CN111289240A - Globe valve fatigue detection platform, detection system and detection method for LPG integrated valve - Google Patents

Abstract

The invention discloses a stop valve fatigue detection platform, a detection system and a detection method for an LPG integrated valve. The outlet is connected to the test valve; the test valve is connected to the universal joint through the rotating cap; the universal joint is connected to the servo motor through a series mechanism, and the switch of the test valve is realized under the drive of the servo motor; the servo motor is fixed on the On the adjustment assembly that can be turned 180°, it is used to drive the series mechanism to realize the switch of the rotating cap of the test valve; the adjustment assembly is fixed on the rotating base that can be adjusted in angle, so as to realize the axial or radial direction of the integrated valve by the servo motor. The test valve in the direction of the switch is controlled; the rotating base is fixed on the robot assembly that can move in the XYZ direction, and the angle of the output direction of the servo motor can be adjusted to realize the servo motor to the integrated valve in the radial direction. The test valve is switched on and off.

Description

Globe valve fatigue detection platform, detection system and detection method for LPG integrated valve

technical field

The invention relates to the technical field of globe valve fatigue testing, in particular to a globe valve fatigue detection platform, a detection system and a detection method of an LPG integrated valve.

Background technique

Cylinder valves are an important source of accidents. At present, the gas cylinder accident is the most pressure-bearing special equipment in my country, and the accidents caused by the product quality of the gas cylinder valve account for more than half of the gas cylinder accidents. For example, natural gas cylinders for vehicles are widely used in Chongqing and other places. Under the high temperature in summer, the temperature in the car may exceed 80 °C. At this temperature, some unqualified fusible alloys will melt and leak. It will cause the car to burn or even explode, causing great loss of personnel and property. For LPG cylinders for motor vehicles, there are also many problems. Because liquefied petroleum gas is easy to leak, and the density of liquefied petroleum gas is heavier than air, once it leaks, a relatively large explosion will occur. At present, there are a large number of liquefied petroleum gas motor vehicles in my country. Since 2003, Shanghai has operated more than 280,000 LPG scooters. At the same time, many cities in China, including Guangzhou, are currently promoting the application of LPG energy in taxis and buses, and various tests on LPG integrated valves. The valve becomes a significant safety hazard.

The solution of the present invention is to improve the fatigue detection equipment of the existing stop valve of the LPG integrated valve in view of the above problems.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies in the prior art, the present invention provides a stop valve fatigue detection platform, a detection system and a detection method for the LPG integrated valve, which can detect the fatigue and durability of various test valves on the LPG integrated valve.

In order to achieve the above-mentioned purpose of the invention, the technical solutions adopted to solve the technical problems are as follows:

The invention discloses a stop valve fatigue detection platform of an LPG integrated valve, comprising a gas tank, a test valve, a universal joint, a servo motor, an adjustment component and a rotating base, wherein:

The inlet of the gas tank is connected with the external intake air source, and the corresponding outlet is connected with the test valve;

The test valve is connected with the universal joint through the rotating cap;

The universal connector is connected with the servo motor through a series mechanism, and is driven by the forward and reverse rotation of the servo motor to realize the opening and closing of the test valve;

The servo motor is fixed on the adjustment assembly that can be turned 180°, and is used to drive the entire series mechanism to realize the switch of the test valve rotating cap;

The adjustment component is fixed on a rotating base that can be adjusted in angle, so as to realize that the servo motor performs on-off control of the test valve in the axial or radial direction of the integrated valve;

The rotating base is fixed on a robot assembly that can move in XYZ three-axis directions, and can adjust the angle of the output direction of the servo motor, so as to realize the test valve in the radial direction of the integrated valve by the servo motor. Switch control.

Further, the series mechanism includes a rigid guide rod, a motor output shaft connector and a servo motor output shaft, wherein:

the servo motor output shaft is connected with the servo motor;

The motor output shaft connector connects one end of the rigid guide rod with the servo motor output shaft;

The other end of the rigid guide rod is connected with the universal joint.

Further, the universal joint includes a cross universal joint and a test valve chuck that are fixedly connected to each other, wherein:

the cross universal joint is also connected with the rigid guide rod;

The test valve collet clamps the test valve.

Further, it also includes a filter, a pressure reducing valve, a pressure gauge and a solenoid valve sequentially arranged between the intake air source and the inlet of the air tank, wherein:

The filter is arranged close to the intake air source, and is used for filtering the intake air source;

The pressure reducing valve is arranged between the filter and the inlet of the air tank, and is used to decompress the intake air source to set the pressure of the test;

The pressure gauge is arranged between the pressure reducing valve and the inlet of the gas tank, and is used to observe the pressure of the intake air source after the pressure reduction in real time;

The solenoid valve is arranged between the pressure gauge and the inlet of the air tank, and is used to control the on-off of the intake air source.

Further, it also includes a robot assembly, the robot assembly, the adjustment assembly and the rotating base are used together to adjust the test valve to a designated position.

Further, the robot assembly includes a first slide rail, a robot chassis, a second slide rail, a robot base, a robot support, a third slide rail and a single-axis robot, wherein:

The number of the first slide rails is two, which are arranged in parallel with each other, and are arranged in parallel with the tank body of the gas tank;

The robot chassis is placed on the first slide rail and can move left and right along the X-axis direction;

The second slide rail is arranged on the upper end of the robot chassis and is vertically arranged with the first slide rail;

The robot base is placed on the second slide rail, and can move back and forth along the Y-axis direction;

the robot support is vertically arranged on the robot base;

the third slide rail is arranged on the side of the robot support facing the gas tank;

The single-axis robot is placed on the third slide rail and can move up and down along the Z-axis direction.

Further, a first pressure sensor is also included, and the first pressure sensor is arranged at the inlet of the gas tank and is used for detecting the pressure of the gas tank.

Further, it also includes a second pressure sensor and a muffler, and the second pressure sensor and the muffler are arranged at the outlet of the test valve and used to detect the exhaust pressure of the test valve.

The invention also discloses a stop valve fatigue detection system for the LPG integrated valve, including the above-mentioned stop valve fatigue detection platform for the LPG integrated valve and a control system, wherein:

The control system adopts a PLC computer control system and is connected with the first pressure sensor, the second pressure sensor, the test valve and the servo motor.

The present invention additionally discloses a detection method of a stop valve fatigue detection system of an LPG integrated valve, which utilizes the above-mentioned stop valve fatigue detection system of an LPG integrated valve for detection, and specifically includes the following steps:

Step 1: Connect the driving air intake air source, adjust the driving air pressure by adjusting the driving air pressure reducing valve to set the experimental pressure, and the first pressure sensor at the air inlet of the air tank detects the pressure of the air tank;

Step 2: Flip the adjustment assembly to the position corresponding to the test valve, integrating the axial or radial direction of the valve;

Step 3: Adjust the rotating base so that the direction of the output shaft of the servo motor follows the direction corresponding to the test valve;

Step 4: Connect the universal joint of the output shaft of the servo motor to the rotating cap of the test valve and fix it well;

Step 5: Send signals as required to move the single-axis robot in the XYZ three-axis direction, so that the servo motor can be moved to the appropriate position;

Step 6: Connect the second pressure sensor and muffler to the outlet of the test valve, and set the durability parameters in the control system;

Step 7: Start the servo motor to rotate at the set frequency, drive the universal joint to rotate, and open the test valve at the same time, the compressed air in the gas tank is released from the test valve, and the second pressure sensor detects the exhaust pressure;

Step 8: The second pressure sensor feeds back the detected pressure to the control system, indicating that the test valve has been opened, and then sends a signal to reverse the servo motor to drive the universal joint to reverse, and close the test valve. After the test valve is closed, the second pressure sensor zero pressure detected;

Step 9: When the second pressure sensor detects zero pressure, the control system sends a signal to repeat steps 7 and 8 to conduct a durability test on the test valve. During the test, when the first pressure sensor at the gas tank inlet detects that the When the pressure of the air tank is lower than 6BAR, the control system sends a signal to make the air source inflate the air tank;

Step 10: When the number of tests reaches the set number, the control system sends a signal to stop the servo motor, and at the same time, the control system sends a signal to discharge the gas in the gas tank to the outside of the gas tank, then unscrew the universal joint, and finally take out the test valve , to complete the fatigue detection of the test valve;

Step 11: When it is necessary to test the test valve at another angle on the integrated valve, adjust the rotating base and the adjustment component, and move the single-axis robot in the XYZ three-axis direction to the specified position, and then repeat the above operations.

Compared with the prior art, the present invention has the following advantages and positive effects due to the adoption of the above technical solutions:

The stop valve fatigue detection platform of the LPG integrated valve of the invention can realize the multi-directional test valve fatigue detection test on the LPG integrated valve, and has a high degree of automation. repeated switch. Transmission through a series mechanism similar to a universal coupling can ensure that the number of turns at the output end of the servo motor is the same as the number of turns at the valve head connected to the end of the series mechanism, which greatly improves the reliability of valve fatigue detection. . At the same time, by adjusting the adjustment assembly, the rotating base and the XYZ robot assembly, the servo motor can repeatedly switch the test valve at different positions of the integrated valve, and the state of the test valve can be detected by the pressure sensor, so as to realize the integration of LPG. Valve test The durability of the valve is tested.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort. In the attached picture:

Fig. 1 is the overall structure schematic diagram of the stop valve fatigue detection platform of the LPG integrated valve of the present invention;

Fig. 2 is the schematic diagram of the adjustment component and the series connection mechanism in the stop valve fatigue detection platform of the LPG integrated valve of the present invention;

3 is a schematic diagram of the servo motor being adjusted to the axial position of the integrated valve in the stop valve fatigue detection platform of the LPG integrated valve of the present invention;

4 is a partial enlarged schematic diagram of the servo motor being adjusted to the axial position of the integrated valve in the stop valve fatigue detection platform of the LPG integrated valve of the present invention;

Fig. 5 is the side view of the stop valve fatigue detection platform of the LPG integrated valve of the present invention;

Fig. 6 is the rear view of the stop valve fatigue detection platform of the LPG integrated valve of the present invention;

Fig. 7 is the top view of the stop valve fatigue detection platform of the LPG integrated valve of the present invention;

Fig. 8 is a perspective view of the fatigue detection platform of the stop valve of the LPG integrated valve of the present invention;

FIG. 9 is a schematic flowchart of the detection method of the stop valve fatigue detection system of the LPG integrated valve of the present invention.

【Description of main symbols】

1- gas tank;

2-Universal connector;

3-Servo motor;

4- Adjust the components;

5- rotating base;

6- Rigid guide rod;

7- Motor output shaft connector;

8-Cross universal joint;

9- Test valve chuck;

10- The first slide rail;

11- Robot chassis;

12-Second slide rail;

13- Robot base;

14- Robot bracket;

15-Single axis robot;

16 - The first pressure sensor.

Detailed ways

The following will clearly and completely describe and discuss the technical solutions in the embodiments of the present invention with reference to the accompanying drawings of the present invention. Obviously, what is described here is only a part of the examples of the present invention, not all of the examples. All other embodiments obtained by those of ordinary skill in the art without creative work, all belong to the protection scope of the present invention.

Example 1

As shown in Figures 1-8, the present invention discloses a stop valve fatigue detection platform for an LPG integrated valve, including a gas tank 1, a test valve (not shown), a universal joint 2, a servo motor 3, an adjustment assembly 4 and a rotary Base 5, where:

The inlet of the gas tank 1 is connected with an external intake air source (not shown), and the corresponding outlet is connected with the test valve;

The test valve is connected with the universal joint 2 through a rotating cap; during the test, the rotating cap of the test valve and the universal joint 2 are fixed in position by a jack screw.

The universal connector 2 is connected with the servo motor 3 through a series mechanism, and is driven by the forward and reverse rotation of the servo motor 3 to realize the opening and closing of the test valve;

The servo motor 3 is fixed on the adjustment assembly 4 that can be turned over by 180° to drive the entire series mechanism to realize the switch of the test valve rotating cap;

The adjustment assembly 4 is fixed on the rotating base 5 that can be adjusted in angle, so as to realize the on-off control of the servo motor 3 on the test valve in the axial or radial direction of the integrated valve; that is, the adjustment assembly 4 The output direction of the servo motor 3 can be adjusted to output along the radial and axial directions of the integrated valve.

The rotating base 5 is fixed on the robot assembly that can move in the XYZ three-axis direction, and can adjust the angle of the output direction of the servo motor 3, so as to realize the radial direction of the integrated valve by the servo motor 3. The test valve is switched on and off. That is, the rotating base 5 can adjust the output direction of the servo motor 3 to output along the radial direction of the integrated valve.

In FIG. 2, the series mechanism includes a rigid guide rod 6, a motor output shaft connector 7 and a servo motor output shaft (not marked), the servo motor output shaft is connected with the servo motor 3; the motor output shaft is connected The head 7 connects one end of the rigid guide rod 6 with the output shaft of the servo motor; the other end of the rigid guide rod 6 is connected with the universal joint 2 . In this embodiment, the transmission of the series mechanism can ensure that the number of turns of the output end of the servo motor is the same as the number of turns of the test valve connected to the end of the series mechanism.

Continuing to refer to FIG. 2 , the universal joint 2 includes a cross universal joint 8 and a test valve chuck 9 that are fixedly connected to each other, and the cross universal joint 8 is also connected with the rigid guide rod 6; the test valve The collet 9 clamps the test valve.

In this embodiment, the detection platform further includes a filter (not shown), a pressure reducing valve (not shown), and a pressure gauge (not shown) sequentially arranged between the intake air source and the inlet of the air tank 1 shown) and solenoid valve (not shown), where:

The filter is arranged close to the intake air source, and is used for filtering the intake air source;

The pressure reducing valve is arranged between the filter and the inlet of the air tank 1, and is used to decompress the intake air source to set the pressure of the test;

The pressure gauge is arranged between the pressure reducing valve and the inlet of the gas tank 1, and is used to observe the pressure of the intake air source after the pressure reduction in real time;

The solenoid valve is arranged between the pressure gauge and the inlet of the air tank 1, and is used to control the on-off of the intake air source.

Further, the inspection platform further includes a robot assembly, and the robot assembly, the adjustment assembly 4 and the rotating base 5 are used together to adjust the test valve to a designated position. Specifically, the robot assembly includes a first sliding rail 10, a robot chassis 11, a second sliding rail 12, a robot base 13, a robot bracket 14, a third sliding rail (not shown) and a single-axis robot 15, wherein:

The number of the first slide rails 10 is two, which are arranged in parallel with each other, and are arranged in parallel with the tank body of the gas tank 1;

The robot chassis 11 is placed on the first slide rail 10 and can move left and right along the X-axis direction;

The second sliding rail 12 is arranged on the upper end of the robot chassis 11 and is vertically arranged with the first sliding rail 10;

The robot base 13 is placed on the second slide rail 12 and can move back and forth along the Y-axis direction;

The robot support 14 is vertically arranged on the robot base 13;

The third slide rail is arranged on the side of the robot support 14 facing the gas tank 1;

The single-axis robot 15 is placed on the third slide rail and can move up and down along the Z-axis direction.

Preferably, the detection platform further includes a first pressure sensor 16 , and the first pressure sensor 16 is disposed at the inlet of the gas tank 1 for detecting the pressure of the gas tank 1 .

Preferably, the detection platform further comprises a second pressure sensor (not shown) and a muffler (not shown), the second pressure sensor and the muffler are arranged at the outlet of the test valve for detecting the test valve discharge pressure.

The invention can realize the multi-directional test valve fatigue detection test on the LPG integrated valve, at the same time ensure the consistency of the number of turns at the output end of the motor and the switching times of the test valve rotating cap, and greatly improve the reliability of the valve fatigue detection.

Embodiment 2

The invention also discloses a stop valve fatigue detection system of the LPG integrated valve, including the above-mentioned stop valve fatigue detection platform of the LPG integrated valve and a control system (not shown), wherein:

The control system adopts a PLC computer control system, and is connected with the first pressure sensor 16 , the second pressure sensor, the test valve and the servo motor 3 .

Embodiment 3

As shown in FIG. 9 , the present invention additionally discloses a detection method of the stop valve fatigue detection system of the LPG integrated valve, using the above-mentioned stop valve fatigue detection system of the LPG integrated valve for detection, which specifically includes the following steps:

Step 1: Connect the drive air intake air source, adjust the drive air pressure by adjusting the drive air pressure reducing valve to set the experimental pressure, and the first pressure sensor 16 at the air inlet of the air tank 1 detects the pressure of the air tank 1;

Step 2: Flip the adjustment assembly 4 to the position corresponding to the test valve, integrating the axial or radial direction of the valve;

Step 3: Adjust the rotating base 5 so that the direction of the output shaft of the servo motor follows the direction corresponding to the test valve;

Step 4: Connect the universal joint 2 of the output shaft of the servo motor to the rotating cap of the test valve and fix it well;

Step 5: Send signals as required to move the single-axis robot 15 in the XYZ three-axis direction, so that the servo motor 3 is moved to a suitable position;

Step 6: Connect the second pressure sensor and muffler to the outlet of the test valve, and set the durability parameters in the control system;

Step 7: Start the servo motor 3 to rotate at the set frequency, drive the universal joint 2 to rotate, and open the test valve at the same time, the compressed air in the gas tank 1 is released from the test valve, and the second pressure sensor detects the exhaust gas pressure;

Step 8: The second pressure sensor feeds back the detected pressure to the control system to indicate that the test valve has been opened, and then sends a signal to reverse the servo motor 3 to drive the universal joint 2 to reverse, and close the test valve. The pressure sensor detects zero pressure;

Step 9: When the second pressure sensor detects zero pressure, the control system sends a signal to repeat steps 7 and 8 to conduct a durability test on the test valve. During the test, when the first pressure sensor 16 at the inlet of the gas tank 1 detects the When the pressure in the tank 1 is lower than 6BAR, the control system sends a signal to make the gas source inflate the gas tank 1;

Step 10: When the number of tests reaches the set number, the control system sends a signal to stop the rotation of the servo motor 3, and at the same time the control system sends a signal to discharge the gas in the gas tank 1 to the outside of the gas tank 1, and then unscrew the universal joint 2, Finally, take out the test valve and complete the fatigue test of the test valve;

Step 11: When it is necessary to test the test valve at another angle on the integrated valve, adjust the rotating base 5 and the adjustment component 4, and move the single-axis robot 15 in the XYZ three-axis direction to the designated position, and then repeat the above operate.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (10)

1. The stop valve fatigue detection platform of LPG integrated valve, its characterized in that includes gas pitcher, test valve, universal connector, servo motor, adjustment subassembly and rotating base, wherein:

   the inlet of the gas tank is connected with an external gas inlet source, and the corresponding outlet is connected with the test valve;

   the test valve is connected with the universal connector through a rotating cap;

   the universal connector is connected with the servo motor through a series mechanism, and the test valve is switched on and off under the driving of positive and negative rotation of the servo motor;

   the servo motor is fixed on an adjusting component capable of turning 180 degrees and used for driving the whole series mechanism to realize the switching of the rotating cap of the test valve;

   the adjusting assembly is fixed on a rotating base capable of adjusting the angle and used for realizing the on-off control of the servo motor on the test valve in the axial direction or the radial direction of the integrated valve;

   the rotary base is fixed on a robot assembly capable of moving in the directions of XYZ three axes, and can adjust the angle of the output direction of the servo motor, so that the servo motor can control the opening and closing of the test valve in the radial direction of the integrated valve.
2. 2. The LPG integration valve stop valve fatigue detection platform of claim 1, wherein the series mechanism comprises a rigid guide rod, a motor output shaft connector and a servo motor output shaft, wherein:

   the output shaft of the servo motor is connected with the servo motor;

   the motor output shaft connector connects one end of the rigid guide rod with the output shaft of the servo motor;

   the other end of the rigid guide rod is connected with the universal connector.
3. 3. A stop valve fatigue detecting platform for LPG integrated valve according to claim 2, wherein said universal joint comprises a cross universal joint and a test valve cartridge fixedly connected to each other, wherein:

   the cross universal joint is also connected with the rigid guide rod;

   the test valve cartridge clamps the test valve.
4. 4. The fatigue detection platform for the stop valve of the LPG integration valve according to claim 1, further comprising a filter, a pressure reducing valve, a pressure gauge and an electromagnetic valve sequentially disposed between the intake air source and the inlet of the air tank, wherein:

   the filter is arranged close to the air inlet source and used for filtering the air inlet source;

   the pressure reducing valve is arranged between the filter and the inlet of the gas tank and is used for reducing the pressure of an inlet gas source so as to set the pressure of a test;

   the pressure gauge is arranged between the pressure reducing valve and the inlet of the gas tank and is used for observing the pressure of the decompressed intake gas source in real time;

   the electromagnetic valve is arranged between the pressure gauge and the inlet of the gas tank and used for controlling the on-off of the gas inlet source.
5. 5. The LPG integration valve shut-off valve fatigue detection platform of claim 1, further comprising a robotic assembly, the robotic assembly, an adjustment assembly and a rotating base collectively for adjusting the test valve to a specified position.
6. 6. The LPG integration valve stop valve fatigue detection platform of claim 5, wherein the robot assembly comprises a first slide rail, a robot chassis, a second slide rail, a robot base, a robot support, a third slide rail and a single axis robot, wherein:

   the number of the first sliding rails is two, the first sliding rails are arranged in parallel with each other and are arranged in parallel with the tank body of the gas tank;

   the robot chassis is placed on the first slide rail and can move left and right along the X-axis direction;

   the second sliding rail is arranged at the upper end of the robot chassis and is perpendicular to the first sliding rail;

   the robot base is placed on the second slide rail and can move back and forth along the Y-axis direction;

   the robot bracket is vertically arranged on the robot base;

   the third slide rail is arranged on one side, facing the gas tank, of the robot support;

   the single-shaft robot is placed on the third slide rail and can move up and down along the Z-axis direction.
7. 7. The LPG integration valve cut-off valve fatigue detecting platform of claim 1, further comprising a first pressure sensor provided at an inlet of the gas tank for detecting the pressure of the gas tank.
8. 8. The fatigue detecting platform of a stop valve for an LPG integration valve according to claim 1, further comprising a second pressure sensor and a muffler disposed at an outlet of the test valve for detecting a discharge pressure of the test valve.
9. A cut-off valve fatigue detecting system of an LPG integrated valve, comprising the cut-off valve fatigue detecting platform of an LPG integrated valve as set forth in any one of claims 1 to 8 and a control system, wherein:

   and the control system adopts a PLC computer control system and is connected with the first pressure sensor, the second pressure sensor, the test valve and the servo motor.
10. The method for detecting the fatigue detection system of the stop valve of the LPG integrated valve, which is characterized by using the fatigue detection system of the stop valve of the LPG integrated valve as claimed in claim 9, comprises the following steps:

    step 1: the air pressure regulating valve is connected with a driving air inlet air source, the driving air pressure is regulated by regulating the driving air reducing valve to set the experimental pressure, and a first pressure sensor at the air inlet of the air tank detects the pressure of the air tank;

    step 2: turning over the adjusting assembly to a position corresponding to the test valve and integrating the axial direction or the radial direction of the valve;

    and step 3: adjusting the rotary base to enable the direction of the output shaft of the servo motor to be along the direction corresponding to the test valve;

    and 4, step 4: connecting a universal connector of an output shaft of the servo motor to a rotating cap of the test valve, and fixing;

    and 5: sending a signal according to the requirement to move the single-axis robot in the XYZ three-axis direction, so that the servo motor is in a proper position;

    step 6: connecting a second pressure sensor and a silencer to the outlet of the test valve, and setting durability parameters in a control system;

    and 7: starting a servo motor to rotate at a set frequency to drive the universal connector to rotate, opening the test valve, discharging compressed air in the air tank from the test valve, and detecting the exhaust pressure by the second pressure sensor;

    and 8: the second pressure sensor feeds the detected pressure back to the control system to indicate that the test valve is opened, then signals are sent to enable the servo motor to rotate reversely to drive the universal connector to rotate reversely, the test valve is closed, and the second pressure sensor detects zero pressure after the test valve is closed;

    and step 9: when the second pressure sensor detects zero pressure, the control system signals to repeat steps 7 and 8 to carry out a durability test on the test valve, and when the first pressure sensor at the gas tank inlet detects that the pressure in the gas tank is lower than 6BAR in the test process, the control system signals to enable the gas source to charge the gas tank;

    step 10: when the test times reach the set times, the control system sends signals to stop the servo motor from rotating, meanwhile, the control system sends signals to exhaust the gas in the gas tank to the outside of the gas tank, then the universal connector is unscrewed, and finally the test valve is taken out to complete the fatigue detection of the test valve;

    step 11: when the test valve at another angle on the integrated valve needs to be detected, the rotary base and the adjusting assembly are adjusted, the single-shaft robot in the XYZ three-axis directions is moved to a specified position, and then the operations are repeated.

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