CN106769473A - A kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect - Google Patents

Abstract

The invention discloses a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect, method is carried out as follows：Step one, the bar portion of valve to be detected is clamped by the holding finger of oild chuck front end, the head of valve is suspended in outside and forms a cantilever beam structure；Step 2, drive oild chuck to rotate by the 4th drive mechanism, at the same time drive platen to be moved to directly over the head of valve by the 3rd drive mechanism；Step 3, by servo electric jar drive platen it is descending, head to valve applies lower compressive load, grating scale real-time detection servo electric jar pushes displacement, the output pressure of pressure sensor real-time detection servo electric jar, and after valve is deformed into setting deflection under the effect of lower compressive load, servo electric jar stopping action simultaneously being unloaded after the pressurize t time periods；Step 4, by fracture detection optoelectronic switch detection valve whether surrender fracture.Advantage of the present invention：Accuracy of detection is high, highly versatile, high degree of automation.

Description

A method for automatic detection of valve friction welding yield strength

technical field

The invention relates to the field of valve friction welding yield strength detection, in particular to a method for automatic detection of valve friction welding yield strength.

Background technique

The valve is mainly used to input air into the engine and remove the combustion exhaust gas to realize the ventilation when the engine is working. The valve head and the rod are connected by friction welding. The friction welding yield strength directly affects the reliability of the valve operation and the safety of the engine. The friction welding yield strength detection is an indispensable process in the valve manufacturing process.

The valve friction welding yield strength detection process of manual loading and unloading has problems such as high labor cost, low efficiency, operational errors, potential safety hazards, and chaotic management. With the development of modern manufacturing technology, the detection of valve friction welding yield strength is also developing in the direction of high speed and automation, so as to meet the requirements of the manufacturing industry for its detection cycle and detection quality. Therefore, it is necessary to design an automatic detection method for valve friction welding yield strength to meet market demand.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a method for automatic detection of valve friction welding yield strength with high detection accuracy, strong versatility and high degree of automation.

The present invention is achieved through the following technical solutions:

A method for automatic detection of friction welding yield strength of a valve, the valve is welded by a head and a rod, the method is based on detection equipment, and the detection equipment includes a hydraulic chuck clamping mechanism and an electric cylinder loading module , the hydraulic chuck clamping mechanism and the electric cylinder loading module are controlled by the control system, the electric cylinder loading module includes a pressure plate, a servo electric cylinder that drives the pressure plate to move up and down, and drives the pressure plate to move left and right The third driving mechanism, the pressure sensor is provided on the pressure plate, and the grating scale is used to detect the displacement of the telescopic rod of the servo electric cylinder on the upper side of the telescopic rod of the servo electric cylinder. The hydraulic chuck clamps The mechanism is arranged under the loading module of the electric cylinder. The hydraulic chuck clamping mechanism includes a rotating spindle, a hydraulic chuck, a chuck pull rod hydraulic cylinder, a fourth driving mechanism, and a photoelectric switch for detecting material breakage. The hydraulic chuck is set At the front end of the rotating main shaft, the front end of the hydraulic chuck is provided with clamping fingers, the clamping fingers are controlled to be clamped or loosened by the chuck pull rod hydraulic cylinder, and the rotation is driven by the fourth drive mechanism. The main shaft rotates, and then drives the hydraulic chuck and the clamping fingers on it to rotate;

The method is carried out as follows:

Step 1. Clamp the rod of the valve to be tested by the clamping finger at the front end of the hydraulic chuck. The head of the valve is suspended outside to form a cantilever beam structure, and the distance between the welding seam of the valve and the outer end surface of the clamping finger is ensured. 0~5mm;

Step 2: The fourth drive mechanism drives the rotating main shaft and the hydraulic chuck at its front end to rotate, and at the same time, the third drive mechanism drives the entire electric cylinder loading module to move, so that the pressure plate is located directly above the head of the valve;

Step 3. The servo electric cylinder drives the pressure plate at the end of the telescopic rod downward, and applies a downward load to the head of the valve. The grating scale detects the downward displacement of the servo electric cylinder in real time, and the pressure sensor detects the output pressure of the servo electric cylinder in real time. Feedback the detected downward pressure displacement signal and output pressure signal to the control system, and after the valve deforms to the set deformation amount under the downward pressure load, the servo electric cylinder stops and is unloaded after holding the pressure for a period of t;

Step 4: Check whether the valve yields and breaks by the photoelectric switch for detection of material breakage.

As a preferred solution of the above method, in the third step, the control system uses the pre-obtained displacement compensation to correct the downward displacement detected by the grating ruler to obtain the actual displacement, that is, the actual displacement=the downward displacement+displacement Compensation, wherein the displacement compensation is obtained by making a difference between the theoretical displacement and the experimental pressing displacement detected by the grating ruler in the pre-experiment, and the theoretical displacement is calculated according to the yield strength and deflection formula of the valve material .

As a preferred solution of the above method, a magnetic switch is arranged outside the end of the chuck rod hydraulic cylinder, and a magnetic ring is arranged on the piston rod of the chuck rod hydraulic cylinder. In the first step, the magnetic switch and the magnetic ring Cooperate to detect whether the hydraulic chuck is clamped or not.

As a preferred solution of the above method, the pressure plate includes two rotating rollers arranged side by side.

As a preferred solution of the above method, the detection equipment also includes an automatic loading and unloading conveying mechanism, a loading and unloading manipulator module, and the loading and unloading manipulator module includes a pneumatic manipulator, a first drive mechanism that drives the pneumatic manipulator to move up and down, and drives the pneumatic manipulator to move up and down. The second drive mechanism for the pneumatic manipulator to move left and right. In the first step, the pneumatic manipulator grabs the valve to be detected and is transported by the automatic loading and unloading conveying mechanism and moves to the hydraulic chuck clamping mechanism, and The rod of the valve to be tested is clamped by the clamping finger at the front end of the hydraulic chuck.

As a preferred solution of the above method, the automatic loading and unloading conveying mechanism includes a support, a conveying chain plate arranged on the support, multiple sets of support block groups, two photoelectric switches, and a positioning reference block, and the conveying chain plate is located at the upper and lower Below the material manipulator module, each group of support blocks is arranged in a row of support frames by at least two V-shaped support blocks fixedly arranged on the conveying chain plate, and multiple sets of support block groups form multiple rows of support frames. The support frame is arranged at intervals along the conveying direction of the conveying chain plate, the V-shaped support block of each row of support frame is used to support the rod of the valve, and the positioning reference block is arranged on one side of the support for aligning the The head of the air valve is positioned, and the two photoelectric switches are respectively arranged on one side of the support and are located at different positions in the conveying direction.

As a preferred solution of the above method, the loading and unloading manipulator module also includes a rodless cylinder, the rodless cylinder is arranged above the conveying chain plate, and the rodless cylinder will The action pushes the head of the valve against the positioning reference block to achieve positioning.

As a preferred solution of the above method, the first drive mechanism, the second drive mechanism and the third drive mechanism are all rack and pinion linear modules.

As a preferred solution of the above method, the fourth driving mechanism includes a motor, a gear pair, and a bearing seat, the output shaft of the motor is connected to the input shaft of the gear pair, the rotating main shaft is installed in the bearing seat, and the The end of the rotating main shaft is connected with the output shaft of the gear pair, and the motor drives the gear pair to move, thereby driving the rotating main shaft to rotate.

As a preferred solution of the above method, the pneumatic manipulator includes a manipulator body, the lower end of the manipulator body is provided with two clamping rods protruding downward, and the inner sides of the lower ends of the two clamping rods are respectively detachably provided with clamping blocks , two clamping blocks are arranged opposite to each other, and the two clamping blocks are V-shaped self-centering clamping blocks.

Compared with the prior art, the present invention has the following advantages:

1. A method for automatic detection of valve friction welding yield strength provided by the present invention, which is provided with an automatic loading and unloading conveying mechanism, a loading and unloading manipulator module, an electric cylinder loading module, and a hydraulic chuck clamping mechanism, which can realize valve up and down Material and conveying, valve clamping and cantilever loading on the valve are fully automated, so that the friction welding yield strength of the valve is fully automated, with a high degree of automation and high work efficiency, which greatly saves testing costs and improves the traditional tensile test. For the pressure test of the cantilever beam, the test device is simplified, the detection accuracy is improved, and the automatic control is easy.

2. The present invention provides a method for automatic detection of valve friction welding yield strength, which uses pressure sensors, grating rulers, etc. to feed back the output load of the servo electric cylinder in real time, and the control system uses displacement compensation to detect the lower output load of the grating ruler. The pressure displacement is corrected to obtain the actual displacement, which improves the detection accuracy.

3. A method for automatic detection of valve friction welding yield strength provided by the present invention, the clamping range of the hydraulic chuck of the hydraulic chuck clamping mechanism is large, and it can detect valves with different rod diameters and rod lengths, thereby adapting to Valve detection of various specifications, strong versatility.

4. The present invention provides a method for automatic detection of valve friction welding yield strength. In its automatic loading and unloading conveying mechanism, two V-shaped support blocks arranged on the conveying chain plate can ensure the self-centering of the valve. A photoelectric switch detects the position of the incoming material and transmits information to the rodless cylinder in the loading and unloading manipulator module, thereby controlling the action of the rodless cylinder, pushing the head of the valve to the positioning reference block to achieve positioning, so as to facilitate the accurate grasping of the subsequent pneumatic manipulator. Take, so as to realize automatic positioning, automatic loading and unloading and conveying.

5. A method for automatic detection of valve friction welding yield strength provided by the present invention, the clamping block of the pneumatic manipulator adopts a V-shaped self-centering clamping block, which can realize self-centering clamping of the valve stem, thereby Accurately cooperate with the subsequent hydraulic chuck to ensure the precise positioning of the valve on the hydraulic chuck, thereby ensuring the accuracy of the subsequent friction welding yield strength test.

6. A method for automatic detection of valve friction welding yield strength provided by the present invention, the first drive mechanism, the second drive mechanism and the third drive mechanism all adopt a rack and pinion linear module, the transmission is safe and reliable, and the transmission accuracy is high.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the detection equipment of the present invention.

Fig. 2 is a schematic structural view of the automatic loading and unloading conveying mechanism of the present invention.

Fig. 3 is a schematic structural view of the detection device of the present invention after removing the automatic loading and unloading conveying mechanism.

Fig. 4 is a schematic structural view of the clamping mechanism of the hydraulic chuck of the present invention.

Fig. 5 is a schematic structural view of the pneumatic manipulator of the present invention.

Fig. 6 is a partial structural schematic diagram of the electric cylinder loading module of the present invention.

Fig. 7 is a schematic diagram of the internal structure of the bearing seat.

Labels in the figure: 1 frame, 2 automatic loading and unloading conveying mechanism, 21 bracket, 22 conveying chain plate, 23 positioning reference block, 24V type support block, 25 diffuse reflection photoelectric switch, 26 through-beam photoelectric switch, 3 loading and unloading Manipulator module, 31 pneumatic manipulator, 311 manipulator body, 312 clamping rod, 313 clamping block, 32 first driving mechanism, 33 second driving mechanism, 34 rodless cylinder, 4 electric cylinder loading module, 41 pressure plate, 42 servo Electric cylinder, 43 third driving mechanism, 44 pressure sensor, 45 grating ruler, 5 hydraulic chuck clamping mechanism, 51 rotating spindle, 52 hydraulic chuck, 521 clamping finger, 53 chuck pull rod hydraulic cylinder, 54 motor, 55 Gear pair, 56 bearing housing, 561 bearing housing base, 562 bearing end cover, 563 tapered roller bearing, 564 deep groove ball bearing, 6 valves, 7 photoelectric switch for material breakage detection.

detailed description

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

Referring to Fig. 1 to Fig. 7, this embodiment discloses a method for automatic detection of the friction welding yield strength of the valve, the valve is welded by the head and the rod, the method is based on the detection equipment, the detection equipment includes a frame 1 , the frame 1 is provided with an automatic loading and unloading conveying mechanism 2, a loading and unloading manipulator module 3, an electric cylinder loading module 4, and a hydraulic chuck clamping mechanism 5,

The automatic loading and unloading conveying mechanism 2 includes a support 21, a conveying chain plate 22 arranged on the support 21, a plurality of support block groups, two photoelectric switches, and a positioning reference block 23. The conveying chain plate 22 is located below the loading and unloading manipulator module 3. The group support block group is arranged in a row of support frames by at least two V-shaped support blocks 24 fixedly arranged on the conveyor chain plate 22, and multiple groups of support block groups form a multi-row support frame, and the multi-row support frame is along the conveyor chain plate 22. The conveying direction is arranged at intervals, the V-shaped support blocks 24 of each row of support frames are used to support the rod of the valve 6, the positioning reference block 23 is set on the side of the support 21 for positioning the head of the valve 6, and two photoelectric switches They are respectively arranged on one side of the bracket 21 and located at different positions in the conveying direction, and the two photoelectric switches can respectively adopt a diffuse reflection photoelectric switch 25 and a through-beam photoelectric switch 26 .

The loading and unloading manipulator module 3 includes a pneumatic manipulator 31, a first drive mechanism 32 that drives the pneumatic manipulator 31 to move up and down, a second drive mechanism 33 that drives the pneumatic manipulator 31 to move left and right, and a rodless cylinder 34. The air valve 6 delivered by the loading and unloading conveying mechanism 2 moves to the hydraulic chuck clamping mechanism 5. The pneumatic manipulator 31 includes a manipulator body 311, and the lower end of the manipulator body 311 is provided with two clamping rods 312 protruding downwards. The inner side of the lower end of the holding rod 312 is detachably provided with a clamping block 313 respectively through screws, and the two clamping blocks 313 are arranged oppositely, and the two clamping blocks 313 are V-shaped self-centering clamping blocks 313, through which two V-shaped self-centering clamping blocks 313 are arranged. The centering clamping block 313 is used to grab the stem of the valve 6 to achieve self-centering clamping. Since the clamping block 313 is detachably arranged on the inner side of the lower end of the clamping rod 312, it is very convenient and quick to replace clamps of different specifications. block 313, thereby adapting to the clamping of valves 6 of different models and specifications, and having a wide range of applications. The rodless cylinder 34 is arranged above the conveying chain plate 22, and the rodless cylinder 34 will act after receiving the signal from the photoelectric switch to push the head of the valve 6 against the positioning reference block 23 to realize positioning.

The electric cylinder loading module 4 is located on the left or right side of the loading and unloading manipulator module 3. The electric cylinder loading module 4 includes a pressure plate 41, a servo electric cylinder 42 that drives the pressure plate 41 to move up and down, and a third drive that drives the pressure plate 41 to move left and right. Mechanism 43, a pressure sensor 44 is arranged on the pressure plate 41, and a grating scale 45 for detecting the displacement of the telescopic rod of the servo electric cylinder 42 is provided on one side of the telescopic rod of the servo electric cylinder 42; The roller can adapt to the valves of heads of different sizes, so as to improve the versatility of the testing equipment.

The hydraulic chuck clamping mechanism 5 is arranged under the electric cylinder loading module 4, and the hydraulic chuck clamping mechanism 5 includes a rotating spindle 51, a hydraulic chuck 52, a chuck pull rod hydraulic cylinder 53, a fourth driving mechanism, and a photoelectric switch for detecting material breakage 7. The hydraulic chuck 52 is set at the front end of the rotating spindle 51, and the front end of the hydraulic chuck 52 is provided with a clamping finger 521, which is controlled by the chuck pull rod hydraulic cylinder 53 to clamp or loosen the clamping finger 521, and is driven to rotate by the fourth driving mechanism The main shaft 51 rotates, and then drives the hydraulic chuck 52 and the clamping finger 521 on it to rotate. The pneumatic manipulator 31 moves the valve 6 to the clamping finger 521 at the front end of the hydraulic chuck 52, and the valve 6 is moved by the clamping finger 521. The rod is clamped, and the pressure plate 41 of the electric cylinder loading module 4 is pressed to the head of the valve 6 to detect the friction welding yield strength of the valve 6 . A magnetic switch is arranged on the outside of the end of the chuck rod hydraulic cylinder 53, and a magnetic ring is arranged on the piston rod of the chuck rod hydraulic cylinder 53 to detect whether the hydraulic chuck 52 is clamped or not by cooperating with the magnetic ring.

Referring to Fig. 7, the bearing seat 56 includes a bearing seat base 561, a bearing end cover 562, two tapered roller bearings 563, and a deep groove ball bearing 564. The rotating main shaft 51 is installed in the mounting hole of the bearing base 561, and two A tapered roller bearing 563 and a deep groove ball bearing 564 are sleeved outside the rotating main shaft 51 . One end of the two ends of the bearing seat 56 is a fixed support end, and the other end is a floating support end. Two tapered roller bearings 563 are installed "back to back" on the fixed support end as positioning bearings, and the inner and outer rings of the tapered roller bearings are fixed on both sides. , to bear larger axial load, swimming support end adopts deep groove ball bearing 564, only fixes deep groove ball bearing 564 inner rings, and the outer ring of deep groove ball bearings 564 can axially swim in the seat hole.

Wherein, the center of the hydraulic chuck 52, the center of the pressure plate 41 and the center of the pneumatic manipulator 31 are located on the same vertical plane. The first driving mechanism 32, the second driving mechanism 33 and the third driving mechanism 43 are all rack-and-pinion linear modules, and the rack-and-pinion linear module includes a second motor, a second gear and a second rack, and the second gear is set On the output shaft of the second motor, the second rack meshes with the second gear, and the second rack is driven by the second motor to move back and forth. The fourth drive mechanism includes a motor 54, a gear pair 55, and a bearing seat 56. The output shaft of the motor 54 is connected to the input shaft of the gear pair 55. The rotating main shaft 51 is installed in the bearing seat 56, and the end of the rotating main shaft 51 is connected to the output shaft of the gear pair 55. , the motor 54 drives the gear pair 55 to move, thereby driving the rotating main shaft 51 to rotate.

The method proceeds as follows:

Step 1. The automatic loading and unloading conveying mechanism 2 batches the valve 6. When the rodless cylinder 34 receives the incoming signal detected by the through-beam photoelectric switch 26, it will push the valve 6 so that the outer end surface of the head of the valve 6 is aligned with the positioning The reference block 23 is attached. When the valve 6 is transported to the position of the diffuse reflection photoelectric switch 25, the diffuse reflection photoelectric switch 25 gives a clamping signal, and the pneumatic manipulator 31 clamps and transports the valve 6 to the hydraulic chuck 52. At the position, clamp the stem of the valve 6 to be detected by the clamping finger 521 at the front end of the hydraulic chuck 52, and the head of the valve 6 hangs outside to form a cantilever beam structure, and the hydraulic clamp is detected by cooperating with the magnetic switch and the magnetic ring. Whether the disc 52 is clamped or not, and ensure that the distance between the welding seam of the valve 6 and the outer end surface of the clamping finger 521 is 0-5 mm;

Step 2: The fourth drive mechanism drives the rotating main shaft 51 and the hydraulic chuck 52 at its front end to rotate, and at the same time, the third drive mechanism drives the entire electric cylinder loading module to move, so that the pressure plate 41 is located directly above the head of the valve 6 ;

Step 3: The servo electric cylinder 42 drives the pressure plate 41 at the end of the telescopic rod to go downward, and applies a downward load to the head of the valve 6. The grating ruler 45 detects the downward displacement of the servo electric cylinder 42 in real time, and the pressure sensor 44 detects the servo electric cylinder 42 in real time. The output pressure of the electric cylinder 42 is fed back to the control system to form a closed-loop control, thereby effectively controlling the output displacement of the electric cylinder. After the valve 6 is deformed to the set deformation amount under the action of the downward pressure load, the servo electric cylinder 42 stops and is unloaded after holding the pressure for 1 to 3 seconds; finally, the electric cylinder loading module 4 returns to the initial position, and the motor 54 stops rotating;

Step 4: The photoelectric switch 7 on the side of the valve 6 detects whether the valve yields and breaks in time, and if it breaks, it is a substandard product; finally, the loading and unloading manipulator module 3 clamps and transports the valve 6 on the hydraulic chuck 52 to the On the V-shaped support block 24 of the automatic loading and unloading conveying mechanism 2.

Wherein, in step 3, the control system corrects the pressed displacement measured by the grating scale 45 through the displacement compensation obtained in advance to obtain the actual displacement, that is, the actual displacement=pressed displacement+displacement compensation, wherein the displacement compensation is obtained by The difference between the theoretical displacement and the experimental pressing displacement detected by the grating ruler in the pre-experiment is obtained, so as to effectively correct the displacement deviation caused by the deformation of the hydraulic chuck and the assembly gap of the loading module of the electric cylinder, and improve the detection accuracy. , the theoretical displacement is calculated according to the yield strength and deflection formula of the valve 6 material. The pressure sensor 44 monitors the output pressure of the servo electric cylinder 42 in real time and compares it with the theoretical pressure to verify the reliability of the method.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention. Inside.

Claims (10)

1. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect, the valve welded by head and bar portion and Into methods described is based on testing equipment, it is characterised in that：The testing equipment includes that oild chuck clamping device and electric cylinder add Module is carried, the oild chuck clamping device and electric cylinder load-on module are controlled by control system, and the electric cylinder loads mould Block includes platen, drives the servo electric jar that the platen is moved up and down, the 3rd driving machine for driving the platen to move left and right Structure, is provided with pressure sensor on the platen, side is provided with for detecting servo electricity on the expansion link of the servo electric jar The grating scale of the expansion link moving displacement of dynamic cylinder, the oild chuck clamping device is arranged under the electric cylinder load-on module Side, the oild chuck clamping device includes live spindle, oild chuck, chuck pull bar hydraulic cylinder, the 4th drive mechanism, fracture Detection optoelectronic switch, the oild chuck is arranged on the live spindle front end, and the oild chuck front end is provided with clamping hand Refer to, control the holding finger to clamp or unclamp by the chuck pull bar hydraulic cylinder, driven by the 4th drive mechanism The live spindle rotation, and then drive oild chuck and the rotation of holding finger thereon；

Methods described is carried out as follows：

Step one, the bar portion of valve to be detected is clamped by the holding finger of oild chuck front end, the head of valve is suspended in Outside forms a cantilever beam structure, and the distance of the welding seam distance holding finger outer face of guarantee valve is 0~5mm；

Step 2, the oild chuck rotation that live spindle and its front end are driven by the 4th drive mechanism, are at the same time driven by the 3rd Motivation structure drives whole electric cylinder load-on module movement so that platen is located at directly over the head of the valve；

Step 3, drive the platen of expansion link end descending by servo electric jar, the head to valve applies lower compressive load, grating Chi real-time detection servo electric jar pushes displacement, the output pressure of pressure sensor real-time detection servo electric jar, and will Detection push displacement signal and output pressure signal feeds back to control system, valve is deformed under the effect of lower compressive load and sets After determining deflection, servo electric jar stopping action simultaneously being unloaded after the pressurize t time periods；

Step 4, by fracture detection optoelectronic switch detection valve whether surrender fracture.

2. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 1, it is characterised in that： In the step 3, the bit shift compensation that the control system passes through to be previously obtained is repaiied to the displacement that pushes that grating scale is detected Actual displacement amount, i.e. actual displacement amount=push displacement+bit shift compensation are just being obtained, wherein, the bit shift compensation is by theory The experiment that displacement is detected with grating scale in experiment in advance pushes displacement and does difference and obtain, and the theoretical displacement is according to gas The yield strength of door material, deflection formula are calculated and obtained.

3. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 1, it is characterised in that： The chuck pull bar hydraulic cylinder end outside configuration magnetic switch, magnetic is provided with the piston rod of the chuck pull bar hydraulic cylinder Ring, in the step one by the magnetic switch and magnet ring coordinate so as to detect the oild chuck clamping whether.

4. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 1, it is characterised in that： The platen includes two swing rollers being set up in parallel.

5. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 1, it is characterised in that： The testing equipment also includes automatic loading/unloading conveying mechanism, loading and unloading manipulator module, the loading and unloading manipulator module bag Include Pneumatic manipulator, the first drive mechanism, the described Pneumatic manipulator of driving for driving the Pneumatic manipulator to move up and down or so The second mobile drive mechanism, in the step one, is captured by the automatic loading/unloading conveyer by the Pneumatic manipulator The next valve to be detected of structure conveying is simultaneously moved to the oild chuck clamping device, and by the holding finger of oild chuck front end The bar portion of valve to be detected is clamped.

6. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 1, it is characterised in that： The automatic loading/unloading conveying mechanism includes that support, the transporting chain plate being arranged on support, multigroup support block group, two light are established by cable Pass, positioning datum block, the transporting chain plate are located at loading and unloading manipulator module lower section, and every group of support block group is by being fixedly installed At least two V-type support blocks on the transporting chain plate are arranged in a row support frame, and multigroup support block group forms multiple rows of support frame, Multiple rows of support frame often arranges the V-type support block of support frame for branch along the conveying direction arranged for interval of the transporting chain plate The bar portion of the valve is supportted, the positioning datum block is arranged at the support side to be determined for the head to the valve Position, described two optoelectronic switches are respectively arranged at the support side and the diverse location on conveying direction.

7. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 6, it is characterised in that： The loading and unloading manipulator module also includes Rodless cylinder, and the Rodless cylinder is arranged at the transporting chain plate top, the nothing Bar cylinder can be acted so as to promote the head of the valve to be close to the positioning after receiving the signal that the optoelectronic switch is transmitted Reference block realizes positioning.

8. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 5, it is characterised in that： First drive mechanism, the second drive mechanism and the 3rd drive mechanism are the linear module of rack-and-pinion.

9. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 1, it is characterised in that： 4th drive mechanism includes motor, gear pair, bearing block, and the motor output shaft is connected with the gear pair input shaft, The live spindle is arranged in the bearing block, and the live spindle end is connected with the output shaft of the gear pair, passes through Motor drives the gear pair action, so as to drive the live spindle to rotate.

10. a kind of method for valve friction welding (FW) yield strength Aulomatizeted Detect as claimed in claim 5, its feature exists In：The Pneumatic manipulator includes manipulator body, and the manipulator body lower end is provided with two supporting rods for extending downwardly from, Described two supporting rod lower end insides are detachably provided with grip block respectively, and two grip blocks are oppositely arranged, and described two folders Block is held for V-type self-centering grip block.