Valve seat carrying manipulator and valve seat feeding equipment

Abstract

The invention provides a valve seat carrying manipulator and a valve seat feeding device.The carrying manipulator comprises a mechanical arm and a clamping mechanism, the clamping mechanism comprises a mounting base plate, a feeding clamping module and a discharging clamping module, the feeding clamping module and the discharging clamping module are arranged on the mounting base plate, and the feeding clamping module is movably connected with the mounting base plate through a Z-direction floating mechanism; the discharging clamping modules are fixedly connected with the mounting base plate, each clamping module comprises a plurality of clamping unit sets which are arranged at equal intervals along the X axis, each clamping unit set comprises a plurality of clamping assemblies which are distributed at equal intervals along the Y axis, and the clamping assemblies are used for clamping valve seats; the feeding clamping module further comprises an angle compensation component, and the angle compensation component is connected with the clamping assemblies in the same group and drives the clamping assemblies to synchronously and horizontally rotate. The valve seat feeding equipment comprises a feeding module, a temporary storage module, a transfer module and the carrying manipulator. By means of the mode, self-adaptive adjustment of the angle during valve seat feeding is achieved, and the working efficiency and the valve seat feeding accuracy are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated machining, and particularly to a valve seat handling manipulator and a valve seat feeding device. Background Art

[0002] During the traditional valve seat machining process, it is necessary to accurately place the valve seat with a three-group circumferentially equally spaced pin structure onto the feeding position of the machine tool turntable, and there are positioning bosses in the feeding position that are adapted to the pin gaps. Due to the angular difference between adjacent feeding positions, when manually feeding, it is necessary to repeatedly adjust the adaptation angle between the valve seat pins and the positioning bosses, resulting in low feeding efficiency and prone to problems such as missed feeding and improper placement, directly affecting the subsequent machining accuracy. Summary of the Invention

[0003] To solve the above problems, the present invention proposes a valve seat handling manipulator and a valve seat feeding device that can effectively improve the working efficiency and the valve seat feeding accuracy.

[0004] According to one aspect of the present application, a valve seat handling manipulator is provided, which includes: a robotic arm and a clamping mechanism. The clamping mechanism includes a mounting substrate, a feeding clamping module and a discharging clamping module provided on the mounting substrate. The feeding clamping module is movably connected to the mounting substrate through a Z-direction floating mechanism, and the discharging clamping module is fixedly connected to the mounting substrate. Each clamping module includes a number of clamping unit groups arranged at equal intervals along the X-axis, and each group includes a number of clamping components distributed at equal intervals along the Y-axis. The clamping components are used to clamp the valve seat; Among them, the feeding clamping module further includes an angle compensation member, and the angle compensation member connects the clamping components in the same group and drives them to rotate horizontally synchronously.

[0005] Preferably, the angle compensation member includes a transmission connecting rod, the transmission connecting rod has a first end and a second end axially opposite to each other. The first end is fixedly connected to the clamping component, and the second end has an adjustment hole penetrating in the Z-direction. The adjustment hole is an elongated hole extending along the long axis, and a transmission main shaft is inserted therein. The transmission main shaft is connected to a displacement adjustment module.

[0006] Preferably, the displacement adjustment module includes a Y-axis guiding slide rail, a guiding slide seat and a transverse moving cylinder. The Y-axis guiding slide rail is fixed on the mounting substrate and is parallel to the X-direction horizontal side of the clamping unit group. The guiding slide seat is slidably arranged on the Y-axis guiding slide rail, and the transverse moving cylinder drives the guiding slide seat to reciprocate. The transmission main shaft is fixedly connected to the guiding slide seat. By driving the transmission main shaft to displace through the transverse moving cylinder, the transmission connecting rod drives the clamping component to rotate horizontally.

[0007] Preferably, a set of displacement adjustment modules are provided between two adjacent sets of the clamping unit groups, and the displacement adjustment modules drive the clamping components in the corresponding two-side clamping unit groups to rotate synchronously.

[0008] Preferably, a set of displacement adjustment modules are provided between two adjacent sets of the clamping unit groups, and the displacement adjustment modules drive the clamping components in the corresponding two-side clamping unit groups to rotate synchronously.

[0009] Preferably, the long axis extension direction of the adjustment hole forms an angle of 10°-45° with the axial direction of the transmission connecting rod.

[0010] Preferably, the Z-direction floating mechanism includes a linear bearing fixed on the mounting substrate and a Z-direction floating guide rod that is slidably matched with the linear bearing in the Z direction. The lower end of the Z-direction floating guide rod is connected to the clamping component. A reference plate is arranged at the upper end of the linear bearing. The upper end of the Z-direction floating guide rod movably penetrates through the reference plate. A floating spring is sleeved on the circumference of the Z-direction floating guide rod, with one end abutted against the reference plate and the other end acting on the linear bearing.

[0011] Preferably, a position detection sensor is arranged on the reference plate for detecting the position of the end of the Z-direction floating guide rod.

[0012] Preferably, the clamping component includes a pneumatic gripper. A profiling gripper head is arranged at the output end of the pneumatic gripper. The pneumatic gripper is connected to the XY-direction floating adjustment module to compensate for the positioning deviation of the profiling gripper head in the X and Y directions in the plane.

[0013] Preferably, a stepped limit structure is arranged on the inner side of the clamping end of the profiling gripper head, which includes a support flange for supporting the step surface of the valve seat, a limit flange for pressing the upper end surface of the valve seat, and a profile matching groove formed between the two.

[0014] According to another aspect of the present application, a valve seat feeding device is provided. The valve seat feeding device is provided with the handling manipulator as described above, and further includes: A feeding module for feeding valve seats, which includes a vibrating bowl, a straight material channel arranged at the discharge end of the vibrating bowl, and a material dividing member arranged at the discharge end of the straight material channel; A temporary storage module, which includes a temporarily stored placement plate that can rotate around an axis. Two groups of temporarily stored material plates are symmetrically arranged on the temporarily stored placement plate. A number of temporarily stored positions adapted to the outer shape of the valve seat are arranged on the temporarily stored material plates. The arrangement order and quantity of the temporarily stored positions correspond to the placement positions on the subsequent processing machine tool; A transfer module is arranged between the material dividing member and the temporarily stored placement plate for transferring the valve seats output by the material dividing member to the temporarily stored positions one by one.

[0015] The beneficial effects of the present invention are as follows: The valve seat handling manipulator is designed with a split loading / unloading clamping module, which improves the working rhythm of valve seat loading and unloading. The loading clamping module, in cooperation with the Z-direction floating mechanism and the XY-direction floating adjustment module, forms a three-dimensional space adaptive compensation mechanism to avoid damage to the valve seat caused by rigid contact. The loading clamping module adaptively adjusts the placement angle of the valve seat through an angle adjustment component, effectively improving the working efficiency.

[0016] The valve seat loading equipment is composed of a feeding module consisting of a vibrating bowl - straight material channel - material dividing part, which is combined with a double-station rotating temporary storage module to realize the pre-loading of the valve seat, and then the handling manipulator is used for synchronous loading of multiple valve groups, effectively improving the working efficiency. Description of the Drawings

[0017] Figure 1 It is a schematic three-dimensional structure diagram of the overall valve seat handling manipulator; Figure 2 It is a schematic three-dimensional structure diagram of the clamping mechanism in the valve seat handling manipulator; Figure 3 For Figure 2 The partial enlarged structure diagram at position A in Figure 4 It is a schematic three-dimensional structure diagram of the clamping component in the valve seat handling manipulator; Figure 5 For Figure 4 The partial enlarged structure diagram at position B in Figure 6 It is a schematic three-dimensional structure diagram of the valve seat loading equipment; Figure 7 It is a schematic three-dimensional structure diagram of the material dividing part in the valve seat loading equipment; Figure 8 It is a schematic three-dimensional structure diagram of the temporary storage module in the valve seat loading equipment; Reference Signs: 1. Handling manipulator; 110. Clamping mechanism; 11. Mounting substrate; 111. Side end plate; 12. Loading clamping module; 121. Clamping component; 1211. Pneumatic gripper; 1212. XY-direction floating adjustment module; 1213. Profiled clamping head; 12131. Support flange; 12132. Limit flange; 12133. Profile matching groove; 13. Unloading clamping module; 14. Angle compensation component; 141. Transmission connecting rod; 1411. Adjusting hole; 142. Transmission main shaft; 143. Y-axis guiding slide rail; 144. Guiding slide block; 145. Transverse moving cylinder; 146. Linking plate; 15. Z-direction floating mechanism; 151. Linear bearing; 152. Z-direction floating guide rod; 153. Floating spring; 154. Reference plate; 155. In-place detection sensor; 120. Robot arm; 2. Feeding Module; 21. Vibration Bowl; 22. Straight Material Channel; 23. Material Dividing Component; 231. Material Dividing Bracket; 232. Turntable; 233. Rotary Driving Component; 234. Notch; 235. Transition Channel; 236. Card Strip; 237. Card Block 3. Temporary Storage Module; 31. Temporary Storage Placement Plate; 32. Temporary Storage Material Plate; 33. Temporary Storage Position; 34. Rotary Driving Module 4. Transfer Module Detailed Embodiment

[0018] The following specifically describes the technical solution protected by the present invention in conjunction with the accompanying drawings

[0019] As Figure 1-2 shown, according to one aspect of the present application, a valve seat handling manipulator 1 is provided, which includes a clamping mechanism 110 and a robotic arm 120 that drives the multi-directional movement of the clamping mechanism 110. The clamping mechanism 110 includes a mounting substrate 11, a loading clamping module 12 and an unloading clamping module 13 provided on the mounting substrate 11. The loading clamping module 12 is movably connected to the mounting substrate 11 through a Z-direction floating mechanism 15, and is used to handle and place the valve seat to be processed in the machine tool material tray to realize the loading action; the unloading clamping module 13 is fixedly connected to the mounting substrate 11, and is used to take out the valve seat that has been processed in the machine tool material tray to realize the unloading action

[0020] As Figure 1-2 shown, each clamping module includes a number of clamping unit groups arranged at equal intervals along the X-axis. Each group includes a number of clamping components 121 distributed at equal intervals along the Y-axis. The clamping components 121 are used to clamp the valve seat. The loading clamping module 12 further includes an angle compensation member 14. The angle compensation member 14 is connected to the clamping components 121 in the same group and drives them to rotate horizontally synchronously, so as to realize that the clamping components 121 drive the valve seat to rotate synchronously, and place the valve seat according to the angle defined by the loading position of the machine tool material tray

[0021] In this embodiment, the loading clamping module 12 and the unloading clamping module 13 are arranged in parallel along the X-axis direction. The arrangement intervals and quantities of the clamping components 121 in each clamping module are the same as those of the loading positions of the machine tool material tray, and multiple valve seats can be loaded and unloaded at one time. After the clamping components 121 unload the valve seat, the loading of another group of valve seats can be realized, effectively improving the working efficiency

[0022] As Figure 2-5As shown, the clamping assembly 121 includes an XY-direction floating adjustment module 1212, a pneumatic gripper 1211, and a profiling clamping head 1213. The profiling clamping head 1213 is configured at the output end of the pneumatic gripper 1211, and the pneumatic gripper 1211 drives the profiling clamping head 1213 to complete the clamping and loosening actions; the pneumatic gripper 1211 is configured on the moving end of the XY-direction floating adjustment module 1212 to achieve the adjustment of the micro-displacement of the profiling clamping head 1213 in the X and Y directions within the plane, compensating for the plane positioning deviation. In a specific embodiment, the XY-direction floating adjustment module 1212 is composed of a crossed roller guide and an elastic element, which belongs to the existing publicly disclosed conventional technology in the technical field, and its specific structure will not be elaborated here.

[0023] As Figure 4-5 shown, wherein, in this embodiment, a stepped limit structure is provided on the inner side of the clamping end of the profiling clamping head 1213, which includes a supporting flange 12131 for supporting the step surface of the valve seat, a limiting flange 12132 for pressing against the upper end surface of the valve seat, and a profile matching groove 12133 formed between the two. When the profiling clamping head 1213 clamps the valve seat, the supporting flange 12131 correspondingly supports at the bottom of the step surface of the valve seat, and the stepped side end surface is appropriately arranged in the profile matching groove 12133.

[0024] As Figure 2-3 shown, the angle compensation member 14 includes a transmission link 141. The transmission link 141 has a first end and a second end that are axially opposite. The first end is fixedly connected to the clamping assembly 121, and the second end has an adjustment hole 1411 that penetrates in the Z direction. The adjustment hole 1411 is an elongated hole with a long axis, and a transmission main shaft 142 is inserted therein. The transmission main shaft 142 is connected to a displacement adjustment module.

[0025] As Figure 2-3 shown, the displacement adjustment module includes a Y-axis guiding slide rail 143, a guiding slide block 144, and a transverse moving cylinder 145. The Y-axis guiding slide rail 143 is fixed on the mounting substrate 11 and is parallel to the X-direction horizontal side of the clamping unit group. The guiding slide block 144 is slidably arranged on the Y-axis guiding slide rail 143, and the transverse moving cylinder 145 drives the guiding slide block 144 to reciprocate. The transmission main shaft 142 is fixedly connected to the guiding slide block 144. By driving the guiding slide block 144 to slide with the transverse moving cylinder 145, the transmission main shaft 142 connected to the guiding slide block 144 is displaced, driving the second end of the transmission link 141 to swing, and the transmission link 141 drives the clamping assembly 121 to rotate horizontally. A plurality of transmission main shafts 142 in the same displacement adjustment module are fixedly arranged on the same guiding slide block 144 to achieve the synchronous swing of multiple transmission links 141, that is, the synchronous rotation of multiple clamping assemblies 121 in the same clamping unit group. Preferably, the long axis extension direction of the adjustment hole 1411 forms an angle of 10° - 45° with the axis of the transmission link 141, so that the transmission main shaft 142 can be displaced along the adjustment hole 1411.

[0026] Preferably, in one embodiment, a set of displacement adjustment modules can be shared between two adjacent sets of clamping unit groups. The displacement adjustment module is placed between the two sets of clamping unit groups and drives multiple drive spindles in the two sets of clamping unit groups on both sides to move synchronously, so that the two sets of clamping unit groups on both sides can be synchronously adjusted in angle. This can reduce the driving elements required in the equipment, lower costs, save the structural occupied space, and improve the space utilization rate. Further, there are two sets of clamping components 121 arranged oppositely along the X direction in the two adjacent sets of clamping unit groups. The second ends of the two drive linkages 141 on the two sets of clamping components 121 can share one drive spindle 142, and the two drive linkages 142 are arranged offset in the Z-axis direction, so that one drive spindle 142 can pass through two adjustment holes in sequence, effectively improving the space utilization rate in the horizontal direction and avoiding mutual interference.

[0027] As Figure 2-3 shown, in this embodiment, the loading clamping module 12 includes two sets of clamping unit groups arranged at equal intervals along the X axis and a set of displacement adjustment modules placed between the two sets of clamping unit groups. The clamping components 121 in the two sets of clamping unit groups are symmetrically arranged along the X direction. Drive linkages 141 are respectively connected to the symmetric clamping components 121 on both sides. The two drive linkages 141 are arranged offset in the Z direction. The second ends of the two sets of drive linkages 141 pass through the same drive spindle 142, and the drive spindle 142 is fixed on the guide slide 144. In this embodiment, each drive spindle 142 is respectively configured with a corresponding guide slide 144. Multiple guide slides 144 are all slidably arranged on the Y-axis guide rail 143 and are sequentially connected in series through a linkage plate 146. The traverse cylinder 145 correspondingly drives the linkage plate 146 to reciprocate along the Y-axis direction, so that multiple guide slides 144 can slide synchronously. Further, in this embodiment, side end plates 111 are arranged on both sides of the mounting substrate 11 along the Y-axis direction. The cylinder body of the traverse cylinder 145 is fixedly arranged on the linkage plate 146, and the end of the push rod of the traverse cylinder 145 is fixed on the side end plate 111. The traverse cylinder 145 drives the push rod to extend and retract. The end of the push rod is fixed on the side end plate 111 and remains stationary, and the reverse action pushes the cylinder body to move, thereby correspondingly driving the linkage plate 146 to move.

[0028] During the loading process, the loading clamping module 12 drives the valve seat to be placed at the machine tool unloading position, and drives multiple sets of clamping components 121 to rotate synchronously through the angle compensation member 14. During the rotation of the valve seat, there is a position angle such that the gap between the valve seat pins is adapted to the positioning boss at the machine tool unloading position. After the valve seat is clamped and placed in the unloading position, the profiling clamping head of the clamping component no longer drives the valve seat to rotate.

[0029] As Figure 2-3As shown in the figure, the Z-direction floating mechanism 15 includes a linear bearing 151 provided on the mounting substrate 11. A Z-direction floating guide rod 152 is slidably arranged in the linear bearing 151, so that the Z-direction floating guide rod 152 can move axially and rotate circumferentially along the linear bearing 151. The lower end of the Z-direction floating guide rod 152 is connected to the clamping assembly 121. A reference plate 154 is arranged at the upper end of the Z-direction floating guide rod 152, and the upper end of the Z-direction floating guide rod 152 movably penetrates through the reference plate 154. A floating spring 153 is sleeved on the circumference of the Z-direction floating guide rod 152, with one end abutting against the reference plate 154 and the other end acting on the linear bearing 151.

[0030] As Figure 3 shown, preferably, a position detection sensor 155 is arranged on the reference plate 154 for detecting the position of the end of the Z-direction floating guide rod 152. Once the valve seat is not placed in place, the lower end of the valve seat abuts against the convex platform at the feeding position, the floating spring 153 is compressed, the Z-direction floating guide rod 152 floats upward, and when the position detection sensor 155 detects the end of the Z-direction floating guide rod 152, a prompt alarm is issued, and the angle compensation member 14 acts, and the clamping assembly 121 rotates horizontally until all the valve seats fall into the feeding position, that is, the feeding of the valve seats is completed.

[0031] In a specific embodiment, the position detection sensor 155 is a photoelectric sensor or a proximity switch, and its detection surface faces the upper end surface of the Z-direction floating guide rod 152, and an alarm signal is generated when detecting the displacement of the end of the guide rod.

[0032] As Figure 6 shown, according to another aspect of the present application, a valve seat feeding device is provided, which includes a feeding module 2, a temporary storage module 3, a transfer module 4 and the above-mentioned valve seat handling manipulator 1. The feeding module 2 is used for continuously feeding the valve seats. The transfer module 4 sequentially transports and transfers the valve seats to the temporary storage module 3, and then the feeding clamping module 12 of the valve seat handling manipulator 1 clamps multiple valve seats at a time and synchronously transports them to the processing machine tool. The discharging clamping module 13 of the handling manipulator 1 first takes out the valve seats that have been processed in the machine tool, and then places the valve seats clamped by the feeding clamping module 12 into the machine tool, effectively improving the working efficiency.

[0033] As Figure 6 shown, the feeding module 2 includes a vibrating bowl 21, a straight material channel 22 connected to the discharging end of the vibrating bowl 21, and a material dividing member 23 arranged at the discharging end of the straight material channel 22. A linear vibrator is provided below the straight material channel 22, and the valve seats in the straight material channel 22 are vibrated and conveyed to the material dividing member 23 through the linear vibrator.

[0034] As Figure 6-7As shown in the figure, the material distributing member 23 includes a material distributing support 231, on which a rotatable turntable 232 and a rotary driving member 233 for driving the horizontal rotation of the turntable 232 are provided. The material distributing support 231 has a transition channel 235 communicating with the straight material channel 22. At least two spaced notches 234 are formed at the edge of the turntable 232, and the size of the notch 234 is defined to accommodate only a single valve seat. In the rotation path of the turntable 232, the notch 234 can communicate with the transition channel 235 to receive the valve seats vibrationally conveyed from the straight material channel 22. A sensor (not labeled) is provided on the side of the notch 234 to detect whether there is a valve seat in the notch 234. Once it is detected that the valve seat is in place, the rotary driving member 233 drives the turntable 232 to rotate, so that the notch 234 is misaligned with the transition channel 235, realizing the material distribution of the valve seats.

[0035] As Figure 7 shown, further, a clamping strip 236 is provided in the straight material channel 22, and the clamping strip 236 extends into the transition channel 235. The width of the clamping strip 236 is smaller than the pin gap of the valve seat, which is used to preliminarily define the discharging direction of the valve seat and prevent hard contact between the clamping strip 236 and the valve seat pins, causing damage to the valve seat. A clamping block 237 adapted to the clamping strip 236 is provided in the notch 234 of the turntable 232. When the notch 234 corresponds to and communicates with the transition channel 235, the clamping block 237 is located in the extending direction of the clamping strip 236, so that the valve seat enters the notch 234 at an angle defined by the clamping strip 236.

[0036] As Figure 8 shown, the temporary storage module 3 includes a temporarily stored placement plate 31 that can rotate around an axis and a rotary driving module 34 for driving the rotation of the temporarily stored placement plate. Two groups of temporarily stored material plates 32 are symmetrically arranged on the temporarily stored placement plate 31, and a number of temporarily stored positions 33 adapted to the shape of the valve seat are arranged on the temporarily stored material plates 32. The arrangement order and quantity of the temporarily stored positions 33 correspond to the feeding positions on the subsequent processing machine tool. Preferably, positioning bosses adapted to the pin spacing of the valve seat are arranged in the temporarily stored positions 33 to define the placement angle of the valve seat.

[0037] The transfer module 4 is arranged between the material distributing member 23 and the temporary storage module 3, and is used to transfer the valve seats output by the material distributing member 23 to the temporarily stored positions 33 of a temporarily stored material plate one by one. Preferably, the transfer module 4 includes a material taking gripper and a moving driving module for driving the material taking gripper between the material distributing member 23 and the temporary storage module 3. In a specific embodiment, the moving driving module can be a robotic arm or a fast handling mechanism, and its specific structure is not limited herein.

[0038] After the temporary storage position 33 of the temporary storage plate is filled, the rotation drive module 34 drives the temporary storage and placement plate 31 to rotate. The loading clamping module 12 of the handling manipulator 1 is used to synchronously transfer a plurality of valve seats on the above-mentioned temporary storage plate 32 to the corresponding discharging positions of the processing machine tool. At the same time, the transfer module 4 performs individual feeding of valve seats to the temporary storage positions of another temporary storage plate. The temporary storage, feeding, and discharging of valve seats on the two groups of temporary storage plates are carried out simultaneously, effectively improving the working efficiency and accelerating the working rhythm.

[0039] In this embodiment, the rotation drive member and the rotation drive module can be selected from structures such as a stepping motor, a servo motor, and a reducer, and no specific limitation is made here.

[0040] Working principle: The vibrating disk 21 vibrates for feeding. The straight material channel 22 guides the valve seats to the notch 234 of the material distributing member 23. The turntable 232 rotates to displace the notch 234 from the straight material channel 22. The transfer module 4 transfers and transports the valve seats discharged from the material distribution one by one to the temporary storage position 33 of the temporary storage plate 32. After the temporary storage plate 32 is filled, the temporary storage and placement plate 31 rotates, and another temporary storage plate 32 continues to receive the materials. The valve seat handling manipulator 1 synchronously grabs and transfers the valve seats on the full temporary storage plate to the machine tool.

[0041] The unloading clamping module 13 first takes out the valve seats in the discharging position of the machine tool. The loading clamping module 12 clamps the valve seats and moves them above the discharging position, and places the valve seats in the discharging position. The XY-direction floating adjustment module 1212 can adaptively adjust the horizontal placement position of the valve seats. Since the discharging angle of the valve seats does not match the discharging position, the pins of the valve seats correspondingly abut against the convex platforms in the discharging position, and the entire clamping assembly 121 floats upward along the Z direction to avoid damage to the pins of the valve seats. The angle compensation member 14 drives the clamping assembly 121 to rotate horizontally synchronously. During the rotation, the valve seats rotate to a position point where the pin gaps of the valve seats match the convex platforms. The clamping assembly 121 drives the valve seats to fall downward into the discharging position. The angle adjustment member continues to drive the clamping assembly to rotate to complete the slipping between the adapted valve seats and the clamping assembly and stop rotating. The unadapted valve seats continue to rotate synchronously until all the valve seats fall into the discharging position, thereby completing the feeding of the valve seats.

[0042] The above are only the embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be similarly included in the patent protection scope of the present invention.

[0043] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

[0044] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0046] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0047] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0048] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

Claims

1. A valve seat handling robot, characterized in that: Mainly include: A mechanical arm (120) and a clamping mechanism (110), The clamping mechanism (110) comprises a mounting base plate (11), a loading clamping module (12) and a unloading clamping module (13) arranged on the mounting base plate (11); the loading clamping module (12) is movably connected to the mounting base plate (11) via a Z-direction floating mechanism (15); the unloading clamping module (13) is fixedly connected to the mounting base plate (11); each clamping module comprises a plurality of clamping unit groups equidistantly arranged along the X-axis; each group comprises a plurality of clamping assemblies (121) equidistantly distributed along the Y-axis; the clamping assemblies (121) are used to clamp the valve seat; The loading clamping module (12) further comprises an angle compensation component (14), wherein the angle compensation component (14) is connected to the clamping component (121) of the same group and drives it to rotate synchronously horizontally.

2. The valve seat handling robot according to claim 1, characterized in that: The angle compensation component (14) comprises a transmission connecting rod (141), the transmission connecting rod (141) having a first end and a second end axially opposite to each other, the first end being fixedly connected to the clamping assembly (121), the second end having an adjustment hole (1411) penetrating in the Z direction, the adjustment hole (1411) being a long axis extension hole, the transmission main shaft (142) being passed through the adjustment hole, the transmission main shaft (142) being connected to a displacement adjustment module.

3. The valve seat handling robot according to claim 2, characterized in that: The displacement adjustment module comprises a Y-axis guide rail (143), a guide slide (144) and a transverse cylinder (145); the Y-axis guide rail (143) is fixed on the mounting base (11) and is parallel to the X-axis horizontal side of the clamping unit group; the guide slide (144) is slidably arranged on the Y-axis guide rail (143); the transverse cylinder (145) drives the guide slide (144) to slide back and forth; the transmission spindle (142) is fixedly connected to the guide slide (144); the transmission spindle (142) is displaced by the transverse cylinder (145); and the transmission connecting rod (141) drives the clamping assembly (121) to rotate horizontally.

4. The valve seat handling robot according to claim 3, characterized in that: A group of displacement adjustment modules is provided between two adjacent groups of clamping unit groups, and the displacement adjustment module drives the clamping assemblies (121) in the clamping unit groups on the corresponding two sides to rotate synchronously.

5. The valve seat handling robot according to claim 2, characterized in that: The extension direction of the long axis of the adjustment hole (1411) forms an angle of 10°-45° with the axial direction of the transmission connecting rod.

6. The valve seat handling robot according to claim 1, characterized in that: The Z-direction floating mechanism (15) comprises a linear bearing (151) fixed on the mounting base plate (11) and a Z-direction floating guide rod (152) slidingly matched with the linear bearing (151) in the Z direction, the lower end of the Z-direction floating guide rod (152) being connected to the clamping assembly (121), a reference plate (154) being arranged at the upper end of the linear bearing (151), the upper end of the Z-direction floating guide rod (152) being movable through the reference plate (154), the circumferential sleeve of the Z-direction floating guide rod (152) being provided with a floating spring (153), one end of which abuts against the reference plate (154) and the other end acting on the linear bearing (151).

7. The valve seat handling robot according to claim 6, characterized in that: The reference plate (154) is provided with an in-position detection sensor (155) for detecting the end position of the Z-direction floating guide rod (152).

8. The valve seat handling robot according to claim 1, characterized in that: The clamping assembly (121) comprises a pneumatic clamp (1211), an output end of the pneumatic clamp (1211) being provided with a contour clamping head (1213), and the pneumatic clamp (1211) being connected to an XY floating adjustment module (1212) to compensate for positioning deviations of the contour clamping head (1213) in the X and Y directions within a plane.

9. The valve seat handling robot according to claim 8, characterized in that: A stepped limiting structure is provided on the inner side of the clamping end of the contoured clamping head (1213), comprising a supporting flange (12131) for supporting the stepped surface of the valve seat, a limiting flange (12132) for pressing the upper end surface of the valve seat, and a profile matching groove (12133) formed therebetween.

10. A valve seat loading device, the valve seat loading device is provided with a handling robot as claimed in any one of claims 2 to 9, characterized in that: Also includes: A material supply module (2) is used for supplying material to a valve seat, comprising a vibration plate (21), a straight material channel (22) arranged at a material discharge end of the vibration plate (21), and a material dividing member (23) arranged at the material discharge end of the straight material channel (22); A temporary storage module (3), comprising a temporary storage placement plate (31) rotatable about an axis, two groups of temporary storage plates (32) symmetrically arranged on the temporary storage placement plate (31), a plurality of temporary storage positions (33) adapted to the shape of the valve seat arranged on the temporary storage plate (32), the arrangement order and number of the temporary storage positions (33) corresponding to the material discharge positions on the subsequent processing machine tool; The transfer module (4) is arranged between the material distribution member (23) and the temporary storage placement plate (31), and is used to transfer the valve seats output by the material distribution member (23) to the temporary storage position (33) one by one.

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