Stopcock bushing installation positioning device

Abstract

The application is suitable for the technical field of plug valves, and particularly relates to a plug valve bushing installation and positioning device, which comprises a guide sleeve, a positioning core shaft, a detection assembly and a control device. The guide sleeve is provided with a guide hole penetrating in the pressing direction. The positioning core shaft is installed in the guide hole. The detection assembly is arranged between the guide sleeve and the positioning core shaft. The control device is configured to: detect an initial radial force signal and determine an initial radial force reference vector; collect a real-time radial force signal to obtain an effective radial force sequence, process the effective radial force sequence and the initial radial force reference vector to obtain a load deviation change sequence, and determine an amplitude component and a direction component; determine a load deviation state feature vector according to the amplitude component and the direction component; determine a load deviation mode of the bushing in the pressing process based on the load deviation state feature vector, and generate control data according to the direction component and the identified load deviation mode, so as to solve the radial load deviation caused by the inconsistency between the bushing pressing direction and the working cavity axis.

Description

Technical Field

[0001] This application belongs to the field of plug valve technology, and particularly relates to a plug valve bushing mounting and positioning device. Background Technology

[0002] A plug valve is a shut-off valve. Rotating the plug connects or disconnects the passage on the plug from the passage on the valve body, thus opening or closing the valve. Plug valves are widely used in pipeline systems in the petroleum, chemical, and pharmaceutical industries. To ensure the sealing performance and flexible opening and closing of the plug valve, a bushing is usually installed between the valve body and the plug. A plug valve bushing mounting and positioning device is a specialized device used to position and install the bushing during the plug valve assembly process.

[0003] Most existing bushing installation methods rely on external tooling positioning or manual experience positioning. That is, the bushing pressing direction is determined by the outer contour of the valve body, the end face, or the guide sleeve. This method can complete the basic installation of conventional valve bodies. However, for plug valves, the valve body may have casting allowance, local machining deviation, slight deviation between the end face datum and the axis of the plug working cavity, or the valve body's lateral flow channel may intersect with the bushing installation area. In such cases, the external positioning datum may appear accurate, but the actual pressing direction of the bushing may deviate from the true axis of the plug working cavity. This deviation usually manifests in the initial pressing stage as one side of the bushing inlet edge making contact first and the other side being suspended. During the pressing process, the bushing is subjected to uneven radial force, resulting in local scratches, slight elliptical deformation, inconsistent pressing depth, or local obstruction after the plug is installed. Since the problem occurs in the short stroke stage when the bushing begins to enter the valve body cavity, and it is difficult to detect in time by external observation, it is easily exposed during subsequent sealing tests or opening and closing torque tests, resulting in rework, which affects efficiency and increases costs. Summary of the Invention

[0004] This application provides a plug valve bushing installation and positioning device, which can solve the problem of radial off-center load caused by the misalignment between the bushing pressing direction and the working cavity axis due to the deviation between the external positioning reference of the valve body and the actual axis of the plug working cavity.

[0005] In a first aspect, embodiments of this application provide a plug valve bushing mounting and positioning device, comprising: The guide sleeve has a guide hole that extends through the press-fitting direction; A positioning mandrel is coaxially and axially slidably installed in the guide hole to align the axis of the guide hole with the initial axis of the bushing cavity. The positioning mandrel is provided with a self-centering surface for contacting the bushing cavity. When the self-centering surface is inserted into the bushing cavity, the positioning mandrel is guided to be coaxial with the bushing cavity through contact with the bushing cavity and remains in contact during the press-fitting process. A detection component, disposed between the guide sleeve and the positioning mandrel, is used to determine the radial force on the positioning mandrel during the entire press-fitting process to detect the radial off-center load on the bushing; and A control device, communicatively connected to the detection component; the control device is configured to: The initial radial force signal is detected by the detection component, and the initial radial force reference vector is determined. During the pressing stroke, the real-time radial force signal of the detection component is collected to obtain an effective radial force sequence; The effective radial force sequence and the initial radial force reference vector are processed to obtain the off-center load change sequence; Determine the amplitude and direction components from the sequence of off-center load changes; The off-center load state feature vector is determined based on the amplitude component and the direction component; The off-center loading mode of the bushing during the pressing process is determined based on the off-center loading state feature vector; the off-center loading mode includes at least a single-sided first-touch pressing mode and a wedge-shaped progressive embedding mode; The amplitude component of the off-center load state feature vector is compared with a preset off-center load allowable threshold. When the amplitude component exceeds the off-center load allowable threshold, control data is generated based on the directional component and the identified off-center load mode.

[0006] The technical solutions described in this application embodiment have at least the following technical effects: The plug valve bushing installation and positioning device provided in this application, by coaxially and axially slidingly mounting a positioning mandrel in a guide hole, and setting a self-centering surface at its front end for contacting the bushing inner cavity, allows the positioning mandrel to be aligned with the bushing inner cavity itself when inserted into the bushing inner cavity. Then, the control device detects the initial radial force signal based on the detection component and determines the initial radial force reference vector; during the pressing stroke, the real-time radial force signal of the detection component is collected to obtain an effective radial force sequence; the effective radial force sequence and the initial radial force reference vector are processed to obtain an off-center load change sequence; the amplitude component and the direction component are determined from the off-center load change sequence; based on the amplitude component... The magnitude and direction components determine the off-center load state feature vector; based on the off-center load state feature vector, the off-center load mode of the bushing during the pressing process is determined; the off-center load mode includes at least a single-sided first-touch pressing mode and a wedge-shaped progressive embedding mode; the magnitude component of the off-center load state feature vector is compared with a preset off-center load allowable threshold. When the magnitude component exceeds the off-center load allowable threshold, control data is generated based on the direction component and the identified off-center load mode. This can prevent deviations between the external positioning reference of the valve body and the true axis of the working chamber of the plug, reduce the risk of the bushing pressing direction being inconsistent with the axis of the working chamber, and prevent local scratches and slight elliptical deformation of the bushing that could lead to local obstruction, reducing rework and thus improving efficiency and cost.

[0007] Secondly, embodiments of this application provide a control method for a plug valve bushing installation and positioning device, applied to the plug valve bushing installation and positioning device as described in the first aspect above, the method comprising: The initial radial force signal is detected by the detection component, and the initial radial force reference vector is determined. During the pressing stroke, the real-time radial force signal of the detection component is collected to obtain an effective radial force sequence; The effective radial force sequence and the initial radial force reference vector are processed to obtain the off-center load change sequence; Determine the amplitude and direction components from the sequence of off-center load changes; The off-center load state feature vector is determined based on the amplitude component and the direction component; The off-center loading mode of the bushing during the pressing process is determined based on the off-center loading state feature vector. The amplitude component of the off-center load state feature vector is compared with a preset off-center load allowable threshold. When the amplitude component exceeds the off-center load allowable threshold, control data is generated based on the direction component and the identified off-center load mode. The control data is used to indicate the off-center load degree, off-center load direction, and off-center load mode identifier.

[0008] It is understandable that the beneficial effects of the second aspect mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the structure of a plug valve bushing mounting and positioning device provided in an embodiment of this application; Figure 2 This is a cross-sectional view of a detection component and a positioning mandrel provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a single-sided first-touch mode provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a wedge-shaped progressive embedding mode provided in an embodiment of this application; Figure 5 This is a schematic flowchart of a control method for a plug valve bushing mounting and positioning device provided in an embodiment of this application; Figure 6This is a schematic diagram illustrating the determination of amplitude and direction components according to an embodiment of this application; Figure 7 This is a schematic diagram of determining the feature vector of the off-center load state according to an embodiment of this application; Figure 8 This is a schematic diagram of the control device provided in the embodiments of this application.

[0011] The following are the labeling elements in the figure: 100. Plug valve bushing mounting and positioning device; 10. Guide sleeve; 101. Guide hole; 20. Positioning mandrel; 21. Self-centering surface; 30. Detection component; e. Offset; F. Pressing direction. Detailed Implementation

[0012] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0013] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0014] A plug valve is a shut-off valve. Rotating the plug connects or disconnects the passage on the plug from the passage on the valve body, thus opening or closing the valve. Plug valves are widely used in pipeline systems in the petroleum, chemical, and pharmaceutical industries. To ensure the sealing performance and flexible opening and closing of the plug valve, a bushing is usually installed between the valve body and the plug. A plug valve bushing mounting and positioning device is a specialized device used to position and install the bushing during the plug valve assembly process.

[0015] Most existing bushing installation methods rely on external tooling positioning or manual experience positioning. That is, the bushing pressing direction is determined by the outer contour of the valve body, the end face, or the guide sleeve. This method can complete the basic installation of conventional valve bodies. However, for plug valves, the valve body may have casting allowance, local machining deviation, slight deviation between the end face datum and the axis of the plug working cavity, or the valve body's lateral flow channel may intersect with the bushing installation area. In such cases, the external positioning datum may appear accurate, but the actual pressing direction of the bushing may deviate from the true axis of the plug working cavity. This deviation usually manifests in the initial pressing stage as one side of the bushing inlet edge making contact first and the other side being suspended. During the pressing process, the bushing is subjected to uneven radial force, resulting in local scratches, slight elliptical deformation, inconsistent pressing depth, or local obstruction after the plug is installed. Since the problem occurs in the short stroke stage when the bushing begins to enter the valve body cavity, and it is difficult to detect in time by external observation, it is easy to be exposed during subsequent sealing tests or opening and closing torque tests, resulting in rework, which affects efficiency and increases costs.

[0016] To address the aforementioned issues, this application provides a plug valve bushing mounting and positioning device.

[0017] Please refer to the following: Figures 1 to 4 This application provides a plug valve bushing mounting and positioning device 100, including a guide sleeve 10, a positioning spindle 20, a detection assembly 30, and a control device, wherein: The guide sleeve 10 has a guide hole 101 that extends through the press-fitting direction.

[0018] The positioning mandrel 20 is coaxially and axially slidably installed in the guide hole 101 to align the axis of the guide hole 101 with the initial axis of the bushing cavity. The positioning mandrel 20 is provided with a self-centering surface 21 for contacting the bushing cavity. When the self-centering surface 21 is inserted into the bushing cavity, it guides the positioning mandrel 20 to be coaxial with the bushing cavity through contact with the bushing cavity and maintains a close fit during the press-fitting process.

[0019] The detection component 30 is disposed between the guide sleeve 10 and the positioning mandrel 20, and is used to determine the radial force on the positioning mandrel 20 during the entire pressing process in order to detect the radial off-center load force on the bushing.

[0020] A control device is communicatively connected to the detection component 30. The control device is configured to: The initial radial force signal is detected by the detection component 30, and the initial radial force reference vector is determined.

[0021] During the pressing process, the real-time radial force signal of the detection component 30 is collected to obtain an effective radial force sequence.

[0022] The effective radial force sequence and the initial radial force reference vector are processed to obtain the off-center load change sequence.

[0023] The amplitude and direction components are determined from the sequence of eccentric load changes.

[0024] The eigenvector of the off-center load state is determined based on the magnitude component and the direction component.

[0025] The off-center loading mode of the bushing during the pressing process is determined based on the off-center loading state feature vector; the off-center loading mode includes at least the single-sided first-touch pressing mode and the wedge progressive embedding mode.

[0026] The magnitude component of the off-center load state feature vector is compared with the preset off-center load allowable threshold. When the magnitude component exceeds the off-center load allowable threshold, control data is generated based on the direction component and the identified off-center load mode.

[0027] It can be understood that the guide sleeve 10 is a sleeve-shaped component with an internal cylindrical through hole, which is the guide hole 101. The positioning mandrel 20 is a shaft-like part with a precision-machined outer diameter, enabling the positioning mandrel 20 to reciprocate along the axial direction of the guide hole 101. The detection component 30 may specifically include multiple miniature pressure sensors evenly distributed circumferentially between the inner wall of the guide sleeve 10 and the outer wall of the positioning mandrel 20. The multiple sensors collect radial forces at different circumferential positions, and then integrate them to obtain a complete radial force distribution signal, which is transmitted to the control device for processing. The control device is a module capable of receiving and processing sensor signals and performing calculations and judgments. Specifically, it may be an integrated processing board or a host industrial control computer, capable of performing calculations and judgments based on the collected force signals.

[0028] As can be seen from the above, the plug valve bushing installation and positioning device 100 provided by the applicant is achieved by coaxially and axially slidingly installing the positioning mandrel 20 in the guide hole 101, and setting a self-centering surface 21 at its front end for contacting the inner cavity of the bushing. This allows the positioning mandrel 20 to be aligned with the inner cavity of the bushing itself when inserted into the inner cavity. Then, the control device detects the initial radial force signal based on the detection component 30 and determines the initial radial force reference vector. During the pressing stroke, the real-time radial force signal of the detection component 30 is collected to obtain the effective radial force sequence. The effective radial force sequence and the initial radial force reference vector are processed to obtain the off-center load change sequence. The amplitude is determined from the off-center load change sequence. The system identifies magnitude and direction components; determines the off-center load state feature vector based on these components; determines the off-center load mode of the bushing during the pressing process based on the off-center load state feature vector; the off-center load mode includes at least a single-sided first-touch pressing mode and a wedge-shaped progressive embedding mode; compares the magnitude component of the off-center load state feature vector with a preset off-center load allowable threshold; when the magnitude component exceeds the off-center load allowable threshold, generates control data based on the direction component and the identified off-center load mode, which can prevent deviation between the external positioning reference of the valve body and the true axis of the plug working chamber, reducing the risk of the bushing pressing direction being inconsistent with the axis of the working chamber; and prevents local scratches and slight elliptical deformation of the bushing that could lead to local obstruction, reducing rework and thus improving efficiency and cost.

[0029] In some embodiments, please refer to the following: Figures 1 to 4 An elastic element is provided between the guide sleeve 10 and the positioning mandrel 20. The elastic element is used to apply a spring force to the positioning mandrel 20 to make the front end extend out of the guide hole 101, so as to maintain the elastic fit between the self-centering surface 21 and the inner cavity of the bushing before pressing.

[0030] It can be understood that the elastic element refers to a mechanical part that is installed between the guide sleeve 10 and the positioning mandrel 20 and is capable of elastic deformation, such as a cylindrical helical compression spring, a disc spring, or a rubber elastic sleeve. In the assembled state, this elastic element is pre-compressed, with one end abutting against the end face or inner step of the guide sleeve 10, and the other end abutting against the shoulder, flange, or step end face of the positioning mandrel 20. This continuously applies a forward thrust along the axial direction to the positioning mandrel 20, forcing the front end of the positioning mandrel 20 to always extend a certain length beyond the front end face of the guide hole 101.

[0031] For example, when assembling the press-fit fixture, the elastic element is first inserted from the rear end of the positioning mandrel 20, and then the positioning mandrel 20 together with the elastic element is inserted into the guide hole 101 from the rear end of the guide sleeve 10 until the self-centering surface 21 at the front end of the positioning mandrel 20 protrudes from the front opening of the guide hole 101. Subsequently, a retaining ring, pressure cap, or nut is installed at the rear end of the guide sleeve 10 to prevent the positioning mandrel 20 from completely dislodging from the guide hole 101 under the thrust of the elastic element. At this time, the elastic element is compressed between the bottom step of the inner hole of the guide sleeve 10 and the flange end face in the middle of the positioning mandrel 20, storing elastic potential energy. Before press-fitting, the operator or automatic feeding mechanism inserts the bushing to be press-fitted from the front end of the positioning mandrel 20, and the inner cavity of the bushing first contacts the self-centering surface 21. As the elastic element continuously applies a forward elastic force, the self-centering surface 21 is tightly pushed against the surface of the bushing cavity. Even if there is a slight deviation in the gripping position of the bushing or fluctuations in the cavity size within the tolerance zone, the self-centering surface 21 can automatically slide into and fit the corresponding surface of the bushing cavity under the action of the elastic force, realizing the automatic centering of the bushing relative to the axis of the positioning mandrel 20. When the pressure head moves downward to start pressing, the bushing is subjected to downward pressure. This pressure is transmitted to the positioning mandrel 20 through the contact between the bushing cavity and the self-centering surface 21, causing the positioning mandrel 20 to overcome the elastic force of the elastic element and retract into the guide hole 101, making room for the bushing to be smoothly pressed into the base hole.

[0032] This configuration, by incorporating an elastic element between the guide sleeve 10 and the positioning mandrel 20, allows the self-centering surface 21 at the front end of the positioning mandrel 20 to maintain a continuous and flexible contact with the inner cavity of the bushing before the pressing action begins. This elastic contact mechanism allows for a certain positional tolerance when the bushing is placed. The self-centering surface 21 automatically slides into the inner cavity of the bushing and completes centering under the drive of the elastic force, eliminating the need for precise manual alignment and significantly improving feeding efficiency and centering consistency. Simultaneously, because the force provided by the elastic element is flexible, the positioning mandrel 20 can passively retract during the pressing process, avoiding rigid interference or hard compression between the mandrel and the bushing. This protects the fitting accuracy of the inner cavity of the bushing and the self-centering surface 21 of the mandrel, extending the service life of the tooling.

[0033] Optionally, in some embodiments, please also refer to Figures 1 to 4 The elastic element is a wave spring or a conical spring, which limits the radial component force generated by the compression of the elastic element within a preset range.

[0034] It can be understood that a wave spring is a structural component made of flat elastic metal strip continuously stamped or wound into a wave-shaped ring. Its cross-section is wave-shaped. When subjected to axial compression, it mainly relies on the elastic bending deformation of the wave teeth to store and release energy. Its outer diameter and inner diameter change very little during the compression process. A conical spring is a spring made of metal wire wound into a conical spiral shape. The diameter of each coil of the spring gradually changes from one end to the other.

[0035] For example, when a wave spring is selected as the elastic element, it is sleeved on the positioning mandrel 20, positioned between the flange end face of the positioning mandrel 20 and the bottom end face of the inner hole of the guide sleeve 10. The wave spring is axially pre-compressed during assembly, with its wavy tooth tips and roots approaching each other in the axial direction. Since the wave deformation of the wave spring mainly occurs in the axial plane, its outer contour hardly expands outward under pressure, and its inner contour hardly contracts inward. Therefore, while providing stable axial thrust, the wave spring exerts almost no additional radial lateral pressure on the inner wall of the guide sleeve 10 or the outer surface of the positioning mandrel 20.

[0036] When a conical spring is selected as the elastic element, the small end of the conical spring is installed facing the flange of the positioning mandrel 20, and the large end abuts against the end face of the guide sleeve 10. During compression, the coils of the conical spring overlap sequentially from the large end to the small end, and the overall radial dimension of the spring tends to converge towards the center. The radial force generated is mainly inward contraction rather than outward expansion, thereby avoiding excessive compression between the outer coil of the spring and the inner wall of the guide sleeve 10.

[0037] This design, utilizing the unique structural deformation characteristics of these two types of springs, fundamentally suppresses the possibility of excessive radial force generated by the elastic element during axial compression. Since the radial deformation of wave springs and conical springs under compression is much smaller than that of ordinary cylindrical helical springs, they do not exert significant lateral compressive force on the inner wall of the guide sleeve 10 or the outer surface of the positioning mandrel 20, thus avoiding the risk of deformation, wear, or jamming of the guide hole 101 due to long-term lateral force.

[0038] Optionally, in some embodiments, please refer to Figures 1 to 4 The front end of the self-centering surface 21 has a guide cone or a rounded chamfer, and the self-centering surface 21 is a truncated cone surface that matches the taper of the bushing cavity.

[0039] It can be understood that the self-centering surface 21 can be the outer working section at the front end of the positioning mandrel 20, specifically designed to mate with the inner cavity of the bushing to achieve automatic centering. The guide cone surface can refer to the outer conical surface at the very front end of the self-centering surface 21, with a relatively large cone angle and short axial length, its function being to guide the front end of the mandrel smoothly into the opening of the inner cavity of the bushing. The rounded chamfer can refer to machining the front edge of the self-centering surface 21 into a large-radius rounded transition surface to form a blunt head, to avoid sharp edges scratching the inner cavity of the bushing. The truncated cone surface can refer to the lateral side of a frustum formed by cutting off the top of the cone with a plane parallel to the bottom of the cone; here, it refers to the outer frustum working surface on the positioning mandrel 20 with a certain taper and length. The inner cavity taper of the bushing can refer to the taper designed on the surface of the inner hole of the bushing, which can be an inner conical hole.

[0040] This design, by setting a guide cone or rounded chamfer at the foremost end of the self-centering surface 21, provides significant guidance and fault tolerance during the bushing insertion stage, preventing the sharp edge of the positioning mandrel 20 from scratching or damaging the precision mating surface of the bushing's inner cavity, thus protecting the bushing's machining quality and subsequent press-fitting performance. Simultaneously, designing the main body of the self-centering surface 21 as a truncated cone with the same taper as the bushing's inner cavity allows for large-area, high-precision conical surface contact before press-fitting, utilizing the self-centering characteristic of the conical surface fit to precisely position the bushing on the mandrel axis.

[0041] In some embodiments, Figure 5 This illustration shows a schematic flowchart of a plug valve bushing installation control method provided in an embodiment of this application. The plug valve bushing installation control method includes: S100: The initial radial force signal is detected by the detection component, and the initial radial force reference vector is determined.

[0042] It is understood that the detection component typically includes force-sensitive elements, such as strain gauge force sensors or piezoelectric force measuring devices, arranged around the press-fitting fixture or positioning mandrel to sense the mechanical action perpendicular to the axis of the positioning mandrel. The initial radial force signal refers to the radial force electrical signal acquired by the detection component under static or no-load conditions before the press-fitting action begins and before the bushing and base hole contact. The initial radial force reference vector is the reference data formed by performing analog-to-digital conversion, filtering, noise reduction, and scaling transformation on the initial radial force signal, used for subsequent comparison calculations, reflecting the mechanical zero position or initial equilibrium state of the press-fitting system in its initial state.

[0043] For example, after the pressing program starts, by sending self-test and acquisition commands to the detection component, the detection component continuously acquires the original radial force electrical signals at multiple time points in a static state where the pressure head has not descended and the bushing has not entered the pressing area. After receiving these electrical signals, the control device amplifies, converts analog to digital and performs digital filtering to remove abnormal jump values ​​caused by environmental vibration or electromagnetic interference. The arithmetic mean of the multiple sampled values ​​after processing is used to obtain a stable initial radial force value. The control device compares and converts this value with the pre-calibrated sensor sensitivity coefficient to determine the initial radial force reference vector.

[0044] S200, during the press-fitting stroke, collects the real-time radial force signal of the detection component to obtain an effective radial force sequence.

[0045] It can be understood that the pressing stroke refers to the entire displacement process of the bushing moving downwards from its initial position to its final position, driven by the press head. The real-time radial force signal refers to the radial force electrical signal dynamically sensed by the detection component at every moment of the pressing stroke, generated by the interaction between the bushing and the substrate bore. The effective radial force sequence refers to the radial force data continuously collected from the beginning to the end of the pressing stroke at preset time intervals or displacement intervals, and filtered for effectiveness. Each data point in this sequence corresponds to the mechanical state at a specific moment or position during the pressing process.

[0046] For example, upon detecting the start of the downward movement of the pressure head, the high-speed data acquisition mode of the detection component is simultaneously activated. Acquisition is triggered once every millisecond or every 0.1 millimeter of downward movement, according to a preset sampling period, continuously reading the radial force electrical signal output by the detection component. For each acquired raw signal, the control device first performs analog-to-digital conversion and real-time filtering, then determines whether the data is within a reasonable range. If the data exceeds the sensor's full range or exhibits obvious disconnection characteristics, it is marked as invalid and discarded; if the data is normal, it is retained as a valid radial force value. The control device sequentially stores these valid radial force values ​​into the data buffer according to time sequence until the pressing stroke ends, thus forming a complete valid radial force sequence covering the entire pressing process.

[0047] S300, the effective radial force sequence and the initial radial force reference vector are processed to obtain the off-center load change sequence.

[0048] It can be understood that the off-center load change sequence refers to the data sequence formed by arranging the changes in real-time radial force relative to the initial radial force reference vector at each sampling moment during the entire press-fitting process in chronological order. The sequence reflects the additional radial force increment caused by reasons such as misalignment between the bushing and the base hole, uneven hole wall, or bushing tilt, and is the core intermediate data for identifying the off-center load state.

[0049] For example, each data point in the effective radial force sequence can be read sequentially from the data buffer while simultaneously accessing the initial radial force reference vector stored in memory. For each effective radial force value in the sequence, the control device performs a point-by-point difference operation between it and the initial radial force reference vector, i.e., subtracting the corresponding value of the initial radial force reference vector from the real-time radial force value at that moment to obtain the radial force change at that sampling point. The control device arranges the calculated changes at each sampling point in chronological order to form a sequence of off-center load changes with the same time length as the effective radial force sequence, and stores it in a new data buffer area for subsequent amplitude and direction analysis.

[0050] S400 determines the amplitude and direction components from the off-center load change sequence.

[0051] It can be understood that the amplitude component refers to the measure of the magnitude of the off-center load change, which is used to characterize the intensity of the off-center load; the directional component refers to the spatial orientation information of the off-center load change, which is used to characterize the direction of the off-center load.

[0052] For example, by reading each data point in the off-center load change sequence, for the off-center load change at each sampling time, the control device determines the projection components of the change in two mutually orthogonal radial directions. Then, it calculates these two projection components to obtain the total magnitude and specific direction of the off-center load change at the sampling point. The control device arranges the total magnitude calculated for each sampling point in chronological order to form an amplitude component sequence; and arranges the direction information calculated for each sampling point in chronological order to form a direction component sequence.

[0053] In one possible implementation, please refer to Figure 6 S400, Determining the amplitude and direction components from the eccentric load change sequence includes: S410, with the axis of the positioning mandrel as a reference, the first orthogonal component and the second orthogonal component are obtained by projecting the off-center load change sequence onto the first and second mutually orthogonal radial axes.

[0054] It can be understood that the axis of the positioning mandrel is the central geometric reference line used to determine the pressing direction of the bushing during the press-fitting process, and it is usually parallel to the movement direction of the press head. The first radial axis and the second radial axis are two virtual reference lines that are perpendicular to each other and both perpendicular to the axis of the positioning mandrel. For example, they can be set as horizontal left-right and horizontal front-back, or horizontal and vertical directions. The two form a planar coordinate system with the axis of the positioning mandrel as the normal. Projection refers to decomposing the vector data of the off-center load change onto the first radial axis and the second radial axis according to the parallelogram law, resulting in two independent scalar components, namely the first orthogonal component and the second orthogonal component.

[0055] For example, a Cartesian coordinate system can be established in memory with the axis of the positioning mandrel as the normal. The first radial axis is set to the right horizontally, and the second radial axis is set to the forward horizontally, with the intersection of the two axes located on the axis of the positioning mandrel. The control device sequentially reads each data point in the off-center load change sequence. For the off-center load change at each sampling time, the control device calculates the intensity of the change in the first radial axis direction and the intensity of the change in the second radial axis direction based on the spatial angular relationship between the change and the first and second radial axes, respectively. Specifically, the control device treats the off-center load change as a planar vector. Through geometric decomposition, it calculates the projection length of this vector on the right horizontal axis as the first orthogonal component and the projection length of this vector on the forward horizontal axis as the second orthogonal component.

[0056] S420, calculate the vector sum of the first orthogonal component and the second orthogonal component, and determine the magnitude component.

[0057] It can be understood that vector summation refers to combining the first orthogonal component and the second orthogonal component into a single vector according to the geometric rules of vector composition. The length of this single vector is the magnitude component. The magnitude component reflects the overall intensity of the off-center load change at that sampling moment.

[0058] For example, by determining the first orthogonal component and the second orthogonal component corresponding to a certain sampling moment from the data buffer, the first orthogonal component is considered as a segment along the first radial axis, and the second orthogonal component is considered as a segment along the second radial axis. Then, a rectangle with these two segments as adjacent sides is constructed, and the length of the diagonal of the rectangle is calculated. In practice, the first orthogonal component and the second orthogonal component can be squared respectively, the two squared results can be added together to obtain a sum of squares, and then the square root of the sum of squares can be taken. The result is the amplitude component of the off-center load change at that sampling moment.

[0059] S430, calculate the ratio of the second orthogonal component to the first orthogonal component to determine the direction component.

[0060] It can be understood that the directional component is an index used to characterize the specific direction of the off-center load change in the spatial plane. By calculating the ratio of the second orthogonal component to the first orthogonal component, the relative relationship between the two orthogonal components can be established, thereby determining the deflection angle or orientation of the off-center load change relative to the first radial axis.

[0061] For example, by determining the first and second orthogonal components corresponding to a certain sampling moment from the data buffer, the value of the second orthogonal component is divided by the value of the first orthogonal component to obtain a ratio. The control device uses this ratio to query a preset azimuth mapping table or perform inverse trigonometric operations to determine the azimuth angle of the off-center load direction relative to the first radial axis. For example, when the ratio is zero, it indicates that the off-center load direction coincides with the first radial axis; when the ratio is greater than zero, it indicates that the off-center load direction is biased towards the second radial axis; when the ratio is less than zero, it indicates that the off-center load direction is biased towards the opposite direction of the second radial axis. The control device arranges the azimuth information calculated at each sampling moment in chronological order to form a direction component sequence.

[0062] This setup determines the directional component by calculating the ratio of the two orthogonal components, enabling the extraction of off-center load orientation information in a concise manner. This allows for continuous tracking of off-center load orientation changes during press-fitting, providing directional guidance for determining whether the bushing has experienced directional tilting or jamming, and for subsequent adaptive alignment adjustments.

[0063] S500 determines the eccentric load state characteristic vector based on the amplitude component and the direction component.

[0064] It can be understood that the off-center load state feature vector is a multi-dimensional feature data that comprehensively describes the off-center load magnitude, off-center load direction, and off-center load evolution trend at each sampling moment during the pressing process.

[0065] For example, by sequentially reading data from the amplitude component sequence and the direction component sequence corresponding to the same sampling time, the control device pairs and combines the amplitude component value and the direction component value at each sampling time to form a basic feature unit describing the instantaneous off-center load state at that time. Subsequently, the control device performs trend analysis on the basic feature units of several adjacent sampling times, such as calculating the increase or decrease and rate of change of the amplitude component between adjacent times, and the fluctuation range and stability of the direction component between adjacent times, thereby extracting the change trend information of the off-center load state in the time dimension. Then, the basic feature unit of each sampling time is associated with the change trend information corresponding to that time to generate an off-center load state feature vector. In this way, by fusing the amplitude component, direction component and time trend information into an off-center load state feature vector, a multi-dimensional and temporal description of the off-center load state is achieved, enabling subsequent off-center load pattern recognition to make judgments based on richer feature information, significantly improving the recognition accuracy of complex off-center load patterns such as single-sided first contact and wedge progressive embedding.

[0066] In one possible implementation, please refer to Figure 7 S500, determines the off-center load state characteristic vector based on the magnitude component and the direction component, including: S510, construct a two-dimensional vector representing the instantaneous off-center load state of each sampling point based on the amplitude component and the direction component; wherein, the two-dimensional vector is used to indicate the magnitude and orientation of the instantaneous off-center load corresponding to the sampling point in the current pressing stroke.

[0067] For example, by reading the amplitude and direction components at a certain sampling moment, the control device draws a directed line segment in a plane coordinate system composed of a first radial axis and a second radial axis, starting from the origin and following the azimuth angle indicated by the direction component at that sampling moment. The length of this line segment is equal to the amplitude component value at that sampling moment. Thus, the control device constructs a two-dimensional vector in the plane coordinate system. The starting point of this vector is located at the origin, and the ending coordinates are determined by the first and second orthogonal components. The length of the vector reflects the magnitude of the off-center load at that moment, and the direction of the vector directly reflects the orientation of the off-center load at that moment. By repeating the above operation for each sampling point in the pressing stroke, a series of two-dimensional vectors that evolve over time are constructed.

[0068] S520 determines the trend information of the off-center load state in the time dimension based on the two-dimensional vector; the trend information is used to indicate the generation and development process of off-center load during the pressing process, and to help determine whether the bushing has jammed or deflected abnormally.

[0069] For example, based on the two-dimensional vector sequence, the two-dimensional vectors at adjacent sampling times are compared and analyzed point by point. The control device calculates the difference between the length of the two-dimensional vector at the next sampling time and the length of the two-dimensional vector at the previous sampling time. If the difference is positive and remains positive for multiple consecutive sampling times, the marker amplitude shows an upward trend; if the difference is negative and remains negative, the marker amplitude shows a downward trend. Simultaneously, the control device calculates the deflection angle of the two-dimensional vector direction at the next sampling time relative to the direction at the previous sampling time. If the deflection angle is less than a preset angle threshold for multiple consecutive sampling periods, the marker direction remains stable; if the deflection angle suddenly increases beyond the preset threshold, the marker direction undergoes a sudden change. Furthermore, the control device also monitors whether the length of the two-dimensional vector remains almost unchanged for multiple consecutive sampling periods. If it remains almost unchanged, it is marked as amplitude stagnation, indicating possible bushing jamming, thus confirming the formation of trend information.

[0070] S530, the two-dimensional vector is associated with and combined with the change trend information to obtain the off-center load state feature vector.

[0071] For example, the two-dimensional vectors of all sampling points can be arranged in chronological order to form an instantaneous off-center load state sequence. Then, the trend information and key feature points are marked onto the corresponding sampling points in the instantaneous off-center load state sequence according to their corresponding travel positions. For example, features where the amplitude begins to increase rapidly are marked on the corresponding sampling points, and features where the direction deflects are marked on the corresponding sampling points. Finally, the instantaneous off-center load state sequence marked with trend features is integrated with the overall trend description and the list of key feature points to form the final off-center load state feature vector.

[0072] This setup, by associating and combining two-dimensional vectors with trend information, gives each sampling point's bias description both instantaneous snapshot and dynamic context attributes, significantly improving the data's expressive power and discriminative power, and providing high-quality feature input for subsequent bias pattern recognition based on machine learning or rule reasoning.

[0073] S600 determines the off-center loading mode of the bushing during the pressing process based on the off-center loading state feature vector; the off-center loading mode includes at least the single-sided first-touch pressing mode and the wedge-shaped progressive embedding mode.

[0074] It can be understood that the off-center loading mode refers to a characteristic off-center loading pattern that occurs during the pressing of the bushing into the substrate hole due to geometric errors, posture deviations, or material inhomogeneity. The single-sided initial contact pressing mode refers to one end face or outer circle of the bushing contacting the substrate hole wall before the other side, causing that side to continuously bear a larger radial force, manifested as a rapid unidirectional increase in the off-center load amplitude in the initial pressing stage. The wedge-shaped progressive embedding mode refers to the bushing entering the hole at an inclined posture, with one side contacting first and gradually forming a wedge effect; the off-center load amplitude increases steadily and monotonically, and the off-center load direction remains essentially unchanged.

[0075] For example, pattern matching analysis can be performed on the amplitude component and directional component variation patterns in the eccentric load state characteristic vector sequence of the entire pressing stroke. First, it is determined whether the amplitude component rapidly increases from zero or a small value to a higher level in a short period of time in the early stage of the pressing stroke, and whether the directional component basically points to a fixed direction. If this condition is met, the pressing process is marked as a single-sided first-touch pressing mode. Second, it is determined whether the amplitude component shows a continuous and stable upward trend without obvious decline throughout the entire pressing stroke, and whether the fluctuation range of the directional component is always limited to a preset angle range. If this condition is met, the pressing process is marked as a wedge-shaped progressive embedding mode.

[0076] In one possible implementation, S600 determines the off-center load mode of the bushing during the pressing process based on the off-center load state feature vector, including: S610, when the amplitude component shows a unidirectional continuous increasing trend in the early stage of the pressing stroke, it is determined to be a single-sided first-touch pressing mode.

[0077] It can be understood that the initial stage of the pressing stroke refers to the stage when the pressure head just begins to descend and the front end of the bushing just enters the orifice of the substrate, which usually corresponds to the first 10% to 30% of the total stroke. Unidirectional continuous increase means that the amplitude component does not show a decrease or fluctuation in this stage, but increases continuously in a single direction, indicating that the contact force between one side of the bushing and the orifice wall is constantly accumulating, and there is no contact on the opposite side to balance the force.

[0078] For example, data from the initial stage of the pressing stroke is extracted from the feature vector sequence of the off-center load state. For instance, all feature vectors within the range from the start of pressing to when the stroke reaches 20% of the total length are extracted. The control device compares the amplitude components of each sampling point within this stage point by point, determining whether the amplitude of the next sampling point is greater than the amplitude of the previous sampling point. If multiple consecutive sampling points satisfy the condition that the later point is greater than the previous point, and there is no decrease or flattening of the amplitude, then the amplitude component is determined to show a unidirectional continuous increasing trend. Simultaneously, the control device checks the fluctuation of the directional component within this stage. If the range of change of the directional component is less than a preset angle threshold, it indicates that the off-center load direction is basically fixed. When both conditions are met simultaneously, the control device marks the current pressing process as a single-sided first-touch pressing mode and records the start time and amplitude growth rate of this mode.

[0079] S620: When the amplitude component shows a monotonically increasing trend and the directional component remains stable within the preset angular fluctuation range, it is determined to be a wedge-shaped progressive embedding mode.

[0080] It is understandable that a monotonically increasing trend means that throughout the entire pressing stroke or its main stages, the amplitude component continuously rises with the increase in pressing depth, without any obvious downward or plateau segments, reflecting the deepening interference between the bushing and the hole wall. The directional component remaining stable within the preset angular fluctuation range means that the azimuth angle of the off-center load is basically locked in a certain direction throughout the process, with very small left and right sway amplitudes. This indicates that the bushing gradually weaves into the hole at a relatively fixed tilt angle, rather than swinging back and forth within the hole.

[0081] For example, a monotonicity test can be performed on the amplitude component sequence to determine whether the amplitude of the next sampling point is greater than or equal to the amplitude of the previous sampling point. If the amplitude component remains rising or flat throughout the entire stroke without decreasing, it is determined that the amplitude component exhibits a monotonically increasing trend. Simultaneously, the control device calculates the difference between the maximum and minimum values ​​of the directional component throughout the entire stroke. If this difference is less than a preset angular fluctuation range, such as less than five or ten degrees, it is determined that the directional component remains stable. When both the monotonically increasing amplitude and stable direction conditions are met, the control device marks the current pressing process as a wedge-shaped progressive embedding mode and records the average off-center load direction and amplitude growth slope of this mode.

[0082] This configuration, by recognizing the combination of monotonically increasing amplitude and stable direction, can accurately distinguish the condition where the bushing gradually wedges into the hole at a fixed tilt angle. If this condition is not corrected in time, it may lead to bushing jamming or hole wall scratching. Accurately identifying this mode helps the control system adopt a gradual correction strategy of pushing in the opposite direction of the off-center load, avoiding secondary damage caused by drastic adjustments.

[0083] In one possible implementation, the control device is further configured as follows: S601, after the pressing stroke reaches the end position, the final radial force signal is collected by the detection component and compared with the initial radial force reference vector to obtain the final off-center load deviation value. The terminator position refers to the final state point where the pressure head descends to the preset pressing position, and the bushing is completely pressed into the base hole. The final radial force signal refers to the radial force electrical signal collected by the detection component under static or pressure-holding conditions after the pressing stroke ends and the pressure head stops moving. The final off-center load deviation value is the difference obtained by comparing the final radial force signal with the initial radial force reference vector. It is used to quantify the magnitude of the residual off-center load after pressing and is an important indicator for evaluating the final assembly quality.

[0084] For example, when the pressure head is detected to have reached a preset termination position and remained stationary for more than a preset time, a final state acquisition command is triggered. The control device sends an acquisition command to the detection component. The detection component continuously acquires the original radial force electrical signals at multiple time points in a stable state after the pressing stops, and transmits these signals to the control device. The control device performs the same filtering, conversion, and averaging processing as in step S100 on the received final state radial force signals to obtain a stable final state radial force value. Subsequently, the control device calls the initial radial force reference vector stored in memory, subtracts the value of the initial radial force reference vector from the final state radial force value, and obtains the final state off-center load deviation value.

[0085] S602, the final state off-center load deviation value is analyzed with the preset assembly quality criterion to obtain assembly quality data.

[0086] It is understood that the control data is used to indicate the degree of off-center loading, the direction of off-center loading, and the off-center loading mode identifier. The preset assembly quality criterion refers to the quantitative standard set in advance according to product design requirements and process standards to determine whether the assembled finished product is qualified. It usually includes the upper limit, lower limit, or allowable range of the final state off-center loading deviation value.

[0087] For example, based on a preset assembly quality criterion, such as a criterion stipulating that the absolute value of the final off-center load deviation must not exceed fifty Newtons, the control device compares the absolute value of the final off-center load deviation with fifty Newtons. If the absolute value of the final off-center load deviation is less than or equal to fifty Newtons, the control device generates assembly quality data, marks the workpiece as qualified, and records the actual deviation value and the judgment threshold. If the absolute value of the final off-center load deviation is greater than fifty Newtons, the control device generates assembly quality data, marks the workpiece as unqualified, and records the actual deviation value, the excess amount, and the reason code for unqualification. The control device can also further subdivide the quality level according to the magnitude of the deviation value; for example, a deviation value within twenty Newtons is excellent, twenty to fifty Newtons is qualified, and a deviation value exceeding fifty Newtons is unqualified.

[0088] This setup enables quantitative evaluation and automatic judgment of press-fit quality by automatically comparing and analyzing the final off-center load deviation value with preset assembly quality criteria. It reduces the subjectivity and risk of missed inspections in manual inspection and facilitates statistical process control and traceability management of the assembly process.

[0089] S700 compares the magnitude component of the off-center load state feature vector with the preset off-center load allowable threshold. When the magnitude component exceeds the off-center load allowable threshold, control data is generated based on the direction component and the identified off-center load mode.

[0090] It is understandable that the preset off-center load allowable threshold refers to the upper limit of the off-center load amplitude pre-set according to the bushing material strength, the bearing capacity of the matrix hole wall, and the product precision requirements. Exceeding this threshold means that the current off-center load may have caused damage to the bushing, matrix, or equipment. Control data refers to the set of instructions generated by the control device based on the severity, direction of action, and identified off-center load patterns, used to drive the actuator to perform real-time correction or shutdown, such as control commands to adjust the indenter tilt angle, apply reverse lateral thrust, or trigger an emergency shutdown.

[0091] For example, within each sampling cycle of the pressing stroke, the amplitude component is extracted from the off-center load state feature vector of the current sampling point. The control device compares the value of this amplitude component with a preset off-center load allowable threshold in real time. If the amplitude component is less than or equal to the off-center load allowable threshold, the control device continues normal pressing without outputting a correction command. If the amplitude component is greater than the off-center load allowable threshold, the control device immediately triggers the correction logic: by reading the direction component in the off-center load state feature vector of the sampling point, the specific direction of the off-center load is determined; then, the currently identified off-center load mode is read, such as a single-sided first-touch pressing mode or a wedge-shaped progressive embedding mode. If the off-center load mode is a single-sided first-touch pressing mode, the control device generates control data and instructs the lateral pushing mechanism to quickly apply a compensating thrust in the opposite direction of the off-center load direction to correct the single-sided tilt of the bushing. If the off-center load mode is a wedge-shaped progressive embedding mode, the control device generates control data and instructs the pressure head to perform a progressive angle adjustment in the opposite direction of the off-center load direction, while appropriately reducing the pressing speed to slowly release the wedge stress.

[0092] This configuration, by dynamically comparing the real-time amplitude component with the allowable off-center load threshold and combining the directional component and off-center load mode to generate differentiated control data, enables accurate identification and intelligent response when the off-center load exceeds the limit. Under the premise of protecting the bushing and substrate from damage, it can adopt the most appropriate correction strategy for different off-center load mechanisms, significantly improving the automation level of the pressing process and the finished product qualification rate.

[0093] In addition, this application embodiment also provides a plug valve bushing installation control method. The plug valve bushing installation control method can be applied to a control device. In this case, the control device is the execution subject of the plug valve bushing installation control method provided in this application embodiment. This application embodiment does not limit the specific type of control device.

[0094] To better understand the plug valve bushing installation control method provided in this application, the specific implementation process of the plug valve bushing installation control method provided in this application is described below by way of example. The plug valve bushing installation control method includes: The initial radial force signal is detected by the detection component, and the initial radial force reference vector is determined. During the pressing stroke, the real-time radial force signal of the detection component is collected to obtain the effective radial force sequence. The effective radial force sequence and the initial radial force reference vector are processed to obtain the off-center load change sequence. The amplitude component and the direction component are determined from the off-center load change sequence. The off-center load state feature vector is determined based on the amplitude component and the direction component. The off-center load mode of the bushing during the pressing process is determined based on the off-center load state feature vector. The amplitude component of the off-center load state feature vector is compared with the preset off-center load allowable threshold. When the amplitude component exceeds the off-center load allowable threshold, control data is generated based on the direction component and the identified off-center load mode. The control data is used to indicate the off-center load degree, off-center load direction, and off-center load mode identifier.

[0095] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0096] This application also provides a control device. Figure 8 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. Figure 8 As shown, the control device 6 in this embodiment includes: at least one processor 60 ( Figure 8 Only one is shown in the image), at least one memory 61 ( Figure 8 (Only one is shown in the image) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60, wherein when the processor 60 executes the computer program 62, it causes the control device 6 to perform the steps in any of the above embodiments of the plug valve bushing installation and positioning device, or causes the control device 6 to perform the functions of each module / unit in the above embodiments of the system.

[0097] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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. Such 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 this application, and should all be included within the protection scope of this application.

Claims

1. A plug valve bushing mounting and positioning device, characterized in that, include: The guide sleeve has a guide hole that extends through the press-fitting direction; A positioning mandrel is coaxially and axially slidably installed in the guide hole to align the axis of the guide hole with the initial axis of the bushing cavity. The positioning mandrel is provided with a self-centering surface for contacting the bushing cavity. When the self-centering surface is inserted into the bushing cavity, the positioning mandrel is guided to be coaxial with the bushing cavity through contact with the bushing cavity and remains in contact during the press-fitting process. A detection component is disposed between the guide sleeve and the positioning mandrel, used to determine the radial force on the positioning mandrel during the entire press-fitting process in order to detect the radial off-center load force on the bushing; as well as A control device, communicatively connected to the detection component; the control device is configured to: The initial radial force signal is detected by the detection component, and the initial radial force reference vector is determined. During the pressing stroke, the real-time radial force signal of the detection component is collected to obtain an effective radial force sequence; The effective radial force sequence and the initial radial force reference vector are processed to obtain the off-center load change sequence; Determine the amplitude and direction components from the sequence of off-center load changes; The off-center load state feature vector is determined based on the amplitude component and the direction component; The off-center loading mode of the bushing during the pressing process is determined based on the off-center loading state feature vector; the off-center loading mode includes at least a single-sided first-touch pressing mode and a wedge-shaped progressive embedding mode; The amplitude component of the off-center load state feature vector is compared with a preset off-center load allowable threshold. When the amplitude component exceeds the off-center load allowable threshold, control data is generated based on the directional component and the identified off-center load mode.

2. The plug valve bushing mounting and positioning device as described in claim 1, characterized in that, An elastic element is provided between the guide sleeve and the positioning mandrel. The elastic element is used to apply a spring force to the positioning mandrel to make the front end extend out of the guide hole, so as to maintain the elastic fit between the self-centering surface and the inner cavity of the bushing before pressing.

3. The plug valve bushing mounting and positioning device as described in claim 2, characterized in that, The elastic element is a wave spring or a conical spring, which limits the radial component force generated by the compression of the elastic element within a preset range.

4. The plug valve bushing mounting and positioning device as described in claim 3, characterized in that, The front end of the self-centering surface has a guide cone or a rounded chamfer, and the self-centering surface is a truncated cone that matches the taper of the bushing cavity.

5. The plug valve bushing mounting and positioning device as described in claim 3, characterized in that, The step of processing the effective radial force sequence with the initial radial force reference vector to obtain the off-center load change sequence includes: Each real-time radial force signal in the effective radial force sequence is processed with the initial radial force reference vector to determine the deviation value of the real-time radial force signal at each sampling point relative to the initial radial force reference vector; The deviation values ​​at each sampling point are arranged in chronological order of sampling time to obtain the sequence of off-center load changes.

6. The plug valve bushing mounting and positioning device as described in claim 1, characterized in that, Determining the amplitude and direction components from the off-center load change sequence includes: With the axis of the positioning mandrel as a reference, the first orthogonal component and the second orthogonal component are obtained by projecting the off-center load change sequence onto the first and second mutually orthogonal radial axes. Calculate the vector sum of the first orthogonal component and the second orthogonal component to determine the amplitude component; The direction component is determined by calculating the ratio of the second orthogonal component to the first orthogonal component.

7. The plug valve bushing mounting and positioning device as described in claim 1, characterized in that, Determining the off-center load state feature vector based on the amplitude component and the direction component includes: A two-dimensional vector characterizing the instantaneous off-center load state of each sampling point is constructed based on the amplitude component and the direction component; wherein, the two-dimensional vector is used to indicate the magnitude and orientation of the instantaneous off-center load corresponding to the sampling point in the current pressing stroke; The change trend information of the off-center load state in the time dimension is determined based on the two-dimensional vector; wherein, the change trend information is used to indicate the generation and development process of off-center load during the pressing process, and to help determine whether the bushing has jammed or deflected abnormally. The two-dimensional vector is associated with and combined with the change trend information to obtain the off-center load state feature vector.

8. The plug valve bushing mounting and positioning device as described in claim 1, characterized in that, Determining the off-center load mode of the bushing during the pressing process based on the off-center load state feature vector includes: When the amplitude component shows a unidirectional and continuous increasing trend in the early stage of the pressing stroke, it is determined to be a unilateral first-touch pressing mode; When the amplitude component shows a monotonically increasing trend and the direction component remains stable within a preset angular fluctuation range, it is determined to be the wedge-shaped progressive embedding mode.

9. The plug valve bushing mounting and positioning device as described in claim 1, characterized in that, The control device is also configured to: After the pressing stroke reaches the end position, the final radial force signal is collected by the detection component and compared with the initial radial force reference vector to obtain the final off-center load deviation value. The final off-center load deviation value is analyzed with the preset assembly quality criteria to obtain assembly quality data.

10. A control method for the plug valve bushing mounting and positioning device as described in any one of claims 1 to 9, characterized in that, include: The initial radial force signal is detected by the detection component, and the initial radial force reference vector is determined. During the pressing stroke, the real-time radial force signal of the detection component is collected to obtain an effective radial force sequence; The effective radial force sequence and the initial radial force reference vector are processed to obtain the off-center load change sequence; Determine the amplitude and direction components from the sequence of off-center load changes; The off-center load state feature vector is determined based on the amplitude component and the direction component; The off-center loading mode of the bushing during the pressing process is determined based on the off-center loading state feature vector. The amplitude component of the off-center load state feature vector is compared with a preset off-center load allowable threshold. When the amplitude component exceeds the off-center load allowable threshold, control data is generated based on the direction component and the identified off-center load mode. The control data is used to indicate the off-center load degree, off-center load direction, and off-center load mode identifier.

Images