Automatic titanium stud feeding device and method

Abstract

The invention discloses an automatic titanium stud feeding device and method, and relates to the technical field of titanium anode product production. In order to solve the technical problems existing in the prior art that the feeding efficiency is low, the welding fluency is influenced and the time is wasted, which are generally caused by the precision problem of a manipulator, the low manual operation efficiency and the positioning problem of the titanium stud, of the existing feeding mode of the upright post type titanium stud. According to the technical scheme, the automatic titanium stud feeding module comprises a material box used for containing and providing a titanium stud; a plurality of grooves are formed in the rotating mechanism, and the rotating mechanism is used for containing and conveying the titanium studs in the rotating process; and the slide way is connected with the rotating mechanism and used for receiving the titanium stud conveyed by the groove, and the slide way is provided with a structure used for adjusting the posture of the titanium stud, so that the titanium stud is converted into a vertical state from a horizontal state. A robot arm; the mechanical arm is used for clamping the titanium stud passing through the sliding way and conveying the titanium stud to the welding device. The titanium stud feeding device is suitable for titanium stud feeding work in the titanium stud and titanium plate welding process.

Description

Technical Field

[0001] The invention relates to the technical field of titanium anode product production, and in particular to the feeding of titanium studs in the production of titanium anode products. Background Art

[0002] In the prior art, the welding process of titanium studs and titanium plates faces great challenges due to the high strength, high hardness and easy oxidation of titanium materials at high temperatures. Titanium materials have high requirements for welding accuracy, strength and surface quality during the welding process, especially in the manufacture of titanium anode products in the electrolytic copper foil industry, where the welding quality requirements are even more stringent. This type of product not only requires high strength at the welding part, but also requires strict control of dimensional accuracy during the welding process to ensure that it can operate stably and long-term in the production of electrolytic copper foil.

[0003] The difficulty of welding titanium studs and titanium plates mainly stems from the characteristics of titanium. The high strength and hardness of titanium make it easy to produce thermal cracks during welding, and its tendency to oxidize at high temperatures further increases the complexity of welding. This leads to difficulties in meeting the requirements of welding accuracy, strength and surface quality for existing technical solutions, especially in application scenarios that require high-precision welding, where existing technologies have not yet provided effective solutions.

[0004] The applicant, Harbin Welding Research Institute Co., Ltd. of China Machinery Engineering Academy Group, provided an improved welding device for titanium studs and titanium plates. The device uses a servo motor to coordinately control the speed and torque. In the structure of clamping the titanium stud, the servo mechanical device converts the rotary motion into linear motion, and the spring chuck is pulled to clamp the titanium stud. During use, no oil will penetrate into the weld; thus, the welding quality is guaranteed and the oil smoke pollution caused by oil at high temperature during welding is avoided. The problem of unstable pressure control during welding is solved, and the welding quality and position accuracy are significantly improved. At the same time, a sliding slide is designed at the front end of the L-shaped bed of the Z axis, and the upsetting force is borne by the upsetting nut, which ensures the stability of the position of the titanium stud during welding and significantly improves the welding strength.

[0005] However, in the prior art, there are still significant technical difficulties in the loading method of column-type titanium studs. Generally, the loading method of column-type titanium studs is to manually arrange the titanium studs in a preparation area at a certain interval, and then grab them by a robot or manually load them. However, this method faces the following key problems:

[0006] Robot precision problem: When the robot precision is not enough, the titanium studs are often knocked over or the grasping angle deviation is large, which makes the robot unable to grasp. As a result, individual welding leaks occur in the titanium stud team welding area of ​​the titanium anode product, resulting in serious product quality accidents.

[0007] Low efficiency of manual operation: Manual loading requires a lot of manpower, and when replacing titanium studs of different specifications, the loading device must be directly replaced. This method not only increases manpower and time costs, but may also lead to a decrease in production efficiency.

[0008] Titanium stud positioning problem: In manual operation, the positioning of titanium studs is not accurate enough, especially in mass production, which may cause the titanium studs to be arranged unevenly, thus affecting the grasping accuracy of the robot and the stability of welding;

[0009] In summary, especially in the technical solution provided by Harbin Welding Research Institute Co., Ltd. of China Machinery Engineering Academy Group, the rotary motion is converted into linear motion through a servo mechanical device, and the structure of clamping the titanium stud after pulling the spring collet requires more accuracy in loading the titanium stud, and the loading method in the existing technology is completely unable to meet the requirements. Summary of the invention

[0010] In order to solve the technical problems existing in the prior art, the existing feeding method of column-type titanium studs generally has high scrap rate, low feeding efficiency, affects the smoothness of welding, and wastes time due to the problem of robot precision, low manual operation efficiency and titanium stud positioning. The technical solution provided by the present invention is:

[0011] Titanium stud automatic feeding module, the module comprises:

[0012] A magazine for receiving and providing the titanium studs;

[0013] a rotating mechanism having a plurality of grooves thereon for receiving and conveying the titanium studs during rotation;

[0014] A slideway is connected to the rotating mechanism and is used to receive the titanium stud transmitted by the groove. The slideway is provided with a structure for adjusting the posture of the titanium stud so that the titanium stud is transformed from a horizontal state to a vertical state.

[0015] Furthermore, a preferred embodiment is provided, wherein the rotating mechanism is arranged at the discharge port of the material box.

[0016] Furthermore, a preferred embodiment is provided, wherein the material box is in an inverted terrace shape, and the bottom surface is a material outlet.

[0017] Furthermore, a preferred embodiment is provided, wherein the rotating mechanism is a cylinder, a side wall of which is directly opposite to the discharge port, and the groove is arranged on the side wall.

[0018] Furthermore, a preferred embodiment is provided, wherein the groove is in a strip shape, and the axis thereof is parallel to the axis of the cylinder.

[0019] Furthermore, a preferred embodiment is provided, wherein the structure for adjusting the posture of the titanium stud is specifically: a protrusion arranged on the slideway.

[0020] Furthermore, a preferred embodiment is provided, wherein the structure for adjusting the posture of the titanium stud is specifically: an inclined surface of the inner wall of the slideway.

[0021] Based on the same inventive concept, the present invention also provides an automatic feeding device for titanium studs, the device comprising:

[0022] The module and the robotic arm;

[0023] The mechanical arm is used to clamp the titanium studs passing through the slideway and send them to the welding device.

[0024] Based on the same inventive concept, the present invention also provides a method for automatic feeding of titanium studs, which is implemented based on the device and includes:

[0025] Steps for collecting the gripping position and the delivery position;

[0026] The step of sending a clamping instruction when a clamping position arrival signal is detected;

[0027] When a signal of reaching the delivery position is detected, a step of sending a release instruction;

[0028] The clamping position is fixed.

[0029] Based on the same inventive concept, the present invention also provides a computer program product, which is a computer program. When the computer program is read by a computer, the method described above is implemented.

[0030] Compared with the prior art, the technical solution provided by the present invention is beneficial in that:

[0031] The automatic feeding device for titanium studs provided by the present invention improves the accuracy and stability of automatic feeding of titanium studs through the cooperation of a material box, a rotating mechanism and a slideway. In traditional methods, manual feeding often faces the problem of inaccurate placement of titanium studs, which affects the subsequent welding accuracy. The rotating mechanism in this embodiment is provided with a groove, which can accurately guide the titanium studs to fall into the specified position, allowing the robotic arm to grab from the same position each time, thereby improving the accuracy and stability of feeding and reducing the dependence on manual operation accuracy. This automated processing method significantly reduces the risk of empty clamping of titanium studs during transportation. If they are placed manually, they will go through an empty stroke if they are not clamped, and welding leaks will occur on the titanium plate. The feeding device provided by the present invention improves the welding quality.

[0032] The automatic feeding device for titanium studs provided by the present invention optimizes the posture conversion of titanium studs by using a rotating mechanism and a slideway system. Traditionally, the posture adjustment of titanium studs usually relies on complex manual or manipulator operations, which easily leads to inaccurate postures and thus affects the welding effect. This embodiment accurately adjusts the horizontally placed titanium studs to a vertical posture by setting an adjustment structure in the slideway, thereby simplifying the posture adjustment process and falling to the same position each time, ensuring the correct position and posture of the titanium studs, thereby improving the welding accuracy.

[0033] The automatic feeding device for titanium studs provided by the present invention reduces the complexity of manual operation and production costs. In the traditional method, manual feeding not only consumes a lot of manpower, but also requires the direct replacement of the feeding device when replacing titanium studs of different specifications, resulting in low production efficiency. However, this embodiment greatly reduces the need for manual intervention, shortens the production cycle, improves production efficiency, and reduces labor costs through the clamping and automatic adjustment of the mechanical arm.

[0034] The automatic feeding device for titanium studs provided by the present invention can maintain the vertical posture of the titanium studs and deliver them to the welding device by a mechanical arm, thus avoiding the need to readjust the posture of the titanium studs during transportation. Compared with the prior art, the automated clamping system effectively reduces the posture changes of the titanium studs during the transfer process, thereby improving the stability of the overall production line and the welding quality. This technical improvement provides higher reliability and consistency than traditional methods, and is suitable for scenarios requiring high-precision welding.

[0035] The titanium stud automatic feeding device provided by the present invention effectively reduces the random movement of the titanium studs during the feeding process through the groove design of the rotating mechanism. Traditionally, the placement of titanium studs depends on manual precision, which easily leads to unstable position of the titanium studs and affects the quality of subsequent processing. This embodiment ensures that each titanium stud is firmly fixed in a predetermined position during the rotation of the rotating mechanism through the positioning function of the groove, reduces the feeding failure caused by the displacement of the titanium studs, and further improves the welding consistency and product quality.

[0036] The automatic feeding device for titanium studs provided by the present invention has a protrusion design in the slideway that not only realizes the automatic adjustment of the posture of the titanium studs, but also effectively prevents the titanium studs from colliding and being damaged during the falling process. In the traditional method, the titanium studs are prone to collisions due to unstable postures during the feeding process, thereby affecting the surface quality of the titanium studs. Through the protrusion design, the titanium studs fall in a controlled manner in the slideway, reducing the risk of collision, protecting the surface of the titanium studs, and helping to improve the appearance and performance of the final welding product.

[0037] The automatic feeding device for titanium studs provided by the present invention has a mechanical arm that not only has the function of clamping titanium studs, but also can adapt to titanium studs of different specifications by adjusting the clamping distance. This flexibility greatly simplifies the feeding process of titanium studs of different specifications, avoids the need for frequent replacement of the feeding device, and improves the adaptability and work efficiency of the production line. This adaptive function reduces the downtime in the production process and improves the flexibility and economy of the production line.

[0038] The titanium stud automatic feeding device provided by the present invention can be seamlessly integrated with existing welding equipment and production line systems, providing a more unified and automated production solution. Traditionally, welding production lines often require frequent adjustment and calibration of different feeding devices, but this embodiment can be better compatible with existing systems through optimized design, reducing the complexity of system integration and improving the overall operating efficiency and coordination of the production line.

[0039] The titanium stud automatic feeding device provided by the present invention reduces the risk of welding defects caused by operator errors by reducing the reliance on manual labor. Misoperation and fatigue problems that often occur in manual operation will affect the welding quality, while the automatic feeding system can provide higher consistency and reliability, reduce quality fluctuations caused by human factors, and improve the stability of the overall production process.

[0040] The titanium stud automatic feeding device provided by the invention is suitable for feeding the titanium stud during the welding process of the titanium stud and the titanium plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a three-dimensional schematic diagram of the automatic feeding device for titanium studs;

[0042] Figure 2 for Figure 1 The main view;

[0043] Figure 3 for Figure 1 Side view of

[0044] Figure 4 It is a schematic diagram of the working state of the automatic feeding device for titanium studs;

[0045] Figure 5 A partial enlarged schematic diagram of the gripper.

[0046] Among them, 1 is the material box, 2 is the rotating mechanism, 3 is the slideway, 4 is the inclined plane; 5 is the mechanical arm, 6 is the mounting seat, 7 is the driving end, 8 is the clamping claw, and 9 is the nylon pad. DETAILED DESCRIPTION

[0047] In order to make the advantages and benefits of the technical solution provided by the present invention more clearly reflected, the technical solution provided by the present invention is now further described in detail with reference to the accompanying drawings, specifically:

[0048] Embodiment 1: This embodiment provides a titanium stud automatic feeding module, the module comprising:

[0049] A material box 1, used for containing and providing titanium studs;

[0050] A rotating mechanism 2, which is provided with a plurality of grooves for accommodating and conveying the titanium studs during the rotation process;

[0051] The slideway 3 is connected to the rotating mechanism 2 and is used to receive the titanium studs transmitted by the grooves. The slideway 3 is provided with a structure for adjusting the posture of the titanium studs so that the titanium studs are transformed from a horizontal state to a vertical state.

[0052] Embodiment 2: This embodiment further limits the titanium stud automatic feeding module provided in Embodiment 1, and the rotating mechanism 2 is arranged at the discharge port of the material box 1.

[0053] Embodiment 3: This embodiment further limits the automatic feeding module for titanium studs provided in Embodiment 2. The material box 1 is in an inverted step-shaped shape, and the bottom surface is a discharge port.

[0054] Embodiment 4: This embodiment further limits the titanium stud automatic feeding module provided in Embodiment 2. The rotating mechanism 2 is a cylinder, the side wall of which is directly opposite to the discharge port, and the groove is arranged on the side wall.

[0055] Embodiment 5: This embodiment further limits the automatic feeding module for titanium studs provided in embodiment 4, wherein the groove is in a strip shape, and the axis thereof is parallel to the axis of the cylinder.

[0056] Embodiment 6: This embodiment further limits the titanium stud automatic feeding module provided in Embodiment 1. The structure for adjusting the posture of the titanium stud is specifically: a protrusion arranged on the slideway 3.

[0057] Embodiment 7: This embodiment further limits the titanium stud automatic feeding module provided in Embodiment 1. The structure for adjusting the posture of the titanium stud is specifically: the inclined surface 4 of the inner wall of the slideway 3.

[0058] Embodiment 8: This embodiment provides an automatic feeding device for titanium studs, the device comprising:

[0059] Module and robot arm 5 provided in embodiment 1;

[0060] The mechanical arm 5 is used to clamp the titanium studs passing through the slideway 3 and send them to the welding device.

[0061] Specifically,

[0062] The feeding device provided in this embodiment. The titanium stud is horizontally placed in the material box 1 through the material box 1, the slide 3 below the material box 1, and the rotating mechanism 2 between the material box 1 and the slide 3. The rotating mechanism 2 is provided with a groove for accommodating the titanium stud. The titanium stud falls into the groove under the influence of gravity in the material box 1. After the rotating mechanism 2 rotates along the fixed axis, the titanium stud in the groove is brought into the slide 3. The titanium stud falls in the slide 3. The slide 3 is provided with an adjustment structure. During the falling process of the titanium stud, it is blocked by the adjustment structure and its posture changes from horizontal to vertical. It falls to a designated position, which is convenient for the robot arm 5 to clamp it; the driving end 7 is connected to the robot arm 5 through the mounting seat 6. Then, the driving end 7 drives the clamping jaw 8 with adjustable clamping distance to clamp the titanium stud, maintain the vertical posture, and send it to the welding device. There is also a nylon pad 9 on the inner wall of the clamping jaw 8 to protect and fix the titanium stud. This improved feeding device not only improves the accuracy and stability of titanium stud feeding, but also reduces the complexity of manual operation and production costs, effectively improving production efficiency and welding quality.

[0063] Embodiment 9: This embodiment provides a method for automatically feeding titanium studs, which is implemented based on the device of claim 8 and includes:

[0064] Steps for collecting the gripping position and the delivery position;

[0065] The step of sending a clamping instruction when a clamping position arrival signal is detected;

[0066] When a signal of reaching the delivery position is detected, a step of sending a release instruction;

[0067] The clamping position is fixed.

[0068] Embodiment 10: This embodiment provides a computer program product, which is a computer program. When the computer program is read by a computer, the method provided in embodiment 9 is implemented.

[0069] Implementation Method XI: Combination Figure 1-5 This embodiment is described in detail by using specific examples to further describe the technical solution provided above. Specifically:

[0070] First, the technical solution provided in this embodiment is to complete the loading work of the following devices:

[0071] A titanium anode product manufacturing device includes a Z-axis L-shaped bed, an X-axis transverse bed, an X-axis servo drive assembly, a Z-axis servo drive assembly, a rotating assembly, a workbench, a servo control system, and a cantilever operation box. The following is a detailed description of each component:

[0072] The Z-axis L-shaped bed adopts an L-shaped right-angle structure, which is L-shaped as a whole and is set in the vertical direction to support all components in the Z-axis direction. The L-shaped bed is welded from steel plates and has a grid-like structure inside to increase the strength of the bed and reduce its weight. The bed is equipped with multiple through holes from top to bottom to improve the heat dissipation effect during welding and reduce the overall weight of the components.

[0073] The Z-axis L-shaped bed is positioned and connected with the X-axis bed through a stopper and fixed with bolts to ensure a stable connection between the beds. A linear guide mechanism 2 is also installed on one side of the L-shaped structure, and the guide mechanism is used to support the smooth sliding of the sliding plate.

[0074] The X-axis horizontal bed is in a rectangular shape and is horizontally installed on the base of the equipment. It is mainly used to support and guide the left and right movement of the workbench. There are multiple through holes arranged inside the X-axis bed, each of which is equipped with a stopper for installing a cover plate to enhance the structural strength of the bed and prevent foreign matter from entering the interior.

[0075] A linear guide mechanism is provided on the upper part of the X-axis bed, through which the worktable can achieve smooth movement along the X-axis. A ball screw is installed in the middle part of the X-axis bed, and the ball screw is connected to the X-axis servo drive assembly through a connecting device. The servo drive drives the ball screw to rotate, thereby pushing the worktable to move along the X-axis direction.

[0076] The workbench is a rectangular flat plate structure, and its width direction is greater than the width of the X-axis bed, so that the operator can load and unload materials. The workbench is horizontally installed on the X-axis bed through a linear guide mechanism 1, and can be driven by a servo drive device and a spiral guide mechanism 2 to achieve left and right translation.

[0077] A nut is provided in the middle of the workbench, which is connected to the workbench by a screw. The nut cooperates with the ball screw and is driven by the servo motor 4 to achieve precise control of the workbench, thereby ensuring the position stability of the titanium stud during welding.

[0078] The cantilever operation box is installed on the right side of the equipment and adopts a cantilever structure, which is convenient for operators to control. The cantilever operation box integrates control devices such as power switch, speed adjustment knob, pressure display, etc., which is convenient for real-time monitoring of key parameters in the welding process.

[0079] Rotating components

[0080] The rotating assembly is located at the front end of the Z-axis L-shaped bed. Its main function is to drive the welding head to rotate to achieve inertia friction welding. The rotating assembly is installed on the Z-axis L-shaped bed through bearings to ensure that it remains stable during rotation.

[0081] A locking mechanism is installed on the upper end of the rotating assembly, which is coaxially arranged with the rotating assembly and is used to lock the welding head during the welding process to ensure that the welding head remains stable during the rotation process. In addition, a right-angle servo drive mechanism is also installed on the rotating assembly to provide additional rotation control to ensure the accuracy and stability of the rotation during the welding process.

[0082] The locking mechanism is installed at the upper end of the rotating assembly and is used to fix the welding head during the welding process. The locking mechanism is hydraulically or pneumatically controlled to ensure that the welding head does not shake during the friction welding process, thereby ensuring the welding quality.

[0083] The Z-axis servo drive assembly is installed on the upper end of the Z-axis L-shaped bed and uses an electric servo drive system to drive the sliding plate to move up and down along the Z-axis. The Z-axis servo drive assembly cooperates with the rotating assembly to achieve precise positioning of the welding head in the Z-axis direction to meet the welding requirements of different titanium studs.

[0084] The sliding plate is installed on the front surface of the Z-axis L-shaped bed and connected to the Z-axis L-shaped bed through a linear guide mechanism 2. An upsetting nut is installed in the middle of the sliding plate, and the upsetting nut is positioned and connected with the stopper of the sliding plate that bears the upsetting force to ensure that the sliding plate can withstand the axial force generated by welding during the up and down movement.

[0085] The servo control system is located on the southwest side of the right side of the equipment and is used to control the overall movement of the welding machine, including the movement of the X-axis and Z-axis, the rotation speed of the rotating assembly, and the control of the downward force. The servo control system also has pressure monitoring and speed adjustment functions. Through coordinated control with each servo drive, it realizes real-time control of the speed and pressure during the welding process to ensure the stability of the welding quality.

[0086] The transfer assembly works under the control of the servo control system, which is mainly responsible for controlling the movement speed and pressure of the rotating assembly during the welding process. The down force in the transfer assembly can be set according to the actual welding requirements to ensure the quality consistency of different titanium stud welding.

[0087] The L-shaped longitudinal reinforcement ribs are evenly arranged inside the Z-axis L-shaped bed, and the reinforcement ribs are separated by transverse partitions. Each partition has a through hole to further reduce the weight of the bed and maintain its structural strength. These reinforcement ribs and partitions ensure that the Z-axis L-shaped bed maintains sufficient rigidity when subjected to welding loads.

[0088] The program includes:

[0089] Material box 1: used to contain and provide titanium studs, ensuring that the titanium studs are supplied to the rotating mechanism 2 as needed. The design of the material box 1 takes into account the compatibility of titanium studs of different specifications, and has certain protective measures to prevent the titanium studs from being contaminated or damaged by the outside world.

[0090] Rotation mechanism 2: It is equipped with multiple grooves to accommodate and transfer the titanium studs during the rotation process. The design of the grooves ensures the stable positioning of the titanium studs to avoid rotation or deviation, thereby ensuring the accuracy of feeding. Rotation mechanism 2 is controlled by an electric drive device, and the rotation speed can be adjusted according to the feeding requirements to ensure the accuracy and efficiency of the titanium studs.

[0091] Slideway 3: connected to the rotating mechanism 2 and receiving the titanium studs transmitted by the grooves, the slideway 3 is provided with a structure for adjusting the posture of the titanium studs, so that the titanium studs are converted from a horizontal state to a vertical state. The inclination angle of the slideway 3 is adjustable to accommodate titanium studs of different sizes, ensuring smooth passage and achieving posture adjustment.

[0092] Robotic arm 5: used to grab the titanium stud in a vertical state and transfer it to the welding device. Robotic arm 5 is provided with an adjustable clamping device to adapt to titanium studs of different sizes to ensure stable grabbing.

[0093] Adjustment structure: located on slideway 3, used to block the titanium stud and gradually adjust it from a horizontal state to a vertical state, thereby improving the positioning accuracy of the titanium stud. The number and position of the adjustment structure are carefully designed to ensure that the titanium stud is stable in slideway 3 without tilting.

[0094] Discharging adjustment mechanism: used to adjust the rotation speed of the rotating mechanism 2, adjust the discharging rate of the titanium studs, and ensure that the feeding process is continuous and stable.

[0095] Attitude detection sensor: used to monitor the position and attitude of the titanium stud in real time, ensuring that it maintains a vertical attitude and is accurately positioned before being transferred to the welding device. The sensor uses high-precision photoelectric detection technology to quickly identify the offset of the titanium stud and make timely adjustments.

[0096] Adjustable clamping device: The clamping device on the robot arm 5 can automatically adjust the clamping distance according to the size of the titanium stud to ensure the stability of the titanium stud during transportation. The clamping device is equipped with a torque sensor to prevent other objects from colliding with the titanium stud and the robot arm and affecting the welding quality.

[0097] Multi-axis drive system: The drive system of the robot arm 5 enables multi-degree-of-freedom movement of the titanium stud, ensuring the stability of its vertical posture during the entire transfer process. The multi-axis drive system includes multiple action axes such as rotation, lifting and grasping to ensure precise movement in complex feeding paths.

[0098] Control system: used to coordinate the operation of the entire feeding device to ensure the synchronization of the movements of each component. The control system can receive data from the posture detection sensor and adjust the working parameters of each component in real time to ensure the smoothness and stability of the feeding process.

[0099] in,

[0100] Material box 1 and rotating mechanism 2: Material box 1 is used to accommodate titanium studs, which fall into the grooves of rotating mechanism 2 in material box 1 by gravity, and the grooves of rotating mechanism 2 accurately transfer the titanium studs to slideway 3 by rotation. The discharge adjustment mechanism of material box 1 ensures that the titanium studs fall into the grooves as required to avoid accumulation or omission.

[0101] Rotating mechanism 2 and slide 3: Rotating mechanism 2 transmits the titanium stud to slide 3 during rotation, and slide 3 is used to receive the titanium stud and adjust it to a vertical state. The rotation speed of rotating mechanism 2 and the receiving speed of slide 3 are synchronized through the control system to ensure smooth transmission of the titanium stud.

[0102] Slideway 3 and raised structure: The raised structure on the slideway 3 is used to gradually adjust the posture of the titanium stud to ensure that it is converted from a horizontal state to a vertical state, which is convenient for the robot arm 5 to grasp. The position of the raised structure is precisely calculated to ensure that the titanium stud gradually completes the posture adjustment during the sliding process and reduces the risk of posture deviation.

[0103] Slideway 3 and robot arm 5: After the titanium stud is adjusted in position by slideway 3, robot arm 5 grabs it and transfers it to the welding device to ensure the vertical position and precise positioning of the titanium stud. The multi-axis drive system of robot arm 5 enables it to flexibly adjust its position to adapt to the position change of the titanium stud in slideway 3.

[0104] Robotic arm 5 and posture detection sensor: The posture detection sensor monitors the position and posture of the titanium stud in real time to ensure that the robot arm 5 maintains the stability of the titanium stud during the grasping and transmission process. If the position deviation of the titanium stud is detected, the control system will adjust the movement of the robot arm 5 to ensure accurate grasping.

[0105] Control system and components: The control system coordinates the interaction between the components, receives data from sensors, and adjusts the working status of components such as the rotating mechanism 2, slide 3, and robotic arm 5 in real time to ensure stable transmission and precise positioning of the titanium studs during the loading process.

[0106] Material box 1, rotating mechanism 2 and slide 3: Material box 1 supplies titanium studs to rotating mechanism 2, rotating mechanism 2 transfers titanium studs to slide 3, and the raised structure in slide 3 ensures that the titanium studs are adjusted to a vertical state. This combination realizes the automation process of titanium studs from feeding to posture adjustment, reduces dependence on manual operation, and ensures the stability of titanium studs throughout the entire feeding process.

[0107] Coordination between robot arm 5, slideway 3 and sensor: robot arm 5 grabs the titanium stud after adjusting its posture on slideway 3. Real-time monitoring of the posture detection sensor ensures the stability and precise positioning of the titanium stud during the transmission process, and then delivers the titanium stud to the welding device. The multi-axis drive system and adjustable clamping device of robot arm 5 ensure the flexibility and accuracy of the grabbing process.

[0108] Coordinating role of the control system: The control system plays a key coordinating role in the entire feeding device. By real-time monitoring of the working status of each component and making timely adjustments, it ensures the effective coordination between the various components, thereby realizing the fully automated operation of titanium studs from feeding to transmission before welding.

[0109] The technical solution provided by the present invention is further described in detail above through several specific implementation modes in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific implementation modes described above are not intended to be used as limitations on the present invention. Any reasonable modification and improvement of the present invention, combination of implementation modes and equivalent substitution within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. Titanium stud automatic feeding module, characterized in that: The modules include: A magazine for receiving and providing the titanium studs; a rotating mechanism having a plurality of grooves thereon for receiving and conveying the titanium studs during rotation; A slideway is connected to the rotating mechanism and is used to receive the titanium stud transmitted by the groove. The slideway is provided with a structure for adjusting the posture of the titanium stud so that the titanium stud is transformed from a horizontal state to a vertical state.

2. The titanium stud automatic feeding module according to claim 1 is characterized in that: The rotating mechanism is arranged at the discharge port of the material box.

3. The titanium stud automatic feeding module according to claim 2 is characterized in that: The material box is in an inverted terrace shape, and the bottom surface is a material outlet.

4. The titanium stud automatic feeding module according to claim 2 is characterized in that: The rotating mechanism is a cylinder, the side wall of which is directly opposite to the discharge port, and the groove is arranged on the side wall.

5. The titanium stud automatic feeding module according to claim 4 is characterized in that: The groove is in a strip shape, and its axis is parallel to the axis of the cylinder.

6. The titanium stud automatic feeding module according to claim 1, characterized in that: The structure for adjusting the posture of the titanium stud is specifically: a protrusion arranged on the slideway.

7. The titanium stud automatic feeding module according to claim 1, characterized in that: The structure for adjusting the posture of the titanium stud is specifically: the inclined surface of the inner wall of the slideway.

8. Titanium stud automatic feeding device, characterized in that: The device comprises: The module and the robot arm as claimed in claim 1; The mechanical arm is used to clamp the titanium studs passing through the slideway and send them to the welding device.

9. Automatic feeding method of titanium studs, characterized in that: The method is implemented based on the device according to claim 8, comprising: Steps for collecting the gripping position and the delivery position; The step of sending a clamping instruction when a clamping position arrival signal is detected; When a signal of reaching the delivery position is detected, a step of sending a release instruction; The clamping position is fixed.

10. A computer program product, being a computer program, characterized in that When the computer program is read by a computer, the method according to claim 9 is implemented.

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