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

Abstract

The application discloses a low-cost batch rapid automatic detection method and device for a micro precise pneumatic actuator, the detection device is small in size and low in cost, is suitable for batch detection of a micro precise pneumatic actuator with a pneumatic shaft diameter less than 3 mm, maximum displacement less than 5 mm and displacement speed of 1-1.5 m / s, and can also realize multi-specific displacement detection in one detection station, and meanwhile, the stability and accuracy of reliable detection are maintained in the batch detection process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection of pneumatic actuators, and particularly to a low-cost batch rapid automatic detection method and device for micro-precision pneumatic actuators. BACKGROUND

[0002] A micro-precision pneumatic actuator is driven by air pressure to move forward and backward. The micro-precision pneumatic actuator opens and closes and adjusts the valve through the displacement of the pneumatic shaft. The displacement of the pneumatic shaft is changed by changing the air pressure provided to the pneumatic actuator. The air tightness of the micro-precision pneumatic actuator determines its effectiveness. When the air tightness is poor or lost, it will cause the extension and retraction stroke of the pneumatic shaft to be unstable and the displacement accuracy to decrease. It will also cause the extension and retraction speed of the pneumatic shaft to slow down, and even the pneumatic shaft will not extend and retract. Therefore, each micro-precision pneumatic actuator must be detected 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 3 mm, the maximum displacement of the pneumatic shaft is less than 5 mm, and the displacement speed of the micro-precision pneumatic actuator is 1-1.5 m / s. The pneumatic shaft is not only small in diameter and short in extension length, but also has a very short displacement distance and a very fast displacement speed when in action. The existing detection elements, detection devices and detection methods such as traditional micro-collision switches and laser displacement sensors cannot meet the batch detection requirements of the micro-precision pneumatic actuator with such high-speed and short-displacement detection.

[0004] Second, multi-displacement detection means that the micro-precision pneumatic actuator also needs to detect whether the displacement distance of the pneumatic shaft under different corresponding air pressures meets the requirements, i.e. displacement accuracy detection, such as detecting whether the maximum displacement of the pneumatic shaft of the micro-precision pneumatic actuator under the set air pressure meets 25%, 50%, 75% and 100% of its maximum displacement. However, due to the limitation of the space requirements of the two, the detection mechanism obviously does not have enough space to install the second and subsequent micro-collision switches and laser sensors and other detection elements, so the traditional detection method can only detect one displacement at a time. It is necessary to install one micro-precision pneumatic actuator in different detection devices and detect different displacements respectively. The detection process needs to be repeated and tested, and the detection efficiency is very low. In addition, the segmented displacement is about 1 mm, and the maximum allowable displacement error is about 0.01 mm. This puts forward very high requirements on the detection accuracy, detection sensitivity, detection response speed and calculation speed of the sensor and matching detection circuit. In addition, the current ordinary detection device and detection method cannot detect the displacement error of each displacement of the pneumatic shaft.

[0005] At present, the detection precision of high-precision interferometric laser sensor can reach micron level, and can meet the detection requirements of various detection performances, but such high-precision interferometric laser sensor not only has large size, but also has high equipment cost, and it also has the problem of being unable to directly detect the pneumatic shaft due to space limitation.

[0006] Therefore, for the production enterprise, it is necessary to develop a small size, low cost detection device for batch detection of micro-precision pneumatic actuators with a diameter of less than 3mm, a maximum displacement of less than 5mm, and a displacement speed of 1-1.5m / s, and also can realize multi-displacement detection of more than 2 displacements in one detection station, while maintaining the stability and accuracy of reliable detection in the batch detection process. SUMMARY

[0007] In view of the deficiencies of the prior art, the purpose of the present application is to provide a low-cost batch rapid automatic detection method and device for micro-precision pneumatic actuators, which realizes low-cost high-speed batch automatic detection, and improves the stability and accuracy of reliable detection in the batch detection process.

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

[0009] A plurality of bottom plates serving as detection platforms are installed on the rack at intervals and are independently arranged, a fixed clamp is installed on the front side of the bottom plate, which is used for fixing the micro-precision pneumatic actuator and making the pneumatic shaft 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 slidingly installed at the middle part of the bottom plate, a spring reset mechanism for pushing the transfer rod to move forward and reset is installed at the rear end of the transfer rod, and a circular table part is arranged at the front end of the transfer rod,

[0011] In the initial state, the circular table part is kept at the position where the front end face just lightly abuts against the end face of the pneumatic shaft, and the rod displacement of the transfer rod is equal to the shaft displacement of the pneumatic shaft,

[0012] The middle and rear part of the transfer rod extends to the rear side area of the bottom plate, and a plurality of detected targets 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 respectively electrically connected to the detection circuit are installed in the rear side area of the bottom plate, and each laser displacement sensor is respectively in sensing cooperation with the corresponding detected target,

[0014] The control unit of the detection circuit receives the sensing signals of the laser displacement sensors, and 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 according to the received corresponding sensing signals, and outputs the detection results of each specific displacement of the pneumatic shaft of the micro-precision pneumatic actuator.

[0015] Further, the fixing clamp comprises a base, a composite cylinder with lifting and rotating functions, a pressing arm, a pressing head, and a first electronic switching valve electrically connected to the control unit. The base is fixed to the bottom plate, and 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 pressing arm is fixed to the output shaft of the composite cylinder, and the pressing head is fixed to the outer end of the pressing arm. The lower part of the pressing head is provided with an upper cavity for pressing the micro-precision pneumatic actuator tightly in the lower cavity. The electronic switching valve is connected to the composite cylinder through an air pipe, for driving the pressing arm to lift and rotate.

[0016] The middle part of the bottom plate is fixed with a first linear cylinder, and the upper part of the first linear cylinder is provided with a sliding platform. The push rod of the first linear cylinder is fixedly connected to the rear end of the sliding platform. The upper part of the sliding platform is fixed with a linear slide rail, which is parallel to the transfer rod. The linear slide rail is slidingly installed with a sliding block, and the middle part of the transfer rod is fixed to the upper part of the sliding block. The first electronic switching valve is connected to the first linear cylinder through an air pipe, for providing a forward force to the transfer rod during the retraction of the pneumatic shaft and keeping the circular table part of the transfer rod always abutting against the pneumatic shaft during the forward and backward movement of the pneumatic shaft.

[0017] The spring return mechanism comprises a sliding sleeve fixed to the sliding platform, a top column slidingly installed in the sliding sleeve, and a spring sleeved on the top column. The rear end of the top column is screwed with an adjusting nut, and the front end is provided with a pushing head. The rear end of the spring abuts against the front end face of the sliding sleeve, and the front end abuts against the pushing head, for providing an adjustable elastic force to the top column and the transfer rod.

[0018] The rod body of the transfer rod is square, and the length of the rod body of the transfer rod is greater than 10 cm. The diameter of the circular table part is greater than twice the diameter of the pneumatic shaft, and the circular table part is coaxially arranged with the pneumatic shaft.

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

[0020] A plurality of specific displacements of a micro-precision pneumatic actuator with a diameter less than 3mm, a displacement speed of 1-1.5m / s and a maximum displacement of the pneumatic shaft less than 5mm are detected in one station quickly in batches.

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

[0022] Further, a docking driving mechanism is installed on the front side of the detection platform, the docking driving mechanism includes a second linear cylinder fixed on the detection platform and a clamping block fixed on the push rod of 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 with the air pressure interface after moving towards the rear side;

[0023] A plurality of relatively independent fine adjustment platforms are arranged on the rear side of the detection platform, the fine adjustment platform includes 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 on one side of the top plate and a worm and a gear respectively rotatably installed on the bottom frame, the top plate is slidably installed above the bottom frame through a slide rail, the worm and the gear are in meshing transmission to form a worm and gear transmission mechanism, the knob is coaxially connected with the worm, and the gear is in transmission connection with the rack;

[0024] The top plate of each fine adjustment platform is fixed with only one laser displacement sensor to form a universal displacement adjustable detection module, and a plurality of displacement adjustable detection modules for corresponding detection of different specific displacements of the pneumatic shaft are arranged on the left and right sides of the middle and rear part of the transfer rod respectively;

[0025] The detected target is a black light-absorbing metal plate, each light-absorbing metal plate is provided with one detection window, the detection window penetrates through the light-absorbing metal plate, and the light-absorbing metal plate is provided with a scale corresponding to the displacement of the pneumatic shaft on the outer edge of the detection window;

[0026] The laser displacement sensor includes two arms arranged oppositely upward and downward and a detection gap between the two arms, an inner wall surface of one arm is installed with a laser emitter, and an inner wall surface of the other arm is installed with a laser receiver, the laser displacement sensor receives the laser emitted by the laser emitter through the laser receiver, so that the laser is aligned with the corresponding scale to determine the displacement detection distance,

[0027] The light-absorbing metal plates corresponding to different displacement detection distances respectively pass through the detection slots of the corresponding laser displacement sensors horizontally. 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. The laser displacement sensor keeps sending the on-sensing signal to the control unit.

[0028] A code scanning gun electrically connected to the detection circuit is also provided. The control unit receives the two-dimensional code or bar code information scanned by the code scanning gun and attached to the micro-precision pneumatic actuator, and obtains the identity ID and model information of the micro-precision pneumatic actuator.

[0029] A low-cost batch rapid automatic detection method of a micro-precision pneumatic actuator is used to detect a micro-precision pneumatic actuator with a diameter of the pneumatic shaft less than 3 mm, a displacement speed of 1-1.5 m / s, and a maximum displacement of the pneumatic shaft less than 5 mm, using the batch automatic precision detection device of the micro-precision pneumatic actuator. The method includes the following steps:

[0030] The fixing step is to install a fixing clamp on the detection platform, quickly clamp, position and fix the micro-precision pneumatic actuator by the fixing clamp, and make the pneumatic shaft of the micro-precision pneumatic actuator face the rear side and the air pressure interface face the front side. The pneumatic shaft remains retracted before the micro-precision pneumatic actuator is supplied with air.

[0031] The air supply step is to supply air to the electronic pressure regulating valve through the air pressure supply device, and to deliver the air pressure controlled by the control unit of the detection circuit to the air pressure interface through the electronic pressure regulating valve to move the pneumatic shaft towards the rear side.

[0032] The displacement detection step is to make the front end surface of the transfer rod slidingly installed on the detection platform abut against the rear end surface of the pneumatic shaft, and to keep the transfer rod abutting against the rear end surface 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 is designed to be elongated, and the middle and rear part of the transfer rod extends to the rear side area of the detection platform. A plurality of detected targets and a plurality of laser displacement sensors are arranged in the rear side area of the detection platform. The laser displacement sensors are respectively fixed to the detection platform, and each detected target is respectively fixed to the middle and rear part of the transfer rod. During the detection process, each laser displacement sensor remains fixed and immovable to obtain higher reliability and stability. Each corresponding detected target is detected by a plurality of laser displacement sensors with different displacement detection distances to obtain different specific rod displacements of the transfer rod.

[0034] The automatic detection step is started by the control unit, a plurality of detection instruction sets are sent by the control unit in sequence, the electronic pressure regulating valve is controlled by each detection instruction set to provide the corresponding air pressure value to the air pressure interface, the control unit receives the sensing signals of each laser displacement sensor, the displacement of the displacement rod is detected by a plurality of laser displacement sensors with different displacement detection distances at the same time in one displacement of the pneumatic shaft, the control unit performs logical judgment according to the corresponding detection instruction set, the sensing signals of the corresponding laser displacement sensor and logical combination, displacement detection and logical judgment are performed for each displacement of the pneumatic shaft, the control unit outputs the result of logical judgment, and the detection result of each specific shaft displacement of the current pneumatic shaft is obtained.

[0035] Further technical solutions, the detected target selects a black light-absorbing metal plate with a detection window, the detection window penetrates the light-absorbing metal plate, 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 includes two arms arranged oppositely and a detection gap between the two arms, an inner wall surface of one arm is provided with a laser emitter, and an inner wall surface of the other arm is provided with a laser receiver, the laser displacement sensor receives the laser emitted by the laser emitter through the laser receiver, and the laser is aligned with the corresponding scale to determine the displacement detection distance,

[0037] Each light-absorbing metal plate corresponding to different displacement detection distances respectively passes through the detection gap 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, and the laser displacement sensor keeps sending the on sensing signal to the control unit,

[0038] The displacement detection distance of the laser displacement sensor is determined by adjusting the distance of the laser emitted by each laser displacement sensor relative to the front edge of the corresponding detection window in the initial state, when the pneumatic shaft pushes the displacement rod to move backward, each light-absorbing metal plate is driven to move backward synchronously by the displacement rod, 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 the off sensing signal to the control unit, and the control unit receives the sensing signals of the corresponding two or three laser displacement sensors in one detection instruction set to complete the detection of one specific displacement of the pneumatic shaft;

[0039] The control unit detects the same specific displacement of the pneumatic shaft by one detection instruction set multiple times, and the control unit sequentially detects different specific displacements of the pneumatic shaft by different detection instruction sets in sequence.

[0040] Further, the control unit indirectly detects displacement of the pneumatic shaft by the two laser displacement sensors respectively in response to the two lasers emitted by the two adjacent detection instructions in the detection instruction set passing through the detection window of the same light-absorbing metal plate and the front side edge of the detection window, so as to improve detection accuracy, wherein the displacement detection distance of one laser displacement sensor 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 one detection instruction set, the control unit only receives sensing signals of two laser displacement sensors with displacement detection distances corresponding to the detection instruction set, and performs logical judgment according to the sensing signals of the two 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 of the laser displacement sensor corresponding to the maximum displacement distance, it is judged that the detection is qualified.

[0044] If the control unit sequentially receives the disconnection sensing signals of the laser displacement sensors corresponding to the minimum displacement distance and the maximum displacement distance, it is judged that the displacement is too long.

[0045] Further, the detection instruction set is provided with a rapid detection sub-instruction set.

[0046] In the early stage of executing each detection instruction set, if the result of logical judgment by the control unit is that the displacement is too small or the displacement is too long, and the cumulative number of times reaches a set number of times, the control unit immediately switches to execute the rapid detection sub-instruction set, so as to reduce the calculation amount of the control unit and improve 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 repeatedly executes the current displacement detection 10 times, and the time interval between adjacent two displacement detections is set to 1-2 seconds. The control unit controls the electronic pressure regulating valve to supply gas to the gas pressure interface and maintain a stable gas pressure for 1-2 seconds. The control unit performs logical judgment according to the sensing signals of the two laser displacement sensors during detection. If the detection result still has the result of logical judgment that the displacement is too small or the displacement is too long, the control unit judges that the detection is unqualified. The control unit ends the current detection instruction set and executes the next detection instruction set, or directly ends all detection instruction sets of the current micro-precision pneumatic actuator and outputs the detection result.

[0048] Further, the detection instruction set further comprises a high-speed detection sub-instruction set,

[0049] Before executing each detection instruction set, the control unit executes the high-speed detection sub-instruction set to perform high-speed detection, and the control unit counts the logical judgment result during the high-speed detection,

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

[0051] During 100 displacement detections of each detection instruction set, if the result of the logical judgment performed by the control unit is that the number of times of too small displacement or too long displacement accumulates to 3 times or more, the control unit immediately switches to execute the fast detection sub-instruction set.

[0052] Further, the control unit indirectly detects the displacement of the pneumatic shaft by the three lasers emitted by the control unit in one detection instruction set passing through the detection window of the same light-absorbing metal plate and being sensed by the corresponding laser displacement sensors on the front side edge of the detection window, so as 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 logical judgment according to the sensing signals of the three corresponding laser displacement sensors, and the judgment result of the logical judgment includes less than the allowed minimum displacement distance, between the allowed minimum displacement distance and the standard distance, equal to the standard displacement, between the standard displacement and the allowed maximum displacement distance, and greater than the allowed maximum displacement distance, so as to detect the displacement and displacement error of the pneumatic shaft.

[0055] The speed of the pneumatic shaft is calculated by recording the time interval at which the sensing signals of the two laser displacement sensors with the largest distance are triggered.

[0056] Further technical solutions, the front end of the transfer rod is integrally formed with a circular table part, the diameter of the circular table part is more than 2 times the diameter of the pneumatic shaft, the circular table part is coaxially arranged with the pneumatic shaft, the rod body of the transfer rod is designed as a square, the length of the rod body of the transfer rod is greater than 10 cm, a sliding block is installed at the middle part of the rod body of the transfer rod, the sliding block is slidingly installed on a linear slide rail, the linear slide rail is installed on the detection platform, 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 plates are provided with mounting plates arranged vertically and wing plates arranged horizontally, the adapter plates are fixed to the transfer rod through the mounting plates, each detected target is fixed to the outer side of the wing plate of the corresponding adapter plate, at least two detected targets are arranged on each adapter plate, and each detected 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 to the middle part of the bottom plate, a sliding platform is arranged above the first linear cylinder, the sliding platform is pushed by the first linear cylinder, and the sliding platform is used for providing a forward force to the transfer rod in the retraction process of the pneumatic shaft and keeping the circular table part of the transfer rod always abutting against the pneumatic shaft in the forward and backward movement process of the pneumatic shaft.

[0058] The spring return mechanism comprises a sliding sleeve fixed to the sliding platform, a top column slidingly installed on the sliding sleeve, and a spring sleeved on the top column, the rear end of the top column is screwed with an adjusting nut, the front end of the top column is provided with a pushing head, the rear end of the spring abuts against the front end face of the sliding sleeve, and the front end of the spring abuts against the pushing head, so as to provide an adjustable elastic force to the top column and the transfer rod in the forward and backward movement process, and the elastic force is adjusted through the adjusting nut.

[0059] The first linear cylinder actively and quickly pushes the transfer rod to reset, and no gap is generated between the transfer rod and the pneumatic shaft in the process from the reset stop to the next rapid backward movement of the pneumatic shaft, and rigid collision between the transfer rod and the pneumatic shaft is avoided.

[0060] Further comprising a position adjusting step, an automatic identification step and a docking step,

[0061] The position adjusting step is performed before the fixing step, the position adjusting step is realized through a fine adjustment platform, one laser displacement sensor is fixed to the fine adjustment platform and prepared into a detection module for a specific displacement, the fine adjustment platform adjusts the forward and backward positions of the corresponding laser displacement sensor through a knob, a worm and a gear rack which are connected to the knob and fixed to the bottom surface of the fine adjustment platform, two or three detection modules are combined to form a detection module group for detecting a specific displacement of the pneumatic shaft, and four detection module groups are used to detect 25% maximum displacement, 50% maximum displacement, 75% maximum displacement and 100% maximum displacement of the pneumatic shaft respectively.

[0062] Automatic identification step, after completing the fixing step, the automatic identification step is carried out, and the two-dimensional code or bar code information attached to the micro-precision pneumatic actuator is scanned by the code scanning gun before detection, and the control unit obtains the identity ID and model of the micro-precision pneumatic actuator through the code scanning gun, and then carries out the transfer detection step, and the control unit automatically determines whether it is qualified according to the model of the micro-precision pneumatic actuator currently detected and the corresponding qualified parameters in the detection process, and binds the detection result and the identity ID of the micro-precision pneumatic actuator after completing the detection, and outputs the complete electronic report.

[0063] Docking step, after completing the automatic identification step, the docking step is carried out, the docking driving mechanism is installed on the front side of the detection platform, the quick plug interface is installed on the upper part of the docking driving mechanism, and the air pressure is supplied to the quick plug interface through the electronic pressure regulating valve, the docking step is carried out by driving the quick plug interface to move towards the rear side through the docking driving mechanism, and the quick plug interface is connected with the air pressure interface.

[0064] Compared with the prior art, the detection device has the advantages that the detection device is small in size and low in cost, is suitable for batch detection of micro-precision pneumatic actuators with a diameter of the pneumatic shaft less than 3mm, a maximum displacement less than 5mm and a displacement speed of 1-1.5m / s, and can also realize multiple specific displacement detection in one detection station, while maintaining the stability and accuracy of reliable detection during batch detection. BRIEF DESCRIPTION OF DRAWINGS

[0065] Figure 1 It is a structural schematic diagram of the application;

[0066] Figure 2 It is a schematic diagram of the application for detecting a specific displacement by combining two laser displacement sensors;

[0067] Figure 3 It is a schematic diagram of the application for detecting a specific displacement by combining three laser displacement sensors;

[0068] Figure 4 It is an exploded view of the fixing clamp of the application.

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

[0070] Markings in the figure:

[0071] 1 micro-precision pneumatic actuator 10 pneumatic shaft

[0072] 20 bottom plate 21 transfer rod 211 circular table part

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

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

[0075] 3 fixed clamp 31 base 32 composite cylinder 33 pressure arm 34 pressure head 35 output shaft

[0076] 41 sliding sleeve 42 jacking column 43 spring 44 adjusting nut 45 pushing 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 a plurality of specific displacements of micro-precision pneumatic actuators 1, wherein the diameter of the pneumatic shaft 10 is less than 3 mm, the displacement speed is 1-1.5 m / s, and the maximum displacement of the pneumatic shaft 10 is less than 5 mm.

[0080] A plurality of bottom plates 20 serving as detection platforms are independently arranged on the frame, a fixed clamp 3 is arranged on the front side of the bottom plate 20, and the fixed clamp 3 is used to fix the micro-precision pneumatic actuator 1 and make the pneumatic shaft 10 of the micro-precision pneumatic actuator 1 face the rear side and the pneumatic interface face the front side,

[0081] Specifically, the fixed clamp 3 includes a base 31, a composite cylinder 32 having 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 a control unit. The base 31 is fixed on the bottom plate 20, 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 on the output shaft 35 of the composite cylinder 32, the pressure head 34 is fixed on the outer end of the pressure arm 33, the lower part of the pressure head 34 is provided with an upper cavity for pressing the micro-precision pneumatic actuator 1 tightly in the lower cavity, and the electronic switching valve is connected to the composite cylinder 32 through a gas pipe, for driving the pressure arm 33 to lift and rotate.

[0082] The middle part of the bottom plate 20 is slidingly installed with a transfer rod 21 capable of moving forward and backward. 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 circular table part 211 is greater than 2 times the diameter of the pneumatic shaft 10, and the circular table part 211 is coaxially arranged with the pneumatic shaft 10. The rear end part of the transfer rod 21 is installed with a spring 43 reset mechanism for pushing the transfer rod 21 to move forward and reset. The front end part of the transfer rod 21 is provided with a circular table part 211. Specifically, a first linear cylinder 23 is fixed at the middle part of the bottom plate 20. A sliding platform 24 is arranged above the first linear cylinder 23. The push rod of the first linear cylinder 23 is fixedly connected to the rear end part of the sliding platform 24. A linear slide rail 25 is fixed above the sliding platform 24 and parallel to the transfer rod 21. A sliding block 26 is slidingly installed on the linear slide rail 25. The middle part of the transfer rod 21 is fixed above the sliding block 26. A first electronic switching valve is connected to the first linear cylinder 23 through a gas pipe, for providing a forward force to the transfer rod 21 during the retraction of the pneumatic shaft 10 and keeping the circular table part 211 of the transfer rod 21 always abutting 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 slidingly installed on the sliding sleeve 41, and a spring 43 sleeved on the top column 42. The rear end part of the top column 42 is screwed with an adjusting nut 44, and the front end part is provided with a pushing head 45. The rear end of the spring 43 abuts against the front end face of the sliding sleeve 41, and the front end abuts against the pushing head 45, for providing an adjustable elastic force to the top column 42 and the transfer rod 21.

[0084] In the initial state, the circular table part 211 is kept at a position where the front end face thereof just lightly abuts against the end face 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 rear part of the transfer rod 21 extends to the rear side area of the bottom plate 20. A plurality of detection targets are fixed to the left and right sides of the middle rear part of the transfer rod 21, respectively. A plurality of laser displacement sensors 22 are installed in the rear side area of the bottom plate 20 and are electrically connected to the detection circuit, respectively. Each laser displacement sensor 22 is in sensing cooperation with the corresponding detection target.

[0086] Specifically, the transfer rod 21 is fixed with a transfer plate 27 on the left and right sides of the rear part of the rod body, the transfer plate 27 is provided with a mounting plate and a wing plate 28 arranged vertically and horizontally, the transfer plate 27 is fixed to the transfer rod 21 through the mounting plate, each test target is fixed outside the wing plate 28 of the corresponding transfer plate 27, at least two test targets are arranged on each transfer plate 27, and each test target is provided with at least one detection window 52. Two or three laser displacement sensors 22 are arranged to form a detection module 2, the laser displacement sensors 22 of one detection module 2 are in sensing cooperation with the front side edges of the same 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 of the middle and rear part of the transfer rod 21, so as to correspond to 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 the laser displacement sensors 22, the control unit receives only the sensing signals of the two or three laser displacement sensors 22 corresponding to a specific displacement of the pneumatic shaft 10 in the detection of the specific displacement, the control unit performs logical judgment according to the received corresponding sensing signals, and outputs the detection results of each specific displacement of the pneumatic shaft 10 of the micro-precision pneumatic actuator 1, and the speed of the pneumatic shaft 10 is calculated by recording the time interval at which the sensing signals of the two laser displacement sensors 22 with the largest distance are triggered.

[0088] The docking driving mechanism is arranged on the front side of the detection platform, the docking driving mechanism includes a second linear cylinder fixed to the detection platform and a clamping block fixed to a push rod of the second linear cylinder, the clamping block is provided with a quick plug interface, the quick plug interface is coaxially arranged with the gas pressure interface, the quick plug interface is connected with the gas pressure interface after the quick plug interface moves towards the rear side, and automatic gas supply is realized.

[0089] A plurality of relatively independent fine adjustment platforms are arranged on the rear side of the detection platform, and each fine adjustment platform comprises a top plate 61 fixed to the detection platform, a rack 64 fixed to the bottom surface of the top plate 61, a chassis, a knob 62 protruding from one side of the top plate 61, and a worm and a gear respectively rotatably mounted on the chassis. The top plate 61 is slidably mounted above the chassis through a sliding rail. The worm and the gear are in meshing transmission to form a worm and gear transmission mechanism 63. The knob 62 is coaxially connected to the worm, and the gear is in transmission connection with the rack 64. Each top plate 61 of the fine adjustment platform is fixed with only one laser displacement sensor 22, forming a common displacement adjustable detection module. A plurality of displacement adjustable detection modules for corresponding detection of different specific displacements of the pneumatic shaft 10 are respectively arranged on the left and right sides of the middle and rear parts of the transfer rod 21. The front and rear positions of the laser displacement sensor 22 are adjusted through 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 detected target selects a black light-absorbing metal plate 51, and each light-absorbing metal plate 51 is provided with a detection window 52 penetrating 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 on the outer edge of the detection window 52. The laser displacement sensor 22 comprises two oppositely arranged arms and a detection gap 221 arranged between the two arms. A laser emitter is mounted on the inner wall surface of one arm, and a laser receiver is mounted on the inner wall surface of the other arm. The laser displacement sensor 22 receives the laser emitted by the laser emitter through the laser receiver, aligns the laser with the corresponding scale to determine the displacement detection distance, and respectively passes through the detection gap 221 of the corresponding laser displacement sensor 22 horizontally. 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 vertically passes through the corresponding detection window 52. The laser displacement sensor 22 keeps sending a conduction sensing signal to the control unit.

[0091] A code scanning gun electrically connected to the detection circuit is also provided. The control unit receives the two-dimensional code or bar code information scanned by the code scanning gun and attached to the micro-precision pneumatic actuator 1, and obtains the identity ID and model information of the micro-precision pneumatic actuator 1.

[0092] A low-cost batch rapid automatic detection method for a micro-precision pneumatic actuator 1, which uses the above-mentioned batch automatic precision detection device for micro-precision pneumatic actuators 1 to detect a plurality of specific displacements of the micro-precision pneumatic actuator 1 with a diameter of less than 3 mm, a displacement speed of 1-1.5 meters per second, and a maximum displacement of the pneumatic shaft 10 of less than 5 mm in a work station, comprising the following steps,

[0093] The fixing step, the fixing clamp 3 is installed on the detection platform, the micro-precision pneumatic actuator 1 is quickly clamped, positioned and fixed through the fixing clamp 3, and the pneumatic shaft 10 of the micro-precision pneumatic actuator 1 is oriented to the rear side, and the air pressure interface is oriented to the front side. The pneumatic shaft 10 remains retracted before the micro-precision pneumatic actuator 1 is supplied with air.

[0094] The air supply step, the air pressure 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 transported to the air pressure interface to move the pneumatic shaft 10 to the rear side.

[0095] The transfer detection step, the front end surface of the transfer rod 21 slidingly installed on the detection platform is lightly abutted against the rear end surface of the pneumatic shaft 10, and the transfer rod 21 is kept abutted against the rear end surface of the pneumatic shaft 10 through the spring 43 reset mechanism. The rod displacement of the transfer rod 21 is equal to the shaft displacement of the pneumatic shaft 10.

[0096] The transfer rod 21 is designed to be elongated, the middle and rear part of the transfer rod 21 extends to the rear side area of the detection platform, a plurality of detected targets and a plurality of laser displacement sensors 22 are arranged in the rear side 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. Each laser displacement sensor 22 remains fixed during the detection process to obtain higher reliability and stability. Each corresponding detected target is detected by a plurality of laser displacement sensors 22 with different displacement detection distances to obtain different specific rod displacements of the transfer rod 21.

[0097] A circular table part 211 is integrally formed at the front end part of the transfer rod 21, the diameter of the circular table part 211 is more than twice the diameter of the pneumatic shaft 10, the circular table part 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, the slider 26 is installed at the middle part of the rod body of the transfer rod 21, the slider 26 is slidingly installed on the linear slide rail 25, the linear slide rail 25 is installed on the detection platform, the adapter plates 27 are respectively fixed on the left and right sides of the rear part of the rod body of the transfer rod 21, the adapter plates 27 have the mounting plates arranged vertically and the wing plates 28 arranged horizontally, the adapter plates 27 are fixed to the transfer rod 21 through the mounting plates, each detected target is respectively fixed to the outside of the wing plate 28 of the corresponding adapter plate 27, at least two detected targets are arranged on each adapter plate 27, and each detected target is provided with at least two detection windows 52.

[0098] 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, the sliding platform 24 is pushed by the first linear cylinder 23, and the sliding platform 24 is used to provide a forward force to the transfer rod 21 during the retraction of the pneumatic shaft 10 and keep the circular table part 211 of the transfer rod 21 always abutting 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 slidingly 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, the front end is provided with a pushing head 45, the rear end of the spring 43 abuts against the front end face 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, and the elastic force is adjusted by the adjusting nut 44.

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

[0101] The automatic detection step is started by the control unit, a plurality of detection instruction sets are sent in sequence by the control unit, the electronic pressure regulating valve is controlled by each detection instruction set to provide the corresponding air pressure value to the air pressure interface, the sensing signals of each laser displacement sensor 22 are received by the control unit, the displacement of the transfer rod 21 is detected by a plurality of laser displacement sensors 22 with different displacement detection distances during the displacement of the pneumatic shaft 10, the control unit performs logical judgment according to the corresponding detection instruction set, the sensing signals of the corresponding laser displacement sensor 22 and the logical combination, the displacement detection and logical judgment are performed for each displacement of the pneumatic shaft 10, the control unit outputs the result of the logical judgment, and the detection result of each specific shaft displacement of the pneumatic shaft 10 is obtained.

[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 is used to reduce the calculation amount of the control unit and improve the detection efficiency, and the fast detection sub-instruction set is executed immediately when the control unit performs logical judgment and the result is that the displacement is too small or the number of times of too long displacement reaches the set number of times in the early stage of each detection instruction set.

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

[0105] High-speed detection sub-instruction set, the control unit executes a high-speed detection sub-instruction set before executing each detection instruction set, and performs high-speed detection. During the high-speed detection process, the control unit counts the judgment results of logical judgment,

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

[0107] During the 100 displacement detections of each detection instruction set, if the number of times that the control unit makes logical judgment with a result of too small displacement or too long displacement accumulates to 3 times or more, the control unit immediately switches to execute the rapid detection sub-instruction set.

[0108] The detected object is selected from a black light-absorbing metal plate 51 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 includes two oppositely arranged arms and a detection gap 221 between the two arms, the inner wall surface of one arm is provided with a laser emitter, and the inner wall surface of the other arm is provided with a laser receiver. The laser displacement sensor 22 receives the laser emitted by the laser emitter through the laser receiver, aligns the laser with the corresponding scale to determine the displacement detection distance. Each light-absorbing metal plate 51 corresponding to different displacement detection distances respectively horizontally penetrates the detection gap 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 vertically penetrates the corresponding detection window 52. The laser displacement sensor 22 keeps sending the on-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 the 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 displacement rod 21 to move backward, the displacement 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 cut off by the corresponding light-absorbing metal plate 51. The laser displacement sensor 22 sends the off-sensing signal to the control unit. The control unit receives the sensing signals of only two or three corresponding 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 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 through two adjacent laser displacement sensors 22 emitting lasers respectively penetrating the detection window 52 of the same light-absorbing metal plate 51 and respectively sensing the front edge of the detection window 52 in one detection instruction set, so as to improve the detection accuracy. 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 two laser displacement sensors 22 with displacement detection distances corresponding to the current detection instruction set, and logically judges 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 the disconnection sensing signal of the laser displacement sensor 22 corresponding to the minimum displacement distance and does not receive the disconnection sensing signal corresponding to the maximum displacement distance, it is determined that the detection is qualified,

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

[0114] In an embodiment, the control unit indirectly detects the displacement of the pneumatic shaft 10 through three adjacent laser displacement sensors 22 in one detection instruction set, so that the detection accuracy is improved.

[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 one 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 according to the sensing signals of the three laser displacement sensors 22. The judgment result of the logical judgment includes less than the allowed minimum displacement distance, between the allowed minimum displacement distance and the standard distance, equal to the standard displacement, between the standard displacement and the allowed maximum displacement distance, and greater than the allowed maximum displacement distance, so as to realize the detection of the displacement and the displacement error of the pneumatic shaft 10.

[0117] The method further comprises a position adjusting step, an automatic identifying step, and a docking step,

[0118] The position adjusting step is performed before the fixing step, and is realized by a fine adjustment platform. One laser displacement sensor 22 is fixed to the fine adjustment platform to form a detection module for detecting a specific displacement. Two or three detection modules are combined to form a detection module 2 for detecting a specific displacement of the pneumatic shaft 10. Four detection modules 2 are used to detect 25%, 50%, 75%, and 100% of the maximum displacement of the pneumatic shaft 10, respectively.

[0119] An automatic identification step is performed after the fixing step is completed. A two-dimensional code or a bar code attached to the micro-precision pneumatic actuator 1 is scanned by a code scanning gun before detection. The control unit obtains the identity ID and the model of the micro-precision pneumatic actuator 1 through the code scanning gun, and then performs a transfer detection step. The control unit automatically determines whether it is qualified according to the model of the micro-precision pneumatic actuator 1 currently detected and the 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 1 are bound, and a complete electronic report is output.

[0120] A docking step is performed after the automatic identification step is completed. 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. The gas pressure is delivered to the quick plug interface through an electronic pressure regulating valve. The docking step is to move the quick plug interface towards the rear side by the docking drive mechanism, and the quick plug interface is connected with the gas pressure interface.

Claims

1. A batch automatic precision detection device for micro-precision pneumatic actuators, characterized in that: A plurality of specific displacements of a micro-precision pneumatic actuator (1) with a maximum displacement of a pneumatic shaft (10) less than 5mm are detected automatically in batches, A plurality of bottom plates (20) serving as detection platforms are installed on the rack at intervals, each independently arranged, a fixed clamp (3) is installed on the front side of the bottom plate (20), used to fix the micro-precision pneumatic actuator (1) and make the pneumatic shaft (10) of the micro-precision pneumatic actuator (1) face the rear side and the pneumatic pressure interface face the front side, A transfer rod (21) capable of moving forward and backward is slidingly installed at the middle part of the bottom plate (20), 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 circular table part (211) is arranged at the front end of the transfer rod (21), In the initial state, the circular table part (211) is kept at a position where its front end surface just lightly abuts against 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 side area of the bottom plate (20), and a plurality of detected targets 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) are installed at the rear side area of the bottom plate (20), each electrically connected to a detection circuit, each laser displacement sensor (22) is in sensing cooperation with the corresponding detected target, 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 makes logical judgment according to the received corresponding sensing signals, and outputs the detection results of each specific displacement of the pneumatic shaft (10) of the micro-precision pneumatic actuator (1); The fixed clamp (3) includes a base (31), a composite cylinder (32) with lifting and rotating functions, a pressing arm (33), a pressing head (34), and a first electronic switching valve electrically connected to the control unit, the base (31) is fixed on the bottom plate (20), 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 pressing arm (33) is fixed on the output shaft (35) of the composite cylinder (32), the pressing head (34) is fixed on the outer end of the pressing arm (33), the lower part of the pressing head (34) is provided with an upper cavity for pressing the micro-precision pneumatic actuator (1) tightly in the lower cavity, and the electronic switching valve is connected with the composite cylinder (32) through a gas pipe, used to drive the pressing arm (33) to lift and rotate. The middle part of the bottom plate (20) is fixed with a first linear cylinder (23), the upper part of the first linear cylinder (23) is provided with a sliding platform (24), the push rod of the first linear cylinder (23) is fixedly connected with the rear end part of the sliding platform (24), the upper part of the sliding platform (24) is fixed with a linear slide rail (25), the linear slide rail (25) is parallel to the transfer rod (21), the linear slide rail (25) is slidably installed with a sliding block (26), the middle part of the transfer rod (21) is fixed on the upper part of the sliding block (26), the first electronic switch valve is connected with the first linear cylinder (23) through a gas pipe, for providing a forward force to the transfer rod (21) in the process of the retraction of the pneumatic shaft (10) and keeping the circular table part (211) of the transfer rod (21) always abutting against the pneumatic shaft (10) in the process of 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 installed on the sliding sleeve (41) and a spring (43) sleeved on the top column (42), the rear end part of the top column (42) is screwed with an adjusting nut (44), the front end part is provided with a pushing head (45), the rear end of the spring (43) abuts against the front end face of the sliding sleeve (41), and the front end abuts against the pushing head (45), for providing 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 circular table part (211) is greater than 2 times the diameter of the pneumatic shaft (10), and the circular table part (211) is coaxially arranged with the pneumatic shaft (10); The left and right sides of the rear part of the rod body of the transfer rod (21) are respectively fixed with adapter plates (27), the adapter plates (27) have mounting plates arranged vertically and wing plates (28) arranged horizontally, the adapter plates (27) are fixed to the transfer rod (21) through the mounting plates, each detection target is fixed outside the wing plate (28) of the corresponding adapter plate (27), at least two detection targets are arranged on each adapter plate (27), and each detection target is provided with at least one detection window (52); It is used for detecting multiple specific displacements of the micro-precision pneumatic actuator (1) with a diameter 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 in a work station quickly and in batches; Two or three laser displacement sensors (22) form a detection module (2), the laser displacement sensors (22) of one detection module (2) are in sensing cooperation with the front side edges of the same detection window (52), two detection modules (2) are arranged on the left side of the middle and rear part of the transfer rod (21), two detection modules (2) are arranged on the right side, and four different specific displacements of the pneumatic shaft (10) including 25% maximum displacement, 50% maximum displacement, 75% maximum displacement and 100% maximum displacement are respectively detected.

2. The batch automatic precision detection device for micro-precision pneumatic actuators according to claim 1, characterized in that: A docking driving mechanism is installed on the front side of the detection platform, the docking driving mechanism comprises a second linear cylinder fixed on the detection platform and a clamping block fixed on a push rod of the second linear cylinder, the clamping block is provided with a quick plug interface coaxially arranged with the air pressure interface, and the quick plug interface is connected with the air pressure interface after moving towards the rear side; A plurality of independent fine adjustment platforms are arranged on the rear side of the detection platform, each fine adjustment platform comprises a top plate (61) fixed on the detection platform, a rack (64) fixed on the bottom surface of the top plate (61), a chassis, a knob (62) protruding on one side of the top plate (61), and a worm and a gear rotatably arranged on the chassis, the top plate (61) is slidably arranged above the chassis through a slide rail, the worm and the gear are in meshing transmission to form a worm and gear transmission mechanism (63), the knob (62) is coaxially connected with the worm, and the gear is in transmission connection with the rack (64); The top plate (61) of each fine adjustment platform is provided with only one laser displacement sensor (22), forming a universal displacement adjustable detection module, and a plurality of displacement adjustable detection modules for corresponding detection of different displacements of the pneumatic shaft (10) are arranged on the left and right sides of the middle and rear part of the transfer rod (21); The detected target 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) on the outer edge of the detection window (52); The laser displacement sensor (22) comprises two arms arranged in an up-down manner and a detection gap (221) arranged between the two arms, an inner wall surface of one arm is provided with a laser emitter, and an inner wall surface of the other arm is provided with a laser receiver, the laser displacement sensor (22) receives the laser emitted by the laser emitter through the laser receiver, so that the laser is aligned with the corresponding scale to determine the displacement detection distance, Each light-absorbing metal plate (51) corresponding to different displacement detection distances respectively horizontally penetrates the detection gap (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), the laser emitted by each laser displacement sensor (22) vertically penetrates the corresponding detection window (52), and the laser displacement sensor (22) keeps sending a conduction sensing signal to the control unit; A code scanning gun electrically connected to the detection circuit is further arranged, and the control unit receives the two-dimensional code or bar code information scanned by the code scanning gun and attached to the micro-precision pneumatic actuator (1) and obtains the identity ID and model information of the micro-precision pneumatic actuator (1).

3. A low-cost batch rapid automatic detection method for micro-precision pneumatic actuators, characterized in that: The batch automatic precision detection device using the micro-precision pneumatic actuator of claim 1 or 2 is used for detecting a plurality of specific displacements of the micro-precision pneumatic actuator (1) with a diameter of less than 3 mm, a displacement speed of 1-1.5 m / s and a maximum displacement of less than 5 mm of the pneumatic shaft (10) in one station, The fixing step is that the fixing clamp (3) is installed on the detection platform, the micro-precision pneumatic actuator (1) is quickly clamped, positioned and fixed through the fixing clamp (3), and the pneumatic shaft (10) of the micro-precision pneumatic actuator (1) faces the rear side and the air pressure interface faces the front side, and the pneumatic shaft (10) remains retracted before air supply to the micro-precision pneumatic actuator (1); The air supply step is that air is supplied to the electronic pressure regulating valve through the air pressure supply device, and the electronic pressure regulating valve supplies the air pressure interface with air pressure controlled by the control unit of the detection circuit to make the pneumatic shaft (10) move towards the rear side; The transfer detection step is that the front end surface of the transfer rod (21) slidingly installed on the detection platform lightly abuts against the rear end surface of the pneumatic shaft (10), the transfer rod (21) is kept abutting against the rear end surface of the pneumatic shaft (10) through the spring (43) reset mechanism, and 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, the middle rear part of the transfer rod (21) extends to the rear side area of the detection platform, a plurality of detected targets and a plurality of laser displacement sensors (22) are arranged in the rear side 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 rear part of the transfer rod (21), each laser displacement sensor (22) remains fixed during the detection process to obtain higher reliability and stability, and each corresponding detected target is respectively detected by a plurality of laser displacement sensors (22) with different displacement detection distances to obtain different specific rod displacements of the transfer rod (21); The automatic detection step is that the detection is started by the control unit, a plurality of detection instruction sets are sequentially sent by the control unit, the electronic pressure regulating valve is controlled by each detection instruction set to supply the air pressure interface with air pressure with a corresponding air pressure value, the control unit receives the sensing signals of each laser displacement sensor (22), the displacement of the transfer rod (21) is simultaneously detected by a plurality of laser displacement sensors (22) with different displacement detection distances in one displacement of the pneumatic shaft (10), the control unit performs logical judgment according to the corresponding detection instruction set, the sensing signals of the corresponding laser displacement sensor (22) and logical combination, displacement detection and logical judgment are performed on each displacement of the pneumatic shaft (10), the control unit outputs the result of logical judgment, and the detection result of each specific shaft displacement of the pneumatic shaft (10) is obtained.

4. The low-cost batch rapid automatic detection method of a micro-precision pneumatic actuator according to claim 3, characterized in that: The detected target 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 oppositely and a detection gap (221) arranged between the two arms, an inner wall surface of one arm is provided with a laser emitter, and an inner wall surface of the other arm is provided with a laser receiver, the laser displacement sensor (22) receives the laser emitted by the laser emitter through the laser receiver, and the laser is aligned with the corresponding scale to determine the displacement detection distance, Each light-absorbing metal plate (51) corresponding to different displacement detection distances respectively passes through the detection gap (221) of the corresponding laser displacement sensor (22) horizontally, 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), the laser emitted by each laser displacement sensor (22) vertically passes through the corresponding detection window (52), and the laser displacement sensor (22) keeps sending the on-sensing signal to the control unit, The displacement detection distance of each laser displacement sensor (22) is determined by adjusting the distance of the laser emitted by each laser displacement sensor (22) relative to the front side edge of the corresponding detection window (52) in the initial state, when the pneumatic shaft (10) pushes the displacement rod (21) to move backward, each light-absorbing metal plate (51) is synchronously driven by the displacement rod (21) to move backward, when the laser emitted by the laser displacement sensor (22) reaches and exceeds the front side edge of the corresponding detection window (52), the laser is blocked and cut off by the corresponding light-absorbing metal plate (51), the laser displacement sensor (22) sends the off-sensing signal to the control unit, and the control unit receives the sensing signals of only two or three laser displacement sensors (22) corresponding to one detection instruction set to complete the detection of one 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 sequentially detects different specific displacements of the pneumatic shaft (10) through different detection instruction sets.

5. The low-cost batch rapid automatic detection method of a micro-precision pneumatic actuator according to claim 4, characterized in that: The control unit indirectly detects one displacement of the pneumatic shaft (10) through the two laser displacement sensors (22) arranged adjacently and emitting the laser passing through the detection window (52) of the same light-absorbing metal plate (51) and being in sensing cooperation with the front side edge of the detection window (52) in one detection instruction set, so as to improve the detection accuracy, 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); In one detection instruction set, the control unit only receives the sensing signals of two laser displacement sensors (22) having the displacement detection distance corresponding to the current detection instruction set, and logically judges according to the sensing signals of the two laser displacement sensors (22), If the control unit does not receive the off-sensing signal of the laser displacement sensor (22) corresponding to the minimum displacement distance, it is judged that the displacement is too small, If the control unit receives the disconnection sensing signal of the laser displacement sensor (22) corresponding to the minimum displacement distance and does not receive the disconnection sensing signal of the laser displacement sensor (22) corresponding to the maximum displacement distance, it is determined that the detection is qualified, If the control unit sequentially receives the disconnection sensing signal of the laser displacement sensor (22) corresponding to the minimum displacement distance and the maximum displacement distance, it is determined that the displacement is too long.

6. The low-cost batch rapid automatic detection method of a micro-precision pneumatic actuator according to claim 5, characterized in that: The detection instruction set is provided with a rapid detection sub-instruction set, In the early stage of executing each detection instruction set, if the result of logical judgment by the control unit is that the displacement is too small or the number of times of displacement being too long accumulatively reaches the set number of times, the control unit immediately switches to execute the rapid detection sub-instruction set, so as to reduce the calculation amount of the control unit and improve the detection efficiency, The control unit executes the rapid detection sub-instruction set to perform detection and rapid judgment in a relatively stable environment. The control unit repeatedly executes the current displacement detection for 10 times. The time interval between adjacent two displacement detections is set to 1-2 seconds. The control unit controls the electronic pressure regulating valve to supply gas to the gas pressure interface and maintain the stable gas 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 has the result of logical judgment that the displacement is too small or too long, the control unit determines that the detection is unqualified. The control unit ends the current detection instruction set and executes the next detection instruction set, or directly ends all detection instruction sets of the current micro-precision pneumatic actuator (1) and outputs the detection result.

7. The low-cost batch rapid automatic detection method of a micro-precision pneumatic actuator according to claim 6, characterized in that: The detection instruction set is also provided with a high-speed detection sub-instruction set, In the early stage of executing each detection instruction set, the control unit executes the high-speed detection sub-instruction set first to perform high-speed detection. The control unit counts the judgment results of the logical judgment during the high-speed detection process. During the high-speed detection process, the control unit sets the time interval between adjacent two displacement detections to 0.5-1 seconds. The number of detection times of the high-speed detection is set to 500-1000 times. The control unit performs logical judgment according to the sensing signals of the two corresponding laser displacement sensors (22) during the detection process. In 100 displacement detections of each detection instruction set, if the result of logical judgment by the control unit is that the displacement is too small or the number of times of displacement being too long accumulatively reaches 3 times or more, the control unit immediately switches to execute the rapid detection sub-instruction set.

8. The low-cost batch rapid automatic detection method of the micro-precision pneumatic actuator according to any one of claims 3 to 7, characterized in that: The control unit indirectly detects a displacement of the pneumatic shaft (10) through the three adjacent laser beams emitted by the control unit, which respectively pass through the detection window (52) of the same light-absorbing metal plate (51) and are respectively sensed by the laser displacement sensor (22) at the front side edge of the detection window (52), so as to improve the 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) 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 logical judgment according to the sensing signals of the corresponding three laser displacement sensors (22). The judgment result of the logical judgment includes less than the allowed minimum displacement distance, between the allowed minimum displacement distance and the standard distance, equal to the standard displacement, between the standard displacement and the allowed maximum displacement distance, and greater than the allowed maximum displacement distance, so as to realize the detection of the displacement and displacement error of the pneumatic shaft (10). The speed of the pneumatic shaft (10) is calculated by recording the time interval at which the sensing signals of the two laser displacement sensors (22) with the largest distance are triggered.

9. The low-cost batch rapid automatic detection method of a micro-precision pneumatic actuator according to claim 8, characterized in that: A circular table part (211) is integrally formed at the front end of the transfer rod (21), the diameter of the circular table part (211) is more than twice the diameter of the pneumatic shaft (10), the circular table part (211) is coaxially arranged with the pneumatic shaft (10), the rod body of the transfer rod (21) is designed as a square, the length of the rod body of the transfer rod (21) is greater than 10 cm, the sliding block (26) is installed at the middle part of the rod body of the transfer rod (21), the sliding block (26) is slidingly installed on the linear slide rail (25), the linear slide rail (25) is installed on the detection platform, the adapter plates (27) are respectively fixed on the left and right sides of the rear part of the rod body of the transfer rod (21), the adapter plates (27) have vertically arranged mounting plates and horizontally arranged wing plates (28), the adapter plates (27) are fixed to the transfer rod (21) through the mounting plates, each detected target is fixed outside the wing plate (28) of the corresponding adapter plate (27), at least two detected targets are arranged on each adapter plate (27), and each detected target is provided with at least two detection windows (52); A bottom plate (20) is used as a detection platform, the first linear cylinder (23) is fixed in the middle of the bottom plate (20), the sliding platform (24) is arranged above the first linear cylinder (23), the sliding platform (24) is pushed by the first linear cylinder (23), so as to provide a forward force to the transfer rod (21) during the retraction of the pneumatic shaft (10) and keep the circular table part (211) of the transfer rod (21) always abutting 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) slidingly 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 push head (45). The rear end of the spring (43) abuts against the front end face of the sliding sleeve (41), and the front end abuts against the push head (45), so as to provide an adjustable elastic force for the top column (42) and the transfer rod (21) during forward and backward movement, and the elastic force is adjusted through the adjusting nut (44); The first linear cylinder (23) actively and quickly pushes the transfer rod (21) to reset, and no gap is generated between the two during the process from the reset stop to the next rapid backward movement of the pneumatic shaft (10), and rigid collision between the transfer rod (21) and the pneumatic shaft (10) is avoided; It also includes a position adjusting step, an automatic identification step and a docking step, The position adjusting step is performed before the fixing step, and is realized by a fine adjustment platform. One of the laser displacement sensors (22) is fixed to the fine adjustment platform to form a detection module for detecting a specific displacement. Two or three detection modules are combined to form a detection module (2) for detecting a specific displacement of the pneumatic shaft (10). Four detection modules (2) are used to detect 25%, 50%, 75% and 100% of the maximum displacement of the pneumatic shaft (10), respectively. The automatic identification step is performed after the fixing step. Before detection, the two-dimensional code or bar code information attached to the micro-precision pneumatic actuator (1) is scanned by a code scanning gun. The control unit obtains the identity ID and model information of the micro-precision pneumatic actuator (1) through the code scanning gun, and then performs the transfer detection step. The control unit automatically determines whether it is qualified according to the model of the micro-precision pneumatic actuator (1) currently detected and the 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 (1) are bound, and a complete electronic report is output. The docking step is performed after the automatic identification step. A docking driving mechanism is installed on the front side of the detection platform, and a quick plug interface is installed on the upper part of the docking driving mechanism. The electronic pressure regulating valve supplies gas pressure to the quick plug interface. The docking step is realized by moving the quick plug interface towards the rear side through the docking driving mechanism, and the quick plug interface is connected with the gas pressure interface.

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