Vehicle valve part tightening method, device and system and storage medium

Abstract

The invention discloses a vehicle valve part tightening method, device and system and a storage medium, relates to the technical field of vehicle part installation, and discloses a vehicle valve part tightening method which comprises the steps that production task information and the current position of a valve body are obtained; controlling the turntable to a tightening station of the production task information according to the current position of the valve body; determining a target tightening program according to the production task information; and controlling the robot to drive the tightening machine to tighten the valve parts according to the target tightening program on the tightening station. Through cooperative control of the rotary table, the robot and the tightening machine and accurate scheduling based on production task information, automatic and accurate tightening of vehicle valve parts is achieved, and the technical effects of improving tightening efficiency, avoiding mistaken and neglected loading and guaranteeing traceability of data in the tightening process are achieved.

Description

Technical Field

[0001] This application relates to the field of vehicle parts installation technology, and in particular to methods, devices, systems and storage media for tightening valve parts of vehicles. Background Technology

[0002] Valve components in commercial vehicles play a crucial role in controlling and actuating pneumatic elements, such as controlling the movement of core components like anti-lock braking systems (ABS). Due to variations in vehicle configurations, each valve body typically requires a different number and variety of connectors or plugs, with some valve bodies offering over two hundred possible combinations. During production and assembly, these connectors and plugs must be installed and tightened according to predetermined positions and specifications, and the tightening torque of each mounting hole must meet accuracy requirements; otherwise, the valve body's sealing and safety performance during vehicle operation may be compromised.

[0003] In the current production model, valve fittings and plugs are typically pre-assembled manually, one by one, and then tightened using manual tools. Assembly personnel must manually select, position, tighten, and control the torque of components. Due to the large number and complex specifications of valve combinations, manual operation is often affected by factors such as fatigue, differences in experience, and judgment errors, leading to problems such as incorrect assembly, omissions, improper torque, and the inability to record and trace the tightening data throughout the entire process.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a method, device, system and storage medium for tightening valve parts of a vehicle, which aims to solve the technical problem that it is difficult to consistently ensure the correctness, consistency and traceability of valve joints and plugs during manual assembly.

[0006] To achieve the above objectives, this application proposes a method for tightening valve parts in a vehicle, the method comprising: Obtain production task information and the current position of the valve body; The turntable is controlled to move to the tightening station of the production task information based on the current position of the valve body. Determine the target tightening procedure based on the production task information; At the tightening station, the robot is controlled to drive the tightening machine to tighten valve parts according to the target tightening program.

[0007] In one embodiment, the step of controlling the turntable to the tightening station of the production task information based on the current position of the valve body includes: Based on the current position of the valve body and the preset position of the tightening station in the production task information, determine the rotation angle and rotation direction of the turntable; The servo motor is started according to the rotation angle and rotation direction, so that the slewing support bearing rotates and drives the base plate and the fixture to rotate to the tightening position of the production task information.

[0008] In one embodiment, the step of controlling the servo motor to start according to the rotation angle and rotation direction, so as to rotate the slewing support bearing and drive the base plate and the fixture to rotate to the tightening station of the production task information includes: The servo motor is started according to the rotation angle and rotation direction to make the slewing support bearing rotate, and drive the base plate and the fixture to rotate to obtain the current fixture position; When the current fixture position is the position of the valve detection assembly, the detection switch is controlled to detect whether there are any parts to be tightened on the fixture; When the part to be tightened is present on the fixture, a tightening preparation command is generated, and the fixture is controlled to rotate to the tightening position of the production task information according to the tightening preparation command.

[0009] In one embodiment, after the step of determining the target tightening procedure based on the production task information, the method further includes: When the target tightening program is a sleeve replacement program, the robot is controlled to move the tightening machine to the old sleeve placement position of the sleeve replacement mechanism, and the sleeve replacement mechanism is controlled to place the old sleeve on the tightening machine into the old sleeve placement position. The robot is controlled to move the tightening machine to the target sleeve placement position of the sleeve changing mechanism, and a target sleeve matching the production task information is obtained so as to tighten valve parts according to the target sleeve.

[0010] In one embodiment, when the target tightening procedure is a sleeve replacement procedure, the step of controlling the robot to move the tightening machine to the old sleeve placement position of the sleeve replacement mechanism, and controlling the sleeve replacement mechanism to place the old sleeve on the tightening machine into the old sleeve placement position, includes: When the target tightening program is a sleeve replacement program, the robot is controlled to move the tightening machine directly above the old sleeve placement position so that the square head of the tightening shaft of the tightening machine is aligned with the square hole of the old sleeve and engaged, thus obtaining the engagement position. The clamping cylinder is extended according to the engagement position, pushing the movable block to move towards the fixed block, so that the movable block and the fixed block cooperate to clamp the old sleeve in the old sleeve placement position, thus obtaining the clamping position; The robot is controlled to lift the tightening machine upwards according to the clamping position, so that the square head of the tightening shaft is disengaged from the square hole of the old sleeve, thus completing the placement of the old sleeve.

[0011] In one embodiment, the step of controlling the robot to move the tightening machine to the target sleeve placement position of the sleeve changing mechanism, obtaining a target sleeve that matches the production task information, and tightening valve parts according to the target sleeve includes: The robot is controlled to move the tightening machine to directly above the target sleeve placement position of the sleeve changing mechanism, and a target sleeve matching the production task information is obtained so that the square head of the tightening shaft of the tightening machine is aligned with the square hole of the target sleeve to obtain the alignment position. According to the alignment position, the clamping cylinder is controlled to remain in the extended state, and the target sleeve is clamped in the target sleeve placement position by the cooperation of the movable block and the fixed block to obtain the clamping state. According to the clamping state, the robot is controlled to drive the tightening machine to move downward so that the square head of the tightening shaft engages with the square hole of the target sleeve, thus achieving an engagement state; According to the engagement state, the clamping cylinder is controlled to retract, which drives the movable block away from the fixed block, thus achieving the release state; According to the loosened state, the robot is controlled to drive the tightening machine to lift upward, and the target sleeve is taken out from the target sleeve placement position to complete the acquisition of the target sleeve, so as to tighten the valve parts according to the target sleeve.

[0012] In one embodiment, after the step of controlling the robot to drive the tightening machine to tighten valve parts according to the target tightening program at the tightening station, the method further includes: Get the preset idling time threshold; When the tightening machine is detected to be idling, the idling time is recorded; When the idling time reaches the preset idling time threshold, an abnormality in the tightening of valve parts is determined, and an early warning is issued based on the abnormality in the tightening of valve parts.

[0013] In addition, to achieve the above objectives, this application also proposes a valve part tightening device for vehicles, the valve part tightening device for vehicles including: an information acquisition module, used to acquire production task information and the current position of the valve body; The station positioning module is used to control the turntable to the tightening station of the production task information according to the current position of the valve body; The program determination module is used to determine the target tightening program based on the production task information; The parts tightening module is used to control the robot to drive the tightening machine to tighten valve parts at the tightening station according to the target tightening program.

[0014] In addition, to achieve the above objectives, this application also proposes a valve component tightening system for vehicles, the valve component tightening system for vehicles comprising: a host computer, a robot, a tightening machine, a turntable, a sleeve replacement mechanism, a valve detection assembly, and a safety fence, wherein the host computer performs the steps of the valve component tightening method for vehicles as described in any one of claims 1 to 7.

[0015] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the valve tightening method for vehicles as described above.

[0016] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the vehicle valve tightening method described above.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: This system employs a vehicle valve parts tightening system comprising a turntable, a robot, and a tightening machine mounted on the robot. By acquiring production task information and the current position of the valve body, the system controls the turntable to the tightening station corresponding to the production task information. Based on the production task information, a target tightening program is determined. At the tightening station, the robot drives the tightening machine to tighten the valve parts according to the target tightening program. Existing technologies rely on manual tightening of valve parts, which suffers from low efficiency due to manual valve body transfer, errors in manually judging installation requirements leading to incorrect or missing parts, and errors in tightening actions and insufficient torque control accuracy due to manual operation of the tightening machine. Acquiring production task information replaces manual judgment of installation requirements, avoiding human error; controlling the turntable to the tightening station replaces manual valve body transfer, improving transfer efficiency; and the robot-driven tightening machine according to the target tightening program replaces manual operation of the tightening machine, avoiding the randomness and instability of manual tightening actions. Therefore, by using the above-mentioned technical means, the problems of low efficiency, easy misinstallation and omission, and inaccurate tightening operation of valve parts in the existing technology have been solved. Compared with the existing technology, it has achieved the effects of improving the tightening efficiency of valve parts, reducing the risk of misinstallation and omission, and ensuring the consistency and accuracy of tightening operation. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating the method for tightening valve parts in the vehicle described in this application (Example 1). Figure 2 This is a schematic diagram of the valve component tightening system provided in Embodiment 1 of the valve component tightening method for the vehicle of this application; Figure 3 A schematic diagram of the turntable structure provided in Embodiment 1 of the valve parts tightening method for the vehicle of this application; Figure 4 This is a top view schematic diagram of a valve component tightening system for a vehicle, provided as an embodiment of the valve component tightening method for the vehicle of this application. Figure 5 A schematic diagram of the sleeve replacement mechanism provided in Embodiment 1 of the valve parts tightening method for the vehicle of this application; Figure 6 A flowchart illustrating the second embodiment of the method for tightening valve parts in the vehicle described in this application; Figure 7 A simplified flowchart illustrating the method for tightening valve parts of a vehicle as provided in Embodiment 2 of this application; Figure 8 This is a schematic diagram of the module structure of the valve part tightening device for a vehicle according to an embodiment of this application.

[0021] Explanation of icon numbers: Upper system 1; Safety fence 2; Valve detection assembly 3; Turntable 4; Robot 5; Tightening machine 6; Sleeve changing mechanism 7; Fixture 4-1; Base plate 4-2; Rotary support bearing 4-3; Servo motor 4-4; Valve A; Loading position P1; Loading position P2; Tightening station P3; Loading position P4; Sleeve 7-1; Sleeve pressure plate 7-2; Fixed block 7-3; Moving block 7-4; Clamping cylinder 7-5; Sleeve detection switch 7-6; Base frame 7-7.

[0022] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0024] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0025] The main solution of this application embodiment is: to obtain production task information and the current position of the valve body; to control the turntable to the tightening station of the production task information according to the current position of the valve body; to determine the target tightening program according to the production task information; and to control the robot to drive the tightening machine to tighten valve parts at the tightening station according to the target tightening program.

[0026] In this embodiment, for ease of description, the following description will focus on the valve tightening system for identifying vehicle components.

[0027] Because existing technologies for valve fittings and plugs struggle to consistently guarantee correctness, consistency, and traceability during manual assembly, this application provides a solution. This solution employs a vehicle valve parts tightening system comprising a turntable, a robot, and a tightening machine mounted on the robot. By acquiring production task information and the current position of the valve body, the system controls the turntable to the tightening station corresponding to the production task information. Based on the production task information, a target tightening program is determined. At the tightening station, the robot drives the tightening machine to tighten the valve parts according to the target tightening program. Existing technologies rely on manual operation for valve parts tightening, which suffers from low efficiency in manually transferring valve bodies, errors in manually judging installation requirements leading to incorrect or missing parts, and potential errors in tightening actions and insufficient torque control accuracy during manual operation of the tightening machine. Obtaining production task information can replace manual judgment of installation requirements, avoiding human error; controlling the turntable to the tightening station can replace manual transfer of valve bodies, improving valve body transfer efficiency; the robot driving the tightening machine to tighten according to the target tightening program can replace manual operation of the tightening machine, avoiding the randomness and instability of manual tightening actions. Therefore, through the above technical means, the problems of low efficiency, easy omissions and errors in tightening valve parts in existing technologies are solved. Compared with existing technologies, this achieves the effects of improving the tightening efficiency of valve parts, reducing the risk of omissions and errors in tightening, and ensuring the consistency and accuracy of tightening operations.

[0028] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, a valve tightening device for a vehicle, or a valve tightening system for a vehicle. The following description uses a valve tightening system for a vehicle as an example to illustrate this embodiment and the subsequent embodiments.

[0029] Based on this, embodiments of this application provide a method for tightening valve parts in a vehicle, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the valve-type component tightening method for the vehicle described in this application.

[0030] In this embodiment, the method for tightening the valve parts of the vehicle includes steps S10 to S40: Step S10: Obtain production task information and the current position of the valve body; It should be noted that the production task information is the operation instruction obtained by the upper system after receiving the production data issued by the workshop MES system in this embodiment and then parsing and converting it. It includes the specifications of the valve parts to be tightened, the position of the tightening station, the tightening torque requirements, etc. Its function is to provide a clear basis for the subsequent turntable positioning and tightening procedure determination.

[0031] Reference Figure 2 , Figure 2 This is a schematic diagram of the valve part tightening system of a vehicle, which is the first embodiment of the valve part tightening method of this application.

[0032] The host system 1 receives production data and parses it into task instructions to achieve intelligent equipment scheduling; the safety fence 2 surrounds the outside of the work area to provide safety protection and prevent personnel from accidentally touching the equipment; the valve detection component 3 is used to detect whether the clamp on the turntable 4 has a valve body, providing a basis for judgment for subsequent tightening actions; the turntable 4 carries the clamp and valve body, and rotates to transfer the valve body to different work positions; the robot 5 is equipped with a tightening machine 6, which can move precisely according to a preset trajectory, driving the tightening machine 6 to align with the parts to be tightened; the tightening machine 6 is fixed on the robot 5 and is used to perform tightening actions on valve parts, controlling the tightening torque to meet process requirements; the sleeve changing mechanism 7 is used to store sleeves of different specifications, and works with the robot 5 and the tightening machine 6 to complete sleeve changing, adapting to the tightening requirements of valve parts of different specifications.

[0033] A turntable is a component used to support and transport valve bodies. It is equipped with clamps to fix the valve bodies and can transport the valve bodies from their initial position to different workstations through rotation. It is a key component for achieving orderly movement of valve bodies.

[0034] It should be understood that the host system, or host computer, is the core of control and monitoring in the tightening operation of vehicle valve parts. It can receive production task data issued by the workshop production system, parse it to generate specific operation instructions, and send the instructions to the execution components such as robots, servo motors, and tightening machines to control them to work together to complete actions such as valve body transfer and parts tightening.

[0035] In addition, the robot is a device equipped with a tightening machine and can move along a preset trajectory. It has multi-degree-of-freedom motion capabilities and can drive the tightening machine to accurately align with the valve parts to be tightened according to control commands, ensuring the spatial accuracy of the tightening action.

[0036] Additionally, a tightening machine is a device that performs tightening actions on valve parts. It is fixed on a robot and can precisely control the tightening torque according to the target tightening program, ensuring that the tightening effect of valve parts meets the requirements and avoiding excessive or insufficient torque.

[0037] Furthermore, the target tightening program is an operation program that matches the production task information. It includes the robot's running trajectory, the tightening torque parameters of the tightening machine, the tightening sequence, etc., and serves as the basis for the robot and the tightening machine to work together to complete the tightening action.

[0038] Additionally, the current position of the valve body refers to the real-time position data of the valve body on the turntable fixture, which is obtained through detection components and used to determine the positional deviation between the valve body and the tightening station, providing a reference for turntable adjustment.

[0039] In this embodiment, the host system 1 receives production data from the workshop MES system, parses the data, converts it into production tasks, and then sends the production tasks to the equipment control system. The equipment control system automatically controls the equipment (including robot 5, tightening machine 6, turntable 4, and sleeve changing mechanism 7) to execute the production tasks (i.e., automatic tightening). Simultaneously, the host system 1 can also receive and store tightening torque data uploaded by the tightening machine 6, and can perform production task queries, torque data traceability, data statistics, etc., enabling intelligent management of torque data. It is understandable that in this embodiment, the upper-level system first parses the production data sent by the MES system to obtain the production task information, and then obtains the current position of the valve body on the turntable fixture through the detection component, thus completing the acquisition of the production task information and the current position of the valve body.

[0040] Step S20: Control the turntable to the tightening station of the production task information according to the current position of the valve body; It should be noted that the tightening station is a specific position pre-set on the turntable for performing tightening operations on valve parts. The valve body must be transported to this position before the robot can drive the tightening machine to perform the tightening operation.

[0041] Understandably, based on the current position of the valve body, the turntable is controlled to rotate, causing it to move the valve body to the tightening position specified in the production task information. The beneficial effect of this step is that, through precise rotation control of the turntable, the manual handling of the valve body is replaced, improving the efficiency of valve body handling while ensuring the positioning accuracy of the valve body when it reaches the tightening position, thus providing a foundation for the precision of subsequent tightening operations.

[0042] In one feasible implementation, the valve component tightening system for the vehicle further includes: a clamp, a base plate, a slewing support bearing, and a servo motor. The servo motor and the slewing support bearing are respectively mounted below and above the turntable. The base plate is fixed above the slewing support bearing, and the clamp is mounted on the base plate. Step S20 may include steps S21-S22: Step S21: Determine the rotation angle and rotation direction of the turntable based on the current position of the valve body and the preset position of the tightening station in the production task information. It should be noted that the clamp is a component used to fix the valve body. Its structure is adapted to the shape of the valve body and can stably clamp the valve body on the turntable to prevent the valve body from shifting when the turntable rotates or during tightening operations, ensuring that the tightening action is accurately applied to the parts to be tightened.

[0043] Additionally, the base plate is a flat component that supports the fixture. It is connected to the slewing bearing in a fixed manner to provide a stable mounting base for the fixture, and can move the fixture synchronously with the rotation of the slewing bearing.

[0044] In addition, the slewing support bearing is the core rotating component connecting the turntable and the base plate. It has the dual functions of bearing and rotating, and can bear the weight of the base plate, clamps and valve body, and can also achieve smooth rotation under power drive, providing support for the rotation of the turntable.

[0045] In addition, the servo motor is a drive component that provides power for the rotation of the turntable. It has high-precision speed and angle control capabilities and can accurately adjust the output speed and rotation angle according to the control command to ensure that the turntable rotates according to the preset parameters.

[0046] Furthermore, the turntable is the basic load-bearing component of the turntable. The servo motor is installed below it and the rotary support bearing is installed above it, providing a mounting carrier for all the components of the turntable. At the same time, its own structure ensures the relative position stability of each component.

[0047] It should be noted that the rotation angle refers to the angle difference between the current position of the valve body and the preset position of the tightening station in the production task information. This difference is calculated from the coordinate positions of the two on the turntable and is a key parameter for controlling the rotation amplitude of the turntable.

[0048] Additionally, the direction of rotation refers to the direction of rotation required for the turntable to rotate from the current position of the valve body to the preset position of the tightening station. It is usually divided into clockwise and counterclockwise directions, which need to be determined according to the relative positions of the two to ensure that the turntable rotates along the shortest path.

[0049] Understandably, based on the current position of the valve body and the preset position of the tightening station in the production task information, the rotation angle and direction of the turntable are determined by calculating the coordinate difference between the two.

[0050] Step S22: Control the servo motor to start according to the rotation angle and rotation direction, so that the slewing support bearing rotates and drives the base plate and the fixture to rotate to the tightening position of the production task information.

[0051] Understandably, based on the determined rotation angle and direction, a start command is sent to the servo motor. The servo motor drives the slewing support bearing to rotate, which in turn drives the base plate above to rotate synchronously. The base plate then drives the fixture mounted on it to rotate, ultimately causing the valve body on the fixture to reach the tightening position specified in the production task information.

[0052] Reference Figure 3 , Figure 3 This is a schematic diagram of the turntable structure of the first embodiment of the valve part tightening method for the vehicle of this application.

[0053] Multiple sets of clamps 4-1 are mounted on the turntable 4. Each set of clamps is evenly distributed and fixed on the base plate 4-2, which is fixed to the slewing support bearing 4-3. The servo motor 4-4 controls the rotation of the slewing support bearing 4-3 through gear engagement, thereby realizing the rotation of the clamps 4-1. Valve A is fixed on the clamps 4-1. The clamps can be designed according to different valve structures, ensuring that multiple clamps are set at each clamp position to meet the tightening needs of various valve types while ensuring that automatic tightening operations do not interfere with each other. The rotation position of the turntable 4 is precisely controlled by the servo motor. According to the production task, the turntable 4 automatically rotates to move the clamps 4-1 to the tightening position P3, so that the robot 5 drives the tightening machine 6 to automatically tighten the valve. The figure shows in detail the structure and working principle of the turntable 4, illustrating its key role in the automated assembly process, namely, realizing the automatic tightening operation of valve A through precise control of the rotation position.

[0054] In one feasible implementation, the valve component tightening system of the vehicle further includes: a valve detection assembly and a detection switch, wherein the detection switch is mounted on the valve detection assembly; step S22 may include steps S221~S223: Step S221: Control the servo motor to start according to the rotation angle and rotation direction, so that the slewing support bearing rotates, and drives the base plate and the fixture to rotate, so as to obtain the current fixture position; It should be noted that the valve detection component is a part used to monitor the position of the clamp and trigger the detection of the part to be tightened. It is usually arranged at a specific detection position on the turntable. It can identify whether the clamp has moved to its own position, provide the trigger condition for the detection switch to start the detection, and ensure that the detection action is performed only at the designated position.

[0055] Additionally, the detection switch is a detection component installed on the valve detection assembly to determine whether there are parts to be tightened on the fixture. It obtains information about the parts on the fixture through contact or non-contact sensing methods, converts the detection results into electrical signals, and feeds them back to the control terminal, providing a direct basis for whether to continue the rotation action of the tightening station.

[0056] It should be noted that the current fixture position refers to the real-time position of the fixture at a certain moment during the rotation of the base plate and the slewing support bearing.

[0057] Understandably, the servo motor is activated based on the rotation angle and direction, driving the slewing bearing to rotate. The slewing bearing then rotates the base plate and the fixture mounted on it synchronously. Simultaneously, a position detection component acquires and records the current fixture position in real time. This real-time tracking of the fixture's dynamic position provides a clear positional reference for accurate subsequent part detection, preventing missed or false detections due to inaccurate position determination.

[0058] Step S222: When the current fixture position is the position of the valve detection assembly, control the detection switch to detect whether there is a part to be tightened on the fixture; Understandably, when the position detection component determines that the current fixture position coincides with the valve detection component position, the control system activates the detection switch installed on the valve detection component. The detection switch uses sensing to determine whether there is a part to be tightened on the fixture and feeds back the detection result of "part present" or "part absent" to the control terminal. Adding part presence detection during fixture transfer avoids the waste of transferring fixtures without parts to the tightening station later, thus improving equipment operating efficiency and reducing ineffective energy consumption.

[0059] Step S223: When the part to be tightened is present on the fixture, a tightening preparation command is generated, and the fixture is controlled to rotate to the tightening position of the production task information according to the tightening preparation command.

[0060] It should be noted that the tightening preparation command is a control command generated after the detection switch confirms that there is a part to be tightened on the fixture. This command is used to inform the control terminal that the fixture can perform tightening operations. It is a signal that triggers the fixture to continue rotating from the detection position to the tightening position, ensuring that subsequent actions are only performed on the valid work object.

[0061] Understandably, when a part to be tightened is detected on the fixture, the control unit generates a tightening preparation command. Based on this command, the servo motor is controlled to drive the slewing support bearing to rotate, causing the base plate and fixture to rotate from the position of the valve detection component to the tightening position specified in the production task information. By connecting the detection and transfer actions through commands, it is ensured that only the fixture carrying the valid part will enter the tightening stage, further guaranteeing the accuracy of the operation and avoiding time loss caused by invalid transfer.

[0062] Reference Figure 4 , Figure 4 This is a top view schematic diagram of the valve part tightening system of a vehicle according to the first embodiment of the valve part tightening method of this application. The diagram shows the loading position P1, the tightening station P3, the unloading position P4, and another station P2. When the turntable 4 automatically rotates according to the production task and rotates the valve A on the fixture 4-1 to the tightening station P3, the detection switch on the valve detection assembly 3 will detect whether there is valve A on the fixture 4-1. If valve A is detected, the turntable 4 will continue to rotate valve A to the tightening position P3 for automatic tightening; if valve A is not detected, that is, there is no valve A on the fixture 4-1, after the turntable 4 rotates the fixture 4-1 to the tightening position, the equipment will not perform the tightening action, but will continue to rotate downwards to avoid invalid operation on an empty fixture.

[0063] Step S30: Determine the target tightening procedure based on the production task information; It should be noted that the target tightening program is an operation program that matches the production task information. It includes the robot's running trajectory, the tightening torque parameters of the tightening machine, the tightening sequence, etc., and serves as the basis for the robot and the tightening machine to work together to complete the tightening action.

[0064] Understandably, based on production task information, the specifications, quantity, and tightening requirements of the valve parts to be tightened are analyzed to determine a suitable target tightening program. This avoids the possibility of incorrect or missed selections that may occur when manually selecting a tightening program, ensuring that the determined target tightening program perfectly matches the current production task and guaranteeing the correctness of subsequent tightening operations.

[0065] In one feasible implementation, the valve component tightening system of the vehicle further includes a sleeve replacement mechanism; after step S30, steps S31-S32 may also be included: Step S31: When the target tightening program is a sleeve replacement program, control the robot to move the tightening machine to the old sleeve placement position of the sleeve replacement mechanism, and control the sleeve replacement mechanism to place the old sleeve on the tightening machine into the old sleeve placement position. It should be noted that the sleeve replacement mechanism is a component used to store sleeves of different specifications and to work with robots and tightening machines to complete sleeve replacement. It has dedicated old sleeve placement positions and target sleeve placement positions, which can provide space for the standardized storage of old sleeves and the accurate retrieval of target sleeves, ensuring that the sleeve replacement process is orderly and efficient, and adapting to the tightening requirements of valve parts of different specifications.

[0066] It should be understood that the sleeve replacement program is a specific program within the target tightening program. When the specifications of the valve-type parts to be tightened in the production task information do not match the old sleeve currently installed on the tightening machine, the target tightening program will switch to this program to trigger the sleeve replacement action, ensuring that the sleeves used by the tightening machine in the future are compatible with the specifications of the parts.

[0067] Additionally, the old sleeve placement position is a pre-set specific location on the sleeve replacement mechanism for storing old sleeves removed from the tightening machine. The size and structure of this position are adapted to the old sleeve, which can stably fix the old sleeve, prevent the sleeve from shifting or being lost during storage, and facilitate subsequent unified management or reuse.

[0068] Understandably, when the target tightening program is determined to be a sleeve replacement program, the control robot drives the tightening machine currently equipped with the old sleeve to move to the old sleeve placement position of the sleeve replacement mechanism according to the preset path, in preparation for the subsequent placement of the old sleeve.

[0069] Furthermore, it is understandable that after the robot drives the tightening machine to the old sleeve placement position, the old sleeve installed on the tightening machine is removed by controlling the sleeve disassembly structure of the tightening machine, and placed stably in the old sleeve placement position, thus completing the storage of the old sleeve.

[0070] Step S32: Control the robot to move the tightening machine to the target sleeve placement position of the sleeve changing mechanism, obtain the target sleeve that matches the production task information, and tighten the valve parts according to the target sleeve.

[0071] It should be noted that the target sleeve placement position is a specific location pre-set on the sleeve changing mechanism for storing target sleeves that match the production task information. This position is distinguished and marked according to the specifications of the target sleeve, which facilitates accurate positioning of the robot and ensures that the corresponding specification sleeve can be quickly obtained.

[0072] In addition, the target sleeve is a sleeve that perfectly matches the specifications of the valve-type parts to be tightened in the production task information. Its inner diameter, length and other parameters meet the tightening process requirements of the parts, which can ensure that the tightening machine applies uniform and accurate tightening force to the parts through the sleeve, thus ensuring the tightening quality.

[0073] Understandably, after the old sleeve is placed, the robot is controlled to move the tightening machine along a preset path to the target sleeve placement position of the sleeve replacement mechanism. The target sleeve is then installed on the tightening machine through the sleeve installation structure of the tightening machine, thus completing the acquisition of the target sleeve.

[0074] In one feasible implementation, the sleeve replacement mechanism includes a clamping cylinder, a movable block, and a fixed block, wherein the clamping cylinder and the movable block are connected; step S32 may include: when the target tightening program is a sleeve replacement program, controlling the robot to move the tightening machine to directly above the old sleeve placement position, so that the square head of the tightening shaft of the tightening machine is aligned with and engaged with the square hole of the old sleeve, obtaining an engaged position; according to the engaged position, controlling the clamping cylinder to extend, pushing the movable block to move towards the fixed block, so that the movable block and the fixed block cooperate to clamp the old sleeve in the old sleeve placement position, obtaining a clamping position; according to the clamping position, controlling the robot to lift the tightening machine upward, so that the square head of the tightening shaft disengages from the square hole of the old sleeve, completing the placement of the old sleeve.

[0075] It should be noted that the clamping cylinder is the component in the sleeve replacement mechanism that provides clamping power. It drives the piston rod to extend or retract through gas pressure, which in turn moves the movable block. This provides stable power for the movable block and the fixed block to clamp the old sleeve, ensuring that the old sleeve will not loosen during the clamping process.

[0076] Additionally, the movable block is a movable clamping component in the sleeve changing mechanism, connected to the piston rod of the clamping cylinder. When the clamping cylinder extends, it moves towards the fixed block, creating a clamping space through its relative movement with the fixed block, thus confining the old sleeve within its designated placement position. In this embodiment, the movable block can be a movable V-block.

[0077] Furthermore, the fixed block is a stationary clamping component in the sleeve replacement mechanism, positioned opposite the movable block. It serves as a fixed support surface for clamping the old sleeve. When the movable block moves, the fixed block works in conjunction with the movable block to form a uniform and reliable clamping force, ensuring the old sleeve is firmly fixed. In this embodiment, the fixed block can be a fixed V-block.

[0078] Additionally, the square head of the tightening shaft is a square structure at the output end of the tightening machine, used to connect with the square hole of the old sleeve. Torque is transmitted through the engagement of the square structure. It is also a key part for the installation and disassembly of the old sleeve and the tightening machine, and its size is precisely matched with the square hole of the old sleeve.

[0079] Furthermore, the square hole of the old sleeve is a square hole opened at one end of the old sleeve, the size of which corresponds exactly to the square head of the tightening shaft. It can be tightly engaged with the square head of the tightening shaft, so that the old sleeve can move synchronously with the square head of the tightening shaft. At the same time, it is also easy for the two to be separated to complete the placement of the old sleeve.

[0080] Additionally, the engagement position is the state after the square head of the tightening shaft is aligned with the square hole of the old sleeve and fully engaged. At this point, there is no relative displacement between the two, and the old sleeve moves with the movement of the square head of the tightening shaft, laying the foundation for clamping the old sleeve later.

[0081] Furthermore, the clamping position is the position where the clamping cylinder extends and pushes the movable block to cooperate with the fixed block, clamping the old sleeve in the old sleeve placement position. At this time, the old sleeve is firmly fixed and will not move with the tightening machine, ensuring that the tightening shaft head can be smoothly disengaged.

[0082] Understandably, the process involves first controlling the robot to move the tightening machine directly above the old sleeve placement position, adjusting its position so that the square head of the tightening shaft of the tightening machine aligns and engages with the square hole of the old sleeve, thus achieving a locking position; then, based on the locking position, controlling the clamping cylinder to extend, pushing the movable block towards the fixed block, so that the two cooperate to clamp the old sleeve in the old sleeve placement position, thus achieving a clamping position; finally, based on the clamping position, controlling the robot to lift the tightening machine upwards, causing the square head of the tightening shaft to disengage from the square hole of the old sleeve, completing the placement of the old sleeve.

[0083] In one feasible implementation, step S33 may include: controlling the robot to move the tightening machine to directly above the target sleeve placement position of the sleeve changing mechanism, acquiring a target sleeve matching the production task information, so that the square head of the tightening shaft of the tightening machine is aligned with the square hole of the target sleeve, obtaining an aligned position; controlling the clamping cylinder to remain extended according to the aligned position, clamping the target sleeve in the target sleeve placement position through the cooperation of the movable block and the fixed block, obtaining a clamped state; controlling the robot to move the tightening machine downward according to the clamped state, so that the square head of the tightening shaft engages with the square hole of the target sleeve, obtaining an engaged state; controlling the clamping cylinder to retract according to the engaged state, moving the movable block away from the fixed block, obtaining a released state; controlling the robot to lift the tightening machine upward according to the released state, removing the target sleeve from the target sleeve placement position, completing the acquisition of the target sleeve, so as to tighten valve parts according to the target sleeve.

[0084] It should be noted that the alignment position is the position where the square head of the tightening shaft of the tightening machine and the square hole of the target sleeve are completely aligned in the vertical direction. At this time, the two have not yet made contact or engaged, but only overlap in position. This lays the foundation for the subsequent downward movement of the square head of the tightening shaft to achieve engagement, ensuring that the engagement action can be completed accurately in one go.

[0085] Furthermore, the clamping state is when the clamping cylinder remains extended, pushing the movable block towards the fixed block. The two work together to firmly clamp the target sleeve in the target sleeve placement position. This state can limit the displacement of the target sleeve and prevent the target sleeve from shifting when the tightening shaft head moves downward to engage, thus ensuring engagement accuracy.

[0086] In addition, the engagement state is when the robot drives the tightening machine to move downwards, so that the square head of the tightening shaft is fully embedded in the square hole of the target sleeve and achieves engagement. At this time, there is no relative displacement between the square head of the tightening shaft and the target sleeve. The target sleeve can move synchronously with the movement of the square head of the tightening shaft, which prepares for the subsequent removal of the target sleeve.

[0087] Furthermore, the released state is the state in which the clamping cylinder retracts after receiving the control command, driving the movable block away from the fixed block and releasing the clamping restriction on the target sleeve. This state can eliminate the resistance when the target sleeve is taken out, ensuring that the robot can smoothly drive the tightening machine and the clamped target sleeve away from the placement position.

[0088] Understandably, the process involves first controlling the robot to move the tightening machine directly above the target sleeve placement position of the sleeve changing mechanism, locating the target sleeve that matches the production task information, and adjusting its position so that the square head of the tightening shaft of the tightening machine aligns with the square hole of the target sleeve. Then, based on the alignment position, the clamping cylinder is kept extended, and the target sleeve is clamped in the target sleeve placement position through the cooperation of the movable block and the fixed block. Next, based on the clamping state, the robot is controlled to move the tightening machine downwards, causing the square head of the tightening shaft to engage with the square hole of the target sleeve. Then, based on the engaging state, the clamping cylinder is controlled to retract, moving the movable block away from the fixed block, resulting in a released state. Finally, based on the released state, the robot is controlled to lift the tightening machine upwards, removing the target sleeve from the target sleeve placement position, completing the acquisition of the target sleeve and preparing it for subsequent tightening of valve parts.

[0089] Reference Figure 5 , Figure 5 This is a schematic diagram of the sleeve replacement mechanism of the first embodiment of the valve part tightening method for the vehicle of this application.

[0090] The base frame 7-7 is the fundamental support component of the entire mechanism. Fixed V-block 7-3 and movable V-block 7-4 are used to clamp and position the sleeve 7-1. Fixed V-block 7-3 and clamping cylinder 7-5 are fixed to the base frame 7-7, while movable V-block 7-4 is fixedly connected to clamping cylinder 7-5, allowing for forward and backward movement via the extension and retraction of clamping cylinder 7-5. Sleeve pressure plate 7-2 is fixed to movable V-block 7-4, preventing the sleeve from slipping out of the V-block during the forward movement of movable V-block 7-4 to clamp the sleeve 7-1 and during the tightening machine 6's sleeve removal and placement process, thus preventing sleeve removal failure. Sleeve detection switch 7-6 detects whether a sleeve is present at the designated placement position, thereby determining the sleeve specification on the tightening machine. Sleeve 7-1 is a component used by tightening machine 6, used in conjunction with connector A-1 and plug A-2 for tightening operations. By precisely controlling the replacement of the sleeve to adapt to different specifications of connectors and plugs, the accuracy and efficiency of the tightening operation are ensured.

[0091] Step S40: At the tightening station, the robot is controlled to drive the tightening machine to tighten valve parts according to the target tightening program.

[0092] In this embodiment, the tightening machine 6 is fixed on the robot 5. The robot 5 automatically selects a preset running trajectory according to the production task of the equipment control system, driving the tightening machine 6 to automatically tighten the connector A-1 and plug A-2 of valve A. The tightening machine 6 can achieve intelligent control, accurately control the tightening torque with a tightening torque accuracy of ±3%, and automatically upload the tightening result to the MES system and store the tightening process data in the upper system, thereby realizing intelligent management and traceability of tightening torque data.

[0093] Understandably, at the tightening station, following a predetermined tightening procedure, a robot drives a tightening machine fixed to it to perform tightening actions on valve parts. Replacing manual tightening with the collaborative operation of the robot and the tightening machine not only improves the efficiency of tightening valve parts but also avoids the problems of excessive or insufficient torque during manual tightening through the precise torque control of the tightening machine. Simultaneously, it ensures the consistency of each tightening action and reduces the risk of errors and omissions during manual tightening.

[0094] This embodiment provides a method for tightening valve parts in vehicles. By acquiring production task information and the current position of the valve body, controlling the turntable to transfer the valve body to the tightening station, determining the target tightening program, and executing the tightening operation, this method solves the technical problems of low efficiency, inaccurate torque control, and difficulty in tracing tightening data in traditional manual tightening operations. It achieves the beneficial effects of improving tightening efficiency, ensuring tightening quality, and realizing intelligent management and traceability of torque data. At the same time, it reduces labor costs and error rates through automated operation, and improves the overall intelligence level of the production process.

[0095] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 6 After step S40, the method for tightening the valve parts of the vehicle further includes steps S50 to S70: Step S50: Obtain the preset idling time threshold; It should be noted that the preset idling time threshold is a time standard pre-set before the equipment is put into use, taking into account the tightening process requirements of valve parts, the performance parameters of the tightening machine, and the normal operating error range. It is used to determine whether the idling of the tightening machine is in an abnormal state. This threshold needs to be adjusted according to the differences in tightening time for different specifications of parts.

[0096] Understandably, the preset idling time threshold is retrieved from the equipment's parameter storage module and acquired before each production task is started, providing a clear basis for determining any abnormalities in the idling state of the tightening machine.

[0097] Step S60: When the tightening machine is detected to be idling, record the idling time; It should be noted that idling of the tightening machine refers to the tightening shaft of the tightening machine being in a rotating state, but not in effective contact with the part to be tightened, or not applying sufficient tightening force to the part. In this case, although the tightening machine is moving, it does not achieve the tightening effect, which may be caused by reasons such as the part not being placed in the correct position or the sleeve not matching the part specifications.

[0098] Additionally, the idling time refers to the duration from the moment the tightening machine is detected to enter the idling state until the idling state ends or an alarm is triggered. This duration is recorded in real time by the equipment's timing module, accurately reflecting the continuous cycle of the idling state.

[0099] Understandably, the torque or speed sensor on the tightening machine monitors its working parameters in real time. When the sensor detects that the tightening shaft is rotating but the torque value is lower than the preset minimum effective torque, it is determined that the tightening machine is idling, and the timing module is started to record the idling time.

[0100] Step S70: When the idling time reaches the preset idling time threshold, it is determined that an abnormality in tightening of valve parts has occurred, and an early warning is issued based on the abnormality in tightening of valve parts.

[0101] It should be noted that valve part tightening abnormality refers to the failure state of the tightening machine in completing the tightening operation of valve parts as expected. The idling time reaching the preset idling time threshold is one of the core conditions for judging this abnormality. This abnormality will result in parts not being tightened or the tightening accuracy not meeting the standard, which directly affects the product assembly quality.

[0102] In addition, early warning refers to the operation of the equipment to transmit abnormal signals to the staff through preset methods after it is determined that there is an abnormality in the tightening of valve parts. Common forms include text prompts displayed on the operation screen, flashing indicator lights, and buzzer alarms, to ensure that the staff can quickly detect the fault.

[0103] Understandably, the recorded idling time is compared with the preset idling time threshold in real time. When the idling time reaches the threshold, it is immediately determined that there is an abnormality in the tightening of valve parts. Subsequently, the equipment activates the early warning mechanism and reports the abnormality to the staff through audible and visual signals or prompts on the operation screen.

[0104] This embodiment provides a method for tightening valve parts of a vehicle. By monitoring the idling status of the tightening machine in real time and recording the idling time, setting a preset idling time threshold, and triggering an early warning when the idling time exceeds the threshold, this method solves the problem of quality risks caused by the idling of the tightening machine in traditional tightening operations. It achieves the beneficial effects of improving the reliability of tightening operations, timely warning of potential faults, ensuring product quality, and improving production efficiency.

[0105] For example, to help understand the implementation process of the vehicle valve tightening method obtained by combining this embodiment with the above embodiment one, please refer to... Figure 7 , Figure 7 A simplified flowchart illustrating a method for tightening valve components in a vehicle is provided, specifically: Workers place valve bodies into fixtures according to the production sequence. Next, the MES (Manufacturing Execution System) sends production data to the equipment's upper-level system, which parses and converts it into production tasks. The turntable rotates to a fixed angle to the automatic tightening position, and the equipment automatically selects a tightening program based on the production task. This includes a sleeve-changing tightening machine program and a robot operation program. The robot moves to the tightening position and automatically completes all tightening. After tightening, the turntable rotates to a fixed angle to the unloading position, where workers manually remove the tightened valve bodies. This achieves a combination of automation and manual operation, using data from the MES system to guide equipment operation and enabling efficient and accurate tightening of valve parts.

[0106] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the tightening method of valve parts of the vehicle in this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0107] This application also provides a valve-type parts tightening device for vehicles, please refer to... Figure 8 The valve tightening device for the vehicle includes: Information acquisition module 10 is used to acquire production task information and the current position of the valve body; The station positioning module 20 is used to control the turntable to the tightening station of the production task information according to the current position of the valve body; The program determination module 30 is used to determine the target tightening program based on the production task information; The parts tightening module 40 is used to control the robot to drive the tightening machine to tighten valve parts at the tightening station according to the target tightening program.

[0108] The valve tightening device for vehicles provided in this application, employing the valve tightening method for vehicles described in the above embodiments, can solve the technical problem of difficulty in consistently ensuring the correctness, consistency, and traceability of valve joints and plugs during manual assembly. Compared with the prior art, the beneficial effects of the valve tightening device for vehicles provided in this application are the same as those of the valve tightening method for vehicles provided in the above embodiments, and other technical features of the valve tightening device for vehicles are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0109] In one embodiment, the valve component tightening system for the vehicle further includes: a clamp, a base plate, a slewing bearing, and a servo motor. The servo motor and the slewing bearing are respectively installed below and above the turntable. The base plate is fixed above the slewing bearing, and the clamp is installed on the base plate. The station positioning module 20 is also used to determine the rotation angle and rotation direction of the turntable based on the current position of the valve body and the preset position of the tightening station in the production task information. Based on the rotation angle and rotation direction, the servo motor is controlled to start so that the slewing bearing rotates and drives the base plate and the clamp to rotate to the tightening station in the production task information.

[0110] In one embodiment, the valve component tightening system for the vehicle further includes: a valve detection component and a detection switch, the detection switch being mounted on the valve detection component; the station positioning module 20 is also used to control the servo motor to start according to the rotation angle and rotation direction, so as to rotate the slewing support bearing and drive the base plate and the fixture to rotate, thereby obtaining the current fixture position; when the current fixture position is the position of the valve detection component, the detection switch is controlled to detect whether there is a part to be tightened on the fixture; when there is a part to be tightened on the fixture, a tightening preparation command is generated, and the fixture is controlled to rotate to the tightening station of the production task information according to the tightening preparation command.

[0111] In one embodiment, the valve component tightening system of the vehicle further includes a sleeve replacement mechanism; the program determination module 30 is also used to control the robot to move the tightening machine to the old sleeve placement position of the sleeve replacement mechanism when the target tightening program is a sleeve replacement program; place the old sleeve on the tightening machine into the old sleeve placement position; control the robot to move the tightening machine to the target sleeve placement position of the sleeve replacement mechanism, and obtain a target sleeve that matches the production task information.

[0112] In one embodiment, the sleeve replacement mechanism includes a clamping cylinder, a movable block, and a fixed block, with the clamping cylinder and the movable block connected. The program determination module 30 is further configured to control the robot to move the tightening machine directly above the old sleeve placement position, aligning and engaging the square head of the tightening shaft of the tightening machine with the square hole of the old sleeve to obtain an engagement position. Based on the engagement position, the clamping cylinder is controlled to extend, pushing the movable block towards the fixed block, so that the movable block and the fixed block cooperate to clamp the old sleeve in the old sleeve placement position to obtain a clamping position. Based on the clamping position, the robot is controlled to lift the tightening machine upward, disengaging the square head of the tightening shaft from the square hole of the old sleeve, thus completing the placement of the old sleeve.

[0113] In one embodiment, the program determining module 30 is further configured to control the robot to move the tightening machine to directly above the target sleeve placement position, so that the square head of the tightening shaft of the tightening machine is aligned with the square hole of the target sleeve, thus obtaining an aligned position; according to the aligned position, control the clamping cylinder to remain extended, clamping the target sleeve in the target sleeve placement position, thus obtaining a clamped state; according to the clamped state, control the robot to move the tightening machine downward, so that the square head of the tightening shaft engages with the square hole of the target sleeve, thus obtaining an engaged state; according to the engaged state, control the clamping cylinder to retract, thus obtaining a released state; according to the released state, control the robot to lift the tightening machine upward, removing the target sleeve from the target sleeve placement position, thus completing the acquisition of the target sleeve.

[0114] In one embodiment, the part tightening module 40 is further configured to acquire a preset idling time threshold; when the tightening machine is detected to be idling, record the idling time; when the idling time reaches the preset idling time threshold, determine that a valve part tightening abnormality has occurred, and issue an early warning based on the valve part tightening abnormality.

[0115] This application provides a valve tightening system for vehicles, which includes: a host computer, a robot, a tightening machine, a turntable, a sleeve replacement mechanism, a valve detection assembly, and a safety fence; wherein, the host computer executes the valve tightening method for vehicles described in Embodiment 1 above.

[0116] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to perform the valve part tightening method of the vehicle in the above embodiments.

[0117] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), Erasable Programmable Read Only Memory (EPROM), optical fiber, CD-ROM (CD-Read Only Memory), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0118] The aforementioned computer-readable storage medium may be included in the valve tightening device of a vehicle; or it may exist independently and not assembled into the valve tightening device of a vehicle.

[0119] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a valve tightening device for a vehicle, cause the valve tightening device to: acquire production task information and the current position of the valve body; control the turntable to the tightening station of the production task information based on the current position of the valve body; determine a target tightening program based on the production task information; and control the robot to drive the tightening machine to tighten the valve parts at the tightening station according to the target tightening program.

[0120] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LAN (Local Area Network) or WAN (Wide Area Network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0122] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0123] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the valve part tightening method of the above-described vehicle. This solves the technical problem of difficulty in consistently ensuring the correctness, consistency, and traceability of valve joints and plugs during manual assembly. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the valve part tightening method of the vehicle provided in the above embodiments, and will not be repeated here.

[0124] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method for tightening valve parts of a vehicle.

[0125] The computer program product provided in this application can solve the technical problem that it is difficult to consistently ensure the correctness, consistency, and traceability of valve joints and plugs during manual assembly. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the valve part tightening method for vehicles provided in the above embodiments, and will not be repeated here.

[0126] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A valve-like part tightening method of a vehicle, characterized by, The valve part tightening method of the vehicle is applied to an upper computer in a valve part tightening system of the vehicle, and the valve part tightening system of the vehicle comprises a rotary table, a robot and a tightening machine fixed to the robot; The method comprises: obtaining production task information and a current position of a valve body; controlling the rotary table to a tightening station of the production task information according to the current position of the valve body; determining a target tightening program according to the production task information; controlling the robot to drive the tightening machine to tighten valve parts according to the target tightening program at the tightening station.

2. The method of claim 1, wherein, The valve part tightening system of the vehicle further comprises a clamp, a bottom plate, a rotary support bearing and a servo motor, the servo motor and the rotary support bearing are respectively installed below and above the rotary disc, the bottom plate is fixed above the rotary support bearing, and the clamp is installed on the bottom plate; The step of controlling the rotary table to the tightening station of the production task information according to the current position of the valve body comprises: determining a rotation angle and a rotation direction of the rotary table according to the current position of the valve body and a preset position of the tightening station in the production task information; controlling the servo motor to start according to the rotation angle and the rotation direction, so that the rotary support bearing rotates and drives the bottom plate and the clamp to rotate to the tightening station of the production task information.

3. The method of claim 2, wherein, The valve part tightening system of the vehicle further comprises a valve detection assembly and a detection switch, and the detection switch is installed on the valve detection assembly; The step of controlling the servo motor to start according to the rotation angle and the rotation direction, so that the rotary support bearing rotates and drives the bottom plate and the clamp to rotate to the tightening station of the production task information comprises: controlling the servo motor to start according to the rotation angle and the rotation direction, so that the rotary support bearing rotates and drives the bottom plate and the clamp to rotate to obtain a current clamp position; when the current clamp position is the position of the valve detection assembly, controlling the detection switch to detect whether there is a part to be tightened on the clamp; when there is the part to be tightened on the clamp, generating a tightening preparation instruction and controlling the clamp to rotate to the tightening station of the production task information according to the tightening preparation instruction.

4. The method of claim 1, wherein, The valve part tightening system of the vehicle further comprises a sleeve replacement mechanism; After the step of determining the target tightening program according to the production task information, the method further comprises: when the target tightening program is a sleeve replacement program, controlling the robot to drive the tightening machine to move to an old sleeve placement position of the sleeve replacement mechanism, and controlling the sleeve replacement mechanism to place an old sleeve on the tightening machine to the old sleeve placement position; controlling the robot to drive the tightening machine to move to a target sleeve placement position of the sleeve replacement mechanism, obtaining a target sleeve matched with the production task information, and tightening valve parts according to the target sleeve.

5. The method of claim 4, wherein, The sleeve replacement mechanism comprises a clamping cylinder, a movable block and a fixed block, and the clamping cylinder is connected with the movable block. The step of controlling the robot to drive the tightening machine to move to the old sleeve placement position of the sleeve changing mechanism and placing the old sleeve on the tightening machine when the target tightening program is a sleeve changing program includes: When the target tightening program is a sleeve changing program, the step of controlling the robot to drive the tightening machine to move to the old sleeve placement position of the sleeve changing mechanism and placing the old sleeve on the tightening machine includes: When the target tightening program is a sleeve changing program, the step of controlling the robot to drive the tightening machine to move to the old sleeve placement position of the sleeve changing mechanism and placing the old sleeve on the tightening machine includes: According to the clamping position, the clamping cylinder is controlled to extend, the movable block is pushed to move towards the fixed block, so that the movable block and the fixed block cooperate to clamp the old sleeve in the old sleeve placement position, and a clamping position is obtained.

6. The method of claim 4, wherein, According to the clamping position, the robot is controlled to drive the tightening machine to lift upwards, so that the square head of the tightening shaft is separated from the square hole of the old sleeve, and the placement of the old sleeve is completed. The step of controlling the robot to drive the tightening machine to move to the target sleeve placement position of the sleeve changing mechanism, and obtaining a target sleeve matched with the production task information, so as to tighten the valve part according to the target sleeve includes: The step of controlling the robot to drive the tightening machine to move to the target sleeve placement position of the sleeve changing mechanism, and obtaining a target sleeve matched with the production task information, so as to tighten the valve part according to the target sleeve includes: According to the clamping position, the clamping cylinder is controlled to extend, the movable block is pushed to move towards the fixed block, so that the movable block and the fixed block cooperate to clamp the old sleeve in the old sleeve placement position, and a clamping position is obtained. According to the clamping position, the robot is controlled to drive the tightening machine to lift upwards, so that the square head of the tightening shaft is separated from the square hole of the old sleeve, and the placement of the old sleeve is completed. The step of controlling the robot to drive the tightening machine to move to the target sleeve placement position of the sleeve changing mechanism, and obtaining a target sleeve matched with the production task information, so as to tighten the valve part according to the target sleeve includes:

7. The method of claim 1, wherein, The step of controlling the robot to drive the tightening machine to move to the target sleeve placement position of the sleeve changing mechanism, and obtaining a target sleeve matched with the production task information, so as to tighten the valve part according to the target sleeve includes: After the step of controlling the robot to drive the tightening machine to tighten the valve part according to the target tightening program at the tightening station, the method further includes: A preset idling time threshold is obtained; When the idling time is detected, the idling time is recorded; 8. A valve type part tightening device of a vehicle, characterized by comprising: a valve type part tightening device according to any one of claims 1 to 7, wherein the valve type part is a valve stem of a tire valve. When the idling time reaches the preset idling time threshold, it is determined that an abnormality of valve part tightening occurs, and a warning is given according to the abnormality of valve part tightening. The device includes: An information acquisition module is configured to acquire production task information and a valve body current position; A station positioning module is configured to control the rotary table to the tightening station of the production task information according to the valve body current position; A program determination module is configured to determine a target tightening program according to the production task information; A part tightening module is configured to control the robot to drive the tightening machine to tighten the valve part according to the target tightening program at the tightening station.

9. A valve type part tightening system of a vehicle, characterized by, The valve part tightening system of the vehicle comprises an upper computer, a robot, a tightening machine, a rotary table, a sleeve changing mechanism, a valve detection assembly and a safety fence, and the upper computer executes the steps of the valve part tightening method of the vehicle according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the valve part tightening method of the vehicle according to any one of claims 1 to 7.

Images