Titanium stud automatic 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 device comprises a sliding rail used as a sliding rail of a titanium stud; the guide mechanism is used for limiting the sliding direction of the titanium stud; the pushing device is used for pushing the titanium stud located in the sliding rail; and the air cylinder is used for pushing up the titanium stud located at the end of the sliding rail. A robot arm; the mechanical arm is used for clamping the titanium stud pushed up by the air cylinder and conveying the titanium stud to a welding device. The automatic titanium stud feeding device provided by the invention is suitable for feeding the titanium studs in the welding process of the titanium studs and the titanium plates.

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, provides 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, resulting in inaccurate placement of the titanium studs. As a result, the robot cannot grasp them. 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 leads to high scrap rate, low feeding efficiency, affecting the smoothness of welding, and wasting 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] A titanium stud automatic feeding and positioning module, comprising:

[0012] Slide rails for use as sliding tracks for titanium studs;

[0013] A guide mechanism for limiting the sliding direction of the titanium stud;

[0014] A pushing device, used for pushing the titanium stud located inside the slide rail;

[0015] A cylinder is used to push up the titanium stud located at the end of the slide rail.

[0016] Furthermore, a preferred embodiment is provided, wherein the slide rail is arranged on the platform bracket along the X-axis direction, and the cylinder is arranged at one end of the slide rail away from the pushing device to push along the Z-axis direction.

[0017] Furthermore, a preferred embodiment is provided, wherein the slide rail is specifically a long strip channel with a U-shaped cross-section.

[0018] Furthermore, a preferred embodiment is provided, wherein the slide rail and the guide mechanism are integrated.

[0019] Furthermore, a preferred embodiment is provided, wherein the pushing device drives a push rod through a motor to push the titanium stud located inside the slide rail.

[0020] Based on the same inventive concept, the present invention also provides an automatic feeding device for titanium studs, comprising:

[0021] The module and the robotic arm;

[0022] The mechanical arm is used to clamp the titanium stud pushed up by the cylinder and send it to the welding device.

[0023] Furthermore, a preferred embodiment is provided, wherein the robot arm achieves gripping by means of a gripper.

[0024] Furthermore, a preferred embodiment is provided, wherein the inner wall of the end of the clamp is V-shaped, and the opposing area of ​​the two clamps is rectangular.

[0025] 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:

[0026] Steps for collecting the gripping position and the delivery position;

[0027] The step of sending a clamping instruction when a clamping position arrival signal is detected;

[0028] When a signal of reaching the delivery position is detected, a step of sending a release instruction;

[0029] The clamping position is fixed.

[0030] 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.

[0031] Compared with the prior art, the technical solution provided by the present invention is beneficial in that:

[0032] The automatic feeding device for titanium studs provided by the present invention has a design in which the cylinder lifts the titanium studs, which significantly improves the clamping efficiency and positioning accuracy. It ensures that the titanium studs remain stable at the preset position every time they are clamped. This method is more effective than the manual or semi-automatic positioning solutions in the prior art because it reduces the errors caused by manual operation and improves the placement accuracy of the titanium studs. In contrast, traditional manual or simple mechanical guide devices may cause unstable positioning due to error accumulation, thereby affecting the accuracy of the entire feeding process.

[0033] The automatic feeding device for titanium studs provided by the present invention has a coordinated effect of the cylinder system and the guide device to improve the stability of the robot arm's clamping. In traditional systems, the robot arm's clamping accuracy is often limited by the irregular arrangement or position deviation of the titanium studs on the conveyor belt. By lifting the fixed titanium studs through the cylinder and combining it with the precise design of the robot arm's clamping tooling, it can be ensured that the angle and position of each clamping operation meet the requirements, thereby reducing the problem of angle deviation during the clamping process. Compared with the traditional clamping method, this improvement can significantly improve the overall stability and consistency of automatic feeding.

[0034] The application of the cylinder system in the automatic feeding device for titanium studs provided by the present invention also simplifies the process of replacing titanium studs. In the prior art, replacing titanium studs of different specifications usually requires adjusting or replacing the feeding device, which increases manpower and time costs. However, the cylinder system in this solution is used in conjunction with a mechanical arm with an adjustable clamping distance, so that when replacing titanium studs of different specifications, it is only necessary to adjust the baffle of the manual slide, which greatly reduces the complexity and cost of replacing titanium studs.

[0035] The automatic feeding device for titanium studs provided by the present invention improves the processing speed of titanium studs by using the cylinder system. By lifting the titanium studs from the slide and directly sending them to the gripping position of the robot arm, the waiting time of the titanium studs during the transmission process is reduced. This method enables each titanium stud to quickly enter the gripping stage, thereby improving the work efficiency and throughput of the overall production line. Compared with traditional manual or simple automatic systems, it can effectively reduce the downtime and waiting time of the production line.

[0036] The automatic feeding device for titanium studs provided by the present invention and the guide device can effectively reduce the damage of titanium studs during the transmission process. In the traditional system, the titanium studs may collide or rub due to the unstable position, thereby causing thread damage or surface scratches. The titanium studs are lifted by the cylinder system and the guide device is used to ensure their stable position, which can reduce the direct contact between the titanium studs and other components, thereby reducing the risk of damage.

[0037] The automatic titanium stud feeding device provided by the present invention has a precise control function of the cylinder, which also facilitates fault diagnosis and maintenance. The sensing device integrated in the system can monitor the working status of the cylinder and the position of the titanium stud in real time. If an abnormality occurs, the system can quickly detect and alarm. This integrated monitoring function helps to identify and solve potential problems in advance, reduce the frequency of equipment failures, and thus improve the reliability and maintenance efficiency of the production line.

[0038] The titanium stud automatic feeding device provided by the present invention reduces the reliance on manual operation through the improved automatic feeding process, thereby reducing the interference of human factors on the production process. Traditional manual operation not only increases the labor intensity, but also may lead to inconsistent operation. The automated feeding system can achieve stable and repeatable operation, improving the consistency and quality control level of the overall production process.

[0039] 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

[0040] Figure 1 It is a three-dimensional schematic diagram of the automatic feeding device for titanium studs;

[0041] Figure 2 for Figure 1 The main view;

[0042] Figure 3 for Figure 1 sectional view of

[0043] Figure 4 for Figure 1 and a schematic diagram of the working status of the robotic arm;

[0044] Figure 5 This is a partial enlarged view of the clamp.

[0045] Among them, 1 is the platform bracket, 2 is the guide mechanism, 3 is the driving device, 4 is the motor; 5 is the cylinder, 6 is the mechanical arm, 7 is the mounting seat, 8 is the driving end, 9 is the clamp, and 10 is the nylon pad. DETAILED DESCRIPTION

[0046] 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 in conjunction with the accompanying drawings, specifically:

[0047] Embodiment 1: This embodiment provides a titanium stud automatic feeding and positioning module, including:

[0048] Slide rails for use as sliding tracks for titanium studs;

[0049] A guide mechanism 2 for limiting the sliding direction of the titanium stud;

[0050] A pushing device 3, used for pushing the titanium stud located inside the slide rail;

[0051] The cylinder 5 is used to push up the titanium stud located at the end of the slide rail.

[0052] Specifically, the main technical problem faced by this embodiment is how to improve the accuracy and efficiency of titanium stud feeding, and avoid the problems of low accuracy, low efficiency and unstable positioning of titanium studs in existing manual or semi-automatic methods. Specifically, the present invention aims to solve the problems of unsmooth feeding process and insufficient welding accuracy caused by robot accuracy problems, low manual operation efficiency and inaccurate positioning of titanium studs.

[0053] The technical solutions provided are mainly:

[0054] Platform bracket 1: As the basic supporting part of the entire loading device, it provides a stable supporting structure to ensure the normal operation and stability of all other components.

[0055] Slide rail and guide mechanism 2: The slide rail is used to convey the titanium studs, and the guide mechanism 2 limits the moving direction of the titanium studs on the slide rail, ensuring that the titanium studs can reach the position of the cylinder 5 in sequence, thereby ensuring the accuracy of loading.

[0056] Pushing device 3: driven by motor 4, the titanium studs are pushed from the slide rail to the position of cylinder 5 in sequence, ensuring that the titanium studs can stably reach the clamping position, thereby improving the degree of automation of the overall feeding process.

[0057] Cylinder 5: lifts the titanium stud to a height where the robot arm 6 can clamp it, ensuring the positioning accuracy of the titanium stud and providing a basis for subsequent clamping operations.

[0058] Robotic arm 6 and clamping jaw 9: Robotic arm 6 is responsible for clamping the lifted titanium stud and keeping it in a vertical position, and moving to the welding station; the clamping jaw 9 can clamp titanium studs of different sizes by adjusting the clamping distance.

[0059] Embodiment 2. This embodiment is a further limitation of the titanium stud automatic loading and positioning module provided in Embodiment 1. The slide rail is arranged on the platform bracket 1 along the X-axis direction, and the cylinder 5 is arranged at one end of the slide rail away from the pushing device 3, and pushes along the Z-axis direction.

[0060] Embodiment 3: This embodiment further limits the automatic loading and positioning module for titanium studs provided in embodiment 1, and the slide rail is specifically a long strip channel with a U-shaped cross section.

[0061] Embodiment 4: This embodiment further limits the automatic feeding and positioning module for titanium studs provided in Embodiment 1, and the slide rail and the guide mechanism 2 are integrated.

[0062] Embodiment 5: This embodiment further limits the titanium stud automatic loading and positioning module provided in Embodiment 1. The pushing device 3 drives the push rod through the motor 4 to push the titanium stud located inside the slide rail.

[0063] Embodiment 6: This embodiment provides an automatic feeding device for titanium studs, comprising:

[0064] Module and robot arm 6 provided in embodiment 1;

[0065] The mechanical arm 6 is used to clamp the titanium stud pushed up by the cylinder 5 and send it to the welding device.

[0066] Specifically, the device provided in this embodiment includes:

[0067] Platform support 1: As the foundation of the whole device, it supports all other components and provides a stable support structure. It is equipped with a slide rail and guide mechanism 2 for conveying titanium studs.

[0068] Slide rail: It is a U-shaped long channel used to transmit titanium studs.

[0069] Guide mechanism 2: limits the moving direction of the titanium studs placed vertically on the slide rail, ensuring that the studs move to the position of cylinder 5 in sequence.

[0070] Pushing device 3: driven by motor 4 to push the titanium stud on the slide rail forward.

[0071] Cylinder 5: used to lift the titanium stud to a position where the robot arm 6 can clamp it.

[0072] Robotic arm 6: responsible for clamping the titanium stud and keeping it in a vertical position, and sending it to the welding position.

[0073] Clamp 9: Installed at the end of the robot arm 6, it is used to clamp the titanium stud to ensure that it remains stable during the transmission and welding process.

[0074] in,

[0075] Platform bracket 1: Provides structural support for the entire device to ensure stable operation of the device.

[0076] Slide rail: guides the titanium studs to move along the specified path, providing a basis for automated loading.

[0077] Guide mechanism 2: ensures that the titanium studs reach the designated positions in sequence and reduces deviation during movement.

[0078] Pushing device 3: drives the titanium stud to move forward on the slide rail so that it enters the working area of ​​the cylinder 5.

[0079] Cylinder 5: Through the lifting action, the titanium stud is raised to facilitate the clamping operation of the robot arm 6.

[0080] Robot arm 6: clamps the titanium stud from the position where it is lifted by the cylinder 5, maintains its posture, and sends it to the welding position.

[0081] Clamping jaw 9: It can adapt to different specifications of titanium studs by automatically adjusting the clamping distance to ensure that it remains stable during the entire transmission and welding process.

[0082] The platform bracket 1 is connected to other components by bolts to provide a stable foundation.

[0083] The slide rail and guide mechanism 2 are installed on the platform bracket 1 to ensure that the titanium stud can be smoothly transferred to the cylinder 5 area.

[0084] The pushing device 3 is driven by a motor 4 and is used in conjunction with a slide rail to deliver the titanium stud to the jacking position of the cylinder 5.

[0085] The cylinder 5 is fixed to the bottom of the platform, and its jack is in steady contact with the titanium stud, providing a suitable position for the mechanical arm 6 to clamp through vertical lifting action.

[0086] The mechanical arm 6 is connected to the clamping jaw 9, and the titanium stud is clamped and moved through the coordinated action of the end mounting seat 7, the cylinder 5 and other components, and the clamping jaw is driven by the driving end 8.

[0087] Embodiment 7: This embodiment further limits the automatic feeding device for titanium studs provided in Embodiment 6, and the robot arm 6 clamps by means of the clamping claw 9.

[0088] Embodiment 8: This embodiment further limits the automatic feeding device for titanium studs provided in Embodiment 6. The inner wall of the end of the clamp 9 is V-shaped, and the relative area of ​​the two clamps 9 is rectangular.

[0089] Embodiment 9: This embodiment provides a method for automatic feeding of titanium studs, which is implemented based on the device provided in Embodiment 6 and includes:

[0090] Steps for collecting the gripping position and the delivery position;

[0091] The step of sending a clamping instruction when a clamping position arrival signal is detected;

[0092] When a signal of reaching the delivery position is detected, a step of sending a release instruction;

[0093] The clamping position is fixed.

[0094] 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.

[0095] Implementation eleven: This implementation further describes the above technical solution in detail through specific examples, specifically:

[0096] First, the technical solution provided in this embodiment is to complete the loading work of the following devices:

[0097] 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:

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] The worktable is a rectangular flat plate structure, and its width is greater than the width of the X-axis bed, so that the operator can load and unload materials. The worktable is installed horizontally on the X-axis bed through a linear guide mechanism, and can be driven by a servo drive device and a spiral guide mechanism to achieve left and right translation.

[0103] A nut is provided in the middle of the workbench, which is connected to the workbench by screws. 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 workpiece during the welding process.

[0104] 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.

[0105] Rotating components

[0106] 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.

[0107] 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.

[0108] 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.

[0109] The Z-axis servo drive assembly is installed at 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 workpieces.

[0110] 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.

[0111] 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.

[0112] 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 downward force in the transfer assembly can be set according to the actual welding requirements to ensure the consistency of the welding quality of different workpieces.

[0113] 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.

[0114] The technical solution provided in this embodiment includes:

[0115] Platform bracket 1

[0116] As the basic support part of the entire loading device, it provides stable support and ensures the coordinated operation of various components. The platform is equipped with a slide rail and a guide mechanism 2 to transfer the titanium stud to the cylinder 5 position.

[0117] The platform bracket 1 is welded from steel material and has good strength and structural stability. The platform includes a base for installing the slide rail and a support frame for fixing the guide mechanism 2. The base is equipped with adjustment bolts to correct the horizontality of the device.

[0118] Connection method: The platform bracket 1 is connected to the slide rail, guide mechanism 2, cylinder 5 and other components by bolts. All connection points are fixed with high-strength bolts to ensure the rigid connection and stability between the components and avoid instability caused by vibration or displacement.

[0119] Slide rails

[0120] The slide rail is used to guide the titanium stud to be transferred to the position of cylinder 5 along the specified path, ensuring that the stud can smoothly enter the jacking position.

[0121] The rail is designed with a U-shaped cross section, and the inner wall of the rail is covered with low-friction wear-resistant material to reduce the friction between the titanium studs and the rail. A rubber gasket is also installed at the bottom of the rail to prevent mechanical vibration from interfering with the loading process.

[0122] A baffle is provided at the end of the slide rail to limit the maximum distance that the titanium stud can be pushed.

[0123] Connection method: The slide rail is fixed to the upper surface of the platform bracket 1, and its horizontality and straightness are ensured by the adjustment device so that the studs can be stably transmitted in sequence.

[0124] Guide mechanism 2

[0125] Limit the moving space of the titanium stud on the slide rail to ensure that the stud remains vertical and moves along the specified path to the top position of cylinder 5.

[0126] The guide mechanism 2 is composed of a pair of parallel guide plates, which are made of high-hardness material and polished on the surface to reduce the friction of the titanium stud during sliding. The distance between the guide plates can be adjusted according to the diameter of the titanium stud.

[0127] Connection method: The guide plate is installed on both sides of the slide rail through a slider, and the slider can be adjusted by bolts to ensure that titanium studs of different diameters remain stable during the transmission process.

[0128] Push device 3

[0129] The titanium stud is pushed by the motor 4 to ensure that the stud smoothly enters the lifting position of the cylinder 5 from the slide rail area.

[0130] The pushing device 3 comprises a motor 4, a transmission rod and a push plate. The motor 4 transmits power to the transmission rod through a reducer, and the push plate is fixed on the transmission rod to contact the titanium stud and push it to the jacking position.

[0131] Connection method: The motor 4 is installed at the bottom of the platform through a bracket, and the transmission rod and the push plate are connected by threads, which is convenient for disassembly, assembly and maintenance of the push plate.

[0132] Cylinder 5

[0133] The titanium stud is lifted to a position where it can be clamped by the robot arm 6 to facilitate subsequent welding operations.

[0134] Cylinder 5 is a double-acting cylinder 5, which adopts a high-precision guide rod to ensure stability during the jacking process. A buffer pad is provided on the top of the cylinder 5 to prevent the titanium stud from being impacted during the jacking process.

[0135] Connection method: The cylinder 5 is installed at the bottom of the platform through a flange, and the jacking rod is connected to the jacking seat through a thread. The contact surface between the jacking seat and the titanium stud adopts an anti-slip design to ensure that no deviation occurs during the jacking process.

[0136] Robotic Arm 6

[0137] Responsible for clamping the titanium stud from the top position of cylinder 5, keeping it in a vertical position, and moving it to the welding station.

[0138] The robot arm 6 adopts a multi-degree-of-freedom joint structure and is driven by a servo motor 4 to achieve precise positioning in three-dimensional space. The main body of the robot arm 6 is made of lightweight alloy material to reduce weight and increase reaction speed. The robot arm 6 is equipped with a precision encoder for real-time monitoring of its position.

[0139] Connection method: The base of the robot arm 6 is fixed to the platform bracket 1 by bolts, and a clamping claw 9 is installed at the end of the robot arm 6.

[0140] Gripper 9

[0141] Used to clamp titanium studs to ensure that they maintain a stable vertical posture during transportation and welding.

[0142] The clamping jaw 9 is composed of two clamping jaws 9, and the inner wall of the clamping jaw 9 is provided with a nylon pad 10 to prevent damage to the surface of the titanium stud. The opening distance of the clamping jaw 9 is adjustable to adapt to titanium studs of different diameters.

[0143] Connection method: The clamping jaw 9 is connected to the end of the mechanical arm 6 through the mounting base 7. The mounting base 7 is equipped with an adjustment bolt, which can be quickly adjusted according to different titanium stud sizes.

[0144] Interactions between components

[0145] The platform bracket 1 provides structural support for the entire device, ensuring the stable installation of components such as the slide rail, the guide mechanism 2, the pushing device 3, the cylinder 5, and the mechanical arm 6.

[0146] The slide rail and the guide mechanism 2 are used together to move the titanium stud along a specified path to the lifting position of the cylinder 5, ensuring that the titanium stud always remains in a vertical state.

[0147] The pushing device 3 is driven by the motor 4 to smoothly push the titanium stud to the working area of ​​the cylinder 5, and the cylinder 5 then lifts the titanium stud to a position where the mechanical arm 6 can clamp it.

[0148] The cooperation between the cylinder 5 and the robot arm 6 is crucial. After the cylinder 5 lifts the titanium stud, the robot arm 6 quickly clamps it and keeps it in a vertical position, and sends it to the welding position.

[0149] The clamping jaws 9 work in conjunction with the robot arm 6 to ensure that the titanium stud remains stable throughout the entire movement and welding process, avoiding any deviation or vibration that affects the welding quality.

[0150] Description of the overall workflow

[0151] 1. Loading stage: The titanium stud is first placed on the slide rail, and its moving direction is limited by the guide mechanism 2.

[0152] 2. Pushing stage: The pushing device 3 drives the titanium studs on the slide rail to move, so that they enter the lifting position of the cylinder 5 in turn.

[0153] 3. Lifting stage: The cylinder 5 is started to lift the titanium stud vertically to ensure that it reaches the clamping height of the robotic arm 6.

[0154] 4. Clamping stage: The robot arm 6 moves above the cylinder 5, and the clamping jaws 9 clamp the titanium stud to keep it vertical.

[0155] 5. Transfer and welding stage: The robot arm 6 moves the titanium stud to the welding station to complete the welding operation.

[0156] 6. Cyclic operation: After welding is completed, the robot arm 6 returns to the initial position and repeats the above steps to load and weld the next titanium stud.

[0157] 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. A titanium stud automatic feeding and positioning module, characterized in that: include: Slide rails for use as sliding tracks for titanium studs; A guide mechanism for limiting the sliding direction of the titanium stud; A pushing device, used for pushing the titanium stud located inside the slide rail; A cylinder is used to push up the titanium stud located at the end of the slide rail.

2. The automatic feeding and positioning module for titanium studs according to claim 1 is characterized in that: The slide rail is arranged on the platform bracket along the X-axis direction, and the cylinder is arranged at one end of the slide rail away from the pushing device to push along the Z-axis direction.

3. The automatic feeding and positioning module for titanium studs according to claim 1 is characterized in that: The slide rail is specifically a long strip channel with a U-shaped cross section.

4. The automatic feeding and positioning module for titanium studs according to claim 1 is characterized in that: The slide rail and the guide mechanism are integrated.

5. The titanium stud automatic feeding and positioning module according to claim 1, characterized in that: The pushing device drives the push rod through a motor to push the titanium stud located inside the slide rail.

6. An automatic feeding device for titanium studs, characterized in that: include: The module and the robot arm as claimed in claim 1; The mechanical arm is used to clamp the titanium stud pushed up by the cylinder and send it to the welding device.

7. The automatic feeding device for titanium studs according to claim 6 is characterized in that: The mechanical arm realizes gripping through the gripping claws.

8. The automatic feeding device for titanium studs according to claim 7 is characterized in that: The inner wall of the end of the clamping jaw is V-shaped, and the opposing area of ​​the two clamping jaws is rectangular.

9. A titanium stud automatic feeding method, characterized in that: The device according to claim 6 is implemented, 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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