Air spring inflation and exhaust torsional deformation detection test module and detection test method

Abstract

The invention provides an air spring inflation and exhaust torsional deformation detection test module and a detection test method. The air spring inflation and exhaust torsional deformation detection test module comprises a feeding unit, a transfer unit and detection equipment, the feeding unit comprises an air spring feeding device and a cover plate feeding device, the transfer unit comprises a robot, a correction device and a positioning device, the robot is arranged in a surrounding mode, and the detection equipment is arranged on the robot. The one or more air spring feeding devices, the correcting device, the one or more cover plate feeding devices and the one or more detection devices are sequentially arranged, and the positioning device is arranged at the position close to the detection devices. The air spring inflation and deflation torsional deformation detection test method comprises the steps of press fitting, inflation of limit air pressure, maintenance of rated air pressure, point drawing, shooting, comparison and the like. According to the air spring inflation and exhaust torsional deformation detection test module and detection test method provided by the invention, the problem of low operation efficiency in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of air springs, and particularly to an air spring charging and discharging torsional deformation detection test module and a detection test method thereof. Background Art

[0002] With the development of railway passenger car technology, passengers have higher and higher requirements for the smoothness and comfort of passenger cars. The air spring vibration reduction technology has made great progress in China, and most main engine factories adopt air spring devices when designing vehicles. During the production process of air springs, it is necessary to inspect parameters such as the air tightness of the assembled air springs to ensure that the products can work stably for a long time in the future. One of the inspection schemes is to observe whether the airbag structure in the air spring will deform over time after the air spring is pressurized.

[0003] Most of the existing detection schemes require manual participation. Workers draw vertical lines on the surface of the airbag during the process of maintaining the air pressure, and finally use a caliper to measure the offset. There are defects such as low detection efficiency, high labor intensity, high safety risk, and large errors in detection results.

[0004] After retrieval, a Chinese invention patent with the existing application number "202311590514.2", titled "Air Spring Detection System and Air Spring Detection Control Method", and the applicant being "CRRC Qingdao Sifang Co., Ltd.", etc., discloses an automated air spring detection module and a control method for the detection module.

[0005] Specifically, the above patent discloses a scheme that uses a robot to grab an air spring and transfer it between different devices, ultimately realizing the entire detection process. However, in the above scheme, the travel range of the robot, which is the core of the transfer, is small, resulting in only a small number of loading and unloading and detection devices being able to be arranged, with low detection efficiency and being unable to be applied to the detection of different types of air springs. Therefore, the present application provides a detection test module and method to avoid the above defects. Summary of the Invention

[0006] To solve the problem of low operating efficiency of the existing air spring detection module, the present invention provides an air spring charging and discharging torsional deformation detection test module and a detection test method thereof.

[0007] The air spring charging and discharging torsional deformation detection test module provided by the present invention includes a feeding unit, a transfer unit, and a detection device. The feeding unit includes an air spring feeding device and a cover plate feeding device. The transfer unit includes a robot, a correction device, and a positioning device, which are arranged in a surrounding layout around the robot. One or more of the air spring feeding devices, the correction device, one or more of the cover plate feeding devices, and one or more of the detection devices are sequentially arranged, and the positioning device is arranged near the detection device.

[0008] In a preferred embodiment of the air spring charging / discharging torsional deformation detection test module provided by the present invention, the air spring feeding device is a conveyor-type feeding device, the head end of which is the air spring assembly station, and the tail end is close to the robot; the cover plate feeding device is a storage bracket; the transfer unit further includes a translation device, and the robot is installed at the movable end of the translation device. A first tool library and a flipping bracket are arranged beside the air spring feeding device; a second tool library is arranged between the cover plate feeding device and the detection device.

[0009] In a preferred embodiment of the air spring charging / discharging torsional deformation detection test module provided by the present invention, the correction device includes a base, a rotating platform, a sensor and a first vision recognition mechanism. The rotating platform and the sensor are arranged on the top of the base. At a position beside the base and maintaining a certain distance from it, the first vision recognition mechanism is installed through a column, and its lens faces the rotating platform; the positioning device includes a second vision recognition mechanism, and its lens faces vertically upward.

[0010] In a preferred embodiment of the air spring charging / discharging torsional deformation detection test module provided by the present invention, the detection device includes a loading unit and a detection unit; the loading unit includes a base, a loading device, a transfer device and a universal tooling. The loading device and the transfer device are arranged on the base. The universal tooling is respectively arranged on the loading device and the transfer device, and under the drive of the loading device and the transfer device, they move in a way of approaching or separating from each other respectively; the detection unit includes a moving device, a vision device, a drawing device and a laser device. The moving device is arranged on the base, the vision device and the drawing device are arranged at the movable end of the moving device, and the laser device is arranged at the fixed end of the moving device.

[0011] A linear slide is laid flat on the top of the base as the transfer device, and the lower half of the universal tooling is installed at the movable end of the linear slide; a lifting mechanism is arranged on the top of the base as the loading device, and the movable end of the loading device extends above the transfer device, and the upper half of the universal tooling is installed on one side close to the transfer device.

[0012] The moving device includes a lifting mechanism and a translation mechanism connected in sequence. The fixed end of the lifting mechanism is provided with the laser device. The translation mechanism faces the loading device, and the drawing device and the vision device are arranged at the movable end of the translation mechanism.

[0013] An air spring charging / discharging torsional deformation detection test method includes: 1. When the air spring is assembled, the detection test method 1 is adopted: Step 1: The robot picks up an air spring from the air spring feeding device, moves it above the positioning device, identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring, and accurately places the air spring on the lower half of the general tooling in the testing equipment according to the identification results. Step 2: The upper and lower half of the general tooling in the testing equipment load and clamp the air spring, pressurize it and complete the test to obtain the test results. Step 3: The robot transports the air spring according to the test results.

[0014] II. For the case of partial assembly of the air spring, the testing method 2 is adopted: Step 1: The robot picks up the auxiliary spring airbag assembly without the auxiliary spring from the air spring feeding device, moves it above the positioning device, identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring, and accurately places the auxiliary spring airbag assembly on the lower half of the general tooling in the testing equipment according to the identification results. Step 2: The robot picks up the cover plate from the cover plate feeding device and places it on the auxiliary spring airbag assembly. Step 3: The upper and lower half of the general tooling in the testing equipment load and clamp the auxiliary spring airbag assembly and the cover plate, pressurize to complete the assembly and complete the test to obtain the test results. Step 4: The robot transports the air spring according to the test results.

[0015] III. For another case of partial assembly of the air spring, the testing method 3 is adopted: Step 1: The robot picks up the auxiliary spring from the air spring feeding device, moves it above the positioning device, identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring, and accurately places the auxiliary spring on the lower half of the general tooling in the testing equipment according to the identification results. Step 2: The robot picks up the airbag buckle cover plate assembly from the air spring feeding device, moves it to the flipping bracket, flips it, and then places it on the calibration device. The calibration device rotates the airbag cover plate assembly to the correct angle; the robot picks up the airbag cover plate assembly from the calibration device and moves it to the auxiliary spring. Step 3: The upper and lower half of the general tooling in the testing equipment load and clamp the auxiliary spring and the airbag buckle cover plate assembly, pressurize to complete the assembly and complete the test to obtain the test results. Step 4: The robot transports the air spring according to the test results.

[0016] In a preferred embodiment of the air spring charging and discharging torsional deformation detection test method provided by the present invention, step 2 of the testing method 3 specifically includes: Step 1: The robot picks up the airbag buckle cover plate assembly from the air spring feeding device and moves it to the flipping bracket. Step 2: With the assistance of the flipping bracket, the robot flips the airbag buckle cover assembly and places it on the rotating platform in the calibration device in the correct direction. Step 3: When the sensor in the calibration device senses that there is an item placed on the rotating platform, the rotating platform starts and drives the airbag buckle cover assembly to rotate. The first vision recognition mechanism observes the airbag angle in real time and controls the rotating platform to stop when it rotates to the correct angle. Step 4: The robot picks up the airbag buckle cover assembly from the calibration device and moves it to the auxiliary spring.

[0017] In a preferred embodiment of the air spring charging and discharging torsional deformation detection test method provided by the present invention, step 2 of detection test method 1 and step 3 of detection test methods 2 and 3 specifically include: Step 1: The upper and lower universal tooling in the detection equipment is loaded and clamped to hold the air spring or each component constituting the air spring. At this time, the inflation hole of the universal tooling is hermetically docked with one or more air ducts of the air spring. Step 2: Charge high-pressure gas into the air spring until the limit air pressure is reached. Step 3: Adjust and maintain the air pressure in the air spring for a period of time. Meanwhile, control the drawing device in the detection equipment to draw multiple positioning points on the airbag of the air spring, control the laser device in the detection equipment to irradiate the airbag of the air spring with dot or line or mesh laser, and control the vision device in the detection equipment to take pictures of the initial positions of the laser and the positioning points. Step 4: During the process of maintaining the air pressure, control the vision device to take pictures of the current positions of the laser and the positioning points multiple times at preset time intervals. Step 5: Release the pressure, control the vision device to take pictures of the final positions of the laser and the positioning points, and then cancel the loading, and perform recognition and analysis on the pictures taken multiple times.

[0018] Compared with the prior art, the present invention can achieve the following beneficial effects: 1. The solution provided by the present invention includes multiple sets of feeding devices and multiple sets of detection equipment, and detects multiple air springs simultaneously, significantly improving the detection efficiency. 2. The solution provided by the present invention includes multiple types of feeding devices, each type having multiple sets, as well as multiple sets of general detection equipment, and is equipped with a tool library for the robot to replace fixtures, adapting to different types of air springs for detection, further improving the detection efficiency. 3. In the solution provided by the present invention, the robot is installed on the translation device, expanding the pick-and-place stroke range of the robot. Cooperating with multiple types of feeding devices and multiple sets of tool libraries, the carrying capacity of the robot is fully utilized, and the detection efficiency is higher. 4. In the solution provided by the present invention, a positioning device is provided. Before placing the air spring on the detection device, the positions of the bottom pin shaft and pin hole of the auxiliary spring are confirmed to ensure that the air spring is placed on the correct general tooling. 5. The solution provided by the present invention is suitable for detecting multiple air springs, multiple types of air springs, and different air spring assembly processes, and has a wider application range. Description of the Drawings

[0019] Figure 1 is a top view of the air spring charging / discharging and torsional deformation detection test module provided by an embodiment of the present invention; Figure 2 is a three-dimensional view of the calibration device in the air spring charging / discharging and torsional deformation detection test module provided by an embodiment of the present invention; Figure 3 is a three-dimensional view of the detection device in the air spring charging / discharging and torsional deformation detection test module provided by an embodiment of the present invention; Figure 4 is a three-dimensional view of the detection unit in the air spring charging / discharging and torsional deformation detection test module provided by an embodiment of the present invention.

[0020] The reference numerals therein include: Tool magazine 5, detection device 6, flipping bracket 7; Air spring loading device 11, cover plate loading device 12; Translation device 21, robot 22, calibration device 23, positioning device 24; base 231, rotating platform 232, sensor 233, first vision recognition mechanism 234; Base 31, loading device 32, transfer device 33, general tooling 34; Moving device 41, vision device 42, drawing device 43, laser device 44, mounting bracket 45. Detailed Embodiment

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0022] Please refer to Figure 1 and Figure 2 simultaneously, which are respectively the top view of the air spring charging / discharging and torsional deformation detection test module provided by the present invention, and the three-dimensional view of the calibration device therein.

[0023] The present invention provides an air spring charging / discharging and torsional deformation detection test module, including a loading unit, a transfer unit, a tool magazine 5, a detection device 6, and a flipping bracket 7.

[0024] The feeding unit includes an air spring feeding device 11 and a cover plate feeding device 12 ; the transfer unit includes a translation device 21 , a robot 22 , a correction device 23 and a positioning device 24 .

[0025] The detection device 6 includes a loading unit and a detection unit. The loading unit includes a base 31, a loading device 32, a transfer device 33 and a universal tooling 34. The detection unit includes a moving device 41, a visual device 42, a drawing device 43 and a laser device 44.

[0026] by Figure 1 From the angle shown, the left column is provided with the first set of air spring feeding device 11, the turning bracket 7, the first set of tool magazine 5 and the second set of air spring feeding device 11 from top to bottom, and both sets of air spring feeding devices 11 are conveyor lines.

[0027] The middle row includes a translation device 21 extending in the vertical direction, and a correction device 23 and two sets of cover sheet feeding devices 12 arranged sequentially from left to right below the translation device 21 .

[0028] The calibration device 23 includes a base 231, a rotating platform 232, a sensor 233 and a first visual recognition mechanism 234. The base 231 is a square bracket, and a rotating platform 232 rotating in a horizontal plane is installed in the middle of its top. A vertical pole is vertically provided at two diagonal positions on the top, and a pair of sensors 233 are installed on the vertical poles to detect whether there are objects placed on the rotating platform. The first visual recognition mechanism 234 is installed near the base 231 through a separate column, and its lens faces the rotating platform 232.

[0029] The translation device 21 is a ground rail, and a robot 22 is installed on the slider at the top of the rail; both sets of cover plate loading devices 12 are storage racks, and loading is achieved through AGV transportation.

[0030] The right column includes four sets of detection equipment 6. A positioning device 24 is provided between the second and third sets of detection equipment 6, and a second set of tool magazines 5 is provided between the third and fourth sets of detection equipment 6. The positioning device 24 includes a second visual recognition mechanism, and its lens is vertically facing upward. Both sets of tool magazines 5 are square platforms, and a fixture for clamping different objects is placed on the top.

[0031] Please also see Figure 3 and Figure 4 , are three-dimensional views of the detection device 6 and the detection unit in the air spring inflation and exhaust torsional deformation detection test module provided by the present invention.

[0032] The base 31 has a T-shaped structure, and a linear slide is laid along the central axis of its top as the transfer device 33. The linear slide is a common part, and its specific structure will not be elaborated here. A lower half universal tooling 34 is installed on the linear slide. There is a generalized design on the top surface of the lower half universal tooling 34, enabling it to adapt to various types of air springs.

[0033] Take Figure 3 In the shown perspective, the left end of the transfer device 33 is used as the loading end, and the other end is used as the loading end. At the two-wing positions of the base 31, a gantry lifting mechanism is set up, spanning over the loading end of the transfer device 33 above, as the loading device 32.

[0034] In the loading device 32, the crossbeam directly above the loading end of the transfer device 33 is a movable part, and an upper half universal tooling 34 is installed at its bottom.

[0035] From Figure 1 In the shown angle, at the corner position on the left side of the top surface of the base 31, a small platform is additionally provided for installing the moving device 41.

[0036] The moving device 41 includes a lifting mechanism vertically arranged on the small platform and a translation mechanism horizontally arranged on the slider of the lifting mechanism. Both the lifting mechanism and the translation mechanism adopt linear modules. The linear module is a common part, and the vertical combination of the two linear modules is also a common solution. The specific structure in this regard will not be elaborated here.

[0037] On the slider of the translation mechanism, a mounting bracket 45 is arranged at an angle parallel to its moving direction. The mounting bracket 45 extends towards the loading end, increasing the stroke of the translation mechanism and avoiding interfering with the transfer device 33. The moving device 41 is installed at an angle where the translation mechanism forms an approximately 45° angle with the transfer device 33, so that the translation mechanism points to the loading device 32 without interfering with the movement of the transfer device 33 and the air springs it loads.

[0038] At the top of the end of the mounting bracket 45 close to the loading device 32, a vision device 42 is installed at an angle parallel to it. At the tip of the end of the mounting bracket 45 close to the loading device 32, a long strip-shaped cantilever platform is installed at an angle parallel to it, and a drawing device 44 is arranged on the cantilever platform. The laser device 43 is an existing product that can emit linear laser light. It is installed on the outer wall of the lifting mechanism away from the translation mechanism in a detachable manner. Here, it is installed on the outer wall of the lifting mechanism by magnetic attraction, facilitating the adjustment of the position of the light.

[0039] In addition, there are also conventional designs such as a power supply system for the feeding unit, transfer unit, and detection device 6, a control system for controlling the feeding unit, transfer unit, and detection device 6 to operate according to preset rules, and a pressure supply system for providing high-pressure air to the universal tooling 34.

[0040] Those skilled in the art can make flexible designs according to the on-site situation, and the specific structure will not be elaborated here.

[0041] The air spring charging and discharging torsional deformation detection test module provided by the present invention is applicable to a variety of assembly processes.

[0042] I. For the case where the air spring is assembled, the detection test method of the air spring charging and discharging torsional deformation detection test module includes: Step 1: The robot 22 clamps an air spring from any set of air spring feeding devices 11 and moves it above the positioning device 24.

[0043] The positioning device 24 identifies the pin holes and pin shaft positions at the bottom of the auxiliary spring and feeds back the identification structure to the robot 22. The robot 22 accurately places the air spring on the lower half universal tooling 24 in the detection device 6 according to the identification result.

[0044] Step 2.1: The upper and lower half universal toolings 34 load and clamp the air spring. At this time, the inflation hole of the universal tooling 34 is hermetically docked with the top air duct of the air spring; Step 2.2: The pressure charging pipeline docked with the inflation hole fills the airbag with high-pressure gas until the limit air pressure is reached; Step 2.3: Adjust the air pressure in the airbag to the rated air pressure and maintain it for a period of time.

[0045] Meanwhile, based on the moving function of the moving device 41, control the drawing device 43 to draw multiple positioning points on a meridian of the airbag of the air spring, control the laser device 44 to irradiate linear laser on the same or another meridian of the airbag of the air spring, and control the vision device 42 to take pictures of the initial positions of the laser and the positioning points; Step 2.4: During the process of maintaining the air pressure, control the vision device 42 to take pictures of the current positions of the laser and the positioning points at preset time intervals; Step 2.5: Release the pressure, control the vision device 42 to take pictures of the final positions of the laser and the positioning points, and then cancel the loading, and identify and analyze the images taken multiple times.

[0046] Step 3: The identification and analysis results of the images taken multiple times are fed back to the robot 22, and control the robot 22 to transfer the air spring according to the detection results.

[0047] II. For the case of partial assembly of the air spring without an internal snap ring, the detection test method of the air spring charging and discharging torsional deformation detection test module includes: Step 1: The robot 22 clamps the auxiliary spring airbag assembly from any set of air spring feeding devices 11 and moves it above the positioning device 24.

[0048] The positioning device 24 identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring, and feeds back the identification structure to the robot 22. According to the identification result, the robot 22 accurately places the air spring on the lower half universal tooling 24 in the detection device 6.

[0049] Step 2: The robot 22 clamps the cover plate from the cover plate feeding device 12 and moves it to the auxiliary spring airbag assembly located on the lower half universal tooling 24.

[0050] Step 3.1: The upper and lower half universal toolings 34 load and clamp the auxiliary spring airbag assembly and the cover plate. At this time, the inflation hole of the universal tooling 34 is hermetically docked with the air duct at the top of the cover plate. Step 3.2: The pressure charging pipeline docked with the inflation hole fills high-pressure air into the airbag until the limit air pressure is reached, and each component is clamped to complete the assembly of the air spring. Step 3.3: Adjust the air pressure in the airbag to the rated air pressure and maintain it for a period of time.

[0051] Meanwhile, based on the moving function of the moving device 41, control the drawing device 43 to draw multiple positioning points on a meridian of the airbag of the air spring, control the laser device 44 to irradiate a linear laser on the same or another meridian of the airbag of the air spring, and control the vision device 42 to take pictures of the initial positions of the laser and the positioning points. Step 3.4: During the process of maintaining the air pressure, control the vision device 42 to take multiple pictures of the current positions of the laser and the positioning points at preset time intervals. Step 3.5: Release the pressure, control the vision device 42 to take pictures of the final positions of the laser and the positioning points, then cancel the loading, and identify and analyze the multiple taken pictures.

[0052] Step 4: The identification and analysis results of the multiple taken pictures are fed back to the robot 22, and control the robot 22 to transfer the air spring according to the detection results.

[0053] III. For the case of partial assembly of the air spring with an internal snap ring, the detection test method of the air spring charging and discharging torsional deformation detection test module includes: Step 1: The robot 22 clamps the auxiliary spring from the second set of air spring feeding device 11 and moves it above the positioning device 24.

[0054] The positioning device 24 identifies the positions of the pin holes and pin shafts at the bottom of the auxiliary spring, and feeds back the identification structure to the robot 22. According to the identification result, the robot 22 accurately places the auxiliary spring on the lower half universal tooling 24 in the detection device 6.

[0055] Step 2.1: The robot 22 picks up the airbag buckle cover plate assembly from the first set of air spring loading devices 11 and moves it to the flipping bracket 7. With the assistance of the flipping bracket 7, the robot 22 completes the flipping of the airbag buckle cover plate assembly.

[0056] Step 2.2: The robot 22 places the airbag buckle cover plate assembly on the rotating platform 232 in the correct orientation.

[0057] Step 2.3: When the sensor 233 senses that there is an item placed on the rotating platform 232, it controls the rotating platform 232 to start and drive the airbag buckle cover plate assembly to rotate.

[0058] The first visual recognition mechanism 234 observes the angle of the airbag in real time and controls the rotating platform 232 to stop when it rotates to the correct angle.

[0059] Step 2.4: The robot 22 picks up the adjusted airbag buckle cover plate assembly from the rotating platform 232 and moves it to the auxiliary spring on the lower half universal tooling 24.

[0060] Step 3.1: The upper and lower half universal toolings 34 load and clamp the auxiliary spring and the airbag buckle cover plate assembly. At this time, the inflation hole of the universal tooling 34 is hermetically docked with the top air duct of the air spring. Step 3.2: The pressure charging pipeline docked with the inflation hole fills high-pressure gas into the air spring. When the limit air pressure is reached, each component is clamped to complete the assembly of the air spring. Step 3.3: Adjust the air pressure in the air spring to the rated air pressure and maintain it for a period of time.

[0061] Meanwhile, based on the moving function of the moving device 41, control the drawing device 43 to draw multiple positioning points on a meridian of the airbag of the air spring, control the laser device 44 to irradiate linear laser on the same or another meridian of the airbag of the air spring, and control the vision device 42 to take pictures of the initial positions of the laser and the positioning points. Step 3.4: During the process of maintaining the air pressure, control the vision device 42 to take multiple pictures of the current positions of the laser and the positioning points at preset time intervals. Step 3.5: Release the pressure, control the vision device 42 to take pictures of the final positions of the laser and the positioning points, and then cancel the loading, and perform recognition and analysis on the multiple pictures taken.

[0062] Step 4: The recognition and analysis results of the multiple pictures taken are fed back to the robot 22, and control the robot 22 to transfer the air spring according to the detection results.

[0063] The above are only embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification of the present invention, or directly or indirectly applied in other related technical fields, shall similarly be included within the patent protection scope of the present invention.

Claims

1. An air spring inflation and exhaust torsional deformation detection test module, characterized in that: It includes a loading unit, a transfer unit and a detection device. The loading unit includes an air spring loading device and a cover plate loading device. The transfer unit includes a robot, a correction device and a positioning device. The robot is arranged in a surrounding manner. One or more air spring loading devices, the correction device, one or more cover plate loading devices and one or more detection devices are arranged in sequence. The positioning device is arranged close to the detection device.

2. The air spring inflation and exhaust torsional deformation detection test module according to claim 1 is characterized in that: The air spring feeding device is a conveying type feeding device, the front end of which is an air spring assembly station and the rear end is close to the robot; the cover plate feeding device is a material storage bracket; the transfer unit also includes a translation device, and the robot is installed at the movable end of the translation device.

3. The air spring inflation and exhaust torsional deformation detection test module according to claim 1 is characterized in that: A first tool magazine and a turning bracket are arranged beside the air spring feeding device; and a second tool magazine is arranged between the cover plate feeding device and the detection equipment.

4. The air spring inflation and exhaust torsional deformation detection test module according to claim 1, characterized in that: The correction device includes a base, a rotating platform, a sensor and a first visual recognition mechanism. The rotating platform and the sensor are provided on the top of the base. The first visual recognition mechanism is installed through a column at the side of the base and at a certain distance therefrom, with its lens facing the rotating platform; the positioning device includes a second visual recognition mechanism, with its lens facing vertically upwards.

5. The air spring inflation and exhaust torsional deformation detection test module according to claim 1, characterized in that: The detection equipment includes a loading unit and a detection unit; the loading unit includes a base, a loading device, a transfer device and a universal tooling, the loading device and the transfer device are provided on the base, the universal tooling is respectively provided on the loading device and the transfer device, and is driven by the loading device and the transfer device to move closer to or farther from each other; the detection unit includes a moving device, a visual device, a drawing device and a laser device, the moving device is provided on the base, the visual device and the drawing device are provided on the movable end of the moving device, and the laser device is provided on the fixed end of the moving device.

6. The air spring inflation and exhaust torsional deformation detection test module according to claim 5, characterized in that: A linear slide is laid flat on the top of the base as the transfer device, and the lower half of the universal tooling is installed on the movable end of the linear slide; a lifting mechanism is provided on the top of the base as the loading device, the movable end of the loading device extends above the transfer device, and the upper half of the universal tooling is installed on the side close to the transfer device.

7. The air spring inflation and exhaust torsional deformation detection test module according to claim 5, characterized in that: The moving device comprises a lifting mechanism and a translation mechanism connected in sequence, the laser device is arranged at the fixed end of the lifting mechanism, the translation mechanism faces the loading device, and the drawing device and the visual device are arranged at the movable end of the translation mechanism.

8. A test method using the air spring inflation and exhaust torsional deformation test module according to claims 1 to 7, characterized in that: include:

1. When the air spring is assembled, use the test method 1: Step 1: The robot grabs the air spring from the air spring feeding device and moves it above the positioning device to identify the pin hole and pin shaft position at the bottom of the auxiliary spring, and according to the identification results, accurately places the air spring on the lower half of the universal tooling in the testing equipment; Step 2: The upper and lower universal tooling in the testing equipment loads and clamps the air spring, pressurizes it and completes the test to obtain the test results; Step 3: The robot transports the air spring according to the test results; 2. For the partial assembly of the air spring, use the test method 2: Step 1: The robot clamps the auxiliary spring airbag assembly from the air spring feeding device and moves it above the positioning device to identify the pin hole and pin shaft position at the bottom of the auxiliary spring, and according to the identification result, accurately places the auxiliary spring airbag assembly on the lower half of the universal tooling in the testing equipment; Step 2: The robot grabs the cover plate from the cover plate feeding device and places it on the auxiliary spring airbag assembly; Step 3: The upper and lower universal tooling in the testing equipment loads and clamps the auxiliary spring airbag assembly and the cover plate, pressurizes to complete the assembly, completes the test, and obtains the test results; Step 4: The robot transports the air spring according to the test results; 3. Another case of partially assembled air springs, using test method 3: Step 1: The robot grabs the auxiliary spring from the air spring feeding device and moves it above the positioning device to identify the pin hole and pin shaft position at the bottom of the auxiliary spring. According to the identification results, the auxiliary spring is accurately placed on the lower half of the universal tooling in the testing equipment; Step 2: The robot clamps the airbag buckle cover assembly from the air spring feeding device, moves it to the flip bracket, flips it, and then places it on the correction device. The correction device rotates the airbag cover assembly to the correct angle; the robot clamps the airbag cover assembly from the correction device and moves it to the auxiliary spring; Step 3: The upper and lower universal tooling in the testing equipment loads and clamps the auxiliary spring and the airbag buckle cover assembly, pressurizes to complete the assembly, completes the test, and obtains the test results; Step 4: The robot transports the air spring according to the test results.

9. A test method for testing the air spring inflation and exhaust torsional deformation test module according to claim 8, characterized in that: Step 2 of the test method 3 specifically includes: Step 1: The robot grabs the airbag buckle cover assembly from the air spring feeding device and moves it to the flip bracket; Step 2: With the assistance of the flipping bracket, a robot flips the airbag buckle cover assembly and places it on the rotating platform in the correction device in the correct direction; Step 3: When the sensor in the calibration device senses that an object is placed on the rotating platform, the rotating platform starts and drives the airbag buckle cover assembly to rotate. The first visual recognition mechanism observes the airbag angle in real time and controls the rotating platform to stop when it rotates to the correct angle. Step 4: The robot grabs the airbag buckle cover assembly from the calibration device and moves it onto the auxiliary spring.

10. A test method for testing the air spring inflation and exhaust torsional deformation test module according to claim 8, characterized in that: Step 2 of test method 1, step 3 of test method 2 and step 3 of test method 3 specifically include: Step 1: The upper and lower universal tooling in the testing equipment loads and clamps the air spring or the components that make up the air spring. At this time, the inflation hole of the universal tooling is sealed and docked with one or more air guide tubes of the air spring; Step 2: Fill the airbag with high-pressure gas to reach the limit pressure; Step 3: Adjust and maintain the air pressure in the airbag for a period of time; At the same time, the drawing device in the detection device is controlled to draw a plurality of positioning points on the airbag, the laser device in the detection device is controlled to irradiate the airbag with a point, line or mesh laser, and the visual device in the detection device is controlled to shoot the initial position of the laser and the positioning points; Step 4: While maintaining the air pressure, control the visual device to take multiple shots of the current position of the laser and the positioning point at preset time intervals; Step 5: Release the pressure, control the visual device to capture the final position of the laser and the positioning point, then cancel the loading, and perform recognition and analysis on the images captured multiple times.

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