An actuator detection device

Abstract

This utility model discloses an actuator testing device, relating to the field of actuator testing technology. It includes: a frame and a loading mechanism, a transfer mechanism, a first testing mechanism, and a second testing mechanism mounted on the frame. The loading mechanism is used to transport the actuator to a designated position. The transfer mechanism is used to transfer the actuator between the designated position, a first workstation, and a second workstation. When the actuator is at the second workstation, the first axis of the actuator is aligned and connected to the second axis of a servo motor. The first testing mechanism is used to perform pose detection on the actuator at the first workstation, including the angle of the first axis. The second testing mechanism includes a servo motor; before the first axis is aligned and connected to the second axis, the second axis is driven to rotate to the same angle as the first axis at the first workstation. After the first axis is aligned and connected to the second axis, the second testing mechanism is used to perform parameter testing on the actuator. The solution provided by this utility model can achieve fully automated testing of the actuator throughout the entire process, improving testing efficiency.

Description

Technical Field

[0001] This utility model relates to the field of actuator testing technology, and in particular to an actuator testing device. Background Technology

[0002] In automobile manufacturing, the air conditioning actuator (hereinafter referred to as the actuator) is a component of the air conditioning system, and its quality can affect the operational stability and reliability of the air conditioning system. Therefore, it is necessary to conduct inspections or tests on the actuator before it leaves the factory or before it is used to ensure its reliability. In related technologies, actuator inspection mostly relies on manual or semi-automatic methods. Both manual and semi-automatic actuator inspection suffer from low efficiency and consume a lot of manpower. Summary of the Invention

[0003] To solve or partially solve the problems existing in related technologies, this utility model provides an actuator detection device, which can improve the automation level of actuator detection and thus improve detection efficiency.

[0004] The first aspect of this utility model provides an actuator testing device, comprising: a frame; a feeding mechanism mounted on the frame for transferring an actuator to a designated position; a transfer mechanism mounted on the frame for transferring the actuator at the designated position to a set first workstation; and a mechanism for translating the actuator in the first workstation to a set second workstation, wherein, when the actuator is located in the second workstation, the first axis of the actuator is aligned and connected to the second axis of a servo motor; a first detection mechanism mounted on the frame for performing pose detection on the actuator in the first workstation, the pose including the angle of the first axis of the actuator; a second detection mechanism mounted on the frame, the second detection mechanism including the servo motor, wherein before the first axis and the second axis are aligned and connected, the second axis is driven to rotate to the same angle as the first axis in the first workstation; and after the first axis and the second axis are aligned and connected, the second detection mechanism is used to perform parameter testing on the actuator.

[0005] In conjunction with the first aspect of this utility model, in an optional embodiment, the feeding mechanism includes a drive motor, a conveyor belt, and a stop block; the conveyor belt is connected to and controlled by the drive motor; the stop block is disposed on the end side of the conveyor belt and is used to limit the actuator to stop on the conveyor belt at the designated position.

[0006] In conjunction with the first aspect of this utility model, in an optional embodiment, the feeding mechanism includes: a photoelectric sensor electrically connected to the transfer mechanism, used to monitor the actuator, and trigger the transfer mechanism to grab the actuator when the actuator reaches the designated position.

[0007] In conjunction with the first aspect of this utility model, in an optional embodiment, the transfer mechanism is located above the feeding mechanism, and the transfer mechanism includes a first cylinder and a gripper controlled by the first cylinder, the gripper being used to grip or release the actuator.

[0008] In conjunction with the first aspect of this utility model, in an optional embodiment, the transfer mechanism further includes: a horizontally arranged crossbeam, on which the first cylinder is movably mounted, the extension and retraction direction of the telescopic rod of the first cylinder being along the vertical direction, wherein the first cylinder is configured to move along the horizontal direction on the crossbeam.

[0009] In conjunction with the first aspect of this utility model, in an optional embodiment, the first detection mechanism includes: a camera device located below the transfer mechanism and facing the first workstation, for photographing the actuator and its first shaft.

[0010] In conjunction with the first aspect of this utility model, in an optional embodiment, the camera device is positioned below the first workstation with its lens facing upwards; and / or, the first detection mechanism further includes a light source adapted to the camera device.

[0011] In conjunction with the first aspect of this utility model, in an optional embodiment, the second detection mechanism further includes a coupling and a torque sensor disposed on the coupling. The coupling is disposed at the end of the second shaft of the servo motor and is used to be adapted to connect with the first shaft in a through-hole shaft form.

[0012] In conjunction with the first aspect of this utility model, in an optional embodiment, the second detection mechanism further includes a second cylinder disposed on the frame and a connector element controlled by the second cylinder, the connector element being used to connect or disconnect with the pins of the actuator under the drive of the second cylinder.

[0013] In conjunction with the first aspect of this utility model, in an optional embodiment, it further includes a plurality of sorting containers disposed on the frame for placing the tested actuators; and the transfer mechanism is also used to transfer the actuators at the second workstation to the sorting containers.

[0014] The technical solution provided by this utility model can include the following beneficial effects:

[0015] The technical solution of this utility model includes a feeding mechanism, a transfer mechanism, a first detection mechanism, and a second detection mechanism. The transfer mechanism transfers the actuator between the feeding mechanism, the first detection mechanism, and the second detection mechanism. Utilizing the inherent characteristics of the servo motor in the second detection mechanism, on the one hand, the second axis of the servo motor can be controlled and driven to rotate to align with the first axis of the actuator after the first detection mechanism determines the angle of the first axis of the actuator at the first station; on the other hand, when the actuator is being tested at the second station, the first axis of the actuator drives the second axis of the servo motor to rotate. That is, through the organic combination of the servo motor's active alignment in the alignment stage and passive measurement in the testing stage, the automated process control of the actuator is achieved, improving detection efficiency and accuracy.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the present invention. Attached Figure Description

[0017] The above and other objects, features and advantages of the present invention will become more apparent from the description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components.

[0018] Figure 1 and Figure 2 These are perspective views of the actuator detection device (actuator in a specified position) shown in the embodiments of this utility model from different angles;

[0019] Figure 3 This is a perspective view of the actuator detection device (actuator at the first station) shown in an embodiment of the present invention;

[0020] Figure 4 This is a perspective view of the actuator detection device (the actuator is directly above the second station) shown in an embodiment of the present invention.

[0021] Figure 5 This is a perspective view of the second detection mechanism shown in an embodiment of the present invention;

[0022] Figure 6 (a) Figure 6 (b) are schematic diagrams of the first axis end profile of the actuator in posture one and posture two, respectively, according to embodiments of the present invention;

[0023] Figure 7 (a) Figure 7 (b) is a schematic diagram of the end face profile of the coupling (the part inserted into the first shaft) provided on the second shaft in posture three and posture four, as shown in an embodiment of the present invention.

[0024] Figure 8This is a perspective view of an actuator detection device (the actuator is above the sorting container) shown in an embodiment of the present invention.

[0025] In the diagram: 1. Feeding mechanism; 13. Conveyor belt; 14. Stop block; 2. Transfer mechanism; 21. First cylinder; 22. Gripper; 23. Crossbeam; 3. First detection mechanism; 311. Camera equipment; 4. Second detection mechanism; 41. Servo motor; 411. Second shaft; 43. Coupling; 45. Second cylinder; 46. Connecting element; 6. Actuator; 71. Sorting container; 72. Frame. Detailed Implementation

[0026] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be more thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

[0027] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0028] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] In related technologies, actuator inspection often relies on manual or semi-automatic inspection. Both manual and semi-automatic actuator inspection suffer from low efficiency, low accuracy, and high labor costs.

[0030] To address the aforementioned issues, this utility model provides an actuator testing device that, by utilizing the inherent characteristics of a servo motor, drives the second shaft of the servo motor (which serves as the output shaft) to rotate actively during the alignment process, thereby achieving automatic alignment and connection with the actuator; and passively rotates the second shaft of the servo motor (which serves as the load shaft) during the testing process to achieve performance testing of the actuator.

[0031] The technical solutions of the embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0032] like Figures 1-5 As shown, this utility model embodiment provides an actuator detection device, including a frame 72 and a feeding mechanism 1, a transfer mechanism 2, a first detection mechanism 3, and a second detection mechanism 4 installed on the frame 72.

[0033] The feeding mechanism 1 is used to transfer the actuator 6 to the designated position.

[0034] like Figure 1 and Figure 2 As shown, in some embodiments, the feeding mechanism 1 includes a transmission component and a photoelectric sensor. The transmission component includes a drive motor, a conveyor belt 13, and a stop block 14. The conveyor belt 13 is connected to and controlled by the drive motor. The stop block 14 is located at the end of the conveyor belt 13 and is used to limit the actuator 6 to a designated position on the conveyor belt 13. The photoelectric sensor is electrically connected to the transfer mechanism 2 and is used to monitor the actuator 6. When the actuator 6 reaches the designated position, the transfer mechanism 2 is triggered to grasp the actuator 6. The drive motor drives the conveyor belt 13 to move, causing the actuator 6 on the conveyor belt 13 to move and stop at the stop block 14 at the end of the conveyor belt 13. The position where the actuator 6 stops is the designated position. When the actuator 6 stops at the designated position, the photoelectric sensor can detect this and transmit the detection result to the transfer mechanism 2, so that the transfer mechanism 2 can transfer the actuator 6 from the designated position to the next workstation.

[0035] like Figure 3 As shown, the transfer mechanism 2 is used to transfer the actuator 6 at a designated location to the first set workstation.

[0036] In some embodiments, the transfer mechanism 2 is positioned above the feeding mechanism 1. The transfer mechanism 2 includes a first cylinder 21 and a gripper 22 controlled by the first cylinder 21. The gripper 22 is used to grip or release the actuator 6. For example, when the extension rod of the first cylinder 21 extends, the gripper 22 grips the actuator 6; when the extension rod of the first cylinder 21 retracts, the gripper 22 releases the actuator 6, and the actuator 6 separates from the gripper 22. In this embodiment, the aerial transfer of the actuator 6 by the gripper 22 can be combined with the conveyor belt 13 of the feeding mechanism 1, making the mechanical structure of the detection device more compact.

[0037] To improve transfer efficiency, the main motion trajectory of the transfer mechanism 2 can be simplified, for example, to a linear type. In at least one embodiment, the transfer mechanism 2 further includes a horizontally arranged crossbeam 23. A first cylinder 21 is movably mounted on the crossbeam 23, and the extension direction of the telescopic rod of the first cylinder 21 is vertical. The first cylinder 21 is configured to move horizontally on the crossbeam 23. Therefore, for multiple workstations, if the straight line formed by connecting any two adjacent workstations is parallel to the crossbeam 23, and the workstations reached by the actuator 6 clamped on the operating mechanism are in the same vertical plane, then the structure of the transfer mechanism 2 directly defines a single straight line direction with the crossbeam 23, facilitating rapid transfer. If necessary, the first cylinder 21 can be movably mounted on the crossbeam 23 via a connecting component configured to move vertically to drive the first cylinder 21 to rise or fall. That is, the entire movement trajectory of the actuator 6 should be in the same vertical plane. The connecting component can be in the form of a guide rail slider or any other existing technology.

[0038] The first detection mechanism 3 is used to perform pose detection on the actuator 6 at the first station and obtain the pose information of the actuator 6. Specifically, it obtains the posture information of the actuator 6, which includes the angle of the first axis of the actuator 6.

[0039] In some embodiments, the first detection mechanism 3 includes an image acquisition module and an image processing module. The image acquisition module is used to acquire images of the actuator 6 at a first station, wherein the acquired image contains the first axis of the actuator 6. In this embodiment, the first station is the shooting position. When the actuator 6 is in the shooting position, the image acquisition module takes images of the actuator 6 to obtain the current pose of the actuator 6, such as its position and the angle of the first axis of the actuator 6. Therefore, the acquired image should contain the first axis of the actuator 6. The image processing module is connected to the image acquisition module and is used to obtain the pose information of the first axis from the acquired image of the actuator 6, including the angle of the first axis. The angle of the first axis refers to the angular difference of the first axis relative to a preset zero degree. For example, please refer to... Figure 6 ,in Figure 6 (a) shows the end face profile of the first axis at the preset zero-degree position. Figure 6 (b) shows the end face profile of the first axis of the first station in posture two. The rotation angle of posture two relative to posture one is the first axis angle. More specifically, the rotation angle of the axis X of the end face profile in posture two relative to the axis X of posture one is the first axis angle. The pose information obtained from the acquired images can be achieved using mature computer vision technology, and therefore will not be elaborated further.

[0040] Furthermore, in the first detection mechanism 3, the image acquisition module includes a camera device 311, which is located below the transfer mechanism 2 and faces the first station, for capturing images of the shaft end face of the first axis of the actuator 6. When the actuator 6 is in the first station, the first axis on the actuator 6 is at the bottom of the actuator 6. Therefore, the first detection mechanism 3 is positioned near the lower part of the frame 72, and the camera device 311 is positioned below the first station with its lens facing upwards. This allows for a reasonable vertical arrangement of the mechanism on the frame 72, making the structure of the detection device more compact and the information in the captured images more reliable.

[0041] It should be noted that the camera device 311 can be a non-detachable camera or a detachable camera. When the camera device 311 is a detachable camera, it can include an industrial camera and a lens. To capture a clearer image of the actuator 6, a light source can be adapted and placed next to the camera device 311. In this embodiment, the image acquisition module can include a camera, a lens, and a light source. The camera, lens, and light source work together to form a visual inspection system. By rationally arranging the visual inspection system according to the shooting position, it can quickly acquire an ideal shooting angle and lighting, providing clear image data for visual inspection. The lens is precisely connected to the camera, and the light source is installed above the camera. Through reasonable angle and brightness settings, uniform and sufficient light is provided for camera shooting, ensuring that the captured image is clear and accurate.

[0042] In some embodiments, the transfer mechanism 2 is used to translate the actuator 6 in the first station to a designated second station, wherein, as... Figure 4 As shown, when the actuator 6 is in the second station, the first axis of the actuator 6 is aligned and connected with the second axis 411 of the servo motor 41.

[0043] In some embodiments, the second detection mechanism 4 includes a servo motor 41. Before the first axis and the second axis 411 are aligned and connected, the second axis 411 is driven to rotate to the same angle as the first axis at the first station. After the first axis and the second axis 411 are aligned and connected, the second detection mechanism 4 is used to perform parameter testing on the actuator 6. Knowing the angle of the first axis of the actuator 6 at the first station, the matching relationship between the first axis and the second axis 411 determines the appropriate posture of the second axis 411 of the servo motor 41 near the second station to ensure alignment with the first axis when it is at the second station, thus achieving the connection between the first axis and the second axis 411. The second station is the test position of the actuator 6 to be tested, also called the detection position, used to place the actuator 6 to be tested. This test position is defined by a fixedly positioned positioning component. In this embodiment, the second detection mechanism 4 is used to test parameters such as torque, angle, voltage, and current of the actuator 6 when it is at the test position. The angle can be measured by the encoder integrated into the servo motor. Among them, the movement of actuator 6 between the first station and the second station is translation. Therefore, the angle of the first axis in the first station is naturally the same as the angle in the second station. Thus, the adjustment of the pose and the angle of the first axis can be understood as the adjustment of the angle of the second axis 411 of servo motor 41 being the same as the angle of the first axis in the first station. Therefore, the second axis 411 needs to be controlled and driven to rotate to be consistent with the angle of the first axis in the first station.

[0044] Similarly, the angle of the second axis refers to the angular difference between the second axis and a preset zero degree. For example, see... Figure 7 ,in Figure 7 (a) shows posture three, which represents the end face profile of the second axis at the preset zero-degree position. Figure 7 (b) shows the end face profile of the second axis after rotation. The rotation angle of the end face profile of the fourth posture relative to the third posture is the second axis angle. More specifically, the rotation angle of the axis of the end face profile in the fourth posture relative to the axis of the third posture is the second axis angle.

[0045] In some embodiments, the second detection mechanism 4 further includes a servo controller. The servo controller is used to drive the second axis 411 of the servo motor 41 to rotate to the same angle as the first axis, so as to achieve automated alignment of the first axis and the second axis 411. The rotation angle of the servo motor 41 can be determined by a servo motor encoder.

[0046] like Figure 5As shown, when actuator 6 docks with servo motor 41 at the second station, actuator 6 is not directly docked with servo motor 41, but connected via coupling 43. In at least one embodiment, the second detection mechanism 4 further includes coupling 43 and a torque sensor mounted on coupling 43. Coupling 43 is located at the end of the second shaft 411 of servo motor 41 and is used for a through-hole shaft connection with the first shaft. Generally, the second shaft 411 cannot be directly aligned with the first shaft; therefore, the two are connected via coupling 43. The connection between the second shaft 411 of servo motor 41 and the first shaft of actuator 6 via coupling 43 ensures precise synchronous transmission during rotation, minimizing transmission errors caused by loose connections or misalignment. Furthermore, a torque sensor is installed at the connection point between coupling 43 and the first shaft of actuator 6, which can measure the torque output by actuator 6 in real time and accurately.

[0047] In the testing phase of actuator 6, the first shaft refers to the output shaft of actuator 6, and the second shaft 411 is the load shaft of servo motor 41. However, in the alignment phase of actuator 6, servo motor 41 acts as the load, and its second shaft 411 is no longer the load shaft but the output shaft of servo motor 41. Since the alignment connection of the first and second shafts 411 is not significantly different from related technologies (i.e., the first shaft, coupling 43, and second shaft 411 are coaxial), the first shaft can be connected to the coupling 43 via a hole-shaft adapter to achieve the connection with the second shaft 411. It should be noted that the first shaft of actuator 6 has a non-circular cross-section; therefore, the connection between the first and second shafts 411 requires alignment. After alignment, the first shaft is plugged into the coupling 43, thus achieving the aligned connection between the first shaft and the coupling 43. When the first shaft rotates, it naturally drives the second shaft 411 to rotate.

[0048] In at least one embodiment, the second detection mechanism 4 further includes a second cylinder 45 and a connector element 46 controlled by the second cylinder 45. The connector element 46 is used to connect to or disconnect from the pins of the actuator 6 under the drive of the second cylinder 45. In this embodiment, the connector element 46 is connected to the second cylinder 45 and controlled by the second cylinder 45 to move closer to or further away from the pins of the actuator 6 to disconnect them. When the second cylinder 45 pushes the connector element 46 to connect it to the actuator 6, the actuator 6 is energized and tested, thereby acquiring electrical signals such as voltage and current during the test.

[0049] like Figure 8As shown, in some embodiments, multiple sorting containers 71 are also included. These containers 71 are mounted on a frame 72 and are used to hold the tested actuators 6. The transfer mechanism 2 is also used to transfer the actuators 6 at the second station to the sorting containers 71. The sorting containers 71 are used to receive the corresponding actuators 6 after testing via the transfer mechanism 2. For example, the testing device includes two sorting containers 71, one for holding the tested actuators 6 and the other for holding the tested actuators 6. The specific positions of the sorting containers 71 can be set according to the movement trajectory of the actuators 6.

[0050] Based on the description of the testing device, the entire testing process can be roughly divided into four stages: loading, alignment, testing, and sorting. The loading stage is implemented by the loading mechanism 1, while the other three stages are handled by the transfer mechanism 2, which moves the actuator 6 between different workstations and connects these three stages to achieve full automation of the actuator 6 testing process. In the alignment stage, the servo motor 41 of the second testing mechanism 4 actively and adaptively adjusts based on the positional information of the actuator 6 obtained by the first testing mechanism 3. The transfer mechanism 2 then moves the actuator 6 from the first workstation to the second workstation, aligning the actuator 6 with the servo motor 41 for subsequent testing. Considering that alignment is achieved through the active alignment of the servo motor 41, and that the rotational accuracy of the servo motor 41 can be autonomously selected, the alignment accuracy can be improved by enhancing the accuracy of the servo motor 41. In the testing stage, the second testing mechanism 4 performs parameter tests on the actuator 6. During the testing stage, the servo motor 41 passively rotates as a test load to obtain the test results. In the sorting process, the transfer mechanism 2 places the actuator 6 into the corresponding sorting container 71 based on the test results.

[0051] As can be seen, the actuator detection device provided in this embodiment of the present invention, based on the second detection mechanism 4, also provides a first detection mechanism 3. By taking advantage of the characteristics of the servo motor 41, the servo motor 41 is actively operating for alignment in the alignment stage and passively operating for measurement in the testing stage, thus cleverly realizing the automated, fast and accurate detection of the actuator 6.

[0052] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An actuator detection device, characterized in that, include: Frame; A feeding mechanism, installed on the frame, is used to transport the actuator to a designated position; A transfer mechanism, installed on the frame, is used to transfer the actuator at the designated location to the first set workstation; And for translating the actuator in the first station to a set second station, wherein, when the actuator is in the second station, the first axis of the actuator is aligned and connected with the second axis of the servo motor; The first detection mechanism, installed on the frame, is used to perform pose detection on the actuator of the first station, the pose including the angle of the first axis of the actuator; The second testing mechanism is installed on the frame. The second testing mechanism includes the servo motor. Before the first axis and the second axis are aligned and connected, the second axis is driven to rotate to the same angle as the first axis at the first work station. After the first axis and the second axis are aligned and connected, the second testing mechanism is used to perform parameter testing on the actuator.

2. The actuator detection device according to claim 1, characterized in that: The feeding mechanism includes a drive motor, a conveyor belt, and a stop block; the conveyor belt is connected to and controlled by the drive motor; the stop block is located at the end of the conveyor belt and is used to limit the actuator to stop at the designated position on the conveyor belt.

3. The actuator detection device according to claim 1 or 2, characterized in that: The feeding mechanism includes: A photoelectric sensor, electrically connected to the transfer mechanism, is used to monitor the actuator and trigger the transfer mechanism to grab the actuator when the actuator reaches the designated position.

4. The actuator detection device according to claim 1, characterized in that: The transfer mechanism is located above the feeding mechanism. The transfer mechanism includes a first cylinder and a gripper controlled by the first cylinder. The gripper is used to grab or release the actuator.

5. The actuator detection device according to claim 4, characterized in that: The transfer mechanism also includes: A horizontally arranged crossbeam, on which the first cylinder is movably mounted, the extension and retraction direction of the telescopic rod of the first cylinder being vertical, wherein the first cylinder is configured to move horizontally on the crossbeam.

6. The actuator detection device according to claim 1, characterized in that: The first testing institution includes: A camera device is positioned below the transfer mechanism and facing the first workstation, for filming the actuator and its first axis.

7. The actuator detection device according to claim 6, characterized in that: The camera device is positioned below the first workstation with its lens facing upwards; and / or, the first detection mechanism further includes a light source adapted to the camera device.

8. The actuator detection device according to claim 1, characterized in that: The second detection mechanism also includes a coupling and a torque sensor mounted on the coupling. The coupling is located at the end of the second shaft of the servo motor and is used to be adapted to connect with the first shaft in a through-hole shaft form.

9. The actuator detection device according to claim 1, characterized in that: The second detection mechanism further includes a second cylinder mounted on the frame and a connector controlled by the second cylinder, the connector being used to connect or disconnect with the pins of the actuator under the drive of the second cylinder.

10. The actuator detection device according to claim 1, characterized in that: It also includes multiple sorting containers, which are mounted on the frame and used to place the tested actuators; and the transfer mechanism is also used to transfer the actuators at the second workstation to the sorting containers.

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