Electromagnetic pilot operated valve on-line detection device and detection method

Abstract

The invention provides an online detection device and method for an electromagnetic pilot valve. The online detection device for the electromagnetic pilot valve comprises a main conveying line, a plurality of conveying line branches working in parallel and detection subsystems corresponding to the conveying line branches. The main conveying line is used for linking a plurality of detection subsystems and butting a plurality of conveying line branches working in parallel; the plurality of conveying line branches working in parallel are used for simultaneously conveying to-be-detected electromagnetic pilot valves to each detection subsystem station; the detection subsystem comprises a feeding and discharging robot and a detection assembly, and the feeding and discharging robot is used for transferring the to-be-detected electromagnetic pilot valve from the main conveying line to each conveying line branch and grabbing the to-be-detected electromagnetic pilot valve to move among different detection stations; the detection assembly is used for executing various types of tests on the to-be-detected electromagnetic pilot valve, the problem that the detection rhythm and efficiency cannot be matched with an automatic assembly line can be solved, seamless butt joint with the automatic assembly line is achieved, and the production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of electromagnetic pilot valve testing technology, and in particular to an online testing device and method for electromagnetic pilot valves. Background Technology

[0002] The electromagnetic pilot valve is a core component of the electro-hydraulic control system of a hydraulic support. Testing it is crucial to ensure the safety of the hydraulic support's electro-hydraulic control. Testing includes high-pressure sealing performance testing, low-pressure sealing performance testing, and reversing performance testing. A common testing method involves using a single-machine hydraulic testing bench with manual inspection of the product. This method suffers from inaccurate data and low production efficiency. Related technologies utilize clamping equipment to place the electromagnetic pilot valve on a hydraulic testing bench for automated testing. However, the long testing time compared to the short assembly time means that testing cannot meet assembly requirements, hindering the integration of the electromagnetic pilot valve into automated assembly production lines. Summary of the Invention

[0003] This invention provides an online testing device and method for electromagnetic pilot valves, which solves the problem that traditional electromagnetic pilot valve testing devices cannot meet assembly requirements and affect the docking of automated assembly production lines for electromagnetic pilot valves.

[0004] This invention provides an online detection device for an electromagnetic pilot valve, comprising: The main conveyor line, multiple parallel conveyor line branches, and a detection subsystem corresponding to each conveyor line branch; The main conveyor line is used to link multiple detection subsystems and to connect to the multiple parallel conveyor line branches; The multiple parallel conveyor branch lines are used to simultaneously convey the electromagnetic pilot valve to be tested to each testing subsystem station. The testing subsystem includes a loading / unloading robot and a testing component. The loading / unloading robot is used to transfer the electromagnetic pilot valve to be tested from the main conveyor line to each branch conveyor line, and to grasp the electromagnetic pilot valve to be tested and move it between different testing stations. The testing component is used to perform various types of tests on the electromagnetic pilot valve to be tested.

[0005] According to the electromagnetic pilot valve online detection device provided by the present invention, the conveyor branch includes a conveyor line, a lifting and positioning device, a blocking cylinder and an RFID reading device; The conveyor line is used to transfer the electromagnetic pilot valve to be tested from one station to another. The lifting and positioning device is used to lift the tray when the tray holding the electromagnetic pilot valve to be tested reaches a specific position, so that it is removed from the main conveyor line and fixed in the designated position. The blocking cylinders are installed at different workstations to control the forward movement and stopping of the pallet on the conveyor line; The RFID reading device is used to read the equipment information of the electromagnetic pilot valve to be tested.

[0006] According to the electromagnetic pilot valve online detection device provided by the present invention, the main conveyor line is further provided with a waiting station and three pallet transfer stations, and each pallet transfer station is equipped with a lifting transfer conveyor and a blocking cylinder. The waiting station is used to temporarily store electromagnetic pilot valves that have completed testing and are ready for assembly. The pallet transfer station is used to transfer pallets from the main conveyor line to other conveyor lines or work areas. The lifting and transfer conveyor is used to vertically lift or lower the pallet so that the pallet can be transferred between conveyor lines at different heights; The blocking cylinder is used to control the movement or stopping of the pallet on the main conveyor line.

[0007] The electromagnetic pilot valve online detection device provided by the present invention further includes: a drying and energizing connection device and a drying device; The power connection device for drying is used to provide power to the drying device; The drying device is used to dry the residual test liquid inside the electromagnetic pilot valve to be tested, as well as the test liquid attached to its outer surface.

[0008] According to the electromagnetic pilot valve online detection device provided by the present invention, the detection component includes: Liquid recovery system, high-pressure liquid fixed connection pipeline, at least one pressure sensor and fixed liquid supply connector; The liquid recovery system is used to recover the liquid used in the testing process; The fixed liquid supply connector is fixedly connected to the electromagnetic pilot valve to be tested. The high-pressure liquid fixed connection pipeline is connected to the fixed liquid supply connector and is used to deliver high-pressure liquid to the electromagnetic pilot valve to be tested in order to complete the high-pressure sealing performance test. The at least one pressure sensor is located at different positions in the system and is used to monitor the actual pressure value during the detection process to perform pressure characteristic detection on the electromagnetic pilot valve to be tested.

[0009] According to the electromagnetic pilot valve online detection device provided by the present invention, the loading and unloading robot includes: a six-axis robotic arm, a robot gripper, and a robot base; The six-axis robotic arm is rotatably connected to the robot base; The robot gripper is located at the front end of the six-axis robotic arm and is used to grasp the electromagnetic pilot valve to be tested under the drive of the six-axis robotic arm.

[0010] The present invention also provides an online detection method for an electromagnetic pilot valve, applicable to the online detection device for electromagnetic pilot valves described in any of the above claims, comprising: The electromagnetic pilot valve to be tested is simultaneously transported to each testing subsystem station through multiple parallel conveyor line branches; The electromagnetic pilot valve to be tested is moved between different testing stations by a loading and unloading robot. The detection components are used to perform various types of tests on the solenoid pilot valve under test.

[0011] According to the online detection method for electromagnetic pilot valves provided by the present invention, the multiple parallel-operating conveyor line branches include a first conveyor line branch, and the detection method corresponding to the first conveyor line branch includes: When the first electromagnetic pilot valve to be tested arrives at the first waiting position from the main conveyor line, the device information of the electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The first electromagnetic pilot valve to be tested is sent to the vision inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the first electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the first testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the branch of the first conveyor line.

[0012] According to the online detection method for electromagnetic pilot valves provided by the present invention, the multiple parallel-operating conveyor line branches include a second conveyor line branch, and the detection method corresponding to the second conveyor line branch includes: When the first electromagnetic pilot valve to be tested arrives at the waiting position via the main conveyor line, the lifting and transfer device transports the second electromagnetic pilot valve to be tested to the second conveyor line branch and temporarily stores it at the second waiting position. The device information of the second electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The second electromagnetic pilot valve to be tested is sent to the vision inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the second electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the second testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the second conveyor line branch.

[0013] According to the online detection method for electromagnetic pilot valves provided by the present invention, the multiple parallel-operating conveyor line branches include a third conveyor line branch, and the detection method corresponding to the third conveyor line branch includes: When the second electromagnetic pilot valve to be tested arrives at the waiting position via the main conveyor line, the lifting and transfer device transports the third electromagnetic pilot valve to be tested to the third conveyor line branch and temporarily stores it in the third waiting position. The device information of the third electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The third electromagnetic pilot valve to be tested is sent to the visual inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the third electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the third testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the third conveyor branch.

[0014] This invention provides an online testing device and method for electromagnetic pilot valves. The online testing device includes a main conveyor line, multiple parallel conveyor line branches, and a testing subsystem corresponding to each conveyor line branch. The main conveyor line connects the multiple testing subsystems and interfaces with the multiple parallel conveyor line branches. The multiple parallel conveyor line branches simultaneously transport the electromagnetic pilot valve to be tested to each testing subsystem station. The testing subsystem includes a loading / unloading robot and a testing component. The loading / unloading robot transfers the electromagnetic pilot valve to be tested from the main conveyor line to each conveyor line branch and moves the electromagnetic pilot valve between different testing stations. The testing component performs various types of tests on the electromagnetic pilot valve to be tested, which can solve the problem of mismatch between testing cycle time and efficiency and automated assembly lines, achieving seamless integration with automated assembly lines and improving production efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the electromagnetic pilot valve online detection device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the layout of the online automatic detection process location points provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the detection component provided in an embodiment of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the detection component provided in an embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the detection component provided in an embodiment of the present invention. Figure 3 ; Figure 6 This is a schematic diagram of the detection component provided in an embodiment of the present invention. Figure 4 ; Figure 7 This is a schematic diagram of the loading and unloading robot structure provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the logical architecture of an information system provided in an embodiment of the present invention; Figure 9 This is the online testing process route for electromagnetic pilot valves provided in this embodiment of the invention. Figure 1 ; Figure 10 This is the online testing process route for electromagnetic pilot valves provided in this embodiment of the invention. Figure 2 ; Figure 11 This is the online testing process route for electromagnetic pilot valves provided in this embodiment of the invention. Figure 3 . Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0018] Figure 1 This is a structural diagram of an online electromagnetic pilot valve testing device provided in an embodiment of the present invention. The online electromagnetic pilot valve testing device includes: Main conveyor line 1, multiple parallel conveyor line branches, and a detection subsystem corresponding to each conveyor line branch; The main conveyor line is used to link multiple detection subsystems and to connect to the multiple parallel conveyor line branches; In this embodiment of the invention, multiple parallel conveyor line branches include conveyor line branch 1 (2), conveyor line branch 2 (3), and conveyor line branch 3 (4), as well as corresponding inspection clamping modules 1 (5), 2 (6), and 3 (7); wherein, the detection process location points corresponding to each conveyor line branch are as follows: Figure 2 As shown, Station 15: Main conveyor line waiting position; Station 26: Main conveyor line transfer position A; Station 37: Main conveyor line transfer position B; Station 48: Inspection position A; Station 59: Inspection position B; Station 60: Inspection position C; Station 71: Drying position; Station 82: Vision inspection position; Station 923: Main conveyor line transfer position C; Station 1024: Temporary storage position C for conveyor line branch 3; Station 1122: Temporary storage position B for conveyor line branch 2; Station 1226: Temporary storage position A for conveyor line branch 1.

[0019] The multiple parallel conveyor branch lines are used to simultaneously convey the electromagnetic pilot valve to be tested to each testing subsystem station. The testing subsystem includes a loading / unloading robot 8 and a testing component. The loading / unloading robot is used to transfer the electromagnetic pilot valve to be tested from the main conveyor line to each branch of the conveyor line, and to grasp the electromagnetic pilot valve to be tested and move it between different testing stations. The testing component is used to perform various types of tests on the electromagnetic pilot valve to be tested.

[0020] In this embodiment of the invention, the online testing device for the electromagnetic pilot valve further includes a hydraulic valve control system 9, a hydraulic station 10, a drying and power connection device 11, a drying device 12, an equipment support and body 13, and a vision inspection system 14. The drying and power connection device 11 provides power to the drying device; the drying device 12 dries the residual detection liquid inside the electromagnetic pilot valve and the detection liquid adhering to its outer surface.

[0021] Traditional magnetic ring testing methods use a single-machine hydraulic testing bench. Clamping equipment is used to place the electromagnetic pilot valve on the hydraulic testing bench for automated testing. However, because the testing time for electromagnetic pilot valves is long and the assembly time is short, the testing cannot meet the assembly requirements, affecting the docking of the electromagnetic pilot valve automated assembly production line.

[0022] The online testing device for electromagnetic pilot valves provided in this invention includes a main conveyor line, multiple parallel conveyor line branches, and a testing subsystem corresponding to each conveyor line branch. The main conveyor line connects the multiple testing subsystems and interfaces with the multiple parallel conveyor line branches. The multiple parallel conveyor line branches simultaneously transport the electromagnetic pilot valve to be tested to each testing subsystem station. The testing subsystem includes a loading / unloading robot and a testing component. The loading / unloading robot transfers the electromagnetic pilot valve to be tested from the main conveyor line to each conveyor line branch and moves the electromagnetic pilot valve between different testing stations. The testing component performs various types of tests on the electromagnetic pilot valve to be tested, which can solve the problem of mismatch between testing cycle time, efficiency, and automated assembly lines, achieving seamless integration with automated assembly lines and improving production efficiency.

[0023] Based on any of the above embodiments, the conveyor branch includes a conveyor line, a lifting and positioning device, a blocking cylinder, and an RFID reading device; The conveyor line is used to transfer the electromagnetic pilot valve to be tested from one station to another. The lifting and positioning device is used to lift the tray when the tray holding the electromagnetic pilot valve to be tested reaches a specific position, so that it is removed from the main conveyor line and fixed in the designated position. The blocking cylinders are installed at different workstations to control the forward movement and stopping of the pallet on the conveyor line; The RFID reading device is used to read the equipment information of the electromagnetic pilot valve to be tested.

[0024] In this embodiment of the invention, the main conveyor line is further provided with a waiting station and three pallet transfer stations, each pallet transfer station being equipped with a lifting transfer conveyor and a blocking cylinder; The waiting station is used to temporarily store electromagnetic pilot valves that have completed testing and are ready for assembly. The pallet transfer station is used to transfer pallets from the main conveyor line to other conveyor lines or work areas. The lifting and transfer conveyor is used to vertically lift or lower the pallet so that the pallet can be transferred between conveyor lines at different heights; The blocking cylinder is used to control the movement or stopping of the pallet on the main conveyor line.

[0025] In this embodiment of the invention, a waiting station is designed on the main conveyor line. Figure 2 (Bidding No. 15) Three pallet transfer stations ( Figure 2 (Bidding numbers 16, 17, 23) The pallet transfer station is equipped with one set of lifting transfer conveyor and one set of blocking cylinder.

[0026] Based on any of the above embodiments, such as Figures 3-6 As shown, the detection component includes: 27. Liquid recovery system; 28. High-pressure liquid fixed connection pipeline; 40. At least one pressure sensor and fixed liquid supply connector; At least one pressure sensor includes a first pressure sensor 29 and a second pressure sensor 30; The liquid recovery system is used to recover the liquid used in the testing process; The fixed liquid supply connector is fixedly connected to the electromagnetic pilot valve to be tested. The high-pressure liquid fixed connection pipeline is connected to the fixed liquid supply connector and is used to deliver high-pressure liquid to the electromagnetic pilot valve to be tested in order to complete the high-pressure sealing performance test. The at least one pressure sensor is located at different positions in the system and is used to monitor the actual pressure value during the detection process to perform pressure characteristic detection on the electromagnetic pilot valve to be tested.

[0027] Existing equipment uses a plug-in hydraulic pipeline system, which results in easily worn O-rings on the hydraulic pipeline connectors and a short lifespan. This invention employs a fixed connector in conjunction with the testing module, fixing the high-pressure pipeline to the fluid supply port of the testing fixture module, eliminating the need for plugging and unplugging the connector and extending the O-ring lifespan.

[0028] Based on any of the above embodiments, such as Figure 7 As shown, the loading and unloading robot includes: a six-axis robotic arm 31, a robot gripper 32, and a robot base 33; The six-axis robotic arm is rotatably connected to the robot base; The robot gripper is located at the front end of the six-axis robotic arm and is used to grasp the electromagnetic pilot valve to be tested under the drive of the six-axis robotic arm.

[0029] In some embodiments of the present invention, the electromagnetic pilot valve online automatic detection device also includes an equipment information management system, which is mainly divided into four levels: component level, equipment level, production line level, and workshop level, as shown in the logic connector diagram. Figure 8 As shown. The components utilize I / O or Profinet data interfaces, primarily displaying information from pressure sensors, position sensors, cylinder magnetic opening, photoelectric sensors, robot motion, hydraulic testing systems, and testing process data. The equipment layer primarily employs a local server, configured with a high-performance industrial computer to handle data acquisition and the operation of the testing platform. The production line layer is a data acquisition and monitoring system, while the workshop layer serves as a workshop data management platform responsible for work order issuance and quality data management. This addresses the issue of no real-time data recording during the electromagnetic pilot valve testing process, enabling real-time storage and uploading of each electromagnetic pilot valve's testing data to the company-wide information system.

[0030] The electromagnetic pilot valve online testing device provided by this invention can solve the problems of low production efficiency and high labor intensity, achieving unmanned and fully automated production during the testing process. The multi-station automated testing equipment realizes full automation of the testing process, with robots automatically loading and unloading materials. It features three synchronous testing stations, ensuring unmanned operation during the testing process and real-time storage and uploading of testing data. This solves the problem of balancing the testing cycle time with the assembly cycle time of electromagnetic pilot valves, achieving seamless integration between the testing process and the automated assembly production line. It meets the full-process automation requirements of electromagnetic pilot valves from parts assembly to finished product testing. The equipment uses fixed hydraulic joints, eliminating the need for repeated insertion and removal during the testing process, thus solving the problem of O-ring wear caused by repeated insertion and removal, greatly improving O-ring life and equipment reliability. This equipment can perform functions such as high-pressure sealing performance testing, low-pressure sealing performance testing, and reversing performance testing of electromagnetic pilot valves according to the testing process flow, improving efficiency.

[0031] This invention also provides an online detection method for an electromagnetic pilot valve, applicable to the online detection device for electromagnetic pilot valves described in any of the above claims, comprising: Step 101: Simultaneously transport the electromagnetic pilot valve to be tested to each testing subsystem station through multiple parallel conveyor line branches; Step 102: The electromagnetic pilot valve to be tested is picked up by the loading and unloading robot and moved between different testing stations; Step 103: Perform various types of tests on the solenoid pilot valve under test using the detection component.

[0032] The cycle time of the preceding assembly stations on the automated assembly line for electromagnetic pilot valves is T. However, according to the pilot valve testing process, testing one pilot valve requires a cycle time of 2.5T. This cycle time imbalance means that conventional single-machine testing processes cannot match the cycle time of the testing station with that of the assembly line. The process method of this invention effectively solves this problem, allowing for the simultaneous testing of three pilot valves and achieving cycle time balance. The testing time in the process flow is (0.2T-2.5T). The performance testing of the electromagnetic pilot valve requires a total of 5 steps. After each step, the product is judged as qualified or unqualified. If it fails, it will not proceed to the next step of testing, resulting in a variation in testing time within the range of (0.2T-2.5T). This solves the problems of product accumulation and production line cycle time imbalance caused by different testing times, such as last-in-first-out (LIFO) and overlapping work of three work routes.

[0033] In this embodiment of the invention, the multiple parallel-operating conveyor line branches include a first conveyor line branch, and the detection method corresponding to the first conveyor line branch includes: When the first electromagnetic pilot valve to be tested arrives at the first waiting position from the main conveyor line, the device information of the electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The first electromagnetic pilot valve to be tested is sent to the vision inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the first electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the first testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the branch of the first conveyor line.

[0034] like Figure 9 As shown, when an electromagnetic pilot valve is conveyed from the preceding sequence to position one via the main conveyor line: the main conveyor line waiting position ( Figure 2 (Mark 15) At this station, the blocking cylinder blocks the pallet. After the RFID identification records the relevant information of the workpiece at this location, the blocking cylinder retracts, and the pallet flows to station two via the main conveyor line: Main conveyor line transfer position A ( Figure 2 (Mark 16) The workstation blocking cylinder blocks the pallet, and the workstation lifting and transfer conveyor line transports the pallet and solenoid pilot valve to conveyor line branch one. The pallet is then transported to workstation twelve: temporary storage position A of conveyor line branch one. Figure 2(Mark 26) The blocking cylinder at this station blocks the tray, and the RFID reads the relevant information; the six-axis robot (Figure 31) uses its gripper to pick up the electromagnetic pilot valve at temporary storage position A of the conveyor branch and send it to station eight: visual inspection position ( Figure 2 Mark 22) Perform assembly quality inspection on the bottom O-ring of the electromagnetic pilot valve. Defective products are returned to station twelve: temporary storage position A on conveyor branch line one, and then sent back to the main conveyor line by conveyor branch line one. Qualified electromagnetic pilot valves are sent to station four by a six-axis robot: inspection position A ( Figure 2 (Mark 18); Station 4: Inspection Position A performs product performance testing on the electromagnetic pilot valve according to the pre-set testing procedure, with a testing time of (0.2T-2.5T). During this testing process, the assembly line will assemble one electromagnetic pilot valve every T time and transport it to Station 1: Main Conveyor Line Waiting Position. At this time, the equipment will simultaneously start related work on other branches; After the electromagnetic pilot valve under test at Inspection Position A completes the relevant testing, the six-axis robot uses its gripper to pick up the electromagnetic pilot valve and transport it to Station 7: Drying Position ( Figure 2 (Mark 21) Complete the cleaning of residual detection liquid inside the electromagnetic pilot valve and the detection liquid attached to its outer surface; then proceed to workstation eight: visual inspection position ( Figure 2 After the second quality inspection of the electromagnetic pilot valve O-ring assembly is performed (marked 22), it is sent back to workstation twelve: temporary storage position A of conveyor branch line one, RFID records relevant information, and is sent back to the main conveyor line by conveyor branch line one for the next production process of the assembly line.

[0035] In this embodiment of the invention, the multiple parallel-operating conveyor line branches include a second conveyor line branch, and the detection method corresponding to the second conveyor line branch includes: When the first electromagnetic pilot valve to be tested arrives at the waiting position via the main conveyor line, the lifting and transfer device transports the second electromagnetic pilot valve to be tested to the second conveyor line branch and temporarily stores it at the second waiting position. The device information of the second electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The second electromagnetic pilot valve to be tested is sent to the vision inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the second electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the second testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the second conveyor line branch.

[0036] like Figure 10 As shown, the assembly line assembles one electromagnetic pilot valve every time time T and transports it to station one: the main conveyor line waiting position. At this time, the "conveyor line branch two" workflow needs to be started. The station one blocking cylinder blocks the pallet. After the RFID identification records the relevant information of the workpiece at this position, the blocking cylinder retracts, and the pallet flows through the main conveyor line to station three: the main conveyor line transfer position B. Figure 2 (Mark 17) The workstation blocking cylinder blocks the pallet, and the workstation lifting and transfer conveyor line transports the pallet and solenoid pilot valve to conveyor line branch two. The pallet is then transported to workstation eleven: conveyor line branch two temporary storage position B ( Figure 2 (Mark 25) This workstation's blocking cylinder blocks the tray, and RFID reads the relevant information; the six-axis robot uses its gripper to pick up the temporary storage position B of the second branch of the conveyor line ( Figure 2 The electromagnetic pilot valve marked 25 is fed into station eight: visual inspection position ( Figure 2 Mark 22) Perform assembly quality inspection on the bottom O-ring of the electromagnetic pilot valve. Defective products are returned to station eleven: temporary storage position B on conveyor branch two (Figure 5), and then sent back to the main conveyor line. Qualified electromagnetic pilot valves are transported by a six-axis robot to station five: inspection position B. Figure 2 (Mark 19); Station 5: Inspection Position B ( Figure 2 (Mark 18) Perform product performance testing on the electromagnetic pilot valve according to the pre-set testing procedure. The testing time is (0.2T-2.5T). During this testing process, the assembly line will complete the assembly of one electromagnetic pilot valve every T time and transport it to station one: the main conveyor line waiting position (position 15 in the figure). At this time, the equipment will simultaneously start the related work of other conveyor line branches; or the testing process of the electromagnetic pilot valve at station four (testing position A) will be terminated due to non-compliance, and the equipment will also simultaneously start the "Work Route Three" station seven: drying position process and subsequent actions. Work Route Two station five: testing position B ( Figure 2 (Mark 19) After the electromagnetic pilot valve under test completes the relevant tests, the six-axis robot uses its gripper to pick up the electromagnetic pilot valve and move it to station seven: the drying position. Figure 2 (Mark 21) Clean the residual detection liquid inside the electromagnetic pilot valve and the detection liquid attached to the outer surface; then, at station eight: visual inspection position (Figure 22), perform a second inspection of the assembly quality of the electromagnetic pilot valve O-ring, and send it back to station eleven: temporary storage position B of conveyor line branch two (Figure 25). Record relevant information with RFID, and send it back to the main conveyor line by conveyor line branch two for the next production process of the assembly line.

[0037] In this embodiment of the invention, the multiple parallel-operating conveyor line branches include a third conveyor line branch, and the detection method corresponding to the third conveyor line branch includes: When the second electromagnetic pilot valve to be tested arrives at the waiting position via the main conveyor line, the lifting and transfer device transports the third electromagnetic pilot valve to be tested to the third conveyor line branch and temporarily stores it in the third waiting position. The device information of the third electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The third electromagnetic pilot valve to be tested is sent to the visual inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the third electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the third testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the third conveyor branch.

[0038] like Figure 11 As shown, during the operation of "Conveyor Branch 1" and "Conveyor Branch 2", the assembly line will assemble one electromagnetic pilot valve every time T and transport it to station 1: the main conveyor line waiting position. At this time, "Conveyor Branch 3" needs to be activated. The station 1 blocking cylinder blocks the pallet. After the RFID identification records the relevant information of the workpiece at this position, the blocking cylinder retracts, and the pallet flows through the main conveyor line to station 9: the main conveyor line transfer position C. Figure 2 (Mark 23) The workstation blocking cylinder blocks the pallet, the workstation lifting and transfer conveyor transports the pallet and solenoid pilot valve to conveyor branch three, the pallet is transported to workstation ten: conveyor branch three temporary storage position C ( Figure 2 (Mark 24) This workstation's blocking cylinder blocks the tray, and RFID reads the relevant information; the six-axis robot uses its gripper to pick up the temporary storage position C of the third branch of the conveyor line ( Figure 2 The electromagnetic pilot valve marked 24 is sent to station eight: visual inspection position ( Figure 2 (Mark 22) Perform assembly quality inspection on the bottom O-ring of the electromagnetic pilot valve. Defective products are returned to station 10: temporary storage location C on the third branch of the conveyor line. Figure 2 Mark 24), the electromagnetic pilot valves that pass the inspection are sent back to the main conveyor line from branch line three. The qualified electromagnetic pilot valves are then sent to station six by the six-axis robot: inspection position C. Figure 2 (Mark 20); Station 6: Inspection position C ( Figure 2 (Mark 20) ​​Perform product performance testing on the electromagnetic pilot valve according to the pre-set testing procedure. The testing time is (0.2T-2.5T). During this testing process: ① The testing process of the electromagnetic pilot valve at station four (testing position A) terminates due to non-compliance; ② The electromagnetic pilot valve at station four (testing position A) completes the entire testing process normally; ③ The testing process of the electromagnetic pilot valve at station five (testing position B) terminates due to non-compliance; ④ The assembly line will complete the assembly of one electromagnetic pilot valve every T time and transport it to station one: the main conveyor line waiting position (position 15 in the figure). In these four situations, the equipment will simultaneously start the relevant work of "Conveyor Line Branch 1" and "Conveyor Line Branch 2". Conveyor Line Branch 3 Station Six: Testing Position C ( Figure 2 (Mark 20) ​​After the electromagnetic pilot valve under test completes the relevant tests, the six-axis robot uses the robot gripper (Figure 32) to pick up the electromagnetic pilot valve and move it to station seven: the drying position to clean the residual test liquid inside the electromagnetic pilot valve and the test liquid attached to the outer surface; then, at station eight: the visual inspection position, a second inspection of the assembly quality of the electromagnetic pilot valve's O-rings is performed before it is sent back to station ten: the temporary storage position C of the conveyor line branch three. Figure 2 The RFID tag (marked 24) records relevant information and is sent back to the main conveyor line via branch line three for the next production process on the assembly line.

[0039] The online testing method for electromagnetic pilot valves provided in this invention simultaneously transports the electromagnetic pilot valve to be tested to various testing subsystem stations via multiple parallel conveyor line branches; a loading and unloading robot grasps the electromagnetic pilot valve to be tested and moves it between different testing stations; and a testing component performs various types of tests on the electromagnetic pilot valve to be tested. This method can solve the problem of mismatch between testing cycle time and efficiency and automated assembly lines, achieving seamless integration with automated assembly lines and improving production efficiency.

[0040] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0041] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of software products. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An online detection device for an electromagnetic pilot valve, characterized in that, include: The main conveyor line, multiple parallel conveyor line branches, and a detection subsystem corresponding to each conveyor line branch; The main conveyor line is used to link multiple detection subsystems and to connect to the multiple parallel conveyor line branches; The multiple parallel conveyor branch lines are used to simultaneously convey the electromagnetic pilot valve to be tested to each testing subsystem station. The testing subsystem includes a loading / unloading robot and a testing component. The loading / unloading robot is used to transfer the electromagnetic pilot valve to be tested from the main conveyor line to each branch conveyor line, and to grasp the electromagnetic pilot valve to be tested and move it between different testing stations. The testing component is used to perform various types of tests on the electromagnetic pilot valve to be tested.

2. The electromagnetic pilot valve online detection device according to claim 1, characterized in that, The conveyor branch includes a conveyor line, a lifting and positioning device, a blocking cylinder, and an RFID reading device; The conveyor line is used to transfer the electromagnetic pilot valve to be tested from one station to another. The lifting and positioning device is used to lift the tray when the tray holding the electromagnetic pilot valve to be tested reaches a specific position, so that it is removed from the main conveyor line and fixed in the designated position. The blocking cylinders are installed at different workstations to control the forward movement and stopping of the pallet on the conveyor line; The RFID reading device is used to read the equipment information of the electromagnetic pilot valve to be tested.

3. The electromagnetic pilot valve online detection device according to claim 1, characterized in that, The main conveyor line also has a waiting station and three pallet transfer stations, each of which is equipped with a lifting transfer conveyor and a blocking cylinder. The waiting station is used to temporarily store electromagnetic pilot valves that have completed testing and are ready for assembly. The pallet transfer station is used to transfer pallets from the main conveyor line to other conveyor lines or work areas. The lifting and transfer conveyor is used to vertically lift or lower the pallet so that the pallet can be transferred between conveyor lines at different heights; The blocking cylinder is used to control the movement or stopping of the pallet on the main conveyor line.

4. The electromagnetic pilot valve online detection device according to claim 1, characterized in that, Also includes: Drying power connection device and drying device; The power connection device for drying is used to provide power to the drying device; The drying device is used to dry the residual test liquid inside the electromagnetic pilot valve to be tested, as well as the test liquid attached to its outer surface.

5. The online detection device for an electromagnetic pilot valve according to claim 1, characterized in that, The detection component includes: Liquid recovery system, high-pressure liquid fixed connection pipeline, at least one pressure sensor and fixed liquid supply connector; The liquid recovery system is used to recover the liquid used in the testing process; The fixed liquid supply connector is fixedly connected to the electromagnetic pilot valve to be tested. The high-pressure liquid fixed connection pipeline is connected to the fixed liquid supply connector and is used to deliver high-pressure liquid to the electromagnetic pilot valve to be tested in order to complete the high-pressure sealing performance test. The at least one pressure sensor is located at different positions in the system and is used to monitor the actual pressure value during the detection process to perform pressure characteristic detection on the electromagnetic pilot valve to be tested.

6. The online detection device for an electromagnetic pilot valve according to claim 1, characterized in that, The loading and unloading robot includes: a six-axis robotic arm, a robot gripper, and a robot base; The six-axis robotic arm is rotatably connected to the robot base; The robot gripper is located at the front end of the six-axis robotic arm and is used to grasp the electromagnetic pilot valve to be tested under the drive of the six-axis robotic arm.

7. An online detection method for an electromagnetic pilot valve, applicable to the online detection device for the electromagnetic pilot valve according to any one of claims 1 to 6, characterized in that, include: The electromagnetic pilot valve to be tested is simultaneously transported to each testing subsystem station through multiple parallel conveyor line branches; The electromagnetic pilot valve to be tested is moved between different testing stations by a loading and unloading robot. The detection components are used to perform various types of tests on the solenoid pilot valve under test.

8. The online detection method for an electromagnetic pilot valve according to claim 7, characterized in that, The multiple parallel-operating conveyor line branches include a first conveyor line branch, and the detection method corresponding to the first conveyor line branch includes: When the first electromagnetic pilot valve to be tested arrives at the first waiting position from the main conveyor line, the device information of the electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The first electromagnetic pilot valve to be tested is sent to the vision inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the first electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the first testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the branch of the first conveyor line.

9. The online detection method for an electromagnetic pilot valve according to claim 7, characterized in that, The multiple parallel-operating conveyor line branches include a second conveyor line branch, and the detection method corresponding to the second conveyor line branch includes: When the first electromagnetic pilot valve to be tested arrives at the waiting position via the main conveyor line, the lifting and transfer device transports the second electromagnetic pilot valve to be tested to the second conveyor line branch and temporarily stores it at the second waiting position. The device information of the second electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The second electromagnetic pilot valve to be tested is sent to the vision inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the second electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the second testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the second conveyor line branch.

10. The online detection method for an electromagnetic pilot valve according to claim 7, characterized in that, The multiple parallel-operating conveyor line branches include a third conveyor line branch, and the detection method corresponding to the third conveyor line branch includes: When the second electromagnetic pilot valve to be tested arrives at the waiting position via the main conveyor line, the lifting and transfer device transports the third electromagnetic pilot valve to be tested to the third conveyor line branch and temporarily stores it in the third waiting position. The device information of the third electromagnetic pilot valve to be tested is identified and recorded by the RFID reading device. The third electromagnetic pilot valve to be tested is sent to the visual inspection position by the loading and unloading robot, and the assembly quality of the bottom O ring of the third electromagnetic pilot valve to be tested is inspected. If the assembly quality of the O-ring is qualified, the electromagnetic pilot valve to be tested is sent to the third testing position for a preset performance test, which includes high pressure sealing performance test, low pressure sealing performance test, and reversing performance test. After the performance test is completed, the tested electromagnetic pilot valve is moved to the drying position by the loading and unloading robot, and the drying device is used to remove the test liquid remaining inside and on the surface of the tested electromagnetic pilot valve. The electromagnetic pilot valve, after inspection, is moved back to the vision inspection position by the loading and unloading robot to re-inspect the O-ring assembly. After the re-inspection is completed, it returns to the main conveyor line via the third conveyor branch.

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