Multi-station water pressure testing machine for gas cylinders

Abstract

The multi-station gas cylinder water pressure testing machine provided by the disclosure comprises an industrial computer, a rack arranged on one side of the industrial computer, a standard pressure gauge and a plurality of equidistantly distributed detection pressure gauges fixed on the rack, a plurality of testing devices arranged and mounted on the rack, a water injection assembly driven to ascend and descend by a first air cylinder, so that the water injection assembly can quickly approach the gas cylinder port and improve the detection efficiency, and a sealing ring arranged to ensure the sealing property between the sealing end and the gas cylinder port when the sealing end abuts against the gas cylinder port. An industrial camera can detect the parallelism between the sealing end and the gas cylinder port when the sealing end approaches the gas cylinder port. If the gas cylinder port and the sealing end are not parallel, the industrial computer adjusts the posture of the gas cylinder in time according to the data detected by the industrial camera, so as to ensure that the gas cylinder port and the sealing end remain in a parallel state, thereby ensuring that the sealing end and the gas cylinder port are uniformly stressed when abutting against each other and ensuring the sealing property between the sealing end and the gas cylinder port.

Description

Technical Field

[0001] This manual relates to the field of gas cylinder production technology, and in particular to a multi-station gas cylinder water pressure testing machine. Background Technology

[0002] Gas cylinders (high-pressure containers) are widely used in industry, medical, energy and other fields. However, the compressed gas stored inside them has enormous energy. Therefore, the strength and airtightness testing of gas cylinders is a crucial part of the gas cylinder production process. Among them, the gas cylinder hydrostatic test utilizes the incompressible property of water. The gas cylinder is pressurized to 1.5 times its nominal working pressure (test pressure), which can simultaneously test the airtightness and strength of the gas cylinder. Therefore, it is widely used.

[0003] However, the water inlet of most gas cylinder water pressure testing equipment on the market is usually connected to a screw. During the experiment, the gas cylinder is placed below the water inlet, and the screw is manually turned to drive the water inlet to move down and contact the gas cylinder opening. Water is then injected into the gas cylinder for the test. This method not only results in low inspection efficiency, but also, as the threads on the screw wear, the water inlet will wobble slightly with the screw. This leads to insufficient strength and inadequate sealing when the water inlet contacts the gas cylinder opening, which may cause leakage during the high-pressure test of the gas cylinder, affecting the accuracy of the test results.

[0004] Furthermore, during the production process, the bottom of the gas cylinder may have burrs due to process issues or sand or gravel particles adhering to it after painting, resulting in an uneven bottom. This causes the cylinder opening and the sealing end 36 to be non-parallel, ultimately leading to uneven force distribution when the sealing end 36 comes into contact with the cylinder opening. Under strong water pressure, leakage may occur at the point of lower pressure between the sealing end 36 and the cylinder opening, affecting the normal progress of the experiment. Summary of the Invention

[0005] This specification provides one or more embodiments of a multi-station gas cylinder water pressure testing machine, including: Industrial control computers; A frame is mounted on one side of the industrial control computer, and a standard pressure gauge and multiple equally spaced detection pressure gauges are fixed on the frame. The testing device includes multiple components, all mounted on the frame. The testing device includes a mounting frame, a water injection assembly, a gas cylinder attitude adjustment assembly, and an industrial camera. The water injection component is driven to lift and lower by a first pneumatic cylinder fixed on the mounting frame. The pressure gauge is connected between the water injection component and the water supply pipeline. The lower end of the water injection component can abut against the gas cylinder opening and inject water into the gas cylinder. The pressure inside the gas cylinder is detected by the pressure gauge. The gas cylinder attitude adjustment component is mounted on the mounting frame. The gas cylinder attitude adjustment component includes a gas cylinder fixing mechanism and a three-degree-of-freedom motion platform. The three-degree-of-freedom motion platform is mounted on the mounting frame. The gas cylinder fixing mechanism clamps and fixes the gas cylinder to the three-degree-of-freedom motion platform, so that the gas cylinder can move with the three-degree-of-freedom motion platform. The industrial camera is used to detect the parallelism between the gas cylinder opening and the water injection component, and transmits the detection data to the industrial control computer. The industrial control computer drives the gas cylinder attitude adjustment component to make the gas cylinder opening parallel to the water injection component, and the three-degree-of-freedom motion platform can drive the gas cylinder to rise and fall, so that the testing device can be used to test gas cylinders at different heights.

[0006] A further technical solution includes a water injection assembly comprising a water injection end, a sealing end, a connecting pipe, and a water injection tube. The water injection end is fixed to the lower end of the piston rod of the first pneumatic cylinder. The lower end face of the water injection end has an upwardly recessed water collection cavity. The sealing end is fixed to the lower end of the water injection end to seal the opening of the water collection cavity. The water injection tube is fixed inside the sealing end and communicates with the water collection cavity. The connecting pipe is fixed to the outer periphery of the water injection end and communicates with the water collection cavity. The connecting pipe is connected to a water supply pipeline. The industrial camera is used to detect the parallelism between the gas cylinder opening and the lower end face of the sealing end.

[0007] In a further technical solution, the mounting frame includes a top plate, a fixing plate, and a bottom plate. The fixing plate is disposed between the top plate and the bottom plate. Four fixing rods distributed in a rectangular array and penetrating the fixing plate are fixed between the top plate and the bottom plate. The fixing plate and the fixing rods are fixedly connected.

[0008] In a further technical solution, the first pneumatic cylinder is fixed to the upper surface of the top plate and its piston rod extends downward through the top plate. A sealing ring is fixed to the lower surface of the sealing end, which surrounds the water injection pipe. When the sealing end abuts against the end face of the gas cylinder, the water injection pipe extends into the gas cylinder, and the sealing ring undergoes elastic deformation under the pressure of the sealing end and the end face of the gas cylinder.

[0009] In a further technical solution, the industrial camera is positioned behind the water injection end and directly opposite the sealing end. A fixing ring is fixed to the upper end of the water injection end, and two connecting rods are fixed to the outer circumference of the fixing ring. A fixing frame is fixed to the industrial camera, and the fixing frame is fixedly connected to the two connecting rods.

[0010] A further technical solution includes a three-degree-of-freedom motion platform comprising a placement platform, a slide bar seat, and a second pneumatic cylinder. The placement platform is disposed on the upper side of a fixed plate. Three slide bar seats are provided and are equidistantly distributed circumferentially. The slide bar seats are fixed to the lower end surface of the placement platform. A slide bar is disposed inside the slide bar seat. The slide bar can slide along its axis and rotate around its axis. Three second pneumatic cylinders are provided and correspond to the slide bar seats. The second pneumatic cylinders are fixed between the fixed plate and the base plate. A first hinge seat is fixed to the upper end of the piston rod of the second pneumatic cylinder. The first hinge seat is hinged to the end of the slide bar.

[0011] A further technical solution is provided in which a sealing cavity is formed inside the slide rod seat, and the sealing cavity is opened at one end near the adjacent second pneumatic cylinder. A sealing plate for sealing the sealing cavity is fixed on the side end face of the slide rod seat near the adjacent second pneumatic cylinder. The slide rod passes through the sealing plate and is slidably connected to it. A piston that is slidably connected to the sealing cavity is fixed at the end of the slide rod away from the first hinge seat. The internal space of the sealing cavity is in a sealed state.

[0012] A further technical solution includes a gas cylinder fixing mechanism comprising three circumferentially evenly distributed clamping components. Each clamping component includes a clamping rod, a roller seat, a clamping bar, and a third pneumatic cylinder. The clamping rod is fixed to the roller seat, and the roller seat is fixed to the upper end of the clamping bar. Three second hinge seats corresponding to the clamping bar are fixed on the outer periphery of the placement platform. The second hinge seats are hinged to the middle part of the clamping bar. Three third pneumatic cylinders are provided and fixed to the lower end face of the placement platform. A pull rod is fixed to one end of the piston rod of the third pneumatic cylinder, and a pin is fixed to the other end of the pull rod. A sliding groove is provided at the lower end of the clamping bar, located below the second hinge seat and arranged along its length. The pin slides within the sliding groove.

[0013] In a further technical solution, the diameter of the clamping rod gradually increases from the middle to both ends, making its outer periphery arc-shaped in the axial direction.

[0014] A further technical solution includes a motor mount fixed on the base plate, a stepper motor fixed inside the motor mount, a screw rod extending upward through the motor mount fixed at the upper end of the output shaft of the motor mount, the screw rod being rotatably connected to the motor mount, a threaded sleeve being threadedly connected to the screw rod, the threaded sleeve extending upward through the fixed plate and being slidably connected to it, and a hemispherical support portion fixed at the upper end of the threaded sleeve, the support portion being able to abut against the lower end face of the placement platform.

[0015] Beneficial effects: 1. The water injection component is raised and lowered by the first pneumatic cylinder, which enables the water injection component to quickly approach the gas cylinder mouth, improving the detection efficiency. When the sealing end comes into contact with the gas cylinder mouth, the sealing ring ensures the sealing between the sealing end and the gas cylinder mouth.

[0016] 2. The industrial camera can detect the parallelism between the sealing end and the gas cylinder opening when the sealing end approaches the gas cylinder opening. If the gas cylinder opening and the sealing end are not parallel, the industrial control computer will adjust the posture of the gas cylinder in time according to the data detected by the industrial camera, so as to ensure that the gas cylinder opening and the sealing end remain parallel. This ensures that the force is even when the sealing end and the gas cylinder opening come into contact, and ensures the sealing performance between the two.

[0017] 3. After the cylinder posture adjustment component completes the cylinder posture adjustment, the stepper motor drives the support part to abut against the lower end of the placement platform, thereby increasing the support force of the placement platform and ensuring that the cylinder remains stable when the sealing end abuts against the cylinder opening, further ensuring the sealing performance when the sealing end abuts against the cylinder opening. Attached Figure Description

[0018] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings denote the same structures or steps.

[0019] Figure 1 This is a structural schematic diagram of a multi-station gas cylinder water pressure testing machine according to some embodiments of this specification.

[0020] Figure 2 This is a schematic diagram of the working state of the test apparatus according to some embodiments of this specification.

[0021] Figure 3 This is a schematic diagram of the test apparatus shown in some embodiments of this specification.

[0022] Figure 4 This is based on some embodiments shown in this specification. Figure 3 Enlarged diagram of point A in the middle.

[0023] Figure 5 This is based on some embodiments shown in this specification. Figure 3 Enlarged diagram of point B in the middle.

[0024] Figure 6 This is a cross-sectional schematic diagram of a test apparatus according to some embodiments of this specification.

[0025] Figure 7 This is based on some embodiments shown in this specification. Figure 6 Enlarged diagram of point C in the middle.

[0026] Figure 8 This is based on some embodiments shown in this specification. Figure 6 Enlarged diagram of point D in the middle.

[0027] Figure 9 This is a schematic diagram of the pipeline connection of a multi-station gas cylinder hydrostatic testing machine according to some embodiments of this specification.

[0028] In the picture: 1. Industrial control computer; 2. Frame; 2-1. Shut-off valve; 2-2. Pressure relief valve; 2-3. Pre-pressure gauge; 2-4. Experimental water tank; 2-5. Pressurization device; 2-6. Inlet valve; 2-7. Drain valve; 2-8. Main water supply pipeline; 2-9. Inlet pipe; 2-10. Drain pipe; 2-11. Branch pipeline; 2-13. Main pipeline control valve; 2-14. Standard pressure gauge control valve; 3. Testing device; 3-1. Water injection assembly; 21. Detection pressure gauge; 23. Standard pressure gauge; 30. Top plate; 31. First air cylinder; 32. Fixing rod; 33. Fixing plate; 34. Base plate; 35. Water injection end; 351. Water collection chamber; 36. Sealing end; 37. Water injection pipe; 38. Sealing ring; 39. Connecting pipe; 40. Fixing frame; 41. Connecting rod; 42. Industrial camera; 43. Fixing ring; 50. Placement platform; 51. Second pneumatic cylinder; 52. Slide rod; 53. First hinge seat; 54. Slide rod seat; 55. Piston; 56. Sealing chamber; 57. Sealing plate; 60. Clamping roller; 61. Roller seat; 62. Pull rod; 63. Second hinge seat; 64. Clamping rod; 66. Pin; 67. Slide groove; 68. Third pneumatic cylinder; 70. Threaded sleeve; 71. Motor base; 72. Stepper motor; 73. Screw; 74. Support part. Detailed Implementation

[0029] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0030] It should be understood that the terms "system," "device," "unit," and / or "module" 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.

[0031] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0032] This specification uses flowcharts to illustrate the operational steps performed by the apparatus or system of related embodiments. However, unless otherwise specified, the order in which these steps are described should not be construed as a limitation on the order of execution. Those skilled in the art can adjust the order of these steps based on the knowledge and information conveyed by the embodiments in this specification. Such adjustments include, but are not limited to, reversing the order of steps, merging multiple steps, and splitting a step.

[0033] Gas cylinders (high-pressure containers) are widely used in industry, medical, energy and other fields. However, the compressed gas stored inside them has enormous energy. Therefore, the strength and airtightness testing of gas cylinders is a crucial part of the gas cylinder production process. Among them, the gas cylinder hydrostatic test utilizes the incompressible property of water. The gas cylinder is pressurized to 1.5 times its nominal working pressure (test pressure), which can simultaneously test the airtightness and strength of the gas cylinder. Therefore, it is widely used.

[0034] However, the water inlet of most gas cylinder water pressure testing equipment on the market is usually connected to a screw. During the experiment, the gas cylinder is placed below the water inlet, and the screw is manually turned to drive the water inlet to move down and contact the gas cylinder opening. Water is then injected into the gas cylinder for the test. This method not only results in low inspection efficiency, but also, as the threads on the screw wear, the water inlet will wobble slightly with the screw. This leads to insufficient strength and inadequate sealing when the water inlet contacts the gas cylinder opening, which may cause leakage during the high-pressure test of the gas cylinder, affecting the accuracy of the test results.

[0035] Furthermore, during the production process, the bottom of the gas cylinder may have burrs due to process issues or sand or gravel particles adhering to it after painting, resulting in an uneven bottom. This causes the cylinder opening and the sealing end 36 to be non-parallel, ultimately leading to uneven force distribution when the sealing end 36 comes into contact with the cylinder opening. Under strong water pressure, leakage may occur at the point of lower pressure between the sealing end 36 and the cylinder opening, affecting the normal progress of the experiment.

[0036] Therefore, some embodiments of this specification propose a multi-station gas cylinder water pressure testing machine, including: Industrial PC 1 serves as the system control core. In this embodiment, an industrial-grade embedded computer, such as Advantech UNO-2484G, is used. This model features an Intel Core i5 processor, 8GB of RAM, and a 128GB SSD. It provides rich I / O interfaces, including 16 digital inputs (DI) / 16 digital outputs (DO), 4 analog inputs (AI) (for receiving 4-20mA pressure signals), 2 RS-485 serial ports (for connecting pressure gauges or valves), 4 USB 3.0 ports (for connecting industrial cameras 42), and a gigabit Ethernet port. Industrial PC 1 is pre-installed with the Windows 10 IoT Enterprise operating system and self-developed test and control software. All PLC modules, drivers, power supplies, etc., in the electrical control cabinet are connected to the corresponding interfaces of Industrial PC 1 through standard industrial cables, and grounding and shielding are properly implemented. The frame 2 is located on one side of the industrial computer 1. A standard pressure gauge 23 and multiple equally spaced detection pressure gauges 21 are fixed on the frame 2. The test device 3 is provided in multiple parts and is installed on the frame 2. The test device 3 includes a mounting frame, a water injection component 3-1, a gas cylinder attitude adjustment component, and an industrial camera 42. The water injection assembly 3-1 is driven to rise and fall by a first pneumatic cylinder 31 fixed on the mounting bracket. The water injection assembly 3-1 includes a water injection end 35, a sealing end 36, a connecting pipe 39, and a water injection pipe 37. The water injection end 35 is fixed to the lower end of the piston rod of the first pneumatic cylinder 31. The lower end face of the water injection end 35 has an upwardly recessed water collection cavity 351. The sealing end 36 is fixed to the lower end of the water injection end 35 to seal the opening of the water collection cavity 351. The water injection pipe 37 is fixed inside the sealing end 36 and communicates with the water collection cavity 351. The connecting pipe 39 is fixed on the outer periphery of the water injection end 35 and communicates with the water collection cavity 351. The pressure gauge 21 is connected between the connecting pipe 39 and the water supply pipeline. The lower end face of the sealing end 36 can abut against the gas cylinder opening. Water is injected into the gas cylinder through the water injection pipe 37, and the pressure inside the gas cylinder is detected by the pressure gauge 21. The cylinder attitude adjustment component is mounted on the mounting frame. The cylinder attitude adjustment component includes a cylinder fixing mechanism and a three-degree-of-freedom motion platform. The three-degree-of-freedom motion platform is mounted on the mounting frame. The cylinder fixing mechanism clamps and fixes the cylinder to the three-degree-of-freedom motion platform, so that the cylinder can move with the three-degree-of-freedom motion platform. The industrial camera 42 is used to detect the parallelism between the gas cylinder opening and the water injection component 3-1, and transmits the detection data to the industrial computer 1. The industrial computer 1 drives the gas cylinder attitude adjustment component to make the gas cylinder opening parallel to the sealing end 36, and the three-degree-of-freedom motion platform can drive the gas cylinder to rise and fall, so that the testing device 3 can be used to test gas cylinders at different heights.

[0037] In some embodiments, the mounting bracket includes a top plate 30, a fixing plate 33, and a bottom plate 34. The fixing plate 33 is disposed between the top plate 30 and the bottom plate 34. Four fixing rods 32, which are distributed in a rectangular array and pass through the fixing plate 33, are fixed between the top plate 30 and the bottom plate 34. The fixing plate 33 and the fixing rods 32 are fixedly connected.

[0038] In some embodiments, the first pneumatic cylinder 31 is fixed to the upper end face of the top plate 30 and its piston rod extends downward through the top plate 30. A sealing ring 38 is fixed to the lower end face of the sealing end 36 and surrounds the water injection pipe 37. When the sealing end 36 abuts against the end face of the gas cylinder, the water injection pipe 37 extends into the gas cylinder, and the sealing ring 38 undergoes elastic deformation under the pressure of the sealing end 36 and the end face of the gas cylinder.

[0039] In some embodiments, the industrial camera 42 is disposed behind the water injection end 35 and directly opposite the sealing end 36. A fixing ring 43 is fixed to the upper end of the water injection end 35, and two connecting rods 41 are fixed on the outer periphery of the fixing ring 43. A fixing frame 40 is fixed on the industrial camera 42, and the fixing frame 40 is fixedly connected to the two connecting rods 41.

[0040] In some embodiments, the three-degree-of-freedom motion platform includes a placement platform 50, a slide bar seat 54, and a second pneumatic cylinder 51. The placement platform 50 is disposed on the upper side of the fixed plate 33. Three slide bar seats 54 are provided and are equidistantly distributed around the circumference. The slide bar seats 54 are fixed to the lower end surface of the placement platform 50. A slide bar 52 is provided inside the slide bar seat 54. The slide bar 52 can slide along its axis and can rotate around its axis. Three second pneumatic cylinders 51 are provided and correspond to the slide bar seats 54. The second pneumatic cylinders 51 are fixed between the fixed plate 33 and the base plate 34. A first hinge seat 53 is fixed to the upper end of the piston rod of the second pneumatic cylinder 51. The first hinge seat 53 is hinged to the end of the slide bar 52.

[0041] In some embodiments, a sealing cavity 56 is provided in the slide rod seat 54. The sealing cavity 56 is opened at one end near the adjacent second pneumatic cylinder 51. A sealing plate 57 for sealing the sealing cavity 56 is fixed on the side end face of the slide rod seat 54 near the adjacent second pneumatic cylinder 51. The slide rod 52 passes through the sealing plate 57 and is slidably connected to it. A piston 55 that is slidably connected to the sealing cavity 56 is fixed at the end of the slide rod 52 away from the first hinge seat 53. The internal space of the sealing cavity 56 is in a sealed state.

[0042] In some embodiments, the gas cylinder fixing mechanism includes three circumferentially evenly distributed clamping components. The clamping components include a clamping rod 60, a roller seat 61, a clamping rod 64, and a third pneumatic cylinder 68. The clamping rod 60 is fixed on the roller seat 61, and the roller seat 61 is fixed on the upper end of the clamping rod 64. Three second hinge seats 63 corresponding to the clamping rod 64 are fixed on the outer periphery of the placement platform 50. The second hinge seats 63 are hinged to the middle part of the clamping rod 64. Three third pneumatic cylinders 68 are provided and fixed on the lower end surface of the placement platform 50. One end of the piston rod of the third pneumatic cylinder 68 is fixed with a pull rod 62, and the other end of the pull rod 62 is fixed with a pin 66. The lower end of the clamping rod 64 is provided with a sliding groove 67 located below the second hinge seat 63 and arranged along its length direction. The pin 66 slides in the sliding groove 67.

[0043] In some embodiments, the diameter of the clamping rod 60 gradually increases from the middle to both ends, so that the cross-section of its outer periphery in the axial direction is arc-shaped.

[0044] In some embodiments, a motor base 71 is fixed on the base plate 34, a stepper motor 72 is fixed inside the motor base 71, a screw 73 is fixed at the upper end of the output shaft of the motor base 71 and extends upward through the motor base 71, the screw 73 is rotatably connected to the motor base 71, a threaded sleeve 70 is threadedly connected to the screw 73, the threaded sleeve 70 extends upward through the fixing plate 33 and is slidably connected to it, a hemispherical support part 74 is fixed at the upper end of the threaded sleeve 70, and the support part 74 can abut against the lower end surface of the placement platform 50.

[0045] Specifically, refer to Figure 9 The pipeline connection of the multi-station gas cylinder water pressure testing machine is as follows: the water outlet of the experimental water tank 2-4 is connected to the water inlet of the pressurizing device 2-5 through the water inlet pipe 2-9. A water inlet valve 2-6 is installed between the pressurizing device 2-5 and the experimental water tank 2-4. A drain valve 2-7 is connected between the water inlet valve 2-6 and the pressurizing device 2-5 through the drain pipe 2-10. The drain outlet of the pressurizing device 2-5 is connected to the main water supply pipe 2-8. Multiple branch pipes 2-11 are connected to the main water supply pipe 2-8. The ends of the branch pipes 2-11 are connected to the connecting pipe 39 on the water injection assembly 3-1. A shut-off valve 2-1 is installed between the branch pipe 2-11 and the main water supply pipe 2-8. A pressure gauge 21 is connected between the shut-off valve 2-1 and the water injection assembly 3-1. A pressure relief valve 2-2 is connected to the branch pipe 2-11 and is located between the water injection assembly 3-1 and the shut-off valve 2-1. A pre-pressure gauge 2-3 is connected between the branch pipe 2-11 closest to the pressurization device 2-5 on the main water supply pipe 2-8 and the drain outlet of the pressurization device 2-5. A main pipe control valve 2-13 is connected between the pre-pressure gauge 2-3 and the branch pipe 2-11 closest to the pressurization device 2-5. A standard pressure gauge 23 is connected to the main water supply pipe 2-8 through a standard pressure gauge control valve 2-14 and is located between the main pipe control valve 2-13 and the branch pipe 2-11 closest to the pressurization device 2-5. All of the above valves are solenoid valves.

[0046] In this embodiment, the first pneumatic cylinder 31, the third pneumatic cylinder 68, the second pneumatic cylinder 51, the stepper motor 72, the industrial camera 42, the detection pressure gauge 21, and the standard pressure gauge 23 are all electrically connected to the industrial control computer 1. At the same time, the industrial control computer 1 controls the on / off state of each of the above-mentioned solenoid valves. Among them, the first pneumatic cylinder 31: In order to adapt to the detection requirements of gas cylinders of different heights and ensure sufficient sealing and clamping force, an Airtac MAL50×300-S type cylinder with a cylinder diameter of 50mm and a stroke of 300mm is selected. This stroke can meet the height change of gas cylinders from the smallest to the largest design specifications. Its lifting and lowering is controlled by an Airtac 4V210-08 type two-position five-way solenoid valve. The solenoid valve coil (DC24V) is connected to the relay output terminal of the digital output module (DO) on the industrial control computer 1. A Turck Bi5-M18-AD4X type magnetostrictive linear displacement sensor is installed on the cylinder piston rod to provide real-time feedback on the precise position of the water injection component 3-1. The feedback signal (4-20mA) is connected to the analog input module (AI) of the industrial control computer 1 to realize closed-loop monitoring and soft limit protection of the lifting and lowering position. Second pneumatic cylinder 51: To achieve precise platform leveling, an SMC CD85B20-150Z servo cylinder with a built-in magnetostrictive displacement sensor is selected, with a stroke of 150mm. It is used in conjunction with an SMC PF3W701-06F electro-proportional valve for continuous pressure / position control. The control signal (0-10V) of the proportional valve comes from the analog output module (AO) of the industrial computer 1, and the feedback signal (4-20mA) of the displacement sensor is connected to the analog input module (AI) of the industrial computer 1, forming a closed-loop control. The third pneumatic cylinder 68: It is an SMC CJ2B10-30 compact cylinder with a stroke of 30mm, driven by an SMC VQ21-5G-02 two-position five-way single-electro-controlled solenoid valve. Stepper motor 72: Selected is Leadshine 57HS09, with a holding torque of 0.9 N·m. The matching driver is Leadshine DM542, set to 16 microstepping mode. The “PUL+” and “DIR+” terminals of the driver control terminal are connected to the “Pulse Output” and “Direction Output” terminals of the industrial control computer 1 or the extended motion control card. The “PUL-” and “DIR-” terminals are connected to their corresponding common terminals. The driver power supply is connected to the DC24V provided by the Mean Well S-240-24 switching power supply. The start, stop, speed and direction of stepper motor 72 are precisely controlled by the software of industrial control computer 1 by sending pulse frequency and direction signals. Shut-off valve 2-1, pressure relief valve 2-2, inlet valve 2-6, drain valve 2-7, main pipeline control valve 2-13, standard pressure gauge control valve 2-14: adopt SMC VX21AGF1 series two-position two normally closed solenoid valves; The coils (DC24V) of each of the above solenoid valves are independently connected to different channels of the digital output module on the industrial computer 1. An Omron MY2N-J relay is connected in series in the control circuit of each solenoid valve for power isolation, and an indicator light is configured for status display. Industrial camera 42: Hikvision MV-CE013-50GC, 1.3 megapixels, global shutter, GigE interface, directly connected to the network port on industrial computer 1 via gigabit network cable. In the software, an image processing program is developed using the Halcon vision library to calculate the normal vector angle between the 36 plane of the sealed end and the plane of the gas cylinder opening in real time. When the angle is greater than the set threshold (such as 0.5°), the attitude adjustment program is triggered. For pressure gauge 21 and standard pressure gauge 23: Xi'an Zhanrui Technology ZR-206 intelligent pressure transmitter is selected, which outputs a 4-20mA signal and covers the test pressure range. Its positive and negative terminals are connected to the "+" and "-" terminals of the analog input module on the industrial control computer 1, respectively, and a 250Ω precision resistor is connected in parallel at the input terminal to convert the current signal into a 1-5V voltage signal for acquisition.

[0047] The electrical control cabinet of the entire system contains: an industrial computer, a 24V switching power supply, a PLC expansion I / O module, a stepper motor driver, a relay group, and protection components. The specific working process of the multi-station gas cylinder water pressure testing machine provided by this invention is as follows: S1. After the software starts, control all first pneumatic cylinders 31, second pneumatic cylinders 51 and third pneumatic cylinders 68 to reset, stepper motor 72 to return to zero, close all water circuit solenoid valves, and check whether the communication of each sensor is normal. S2. Gas cylinder placement: Place the gas cylinder to be tested on the placement platform 50. The industrial control computer 1 controls the extension of the third pneumatic cylinder 68, which pushes the lower end of the clamping rod 64 to move outward, thereby causing the upper end of the clamping rod 64 to move inward, which in turn drives the clamping roller 60 to move inward. By having the three clamping rollers 60 clamp the lower end of the gas cylinder inward at the same time, the gas cylinder is fixed on the placement platform 50. S3. The first pneumatic cylinder 31 extends under the drive of the industrial control computer 1, driving the water injection component 3-1 to move downward until the sealing end 36 is close to the upper side of the gas cylinder opening. The first pneumatic cylinder 31 stops. At this time, the industrial camera 42 detects the parallelism between the lower end face of the sealing end 36 and the upper end face of the gas cylinder opening, and transmits the measured data to the industrial control computer 1. S4. If the industrial control computer 1 determines that the parallelism between the sealing end 36 and the gas cylinder opening meets the requirements (i.e., the two are parallel to each other) based on the detection result of the industrial camera 42, then the industrial control computer 1 controls the stepper motor 72 to drive the screw 73 to rotate, thereby driving the threaded sleeve 70 to move upward until the support part 74 abuts against the lower end face of the placement table 50, and then the stepper motor 72 is turned off. Specifically, the industrial camera 42, the industrial computer 1, and the three-degree-of-freedom motion platform constitute a machine vision-based automatic cylinder posture leveling system, which includes: Image acquisition unit: Industrial camera 42 is used as image acquisition unit. Hikvision MV-CE013-50GC is selected and installed in a fixed position on the rear side of water injection end 35. Its optical axis is at a certain angle (15-30°) with the normal direction of the lower end face of sealing end 36 to ensure that the complete circular area of ​​the upper end face of the gas cylinder can be clearly captured. Lighting unit: A strip LED coaxial light source is installed on the same side or opposite side of the camera to illuminate the end face of the gas cylinder mouth in a low-angle sweeping manner, highlighting its edge contour and surface texture, and reducing ambient light interference; Camera calibration: Manual calibration is required during initial system installation or periodic maintenance. A high-precision standard planar target is used to replace the gas cylinder opening and placed on the platform 50. The target is positioned in multiple different postures by controlling the three-degree-of-freedom motion platform. The camera captures images of the target. Using Halcon's calibration_cameras operator and combined with the platform's known posture change data, the camera's internal parameters (focal length, principal point, distortion coefficient) and external parameters (i.e., the fixed transformation relationship between the camera coordinate system and the sealed end 36 coordinate system) are calculated. Through multi-angle imaging and mathematical solving, the geometric distortion and perspective deviation introduced during camera imaging are stripped away and quantified, thereby obtaining a reliable mathematical model that can invert two-dimensional image information into three-dimensional spatial relationships. This calibration result is the basis for subsequent conversion of image measurements into real spatial angles and displacements. The specific process includes: Step 1, Target Placement and Image Acquisition: A high-precision planar calibration target (whose physical spacing of pattern feature points is precisely known) is securely placed on the placement platform 50. The industrial control computer 1 controls a three-degree-of-freedom motion platform, causing the placement platform 50 to carry the target through a series of known and non-coplanar attitude transformations (rotation around the X and Y axes by ±5° and ±10°, respectively, combined with small-range translations). At each determined platform pose, the industrial camera 42 captures one image of the target. 15-25 images from different perspectives are needed to ensure calibration accuracy. Step 2, parameter solving: The acquired image sequence is imported into machine vision software such as Halcon. The software algorithm automatically identifies the pixel coordinates of all feature points on the target in each image. Combined with the known world coordinates of the target feature points (in the target's own coordinate system) and the transformation data of the target relative to its initial pose fed back by the platform motion controller (i.e., the platform motion introduces known world coordinate changes), the software calls operators such as calibrate_cameras to perform bundle adjustment optimization calculations. Step 3: Calibration results output, calculate the final output of two types of key parameters: Internal parameters describe the camera's inherent optical and geometric characteristics, including focal length, image center (principal point), and coefficients characterizing radial and tangential distortion. These parameters are used to correct the image and eliminate lens-induced distortion. External parameters (pose): Specifically refers to the fixed rotational and translational relationship between the camera coordinate system and the sealing end 36 coordinate system (i.e., the "tool coordinate system") under a certain reference pose (usually an initial state where the platform is horizontal and centered). This relationship determines the rigid connection between the physical world "seen" by the camera and the position and orientation of the water injection component 3-1 itself; Step 4: After calibration, the system has a complete measurement chain. When the camera captures an image of the opening of a gas cylinder to be measured: First, the acquired image is corrected for distortion using internal parameters to obtain the coordinates of the distortion-free image. Then, based on the calibrated external parameters (the fixed relationship between the camera and the sealing end 36), combined with the monocular vision measurement principle (the distance can be estimated by the projection size of the gas cylinder opening in the image if the physical size of the gas cylinder opening is known), the algorithm can convert the features such as the gas cylinder opening outline and the center of the circle extracted from the image into the tool coordinate system with the center of the sealing end 36 as the origin. Ultimately, in this tool coordinate system, the spatial angle (i.e., pitch angle α and roll angle β) between the normal vector of the gas cylinder opening plane and the normal vector of the sealing end 36 plane (which is always (0, 0, 1)) can be directly calculated, as well as the possible center offset. These precise spatial attitude deviation data are the direct inputs for driving the three-degree-of-freedom motion platform to perform real-time leveling control.

[0048] The image processing and feature extraction algorithm flow is as follows: After the first pneumatic cylinder 31 drives the water injection component 3-1 to descend to the pre-alignment height and pauses, the visual leveling program starts, and the flow is as follows: Step 1, Image Acquisition and Preprocessing: The camera captures a grayscale image of the gas cylinder opening area. First, Gaussian filtering is performed to suppress noise, and then histogram equalization is used to enhance contrast. Step 2, edge detection and contour extraction: edge detection is performed using the Canny operator, and then the edges_sub_pix subpixel edge extraction operator is applied to obtain an edge point set with higher accuracy than a single pixel; Step 3, circular fitting and plane equation calculation, specifically includes: Step 3.1: From the set of edge points, filter out the points that belong to the outer and inner circles of the upper end face of the gas cylinder opening; Step 3.2: Use the least squares method to fit the sub-pixel contours of the outer and inner circles in the image, and obtain the center pixel coordinates. and radius ; Step 3.3: Since the camera optical axis is not perpendicular to the sealing end 36 plane, the cylinder mouth ring appears as an ellipse in the image. By fitting the ellipse equation, the normal vector of the cylinder mouth plane in the camera coordinate system can be deduced. Step 3.4, let the unit normal vector of the plane containing the cylinder neck ring be in the camera coordinate system as... The vector from the center of the ring to the optical center of the camera is Based on the perspective projection model and the ellipse equation, combined with the calibrated camera intrinsic parameters, a system of equations can be constructed and solved. It can call Halcon's pose_to_plane or vector_to_pose operators to directly calculate the rotation vector describing the plane attitude by matching the known physical size model of the gas cylinder opening with the elliptical contour in the image. Step 4, attitude deviation calculation and motion conversion, specifically includes: Step 4.1, calculate the normal vector of the gas cylinder opening plane. (In the camera coordinate system), using the fixed transformation matrix obtained from calibration, transform to the "tool coordinate system" with the center of the sealed end 36 as the origin, to obtain the normal vector. The normal vector of the plane of the sealing end 36 It is fixed in the tool coordinate system, usually (0, 0, 1); Step 4.2, attitude deviation calculation, specifically includes: Angular deviation: Calculation and The angle between This is the total angle between the two planes; Axial decomposition: The included angle θ is decomposed into tilt angles α and β (i.e., pitch and roll) about the X and Y axes of the tool coordinate system, which can be achieved by projecting the vector difference onto the corresponding axes; Positional Deviation: Simultaneously, from the fitted center image coordinates, combined with depth information (which can be estimated by the ratio of the known cylinder opening size to the image size), the horizontal offset of the cylinder opening center relative to the center of the sealing end 36 can be calculated. ( ) This is used for possible subsequent fine-tuning of the center (in this embodiment, it is mainly corrected indirectly by platform swing). Step 5, the control software in industrial computer 1 receives the attitude deviation. Then, the three-degree-of-freedom motion platform is driven according to the following logic: Inverse kinematics solution: Based on the kinematic model of the platform (the three second pneumatic cylinders 51 are circumferentially equidistant and connected to the slide block 54 at the upper end via ball joints), the attitude angles of the placement platform 50 are established. The required extension / retraction of the three second cylinders The mathematical relationship between them; Closed-loop control: Industrial computer 1 will calculate the target expansion / contraction amount. The signal is sent to the corresponding SMCPF3W701-06F electric proportional valve of each second pneumatic cylinder 51; the proportional valve adjusts the output air pressure according to the input analog voltage signal (0-10V) to drive the cylinder movement; the magnetostrictive displacement sensor built into the cylinder transmits the actual displacement in real time. Feedback is sent back to industrial computer 1; industrial computer 1 uses a digital PID controller to independently control each cylinder: output control quantity = ,in By adjusting the PID parameters, the cylinder can reach the target position quickly, smoothly, and without overshoot. in, This is the proportional gain, with a value between 0.3 and 0.5. For integral gain ( , For integration time, The value ranges from 0.8 to 1.2 seconds. To eliminate steady-state errors and compensate for insufficient stiffness in the aerodynamic system, the initial integration time should be set relatively long to prevent integration saturation. For differential gain ( , For differential time, The value ranges from 0.05 to 0.18 seconds. To suppress overshoot and improve stability, the initial derivative action should be relatively weak, as aerodynamic system noise may be amplified. Iterative Adjustment and Convergence Judgment: After completing one round of platform adjustment, the vision system immediately captures images again and calculates the new pose deviation. If its absolute value is still greater than the set threshold (the threshold is 0.3° in this embodiment), the above calculation and control process is repeated. This iterative cycle can usually converge within 2-4 cycles, so that the final parallelism error is less than 0.1°. After the requirement is met, the industrial control computer 1 locks the platform posture and sends a command to drive the stepper motor 72 to raise and tighten the support part 74, providing a stable support for subsequent high-pressure sealing. Step 6: In Halcon's software module, the above image processing, coordinate calculation, and deviation solving processes are encapsulated; robustness processing is added, and the RANSAC algorithm is used for circle fitting to eliminate abnormal edge points caused by water droplets, reflections, or stains; a region of interest (ROI) is set to reduce the amount of computation; moving average filtering is applied to the results of multiple consecutive measurements to suppress accidental jitter; a visual debugging interface is provided to display the camera image, extracted edge contours, fitted ellipses, calculated angle deviations, and displacement curves of each cylinder on the platform in real time, facilitating equipment debugging and fault diagnosis.

[0049] S5. The industrial control computer 1 controls the first pneumatic cylinder 31 to continue to extend until the sealing end 36 is tightly abutted against the gas cylinder opening. The first pneumatic cylinder 31 stops, and the sealing ring 38 undergoes elastic deformation to ensure the sealing between the sealing end 36 and the gas cylinder opening. S6. If the industrial control computer 1 determines, based on the detection results of the industrial camera 42, that the parallelism between the sealing end 36 and the gas cylinder opening does not meet the requirements (i.e., the two are not parallel), then the industrial control computer 1 controls the three second pneumatic cylinders 51 to extend and retract independently, thereby controlling the placement platform 50 to swing and adjust the posture of the gas cylinder. At the same time, the industrial camera 42 continuously detects the parallelism between the gas cylinder opening and the sealing end 36 until the sealing end 36 and the gas cylinder opening are parallel to each other. Then the three second pneumatic cylinders 51 stop synchronously, and the industrial control computer 1 controls the stepper motor 72 to drive the support part 74 to move upward until it abuts against the lower end face of the placement platform 50. Then the stepper motor 72 is turned off, and then step S4 is repeated. S7. Pressurization device 2-5 working status detection: Industrial control computer 1 controls the inlet valve 2-6 to open, controls the drain valve 2-7 and the main pipeline control valve 2-13 to close, and simultaneously controls the pressurization device 2-5 to start, thereby inputting the water in the experimental water tank 2-4 into the main water supply pipeline 2-8. At this time, the pressure of the pressurization device 2-5 can be measured by the pre-pressure gauge 2-3 to detect whether the pressurization device 2-5 is working normally. If the pressure value displayed by the pre-pressure gauge 2-3 is consistent with the set pressure of the pressurization device 2-5, it indicates that the pressurization device 2-5 is working normally. S8. Single gas cylinder inspection; S8.1 In this embodiment, the multiple test devices 3 are divided into position 1, position 2, position 3, ... according to the replacement value; The gas cylinder to be tested is placed in position 1. The industrial control computer 1 controls the shut-off valve 2-1 connected to the test device 3 in position 1 to open, and the shut-off valves 2-1 connected to the test devices 3 in other positions are controlled to close by the industrial control computer 1. Open the main pipeline control valve 2-13 and the standard pressure gauge control valve 2-14, close the pressure relief valve 2-2, start the pressurization device 2-5, and inject water into the gas cylinder through the main water supply pipeline 2-8 and the branch pipeline 2-11 connected to the No. 1 test device 3. S8.2. The pressure gauge 21 connected to the first-position test device 3 measures the water pressure inside the gas cylinder until the water pressure inside the gas cylinder reaches 1.5 times its nominal working pressure. At this time, observe whether the pressure value of the pressure gauge 21 is consistent with the pressure value of the standard pressure gauge 23. This is used to calibrate the pressure value of the pressure gauge 21 to ensure that the pressure value measured by the pressure gauge 21 is accurate. Then, close the shut-off valve 2-1, the main pipeline control valve 2-13, and the pressurization device 2-5 to realize the pressure holding test of the gas cylinder. The pressure value measured by the pressure gauge 21 is transmitted to the industrial control computer 1. The industrial control computer 1 plots and displays the pressure change curve of the pressure gauge 21. The operator can use the pressure change curve to know the sealing performance and strength of the gas cylinder under test. Specifically: If the sealing and strength of the gas cylinder under test meet the standards, then during the pressure holding stage, the pressure change inside the gas cylinder will be almost constant, and the pressure change curve will be 0. If the sealing and strength of the gas cylinder under test do not meet the standards, the pressure inside the gas cylinder will gradually decrease during the pressure holding stage, and the slope of the pressure change curve will be negative. S8.3 After the test is completed, open the pressure relief valve 2-2, and the test water in the branch pipe 2-11 will be discharged through the pressure relief valve 2-2, so that the water pressure in the gas cylinder will return to normal value, so that the operator can remove the gas cylinder from the test device 3 at position 1. S9, simultaneous testing of multiple gas cylinders; S9.1 After multiple gas cylinders to be tested are placed on multiple testing devices 3 and fixed, the industrial control computer 1 controls multiple water injection components 3-1 to abut against the openings of multiple gas cylinders to be tested respectively. S9.2 The industrial control computer 1 controls the opening of multiple shut-off valves 2-1, main pipeline control valve 2-13 and standard pressure gauge control valve 2-14 connected to the gas cylinders, closes multiple pressure relief valves 2-2, and after the pressurization device 2-5 is started, the experimental water is injected into multiple gas cylinders. The pressure values ​​of the test pressure gauge 21 and the standard pressure gauge 23 are observed to be consistent, so as to calibrate the pressure values ​​of multiple test pressure gauges 21. S9.3 After the pressure value of the pressure gauge 21 to be tested is consistent with the standard pressure gauge 23, and the pressure value in the gas cylinder reaches 1.5 times the nominal working pressure, the main pipeline control valve 2-13 is closed, and a pressure holding test is performed on multiple gas cylinders to be tested. At this time, the pressure value in the pipeline measured by the standard pressure gauge 23 is the pressure value of each of the multiple gas cylinders to be tested. The standard pressure gauge 23 transmits the measured pressure value to the industrial control computer 1 and plots the pressure change curve on it. S10. After the gas cylinder test is completed, the industrial control computer 1 controls the first air cylinder 31 to retract, driving the water injection component 3-1 to move upward and reset. The industrial control computer 1 controls the three second air cylinders 51 to reset. At the same time, the industrial control computer 1 drives the third air cylinder 68 to shorten, causing the three clamping rollers 60 to move outward and reset, so that the gas cylinder can be removed from the placement platform 50. After the gas cylinder is removed, the industrial control computer 1 drives the stepper motor 72 to reverse, and the threaded sleeve 70 moves downward to the initial position.

[0050] It should be noted that the above description of the system and its modules is for convenience only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principles of this system, may arbitrarily combine the various modules without departing from these principles to form subsystems connected to other modules. Alternatively, some modules may be split to obtain more modules or multiple units under a single module. Such modifications are all within the scope of this specification.

[0051] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: 1. The water injection component is driven to rise and fall by the first pneumatic cylinder, so that the water injection component can quickly approach the gas cylinder mouth, improving the detection efficiency. When the sealing end abuts against the gas cylinder mouth, the setting of the sealing ring ensures the sealing performance between the sealing end and the gas cylinder mouth; 2. The industrial camera can detect the parallelism between the sealing end and the gas cylinder mouth when the sealing end approaches the gas cylinder mouth. If the gas cylinder mouth and the sealing end are not parallel, the industrial control computer adjusts the posture of the gas cylinder in time according to the data detected by the industrial camera, thereby ensuring that the gas cylinder mouth and the sealing end remain parallel, thus ensuring that the force is uniform when the sealing end abuts against the gas cylinder mouth, and ensuring the sealing performance between the two; 3. After the gas cylinder posture adjustment component completes the gas cylinder posture adjustment, the stepper motor drives the support part to abut against the lower end of the placement platform, thereby increasing the support force of the placement platform, ensuring that the gas cylinder remains stable when the sealing end abuts against the gas cylinder mouth, and further ensuring the sealing performance when the sealing end abuts against the gas cylinder mouth. 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.

[0052] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. A multi-station gas cylinder water pressure testing machine, characterized in that, include: Industrial control computer (1); A frame (2) is set on one side of an industrial computer (1). A standard pressure gauge (23) and multiple equally spaced detection pressure gauges (21) are fixed on the frame (2). The test device (3) is provided in multiple parts and is installed on the frame (2). The test device (3) includes a mounting frame, a water injection component (3-1), a gas cylinder attitude adjustment component and an industrial camera (42). The water injection component (3-1) is driven to lift and lower by a first pneumatic cylinder (31) fixed on the mounting frame. The pressure gauge (21) is connected between the water injection component (3-1) and the water supply pipeline. The lower end of the water injection component (3-1) can abut against the gas cylinder opening and inject water into the gas cylinder. The pressure inside the gas cylinder is detected by the pressure gauge (21). The gas cylinder attitude adjustment component is mounted on the mounting frame. The gas cylinder attitude adjustment component includes a gas cylinder fixing mechanism and a three-degree-of-freedom motion platform. The three-degree-of-freedom motion platform is mounted on the mounting frame. The gas cylinder fixing mechanism clamps and fixes the gas cylinder to the three-degree-of-freedom motion platform, so that the gas cylinder can move with the three-degree-of-freedom motion platform. The industrial camera (42) is used to detect the parallelism between the gas cylinder opening and the water injection component (3-1) and transmit the detection data to the industrial computer (1). The industrial computer (1) drives the gas cylinder posture adjustment component to make the gas cylinder opening parallel to the water injection component (3-1), and the three-degree-of-freedom motion platform can drive the gas cylinder to rise and fall, so that the testing device (3) can be used to detect gas cylinders at different heights.

2. The multi-station gas cylinder water pressure testing machine according to claim 1, characterized in that, The water injection assembly (3-1) includes a water injection end (35), a sealing end (36), a connecting pipe (39), and a water injection pipe (37). The water injection end (35) is fixed to the lower end of the piston rod of the first pneumatic cylinder (31). The lower end face of the water injection end (35) has an upwardly recessed water collection cavity (351). The sealing end (36) is fixed to the lower end of the water injection end (35) to block the opening of the water collection cavity (351). The water injection pipe (37) is fixed inside the sealing end (36) and communicates with the water collection cavity (351). The connecting pipe (39) is fixed on the outer periphery of the water injection end (35) and communicates with the water collection cavity (351). The connecting pipe (39) is connected to the water supply pipeline. The industrial camera (42) is used to detect the parallelism between the gas cylinder mouth and the lower end face of the sealing end (36).

3. The multi-station gas cylinder water pressure testing machine according to claim 2, characterized in that, The mounting frame includes a top plate (30), a fixing plate (33) and a bottom plate (34). The fixing plate (33) is disposed between the top plate (30) and the bottom plate (34). Four fixing rods (32) arranged in a rectangular array and passing through the fixing plate (33) are fixed between the top plate (30) and the bottom plate (34). The fixing plate (33) and the fixing rods (32) are fixedly connected.

4. The multi-station gas cylinder water pressure testing machine according to claim 3, characterized in that, The first pneumatic cylinder (31) is fixed to the upper end face of the top plate (30) and its piston rod passes through the top plate (30) downward. A sealing ring (38) is fixed on the lower end face of the sealing end (36) and surrounds the water injection pipe (37). When the sealing end (36) abuts against the end face of the gas cylinder, the water injection pipe (37) extends into the gas cylinder. The sealing ring (38) undergoes elastic deformation under the pressure of the sealing end (36) and the end face of the gas cylinder.

5. A multi-station gas cylinder water pressure testing machine according to claim 2, characterized in that, The industrial camera (42) is located behind the water injection end (35) and directly opposite the sealing end (36). A fixing ring (43) is fixed on the upper end of the water injection end (35). Two connecting rods (41) are fixed on the outer periphery of the fixing ring (43). A fixing frame (40) is fixed on the industrial camera (42). The fixing frame (40) is fixedly connected to the two connecting rods (41).

6. A multi-station gas cylinder water pressure testing machine according to claim 3, characterized in that, The three-degree-of-freedom motion platform includes a placement platform (50), a slide bar seat (54), and a second pneumatic cylinder (51). The placement platform (50) is located on the upper side of the fixed plate (33). There are three slide bar seats (54) that are equidistantly distributed around the circumference. The slide bar seats (54) are fixed to the lower end surface of the placement platform (50). A slide bar (52) is provided inside the slide bar seat (54). The slide bar (52) can slide along its axis and can rotate around its axis. There are three second pneumatic cylinders (51) that correspond to the slide bar seats (54). The second pneumatic cylinders (51) are fixed between the fixed plate (33) and the base plate (34). The upper end of the piston rod of the second pneumatic cylinder (51) is fixed with a first hinge seat (53). The first hinge seat (53) is hinged to the end of the slide bar (52).

7. A multi-station gas cylinder water pressure testing machine according to claim 6, characterized in that, The slide rod seat (54) has a sealing cavity (56) inside. The sealing cavity (56) is opened at one end near the adjacent second pneumatic cylinder (51). A sealing plate (57) for sealing the sealing cavity (56) is fixed on the side end face of the slide rod seat (54) near the adjacent second pneumatic cylinder (51). The slide rod (52) passes through the sealing plate (57) and is slidably connected to it. A piston (55) that is slidably connected to the sealing cavity (56) is fixed at the end of the slide rod (52) away from the first hinge seat (53). The internal space of the sealing cavity (56) is in a sealed state.

8. A multi-station gas cylinder water pressure testing machine according to claim 6, characterized in that, The gas cylinder fixing mechanism includes three circumferentially evenly distributed clamping components. Each clamping component includes a clamping rod (60), a roller seat (61), a clamping bar (64), and a third pneumatic cylinder (68). The clamping rod (60) is fixed to the roller seat (61), and the roller seat (61) is fixed to the upper end of the clamping bar (64). Three second hinge seats (63) corresponding to the clamping bar (64) are fixed on the outer periphery of the placement platform (50). The second hinge seats (63) are connected to the clamping bar (64). The middle part of the rod (64) is hinged. Three third pneumatic cylinders (68) are provided and fixed on the lower end surface of the placement platform (50). One end of the piston rod of the third pneumatic cylinder (68) is fixed with a pull rod (62), and the other end of the pull rod (62) is fixed with a pin (66). The lower end of the clamping rod (64) is provided with a sliding groove (67) located on the lower side of the second hinge seat (63) and arranged along its length. The pin (66) slides in the sliding groove (67).

9. A multi-station gas cylinder water pressure testing machine according to claim 8, characterized in that, The diameter of the clamp (60) gradually increases from the middle to both ends, so that the cross section of its outer periphery in the axial direction is arc-shaped.

10. A multi-station gas cylinder water pressure testing machine according to claim 6, characterized in that, A motor mount (71) is fixed on the base plate (34), and a stepper motor (72) is fixed inside the motor mount (71). A screw (73) that passes through the motor mount (71) upward is fixed at the upper end of the output shaft of the motor mount (71). The screw (73) is rotatably connected to the motor mount (71). A threaded sleeve (70) is threaded on the screw (73). The threaded sleeve (70) passes through the fixing plate (33) upward and is slidably connected to it. A hemispherical support part (74) is fixed at the upper end of the threaded sleeve (70). The support part (74) can abut against the lower end face of the placement platform (50).

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