Manipulator grabbing type air tightness detection device

Abstract

The utility model relates to the field of air tightness detection, and particularly discloses a mechanical hand grabbing type air tightness detection device. According to the air tightness detection device, a conveying device is used as a conveying device for conveying an object to be detected, an electric control manipulator is used as a device for holding and pressing and / or grabbing the object to be detected, an air pressure acquisition device is used as an internal air pressure acquisition device of the object to be detected, and a control module is used as a control center hub, the conveying device, the electric control mechanical arm and the air pressure collecting device are all electrically connected with the control module. According to the utility model, errors and uncertainty caused by manual operation can be reduced, so that the detection accuracy and efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the field of device air tightness detection, in particular to a mechanical hand-grasping type air tightness detection device. Background Art

[0002] In experiments, production, operations and other activities, the air tightness of certain devices must meet specified requirements in order to be used normally, otherwise accidents may occur. For example, tires are components that bear important pressure and load during vehicle driving, and their air tightness is crucial to the safety and performance of the vehicle. If the tire is leaking or has poor air tightness, it will cause problems such as decreased tire pressure, loss of tire stability, increased fuel consumption, and in severe cases, it may cause accidents such as tire blowouts. Therefore, it is necessary to test the air tightness of these devices to ensure the safety of experiments, production, operations and other activities.

[0003] The traditional device air tightness detection method mainly relies on manual operation, and the air tightness results are obtained by hand feeling, such as air tightness detection of gas collecting bottles and tires. Obviously, this method has problems such as strong subjectivity, inaccurate detection, and low efficiency. In order to solve these problems and improve the accuracy and efficiency of air tightness detection, it is of great significance to develop a device air tightness detection system or device based on automatic control technology.

[0004] However, there are no complete, large-scale devices for detecting air leaks on the market today. Manufacturers basically adopt the most primitive detection solutions, which consumes a lot of manpower and material resources and makes it difficult to meet the requirements for air tightness detection in production and operations. Utility Model Content

[0005] The utility model aims to overcome the defects of the prior art and provides a mechanical hand-grasping airtightness detection device with intelligent characteristics.

[0006] The utility model provides a mechanical hand-grasping air tightness detection device, and its technical solution is as follows:

[0007] A mechanical hand-grasping airtightness detection device, the airtightness detection device comprising:

[0008] A conveying device, configured to convey the object to be tested to a specified location;

[0009] An electrically controlled manipulator is configured to grasp and / or hold the object to be tested after the object to be tested is transferred to a designated position;

[0010] An air pressure collection device is configured to obtain internal air pressure change information of the object to be tested when the electric-controlled manipulator grasps and / or presses the object to be tested;

[0011] The control module is configured to call the conveying device to convey the object to be tested to a designated position according to the received operation instruction, and then call the electric-controlled manipulator to hold and press the object to be tested until the internal air pressure of the object to be tested reaches a predetermined range and then stops holding and pressing, and then compares the obtained internal air pressure stability value of the object to be tested with the standard requirements, and when the object does not meet the standard requirements, calls the electric-controlled manipulator to grab the object to be tested for rejection, and controls the conveying device to reset; when the object meets the standard requirements, controls the electric-controlled manipulator to release the object to be tested, and controls the conveying device to send the object to be tested back;

[0012] in,

[0013] The conveying device, the electric-controlled manipulator, and the air pressure collection device are all electrically connected to the control module.

[0014] The air tightness detection device provided by the utility model is provided with a conveying device, an electric-controlled manipulator, an air pressure collection device and a control module, so that the conveying device is used to convey the object to be tested to a specified position, the electric-controlled manipulator is used to hold and press the object to be tested, and then the air pressure collection device collects the internal air pressure of the object to be tested and transmits it to the control module. The control module performs a series of operations on the conveying device and the electric-controlled manipulator according to the obtained internal air pressure value information to complete the air tightness detection of the object to be tested.

[0015] Compared with the prior art, the airtightness detection device provided by the utility model has at least the following beneficial effects:

[0016] First of all, the airtightness detection device is based on advanced control technology. By setting up a control module and an air pressure collection device, the air pressure collection device transmits internal pressure information about the object to be tested to the control module, and realizes the control module to reasonably call the conveying device and the electric-controlled manipulator to obtain the airtightness detection result of the object to be tested, thereby improving the accuracy and efficiency of the detection and reducing the errors and uncertainties of human operation.

[0017] Secondly, the real-time data of the internal air pressure of the object to be tested is collected by the air pressure collection device and compared with the set standard in the control module to ensure the accuracy of the tire air tightness test results.

[0018] Finally, a combination of a control module and an electric-controlled manipulator is used to automatically remove objects that fail to meet airtightness standards, reducing the workload and cost of manual operations, reducing the influx of unqualified products, and alleviating the troubles of subsequent processing.

[0019] Preferably, the conveying device comprises:

[0020] A belt conveying mechanism, used for placing the object to be tested so as to convey the object to be tested;

[0021] A first driving motor, used for driving the belt conveying mechanism to operate according to a corresponding calling instruction issued by the control module;

[0022] in,

[0023] The first drive motor is electrically connected to the control module;

[0024] This can ensure the accurate transmission of the object to be tested during the air tightness testing process, achieve controllable position of the object to be tested, and provide guarantee for the subsequent normal operation of the internal air pressure collection of the object to be tested.

[0025] Preferably, the belt transmission mechanism includes a driving gear set, a driven gear set and a conveyor belt provided with a tooth structure, the driving gear set is connected to the driving shaft of the first drive motor, and the driving gear set, the driven gear set and the conveyor belt are meshed with each other to form a gear transmission structure, thereby ensuring accurate transmission and saving energy.

[0026] Preferably, the airtightness detection device further comprises a base for placing the electric-controlled manipulator to provide support for the electric-controlled manipulator.

[0027] Preferably, the electric-controlled manipulator includes a manipulator and a second drive motor for driving the manipulator to rotate along a horizontal plane, the second drive motor is electrically connected to the control module, a mounting position is provided inside the base, the second drive motor is placed at the mounting position, a through hole is provided on the top of the mounting position and extends outward along the output shaft of the second drive motor, the bottom of the manipulator passes through the through hole and is connected to the output shaft of the second drive motor; thereby, the rotation drive of the manipulator can be ensured, and the rotation angle can be controlled.

[0028] Preferably, the manipulator includes a bottom arm, a first rotation drive joint, a middle arm, a second rotation drive joint, an upper arm, a third rotation drive joint and a hand, the bottom arm is rotatably connected to the through hole, the bottom end of the bottom arm passes through the through hole and is connected to the output shaft of the second drive motor, the first rotation drive joint is fixedly connected to the top end of the bottom arm, one end of the middle arm is fixedly connected to the output end of the first rotation drive joint, the second rotation drive joint is fixedly connected to the other end of the middle arm, one end of the upper arm is fixedly connected to the output end of the second rotation drive joint, the third rotation drive joint is fixedly connected to the other end of the upper arm, the hand is fixedly connected to the output end of the third rotation drive joint, the first rotation drive joint, the second rotation drive joint and the third rotation drive joint are all electrically connected to the control module; thereby, the rotation or bending of the manipulator can be controlled to ensure that the manipulator can touch the object to be measured.

[0029] Preferably, the hand includes a wrist, at least two mechanical fingers arranged on the wrist and a driving device for respectively driving the movement of each of the mechanical fingers; the wrist is fixedly connected to the output end of the third rotation drive joint, and the driving device is electrically connected to the control module; thereby ensuring that when the manipulator touches the object to be tested, the hand can grasp and / or press the object to be tested, and also ensuring the collection of the internal air pressure of the object to be tested to a certain extent.

[0030] Preferably, the air pressure collection device includes an analog-to-digital converter and the same number of pressure sensors as the mechanical fingers, one of the pressure sensors is installed on one of the mechanical fingers, each of the pressure sensors is electrically connected to the analog-to-digital converter, and the analog-to-digital converter is electrically connected to the control module; thereby, when the hand of the electric-controlled manipulator grips the object to be tested, the air pressure at multiple distribution points of the object to be tested can be collected in all directions to obtain the internal air pressure change information of the object to be tested. At the same time, the combination of pressure sensor and analog-to-digital converter is used to collect air pressure, which improves the accuracy and reliability of air tightness detection.

[0031] Preferably, the control module includes:

[0032] A touch screen display, provided with touch buttons, for the user to set control instructions and check the internal air pressure information output by the air pressure collection device;

[0033] The data processor is configured to determine whether the current internal air pressure of the object to be tested reaches a specified range based on the internal air pressure change information output by the air pressure acquisition device, and issue a pressure stop instruction after the internal air pressure reaches the specified range. After the pressure stop instruction is issued, a stable internal air pressure value of the object to be tested is obtained, and the obtained stable internal air pressure value is compared with the standard requirement. When the standard requirement is not met, a rejection instruction is issued to call the electric-controlled manipulator to grab the object to be tested for rejection and to reset the conveying device; when the standard requirement is met, a reasonable reset instruction is issued to call the electric-controlled manipulator to release the object to be tested and to let the conveying device return the object to be tested; and then, a retraction instruction and a reset instruction for the electric-controlled manipulator are issued respectively according to the detection situation.

[0034] A digital-to-analog converter is configured to convert the pressure-stopping instruction into an analog signal of the pressure-stopping instruction, convert the rejection instruction into an analog signal of the rejection instruction, convert the reasonable reset instruction into an analog signal of the reasonable reset instruction, and convert the retraction instruction and the reset instruction of the electric-controlled manipulator into an analog signal of the retraction instruction and an analog signal of the reset instruction respectively;

[0035] The driving circuit is configured to respectively execute the control instructions set by the user and output by the touch display screen to sequentially drive the conveying device to operate and drive the electric-controlled manipulator to grip and press the object to be measured, control the electric-controlled manipulator to stop gripping and pressing according to the analog signal of the stop-pressing instruction, control the electric-controlled manipulator to reject the object to be measured and control the conveying device to reset according to the analog signal of the rejection instruction, control the conveying device to reset according to the analog signal of the reasonable reset instruction, and control the electric-controlled manipulator to retract and reset according to the retraction analog signal and the reset analog signal;

[0036] in,

[0037] The touch display screen is electrically connected to the analog-to-digital converter, and the drive circuit is electrically connected to the first drive motor, the second drive motor, the first rotation drive joint, the second rotation drive joint, the third rotation drive joint, and the drive device;

[0038] This can realize intelligent detection of the airtightness of the object to be tested. In addition, the touch screen has an operation interface, which is convenient for users to operate and monitor, improves the convenience of operation, and users can intuitively understand the detection status of the object to be tested, and process and record it in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a front view of a mechanical hand-grasping air tightness detection device in an embodiment of the utility model;

[0040] Figure 2 It is a side view of a mechanical hand-grasping air tightness detection device in an embodiment of the utility model;

[0041] Figure 3 A top view of a mechanical hand-grasping air tightness detection device in an embodiment of the utility model;

[0042] Figure 4 This is a schematic diagram of a first driving motor driving a driving gear set in an embodiment of the utility model;

[0043] Figure 5 This is a circuit connection diagram in an embodiment of the utility model;

[0044] Figure 6 An internal driving circuit diagram of a pressure sensor used in an embodiment of the utility model;

[0045] Figure 7 This is a schematic diagram of the second driving motor driving the manipulator to rotate in the embodiment of the utility model;

[0046] Figure 8It is the internal operating program of the data processor in the embodiment of the utility model.

[0047] Among them, the numbers marked in the figure represent respectively; 1. conveying device; 11. belt conveying mechanism; 111. driving gear set; 112. driven gear set; 113. conveyor belt; 12. first drive motor; 2. electric-controlled manipulator; 21. second drive motor; 22. manipulator; 221. bottom arm; 222. first rotation drive joint; 223. middle arm; 224. second rotation drive joint; 225. upper arm; 226. third rotation drive joint; 227. hand; 2271. wrist; 2272. mechanical finger; 2273. driving device; 3. air pressure collection device; 31. pressure sensor; 32. analog-to-digital converter; 4. control module; 41. touch screen; 42. data processor; 43. digital-to-analog converter; 44. driving circuit; 5. base; 51. through hole. DETAILED DESCRIPTION

[0048] An embodiment will be used below, and the technical solution of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention.

[0049] This embodiment provides a mechanical hand-grasping airtightness detection device, which includes:

[0050] A conveying device 1 is configured to convey the object to be tested to a specified position;

[0051] The electric-controlled manipulator 2 is configured to grasp and / or hold the object to be tested after the object to be tested is transferred to a designated position;

[0052] The air pressure collection device 3 is configured to obtain the internal air pressure change information of the object to be tested when the electric-controlled manipulator 2 grabs and / or holds and presses the object to be tested;

[0053] The control module 4 is configured to call the conveying device 1 to convey the object to be tested to a specified position according to the received operation instruction, and then call the electric-controlled manipulator 2 to hold and press the object to be tested until the internal air pressure of the object to be tested reaches a predetermined range and then stop holding and pressing, and then compare the obtained internal air pressure stability value of the object to be tested with the standard requirements, and when the standard requirements are not met, call the electric-controlled manipulator 2 to grab the object to be tested for rejection, and control the conveying device 1 to reset; when the standard requirements are met, control the electric-controlled manipulator 2 to release the object to be tested, and control the conveying device 1 to send the object to be tested back;

[0054] in,

[0055] The conveying device 1 , the electric-controlled manipulator 2 , and the air pressure collection device 3 are all electrically connected to the control module 4 .

[0056] As an implementation mode, in this embodiment, the transmission device 1 includes:

[0057] The belt conveying mechanism 11 is used to place the object to be tested so as to convey the object to be tested;

[0058] The first driving motor 12 is used to drive the belt conveying mechanism 11 to operate according to the corresponding call instruction issued by the control module 4;

[0059] in,

[0060] The first drive motor 12 is electrically connected to the control module 4 . As an implementation manner, the first drive motor 12 is a stepper motor.

[0061] Specifically, the belt conveying mechanism 11 includes a driving gear set 111, a driven gear set 112 and a conveyor belt 113 with a tooth structure. The driving gear set 111 is connected to the driving shaft of the first driving motor 12, and the driving gear set 111, the driven gear set 112 and the conveyor belt 113 are meshed to form a gear transmission structure.

[0062] As an implementation mode, in this embodiment, the airtightness detection device further includes a base 5 for placing the electric-controlled manipulator 2. Figure 1-3 As shown, the base 5 used in this embodiment is composed of at least two H-shaped brackets connected by keys, so that not only the electric-controlled manipulator 2 but also the belt conveyor mechanism 11 can be placed, reducing the occupied space.

[0063] As an implementation mode, in this embodiment, the electric-controlled manipulator 2 includes a manipulator 22 and a second drive motor 21 for driving the manipulator 22 to rotate along a horizontal plane. The second drive motor 21 is electrically connected to the control module 4, and a mounting position is provided inside the base 5, and the second drive motor 21 is placed at the mounting position. Moreover, a through hole 51 is provided at the top of the mounting position and passes through the output shaft of the second drive motor 21 to the outside. The bottom of the manipulator 22 passes through the through hole 51 and is connected to the output shaft of the second drive motor 21.

[0064] Furthermore, in the present embodiment, the manipulator 22 includes a bottom arm 221, a first rotation drive joint 222, a middle arm 223, a second rotation drive joint 224, an upper arm 225, a third rotation drive joint 226 and a hand 227, wherein the bottom arm 221 is rotationally connected to the through hole 51, and the bottom end of the bottom arm 221 passes through the through hole 51 and is connected to the output shaft of the second drive motor 21, the first rotation drive joint 222 is fixedly connected to the top end of the bottom arm 221, one end of the middle arm 223 is fixedly connected to the output end of the first rotation drive joint 222, the second rotation drive joint 224 is fixedly connected to the other end of the middle arm 223, one end of the upper arm 225 is fixedly connected to the output end of the second rotation drive joint 224, the third rotation drive joint 226 is fixedly connected to the other end of the upper arm 225, the hand 227 is fixedly connected to the output end of the third rotation drive joint 226, and the first rotation drive joint 222, the second rotation drive joint 224 and the third rotation drive joint 226 are all electrically connected to the control module 4.

[0065] In this embodiment, the second drive motor 21, the first rotation drive joint 222, the second rotation drive joint 224, and the third rotation drive joint 226 can all use motors, such as stepper motors, so as to respectively adjust the overall rotation angle of the electric-controlled manipulator 2, the angle between the bottom arm 221 and the middle arm 223, the angle between the middle arm 223 and the upper arm 225, and the angle between the upper arm 225 and the hand 227 as a whole, while also achieving adjustable control.

[0066] The hand 227 includes a wrist 2271, at least two mechanical fingers 2272 arranged on the wrist 2271 and a driving device 2373 for driving each mechanical finger 2272 to move. The wrist 2271 is fixedly connected to the output end of the third rotation driving joint 226, and the driving device 2373 is electrically connected to the control module 4.

[0067] like Figure 1 As shown, the number of mechanical fingers 2272 used in the manipulator 22 of this embodiment is two, which can be symmetrically arranged. Each mechanical finger 2272 is composed of two finger arms, and the driving device 2373 is composed of two pairs of rotating drive joints. In each pair of rotating drive joints, one is used to connect the wrist 2271 and the mechanical finger 2272 to drive the mechanical finger 2272 to rotate as a whole; the other is used to connect the two finger arms of the mechanical finger 2272 to adjust the angle between the two finger arms. As for these rotating drive joints, they can be stepper motors.

[0068] As an implementation mode, in this embodiment, the air pressure collection device 3 includes an analog-to-digital converter 32 and the same number of pressure sensors 31 as the mechanical fingers 2272, wherein one pressure sensor 31 is installed on one mechanical finger 2272), each pressure sensor 31 is electrically connected to the analog-to-digital converter 32, and the analog-to-digital converter 32 is electrically connected to the control module 4. The internal driving circuit diagram of the pressure sensor 31 used in this embodiment is as shown in FIG. Figure 6 shown.

[0069] As an implementation mode, in this embodiment, the control module 4 includes:

[0070] The touch screen 41 is provided with touch buttons for the user to set control instructions and check the internal air pressure information output by the air pressure collection device 3;

[0071] The data processor 42 is configured to determine whether the current internal air pressure of the object to be tested reaches a specified range based on the internal air pressure change information output by the air pressure acquisition device 3, and issue a pressure stop command after the internal air pressure reaches the specified range. After the pressure stop command is issued, the internal air pressure stability value of the object to be tested is obtained, and the obtained internal air pressure stability value is compared with the standard requirements. When the standard requirements are not met, a rejection command is issued to call the electric-controlled manipulator 2 to grab the object to be tested for rejection and to reset the conveying device 1; when the standard requirements are met, a reasonable reset command is issued to call the electric-controlled manipulator 2 to release the object to be tested and to let the conveying device 1 return the object to be tested; and then, a retraction command and a reset command for the electric-controlled manipulator 2 are issued according to the detection situation.

[0072] The digital-to-analog converter 43 is configured to convert the pressure-off instruction into an analog signal of the pressure-off instruction, convert the rejection instruction into an analog signal of the rejection instruction, convert the reasonable reset instruction into an analog signal of the reasonable reset instruction, and convert the retraction instruction and the reset instruction of the electric-controlled manipulator 2 into an analog signal of the retraction instruction and an analog signal of the reset instruction respectively;

[0073] The driving circuit 44 is configured to respectively execute the control instructions set by the user and outputted from the touch screen 41 to sequentially drive the conveying device 1 to operate and drive the electric-controlled manipulator 2 to grip and press the object to be tested, control the electric-controlled manipulator 2 to stop gripping and pressing according to the analog signal of the stop-pressing instruction, control the electric-controlled manipulator 2 to reject the object to be tested and control the conveying device 1 to reset according to the analog signal of the rejection instruction, control the conveying device 1 to reset according to the analog signal of the reasonable reset instruction, and control the electric-controlled manipulator 2 to retract and reset according to the retraction analog signal and the reset analog signal;

[0074] in,

[0075] The touch display screen 41 is electrically connected to the analog-to-digital converter 32 , the drive circuit 44 is electrically connected to the first drive motor 12 , the second drive motor 21 , the first rotation drive joint 222 , the second rotation drive joint 224 , the third rotation drive joint 226 , and the drive device 2373 , and the touch display screen 41 can be installed on the base 5 .

[0076] The electrical connection method between the drive circuit 44 and the first drive motor 12, the second drive motor 21, the first rotation drive joint 222, the second rotation drive joint 224, the third rotation drive joint 226, and the drive device 2373 can be set according to the characteristics of the motor used and the actual control requirements. Either series connection or parallel connection can be used. Of course, a combination of partial series connection and partial parallel connection can also be used.

[0077] When the object to be tested is placed on the conveyor belt 113 and the user sets the control instruction on the touch screen 41, the drive circuit 44 controls the first drive motor 12 to rotate a predetermined angle so that the conveyor belt 113 transports the object to be tested (such as a tire, a gas collecting bottle, etc.) to a designated position. After the rotation of the first drive motor 12 is paused, the drive circuit 44 drives the second drive motor 21, the first rotary drive joint 222, the second rotary drive joint 224, the third rotary drive joint 226, and the drive device 2373 respectively to make the electric-controlled manipulator 2 grip and press the object to be tested. At this time, the pressure sensors 31 on the mechanical fingers 2272 of the electric-controlled manipulator 2 collect the internal air pressure value of the object to be tested, and transmit it to the analog-to-digital converter 32 in the form of an electrical signal, which is converted into a digital signal by the analog-to-digital converter 32 and sent to the touch screen 41 and the data processor 42.

[0078] The data processor 42 in this embodiment adopts a Mitsubishi FX2N data processor, and its operating program is set as follows: Figure 8First, when the internal air pressure value information output by the analog-to-digital converter 32 is received by the data processor 42, the data processor 42 determines whether the current internal air pressure of the object to be tested has reached the specified range, and issues a pressure stop command when the internal air pressure reaches the specified range; subsequently, the issuance of the pressure stop command will cause the electric-controlled manipulator 2 to stop gripping the object to be tested. At this time, the electric-controlled manipulator 2 still holds the object to be tested. After a period of time, the internal air pressure of the object to be tested will reach equilibrium, and the data processor 42 will obtain the internal air pressure stability value of the object to be tested, compare the obtained internal air pressure stability value with the standard requirements, and issue a pressure stop command when it does not meet the standard requirements. A rejection instruction is issued; a reasonable reset instruction is issued when the standard requirements are met; finally, after the rejection instruction or the reasonable reset instruction is issued, the data processor 42 issues a retraction instruction for the electric-controlled manipulator 2, so that the electric-controlled manipulator 2 retracts a certain distance, waiting for the next object to be tested to enter and then grips and presses it. At this time, the data processor 42 does not receive the internal air pressure value information. If the data processor 42 still does not receive the internal air pressure value information after the specified time, it means that no new object to be tested is put in, and the data processor 42 will issue a reset instruction for the electric-controlled manipulator 2 to reset the electric-controlled manipulator 2, indicating that the detection is completed.

[0079] The airtightness detection device provided in this embodiment uses the electric-controlled manipulator 2 and the pressure sensor 31 arranged thereon to detect the airtightness of the object to be detected, thereby avoiding the error and damage that may be caused when the sensor contacts the object to be detected, and improving the accuracy and reliability of the detection. At the same time, through real-time electrical connectivity communication and automatic control, the functions of remote monitoring and data analysis are realized, and the production efficiency and management level are improved. In addition, the airtightness detection device is also simple and easy to use, easy to operate, and suitable for airtightness detection of different types of devices.

[0080] Although the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical hand-grasping air tightness detection device, characterized in that: The airtightness detection device comprises: A conveying device (1) is configured to convey the object to be tested to a specified position; An electrically controlled manipulator (2) is configured to grasp and / or press the object to be tested after the object to be tested is transferred to a designated position; An air pressure collection device (3) is configured to obtain internal air pressure change information of the object to be tested when the electric-controlled manipulator (2) grasps and / or presses the object to be tested; The control module (4) is configured to call the conveying device (1) to convey the object to be tested to a specified position according to the received operation instruction, and then call the electric-controlled manipulator (2) to hold and press the object to be tested until the internal air pressure of the object to be tested reaches a predetermined range and then stop holding and pressing, and then compare the obtained internal air pressure stability value of the object to be tested with the standard requirements, and when the object does not meet the standard requirements, call the electric-controlled manipulator (2) to grab the object to be tested for rejection, and control the conveying device (1) to reset; when the object meets the standard requirements, control the electric-controlled manipulator (2) to release the object to be tested, and control the conveying device (1) to return the object to be tested; in, The conveying device (1), the electrically controlled manipulator (2), and the air pressure collection device (3) are all electrically connected to the control module (4).

2. The mechanical hand-grabbing air tightness detection device according to claim 1 is characterized in that: The transmission device (1) comprises: A belt conveying mechanism (11) is used to place the object to be tested so as to convey the object to be tested; A first driving motor (12) is used to drive the belt conveying mechanism (11) to operate according to a corresponding calling instruction issued by the control module (4); in, The first drive motor (12) is electrically connected to the control module (4).

3. The mechanical hand-grabbing air tightness detection device according to claim 2 is characterized in that: The belt transmission mechanism (11) comprises a driving gear set (111), a driven gear set (112) and a transmission belt (113) provided with a tooth structure; the driving gear set (111) is connected to a driving shaft of the first driving motor (12); the driving gear set (111), the driven gear set (112) and the transmission belt (113) are meshed with each other to form a gear transmission structure.

4. The mechanical hand-grasping air tightness detection device according to claim 2 or 3, characterized in that: The airtightness detection device also includes a base (5) for placing the electric-controlled manipulator (2).

5. The mechanical hand-grasping air tightness detection device according to claim 4 is characterized in that: The electrically controlled manipulator (2) comprises a manipulator (22) and a second drive motor (21) for driving the manipulator (22) to rotate along a horizontal plane, the second drive motor (21) being electrically connected to the control module (4), a mounting position being provided inside the base (5), the second drive motor (21) being arranged at the mounting position, a through hole (51) extending outward along the output axis of the second drive motor (21) being provided at the top of the mounting position, the bottom of the manipulator (22) passing through the through hole (51) and being connected to the output shaft of the second drive motor (21).

6. The mechanical hand-grasping air tightness detection device according to claim 5 is characterized in that: The manipulator (22) comprises a bottom arm (221), a first rotation drive joint (222), a middle arm (223), a second rotation drive joint (224), an upper arm (225), a third rotation drive joint (226) and a hand (227); the bottom arm (221) is rotationally connected to the through hole (51); the bottom end of the bottom arm (221) passes through the through hole (51) and is connected to the output shaft of the second drive motor (21); the first rotation drive joint (222) is fixedly connected to the top end of the bottom arm (221); one end of the middle arm (223) is fixedly connected to the first rotation drive joint The output end of the middle arm (222), the second rotation drive joint (224) is fixedly connected to the other end of the middle arm (223), one end of the upper arm (225) is fixedly connected to the output end of the second rotation drive joint (224), the third rotation drive joint (226) is fixedly connected to the other end of the upper arm (225), the hand (227) is fixedly connected to the output end of the third rotation drive joint (226), and the first rotation drive joint (222), the second rotation drive joint (224) and the third rotation drive joint (226) are all electrically connected to the control module (4).

7. The mechanical hand-grasping air tightness detection device according to claim 6 is characterized in that: The hand (227) comprises a wrist (2271), at least two mechanical fingers (2272) arranged on the wrist (2271), and a driving device (2373) for respectively driving the mechanical fingers (2272) to move, the wrist (2271) being fixedly connected to the output end of the third rotation driving joint (226), and the driving device (2373) being electrically connected to the control module (4).

8. The mechanical hand-grasping air tightness detection device according to claim 7 is characterized in that: The air pressure collection device (3) comprises an analog-to-digital converter (32) and the same number of pressure sensors (31) as the number of the mechanical fingers (2272), one of the pressure sensors (31) being mounted on one of the mechanical fingers (2272), each of the pressure sensors (31) being electrically connected to the analog-to-digital converter (32), and the analog-to-digital converter (32) being electrically connected to the control module (4).

9. The mechanical hand-grasping air tightness detection device according to claim 8, characterized in that: The control module (4) includes: A touch display screen (41) is provided with touch buttons for a user to set control instructions and to consult the internal air pressure information output by the air pressure collection device (3); The data processor (42) is configured to determine whether the current internal air pressure of the object to be tested has reached a specified range based on the internal air pressure change information output by the air pressure acquisition device (3), and to issue a pressure stop command after the internal air pressure reaches the specified range. After the pressure stop command is issued, a stable internal air pressure value of the object to be tested is obtained, and the obtained stable internal air pressure value is compared with a standard requirement. When the object does not meet the standard requirement, a rejection command is issued to call the electric-controlled manipulator (2) to grab the object to be tested for rejection and to reset the conveying device (1); when the object meets the standard requirement, a reasonable reset command is issued to call the electric-controlled manipulator (2) to release the object to be tested and to cause the conveying device (1) to return the object to be tested; and then, a retraction command and a reset command for the electric-controlled manipulator (2) are issued according to the detection situation; The digital-to-analog converter (43) is configured to convert the pressure-off instruction into an analog signal of the pressure-off instruction, convert the rejection instruction into an analog signal of the rejection instruction, convert the reasonable reset instruction into an analog signal of the reasonable reset instruction, and convert the retraction instruction and the reset instruction of the electric-controlled manipulator (2) into an analog signal of the retraction instruction and an analog signal of the reset instruction, respectively; The driving circuit (44) is configured to respectively execute the control instructions set by the user and output by the touch display screen (41) to sequentially drive the conveying device (1) to operate and drive the electric-controlled manipulator (2) to grip and press the object to be tested, control the electric-controlled manipulator (2) to stop gripping and pressing according to the analog signal of the stop-pressing instruction, control the electric-controlled manipulator (2) to reject the object to be tested and control the conveying device (1) to reset according to the analog signal of the rejection instruction, control the conveying device (1) to reset according to the analog signal of the reasonable reset instruction, and control the electric-controlled manipulator (2) to retract and reset according to the retraction analog signal and the reset analog signal; in, The touch display screen (41) is electrically connected to the analog-to-digital converter (32), and the drive circuit (44) is electrically connected to the first drive motor (12), the second drive motor (21), the first rotation drive joint (222), the second rotation drive joint (224), the third rotation drive joint (226), and the drive device (2373).

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