A high-altitude sealing test device and method for power capacitors

Abstract

This specification discloses a high-altitude sealing test device and method for power capacitors. The device uses a program-controlled palletizing robotic arm to handle the highest-risk aspects of the test process, including high-temperature handling and cold water immersion of the power capacitors. A computer program then automatically takes photos and analyzes the results. During the test, the power capacitors are placed in a specially designed test fixture, with a corresponding fixture mounted on the robotic arm. The robotic arm transports the power capacitors through the fixture. During operation, ultrasonic ranging probes in three directions on the robotic arm continuously monitor the distances to obstacles around the device and the correspondence between the power capacitors and the target position, ensuring that the robotic arm accurately delivers the power capacitors to the target test location. This solves the problem that current test methods are not suitable for the latest high-altitude sealing test requirements for parallel capacitors.

Description

Technical Field

[0001] This application relates to the field of power capacitor testing technology, and more specifically, to a high-altitude sealing test device and method for power capacitors. Background Technology

[0002] Parallel capacitors are common reactive power compensation devices in power systems. With the country's vigorous development of hydropower projects in high-altitude areas, the environmental adaptability evaluation of parallel capacitors in high-altitude areas has been included in the newly revised DL / T 840-2024 standard.

[0003] Compared to the old standard, the new standard adds a high-altitude sealing test. The test requirements are more complex than those for sealing tests at conventional altitudes. It not only adds the requirement of immersion in a low-temperature water bath but also increases the test cycle. Specifically, the test requirements are: "When capacitors are installed in high-altitude areas, a sealing performance test under rapid cooling conditions should be added. The test sample should be placed in a constant temperature chamber at 80℃ for at least 12 hours. Then, the test sample should be immediately removed and immersed in a water bath at a temperature of 0℃~10℃ for 10 minutes. After removing the test sample, the bushing should be undamaged, and there should be no oil leakage at the bushing terminals and the junction with the casing. This process should be repeated 5 times." Several challenging issues arise during this process. First, the handling of heavy power capacitors under high and low temperature conditions is highly dangerous and can easily cause production accidents. Second, the test process is long, and if it is done manually, it requires a dedicated person to be on duty for a long time, resulting in low work efficiency. Third, after the test is completed, the bushings and body of the power capacitor need to be carefully inspected. At this time, the inspectors are required to be very careful, and it is difficult to find tiny cracks by visual inspection alone. Summary of the Invention

[0004] This specification provides a high-altitude sealing test apparatus and method for power capacitors, addressing the problem that current test methods are inapplicable to the latest high-altitude sealing test requirements for parallel capacitors. To achieve the above objective, the technical solution adopted in this specification is as follows:

[0005] In one aspect, this specification provides a high-altitude sealing test apparatus for power capacitors, the apparatus comprising:

[0006] Palletizing robotic arms are used to move power capacitors between various test locations;

[0007] The robotic arm handling fixture is installed at the front end of the palletizing robotic arm and is used to handle power capacitors.

[0008] A power capacitor handling fixture is used to place power capacitors and connect with a robotic arm handling fixture for handling power capacitors.

[0009] High-temperature test chambers are used to provide a high-temperature testing environment for power capacitors;

[0010] Low-temperature test chambers are used to provide a low-temperature testing environment for power capacitors;

[0011] The drying unit is used to dry the power capacitors after they have been soaked in cold water;

[0012] The photographing unit is used to take photos of the dried power capacitor from all angles to obtain test photos.

[0013] A control computer is used to control the palletizing robotic arm, the high-temperature test chamber, the low-temperature test chamber, the drying unit, and the photographing unit via an RS485 communication interface to complete the high-altitude sealing test of the power capacitor.

[0014] On the other hand, this specification provides a method for high-altitude sealing testing of power capacitors, the method comprising:

[0015] S1. Control the palletizing robot arm to reach the test coordinate origin and set the palletizing robot arm to manual control mode;

[0016] S2. Open the hatch of the power capacitor handling fixture, manually operate the palletizing robot arm to lift the power capacitor to be tested into the power capacitor handling fixture, and then move the palletizing robot arm out of the power capacitor handling fixture in manual control mode.

[0017] S3. Close the hatch of the power capacitor handling fixture, adjust the position of the power capacitor, and install the limit vertical bar and limit horizontal bar;

[0018] S4. After the power capacitor is ready, set the palletizing robot arm to automatic control mode, start the test, and the control computer checks in sequence whether various test conditions are met, including communication between the high temperature test chamber, the high temperature test chamber door, the low temperature test chamber, the low temperature test chamber door, the distance measuring sensor module, the first gravity sensor 1 and the second weight sensor, and ensure that the initial positions of the high temperature test chamber, the low temperature test chamber, and the robot arm meet the test requirements.

[0019] S5. After all test conditions have been checked and confirmed to be met, the control computer controls the palletizing robot arm to dock the robot arm handling fixture at the front end of the palletizing robot arm with the power capacitor handling fixture, lifts the power capacitor handling fixture containing the power capacitor, and records the weight data Mc of the power capacitor handling fixture at this time.

[0020] S6. After the control computer lifts the power capacitor handling fixture containing the power capacitor, it checks the status of the high-temperature test chamber door. Through communication with the high-temperature test chamber door control module, it opens the high-temperature test chamber door and checks and confirms that the door is open in place. Then, the control computer controls the palletizing robotic arm to lift the power capacitor into the high-temperature test chamber. During this process, the distance measuring sensor module, the first weight sensor, and the high-temperature test chamber door status are checked every 0.5 seconds to ensure that the sensor data meets the set limit range. When the sensor data exceeds the limit range, the control computer immediately stops the test and reports an error message.

[0021] S7. Every second during the movement of the palletizing robot arm, it is necessary to receive heartbeat data from the control computer. If the control computer malfunctions or crashes and becomes unresponsive, the palletizing robot arm will stop moving and report an error message to ensure the absolute safety of the test process.

[0022] S8. After the control computer controls the palletizing robot arm to successfully deliver the power capacitor into the high-temperature test chamber according to the historical movement trajectory, it checks whether the three distances measured by the distance measuring sensor module meet the requirements for placing the power capacitor. When the distance measurement results meet the requirements, the power capacitor handling fixture is lowered. During this process, the signals of the switch position sensor and the first weight sensor on the robot arm handling fixture are continuously detected. When the position state of the switch position sensor is released and the value of the first weight sensor drops to the lowest level, it continues to move downwards by 0.1m. After that, the palletizing robot arm exits from the high-temperature test chamber and returns to its original position.

[0023] S9. After the palletizing robot arm returns to its original coordinate position, the control computer communicates with the door of the high-temperature test chamber to close the door. After confirming that the door is closed in place, the control computer communicates with the high-temperature test chamber to start the temperature control. Once the temperature reaches 95% of the set test temperature, the timing begins.

[0024] S10. After the power capacitor has been baked in the high-temperature test chamber at the set test temperature for the first preset test time, the control computer first checks the temperature conditions of the low-temperature test chamber, the status of the doors of the high-temperature test chamber and the low-temperature test chamber, the status of the drying unit and the status of the palletizing robotic arm. When the above status checks meet the requirements, the control computer controls the high-temperature test chamber to stop and opens the door of the low-temperature test chamber. After the stop status is confirmed and the door of the low-temperature test chamber is opened, the control computer communicates with the door of the high-temperature test chamber and opens the door of the high-temperature test chamber.

[0025] S11. After the control computer checks that both the high-temperature test chamber door and the low-temperature test chamber door are fully open, it controls the palletizing robotic arm to enter the high-temperature test chamber from the coordinate origin, reach the position from which it exited the chamber, and then begin to lift upwards. During the lifting process, the data of the first weight sensor and the switch position sensor on the robotic arm's handling fixture are continuously checked. When the value of the first weight sensor exceeds 60% of the Mc recorded at the start of the test and the position status of the switch position sensor changes, the palletizing robotic arm is controlled to continue lifting upwards by 0.1m. After lifting the power capacitor, the control computer controls the palletizing robotic arm to move and hoist the power capacitor to the cold water tank of the low-temperature test chamber according to the historical movement trajectory. During this process, the distance between the distance measuring sensor module and the obstacle is continuously monitored to ensure that the distance always meets the requirements. When the distance is lower than the minimum limit value, the movement is immediately stopped and an error message is reported.

[0026] S12. When the control computer controls the palletizing robot arm to enter the preset coordinate position of the low temperature test chamber, the placement program is entered. At this time, the control computer continuously detects the data of the first weight sensor and the status of the switch position sensor on the robot arm handling fixture. When the data of the first weight sensor reaches the minimum again and the position status of the switch position sensor is released, it continues to move downwards by 0.1m, and then the palletizing robot arm exits from the low temperature test chamber, returns to the coordinate origin, the control computer controls the door of the low temperature test chamber to close, and starts the cold water immersion timer.

[0027] S13. When the cold water immersion time reaches the second preset test time, the control computer checks the status of the drying unit to ensure that there are no obstructions in the drying unit, and controls the low temperature test chamber to stop. After the stop status is confirmed, the control computer controls the opening of the low temperature test chamber door and checks to ensure that the door is opened in place.

[0028] S14. After the door of the low temperature test chamber is opened to the correct position, the control computer controls the palletizing robotic arm to re-enter the low temperature test chamber and reach the position from which it exited the chamber. The robotic arm is then gradually raised until the data of the first weight sensor exceeds 60% of Mc and the position status of the switch position sensor changes. The arm is then raised another 0.1m and the power capacitor is then moved to the platform of the drying unit.

[0029] S15. After the power capacitors are fully dried, open the hatch of the power capacitor handling fixture, and then manually hoist the power capacitors one by one onto the turntable of the camera unit. After the control computer adjusts the position and focus of the high-definition camera to ensure that the shooting position completely covers the shooting point of the power capacitor, start the shooting program to take pictures of the power capacitors. After each shot, rotate the power capacitors 30 degrees and take 12 pictures in sequence to cover all angles of the power capacitors.

[0030] S16. After shooting, click "Automatic Analysis" on the software controlling the computer. The software will then transmit the captured photo to the AI ​​model, call the AI ​​model's API interface to automatically analyze the photo, and provide analysis conclusions.

[0031] Based on the above technical solution, this specification can achieve the following technical effects:

[0032] This device uses a computer-controlled robotic arm to precisely and rapidly move a 200kg power capacitor between a high-temperature test chamber, a low-temperature test chamber water tank, and a photographic unit. The computer then uses a high-definition camera and AI analysis program to comprehensively photograph the tested power capacitor and automatically analyze the data to provide conclusions. This automated testing system eliminates the need for manual handling of the high-temperature and heavy power capacitor, effectively preventing injury to personnel. Temperature control, capacitor transport, cold water immersion, test results, and visual inspection of the power capacitor are all conducted without human intervention, completely freeing up testing personnel. Furthermore, the entire testing device can operate continuously for extended periods, significantly improving work efficiency. After the test, the sample is inspected through comprehensive high-definition scanning and AI-automated analysis of the sample surface. Combining AI-automated analysis with manual review further enhances the efficiency and reliability of the test results analysis. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of a high-altitude sealing test device for power capacitors, as shown in one embodiment of this specification.

[0034] Figure 2 This is a top view of a high-altitude sealing test device for power capacitors, as shown in one embodiment of this specification.

[0035] Figure 3 This is a schematic diagram of a robotic arm handling fixture shown in one embodiment of this specification.

[0036] Figure 4 This is a schematic diagram of a power capacitor handling fixture according to one embodiment of this specification.

[0037] Figure 5 This is a schematic diagram of a drying unit and a photographing unit according to an embodiment of this specification.

[0038] Figure 6 This is a flowchart illustrating a high-altitude sealing test method for power capacitors, as shown in one embodiment of this specification.

[0039] 1. Robotic arm handling fixture; 2. Power capacitor handling fixture; 3. High temperature test chamber; 4. Low temperature test chamber; 5. Palletizing robotic arm; 6. Drying unit; 7. Photo turntable; 8. High-definition camera; 9. Ultrasonic ranging sensor; 10. Switch position sensor; 11. Lifting groove; 12. Capacitor limiting vertical bar; 13. Capacitor limiting horizontal bar; 14. Door of power capacitor handling fixture; Detailed Implementation

[0040] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0041] It should be understood that the terms "system," "device," "unit," and / or "module" as used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0042] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0043] Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0044] Example 1

[0045] Please refer to Figure 1-2 , Figure 1-2 The diagram shown is a schematic representation of a high-altitude sealing test device for power capacitors provided in this embodiment. The device includes:

[0046] Palletizing robotic arm 5 is used to move power capacitors between various test locations;

[0047] Robotic arm handling fixture 1 is installed at the front end of palletizing robotic arm 5 and is used to handle power capacitor handling fixture 2;

[0048] Power capacitor handling fixture 2 is used to place power capacitors and connect with robotic arm handling fixture 1 to handle power capacitors.

[0049] High-temperature test chamber 3 is used to provide a high-temperature testing environment for power capacitors;

[0050] Low-temperature test chamber 4 is used to provide a low-temperature testing environment for power capacitors;

[0051] Drying unit 6 is used to dry the power capacitors after they have been soaked in cold water;

[0052] The photographing unit is used to take photos of the dried power capacitor from all angles to obtain test photos.

[0053] A control computer is used to control the palletizing robotic arm 5, the high-temperature test chamber 3, the low-temperature test chamber 4, the drying unit 6, and the photography unit via an RS485 communication interface to complete the high-altitude sealing test of the power capacitor.

[0054] In this embodiment, the palletizing robot arm 5 is a 6-axis palletizing robot arm with an RS485 communication interface, which can adjust the working status and position of the palletizing robot arm 5 by receiving commands from the control computer.

[0055] In this embodiment, the palletizing robotic arm 5 has an automatic control mode and a manual control mode. In the automatic control mode, the control computer recalls the historical motion trajectory recorded by the palletizing robotic arm 5, enabling the palletizing robotic arm 5 to have motion memory function and completely reproduce the motion trajectory of the palletizing robotic arm 5. In the automatic control mode, the palletizing robotic arm 5 has a heartbeat detection mechanism, which receives heartbeat data from the control computer. When the heartbeat data disappears, the palletizing robotic arm 5 will stop moving to ensure safety.

[0056] In this embodiment, the palletizing robotic arm 5 can bear a load of 200kg and has an RS485 communication interface, which can control the movement of the palletizing robotic arm 5 through a control computer.

[0057] In this embodiment, reference Figure 3 The robotic arm handling fixture 1 includes a distance measuring sensor; the distance measuring sensor consists of ultrasonic distance measuring modules in the front and left and right directions of the robotic arm handling fixture 1. When the palletizing robotic arm 5 moves, the three ultrasonic distance measuring modules work synchronously and feed back the measured distance information to the control computer.

[0058] In this embodiment, the robotic arm handling fixture 1 also includes a switch position sensor 10 and a first weight sensor installed in the center of the top groove;

[0059] Among them, the switch position sensor 10 serves as a position switch to detect the contact between the robotic arm handling fixture 1 and the power capacitor handling fixture 2. When the position switch is pressed down, the detection circuit at its rear end is turned on, and the control circuit detects that the state of the switch position sensor 10 is a jump. When the power capacitor handling fixture 2 is released from the palletizing robotic arm 5, the position switch pops up, and the detection circuit at its rear end becomes off. At this time, the state of the switch position sensor 10 detected by the control circuit is released.

[0060] The first weight sensor is used to detect the weight borne by the robotic arm handling fixture 1 in real time.

[0061] Specifically, the front end of the palletizing robotic arm 5 is equipped with a robotic arm handling fixture 1 (handling fixture 1), such as... Figure 2 As shown, ultrasonic ranging modules are installed on the front and left and right sides of the handling fixture 1. When the robotic arm moves forward, left, and right, the ultrasonic ranging modules can output ranging information to the control computer in real time. The top of the handling fixture 1 is designed with a groove for docking with the power capacitor transfer fixture module 2. A position detection button and a weight sensor 1 are designed in the center of the top groove of the handling fixture 1. After the handling fixture 1 is connected to the power capacitor transfer fixture module 2, the position detection button is pressed, and the central control unit detects the button position in real time for test process control.

[0062] Furthermore, the handling module 1 is equipped with a switch position sensor 10, a first gravity sensor, a first ultrasonic ranging sensor, a second ultrasonic ranging sensor, and a third ultrasonic ranging sensor. The control circuits for the three ultrasonic sensors and the switch position sensor 10 are located at the bottom of the palletizing robotic arm 5 to avoid exposing the control circuits to high-temperature environments. Only sensors capable of operating in high-temperature environments are installed at the front end of the ultrasonic ranging sensor 9; during testing, this part of the sensor can be exposed to temperatures up to 100 degrees Celsius. The switch position sensor 10 is essentially a position detection button. When the switch is pressed, its rear-end detection circuit is activated, and the control circuit detects a change in position. When the handling module 2 is released from the robotic arm, the position detection switch pops up, its rear-end detection circuit becomes deactivated, and the position detected by the control circuit changes back to a release state. The first gravity sensor installed on the handling module 1 continuously monitors the load weight Mc pressing on the robotic arm, serving as another monitoring indicator during the test operation. In actual operation, when the robotic arm moves upward until the button is pressed, it indicates that the robotic arm has contacted the power capacitor handling fixture 2 (handling fixture 2). At this time, the robotic arm begins to reduce its movement speed, and the control computer continuously monitors the actual weight Mc borne by the handling module 1. As long as the actual weight does not exceed the maximum allowable weight, it continues to lift and maintain movement until the handling fixture module 2 is transported to the next working position. When the robotic arm lowers the handling fixture module 2, firstly, the value of the first weight sensor begins to drop to 0, and after the position switch is fully released, the robotic arm can then completely retract from the corresponding position of the handling fixture module 2, completing one complete handling operation.

[0063] The first ultrasonic ranging sensor is responsible for detecting the distance between the robotic arm and the obstacle in front during operation. The second ultrasonic ranging sensor is responsible for detecting the distance between the robotic arm and the obstacle on the right during operation. The third ultrasonic ranging sensor is responsible for detecting the distance between the robotic arm and the obstacle on the left during operation. The three sensors complete a ranging value every 0.1 seconds. The three ultrasonic sensors operate in different characteristic frequency bands to avoid mutual interference between the three ranging sensors.

[0064] The distances of the first, second, and third ultrasonic ranging sensors from the edge of the handling fixture 2 are set to d1, d3, and d3, respectively. When the control computer detects that the robotic arm is moving forward, if the distance of the obstacle to the ranging module is less than d1 + 1m, the robotic arm begins to reduce its forward speed. When the distance is less than d1 + 0.1m, the robotic arm is prohibited from continuing to move forward. When the robotic arm moves to the right or left, the same control strategy is used. When the right sensor detects that the distance of the obstacle to the sensor is less than d2 + 1m, it begins to decelerate. When the distance is less than d2 + 0.1m, further movement is prohibited.

[0065] The first weight sensor is installed in the groove of the handling fixture 1. When the palletizing robot arm 5 starts the test and lifts the power capacitor for the first time, the maximum weight reading Mc of the weight sensor during this process will be recorded. In subsequent tests, when the palletizing robot arm 5 inserts into the handling fixture 2 again and attempts to move the power capacitor, the weight Mc will be used by the control computer as an important indicator to determine whether the power capacitor has been lifted or completely put down.

[0066] In this embodiment, reference Figure 4 The bottom of the power capacitor handling fixture 2 is a load-bearing steel mesh, and the left and right sides are load-bearing metal supports. The top support has a hoisting groove 11 in the center, which can be connected with the top groove of the robotic arm handling fixture 1. The front and rear doors of the power capacitor handling fixture 2 can be opened or closed to facilitate the loading of power capacitors. The power capacitor handling fixture 2 can accommodate 2 power capacitors at the same time. The load-bearing metal supports on both sides are equipped with movable and fastened capacitor limiting crossbars 13. The capacitor limiting crossbars 13 are provided with four movable and fastened capacitor limiting vertical bars 12. By adjusting the position of the capacitor limiting crossbars 13 and capacitor limiting vertical bars 12, the power capacitor is limited to the middle position of the power capacitor handling fixture 2.

[0067] In this embodiment, the control computer communicates with the high-temperature test chamber 3 and the low-temperature test chamber 4 through an RS485 communication interface, and controls the internal temperature of the high-temperature test chamber 3 to be adjusted within the range of ambient temperature to 100 degrees Celsius, and controls the internal temperature of the low-temperature test chamber 4 to be adjusted within the range of ambient temperature to 0 degrees Celsius.

[0068] In this embodiment, the doors of the high-temperature test chamber 3 and the low-temperature test chamber 4 are both horizontally opening and each is equipped with an independent door control module. The control computer reads the door status and controls the sliding of the door guide rail through the RS485 communication interface of the door control module to open or close the door.

[0069] In this embodiment, a water tank is installed inside the low-temperature test chamber 4, and a valve is installed at the bottom of the water tank to drain wastewater. The laboratory robotic arm can place the entire handling equipment 2 containing the power capacitor into the water tank.

[0070] Specifically, the high-temperature test chamber 3 is equipped with an RS485 communication interface, allowing the control computer to communicate with it via RS485 to set its operating status and test temperature. The chamber door of the high-temperature test chamber 3 opens laterally in the left-right direction and has a separate communication module that automatically controls the door's guide rails to slide open and close via RS485 commands. During the test, the control computer interacts with the door communication module to acquire and set the door's status. When the test begins, ensuring the high-temperature test chamber 3 is in a non-operating state, the door is opened, and a robotic arm is used to load a power capacitor into the chamber. After the capacitor is loaded and the robotic arm is confirmed to have completely retracted, the control computer sends a command via RS485 to the door control module to close the test door and then activate heating. Once the test temperature reaches the target temperature and is maintained for a sufficient test duration, the control computer controls the high-temperature test chamber 3 to stop the test via RS485 communication. Then, it sends a command to the door communication module of the high-temperature test chamber 3 to open the door. After ensuring that the door is fully open, the robotic arm is quickly activated to transfer the power capacitors inside the high-temperature test chamber 3 to the water tank of the low-temperature test chamber 4 for immersion.

[0071] The low-temperature test chamber 4 is equipped with an RS485 communication interface, allowing the control computer to communicate with it via RS485 to set its operating status and test temperature. The chamber door of the low-temperature test chamber 4 has a separate communication module, enabling automatic opening and closing via RS485 commands. During testing, the control computer can interact with the chamber door communication module to obtain and set the door's status. At the start of the test, the power capacitor is heated inside the high-temperature test chamber 3. Meanwhile, the low-temperature test chamber 4 continuously controls the temperature of its internal water tank to ensure it remains within the target test temperature range. When the power capacitor reaches the target temperature inside the high-temperature test chamber 3, the control computer first checks if the temperature of the water tank in the low-temperature test chamber 4 meets the requirements. Once all test conditions are met, the control computer controls the doors of both the low-temperature test chamber 4 and the high-temperature test chamber 3 to open synchronously. After ensuring both doors are fully open, the control computer controls the palletizing robotic arm 5 to quickly transfer the power capacitor from the high-temperature test chamber 3 to the water tank in the low-temperature test chamber 4. Then, the palletizing robotic arm 5 retracts, closing the door of the low-temperature test chamber 4, keeping the power capacitors continuously immersed in the water tank of the low-temperature test chamber 4. Once the immersion time in the low-temperature test chamber 4 is reached, the control computer opens the door of the low-temperature test chamber 4, and then transfers the power capacitors, which are still immersed, to the imaging module. The water tank in the low-temperature test chamber 4 is placed inside the chamber, with a completely open top and a valve at the bottom. The valve passes through the chamber, allowing wastewater to be discharged from the tank. The tank is made of stainless steel. The bottom of the low-temperature water tank has a horizontal structure with a damping layer to ensure that the capacitors do not experience significant displacement while immersed in water.

[0072] In this embodiment, the drying unit 6 is a metal platform equipped with a second weight sensor. The edge of the metal platform has a groove for collecting water or oil stains that flow down during the drying of the power capacitor. The control computer collects the measured weight data in real time through the RS485 communication interface of the second weight sensor to determine whether there is a power capacitor on the drying unit 6. When the weight sensor reading is at its minimum, the drying unit 6 is determined to be in an empty state.

[0073] Specifically, the drying unit 6 is a metal platform equipped with a weight sensor. The platform's edges have grooves to collect water or oil residue flowing from the power capacitors during drying. A second weight sensor is installed at the bottom of the drying unit 6. When the experiment enters the cold water immersion stage, the control computer continuously checks whether the drying unit 6 is empty. After the cold water immersion is complete and the drying unit 6 is empty, the computer controls the palletizing robotic arm 5 to transfer the power capacitors from the cold water tank to the drying unit 6. The second weight sensor of the drying unit 6 has an RS485 communication interface. The computer uses the measured weight data from the second weight sensor to determine whether the drying unit 6 contains power capacitors. When the weight sensor reading is at its minimum, it indicates that the drying unit 6 is empty.

[0074] In this embodiment, the photographing unit consists of a photographing turntable 7, a high-definition camera 8, a vertically extendable linear module, a metal turntable, and a second weight sensor. After the power capacitor is dried in the drying unit 6, the door 14 of the power capacitor handling fixture is opened, and the single power capacitor is hoisted to the photographing turntable 7 of the photographing unit by the palletizing robotic arm 5. The control computer starts the photographing program, and after the height and focus of the high-definition camera 8 are adjusted, the high-definition camera 8 and the turntable are automatically controlled to rotate, so as to take 360° photographs of the power capacitor for evidence collection. After the photos are taken, the control computer automatically judges the photos by calling the AI ​​API program and outputs the analysis conclusions.

[0075] Specifically, the aforementioned camera module is as follows: Figure 5 As shown, the system consists of a high-definition camera 8, a vertically extendable linear module, a metal turntable, and a weight sensor 2. After the power capacitor is removed from the cold water tank and dried in the drying unit 6, the door of the handling fixture 2 is opened, and the palletizing robotic arm 5 can lift a single power capacitor to the turntable of the imaging unit. The control computer starts the imaging program. After adjusting the height and focus of the high-definition camera 8, the software automatically controls the rotation of the high-definition camera 8 and the turntable to comprehensively photograph the power capacitor for evidence. After each photograph, the base turntable of the power capacitor rotates 30 degrees until a complete rotation is completed, resulting in 12 photographs of the power capacitor. After the photos are taken, the control computer calls the AI ​​API program and issues analysis commands to the AI ​​model through the API. The analysis conclusions are then output through the API interface of the AI ​​model.

[0076] In this embodiment, the first weight sensor is used to measure weight data in the vertical direction; the second weight sensor is used to measure weight data in the horizontal direction.

[0077] In this embodiment, the central control computer consists of a computer and a communication module. The software running on the computer is responsible for controlling the entire experimental process, protecting the experimental process, and providing real-time status indications. The computer can communicate with the palletizing robotic arm 5 to control its movement. The computer also collects data from the distance measuring sensor on the handling fixture 1 at the front end of the palletizing robotic arm 5 in real time. When controlling the movement of the robotic arm, the computer uses feedback information from the distance measuring module to make real-time corrections and avoid dangerous obstacles, preventing misoperation. The control computer also needs to provide heartbeat data to the palletizing robotic arm 5 periodically while it is moving, ensuring that its movement is always under the monitoring of the control computer. The control computer can communicate with the high-temperature test chamber 3, the low-temperature test chamber 4, and the chamber door control module to control the start and stop of the high and low temperature test chamber 4 and the experimental process. The computer can also control the high-definition camera 8 and the turntable rotation of the high-definition imaging unit to automatically complete the inspection and imaging of the sample power capacitor. Then, it runs an AI analysis program to inspect the captured images and automatically provide conclusions.

[0078] In summary, this device has the following beneficial effects:

[0079] 1. The transfer of power capacitors weighing hundreds of kilograms during the test can be completed entirely by a palletizing robotic arm without human intervention, which improves test efficiency and significantly reduces safety risks.

[0080] 2. The power capacitors to be tested need to be placed in a cold water tank at a temperature of 80 degrees Celsius or higher. During this process, the palletizing robotic arm can quickly and safely complete this task, ensuring the safety of the testing personnel.

[0081] 3. The entire test process lasts for more than 12 hours. Starting from the preparation of the power capacitor, the test process does not require manual intervention, which can free up test personnel and improve work efficiency.

[0082] 4. During the test, the distance to obstacles was detected in real time during the movement of the palletizing robot arm, and the loading status of the power capacitor tooling was determined by sensors, resulting in a high safety factor.

[0083] 5. Automatically take high-resolution photos of the surface of the power capacitor after the test is completed, improving the resolution of the inspection and making it easier to detect minute cracks and damage.

[0084] 6. AI models can automatically analyze test results photos, reducing erroneous judgments caused by human error.

[0085] Example 2

[0086] refer to Figure 6 , Figure 6The diagram shows a flow chart of a high-altitude sealing test method for power capacitors provided in this embodiment. The method includes:

[0087] S1. Control the palletizing robot arm 5 to reach the test coordinate origin and set the palletizing robot arm 5 to manual control mode.

[0088] S2. Open the hatch of the power capacitor handling fixture 2, manually operate the palletizing robot arm 5, lift the power capacitor to be tested into the power capacitor handling fixture 2, and then move the palletizing robot arm 5 out of the power capacitor handling fixture 2 in manual control mode.

[0089] S3. Close the hatch of the power capacitor handling fixture 2, adjust the position of the power capacitor, and install the limit vertical bar and limit horizontal bar;

[0090] S4. After the power capacitor is ready, set the palletizing robot arm 5 to automatic control mode, start the test, and the control computer checks in sequence whether various test conditions are met, including communication between the high temperature test chamber 3, the high temperature test chamber 3 door, the low temperature test chamber 4, the low temperature test chamber 4 door, the distance measuring sensor module, the first gravity sensor 1 and the second weight sensor, and ensure that the initial positions of the high temperature test chamber 3, the low temperature test chamber 4, and the robot arm meet the test requirements.

[0091] S5. After all test conditions have been checked and confirmed to be met, the control computer controls the palletizing robot arm 5 to dock the robot arm handling fixture 1 at the front end of the palletizing robot arm 5 with the power capacitor handling fixture 2, lifts the power capacitor handling fixture 2 containing the power capacitor, and records the weight data Mc of the power capacitor handling fixture 2 at this time.

[0092] S6. After the control computer lifts the power capacitor handling fixture 2 containing the power capacitor, it checks the status of the high-temperature test chamber door. Through communication with the door control module of the high-temperature test chamber 3, it opens the door of the high-temperature test chamber 3 and checks and confirms that the door is open in place. Then, the control computer controls the palletizing robotic arm 5 to lift the power capacitor into the high-temperature test chamber 3. During this process, the distance measuring sensor module, the first weight sensor and the status of the high-temperature test chamber 3 door are checked every 0.5 seconds to ensure that the sensor data meets the set limit range. When the sensor data exceeds the limit range, the control computer immediately stops the test and reports the error information.

[0093] S7. Every 1 second during the movement of the palletizing robot arm 5, it is necessary to receive heartbeat data from the control computer. If the control computer malfunctions or crashes and becomes unresponsive, the palletizing robot arm 5 will stop moving and report an error message to ensure the absolute safety of the test process.

[0094] S8. When the control computer controls the palletizing robot arm 5 to successfully deliver the power capacitor into the high-temperature test chamber 3 according to the historical movement trajectory, it checks whether the three distances measured by the distance measuring sensor module meet the requirements for placing the power capacitor. When the distance measurement results meet the requirements, the power capacitor handling fixture 2 is lowered. During this process, the signals of the switch position sensor 10 and the first weight sensor on the robot arm handling fixture 1 are continuously detected. When the position state of the switch position sensor 10 is released and the value of the first weight sensor drops to the lowest level, it continues to move downwards by 0.1m. After that, the palletizing robot arm 5 exits from the high-temperature test chamber 3 and returns to its original position.

[0095] S9. When the palletizing robot arm 5 returns to the test coordinate origin, the control computer communicates with the door of the high temperature test chamber 3 to close the door of the high temperature test chamber 3. After confirming that the door is closed in place, the control computer communicates with the high temperature test chamber 3 to start the temperature control and start timing after the temperature reaches 95% of the test set temperature.

[0096] S10. After the power capacitor has been baked in the high temperature test chamber 3 at the test set temperature for the first preset test time, the control computer first checks the temperature conditions of the low temperature test chamber 4, the status of the doors of the high temperature test chamber 3 and the low temperature test chamber 4, the status of the drying unit 6 and the status of the palletizing robot arm 5. When the above status checks meet the requirements, the control computer controls the high temperature test chamber 3 to stop and opens the door of the low temperature test chamber 4 at the same time. After the stop status is confirmed and the door of the low temperature test chamber 4 is opened, the control computer communicates with the door of the high temperature test chamber 3 and opens the door of the high temperature test chamber 3.

[0097] S11. After the control computer checks that the doors of the high-temperature test chamber 3 and the low-temperature test chamber 4 are both open and in place, it controls the palletizing robotic arm 5 to enter the high-temperature test chamber 3 from the coordinate origin, reach the position from which it exited the chamber, and then begin to lift upwards. During the lifting process of the palletizing robotic arm 5, it continuously checks the data of the first weight sensor and the switch position sensor 10 on the robotic arm handling fixture 1. When the value of the first weight sensor exceeds 60% of the Mc recorded when the test starts and the position state of the switch position sensor 10 changes, it controls the palletizing robotic arm 5 to continue lifting upwards by 0.1m. After lifting the power capacitor, the control computer controls the palletizing robotic arm 5 to move and hoist the power capacitor to the cold water tank of the low-temperature test chamber 4 according to the historical movement trajectory. During this process, it continuously detects the distance between the distance measuring sensor module and the obstacle to ensure that the distance always meets the requirements. When the distance is lower than the minimum limit value, it immediately stops the movement and reports an error message.

[0098] S12. When the control computer controls the palletizing robot arm 5 to enter the preset coordinate position of the low temperature test chamber 4, the placement program is entered. At this time, the control computer continuously detects the data of the first weight sensor and the status of the switch position sensor 10 on the robot arm handling fixture 1. When the data of the first weight sensor reaches the minimum again and the position status of the switch position sensor 10 is released, it continues to move downwards by 0.1m, and then the palletizing robot arm 5 exits from the low temperature test chamber 4, returns to the coordinate origin, the control computer controls the door of the low temperature test chamber 4 to close, and starts the cold water immersion timer.

[0099] S13. When the cold water immersion time reaches the second preset test time, the control computer checks the status of the drying unit 6 to ensure that the drying unit 6 is free of obstructions, and controls the low temperature test chamber 4 to stop. After the stop status is confirmed, the control computer controls the door of the low temperature test chamber 4 to open and checks to ensure that the door is opened in place.

[0100] S14. After the door of the low temperature test chamber 4 is opened to the correct position, the control computer controls the palletizing robotic arm 5 to re-enter the low temperature test chamber 4 and reach the position from which it previously exited the chamber. The palletizing robotic arm 5 is then gradually raised until the data of the first weight sensor exceeds 60% of Mc and the position state of the switch position sensor 10 changes. The arm is then raised by 0.1m and the power capacitor is then moved to the platform of the drying unit 6.

[0101] S15. After the power capacitor is fully dried, open the hatch of the power capacitor handling fixture 2, and then manually hoist the power capacitors onto the turntable of the camera unit in sequence. After the control computer adjusts the position and focus of the high-definition camera 8 to ensure that the shooting position completely covers the shooting point of the power capacitor, start the shooting program to take pictures of the power capacitor. After each shot, rotate the power capacitor 30 degrees and take 12 pictures in sequence to cover all angles of the power capacitor.

[0102] S16. After shooting, click "Automatic Analysis" on the software controlling the computer. The software will then transmit the captured photo to the AI ​​model, call the AI ​​model's API interface to automatically analyze the photo, and provide analysis conclusions.

[0103] Based on this, this method uses a computer-controlled robotic arm to precisely and rapidly move a 200kg power capacitor between a high-temperature test chamber, a low-temperature test chamber water tank, and a photographing unit. Then, the computer, using a high-definition camera and AI analysis program, takes comprehensive photographs of the tested power capacitor and automatically analyzes and provides conclusions. This automated testing system eliminates the need for manual handling of the high-temperature and heavy power capacitor during the test, effectively preventing injury to personnel. Temperature control, capacitor transport, cold water immersion, test results, and visual inspection of the power capacitor are all conducted without human intervention, completely freeing up testing personnel. Furthermore, the entire testing device can operate continuously for extended periods, significantly improving work efficiency. After the test, the inspection of the sample can be completed through comprehensive high-definition scanning and AI automatic analysis of the sample surface. Combining AI automatic analysis with manual review further improves the efficiency and reliability of the test results analysis.

[0104] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0105] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0106] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0107] Furthermore, those skilled in the art will understand that various aspects of this specification can be described and illustrated in several patentable ways or situations, including any new and useful combination of processes, machines, products, or substances, or any new and useful improvements thereof. Accordingly, various aspects of this specification can be implemented entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. All of the above hardware or software may be referred to as a “data block,” “module,” “engine,” “unit,” “component,” or “system.” Furthermore, various aspects of this specification may be represented as a computer product located on one or more computer-readable media, including computer-readable program code.

[0108] Computer storage media may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and suitable combinations thereof. Computer storage media can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer storage medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, RF, or similar media, or any combination of the above media.

[0109] Similarly, it should be noted that, in order to simplify the description disclosed herein and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments in this specification may sometimes combine multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of a single embodiment disclosed above.

[0110] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0111] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A power capacitor high altitude sealing test device, characterized by, It comprises: A stacking mechanical arm for transporting power capacitors between test positions; A mechanical arm carrying tool mounted at the front end of the stacking mechanical arm for carrying power capacitor carrying tools; A power capacitor carrying tool for placing power capacitors and interfacing with the mechanical arm carrying tool for power capacitor carrying; A high-temperature test chamber for providing a high-temperature test environment for power capacitors; A low-temperature test chamber for providing a low-temperature test environment for power capacitors; A drying unit for drying power capacitors after cold water soaking; A photographing unit for taking all-around photographs of dried power capacitors to obtain test photos; A control computer for controlling the stacking mechanical arm, the high-temperature test chamber, the low-temperature test chamber, the drying unit, and the photographing unit through an RS485 communication interface to complete the high-altitude sealing test of power capacitors. The power capacitor carrying tool has a load-bearing steel mesh at the bottom, load-bearing metal supports on the left and right sides, and a recess for hoisting in the center of the top support, which can be docked with the top recess of the mechanical arm carrying tool. The front and rear hatches of the power capacitor carrying tool can be opened or closed to facilitate the loading of power capacitors. The power capacitor carrying tool can accommodate two power capacitors at the same time. The load-bearing metal supports on the two sides are provided with movable and fastenable capacitor limiting horizontal rods, and the capacitor limiting horizontal rods are provided with four movable and fastenable capacitor limiting vertical rods. By adjusting the positions of the capacitor limiting horizontal rods and the capacitor limiting vertical rods, the power capacitors are limited to the middle position of the power capacitor carrying tool.

2. The apparatus of claim 1, wherein, The stacking mechanical arm is a 6-axis carrying and stacking mechanical arm with an RS485 communication interface, which adjusts the working state and position of the stacking mechanical arm by receiving commands from the control computer. The stacking mechanical arm has an automatic control mode and a manual control mode. In the automatic control mode, the control computer calls the historical motion trajectory recorded by the stacking mechanical arm, so that the stacking mechanical arm has a motion memory function and can completely reproduce the motion trajectory of the stacking mechanical arm. In the automatic control mode, the stacking mechanical arm has a heartbeat detection mechanism that receives heartbeat data from the control computer. When the heartbeat data disappears, the stacking mechanical arm will stop moving to ensure safety.

3. The apparatus of claim 1, wherein, The mechanical arm carrying tool comprises a distance measuring sensor module composed of ultrasonic distance measuring sensors in front, left and right directions of the mechanical arm carrying tool. When the stacking mechanical arm moves, the three ultrasonic distance measuring sensors work synchronously and feed back the measured distance information to the control computer.

4. The apparatus of claim 1, wherein, The mechanical arm carrying tool further comprises a switch position sensor and a first weight sensor installed at the center of the top groove; the switch position sensor serves as a position switch for detecting the contact between the mechanical arm carrying tool and the power capacitor carrying tool; when the position switch is pressed down, the detection circuit at the back end is turned on, and at this time the control circuit detects that the state of the switch position sensor jumps; when the power capacitor carrying tool is released from the stacking mechanical arm, the position switch pops up, the detection circuit at the back end becomes off, and at this time the control circuit detects that the state of the switch position sensor is released; the first weight sensor is used to detect the weight borne by the mechanical arm carrying tool in real time.

5. The apparatus of claim 1, wherein, The control computer communicates with the high-temperature test box and the low-temperature test box through an RS485 communication interface, controls the cabin temperature of the high-temperature test box to be adjusted in the range of ambient temperature to 100 degrees, and controls the cabin temperature of the low-temperature test box to be adjusted in the range of ambient temperature to 0 degrees.

6. The apparatus of claim 1, wherein, The cabin doors of the high-temperature test box and the low-temperature test box are both horizontally opened and are both provided with independent cabin door control modules; the control computer reads the cabin door state and controls the rail sliding of the cabin door through the RS485 communication interface of the cabin door control module, and opens or closes the cabin door.

7. The apparatus of claim 1, wherein, The drying unit is a metal platform provided with a second weight sensor; the metal platform edge is provided with a groove for collecting water or oil stains flowing down during drying of the power capacitor; the control computer collects real-time weight data through the RS485 communication interface of the second weight sensor, so as to judge whether there is a power capacitor on the drying unit; when the weight sensor reading is the minimum, it is determined that the drying unit is in an empty state.

8. The apparatus of claim 1, wherein, The photographing unit is composed of a high-definition camera, a linear module that can be up and down, a metal turntable and a second weight sensor; after the power capacitor is dried in the drying unit, the cabin door of the power capacitor carrying tool is opened, the single power capacitor is lifted by the stacking mechanical arm to the metal turntable of the photographing unit, the control computer starts the photographing program, after the height adjustment and focal length adjustment of the high-definition camera are completed, the high-definition camera and the metal turntable are automatically controlled to rotate, and the power capacitor is photographed for 360 degrees; after the photographing is completed, the control computer automatically judges the photo by calling the API program of AI and outputs the analysis conclusion.

9. A method for high altitude sealing test of power capacitors using the apparatus according to any one of claims 1 to 8, characterized in that, The method comprises the following steps: controlling the stacking mechanical arm to reach the test coordinate origin, and setting the stacking mechanical arm to a manual control mode; opening the cabin door of the power capacitor carrying tool, manually operating the stacking mechanical arm, lifting the power capacitor to be tested into the power capacitor carrying tool, and then moving the stacking mechanical arm out of the power capacitor carrying tool in the manual control mode; closing the cabin door of the power capacitor carrying tool, and adjusting the position of the power capacitor, installing the limiting vertical rod and the limiting horizontal rod; After the power capacitor is ready, the stacking robot is set to automatic control mode, the test is started, and the control computer checks whether various test conditions meet the requirements in sequence, including high-temperature test chamber communication, high-temperature test chamber hatch communication, low-temperature test chamber communication, low-temperature test chamber hatch communication, distance measuring sensor module communication, first and second gravity sensor communication, and ensuring that the high-temperature test chamber, low-temperature test chamber, and the initial position of the robot meet the test requirements; After the various test conditions are checked and confirmed to meet the requirements, the control computer controls the stacking robot to make the front end of the robot work tool interface with the power capacitor work tool, hoist the power capacitor work tool with the power capacitor, and record the weight data Mc of the power capacitor work tool at this time; After hoisting the power capacitor work tool with the power capacitor, the control computer checks the hatch state of the high-temperature test, communicates with the hatch control module of the high-temperature test chamber to open the hatch, and checks and confirms that the hatch is opened to the right position, and then the control computer controls the stacking robot to hoist the power capacitor into the high-temperature test chamber. In this process, the distance measuring sensor module, the first gravity sensor, and the high-temperature test chamber hatch state are checked every 0.5s to ensure that the sensor data meets the set limit range. When the sensor data exceeds the limit range, the control computer immediately controls the test to stop and reports error information. The control computer sends heartbeat data every 1s during the movement of the stacking robot. When the control computer appears abnormal or is dead and does not respond, the stacking robot stops moving and reports error information to ensure the absolute safety of the test process. When the control computer controls the stacking robot to successfully send the power capacitor into the high-temperature test chamber according to the historical motion trajectory, it checks whether the three distances measured by the distance measuring sensor module meet the power capacitor placement requirements. When the distance measuring result meets the requirements, the power capacitor work tool is lowered, and the switch position sensor and the first gravity sensor on the robot work tool are continuously detected during this process. When the switch position sensor is released and the first gravity sensor value drops to the lowest, the stacking robot continues to move downward by 0.1m, and then exits the high-temperature test chamber and returns to the coordinate origin. After the stacking robot returns to the coordinate origin, the control computer communicates with the hatch of the high-temperature test chamber to close the hatch, and confirms that the hatch is closed to the right position. Then the control computer communicates with the high-temperature test chamber to start temperature control and starts timing when the temperature reaches 95% of the set test temperature. When the power capacitor is baked at the set test temperature in the high-temperature test chamber for the first preset test time, the control computer first checks the temperature condition of the low-temperature test chamber, the hatch state of the high-temperature test chamber and the low-temperature test chamber, the state of the drying unit, and the state of the stacking robot. When the above conditions meet the requirements, the control computer controls the high-temperature test chamber to stop and opens the hatch of the low-temperature test chamber. After the stop state is confirmed and the hatch of the low-temperature test chamber is opened, the control computer communicates with the hatch of the high-temperature test chamber to open the hatch. The control computer checks that the high-temperature test box door and the low-temperature test box door are both opened to the position, controls the stacking mechanical arm to enter the high-temperature test box from the coordinate origin, reaches the position of being withdrawn from the cabin before, and then starts to lift upward. In the process of lifting the stacking mechanical arm, the data of the first weight sensor on the mechanical arm carrying tooling and the switch position sensor are constantly checked. When the data of the first weight sensor exceeds 60% of the Mc recorded when the test starts and the position state of the switch position sensor jumps, the control computer controls the stacking mechanical arm to continue to lift upward by 0.1 m, lifts the power capacitor, and then controls the stacking mechanical arm to move the power capacitor to the cold water tank of the low-temperature test box according to the historical motion track. In this process, the distance of the distance measuring sensor module from the obstacle is constantly detected to ensure that the distance always meets the requirements. When the distance is less than the minimum limit, the movement is immediately paused and error information is reported. When the control computer controls the stacking mechanical arm to enter the preset coordinate position of the low-temperature test box, the placing program is entered. At this time, the control computer constantly detects the data of the first weight sensor on the mechanical arm carrying tooling and the state of the switch position sensor. When the data of the first weight sensor reaches the minimum again and the position state of the switch position sensor is released, the stacking mechanical arm continues to run downward by 0.1 m, is withdrawn from the low-temperature test box, and returns to the coordinate origin. The control computer controls the door of the low-temperature test box to be closed and starts the cold water soaking timing. When the cold water soaking time reaches the second preset test time, the control computer checks the state of the drying unit to ensure that there is no obstacle in the drying unit, and controls the low-temperature test box to be stopped. After the stopped state is confirmed, the control computer controls the door of the low-temperature test box to be opened and checks to ensure that the door is opened to the position. When the door of the low-temperature test box is opened to the position, the control computer controls the stacking mechanical arm to enter the low-temperature test box again, reaches the position of being withdrawn from the cabin before, and starts to gradually lift the stacking mechanical arm until the data of the first weight sensor exceeds 60% of Mc and the position state of the switch position sensor jumps. Then the stacking mechanical arm is lifted by 0.1 m, and the power capacitor is carried to the platform of the drying unit. After the power capacitor is fully dried, the door of the power capacitor carrying tooling is opened, and then the power capacitor is manually hoisted to the turntable of the photographing unit one by one. After the control computer adjusts the position and focal length of the high-definition camera to ensure that the shooting position completely covers the shooting point of the power capacitor, the shooting program is started, the power capacitor is shot, and the power capacitor is turned by 30 degrees after each shooting. 12 photos are taken to cover each angle of the power capacitor. After the shooting is completed, the control computer software is clicked to automatically analyze, the software transmits the photos to the AI model, calls the API interface of the AI model, automatically analyzes the photos, and gives the analysis conclusion.

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