A valve body intelligent cleaning system and cleaning method

Abstract

The present invention relates to the field of intelligent robot technology, and specifically to a valve body intelligent cleaning system and cleaning method. The valve body intelligent cleaning system is configured to provide a workbench and a robot body that cooperates with the workbench on one side of the cleaning machine body, and automatically transport the target valve body through the robot body, thereby effectively improving the cleaning efficiency and facilitating labor protection. At the same time, the valve body intelligent cleaning system is also configured to provide at least one set of cover mechanisms on the workbench, and automatically position the side cover plate to the side of the target valve body through the cover mechanism, and then cooperate with the robot body to pick up the threaded parts and cooperate the threaded parts with the studs on the target valve body to fix the side cover plate, thereby replacing manual labor, realizing the round-trip transportation of the target valve body, and the disassembly and assembly of the cover plate and the nut. In this way, the labor intensity of workers can be greatly reduced, safety hazards can be reduced, and the degree of automation of the equipment can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to an intelligent valve body cleaning system and a cleaning method. Background Art

[0002] The 120 / 120-1 type control valve is widely used in heavy-load and high-speed freight trains because of its functions of inflation, deceleration inflation, relief, acceleration relief, normal braking, pressure maintenance, and emergency braking. Its structure generally includes an intermediate body, a main valve, a semi-automatic relief valve and an emergency valve. An air path is provided inside the valve, and inlet and exhaust ports connected to the air path are provided on the entire top surface of the valve body, the front side of the valve body, the left side adjacent to the front side of the valve body, and the right side. The overall structure is relatively complex and the cleaning process is cumbersome. The current valve body cleaning is generally done manually, the operation is complicated, and the labor intensity of the workers is high, which needs to be improved urgently. Summary of the Invention

[0003] In order to solve the above technical problems, the purpose of the present invention is to provide a valve body intelligent cleaning system and cleaning method. The valve body intelligent cleaning system can replace manual labor to realize the round-trip transportation of the target valve body and the disassembly and assembly of the cover plate and nuts. In this way, the labor intensity of workers can be greatly reduced, safety hazards can be reduced, and the degree of automation of equipment can be improved.

[0004] In order to achieve the above technical effects, the present invention adopts the following technical solutions:

[0005] In a first aspect, the present invention provides an intelligent valve cleaning system and method, comprising a workbench, a cleaning machine body disposed on one side of the workbench, the cleaning machine body having at least one inlet for a target valve body to enter the interior of the cleaning machine body, and further comprising:

[0006] At least one set of cover mechanisms provided on the workbench, the cover mechanisms comprising at least one side cover clamping member for clamping a side cover and a side cover driving member for driving the side cover clamping member to perform linear motion;

[0007] And at least one robot body, which includes a robotic arm with at least one spatial degree of freedom, the front end of the robotic arm has at least one gripping mechanism and at least one thread tightening mechanism, the gripping mechanism is used to clamp and drive the target valve body to move, the thread tightening mechanism is used to clamp the threaded part and drive the threaded part to rotate after the threaded part moves to a predetermined position, so as to tighten it and fix it on the target valve body.

[0008] Furthermore, the cleaning machine body and the robot body are arranged on both sides of the workbench opposite to each other, and two sets of cover mechanisms are arranged on both ends of the workbench opposite to each other, and the robot body is located between the two sets of cover mechanisms.

[0009] Furthermore, it also includes at least one feeding mechanism, which includes a first fixed part, a first movable part and a first driving part for driving the first movable part to perform linear motion relative to the first fixed part, and the first fixed part cooperates with the first movable part to achieve clamping and positioning of one or more threaded parts.

[0010] Furthermore, the first fixing member is fixedly mounted on the workbench and the first fixing member is provided with a plurality of positioning notches on a side close to the first movable member, and the first movable member is provided with a plurality of forward-protruding positioning blocks on a side close to the positioning notches, and the positioning blocks cooperate with the positioning notches to realize the clamping and positioning of one or more threaded members.

[0011] Furthermore, the first movable member includes an intermediate connecting portion and sliding connecting portions located at both ends of the intermediate connecting portion, the sliding connecting portion is slidably connected to the workbench through a slide rail assembly, the first driving member includes a first telescopic driving member and a connecting seat arranged at the output end of the first telescopic member, the connecting seat is hinged with a transfer block, and the end of the transfer block away from the connecting seat is fixedly connected to the first movable member.

[0012] Furthermore, the cover plate mechanism includes a first cover plate assembly, the first cover plate assembly includes the side cover plate clamping member and a side cover plate driving member, the side cover plate clamping member is used to clamp the side cover plate and make it located on one side of the target valve body, and the side cover plate driving member is used to drive the side cover plate clamping member to move linearly in the horizontal direction relative to the target valve body.

[0013] Furthermore, the cover plate mechanism also includes a second cover plate assembly, the second cover plate assembly includes a top cover plate clamping member and a top cover plate driving member, the top cover plate clamping member is used to clamp the top cover plate and make it located directly above the target valve body, and the top cover plate driving member is used to drive the top cover plate clamping member to move linearly in the vertical direction relative to the target valve body.

[0014] Furthermore, the cover mechanism also includes a positioning component, which includes a limit support and a support driving component for driving the limit support to move linearly. The limit support can be used to carry the target valve body, and the support driving component is used to drive the limit support to drive the target valve body to move horizontally relative to the workbench and make the target valve body face or not face the side cover clamping component.

[0015] Furthermore, the thread tightening mechanism is arranged at the front end of the robotic arm, and the gripping mechanism includes a gripping portion arranged at the front end of the thread tightening machine, and an electromagnet assembly is provided inside the gripping portion.

[0016] In some embodiments of the present invention, the valve body intelligent cleaning system also includes a conveying mechanism, which is provided at one end of the workbench and arranged in a direction perpendicular to the workbench, and is used to continuously convey the target valve body to the workbench position.

[0017] In a second aspect, the present invention further provides a valve body intelligent cleaning method, which uses the valve body intelligent cleaning system provided in the first aspect to clean the target valve body, and specifically includes the following steps:

[0018] S1: Clamping the target valve body conveyed by the conveying mechanism by the gripper portion of the robotic arm to transfer it to the workbench and position the target valve body on the limit support; preferably, in this step, the gripper portion directly acts on the top surface of the target valve body;

[0019] S2: The support driving member drives the limit support to move horizontally so that the target valve body is aligned with the side cover plate and the top cover plate at the same time, and then the side cover plate driving member and the top cover plate driving member respectively drive the side cover plate and the top cover plate to move, so that the side cover plate and the top cover plate are in contact with and pressed against the target valve body;

[0020] The mechanical arm drives the threaded part to be picked up by the threaded tightening mechanism and after it moves to a predetermined position, the threaded part is driven to rotate by the threaded tightening mechanism to tighten and fix it on the target valve body, thereby locking the side cover plate to the target valve body.

[0021] S3: Controlling the electromagnet assembly to be energized, and then causing the gripper portion of the robotic arm to directly act on the side cover plate on the target valve body to clamp the target valve body, and then driving the target valve body through the robotic arm to move and horizontally deliver the target valve body through the insertion port into the cleaning window of the cleaning machine body;

[0022] S4: The target valve body is cleaned by the cleaning machine body.

[0023] Preferably, the method further includes step S5, which is: performing the above-mentioned operations S3 to S1 in reverse order, thereby removing the target valve body from the interior of the cleaning machine and disassembling the side cover plate.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention provides a valve body intelligent cleaning system and cleaning method. By setting a workbench and a robot body that cooperates with the workbench on one side of the cleaning machine body, the robot body automatically transports the target valve body, which can effectively improve the cleaning efficiency and facilitate labor protection. At the same time, the valve body intelligent cleaning system also sets at least one set of cover mechanisms on the workbench, which automatically positions the side cover plate to the side of the target valve body, and then cooperates with the robot body to pick up the threaded parts and cooperate with the threaded parts to match the studs on the target valve body to fix the side cover plate, thereby replacing manual labor, achieving the round-trip transportation of the target valve body, and the disassembly and assembly of the cover plate and nut. In this way, the labor intensity of workers can be greatly reduced, safety hazards can be reduced, and the degree of automation of the equipment can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the overall structure of an intelligent valve body cleaning system and cleaning method provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the overall structure of a cover plate mechanism of a valve body intelligent cleaning system and cleaning method provided by an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of the overall structure of a feeding mechanism of an intelligent valve body cleaning system and cleaning method provided by an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of the overall structure of a robot body of an intelligent valve body cleaning system and cleaning method provided by an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of a partially enlarged structure of position A of a robot body of an intelligent valve body cleaning system and cleaning method provided by an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of the working state of a valve body intelligent cleaning system and cleaning method provided by an embodiment of the present invention when a target valve body is placed in a cleaning machine body;

[0032] Figure 7 A robot for a valve body intelligent cleaning system and cleaning method provided by an embodiment of the present invention Figure 6 Schematic diagram of the structure at B in the middle;

[0033] The accompanying drawings are marked as follows: 10, conveying mechanism, 11, target valve body, 12, cleaning machine body, 121, inlet, 20, workbench, 30, cover mechanism, 31, bottom plate, 33, side cover driving member, 331, side cover clamping member, 332, side cover, 34, top cover driving member, 341, top cover clamping member, 342, top cover, 35, limit support, 351, support driving member, 40, feeding Mechanism, 41, nut, 41a, stud, 42, first fixing member, 421, positioning notch, 43, first moving member, 431, intermediate connecting portion, 432, sliding connecting portion, 43a, positioning block, 441, first telescopic driving member, 442, connecting seat, 443, adapter block, 50, robot body, 51, robotic arm, 52, thread tightening mechanism, 53, gripper portion, 531, electromagnet assembly. DETAILED DESCRIPTION

[0034] The embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

[0035] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0036] Unless otherwise specified, in the present invention, if there are terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", "x direction", "y direction", "z direction", etc., indicating orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the orientation or positional relationship in the present invention are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, they can understand the specific meanings of the above terms in conjunction with the drawings and according to specific circumstances.

[0037] Additionally, it should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0038] See also Figures 1 to 5 The present embodiment provides a valve body intelligent cleaning system and cleaning method, the valve body intelligent cleaning system includes a conveying mechanism 10, the valve body intelligent cleaning system also includes a workbench 20, a cleaning machine body 12 arranged on one side of the workbench 20, and a robot body 50 arranged on the other side of the workbench 20. Specifically, a cleaning window is provided inside the cleaning machine body 12, and an inlet 121 is provided on the cleaning machine body 12, which is connected to the aforementioned cleaning window and allows the target valve body 11 to enter the cleaning window. In a specific implementation, the target valve body 11 is transported to the side of the workbench 20 by the conveying mechanism 10, and then the target valve body 11 is clamped by the robot body 50 and driven to move onto the workbench 20. At this time, the top cover plate 342 and the side cover plate 332 are added to the target valve body 11 on the workbench 20, and then the robot body 50 drives the target valve body 11 through the insertion port 121 and places it into the cleaning window for cleaning. After cleaning is completed, the target valve body 11 is removed according to the reverse process of the above process, and the cover plate is disassembled and then returned to the conveying mechanism 10. It should be noted that the cleaning machine body 12 used is an air-injectable high-pressure gas explosion cleaning machine, and its structure is prior art, so it will not be described in detail.

[0039] In this embodiment, a group of cover plate mechanisms 30 are respectively provided at both ends of the workbench 20, and each group of the cover plate structures includes a bottom plate 31, a first cover plate assembly, a second cover plate assembly and a positioning assembly. The bottom plate 31 is T-shaped, and the first cover plate assembly, the second cover plate assembly and the positioning assembly are distributed in a triangular shape. The positioning assembly is located between the first cover plate assembly and the second cover plate assembly, and the first cover plate assembly and the second cover plate assembly are arranged opposite to each other. The first cover plate assembly is used to clamp the side cover plate 332 and make the side cover plate 332 located on one side of the target valve body 11, and the side cover plate driving member 33 is used to drive the side cover plate clamping member 331 to move linearly in the horizontal direction relative to the target valve body 11; the top cover plate clamping member 341 is used to clamp the top cover plate 342 and make it located just above the target valve body 11, and the top cover plate driving member 34 is used to drive the top cover plate clamping member 341 to move linearly in the vertical direction relative to the target valve body 11, and the top cover plate 342 is covered on the target valve body 11. The top surface of the target valve body 11, and the positioning assembly includes a limit support 35 and a support driving member 351 for driving the limit support 35 to move linearly, the limit support 35 can be used to carry the target valve body 11, and the support driving member 351 is used to drive the limit support 35 to drive the target valve body 11 to move back and forth in the horizontal direction relative to the workbench 20 and make the target valve body 11 face or not face the side cover plate clamping member 331. When the target valve body 11 moves to the side cover plate, the target valve body 11 is aligned with the side cover plate. When the clamping member 331 is in the facing position, the side cover plate 332 is located on one side of the target valve body 11, and the top cover plate 342 is located directly above the target valve body 11. At this time, the side cover plate driving member 33 drives the side cover plate 332 to move toward the target valve body 11 and positions it to one side of the target valve body 11, and the top cover plate driving member 34 drives the top cover plate 342 to move downward and positions it to the top surface of the target valve body 11, thereby completing the installation of the top cover plate 342 and the positioning of the side cover plate 332. It should be noted that the side cover plate driving component 33, the top cover plate driving component 34 and the support driving component 351 used in this embodiment are any one of the cylinders or telescopic motors, and the side cover plate clamping component 331 and the top cover plate clamping component 341 both achieve clamping and fixing of the top cover plate 342 or the side cover plate 332 by magnetic attraction, and the installation of the cylinder or telescopic motor and the electromagnet all adopts existing technology, so they are not described here.

[0040] In this embodiment, a feeding mechanism 40 is further provided on the workbench 20. The feeding mechanism 40 is used to provide a nut 41 for securing the side cover plate 332. The nut 41 is a threaded member that cooperates with a threaded post on the target valve body 11 to secure the side cover plate 332. Specifically, the feeding mechanism 40 includes a first fixed member 42, a first movable member 43, and a first driving member for driving the first movable member 43 to perform linear motion relative to the first fixed member 42. In a specific implementation, the first fixing member 42 cooperates with the first movable member 43 to achieve clamping and positioning of multiple threaded members. Specifically, the first fixing member 42 is fixedly installed on the workbench 20 and the first fixing member 42 is provided with a plurality of positioning slots 421 arranged in a line on the side close to the first movable member 43. The inner diameter of the positioning slot 421 is slightly larger than the outer diameter of the nut 41 to facilitate the insertion of the nut 41. The first movable member 43 is provided with a plurality of forward-protruding positioning blocks 43a on the side close to the positioning slot 421. The outer diameter of the positioning block 43a is smaller than the inner diameter of the positioning slot 421, so that the clamping and positioning of one or more threaded members can be achieved by cooperating with the positioning block 43a and the positioning slot 421. In order to drive the first movable member 43 to move relative to the first fixed member 42, the first driving member is any one of a cylinder and a telescopic motor. The first movable member 43 includes an intermediate connecting part 431 and a sliding connecting part 432 located at both ends of the intermediate connecting part 431. The sliding connecting part 432 is integrally formed with the intermediate connecting part 431, and the bottom surface of the sliding connecting part 432 is slidably connected to the workbench 20 through a slide rail assembly. The first driving member includes a first telescopic driving member 441 and a connecting seat 442 provided at the output end of the first telescopic member. The connecting seat 442 is hinged with a transfer block 443, and the end of the transfer block 443 away from the connecting seat 442 is fixedly connected to the first movable member 43, thereby driving the first movable member 43 through the first driving member and realizing the positioning of multiple nuts 41.

[0041] In this embodiment, the robot body 50 can adopt a multi-degree-of-freedom multi-arm robot in the prior art, which has at least one robotic arm 51 with multiple spatial degrees of freedom. A threaded tightening mechanism 52 is installed at the front end of the robotic arm 51. The threaded tightening mechanism 52 is used to pick up the nut 41 from the feeding mechanism 40 and drive it to the side plate cover position and then fix the nut 41 on the stud 41a of the target valve body 11. The threaded tightening mechanism 52 can use such a structure as that in the robot provided by document No. CN 212020761 U or a similar mechanism available on the market and assemble it to the front end of the robotic arm 51. Therefore, its structure and connection method are not described in detail here. In addition, in order to enable the robotic arm 51 to clamp the target valve body 11, the gripping mechanism includes a gripping portion 53 provided at the front end of the threaded tightening machine. The front end of the gripping portion 53 has a plane, and an electromagnet assembly 531 is provided inside the gripping portion 53. The setting of the plane can increase the contact area with the target valve body 11. During the transportation of the target valve body 11, the target valve body 11 can be picked up and released by controlling the electromagnet assembly 531 to be energized or de-energized.

[0042] In this embodiment, in order to clean the target valve body 11, the cleaning machine main body 12 is provided with a group of clamping mechanisms on both sides of the cleaning window, and the clamping mechanism includes an annular clamping ring and a first linear propulsion mechanism for pushing the annular clamping ring to perform reciprocating linear motion in the horizontal direction within the cleaning machine main body 12. Under the action of the first linear propulsion mechanism, the annular clamping ring can clamp the two sides of the target valve body 11 entering the cleaning window through the inlet 121, and an airflow window for gas to pass through is formed on the inner side of each annular clamping ring, and the airflow window allows high-pressure gas to be discharged from here. At the same time, the cleaning machine body 12 is also provided with an air injection and pressing mechanism and a second linear propulsion mechanism for driving the air injection and pressing mechanism to reciprocate in the vertical direction directly above the cleaning window, the air injection and pressing mechanism including a pressure ring and an air injection nozzle provided on the inner side of the pressure ring, the air injection nozzle and the pressure ring can move synchronously under the action of the second linear propulsion mechanism, the bottom of the pressure ring can contact the top cover plate 342 of the target valve body 11, thereby fixing the target valve body 11 in the cleaning window of the cleaning machine body 12, and at the same time, to clean the target valve body 11, the air injection nozzle is connected to an air path, which is used to deliver high-pressure gas to the air injection nozzle, so that by delivering the above-mentioned high-pressure gas to the interior of the target valve body 11, the high-pressure gas moves at high speed in the internal air path of the target valve body 11 to achieve cleaning of the valve body air path, and finally, the high-pressure gas is discharged from the air inlet and exhaust ports on both sides of the target valve body 11 and through the air flow window on the inner side of the annular pressure ring.

[0043] The intelligent valve body cleaning system and cleaning method provided in this embodiment include the following steps when cleaning a 120 / 120-1 type control valve:

[0044] The target valve body 11 conveyed by the conveying mechanism 10 is clamped by the gripper portion 53 of the robot arm 51 to transfer it to the workbench 20. Preferably, the target valve body 11 is directly placed on the limit support 35. At this time, the target valve body 11 can be covered. Specifically,

[0045] First, the side cover plate clamping member 331 clamps the side cover plate 332, and the top cover plate clamping member 341 clamps the top cover plate 342. The support driver 351 then drives the limit support 35 to move horizontally, so that the target valve body 11 is simultaneously aligned with the side cover plate 332 and the top cover plate 342. The side cover plate driver 33 and the top cover plate driver 34 then respectively drive the side cover plate 332 and the top cover plate 342 to move, so that both the side cover plate 332 and the top cover plate 342 are in contact with and pressed against the target valve body 11. At this point, the robotic arm 51 drives the threaded tightening mechanism 52 to clamp the nut 41 on the feeding mechanism, driving it to move and secure it to the stud 41a of the target valve body 11. The nut 41 cooperates with the stud 41a to secure the side cover plate 332 to the target valve body 11.

[0046] After the cover operation is completed, the target valve body 11 is clamped again by controlling the power on and off of the electromagnet assembly 531 on the robotic arm 51. At this time, the gripper portion 53 of the robotic arm 51 directly acts on the side cover 332 to clamp the target valve body 11. Then, the robotic arm 51 moves to horizontally send the target valve body 11 from the insertion port 121 into the cleaning window of the cleaning machine body 12 until the target valve body 11 is aligned with the annular pressure rings on both sides and the pressure ring and gas injection nozzle above it. Then, the first linear propulsion mechanism in the cleaning machine body 12 drives the annular pressure ring to clamp and fix the target valve body 11 from both sides of the target valve body 11. , and then the second linear propulsion mechanism arranged in the cleaning machine body 12 drives the pressure ring and the gas injection nozzle to move downward until the pressure ring contacts the top cover plate 342 and presses the top cover plate 342 onto the target valve body 11. At this time, by controlling the gas supply in the gas circuit, high-pressure gas is injected from the top of the target valve body 11, passes through the internal gas circuit of the target valve body 11, and flows out from both sides. In this process, the internal gas circuit of the target valve body 11 is cleaned. During the cleaning process, the pressure ring acts on the top cover plate 342 of the target valve body 11, and the top cover plate 342 is correspondingly provided with a through hole for the gas nozzle to penetrate into the interior of the target valve body 11, thereby realizing gas injection. During the cleaning process, since the air inlet and exhaust ports on the front side of the target valve body 11 are closed by the side cover plate 332, the gas passing through the air inlet and exhaust ports on the top surface of the target valve body 11 is finally discharged from the air inlet and exhaust ports on the left side and the right side of the target valve body 11, which not only ensures the safety of cleaning, but also takes into account the cleaning efficiency and cleaning quality, and makes the inlet 121 of the cleaning machine body 12 as small as possible to further improve the safety of the entire automatic cleaning process.

[0047] It should be noted that the aforementioned annular clamping ring and pressure ring structure are both annular as a whole, and can be any one of a regular annular structure or an irregular annular structure, and the specific design and installation of the first linear propulsion mechanism and the second linear propulsion mechanism can be achieved using existing technology, so they will not be elaborated here.

[0048] The above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that the technical solutions of the present invention may be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention, and such modifications or equivalents shall be encompassed by the claims of the present invention. Any techniques, shapes, and structures not described in detail herein are well known.

Claims

1. A valve body intelligent cleaning system, comprising a workbench (20), a cleaning machine body (12) being provided on one side of the workbench (20), the cleaning machine body (12) having at least one inlet (121) for a target valve body (11) to enter the interior of the cleaning machine body (12), characterized in that: Also includes: At least one set of cover plate mechanisms (30) is provided on the workbench (20), each of the cover plate mechanisms (30) comprising a first cover plate assembly, the first cover plate assembly comprising a side cover plate clamping member (331) and a side cover plate driving member (33), the side cover plate clamping member (331) being used to clamp the side cover plate (332) and position it on one side of the target valve body (11), and the side cover plate driving member (333) being used to drive the side cover plate clamping member (331) to perform linear motion in a horizontal direction relative to the target valve body (11); The cover plate mechanism (30) further includes a second cover plate assembly, the second cover plate assembly including a top cover plate clamping member (341) and a top cover plate driving member (34), the top cover plate clamping member (341) being used to clamp the top cover plate (342) and position it directly above the target valve body (11), and the top cover plate driving member (34) being used to drive the top cover plate clamping member (341) to perform linear motion in a vertical direction relative to the target valve body (11); A set of clamping mechanisms is provided on each side of the cleaning window of the cleaning machine body (12), the clamping mechanisms comprising an annular clamping ring and a first linear propulsion mechanism for pushing the annular clamping ring to perform reciprocating linear motion in the horizontal direction within the cleaning machine body (12), and an air flow window for gas to pass through is formed on the inner side of each annular clamping ring; an air injection clamping mechanism and a second linear propulsion mechanism for driving the air injection clamping mechanism to perform reciprocating motion in the vertical direction are also provided directly above the cleaning window of the cleaning machine body (12), the air injection clamping mechanism comprising a clamping ring and an air injection nozzle provided on the inner side of the clamping ring, the air injection nozzle and the clamping ring move synchronously under the action of the second linear propulsion mechanism, and the bottom of the clamping ring contacts the top cover plate (342) of the target valve body (11); The top cover plate (342) is provided with a corresponding through hole for the gas injection nozzle to penetrate into the interior of the target valve body (11); during the cleaning process, the air inlet and air outlet on the front side of the target valve body (11) is closed by the side cover plate (332), and the gas passing through the air inlet and air outlet on the top surface of the target valve body (11) is discharged from the air inlet and air outlet on the left side and the air inlet and air outlet on the right side of the target valve body (11); and at least one robot body (50), comprising a robot arm (51) having at least one spatial degree of freedom, the front end of the robot arm (51) having at least one gripping mechanism and at least one thread tightening mechanism (52), the gripping mechanism being used to clamp and drive the target valve body (11) to move, the thread tightening mechanism (52) being used to clamp a threaded component and drive the threaded component to rotate after the threaded component moves to a predetermined position, thereby tightening and fixing the threaded component to the target valve body (11); The invention also includes at least one feeding mechanism (40), wherein the feeding mechanism (40) includes a first fixed member (42), a first movable member (43), and a first driving member for driving the first movable member (43) to perform linear motion relative to the first fixed member (42), wherein the first fixed member (42) cooperates with the first movable member (43) to achieve clamping and positioning of one or more threaded members.

2. The intelligent valve cleaning system according to claim 1, characterized in that: The cleaning machine body (12) and the robot body (50) are arranged oppositely on both sides of the workbench (20), and two sets of cover mechanisms (30) are arranged oppositely at both ends of the workbench (20), and the robot body (50) is located between the two sets of cover mechanisms (30).

3. The intelligent valve cleaning system according to claim 1, characterized in that: The first fixing member (42) is fixedly mounted on the workbench (20) and the first fixing member (42) is provided with a plurality of positioning notches (421) on a side close to the first moving member (43). The first moving member (43) is provided with a plurality of positioning blocks (43a) protruding forward on a side close to the positioning notches (421). The positioning blocks (43a) cooperate with the positioning notches (421) to achieve clamping and positioning of one or more threaded members.

4. The intelligent valve cleaning system according to claim 1, characterized in that: The first movable member (43) includes an intermediate connecting portion (431) and sliding connecting portions (432) located at both ends of the intermediate connecting portion (431), wherein the sliding connecting portion (432) is slidably connected to the workbench (20) via a slide rail assembly, and the first driving member includes a first telescopic driving member (441) and a connecting seat (442) provided at the output end of the first telescopic driving member (441), wherein the connecting seat (442) is hinged with a transfer block (443), and an end of the transfer block (443) away from the connecting seat (442) is fixedly connected to the first movable member (43).

5. The intelligent valve cleaning system according to claim 1, characterized in that: The cover plate mechanism (30) further includes a positioning assembly, the positioning assembly including a limit support (35) and a support driving member (351) for driving the limit support (35) to perform linear motion, the limit support (35) being used to carry the target valve body (11), and the support driving member (351) being used to drive the limit support (35) to drive the target valve body (11) to move in a horizontal direction relative to the workbench (20) and to make the target valve body (11) face or not face the side cover plate clamping member (331).

6. The intelligent valve cleaning system according to claim 1, characterized in that: The thread tightening mechanism (52) is provided at the front end of the mechanical arm (51), and the gripping mechanism comprises a gripping portion (53) provided at the front end of the thread tightening mechanism (52), and an electromagnet assembly (531) is provided inside the gripping portion (53).

7. A valve body intelligent cleaning method, characterized in that: The target valve body (11) is cleaned using the valve body intelligent cleaning system according to claim 6, which is characterized in that: S1: The target valve body (11) is clamped by the gripper portion (53) of the robot arm (51) to transfer it to the workbench (20); S2: performing a covering operation on the target valve body (11) through the covering mechanism (30), wherein the covering operation at least includes locking the side covering plate (332) to the front side surface of the target valve body (11); S3: Controlling the electromagnet assembly (531) to be energized, so that the gripper portion (53) of the robotic arm (51) directly acts on the side cover (332) of the target valve body (11) to achieve the clamping of the target valve body (11), and then driving the target valve body (11) to move through the robotic arm (51) and horizontally delivering the target valve body (11) from the insertion port (121) into the cleaning window of the cleaning machine body (12); S4: The target valve body (11) is cleaned by the cleaning machine body (12).

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