An automatic testing device for pneumatic actuators

Abstract

The present invention relates to the field of detection, and specifically to an automated testing device for pneumatic actuators. The device comprises a pallet fixedly connected to the upper end of a conveyor belt, a robotic arm beside the conveyor belt, a limiting mechanism provided at the upper end of the pallet for positioning the actuator, a three-axis movable mechanism beside the robotic arm, and a sealing detection mechanism beside the three-axis movable mechanism, comprising a liquid tank and a soft brush for applying a detection liquid to the actuator, a material unloading platform along the center line of the three-axis movable mechanism, which is aligned with the pallet during testing, and a movably provided support plate on the other side of the conveyor belt, on which is an air pressure detection mechanism composed of an air pump, a T-tube, a movable tube, a baffle, a pressure sensor, etc., capable of performing air pressure detection. In addition, a visual detection mechanism is provided on the support plate, whose camera is aimed at the actuator under detection, capable of performing visual detection of the actuator. The device integrates multiple detection functions such as sealing detection and air pressure detection, and can perform comprehensive and integrated detection of the pneumatic actuator without the need to perform individual detection of the actuators one by one.

Description

Technical Field

[0001] The present invention relates to the field of detection, and in particular to an automatic testing device for a pneumatic actuator. Background Art

[0002] In industrial production, pneumatic actuators are key components for automated control, and their performance and quality directly impact the stable operation and production efficiency of the entire system. Currently, pneumatic actuator testing mostly relies on manual operation or semi-automated testing equipment. Manual testing relies primarily on the tester's experience and simple tools, such as applying soapy water to the surface of the pneumatic actuator to test for leaks and manually reading pressure data from a pressure gauge to determine air pressure stability. This testing method is not only inefficient and unable to meet the testing needs of large-scale production, but the test results are also easily influenced by the tester's subjective factors, such as differences in observation angle and judgment criteria. This results in low detection accuracy and makes it difficult to ensure consistent product quality. The limitations of manual testing are particularly prominent in industries with extremely high product quality requirements, such as aerospace and high-end equipment manufacturing.

[0003] While semi-automated testing equipment has improved testing efficiency to a certain extent, it still presents numerous challenges. Existing semi-automated testing equipment often only performs single-item tests, such as checking the sealing or air pressure stability of pneumatic actuators, and is unable to provide comprehensive, automated testing of pneumatic actuators. In actual production, performance testing of pneumatic actuators requires comprehensive testing of multiple aspects, including sealing, air pressure stability, motion sensitivity, and durability. Single-function testing equipment cannot meet the comprehensive quality control requirements of companies. Furthermore, during the testing process, actuator positioning and clamping are often imprecise, making them prone to misalignment. For example, during air pressure testing, inaccurate actuator positioning can lead to loose air circuit connections, affecting the accuracy of air pressure test results. During a leak test, slight actuator misalignment can prevent the test fluid from being evenly applied to critical areas, resulting in skewed test results. Furthermore, existing semi-automated testing equipment lacks smooth integration, and each testing step operates independently, preventing an efficient testing pipeline. Companies need to transfer pneumatic actuators between different testing equipment, which not only increases the equipment's footprint and investment costs, but also extends the production cycle and increases the risk of product damage during transfer, leading to a significant increase in production costs.

[0004] Therefore, it is necessary to design an automated testing device for pneumatic actuators that can achieve comprehensive automated testing and improve detection efficiency and accuracy. Summary of the Invention

[0005] Based on this, it is necessary to provide an automatic testing device for pneumatic actuators to address the existing technical problems.

[0006] In order to solve the problems of the prior art, the technical solution adopted by the present invention is:

[0007] An automated testing device for a pneumatic actuator includes a tray fixedly connected to the upper end of a conveyor belt and a robotic arm disposed beside the conveyor belt, and further includes:

[0008] A limiting mechanism for positioning the actuator is provided at the upper end of the pallet, a three-axis moving mechanism is provided on the side of the robotic arm, a sealing detection mechanism is provided on the side of the three-axis moving mechanism, and the sealing detection mechanism includes a liquid tank provided on the side of the conveyor belt and a soft brush fixedly connected to the output end of the three-axis moving mechanism. During the test, the soft brush applies the detection liquid in the liquid tank to the upper end of the actuator. A feeding table is provided along the center line of the three-axis moving mechanism. The feeding table is aligned with the pallet during the test of the actuator, and the conveyor belt is away from the feeding table. A pallet is movably provided on one side of the platform, and an air pressure detection mechanism is provided on the upper end of the pallet. The air pressure detection mechanism includes an air pump fixedly connected to the pallet and a T-tube connected to the output end of the air pump through an air pipe. The T-tube is fixedly connected to the pallet through a pipe rack. A movable tube is adjustably provided in the middle of the T-tube. Two through holes are provided on the side of the movable tube close to the conveyor belt. A baffle is fixedly connected to the middle of the movable tube, and a pressure sensor is fixedly connected to the end of the T-tube away from the air pump. A visual detection mechanism is provided on the pallet, and the camera of the visual detection mechanism is aimed at the actuator being detected.

[0009] Furthermore, the sealing detection mechanism also includes a liquid valve, which is arranged at the upper end of the soft brush and is fixedly connected to the output end of the three-axis moving mechanism. One end of the liquid valve is connected to the liquid tank through a hose, and the other end of the liquid valve is fixedly connected to the brush plate of the soft brush through a sponge pad. The brush plate of the soft brush is formed with several small holes for the detection liquid to pass through.

[0010] Furthermore, the sealing detection mechanism also includes an extrusion tube, a tube seat and an extrusion spring. The extrusion tube is sleeved in the middle of the T-tube, the tube seat is fixedly connected to the middle of the T-tube, the extrusion spring is sleeved on the outside of the T-tube and is coaxially arranged with the extrusion tube, one end of the extrusion spring is fixedly connected to the extrusion tube, and the other end is fixedly connected to the tube seat.

[0011] Furthermore, the sealing detection mechanism also includes a motor, a main pulley, a secondary pulley, a screw, a sleeve and a connecting block. A limiting groove is formed on the T-tube, the connecting block is slidingly connected to the limiting groove and fixedly connected to the moving tube, the motor is fixedly connected to the outer wall of the limiting groove, the main pulley is coaxially fixedly connected to the output end of the motor, the secondary pulley is rotatably connected to one end of the limiting groove close to the motor, the secondary pulley and the main pulley are connected by a belt drive, the screw is rotatably set in the limiting groove and one end is coaxially fixedly connected to the secondary pulley, the sleeve is fixedly connected to the connecting block and threadedly connected to the screw.

[0012] Furthermore, two limiting guide rails fixedly connected to the conveyor belt bracket are provided at the lower end of the support plate, and the support plate is slidably connected to the limiting guide rails. A main electric push rod fixedly connected to the conveyor belt bracket is provided on the side of the support plate away from the conveyor belt, and the output end of the main electric push rod is fixedly connected to the support plate.

[0013] Furthermore, a secondary electric push rod is provided above the support plate, and the output end of the secondary electric push rod is fixedly connected to the push plate, and a secondary electric push rod is provided at the lower end of the unloading table. The limiting mechanism includes a push plate, two limiting shafts, two reset springs and two concave plates, and the two concave plates are respectively fixedly connected to the two sides of the tray, and the push plate is arranged on the side of the concave plate close to the secondary electric push rod. When the output end of the secondary electric push rod moves, it pushes the push plate to move, one end of the two limiting shafts is respectively fixedly connected to the concave plates, and the other end is respectively slidably connected to the push plate, and the reset spring is sleeved on the outside of the limiting shaft, one end of the reset spring is fixedly connected to the push plate, and the other end is fixedly connected to the concave plate.

[0014] Furthermore, the limit mechanism also includes two limit racks, two limit gears, two main bevel gears, two secondary bevel gears, four main gears, four main racks and four positioning side plates, the two limit racks are respectively fixedly connected to the pushing plates, the two limit gears are arranged on the sides of the two limit racks and are rotatably connected to the concave plates through the bevel gear racks, the two main bevel gears are respectively rotatably connected to the two bevel gear racks, the main bevel gears are coaxially fixed to the limit gears, the two secondary bevel gears are respectively rotatably connected to the two bevel gear racks and mesh with the corresponding main bevel gears, the four positioning side plates are respectively slidably arranged on the upper ends of the trays, the positioning side plates are slidably connected to the corresponding concave plates, the four main racks are respectively fixedly connected to the four positioning side plates, the main gears are rotatably connected to the concave plates, the four main gears are respectively meshed with the four main racks, and the two main gears located at the same end of the concave plate are coaxially arranged and coaxially fixed with the corresponding secondary bevel gears at the same time.

[0015] Furthermore, the limiting mechanism also includes a number of limiting rollers, a number of supporting rollers and a number of limiting side wheels. A number of limiting rollers are arranged in an array on one side of the positioning side plate close to the middle of the pallet, a number of supporting rollers are arranged in an array in the middle of the pallet, and two rows of limiting side wheels are arranged on the upper end of the pallet through the rotation of the wheel seat. The limiting side wheels are abutted against the side walls of the actuator when the actuator is placed on the upper end of the pallet, the supporting rollers are abutted against the lower end of the actuator when the actuator is placed on the upper end of the pallet, and the limiting rollers are abutted against the corners of the actuator when the actuator is placed on the upper end of the pallet.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] First, this device uses the collaborative work of multiple automated components, including a conveyor belt, a robotic arm, and a three-axis motion mechanism, to quickly and continuously inspect pneumatic actuators. Compared to traditional manual and semi-automated inspections, this greatly shortens the inspection time for a single actuator, effectively improving overall inspection efficiency and meeting the inspection needs of large-scale production.

[0018] Second, this device integrates multiple testing functions, including seal testing and air pressure testing, and can perform comprehensive and integrated testing on pneumatic actuators. This eliminates the need to transfer the actuator to different devices for individual testing, simplifying the testing process and avoiding damage and testing errors caused by multiple transfers, ensuring that all performance indicators of the actuator can be effectively tested.

[0019] Third: The limiting mechanism of this device adopts a secondary electric push rod, a push plate, a positioning side plate and other structures, and cooperates with the limiting roller, the supporting roller and the limiting side wheel to achieve precise positioning and stable clamping of the actuator. At the same time, the application of the visual inspection mechanism and the high-precision pressure sensor avoids the errors of human observation and judgment, and ensures the accuracy and reliability of the inspection results from many aspects, thereby ensuring the consistency of product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment;

[0021] Figure 2 yes Figure 1 A magnified view of the structure at center A;

[0022] Figure 3 is a schematic diagram of the three-dimensional structure of the embodiment from another angle;

[0023] Figure 4 is a three-dimensional schematic diagram of a sealing detection mechanism and an air pressure detection mechanism in an embodiment;

[0024] Figure 5 1 is a schematic diagram of the partial structure of the limiting mechanism in the embodiment;

[0025] Figure 6 It is a partial structural diagram of an embodiment;

[0026] Figure 7 It is a schematic diagram of a partial structure of an embodiment;

[0027] Figure 8 yes Figure 7 A magnified view of the structure at point B in the middle;

[0028] Figure 9 3D schematic diagram of the exploded structure of the air pressure detection mechanism in the embodiment;

[0029] Figure 10It is a schematic diagram of the three-dimensional structure of the T-tube and the dynamic tube;

[0030] Figure 11 yes Figure 10 Enlarged view of the structure at point C in the middle.

[0031] The numbers in the figure are:

[0032] 1. Conveyor belt; 2. Pallet; 3. Limiting mechanism; 4. Secondary electric push rod; 5. Return spring; 6. Limiting shaft; 7. Push plate; 8. Concave plate; 9. Limiting rack; 10. Limiting gear; 11. Main bevel gear; 12. Secondary bevel gear; 13. Main gear; 14. Main rack; 15. Positioning side plate; 16. Limiting roller; 17. Supporting roller; 18. Limiting side wheel; 19. Secondary electric push rod; 20. Push plate; 21. Three-axis moving mechanism; 22. Sealing detection mechanism; 23. Liquid tank; 24. Hose; 25. Liquid valve; 26. Sponge pad; 27. Soft brush; 28. Robotic arm; 29. ​​Unloading platform; 30. Air pressure detection mechanism; 31. Air pump; 32. Air pipe; 33. Pipe rack; 34. T-tube; 35. Limiting groove; 36. Motor; 37. Primary pulley; 38. Secondary pulley; 39. Screw; 40. Screw sleeve; 41. Connecting block; 42. Extrusion tube; 43. Tube seat; 44. Extrusion spring; 45. Pressure sensor; 46. Moving tube; 47. Baffle; 48. Through hole; 49. Support plate; 50. Limiting guide rail; 51. Main electric push rod; 52. Visual detection mechanism; 53. Actuator. DETAILED DESCRIPTION

[0033] In order to further understand the features, technical means, specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] refer to Figures 1 to 11 , an automated testing device for a pneumatic actuator, comprising a tray 2 fixedly connected to the upper end of a conveyor belt 1 and a robotic arm 28 disposed beside the conveyor belt 1, and further comprising:

[0035] The upper end of the tray 2 is provided with a limit mechanism 3 for positioning the actuator 53, and the side of the robot arm 28 is provided with a three-axis moving mechanism 21. The side of the three-axis moving mechanism 21 is provided with a sealing detection mechanism 22. The sealing detection mechanism 22 includes a liquid tank 23 provided next to the conveyor belt 1 and a soft brush 27 fixedly connected to the output end of the three-axis moving mechanism 21 (such as Figure 1 and Figure 4As shown in FIG, the soft brush 27 applies the test liquid in the liquid tank 23 to the upper end of the actuator 53 during the test. The three-axis moving mechanism 21 is provided with a feed table 29 along the center line direction. The feed table 29 is aligned with the tray 2 during the test of the actuator 53. A support plate 49 is movably provided on the side of the conveyor belt 1 away from the feed table 29. An air pressure detection mechanism 30 is provided on the upper end of the support plate 49. The air pressure detection mechanism 30 includes an air pump 31 fixedly connected to the support plate 49 and a T-shaped tube 34 connected to the output end of the air pump 31 through an air supply pipe 32 (as shown in FIG. Figure 5 As shown in FIG), the T-shaped tube 34 is fixedly connected to the support plate 49 through the tube frame 33, and the middle part of the T-shaped tube 34 is adjustable with a movable tube 46 (as shown in FIG). Figure 10 As shown in the figure, two through holes 48 are provided on the side of the movable tube 46 close to the conveyor belt 1, a baffle 47 is fixedly connected to the middle of the movable tube 46, a pressure sensor 45 is fixedly connected to the end of the T-tube 34 away from the air pump 31, and a visual detection mechanism 52 is provided on the support plate 49, and the camera of the visual detection mechanism 52 is aligned with the actuator 53 in the detection.

[0036] When the device is in operation, the actuator 53 to be tested is placed on the pallet 2. At this time, the limiting mechanism 3 on the pallet 2 positions the actuator 53 to prevent the actuator 53 from moving when the conveyor belt 1 moves and during the detection process. When the conveyor belt 1 drives the pallet 2 to move to the side of the three-axis moving mechanism 21, the support plate 49 moves and connects the outlet end of the T-tube 34 with the input end of the actuator 53. Then the air pump 31 starts and injects air into the input end of the actuator 53.

[0037] When the air pump 31 is started, the three-axis moving mechanism 21 is started and the detection liquid in the liquid tank 23 is applied to the actuator 53 (usually the joints and valves of the actuator 53 and other parts that may leak) through the soft brush 27. At this time, the visual inspection mechanism 52 will capture the image of the actuator 53 to observe whether there are bubbles. If there are bubbles, it indicates that there is a leak in the actuator 53. This actuator 53 has defects and needs to be moved to the unloading table 29 (the specific movement process is described in detail later) and then removed by the robotic arm 28.

[0038] After the air pressure test passes, the movable tube 46 moves, disconnecting the air pump 31 from the T-tube 34. The input of the actuator 53 is then connected to the pressure sensor 45. The pressure sensor 45 then monitors the pressure drop within the actuator 53. Within a specified timeframe, such as 10 to 15 minutes, the pressure drop should not exceed a specified value (generally no more than 5% of the test pressure). If the pressure drops too quickly, it indicates a leak and the device must be removed by the robotic arm 28 after being moved to the unloading platform 29.

[0039] In order to facilitate the application of the detection liquid in the liquid tank 23 to the actuator 53, the following features are also provided:

[0040] The seal detection mechanism 22 also includes a liquid valve 25, which is positioned above the soft brush 27 and fixedly connected to the output end of the three-axis motion mechanism 21. One end of the liquid valve 25 is connected to the liquid tank 23 via a hose 24, and the other end is fixedly connected to the brush plate of the soft brush 27 via a sponge pad 26. The brush plate of the soft brush 27 has a number of small holes formed therein for the passage of the detection liquid. During operation, the three-axis motion mechanism 21 drives the soft brush 27 to move above the liquid tank 23. The liquid valve 25 opens, and the detection liquid flows through the hose 24 into the liquid valve 25. It then penetrates the sponge pad 26 and reaches the brush plate of the soft brush 27, flowing out through the small holes on the brush plate. As the soft brush 27 moves, it is evenly applied to the actuator 53, ensuring the effective and uniform application of the detection liquid and ensuring more accurate detection.

[0041] In order to achieve the communication between the T-tube 34 and the input end of the actuator 53, the following features are also provided:

[0042] The sealing detection mechanism 22 further includes an extrusion tube 42, a tube seat 43 and an extrusion spring 44. The extrusion tube 42 is sleeved on the middle portion of the T-shaped tube 34 (eg, Figure 5 As shown, the tube seat 43 is fixedly connected to the middle portion of the T-tube 34. The extrusion spring 44 is sleeved on the outside of the T-tube 34 and arranged coaxially with the extrusion tube 42. One end of the extrusion spring 44 is fixedly connected to the extrusion tube 42, and the other end is fixedly connected to the tube seat 43. When the support plate 49 moves to bring the T-tube 34 closer to the input end of the actuator 53, the extrusion tube 42 first contacts the input end of the actuator 53. As the support plate 49 continues to move, the extrusion tube 42 is squeezed and the extrusion spring 44 is compressed, causing the extrusion tube 42 to fit tightly against the input end of the actuator 53, forming a well-sealed connection. This ensures that the air injected by the air pump 31 will not leak, thereby ensuring the accuracy of air pressure detection.

[0043] In order to realize the movement of the moving tube 46 and ensure that the input end of the actuator 53 can be switched between the air pump 31 and the pressure sensor 45, the following features are also provided:

[0044] The sealing detection mechanism 22 also includes a motor 36, a main pulley 37, a secondary pulley 38, a screw 39, a screw sleeve 40 and a connecting block 41. The T-tube 34 is formed with a limiting groove 35 (such as Figure 9 As shown), the connecting block 41 is slidably connected to the limiting groove 35 and is fixedly connected to the moving tube 46, the motor 36 is fixedly connected to the outer wall of the limiting groove 35, and the main pulley 37 is coaxially fixedly connected to the output end of the motor 36 (as shown Figure 11As shown in the figure, the secondary pulley 38 is rotatably connected to one end of the limiting groove 35 near the motor 36, the secondary pulley 38 and the primary pulley 37 are connected by a belt transmission, the screw 39 is rotatably set in the limiting groove 35 and one end is fixedly connected to the secondary pulley 38 coaxially, and the screw sleeve 40 is fixedly connected to the connecting block 41 and is threadedly connected to the screw 39. When it is necessary to switch the connection object of the input end of the actuator 53, the motor 36 is started and drives the screw 39 to rotate through the primary pulley 37, the secondary pulley 38 and the belt transmission. When the screw 39 rotates, the screw 39 drives the connecting block 41 to move along the limiting groove 35 through the screw sleeve 40, thereby driving the moving tube 46 to move, realizing the switching of the connection between the air pump 31 and the input end of the actuator 53 or the connection between the pressure sensor 45 and the input end of the actuator 53, which is convenient and accurate to operate.

[0045] In order to achieve the displacement of the support plate 49, the following features are specifically provided:

[0046] The lower end of the support plate 49 is provided with two limiting guide rails 50 (such as Figure 3 As shown in the figure, the support plate 49 is slidably connected to the limiting guide rail 50. A main electric push rod 51 is provided on the side of the support plate 49 away from the conveyor belt 1 and is fixedly connected to the bracket of the conveyor belt 1. The output end of the main electric push rod 51 is fixedly connected to the support plate 49. When it is necessary to connect the T-tube 34 with the input end of the actuator 53, the main electric push rod 51 is started, and its output end pushes the support plate 49 to slide along the limiting guide rail 50, so that the T-tube 34 on the support plate 49 accurately approaches and connects with the input end of the actuator 53. The limiting guide rail 50 ensures the stability and accuracy of the movement of the support plate 49, preventing deviation from affecting the detection process.

[0047] In order to supplement the detailed structure of the limiting mechanism 3, the following features are also specifically provided:

[0048] A secondary electric push rod 19 (such as Figure 3 As shown), the output end of the auxiliary electric push rod 19 is fixedly connected to the push plate 20, and the lower end of the unloading platform 29 is provided with a secondary electric push rod 4 (as shown Figure 5 As shown), the limiting mechanism 3 includes a push plate 7, two limit shafts 6, two return springs 5 ​​and two concave plates 8. The two concave plates 8 are respectively fixed to the two sides of the tray 2. The push plate 7 is arranged on the side of the concave plate 8 close to the secondary electric push rod 4. When the output end of the secondary electric push rod 4 moves, it pushes the push plate 7 to move. One end of the two limit shafts 6 is respectively fixed to the concave plate 8 (as shown). Figure 8As shown in the figure), the other end is respectively slidably connected to the push-out plate 7. The return spring 5 is sleeved on the outside of the limit shaft 6. One end of the return spring 5 is fixedly connected to the push-out plate 7, and the other end is fixedly connected to the concave plate 8. When the actuator 53 needs to be unloaded due to a defect, the secondary electric push rod 4 is activated, pushing the push-out plate 7 to move along the limit shaft 6, compressing the return spring 5. The push-out plate 7 drives the limit mechanism 3 to avoid the actuator 53, and the secondary electric push rod 19 is activated and pushes the actuator 53 to the unloading platform 29 through the push plate 20, so that the subsequent robot arm 28 can clamp the actuator 53 away.

[0049] In order to realize the release of the actuator 53 on the tray 2, the following features are also provided:

[0050] The limiting mechanism 3 also includes two limiting racks 9, two limiting gears 10, two main bevel gears 11, two auxiliary bevel gears 12, four main gears 13, four main racks 14 and four positioning side plates 15. The two limiting racks 9 are respectively fixedly connected to the push plate 7 (such as Figure 8 As shown), the two limiting gears 10 are arranged on the sides of the two limiting racks 9 and are rotatably connected to the concave plate 8 through the bevel gear frame, the two main bevel teeth 11 are rotatably connected to the two bevel gear frames, the main bevel teeth 11 are coaxially fixed to the limiting gear 10, the two auxiliary bevel teeth 12 are rotatably connected to the two bevel gear frames and mesh with the corresponding main bevel teeth 11, and the four positioning side plates 15 are slidably arranged on the upper end of the tray 2 (as shown). Figure 9 As shown, the positioning side plate 15 is slidably connected to the corresponding concave plate 8, the four main racks 14 are respectively fixedly connected to the four positioning side plates 15, and the main gear 13 is rotationally connected to the concave plate 8. The four main gears 13 are respectively engaged with the four main racks 14. The two main gears 13 located at the same end of the concave plate 8 are coaxially arranged and simultaneously coaxially fixedly connected to the corresponding secondary bevel gears 12. When the push-and-leave plate 7 moves, the push-and-leave plate 7 drives the limit rack 9 to move, and the limit rack 9 drives the limit gear 10 to rotate. The limit gear 10, in turn, drives the main gear 13 to rotate via the main bevel gears 11 and the secondary bevel gears 12. The rotation of the main gear 13 causes the main rack 14 to move, thereby driving the positioning side plate 15 to move, thereby releasing the actuator 53.

[0051] In order to facilitate the smooth movement of the actuator 53 at the upper end of the tray 2, the following features are specifically provided:

[0052] The limiting mechanism 3 also includes a plurality of limiting rollers 16, a plurality of supporting rollers 17 and a plurality of limiting side wheels 18. The positioning side plate 15 is arranged on one side of the middle of the tray 2 and is provided with a plurality of limiting rollers 16 (such as Figure 9As shown, the central rotating array of the tray 2 is provided with a number of supporting rollers 17, and the upper end of the tray 2 is provided with two rows of limiting side wheels 18 that are rotated through a wheel seat. When the actuator 53 is placed on the upper end of the tray 2, the limiting side wheels 18 abut against the side walls of the actuator 53, the supporting rollers 17 abut against the lower end of the actuator 53, and the limiting rollers 16 abut against the corners of the actuator 53. During the process of placing the actuator 53 on and removing it from the tray 2, the supporting rollers 17 support the actuator 53 and reduce the friction between it and the tray 2, allowing the actuator 53 to move smoothly. The limiting side wheels 18 and the limiting rollers 16 position and guide the actuator 53 to prevent it from shifting or tilting during movement, ensuring the accurate position of the actuator 53 on the tray 2.

[0053] The working principle of this device is that after the actuator 53 to be tested is placed on the tray 2, the limiting mechanism 3 on the tray 2 starts to work. The secondary electric push rod 4 pushes the push plate 7, and drives the positioning side plate 15 to move through a series of transmission structures, clamping and fixing the actuator 53. At the same time, the limiting side wheels 18, the supporting rollers 17 and the limiting rollers 16 assist in positioning and supporting the actuator 53, ensuring that the actuator 53 does not move during the detection process. Subsequently, the conveyor belt 1 drives the tray 2 to move to the side of the three-axis moving mechanism 21. At this time, the main electric push rod 51 starts, pushing the support plate 49 to slide along the limiting guide rail 50, so that the T-tube 34 on the support plate 49 approaches and is connected to the input end of the actuator 53. The air pump 31 starts to inject air into the input end of the actuator 53.

[0054] As the air pump 31 starts, the three-axis motion mechanism 21 begins to operate, driving the soft brush 27 to move above the liquid tank 23. The liquid valve 25 opens, and the test liquid flows through the hose 24 and the spray pipe to the soft brush 27, evenly smearing it on the actuator 53 (primarily leak-prone areas such as joints and valves). The camera of the visual inspection mechanism 52 captures real-time images of the actuator 53 to observe whether bubbles are generated. If bubbles are present, the actuator 53 is leaking and defective. Once the air pressure test passes, the motor 36 starts, driving the actuator tube 46 through the transmission structure, severing the connection between the air pump 31 and the T-tube 34, connecting the input of the actuator 53 to the pressure sensor 45. The pressure sensor 45 then begins to monitor the pressure drop within the actuator 53. If the pressure drop exceeds 5% of the test pressure within 10 to 15 minutes, a leak is detected. Whether a leak is detected by the visual inspection mechanism 52 or an abnormal pressure drop is detected by the pressure sensor 45, the defective actuator 53 will be moved to the unloading platform 29 by the auxiliary electric push rod 19 and removed by the robotic arm 28. The actuator 53 that passes the inspection will continue to move with the conveyor belt 1, completing the entire automated testing process.

[0055] The above embodiments merely represent one or several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An automated testing device for a pneumatic actuator, comprising a tray fixedly connected to the upper end of a conveyor belt and a robotic arm arranged beside the conveyor belt, characterized in that: Also includes: A limiting mechanism for positioning the actuator is provided at the upper end of the pallet, a three-axis moving mechanism is provided on the side of the robotic arm, a sealing detection mechanism is provided on the side of the three-axis moving mechanism, and the sealing detection mechanism includes a liquid tank provided on the side of the conveyor belt and a soft brush fixedly connected to the output end of the three-axis moving mechanism. During the test, the soft brush applies the detection liquid in the liquid tank to the upper end of the actuator. A feeding table is provided along the center line of the three-axis moving mechanism. The feeding table is aligned with the pallet during the test of the actuator, and the conveyor belt is away from the feeding table. A pallet is movably provided on one side of the platform, and an air pressure detection mechanism is provided on the upper end of the pallet. The air pressure detection mechanism includes an air pump fixedly connected to the pallet and a T-tube connected to the output end of the air pump through an air pipe. The T-tube is fixedly connected to the pallet through a pipe rack. A movable tube is adjustably provided in the middle of the T-tube. Two through holes are provided on the side of the movable tube close to the conveyor belt. A baffle is fixedly connected to the middle of the movable tube, and a pressure sensor is fixedly connected to the end of the T-tube away from the air pump. A visual detection mechanism is provided on the pallet, and the camera of the visual detection mechanism is aimed at the actuator being detected.

2. The automatic testing device for pneumatic actuator according to claim 1, characterized in that: The sealing detection mechanism also includes a liquid valve, which is arranged at the upper end of the soft brush and is fixedly connected to the output end of the three-axis moving mechanism. One end of the liquid valve is connected to the liquid tank through a hose, and the other end of the liquid valve is fixedly connected to the brush plate of the soft brush through a sponge pad. The brush plate of the soft brush is formed with several small holes for the detection liquid to pass through.

3. The automatic testing device for pneumatic actuator according to claim 1, characterized in that: The sealing detection mechanism also includes an extrusion tube, a tube seat and an extrusion spring. The extrusion tube is sleeved in the middle of the T-tube, the tube seat is fixedly connected to the middle of the T-tube, the extrusion spring is sleeved on the outside of the T-tube and is coaxial with the extrusion tube, one end of the extrusion spring is fixedly connected to the extrusion tube, and the other end is fixedly connected to the tube seat.

4. The automatic testing device for pneumatic actuator according to claim 1, characterized in that: The sealing detection mechanism also includes a motor, a main pulley, a secondary pulley, a screw, a sleeve and a connecting block. A limiting groove is formed on the T-tube. The connecting block is slidingly connected to the limiting groove and fixedly connected to the moving tube. The motor is fixedly connected to the outer wall of the limiting groove. The main pulley is coaxially fixed to the output end of the motor. The secondary pulley is rotatably connected to one end of the limiting groove close to the motor. The secondary pulley and the main pulley are connected through a belt drive. The screw is rotatably set in the limiting groove and one end is coaxially fixed to the secondary pulley. The sleeve is fixedly connected to the connecting block and threadedly connected to the screw.

5. The automatic testing device for pneumatic actuator according to claim 1, characterized in that: Two limiting guide rails fixedly connected to the conveyor belt bracket are provided at the lower end of the support plate. The support plate is slidably connected to the limiting guide rails. A main electric push rod fixedly connected to the conveyor belt bracket is provided on the side of the support plate away from the conveyor belt, and the output end of the main electric push rod is fixedly connected to the support plate.

6. The automatic testing device for pneumatic actuators according to claim 1, characterized in that: A secondary electric push rod is provided above the support plate, and the output end of the secondary electric push rod is fixedly connected with a push plate, and a secondary electric push rod is provided at the lower end of the unloading table. The limiting mechanism includes a push plate, two limiting shafts, two reset springs and two concave plates, the two concave plates are respectively fixedly connected to the two sides of the tray, and the push plate is arranged beside the concave plate close to the secondary electric push rod. When the output end of the secondary electric push rod moves, it pushes the push plate to move, one end of the two limiting shafts is respectively fixedly connected to the concave plates, and the other ends are respectively slidably connected to the push plates, the reset spring is sleeved on the outside of the limiting shaft, one end of the reset spring is fixedly connected to the push plate, and the other end is fixedly connected to the concave plate.

7. The automatic testing device for pneumatic actuator according to claim 6, characterized in that: The limiting mechanism also includes two limiting racks, two limiting gears, two main bevel gears, two secondary bevel gears, four main gears, four main racks and four positioning side plates, the two limiting racks are respectively fixedly connected to the pushing plates, the two limiting gears are arranged on the sides of the two limiting racks and are rotatably connected to the concave plates through the bevel gear racks, the two main bevel gears are respectively rotatably connected to the two bevel gear racks, the main bevel gears are coaxially fixed to the limiting gears, the two secondary bevel gears are respectively rotatably connected to the two bevel gear racks and mesh with the corresponding main bevel gears, the four positioning side plates are respectively slidably arranged on the upper end of the tray, the positioning side plates are slidably connected to the corresponding concave plates, the four main racks are respectively fixedly connected to the four positioning side plates, the main gears are rotatably connected to the concave plates, the four main gears are respectively meshed with the four main racks, the two main gears located at the same end of the concave plate are coaxially arranged and coaxially fixed with the corresponding secondary bevel gears at the same time.

8. The automatic testing device for pneumatic actuators according to claim 7, characterized in that: The limiting mechanism also includes a number of limiting rollers, a number of supporting rollers and a number of limiting side wheels. A number of limiting rollers are arranged in an array on one side of the positioning side plate close to the middle of the pallet, a number of supporting rollers are arranged in an array in the middle of the pallet, and two rows of limiting side wheels are arranged on the upper end of the pallet through the rotation of the wheel seat. The limiting side wheels are against the side walls of the actuator when the actuator is placed on the upper end of the pallet, the supporting rollers are against the lower end of the actuator when the actuator is placed on the upper end of the pallet, and the limiting rollers are against the corners of the actuator when the actuator is placed on the upper end of the pallet.

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