displacement is too long.

[0114] In a feasible implementation mode, the control unit indirectly detects a displacement of the pneumatic shaft 10 through three adjacently arranged lasers respectively passing through the corresponding detection windows 52 of the same light-absorbing metal plate 51 and respectively sensing and cooperating with the front edge of the detection window 52 in one detection instruction set, so as to improve the detection accuracy.

[0115] The displacement detection distance of the first laser displacement sensor 22 is equal to the minimum displacement distance allowed by the pneumatic shaft 10, the displacement detection distance of the second laser displacement sensor 22 in the middle is equal to the standard displacement of the pneumatic shaft 10, and the displacement detection distance of the third laser displacement sensor 22 is equal to the maximum displacement distance allowed by the pneumatic shaft 10;

[0116] In a detection instruction set, the control unit only receives the sensing signals of the three laser displacement sensors 22 corresponding to the current detection instruction set, and performs logical judgment based on the sensing signals of the corresponding three laser displacement sensors 22. The judgment results of the logical judgment include less than the minimum allowed displacement distance, between the minimum allowed displacement distance and the standard distance, equal to the standard displacement, between the standard displacement and the maximum allowed displacement distance, and greater than the maximum allowed displacement distance, so as to detect the displacement and displacement error of the pneumatic shaft 10.

[0117] It also includes a position adjustment step, an automatic identification step and a docking step.

[0118] Before the fixing step, a position adjustment step is performed. The position adjustment step is implemented through a fine-tuning platform. A laser displacement sensor 22 is fixed to the fine-tuning platform and prepared into a universal detection module for each specific displacement. The fine-tuning platform adjusts the front and rear positions of the corresponding laser displacement sensor 22 through a knob 62, a worm gear connected to the knob 62, and a rack 64 that cooperates with the worm gear transmission and is fixed to the bottom surface of the fine-tuning platform. Two or three detection modules are combined to form a detection module 2 corresponding to a specific displacement of the pneumatic detection. Four detection modules 2 are used to detect 25% maximum displacement, 50% maximum displacement, 75% maximum displacement and 100% maximum displacement of the pneumatic shaft 10 respectively;

[0119] Automatic identification step, performed after completing the fixing step, first scans the QR code or barcode information attached to the micro precision pneumatic actuator 1 with a barcode scanner before testing, and the control unit obtains the identity ID and model and other information of the micro precision pneumatic actuator 1 through the barcode scanner, and then performs the transfer detection step. The control unit automatically determines whether the micro precision pneumatic actuator 1 currently being tested is qualified according to the model and corresponding qualified parameters during the detection process. After completing the detection, the detection result is bound to the identity ID of the micro precision pneumatic actuator 1, and a complete electronic report is output.

[0120] Docking step, after completing the automatic identification step, the docking step is performed, a docking drive mechanism is installed on the front side of the detection platform, a quick-plug interface is installed on the upper part of the docking drive mechanism, and air pressure is supplied to the quick-plug interface through an electronic pressure regulating valve. The docking step is to drive the quick-plug interface toward the rear side through the docking drive mechanism, and the quick-plug interface is connected to the air pressure interface.

Claims

1. A batch automatic precision detection device for micro precision pneumatic actuators, characterized by: Used for rapid batch automatic detection of multiple specific displacements of a micro precision pneumatic actuator (1) with a maximum displacement of a pneumatic shaft (10) less than 5 mm, A plurality of independently arranged bottom plates (20) serving as detection platforms are installed at intervals on the frame, and a fixing fixture (3) is installed on the front side of the bottom plate (20) for fixing the micro precision pneumatic actuator (1) and making the pneumatic shaft (10) of the micro precision pneumatic actuator (1) face the rear side and the air pressure interface face the front side. A transfer rod (21) capable of moving forward and backward is slidably mounted in the middle of the bottom plate (20); a spring (43) reset mechanism for pushing the transfer rod (21) to move forward and reset is mounted at the rear end of the transfer rod (21); a truncated cone portion (211) is disposed at the front end of the transfer rod (21); In the initial state, the truncated cone portion (211) is maintained at a position where its front end surface just lightly touches the end surface of the pneumatic shaft (10), and the rod displacement of the transfer rod (21) is equal to the shaft displacement of the pneumatic shaft (10). The middle and rear part of the transfer rod (21) extends to the rear area of ​​the bottom plate (20), and a plurality of objects to be inspected are fixed on the left and right sides of the middle and rear part of the transfer rod (21). A plurality of laser displacement sensors (22) electrically connected to the detection circuit are installed in the rear area of ​​the bottom plate (20), and each laser displacement sensor (22) senses and cooperates with a corresponding detected object. The control unit of the detection circuit receives sensing signals from the laser displacement sensors (22); in detecting a specific displacement of the pneumatic shaft (10), the control unit only receives sensing signals from two or three laser displacement sensors (22) corresponding to the specific displacement; the control unit performs logical judgment based on the received corresponding sensing signals, and outputs the detection results of the specific displacements of the pneumatic shaft (10) of the micro-precision pneumatic actuator (1).

2. The batch automatic precision detection device for micro precision pneumatic actuators according to claim 1 is characterized by: The fixing fixture (3) comprises a base (31), a composite cylinder (32) with lifting and rotating functions, a pressure arm (33), a pressure head (34) and a first electronic switching valve electrically connected to the control unit, wherein the base (31) is fixed to the bottom plate (20), and a lower cavity for placing the micro-precision pneumatic actuator (1) is provided at the upper part of the base (31), the composite cylinder (32) is installed on one side of the base (31), the inner end of the pressure arm (33) is fixed to the output shaft (35) of the composite cylinder (32), the pressure head (34) is fixed to the outer end of the pressure arm (33), and an upper cavity for pressing the micro-precision pneumatic actuator (1) against the lower cavity is provided at the lower part of the pressure head (34), and the electronic switching valve is connected to the composite cylinder (32) via an air pipe, and is used to drive the dynamic pressure arm (33) to lift and rotate; A first linear cylinder (23) is fixed in the middle of the bottom plate (20), a sliding platform (24) is arranged above the first linear cylinder (23), a push rod of the first linear cylinder (23) is fixedly connected to the rear end of the sliding platform (24), a linear slide rail (25) is fixed above the sliding platform (24), the linear slide rail (25) is parallel to the transfer rod (21), a slider (26) is slidably mounted on the linear slide rail (25), the middle of the transfer rod (21) is fixed above the slider (26), a first electronic switching valve is connected to the first linear cylinder (23) through an air pipe, and is used to provide a forward force to the transfer rod (21) during the retraction of the pneumatic shaft (10) and to keep the truncated cone (211) of the transfer rod (21) always against the pneumatic shaft (10) during the forward and backward movement of the pneumatic shaft (10); The spring (43) reset mechanism comprises a sliding sleeve (41) fixed to the sliding platform (24), a top column (42) slidably mounted on the sliding sleeve (41) and a spring (43) sleeved on the top column (42); the rear end of the top column (42) is threadedly connected with an adjusting nut (44), and the front end is provided with a push head (45); the rear end of the spring (43) abuts against the front end surface of the sliding sleeve (41), and the front end abuts against the push head (45), so as to provide an adjustable elastic force to the top column (42) and the transfer rod (21); The rod body of the transfer rod (21) is square, the length of the rod body of the transfer rod (21) is greater than 10 cm, the diameter of the truncated cone portion (211) is greater than twice the diameter of the pneumatic shaft (10), and the truncated cone portion (211) is coaxially arranged with the pneumatic shaft (10); An adapter plate (27) is fixed on the left and right sides of the rear part of the rod body of the transfer rod (21), respectively. The adapter plate (27) has a vertically arranged mounting plate and a horizontally arranged wing plate (28). The adapter plate (27) is fixed to the transfer rod (21) through the mounting plate. Each inspected object is respectively fixed on the outer side of the wing plate (28) of the corresponding adapter plate (27). At least two inspected objects are respectively arranged on each adapter plate (27), and each inspected object is provided with at least one detection window (52); Used for rapid batch automatic detection of multiple specific displacements of a micro precision pneumatic actuator (1) having a pneumatic shaft (10) with a diameter of less than 3 mm, a displacement speed of 1-1.5 m / s, and a maximum displacement of the pneumatic shaft (10) of less than 5 mm at one workstation; Two or three laser displacement sensors (22) form a detection module (2), and the laser displacement sensor (22) of a detection module (2) is inductively matched with the front edge of the corresponding detection window (52). Two detection modules (2) are arranged on the left side of the middle and rear part of the transfer rod (21), and two detection modules (2) are arranged on the right side, respectively corresponding to the detection of four different specific displacements of the pneumatic shaft (10), including 25% maximum displacement, 50% maximum displacement, 75% maximum displacement and 100% maximum displacement.

3. The batch automatic precision detection device for micro precision pneumatic actuators according to claim 2 is characterized by: A docking drive mechanism is installed on the front side of the detection platform, the docking drive mechanism includes a second linear cylinder fixed to the detection platform and a clamping block of a push rod fixed to the second linear cylinder, the clamping block is installed with a quick-plug interface, the quick-plug interface is coaxially arranged with the air pressure interface, and the quick-plug interface is connected to the air pressure interface after the quick-plug interface moves toward the rear side; A plurality of relatively independent fine-tuning platforms are arranged on the rear side of the detection platform, and the fine-tuning platforms include a top plate (61) fixed on the detection platform, a rack (64) fixed on the bottom surface of the top plate (61), a bottom frame, a knob (62) protruding from one side of the top plate (61), and a worm and a gear respectively rotatably mounted on the bottom frame. The top plate (61) is slidably mounted on the top of the bottom frame through a slide rail, and the worm and the gear meshingly drive to form a worm gear transmission mechanism (63). The knob (62) is coaxially connected to the worm, and the gear is connected to the rack (64). The top plate (61) of each fine-tuning platform is fixed with only one of the laser displacement sensors (22) to form a universal adjustable displacement detection module, and a plurality of adjustable displacement detection modules for correspondingly detecting different specific displacements of the pneumatic shaft (10) are respectively installed on the left and right sides of the middle and rear part of the transfer rod (21); The inspected object is a black light-absorbing metal plate (51), each light-absorbing metal plate (51) is provided with a detection window (52), the detection window (52) penetrates the light-absorbing metal plate (51), and the light-absorbing metal plate (51) is provided with a scale corresponding to the displacement of the pneumatic shaft (10) at the outer edge of the detection window (52); The laser displacement sensor (22) comprises two arms arranged opposite to each other in an upper and lower direction and a detection slit (221) between the two arms; a laser transmitter is installed on the inner wall surface of one arm and a laser receiver is installed on the inner wall surface of the other arm; the laser displacement sensor (22) receives the laser emitted by the laser transmitter through the laser receiver and aligns the laser with a corresponding scale to determine its displacement detection distance; Each light-absorbing metal plate (51) corresponding to a different displacement detection distance horizontally passes through a detection slit (221) of a corresponding laser displacement sensor (22), and in an initial state, the laser light emitted by each laser displacement sensor (22) is located within a projection area of ​​a corresponding detection window (52), and the laser light emitted by each laser displacement sensor (22) vertically passes through the corresponding detection window (52), and the laser displacement sensor (22) keeps sending a conduction sensing signal to the control unit; A barcode scanner electrically connected to the detection circuit is also provided, and the control unit receives information of a two-dimensional code or barcode scanned by the barcode scanner and attached to the micro-precision pneumatic actuator (1), and obtains information such as the identity ID and model of the micro-precision pneumatic actuator (1).

4. A low-cost batch rapid automatic detection method for micro precision pneumatic actuators, characterized by: A batch automatic precision detection device for micro-precision pneumatic actuators according to any one of claims 1 to 3 is used for rapid batch automatic detection of multiple specific displacements of micro-precision pneumatic actuators (1) with a pneumatic shaft (10) having a diameter of less than 3 mm, a displacement speed of 1-1.5 m / s, and a maximum displacement of the pneumatic shaft (10) less than 5 mm at one workstation, comprising the following steps: A fixing step, wherein a fixing fixture (3) is installed on the detection platform, and the micro-precision pneumatic actuator (1) is quickly clamped, positioned and fixed by the fixing fixture (3), and the pneumatic shaft (10) of the micro-precision pneumatic actuator (1) is oriented toward the rear side and the air pressure interface is oriented toward the front side, and the pneumatic shaft (10) is kept in a retracted state before air is supplied to the micro-precision pneumatic actuator (1); A gas supply step, supplying gas to the electronic pressure regulating valve through a gas pressure supply device, and transmitting gas pressure controlled by a control unit of a detection circuit to a gas pressure interface to move the pneumatic shaft (10) toward the rear side; The transfer detection step comprises: lightly pressing the front end surface of a transfer rod (21) slidably mounted on the detection platform against the rear end surface of the pneumatic shaft (10); and maintaining the transfer rod (21) against the rear end surface of the pneumatic shaft (10) through a spring (43) reset mechanism, so that the rod displacement of the transfer rod (21) is equal to the shaft displacement of the pneumatic shaft (10). The transfer rod (21) is designed to be lengthened, and the middle and rear part of the transfer rod (21) extends to the rear area of ​​the detection platform. A plurality of detected targets and a plurality of laser displacement sensors (22) are arranged in the rear area of ​​the detection platform. The laser displacement sensors (22) are respectively fixed to the detection platform, and each detected target is respectively fixed to the middle and rear part of the transfer rod (21). During the detection process, each laser displacement sensor (22) is always kept fixed to obtain higher reliability and stability. By detecting each corresponding detected target with a plurality of laser displacement sensors (22) having different displacement detection distances, different specific rod displacements of the transfer rod (21) are obtained. The automatic detection step includes starting the detection through a control unit, sequentially sending multiple groups of detection instruction sets through the control unit, sequentially controlling the electronic pressure regulating valve through each detection instruction set to provide air pressure of corresponding air pressure values ​​to the air pressure interface respectively, the control unit receiving the sensing signals of each laser displacement sensor (22), and simultaneously detecting the displacement of the transfer rod (21) in one displacement of the pneumatic shaft (10) through multiple laser displacement sensors (22) with different displacement detection distances, the control unit performing logical judgment according to the corresponding detection instruction set and the sensing signal of the corresponding laser displacement sensor (22) and the logical combination, performing displacement detection and logical judgment for each displacement of the pneumatic shaft (10), and the control unit outputting the result of the logical judgment to obtain the detection result of each specific axis displacement of the current pneumatic shaft (10).

5. A low-cost batch rapid automatic detection method for micro-precision pneumatic actuators according to claim 4, characterized in that: The inspected object is a black light-absorbing metal plate (51) with a detection window (52), the detection window (52) penetrates the light-absorbing metal plate (51), and the light-absorbing metal plate (51) is provided with a scale corresponding to the displacement of the pneumatic shaft (10) at the outer edge of the detection window (52). The laser displacement sensor (22) comprises two arms arranged opposite to each other in an upper and lower direction and a detection slit (221) between the two arms; a laser transmitter is installed on the inner wall surface of one arm and a laser receiver is installed on the inner wall surface of the other arm; the laser displacement sensor (22) receives the laser emitted by the laser transmitter through the laser receiver, aligns the laser with the corresponding scale to determine its displacement detection distance; Each light-absorbing metal plate (51) corresponding to a different displacement detection distance horizontally passes through a detection slit (221) of a corresponding laser displacement sensor (22), and in an initial state, the laser light emitted by each laser displacement sensor (22) is located within a projection area of ​​a corresponding detection window (52), and the laser light emitted by each laser displacement sensor (22) vertically passes through the corresponding detection window (52), and the laser displacement sensor (22) keeps sending a conduction sensing signal to the control unit. The displacement detection distance of the laser displacement sensor (22) is determined by adjusting the distance of the laser emitted by each of the laser displacement sensors (22) relative to the front edge of the corresponding detection window (52) in the initial state; when the pneumatic shaft (10) pushes the transfer rod (21) to move backward, the transfer rod (21) synchronously drives each of the light-absorbing metal plates (51) to move backward; when the laser emitted by the laser displacement sensor (22) reaches and exceeds the front edge of the corresponding detection window (52), the laser is blocked and intercepted by the corresponding light-absorbing metal plate (51); the laser displacement sensor (22) sends a disconnection sensing signal to the control unit; and the control unit only receives the sensing signals of the corresponding two or three laser displacement sensors (22) in one detection instruction set to complete the detection of a specific displacement of the pneumatic shaft (10); The control unit detects the same specific displacement of the pneumatic shaft (10) multiple times through a detection instruction set, and the control unit sequentially detects different specific displacements of the pneumatic shaft (10) respectively through different detection instruction sets.

6. A low-cost batch rapid automatic detection method for micro-precision pneumatic actuators according to claim 5, characterized in that: The control unit indirectly detects a displacement of the pneumatic shaft (10) in one of the detection instruction sets through two adjacently arranged laser displacement sensors (22) that respectively transmit the emitted laser light through a corresponding detection window (52) of the same light-absorbing metal plate (51) and respectively sense and cooperate with the front edge of the detection window (52) to improve detection accuracy, wherein the displacement detection distance of one of the laser displacement sensors (22) is equal to the minimum displacement distance allowed by the pneumatic shaft (10), and the displacement detection distance of the other laser displacement sensor (22) is equal to the maximum displacement distance allowed by the pneumatic shaft (10); In a detection instruction set, the control unit only receives sensing signals of two laser displacement sensors (22) having displacement detection distances corresponding to the current detection instruction set, and performs logical judgment according to the sensing signals of the two corresponding laser displacement sensors (22). If the control unit does not receive a disconnection sensing signal from the laser displacement sensor (22) corresponding to the minimum displacement distance, it is determined that the displacement is too small. If the control unit receives a disconnection sensing signal from the laser displacement sensor (22) corresponding to the minimum displacement distance and does not receive a disconnection sensing signal from the laser displacement sensor (22) corresponding to the maximum displacement distance, the control unit determines that the detection is qualified. If the control unit receives disconnection sensing signals of the laser displacement sensor (22) corresponding to the minimum displacement distance and the maximum displacement distance in sequence, it is determined that the displacement is too long.

7. A low-cost batch rapid automatic detection method for micro-precision pneumatic actuators according to claim 6, characterized in that: The detection instruction set is provided with a fast detection sub-instruction set, In the early stage of executing each detection instruction set, if the control unit performs logical judgment and the displacement is too small or too long, and the cumulative number of times reaches the set number, the control unit immediately switches to execute the fast detection sub-instruction set to reduce the calculation amount of the control unit and improve the detection efficiency. The control unit executes a quick detection sub-instruction set to perform detection and quick judgment in a relatively stable environment. The control unit repeats the current displacement detection 10 times, sets the time interval between two adjacent displacement detections to 1-2 seconds, controls the electronic pressure regulating valve to supply air to the air pressure interface to maintain a stable air pressure for 1-2 seconds, and performs a logical judgment according to the sensing signals of the two corresponding laser displacement sensors (22) during the detection process. If the detection result still shows that the displacement is too small or too long, the control unit judges that the detection is unqualified, terminates the current detection instruction set and executes the next detection instruction set, or directly terminates all detection instruction sets for the current micro-precision pneumatic actuator (1) and outputs the detection result.

8. A low-cost batch rapid automatic detection method for micro-precision pneumatic actuators according to claim 7, characterized in that: The detection instruction set also includes a high-speed detection sub-instruction set. In the early stage of executing each detection instruction set, the control unit first executes the high-speed detection sub-instruction set to perform high-speed detection. During the high-speed detection process, the control unit performs statistics on the judgment results of the logic judgment. During the high-speed detection process, the control unit sets the time interval between two adjacent displacement detections to 0.5-1 second, and the number of high-speed detections is set to 500-1000 times. During the detection process, the control unit performs logical judgment according to the corresponding sensing signals of the two laser displacement sensors (22); In the 100 displacement detections executed for each detection instruction set, if the result of the control unit's logical judgment is that the displacement is too small or too long for a cumulative number of more than 3 times, the control unit immediately switches to executing the fast detection sub-instruction set.

9. A low-cost batch rapid automatic detection method for micro precision pneumatic actuators according to any one of claims 4 to 8, characterized in that: The control unit indirectly detects a displacement of the pneumatic shaft (10) in one detection instruction set by means of three adjacently arranged lasers respectively passing through detection windows (52) of a corresponding light-absorbing metal plate (51) and respectively sensing and cooperating with the front edge of the detection window (52) through the laser displacement sensors (22), thereby improving detection accuracy. The displacement detection distance of the first laser displacement sensor (22) is equal to the minimum displacement distance allowed by the pneumatic shaft (10), the displacement detection distance of the second laser displacement sensor (22) located in the middle is equal to the standard displacement of the pneumatic shaft (10), and the displacement detection distance of the third laser displacement sensor (22) is equal to the maximum displacement distance allowed by the pneumatic shaft (10); In a detection instruction set, the control unit only receives the sensing signals of the three laser displacement sensors (22) corresponding to the current detection instruction set, and performs logic judgment according to the sensing signals of the corresponding three laser displacement sensors (22), wherein the judgment result of the logic judgment includes less than the minimum displacement distance allowed, between the minimum displacement distance allowed and the standard distance, equal to the standard displacement, between the standard displacement and the maximum displacement distance allowed, and greater than the maximum displacement distance allowed, so as to detect and obtain the displacement and displacement error of the pneumatic shaft (10); The speed of the pneumatic shaft (10) is calculated by recording the time interval between the triggering of the sensing signals of the two laser displacement sensors (22) with the largest front-to-back distance.

10. A low-cost batch rapid automatic detection method for micro-precision pneumatic actuators according to claim 9, characterized in that: A truncated cone portion (211) is integrally formed at the front end of the transfer rod (21), the diameter of the truncated cone portion (211) is more than twice the diameter of the pneumatic shaft (10), and the truncated cone portion (211) and the pneumatic shaft (10) are coaxially arranged. The rod body of the transfer rod (21) is designed to be square, and the length of the rod body of the transfer rod (21) is greater than 10 cm. A slider (26) is installed at the middle of the rod body of the transfer rod (21), and the slider (26) is slidably installed on the linear slide rail (25), and the linear slide rail (25) is installed on On the detection platform, adapter plates (27) are fixed on the left and right sides of the rear part of the rod body of the transfer rod (21), respectively. The adapter plate (27) has a vertically arranged mounting plate and a horizontally arranged wing plate (28). The adapter plate (27) is fixed to the transfer rod (21) through the mounting plate, and each inspected object is respectively fixed on the outer side of the wing plate (28) of the corresponding adapter plate (27). At least two inspected objects are respectively arranged on each adapter plate (27), and each inspected object is provided with at least two detection windows (52); A bottom plate (20) is used as a detection platform, a first linear cylinder (23) is fixed in the middle of the bottom plate (20), a sliding platform (24) is arranged above the first linear cylinder (23), and the sliding platform (24) is pushed by the first linear cylinder (23) to provide a forward force to the transfer rod (21) during the retraction of the pneumatic shaft (10) and to keep the truncated cone (211) of the transfer rod (21) always against the pneumatic shaft (10) during the forward and backward movement of the pneumatic shaft (10); The spring (43) reset mechanism comprises a sliding sleeve (41) fixed to the sliding platform (24), a top column (42) slidably mounted on the sliding sleeve (41) and a spring (43) sleeved on the top column (42); the rear end of the top column (42) is threadedly connected with an adjusting nut (44), and the front end is provided with a push head (45); the rear end of the spring (43) abuts against the front end surface of the sliding sleeve (41), and the front end abuts against the push head (45), so as to provide an adjustable elastic force to the top column (42) and the transfer rod (21) during the forward and backward movement, and the elastic force is adjusted by the adjusting nut (44); The transfer rod (21) is actively and rapidly pushed to reset by the first linear cylinder (23), and at the same time, no gap is formed between the pneumatic shaft (10) and the transfer rod (21) and the pneumatic shaft (10) during the process from the reset stop to the next rapid backward movement, and rigid collision between the transfer rod (21) and the pneumatic shaft (10) is avoided; It also includes a position adjustment step, an automatic identification step and a docking step. Before the fixing step, a position adjustment step is performed. The position adjustment step is implemented through a fine-tuning platform. A laser displacement sensor (22) is fixed to the fine-tuning platform and prepared into a universal detection module for each specific displacement. The fine-tuning platform adjusts the front and rear positions of the corresponding laser displacement sensor (22) through a knob (62), a worm gear connected to the knob (62), and a rack (64) that cooperates with the worm gear and is fixed to the bottom surface of the fine-tuning platform. Two or three detection modules are combined to form a detection module (2) corresponding to the detection of a specific displacement of the pneumatic. The four detection modules (2) are used to detect 25% of the maximum displacement, 50% of the maximum displacement, 75% of the maximum displacement and 100% of the maximum displacement of the pneumatic shaft (10) respectively; The automatic identification step is performed after the fixing step is completed. Before the detection, the QR code or barcode information attached to the micro-precision pneumatic actuator (1) is scanned by a barcode scanner. The control unit obtains the identity ID and model information of the micro-precision pneumatic actuator (1) through the barcode scanner, and then performs the transfer detection step. The control unit automatically determines whether the micro-precision pneumatic actuator (1) is qualified according to the model and corresponding qualified parameters of the micro-precision pneumatic actuator (1) currently being detected during the detection process. After the detection is completed, the detection result and the identity ID of the micro-precision pneumatic actuator (1) are bound, and a complete electronic report is output. Docking step, after completing the automatic identification step, the docking step is performed, a docking drive mechanism is installed on the front side of the detection platform, a quick-plug interface is installed on the upper part of the docking drive mechanism, and air pressure is supplied to the quick-plug interface through an electronic pressure regulating valve. The docking step is to drive the quick-plug interface toward the rear side through the docking drive mechanism, and the quick-plug interface is connected to the air pressure interface.

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