Knuckle alignment method and system

Abstract

The invention relates to a steering knuckle alignment method and system. The method comprises the following steps: determining to continue to detect signals or obtain detection image information according to the consistency between detection signals and placement signals; determining the placement state of the steering knuckle according to the detection image information; determining an abnormal placement type or controlling a clamping device to clamp and place the steering knuckle into an alignment device according to the consistency between the steering knuckle placement state and the reference placement state and the steering knuckle placement state, and outputting an alignment signal; a correction method is determined according to the placement abnormity type, and the steering knuckle is corrected through the correction method; according to the alignment signal, an alignment device is controlled to conduct alignment detection on the steering knuckle with the alignment force and the alignment angle; according to the exceeding relation between the detection pressure value and the reference pressure value, it is determined that detection is completed or a prompt is reported. The method has the effect of improving the working efficiency.

Description

Technical Field

[0001] The invention relates to the field of automobile parts, and in particular to a steering knuckle alignment method and system. Background Art

[0002] Steering knuckle alignment usually refers to ensuring the steering knuckle is installed in the correct position during vehicle maintenance or assembly to ensure the correct operation of the steering system and the safe driving of the vehicle.

[0003] In the prior art, after the steering knuckle is produced, the alignment of the holes of the steering knuckle needs to be checked before installation. During the alignment process, a related detection device is usually used to detect the alignment of the holes.

[0004] With respect to the above-mentioned related technologies, when using a detection device to perform alignment detection on the hole of the steering knuckle, due to the different structures of different steering knuckles, the staff is required to place the steering knuckle into the detection device to detect the hole by themselves. In each process of placing the steering knuckle, the participation of the staff is required, which reduces the work efficiency and needs to be improved. Summary of the invention

[0005] In order to improve work efficiency, the present invention provides a steering knuckle alignment method and system.

[0006] In a first aspect, the present invention provides a steering knuckle alignment method, which adopts the following technical solution:

[0007] A steering knuckle alignment method, comprising:

[0008] Acquire a detection signal within a preset detection area;

[0009] Determining to continue acquiring the detection signal or acquiring the detection image information according to the consistency between the detection signal and the preset placement signal;

[0010] Identify the knuckle placement state from a preset model database according to the detected image information;

[0011] Determining whether the placement state of the steering knuckle is consistent with a preset reference placement state;

[0012] If the placement state of the steering knuckle is inconsistent with the reference placement state, matching the placement abnormality type from a preset abnormality database according to the placement state of the steering knuckle;

[0013] Matching a correction method from a preset correction database according to the placement abnormality type, and correcting the steering knuckle with the correction method;

[0014] If the placement state of the steering knuckle is consistent with the reference placement state, the preset clamping device is controlled to clamp and place the steering knuckle into the preset alignment device and output an alignment signal;

[0015] Controlling the alignment device to perform alignment detection on the steering knuckle with a preset alignment force and a preset alignment angle according to the alignment signal, and obtaining a detection pressure value of the alignment device;

[0016] The detection is completed or a report prompt is issued based on the excess relationship between the detection pressure value and the preset reference pressure value.

[0017] By adopting the above technical solution, by understanding the consistency between the detection signal and the placement signal, the placement of the steering knuckle can be known, after the steering knuckle is placed in the detection area. By obtaining the detection image information, the consistency between the placement state of the steering knuckle and the reference placement state can be known. When inconsistent, the correction method is matched by understanding the placement abnormality type, and then the steering knuckle is corrected. When consistent, the steering knuckle is clamped and placed in the alignment device through the clamping device and the steering knuckle is aligned. Finally, the detection situation is known by understanding the excess relationship between the detection pressure value and the reference pressure value. In this way, the participation of staff is reduced and work efficiency is improved.

[0018] Optionally, the placement abnormality type includes rotational placement abnormality, and the correction method of the rotational placement abnormality includes:

[0019] Determine whether the placement exception type is consistent with the preset rotation placement exception;

[0020] If the placement exception type is inconsistent with the rotation placement exception, a prompt will be reported;

[0021] If the placement anomaly type is consistent with the rotation placement anomaly, it is identified from the detection image information according to the preset reference feature and defined as the identification feature position;

[0022] Determine a rotation vector according to the position of the identification feature and the reference position corresponding to the reference feature;

[0023] The rotation correction is performed by controlling the turntable on the correction device according to the rotation vector.

[0024] By adopting the above technical solution, the abnormal type is corrected by understanding the consistency between the placement abnormality type and the rotation placement abnormality. When consistent, it is identified and defined as the identification feature position by detecting the image information. Then, the rotation vector is known by identifying the feature position and the reference position corresponding to the reference feature, so as to control the turntable on the correction device to perform rotation correction on the steering knuckle with rotation placement abnormality. In this way, the time required for correction is reduced and work efficiency is improved.

[0025] Optionally, the placement abnormality type further includes position placement abnormality, and the correction method of the position placement abnormality includes:

[0026] When the placement abnormality type is consistent with the preset position placement abnormality, the tilt direction is determined according to the knuckle placement state and the reference placement state;

[0027] Get the knuckle weight value of the knuckle;

[0028] Determine the tilt angle according to the knuckle placement state, the reference placement state, and the knuckle weight value;

[0029] According to the tilt direction and tilt angle, the turntable on the correction device is controlled to tilt and lift;

[0030] After tilting and lifting, obtain the apex height position of the steering knuckle and the water level height information;

[0031] Matching the inflation volume from a preset inflation database according to the water level information and the vertex height position;

[0032] Based on the inflation volume, a preset inflatable airbag is controlled to be inflated to raise the water level in the detection area so that the liquid submerges the steering knuckle;

[0033] After the inflation is completed, the flushing force value is matched from the preset flushing database according to the tilt angle and the knuckle weight value;

[0034] Determine the flushing force position based on the tilt direction and the knuckle weight value;

[0035] The preset flushing equipment is controlled to flush the flushing force position with the flushing force value to complete the movement correction.

[0036] By adopting the above technical solution, the tilting direction is known by understanding the comparison between the placement state of the steering knuckle and the reference placement state. The tilting angle is then obtained through the placement state of the steering knuckle, the reference placement state and the weight value of the steering knuckle. The steering knuckle is then tilted and raised according to the tilting direction and the tilting angle. After raising, the inflatable airbag is inflated by understanding the inflation volume of the inflatable airbag, so that the water level can be raised to submerge the steering knuckle. The steering knuckle is then made more susceptible to impulse, and the steering knuckle is moved and corrected by matching the flushing force value and the flushing force position, thereby reducing the difficulty of moving and correcting the steering knuckle when the position is abnormal, and further improving work efficiency.

[0037] Optionally, also include:

[0038] When the detection signal is consistent with the placement signal, the weight force area in the detection area is obtained;

[0039] According to the consistency between the weight force area and the preset reference force area, the detection is completed or an abnormal force signal is output;

[0040] Based on the abnormal force signal, the water outlet force value is matched from the preset water outlet database according to the steering knuckle weight value;

[0041] Determine the water discharge distance according to the water discharge force value;

[0042] Update the vertex height position according to the water exit distance;

[0043] updating the inflation volume based on the updated vertex height position;

[0044] Based on the updated inflation volume, the inflatable airbag is controlled to inflate to raise the water level in the detection area to the updated apex height position;

[0045] Determine the knuckle weight distribution based on the weight bearing area and the knuckle weight value;

[0046] Determine the current center of gravity and flushing force area of ​​the steering knuckle according to the weight distribution of the steering knuckle;

[0047] Determine adjustment parameters according to the current center of gravity of the steering knuckle and the preset reference center of gravity of the steering knuckle;

[0048] According to the adjustment parameters and the water outlet force value, the preset flushing device is controlled to flush water to the flushing force area through the water outlet on the turntable to correct the current center of gravity of the steering knuckle.

[0049] By adopting the above technical solution, the placement posture of the steering knuckle is known by understanding the consistency between the weight force area and the reference force area. When the placement posture is abnormal, the vertex height position is updated by knowing the water outlet distance to avoid water spraying out of the liquid surface during flushing. The inflation volume is updated by the updated vertex height position, and the inflatable airbag is controlled to inflate to raise the water level in the detection area to the updated vertex height position. After the steering knuckle is submerged, the current center of gravity of the steering knuckle and the flushing force area are known by understanding the weight distribution of the steering knuckle, and then the adjustment parameters are known, and the center of gravity of the steering knuckle is corrected by adjusting the parameters. Reduce the abnormal posture of the steering knuckle and improve work efficiency.

[0050] Optionally, also include:

[0051] Determine the flushing force value based on the knuckle weight value;

[0052] According to the flushing force value, the preset flushing equipment is controlled to flush the steering knuckle and update the water level height information, and the turntable is controlled to rotate one circle at a preset rotation speed;

[0053] Based on the fact that the placement abnormality type is consistent with the rotation placement abnormality and after one rotation, the flushing device is controlled to stop flushing and stop updating the water level height information;

[0054] Based on the inconsistency between the placement abnormality type and the rotation placement abnormality and after one rotation, the flushing device is controlled to continue flushing and descend to the top point height position according to the updated water level height information;

[0055] The inflation volume is updated according to the top point height position after descent and the flushing device is controlled to stop flushing.

[0056] By adopting the above technical solution, the flushing force value when flushing the steering knuckle is known by understanding the weight value of the steering knuckle. Based on the flushing force value, the flushing device is controlled to flush the steering knuckle. After flushing, the water level height information is updated by understanding the placement abnormality type of the steering knuckle, and then the vertex height position is updated. This avoids the liquid overflowing the detection area due to the water level being too high.

[0057] Optionally, also include:

[0058] Determine whether the water level information falls within a preset reference height interval;

[0059] If the water level information exceeds the maximum value of the reference height interval, the difference between the water level information and the maximum value of the reference height interval is calculated, and the difference is defined as the drainage water volume value;

[0060] According to the drainage water volume value, the preset drainage device is controlled to start, so as to discharge the liquid exceeding the water level into the preset water storage tank;

[0061] If the water level information does not reach the minimum value of the reference height interval, the difference between the water level information and the minimum value of the reference height interval is calculated, and the difference is defined as the water replenishment value;

[0062] According to the replenishment water volume value, the flushing equipment is controlled to replenish water to the detection area to raise the water level to within the reference height range.

[0063] By adopting the above technical solution, the method of adjusting the water level in the detection area can be known by understanding the falling situation between the water level information and the reference height interval. When the water level information is higher than the maximum value of the reference height interval, the drainage device is controlled by the calculated drainage water value to discharge the liquid exceeding the water level into the water storage tank for storage. When the water level information is lower than the minimum value of the reference height interval, the flushing equipment is controlled by the calculated replenishment water value to discharge the liquid from the water storage tank into the detection area. In this way, the utilization rate of water in the detection area is improved.

[0064] Optional, post-rinse shipping methods include:

[0065] After the flushing is completed, the clamping device is controlled to clamp and transport the preset clamping position on the steering knuckle and obtain the position of the clamping device;

[0066] Determine whether the position of the clamping device falls within the preset drying area;

[0067] If the position of the clamping device does not fall into the drying area, continue to obtain the position of the clamping device;

[0068] If the position of the clamping device falls into the drying area, the preset blowing device in the drying area is started and the steering knuckle parameters are obtained;

[0069] Determine the steering hole position according to the steering knuckle parameters and the reference placement state;

[0070] According to the position of the steering hole, the blowing device is controlled to blow and dry the steering hole position at a preset blowing temperature;

[0071] After the drying by blowing, the clamping device is controlled to clamp the steering knuckle into the alignment device, and the blowing device is turned off.

[0072] By adopting the above technical solution, after the steering knuckle is flushed, the position of the clamping device and the falling condition of the drying area are known to know whether the blowing device is started. When it falls, the blowing device is controlled to start, and by knowing the position of the steering hole, the blowing device is controlled to blow and dry the steering hole position, and after drying, the blowing device is controlled to be closed. In this way, energy loss is reduced.

[0073] Optionally, after the detection pressure value does not exceed the reference pressure value, a further detection method includes:

[0074] When the detection pressure value exceeds the reference pressure value, the abnormal hole position is determined according to the detection pin number of the detection pin preset on the alignment device;

[0075] Outputting an abnormal hole position signal to a preset signal transceiver terminal according to the abnormal hole position;

[0076] When the detection pressure value does not exceed the reference pressure value, the telescopic device preset on the detection pin is controlled to extend in all directions with a preset extension force value to obtain a gap distance value;

[0077] Determine whether the gap distance value is consistent with the preset reference distance value;

[0078] If the gap distance value is consistent with the reference distance value, a detection completion signal of the steering hole corresponding to the current detection pin number is output to the signal transceiver terminal;

[0079] If the gap distance value is inconsistent with the reference distance value, a turning hole too large signal is output to the signal transceiver terminal or a turning hole too small signal is output to the signal transceiver terminal according to the size relationship between the gap distance value and the reference distance value.

[0080] By adopting the above technical solution, when the detection pressure value exceeds the reference pressure value, the position of the abnormal hole can be known by understanding the detection pin number. When the detection pressure value does not exceed the reference pressure value, the qualified condition of the steering hole can be known by understanding the consistency between the gap distance value and the reference distance value. When it is unqualified, the specific reason for the unqualified steering hole can be known by understanding the size relationship between the gap distance value and the reference distance value. In this way, the detection accuracy of the steering hole is improved.

[0081] Optionally, the detection method before the steering knuckle is placed in the detection area includes:

[0082] Acquire image information of the steering knuckle before detection;

[0083] Determine the completion of the inspection or identify and mark the surface defect features according to the consistency between the image information before the inspection and the preset reference image information;

[0084] According to the surface defect characteristics, the defect type is identified from a preset defect category library, and the defect type includes a concave defect and a convex platform defect;

[0085] Based on the boss defect, the clamping device is controlled to clamp the steering knuckle to a preset repair area for repair, and after the repair is completed, the clamping device is controlled to clamp the steering knuckle back to the inspection area;

[0086] Based on the dent defect, the clamping device is controlled to clamp the steering knuckle to a preset recovery area and report a prompt.

[0087] By adopting the above technical solution, the surface defect of the steering knuckle can be known by understanding the consistency between the image information before detection and the reference image information. When there are surface defect characteristics, the method of dealing with the defect can be known by understanding the defect type. When it is a boss defect, the steering knuckle is clamped to the repair area for repair, and after the repair, the clamping device is controlled to clamp the steering knuckle back to the detection area. When it is a concave defect, the steering knuckle is clamped to the recovery area and reported. In this way, the yield rate of the steering knuckle is improved.

[0088] In a second aspect, the present application provides a steering knuckle alignment system, which adopts the following technical solution:

[0089] A steering knuckle alignment system, comprising:

[0090] An acquisition module is used to acquire detection signals, detection image information, detection pressure values, steering knuckle weight values, vertex height positions, water level height information, weight force bearing area, clamping device positions, steering knuckle parameters and pre-detection image information;

[0091] A memory for storing a program of any one of the above-mentioned steering knuckle alignment methods;

[0092] The program in the processor memory can be loaded and executed by the processor to implement any one of the above-mentioned steering knuckle alignment methods.

[0093] By adopting the above technical solution, by understanding the consistency between the detection signal and the placement signal, the placement of the steering knuckle can be known, after the steering knuckle is placed in the detection area. By obtaining the detection image information, the consistency between the placement state of the steering knuckle and the reference placement state can be known. When inconsistent, the correction method is matched by understanding the placement abnormality type, and then the steering knuckle is corrected. When consistent, the steering knuckle is clamped and placed in the alignment device through the clamping device and the steering knuckle is aligned. Finally, the detection situation is known by understanding the excess relationship between the detection pressure value and the reference pressure value. In this way, the participation of staff is reduced and work efficiency is improved.

[0094] In summary, the present application includes at least one of the following beneficial technical effects:

[0095] 1. By understanding the placement status of the steering knuckle, the steering knuckle can be adjusted accordingly, and after the adjustment, the steering knuckle can be aligned and tested to improve work efficiency;

[0096] 2. Use inflatable airbags and flushing equipment to submerge the steering knuckle in liquid, thereby reducing the difficulty of steering knuckle correction and improving work efficiency;

[0097] 3. By understanding the gap distance value, we can know the qualification of the steering hole, so as to improve the detection accuracy of the steering hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] Figure 1 is a method flow chart of a steering knuckle alignment method in an embodiment of the present invention;

[0099] Figure 2 is a method flow chart of a method for correcting rotational placement abnormality in an embodiment of the present invention;

[0100] Figure 3 is a method flow chart of a method for correcting abnormal position placement in an embodiment of the present invention;

[0101] Figure 4 is a method flow chart of a method for detecting the center of gravity of a steering knuckle in an embodiment of the present invention;

[0102] Figure 5 1 is a structural diagram of a correction device in an embodiment of the present invention. DETAILED DESCRIPTION

[0103] The following is combined with Figure 1-Figure 5 The present invention is further described in detail with examples.

[0104] The embodiment of the present application discloses a steering knuckle alignment method, which corrects the placement abnormality of the steering knuckle accordingly by understanding the placement state of the steering knuckle. After the correction is completed, the alignment device is controlled to perform alignment detection on the steering knuckle. When the placement abnormality type is rotational placement abnormality, the turntable 5 on the correction device 1 is used for rotation correction. When the placement abnormality type is positional placement abnormality, the inflatable airbag 2 is inflated to increase the water level, and then the steering knuckle is flushed by the flushing device to complete the movement correction. When the center of gravity of the steering knuckle is abnormal, the flushing device 9 is controlled to flush the flushing force area to correct the current center of gravity of the steering knuckle. And when the steering knuckle is placed in the detection area, the steering knuckle is flushed by the flushing device 6. When the water level in the detection area is abnormal, corresponding adjustments are made by knowing the abnormality type. After flushing the steering knuckle, the steering knuckle is clamped in the drying area for drying. After drying, the steering knuckle is aligned and detected, and the detection result is output.

[0105] Reference Figure 1 and Figure 5 , a steering knuckle alignment method, comprising the following steps:

[0106] Step 100: Acquire a detection signal within a preset detection area.

[0107] The detection area refers to an area used to detect the placement of the steering knuckle. The detection area is set in advance by a person skilled in the art and will not be described in detail here. The detection signal refers to a signal indicating whether the steering knuckle is placed in the detection area. The detection signal is obtained by a signal transmitter.

[0108] Step 101: Determine whether to continue acquiring the detection signal or to acquire the detection image information according to the consistency between the detection signal and the preset placement signal.

[0109] The placement signal refers to the signal of the steering knuckle being placed in the detection area. The placement signal is set in advance by a person skilled in the art, and will not be described in detail here. By judging the consistency between the detection signal and the placement signal, it is known whether there is a steering knuckle in the detection area.

[0110] If the detection signal is inconsistent with the placement signal, it means that there is no steering knuckle in the detection area, and you can continue to obtain the detection signal.

[0111] If the detection signal is consistent with the placement signal, it means that there is a steering knuckle in the detection area, and the detection image information needs to be obtained. The detection image information refers to the image containing the steering knuckle in the detection area. The detection image information is obtained by taking a photo with a camera.

[0112] Step 102: Identify the placement state of the steering knuckle from a preset model database according to the detected image information.

[0113] The knuckle placement state refers to the posture of the knuckle placed in the detection area. The knuckle placement state can be identified from the detection image information through the model database. The model database is obtained based on the deep learning of the neural network model, which includes the knuckle placement state. The model database is a manually set database and will not be described here.

[0114] Step 103: Determine whether the placement state of the steering knuckle is consistent with a preset reference placement state.

[0115] The reference placement state refers to the reference posture of the steering knuckle placed in the detection area. By judging whether the steering knuckle placement state is consistent with the reference placement state, it is known whether the steering knuckle is placed regularly.

[0116] Step 1031: If the placement state of the steering knuckle is inconsistent with the reference placement state, the placement abnormality type is matched from a preset abnormality database according to the placement state of the steering knuckle.

[0117] If the placement state of the steering knuckle is inconsistent with the reference placement state, it means that the steering knuckle is not placed regularly and the placement state of the steering knuckle needs to be corrected. The placement abnormality type refers to the abnormal placement of the steering knuckle. The placement abnormality type corresponding to the placement state of the steering knuckle can be matched through the abnormal database. The abnormal database is obtained based on deep learning of the neural network model, which contains the placement abnormality type. The abnormal database is a manually set database and will not be described here.

[0118] Step 10311: Match a correction method from a preset correction database according to the placement abnormality type, and correct the steering knuckle using the correction method.

[0119] The correction method refers to a method for correcting an abnormally placed steering knuckle. The correction method corresponding to the abnormal placement type can be matched through the correction database. The correction database contains the correspondence between the abnormal placement type and the correction method. The correction database is a manually set database and will not be described here. The steering knuckle is corrected by controlling the preset correction device 1 through the matched correction method. The correction device 1 refers to a device for correcting the abnormal posture of the steering knuckle.

[0120] Step 1032: If the placement state of the steering knuckle is consistent with the reference placement state, the preset clamping device is controlled to clamp and place the steering knuckle into the preset alignment device and output an alignment signal.

[0121] If the placement state of the steering knuckle is consistent with the reference placement state, it means that the steering knuckle is placed regularly, and the clamping device is directly controlled to clamp the steering knuckle and place it in the alignment device and output the alignment signal. The clamping device refers to a mechanical arm used to clamp the steering knuckle for movement. The alignment device refers to a device used to perform alignment detection on the steering knuckle. The alignment signal refers to the signal after the steering knuckle is placed in the alignment device. The alignment signal is output through the signal transceiver set on the alignment device.

[0122] Step 10321: Control the alignment device to perform alignment detection on the steering knuckle with a preset alignment force and a preset alignment angle according to the alignment signal, and obtain the detection pressure value of the alignment device.

[0123] After the alignment signal is output, the alignment device is controlled to perform alignment detection on the steering knuckle with the alignment force and alignment angle, and the detection pressure value of the alignment device is obtained. The alignment force refers to the force of the detection pin on the alignment device entering the steering hole on the steering knuckle. The alignment angle refers to the angle at which the detection pin enters the steering hole. The alignment force and the alignment angle are both set in advance by those skilled in the art and are not described in detail here. The detection pressure value refers to the pressure when the detection pin detects the steering knuckle, and the detection pressure value is obtained by the pressure sensor on the alignment device.

[0124] Step 10322: Determine whether the test is completed or report a prompt based on the excess relationship between the test pressure value and the preset reference pressure value.

[0125] The reference pressure value refers to the maximum pressure value that can exist on the detection pin on the alignment device. By judging the excess relationship between the detection pressure value and the reference pressure value, it is possible to know whether the steering hole on the steering knuckle is qualified.

[0126] If the detected pressure value does not exceed the reference pressure value, it means that the current steering hole is qualified and the test is completed.

[0127] If the detected pressure value exceeds the reference pressure value, it means that the current steering hole is unqualified and needs to be reported.

[0128] Reference Figure 2 and Figure 5 The placement abnormality type includes rotational placement abnormality, and the correction method of rotational placement abnormality includes the following steps:

[0129] Step 200: Determine whether the placement exception type is consistent with a preset rotation placement exception.

[0130] Rotational placement abnormality refers to an abnormality in which the steering knuckle is placed crookedly in the detection area. By judging whether the placement abnormality type is consistent with the rotational placement abnormality, it is known whether the placement abnormality type of the steering knuckle is a rotational placement abnormality.

[0131] Step 201: If the placement exception type is inconsistent with the rotation placement exception, a prompt is reported.

[0132] If the placement abnormality type is inconsistent with the rotational placement abnormality, it means that the placement abnormality type of the steering knuckle is not a rotational placement abnormality and needs to be reported.

[0133] Step 202: If the placement anomaly type is consistent with the rotation placement anomaly, it is identified from the detection image information according to a preset reference feature and defined as an identification feature position.

[0134] If the placement abnormality type is consistent with the rotation placement abnormality, it means that the placement abnormality type of the steering knuckle is the rotation placement abnormality. The reference feature needs to be identified by detecting the image information, and the reference feature of the current steering knuckle in the detected image information is defined as the identification feature position. The reference feature refers to the feature used to assist in determining the position of each feature of the steering knuckle. The reference feature is set in advance by a person skilled in the art and will not be described in detail here. The identification feature position refers to the position of the reference feature of the current steering knuckle.

[0135] Step 2021: Determine a rotation vector based on the identified feature position and the reference position corresponding to the reference feature.

[0136] The rotation vector refers to the direction and angle of the steering knuckle when it is rotated and corrected. The reference position refers to the position of the reference feature. By identifying the feature position and the reference position corresponding to the reference feature, the angle difference between the identification feature position and the reference position can be determined, and then the rotation vector can be determined.

[0137] Step 2022: Control the turntable 5 on the correction device 1 to perform rotation correction according to the rotation vector.

[0138] The knuckle is rotationally corrected by controlling the turntable 5 on the correction device 1 with the matched rotation vector. A rotation shaft 3 is arranged under the turntable 5, and the rotation of the turntable 5 is controlled by controlling the rotation of the rotation shaft 3.

[0139] Reference Figure 3 and Figure 5 The placement abnormality type also includes position placement abnormality, and the correction method of position placement abnormality includes the following steps:

[0140] Step 300: When the placement abnormality type is consistent with the preset position placement abnormality, the tilt direction is determined according to the steering knuckle placement state and the reference placement state.

[0141] Position placement abnormality refers to the abnormality that the steering knuckle is not placed in the center of the detection area. When the placement abnormality type is consistent with the position placement abnormality, the tilt direction can be known through the steering knuckle placement state and the reference placement state. The tilt direction refers to the direction in which the turntable 5 tilts when the steering knuckle needs to be tilted.

[0142] Step 301: Obtain a knuckle weight value of a steering knuckle.

[0143] The knuckle weight value refers to the weight of the knuckle. The knuckle weight value is obtained by a weight sensor set in the detection area.

[0144] Step 302: Determine the tilt angle according to the steering knuckle placement state, the reference placement state and the steering knuckle weight value.

[0145] The tilt angle refers to the tilt angle of the turntable 5. The distance that the knuckle needs to be moved to the center of the detection area can be known through the knuckle placement state and the reference placement state, and the tilt angle can be determined through the knuckle weight value and this distance to ensure that the knuckle does not fall over and the flushing device can impact the knuckle.

[0146] Step 303: Control the turntable 5 on the correction device 1 to tilt and raise according to the tilt direction and tilt angle.

[0147] The steering knuckle is tilted and raised in a tilting direction and tilting angle by controlling the turntable 5 on the correction device 1. A plurality of telescopic rods 4 are arranged under the turntable 5. The turntable 5 is tilted by controlling the extension and contraction of the telescopic rods 4. When rotation and tilting are required, the turntable 5 needs to be controlled to rotate first and then tilted.

[0148] Step 304: After the tilt is raised, the apex height position of the steering knuckle and the water level height information are obtained.

[0149] When the steering knuckle is tilted and raised, the apex height position of the steering knuckle and the water level height information are obtained. The apex height position refers to the position of the apex of the steering knuckle. The water level height information refers to the height of the water level in the detection area. The apex height position is obtained by scanning the steering knuckle with a preset scanning instrument. The water level height information is obtained by the water level sensor in the detection area.

[0150] Step 305: Match the inflation volume from a preset inflation database according to the water level information and the vertex height position.

[0151] The inflation volume refers to the volume of the inflatable airbag 2. The inflation volume corresponding to the water level information and the vertex height position can be matched through the inflation database, which contains the corresponding relationship between the water level information, the vertex height position and the inflation volume. The inflation database is a manually set database and will not be described in detail here.

[0152] Step 306: Based on the inflation volume, the preset inflatable airbag 2 is controlled to be inflated to raise the water level in the detection area so that the liquid 7 submerges the steering knuckle.

[0153] In this embodiment, the liquid 7 may be a liquid 7 such as cooling grease and water, and water is preferred in this embodiment. The inflatable airbag 2 refers to an airbag used to raise the water level of water in the detection area. When the inflatable airbag 2 is inflated, the water level of water in the detection area can be raised. The inflatable airbag 2 is inflated based on the inflated volume, thereby raising the water level in the detection area so that the water can submerge the steering knuckle.

[0154] Step 307: After the inflation is completed, the flushing force value is matched from a preset flushing database according to the tilt angle and the knuckle weight value.

[0155] When the inflation is completed, the water can then submerge the steering knuckle. The flushing force value is matched from the flushing database through the tilt angle and the steering knuckle weight value. Among them, the flushing force value refers to the force of flushing the steering knuckle. The flushing force value corresponding to the tilt angle and the steering knuckle weight value can be matched through the flushing database. The flushing database contains the corresponding relationship between the tilt angle and the steering knuckle weight value and the flushing force value. The flushing database is a manually set database and will not be described here.

[0156] Step 308: Determine the flushing force position according to the tilt direction and the steering knuckle weight value.

[0157] The flushing force position refers to the position where the steering knuckle is flushed when the flushing device flushes the steering knuckle. The tilted and raised position of the steering knuckle can be known through the weight value and tilt direction of the steering knuckle, and then the flushing force position can be known.

[0158] Step 309: Control the preset flushing equipment to flush the flushing force position with the flushing force value to complete the movement correction.

[0159] The flushing equipment refers to a high-pressure water gun used to flush and correct the steering knuckle. The flushing equipment is controlled to flush the flushing force value at the flushing force position to complete the movement correction of the steering knuckle.

[0160] Reference Figure 4 and Figure 5 , the method for detecting the center of gravity of the steering knuckle comprises the following steps:

[0161] Step 400: When the detection signal is consistent with the placement signal, the weight force area in the detection area is obtained.

[0162] When the detection signal is consistent with the placement signal, the weight force area in the detection area is obtained. The weight force area refers to the area where the steering knuckle is placed on the detection area and abuts against the detection area. A plurality of pressure sensors of the same size are arranged on the surface where the detection area abuts against the steering knuckle. By knowing the trigger signal of the pressure sensor, the weight force area can be known.

[0163] Step 401: Determine whether to complete the detection or output an abnormal force signal based on the consistency between the weight force area and the preset reference force area.

[0164] The reference force area refers to the force area that the steering knuckle should have when placed flat in the detection area. By judging the consistency between the weight force area and the reference force area, it can be known whether the steering knuckle is placed flat in the detection area.

[0165] If the weight force area is consistent with the reference force area, it means that the steering knuckle is placed flat in the test area and the test is completed.

[0166] If the weight force area is inconsistent with the reference force area, it means that the steering knuckle is not placed flat in the detection area, and an abnormal force signal needs to be output. The abnormal force signal refers to the signal that the steering knuckle is not placed flat in the detection area. The abnormal force signal is sent through the signal transmitter in the detection area.

[0167] Step 402: Based on the abnormal force signal, the water outlet force value is matched from a preset water outlet database according to the steering knuckle weight value.

[0168] When an abnormal force signal is issued, it indicates that the steering knuckle needs to be adjusted. The water outlet force value refers to the force of water outlet when the flushing device 9 adjusts the steering knuckle. The water outlet force value corresponding to the steering knuckle weight value can be matched through the water outlet database. The water outlet database contains the corresponding relationship between the steering knuckle weight value and the water outlet force value. The water outlet database is a manually set database and will not be described in detail here.

[0169] Step 403: Determine the water outlet distance according to the water outlet force value.

[0170] The water outlet distance refers to the height of the water sprayed by the flushing device 9. The corresponding water outlet distance can be matched from the preset distance database through the water outlet force value. The distance database contains the corresponding relationship between the water outlet force value and the water outlet distance. The distance database is a manually set database and will not be described in detail here.

[0171] Step 404: Update the vertex height position according to the water exit distance.

[0172] In order to prevent the water sprayed by the flushing device 9 from splashing out of the horizontal plane when flushing the steering knuckle, the water level needs to be raised, and then the vertex height position is updated by the water discharge distance. A cover is provided at the top position of the detection area to block the water sprayed by the flushing device 9 when flushing.

[0173] Step 405: Update the inflation volume based on the updated vertex height position.

[0174] As the vertex height position is updated, the inflation volume needs to be updated accordingly.

[0175] Step 406: Based on the updated inflation volume, the inflatable airbag 2 is controlled to inflate to raise the water level in the detection area to the updated apex height position.

[0176] The updated inflation volume is used to control the inflation airbag 2 to inflate, so as to raise the water level in the detection area to the updated apex height position.

[0177] Step 407: Determine the knuckle weight distribution according to the weight bearing area and the knuckle weight value.

[0178] Steering knuckle weight distribution refers to the weight distribution of the steering knuckle itself. The knuckle weight distribution can be obtained through the weight force area and the knuckle weight value.

[0179] Step 408: Determine the current center of gravity and flushing force area of ​​the steering knuckle according to the weight distribution of the steering knuckle.

[0180] The current center of gravity of the steering knuckle refers to the center of gravity of the steering knuckle in the current posture. The flushing force area refers to the position area flushed by the flushing device 9. The current center of gravity of the steering knuckle and the flushing force area when the steering knuckle is adjusted by flushing can be known through the weight distribution of the steering knuckle.

[0181] Step 409: Determine adjustment parameters according to the current center of gravity of the steering knuckle and the preset reference center of gravity of the steering knuckle.

[0182] The reference center of gravity of the steering knuckle refers to the center of gravity of the steering knuckle in the reference placement state. The adjustment parameter refers to the direction and distance of adjustment. The position difference of the center of gravity can be known through the current center of gravity of the steering knuckle and the reference center of gravity of the steering knuckle, and then the adjustment parameter can be known.

[0183] Step 410: According to the adjustment parameters and the water outlet force value, the preset flushing device 9 is controlled to flush water toward the flushing force area through the water outlet 8 on the turntable 5 to correct the current center of gravity of the steering knuckle.

[0184] The flushing device 9 is a high-pressure water gun used to adjust the steering knuckle with an abnormal center of gravity. The flushing device 9 is controlled to adjust the parameters and water output force value to flush water to the flushing force area through the flushing port on the turntable 5 to correct the current center of gravity of the steering knuckle.

[0185] Reference Figure 5 The method for flushing the steering knuckle also includes the following steps:

[0186] Step 500: Determine the flushing force value according to the knuckle weight value.

[0187] The flushing force value refers to the force of flushing the steering knuckle by the flushing device 6. The flushing force value corresponding to the steering knuckle weight value can be matched through the preset flushing database. The flushing database contains the corresponding relationship between the steering knuckle weight value and the flushing force value. The flushing database is a manually set database and will not be described in detail here.

[0188] Step 501: According to the flushing force value, the preset flushing device 6 is controlled to flush the steering knuckle and update the water level information, and the turntable 5 is controlled to rotate one circle at a preset rotation speed.

[0189] The flushing device 6 refers to a high-pressure water gun used to flush the steering knuckle. The flushing device 6 is controlled to flush the steering knuckle with a flushing force value, and during flushing, the water level will rise accordingly, and the water level height information needs to be updated. During flushing, the control turntable 5 is rotated at a rotation speed for one circle to fully flush the steering knuckle. The rotation speed is set in advance by a person skilled in the art and will not be described in detail here.

[0190] Step 5011: Based on the fact that the placement abnormality type is consistent with the rotation placement abnormality and after one rotation, the flushing device 6 is controlled to stop flushing and stop updating the water level height information.

[0191] When the placement abnormality type is consistent with the rotation placement abnormality, after one rotation, the flushing device 6 is controlled to stop flushing and stop updating the water level height information, and then steps 200 to 2022 are implemented.

[0192] Step 5012: Based on the fact that the placement abnormality type is inconsistent with the rotation placement abnormality and after one rotation, the flushing device 6 is controlled to continue flushing and to lower the vertex height position according to the updated water level height information.

[0193] When the placement abnormality type is inconsistent with the rotation placement abnormality, after one rotation, the flushing device 6 is controlled to continue flushing, and because the flushing device 6 is continuously flushing, the water level height information will increase in real time, and the vertex height position needs to be lowered.

[0194] Step 50121: Update the inflation volume according to the apex height position after descent and control the flushing device 6 to stop flushing.

[0195] The inflation volume is updated by the apex height position after the drop and the flushing device 6 is controlled to stop flushing. In this way, water is prevented from overflowing the detection area.

[0196] Reference Figure 5 , the method for detecting water level information comprises the following steps:

[0197] Step 600: Determine whether the water level information falls within a preset reference height interval.

[0198] The reference height interval refers to the height interval that the water level in the detection area should fall into. By judging whether the water level information falls into the reference height interval, it is known whether the current water level needs to be adjusted.

[0199] Step 601: If the water level information exceeds the maximum value of the reference height interval, the difference between the water level information and the maximum value of the reference height interval is calculated, and the difference is defined as the drainage water volume value.

[0200] If the water level information exceeds the maximum value of the reference height interval, it means that the water level needs to be lowered. The difference between the water level information and the maximum value of the reference height interval needs to be calculated to determine the drainage volume. The drainage volume refers to the amount of water that needs to be discharged.

[0201] Step 6011: Control the preset drainage device to start according to the drainage water volume value to discharge the liquid 7 exceeding the water level into the preset water storage tank.

[0202] The drainage device refers to a pump used to lower the water level in the detection area. The water storage tank refers to a water storage tank used to store excess liquid 7 in the detection area. The drainage device is controlled to discharge water corresponding to the drainage water value into the water storage tank.

[0203] Step 602: If the water level information does not reach the minimum value of the reference height interval, the difference between the water level information and the minimum value of the reference height interval is calculated, and the difference is defined as the water replenishment volume value.

[0204] If the water level information does not reach the minimum value of the reference height interval, it means that the water level of the detection area needs to be raised. The water replenishment value is determined by calculating the difference between the water level information and the minimum value of the reference height interval. The water replenishment value refers to the amount of water that needs to be replenished.

[0205] Step 6021: Control the flushing device 6 to replenish water to the detection area according to the replenishment water volume value to raise the water level to within the reference height range.

[0206] By controlling the flushing device 6, water corresponding to the replenishment water value is discharged from the water storage tank into the detection area for water replenishment, so as to raise the water level to within the reference height range.

[0207] Post-rinsing shipping methods include:

[0208] Step 700: After the flushing is completed, the clamping device is controlled to clamp and transport the preset clamping position on the steering knuckle and obtain the position of the clamping device.

[0209] The clamping position refers to the position on the steering knuckle for being clamped. The clamping position is set in advance by a person skilled in the art and will not be described in detail here. When the steering knuckle is flushed, the clamping device is controlled to clamp and transport the clamping position on the steering knuckle and obtain the clamping device position. The clamping device position refers to the position of the clamping device, which is obtained by the GPS positioning chip set in the clamping device.

[0210] Step 701: Determine whether the position of the clamping device falls within a preset drying area.

[0211] The drying area refers to an area for drying the steering knuckle after washing. The drying area is set in advance by a person skilled in the art and will not be described in detail here. By judging whether the position of the clamping device falls within the drying area, it is known whether the blowing device needs to be started.

[0212] Step 7011: If the position of the clamping device does not fall into the drying area, continue to obtain the position of the clamping device.

[0213] If the position of the clamping device does not fall into the drying area, it means that the clamping device has not yet reached the drying area. There is no need to start the blowing device, and the position of the clamping device can be continued to be obtained.

[0214] Step 7012: If the position of the clamping device falls into the drying area, the preset blowing device in the drying area is started and the steering knuckle parameters are obtained.

[0215] If the position of the clamping device falls into the drying area, it means that the clamping device has reached the drying area, the blowing device in the drying area is started, and the steering knuckle parameters are obtained. The blowing device refers to a hot air blower used to blow and dry the steering knuckle. The steering knuckle parameters refer to the size, model and shape of the steering knuckle. The parameters are obtained by scanning the QR code on the steering knuckle with a preset scanner in advance, and the content after scanning the QR code corresponds to the steering knuckle parameters.

[0216] Step 70121: Determine the steering hole position based on the steering knuckle parameters and the reference placement status.

[0217] The steering hole position refers to the position of the steering hole on the steering knuckle in the drying area. The position of the steering hole on the steering knuckle can be known through the steering knuckle parameters, and the placement state of the steering knuckle can be known through the reference placement state, and then the steering hole position can be known.

[0218] Step 70122: According to the position of the steering hole, the blowing device is controlled to blow and dry the steering hole position at a preset blowing temperature.

[0219] The blowing temperature refers to the temperature of the air blown out by the blowing device. The blowing temperature is set in advance by a person skilled in the art and will not be described in detail here. The blowing device is controlled to blow and dry the turning hole position at a preset blowing temperature.

[0220] Step 70123: After drying by blowing, control the clamping device to clamp the steering knuckle into the alignment device and turn off the blowing device.

[0221] After the air drying, the clamping device is controlled to clamp the steering knuckle into the alignment device, and the air blowing device is closed.

[0222] After the pressure value is detected to be within the reference pressure value, further detection methods include:

[0223] Step 800: When the detection pressure value exceeds the reference pressure value, the abnormal hole position is determined according to the detection pin number of the detection pin preset on the alignment device.

[0224] When the detection pressure value exceeds the reference pressure value, it means that the detection pin cannot enter the corresponding steering hole. The detection pin refers to the electric push rod on the alignment device used to enter and detect the steering hole. The detection pin is provided with a corresponding detection pin number. When the detection pin cannot enter the steering hole, the abnormal hole position can be determined by the detection pin number of the detection pin. The abnormal hole position refers to the position of the steering hole that the detection pin cannot enter.

[0225] Step 801: Outputting an abnormal hole position signal to a preset signal transceiver terminal according to the abnormal hole position.

[0226] The signal transceiver terminal refers to a terminal for transmitting and receiving signals. The signal transceiver terminal is a manually set terminal and will not be described in detail here. The abnormal hole position signal of the abnormal hole position is output to the signal transceiver terminal for subsequent inspection.

[0227] Step 802: When the detection pressure value does not exceed the reference pressure value, control the telescopic device preset on the detection pin to extend in all directions with a preset extension force value to obtain a gap distance value.

[0228] When the detection pressure value does not exceed the reference pressure value, it means that the detection pin can enter the corresponding steering hole. The telescopic device on the detection pin is controlled to extend in all directions with the extension force value to obtain the gap distance value. The telescopic device refers to the telescopic support rod used to detect whether the size of the steering hole is qualified. The extension force value refers to the force of the telescopic device extending in all directions. The gap distance value refers to the distance that the telescopic device extends in all directions.

[0229] Step 803: Determine whether the gap distance value is consistent with a preset reference distance value.

[0230] The reference distance value refers to the distance that the telescopic device should be extended. By judging whether the gap distance value is consistent with the reference distance value, we can know whether the size of the steering hole is qualified.

[0231] Step 8031: If the gap distance value is consistent with the reference distance value, a detection completion signal of the steering hole corresponding to the current detection pin number is output to the signal transceiver terminal.

[0232] If the gap distance value is consistent with the reference distance value, it means that the size of the steering hole is qualified, and the detection completion signal of the steering hole corresponding to the current detection pin number is output to the signal transceiver terminal. The detection completion signal refers to the signal that the steering hole of the current steering knuckle is qualified.

[0233] Step 8032: If the gap distance value is inconsistent with the reference distance value, a turning hole too large signal is output to the signal transceiver terminal or a turning hole too small signal is output to the signal transceiver terminal according to the size relationship between the gap distance value and the reference distance value.

[0234] If the gap distance value is inconsistent with the reference distance value, it is determined whether the steering hole is too large or too small based on the size relationship between the gap distance value and the reference distance value.

[0235] When the gap distance value is greater than the reference distance value, it indicates that the steering hole is too large, and a steering hole too large signal needs to be output to the signal transceiver terminal.

[0236] When the gap distance value is smaller than the reference distance value, it indicates that the steering hole is too small, and a steering hole too small signal needs to be output to the signal transceiver terminal.

[0237] The inspection methods before the steering knuckle is placed in the inspection area include:

[0238] Step 900: Obtain image information of the steering knuckle before detection.

[0239] The image information before detection refers to the image before the steering knuckle is placed in the detection area. The image information before detection is obtained by taking a photo with a camera.

[0240] Step 901: Determine whether to complete the inspection or identify and mark the surface defect features based on the consistency between the image information before inspection and the preset reference image information.

[0241] The reference image information refers to a complete image of the steering knuckle taken in advance. The reference image information is taken in advance by a person skilled in the art and will not be described in detail here. By judging the consistency between the image information before detection and the reference image information, it is known whether the current steering knuckle has defects.

[0242] If the image information before the test is consistent with the reference image information, it means that there is no defect in the current steering knuckle and the test is completed.

[0243] If the image information before detection is inconsistent with the reference image information, it means that the current steering knuckle has defects. By comparing the different features in the image information before detection and the reference image information, the surface defect features are identified and marked. Surface defect features refer to the features of defects on the steering knuckle.

[0244] Step 902: Identify defect types from a preset defect category library according to surface defect features, where the defect types include concave defects and boss defects.

[0245] Defect type refers to the type of surface defect feature. The defect type corresponding to the surface defect feature can be identified through the defect category library. The defect category library is obtained based on deep learning of the neural network model, which contains defect types. The defect category library is a manually set database and will not be described here. Defect types include concave defects and boss defects. Among them, a concave defect refers to a defect in which a concave exists on the surface of the steering knuckle. A boss defect refers to a defect in which a foreign object exists on the surface of the steering knuckle.

[0246] Step 903: Based on the boss defect, the clamping device is controlled to clamp the steering knuckle to a preset repair area for repair, and after the repair is completed, the clamping device is controlled to clamp the steering knuckle back to the inspection area.

[0247] When it is a boss defect, the control clamping device clamps the steering knuckle to the repair area for repair, and after the repair is completed, the control clamping device clamps the steering knuckle back to the inspection area for subsequent work. The repair area refers to the area used to repair the steering knuckle with a boss defect. The repair area is set in advance by a technician in this field and will not be described in detail here.

[0248] Step 904: Based on the dent defect, control the clamping device to clamp the steering knuckle to a preset recovery area and report a prompt.

[0249] When it is a concave defect, since it cannot be repaired, it is necessary to control the clamping device to clamp the steering knuckle to the recovery area and report the prompt. The recovery area refers to the area used to recover the steering knuckle that cannot be repaired. The recovery area is set in advance by those skilled in the art and will not be described in detail here.

[0250] Based on the same inventive concept, an embodiment of the present invention provides a steering knuckle alignment system, comprising:

[0251] An acquisition module is used to acquire detection signals, detection image information, detection pressure values, steering knuckle weight values, vertex height positions, water level height information, weight force bearing area, clamping device positions, steering knuckle parameters and pre-detection image information;

[0252] A memory for storing a program of a steering knuckle alignment method;

[0253] The program in the memory can be loaded and executed by the processor to implement a steering knuckle alignment method.

[0254] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

Claims

1. A steering knuckle alignment method, characterized in that: include: Acquire a detection signal within a preset detection area; Determining to continue acquiring the detection signal or acquiring the detection image information according to the consistency between the detection signal and the preset placement signal; Identify the knuckle placement state from a preset model database according to the detected image information; Determining whether the placement state of the steering knuckle is consistent with a preset reference placement state; If the placement state of the steering knuckle is inconsistent with the reference placement state, matching the placement abnormality type from a preset abnormality database according to the placement state of the steering knuckle; Matching a correction method from a preset correction database according to the placement abnormality type, and correcting the steering knuckle with the correction method; If the placement state of the steering knuckle is consistent with the reference placement state, the preset clamping device is controlled to clamp and place the steering knuckle into the preset alignment device and output an alignment signal; Controlling the alignment device to perform alignment detection on the steering knuckle with a preset alignment force and a preset alignment angle according to the alignment signal, and obtaining a detection pressure value of the alignment device; The detection is completed or a report prompt is issued based on the excess relationship between the detection pressure value and the preset reference pressure value.

2. A steering knuckle alignment method according to claim 1, characterized in that: The types of placement errors include rotational placement errors, and the correction methods of rotational placement errors include: Determine whether the placement exception type is consistent with the preset rotation placement exception; If the placement exception type is inconsistent with the rotation placement exception, a prompt will be reported; If the placement anomaly type is consistent with the rotation placement anomaly, it is identified from the detection image information according to the preset reference feature and defined as the identification feature position; Determine a rotation vector according to the position of the identification feature and the reference position corresponding to the reference feature; The rotation correction is performed by controlling the turntable (5) on the correction device (1) according to the rotation vector.

3. A steering knuckle alignment method according to claim 2, characterized in that: The types of placement errors also include positional placement errors, and the correction methods of positional placement errors include: When the placement abnormality type is consistent with the preset position placement abnormality, the tilt direction is determined according to the knuckle placement state and the reference placement state; Get the knuckle weight value of the knuckle; Determine the tilt angle according to the knuckle placement state, the reference placement state, and the knuckle weight value; Controlling the rotating disk (5) on the correction device (1) to tilt and raise the device according to the tilt direction and tilt angle; After tilting and lifting, obtain the apex height position of the steering knuckle and the water level height information; Matching the inflation volume from a preset inflation database according to the water level information and the vertex height position; Based on the inflation volume, a preset inflatable airbag (2) is controlled to be inflated to raise the water level in the detection area so that the liquid (7) submerges the steering knuckle; After the inflation is completed, the flushing force value is matched from the preset flushing database according to the tilt angle and the knuckle weight value; Determine the flushing force position based on the tilt direction and the knuckle weight value; The preset flushing equipment is controlled to flush the flushing force position with the flushing force value to complete the movement correction.

4. A steering knuckle alignment method according to claim 3, characterized in that: Also includes: When the detection signal is consistent with the placement signal, the weight force area in the detection area is obtained; According to the consistency between the weight force area and the preset reference force area, the detection is completed or an abnormal force signal is output; Based on the abnormal force signal, the water outlet force value is matched from the preset water outlet database according to the steering knuckle weight value; Determine the water discharge distance according to the water discharge force value; Update the vertex height position according to the water exit distance; updating the inflation volume based on the updated vertex height position; Based on the updated inflation volume, controlling the inflation airbag (2) to inflate so as to raise the water level in the detection area to the updated apex height position; Determine the knuckle weight distribution based on the weight bearing area and the knuckle weight value; Determine the current center of gravity and flushing force area of ​​the steering knuckle according to the weight distribution of the steering knuckle; Determine adjustment parameters according to the current center of gravity of the steering knuckle and the preset reference center of gravity of the steering knuckle; According to the adjustment parameters and the water outlet force value, a preset flushing device (9) is controlled to flush water toward the flushing force area through the water outlet (8) on the turntable (5) to correct the current center of gravity of the steering knuckle.

5. A steering knuckle alignment method according to claim 3, characterized in that: Also includes: Determine the flushing force value based on the knuckle weight value; According to the flushing force value, a preset flushing device (6) is controlled to flush the steering knuckle and update the water level information, and the turntable (5) is controlled to rotate at a preset rotation speed for one circle; Based on the fact that the placement abnormality type is consistent with the rotation placement abnormality and after one rotation, the flushing device (6) is controlled to stop flushing and stop updating the water level height information; Based on the inconsistency between the placement abnormality type and the rotation placement abnormality and after one rotation, the flushing device (6) is controlled to continue flushing and to descend to the top point height position according to the updated water level height information; The inflation volume is updated according to the height position of the apex after the descent and the flushing device (6) is controlled to stop flushing.

6. A steering knuckle alignment method according to claim 5, characterized in that: Also includes: Determine whether the water level information falls within a preset reference height interval; If the water level information exceeds the maximum value of the reference height interval, the difference between the water level information and the maximum value of the reference height interval is calculated, and the difference is defined as the drainage water volume value; According to the drainage water volume value, a preset drainage device is controlled to start, so as to discharge the liquid (7) exceeding the water level into a preset water storage tank; If the water level information does not reach the minimum value of the reference height interval, the difference between the water level information and the minimum value of the reference height interval is calculated, and the difference is defined as the water replenishment value; The flushing device (6) is controlled to replenish water to the detection area according to the replenishment water volume value, so as to raise the water level to within the reference height range.

7. A steering knuckle alignment method according to claim 5, characterized in that: Post-rinsing shipping methods include: After the flushing is completed, the clamping device is controlled to clamp and transport the preset clamping position on the steering knuckle and obtain the position of the clamping device; Determine whether the position of the clamping device falls within the preset drying area; If the position of the clamping device does not fall into the drying area, continue to obtain the position of the clamping device; If the position of the clamping device falls into the drying area, the preset blowing device in the drying area is started and the steering knuckle parameters are obtained; Determine the steering hole position according to the steering knuckle parameters and the reference placement state; According to the position of the steering hole, the blowing device is controlled to blow and dry the steering hole position at a preset blowing temperature; After the drying by blowing, the clamping device is controlled to clamp the steering knuckle into the alignment device, and the blowing device is turned off.

8. A steering knuckle alignment method according to claim 1, characterized in that: After the pressure value is detected to be within the reference pressure value, further detection methods include: When the detection pressure value exceeds the reference pressure value, the abnormal hole position is determined according to the detection pin number of the detection pin preset on the alignment device; Outputting an abnormal hole position signal to a preset signal transceiver terminal according to the abnormal hole position; When the detection pressure value does not exceed the reference pressure value, the telescopic device preset on the detection pin is controlled to extend in all directions with a preset extension force value to obtain a gap distance value; Determine whether the gap distance value is consistent with the preset reference distance value; If the gap distance value is consistent with the reference distance value, a detection completion signal of the steering hole corresponding to the current detection pin number is output to the signal transceiver terminal; If the gap distance value is inconsistent with the reference distance value, a turning hole too large signal is output to the signal transceiver terminal or a turning hole too small signal is output to the signal transceiver terminal according to the size relationship between the gap distance value and the reference distance value.

9. A steering knuckle alignment method according to claim 1, characterized in that: The inspection methods before the steering knuckle is placed in the inspection area include: Acquire image information of the steering knuckle before detection; Determine the completion of the inspection or identify and mark the surface defect features according to the consistency between the image information before the inspection and the preset reference image information; According to the surface defect characteristics, the defect type is identified from a preset defect category library, and the defect type includes a concave defect and a convex platform defect; Based on the boss defect, the clamping device is controlled to clamp the steering knuckle to a preset repair area for repair, and after the repair is completed, the clamping device is controlled to clamp the steering knuckle back to the inspection area; Based on the dent defect, the clamping device is controlled to clamp the steering knuckle to a preset recovery area and report a prompt.

10. A steering knuckle alignment system, characterized in that: include: An acquisition module is used to acquire detection signals, detection image information, detection pressure values, steering knuckle weight values, vertex height positions, water level height information, weight force bearing area, clamping device positions, steering knuckle parameters and pre-detection image information; A memory for storing a program of a steering knuckle alignment method according to any one of claims 1 to 9; The program in the memory can be loaded and executed by the processor to implement a steering knuckle alignment method as claimed in any one of claims 1 to 9.

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