Automatic feeding manipulator and method for full-automatic valve plate precision manufacturing and welding

Abstract

The application relates to the technical field of valve plate processing, in particular to an automatic feeding mechanical arm and a feeding method for full-automatic valve plate precision manufacturing and welding, which comprises a full-automatic welding line, a material box and a valve plate feeding disc arranged on the full-automatic welding line, a placing table for placing the material box is fixedly connected to the front side of the full-automatic welding line, a multi-axis mechanical arm is fixedly connected to a position beside the valve plate feeding disc on the full-automatic welding line, and a upper L-shaped plate is fixedly connected to the moving end of the multi-axis mechanical arm; through the arrangement of a limiting mechanism, a positioning mechanism, a material taking mechanism and a discharging mechanism and the like, the valve seats in the material box can be automatically taken out and placed into the valve plate feeding disc on the full-automatic welding line, workers do not need to be on duty for a long time to carry out feeding work, only the material box needs to be regularly replaced, and the convenient performance of the device is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of valve plate processing technology, and in particular to an automatic feeding robot and feeding method for precision manufacturing and welding of valve plates. Background Technology

[0002] In modern industrial production, the manufacturing and welding of compressor valve plates is one of the key links. Compressor valve plates are usually made of thin metal sheets and are used to control the unidirectional flow of fluids to ensure the efficient operation of the compressor. The welding quality of the valve plates directly affects the sealing performance and reliability of the compressor. Traditional valve plate welding processes usually use laser welding or resistance spot welding. These methods have the characteristics of high precision, low deformation and fast welding, which can meet the strict requirements of valve plates for sealing performance and flatness.

[0003] However, existing valve plate welding devices have some shortcomings in actual operation. Specifically, when assembling and welding compressor valve plates, the valve seat needs to be manually removed from the material box and placed in the welding storage box. Although existing valve plate welding devices can automatically remove the valve seat from the storage box for welding, this process still requires workers to be on duty for a long time to feed the material. This not only increases labor costs but also reduces production efficiency. In addition, the instability of manual operation may also lead to fluctuations in welding quality, affecting the final performance of the product.

[0004] Therefore, an automatic feeding robot and feeding method for precision manufacturing and welding of valve plates are proposed to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art by proposing a fully automatic automatic feeding robot for precision manufacturing and welding of valve plates.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an automatic feeding robot and feeding method for precision manufacturing and welding of valve plates, comprising an automatic welding line and a material box, and a valve plate feeding tray disposed on the automatic welding line. A placement platform for placing the material box is fixedly connected to the front side of the automatic welding line. A multi-axis robotic arm is fixedly connected to the automatic welding line at a position relative to the valve plate feeding tray. An upper L-shaped plate is fixedly connected to the moving end of the multi-axis robotic arm. An upper electric telescopic cylinder is fixedly connected to the top end of the upper L-shaped plate. The output end of the upper electric telescopic cylinder passes through the upper L-shaped plate. A top plate is fixedly connected to the material box. A lower L-shaped plate is fixedly connected to one side of the top of the top plate. A side block is slidably connected to the side wall of the lower L-shaped plate. Several lower plates are equidistantly arranged at the bottom of the material box. A fixed plate is fixedly connected to one side of each lower plate, and a sliding plate is slidably connected to the other side of each lower plate. Each fixed plate is provided with a limiting mechanism to restrict its position. The lower plates are also provided with a positioning mechanism to restrict the position of the sliding plates. Both the side blocks and the top plate are provided with a material picking mechanism to first release the fixed plate's limiting position and then clamp it. The lower L-shaped plate is provided with a material discharging mechanism to release the positioning mechanism's limiting position and then pull out the sliding plate.

[0007] In the above technical solution, the top of the placement platform is fixedly connected to an insert block, and the bottom of the material box is provided with an insertion hole at a position above the insert block. The material box is inserted into the insert block through the insertion hole, and the side block is longitudinally slidably connected to the side of the top plate.

[0008] In the above technical solution, the limiting mechanism further includes limiting rods, and a plurality of limiting rods are provided. A pair of top holes are opened at the top of both the fixed plate and the sliding plate. The plurality of limiting rods are laterally slidably connected to the inner side of the top holes. The limiting rods are L-shaped, and the inner side of the limiting rods is a smooth arc surface. A limiting spring is fixedly connected between the side wall of the limiting rod and the inner side of the top hole. A clamping groove is opened between the adjacent sides of each pair of top holes. A limiting groove is opened on the inner side of the material box relative to the position next to the limiting rod. The side ends of the limiting rods penetrate the outer wall of the fixed plate and the sliding plate and are inserted into the inner side of the corresponding limiting groove.

[0009] In the above technical solution, the positioning mechanism further includes a positioning plate, the lower plate is U-shaped, a side groove is provided on the side of the lower plate near the sliding plate, a transverse groove is provided inside the side groove, a plurality of positioning plates are provided, the plurality of positioning plates are slidably connected to the inner side of the transverse groove, a round rod is fixedly connected to the side wall of each positioning plate, a pair of positioning springs are fixedly connected between the inner side of the transverse groove and the side wall of the positioning plate, a positioning groove is provided on the side wall of the sliding plate relative to the position next to the positioning plate, and the positioning plates are inserted into the inner side of the corresponding positioning groove.

[0010] In the above technical solution, the material handling mechanism further includes a pair of bidirectional electric telescopic cylinders. The bidirectional electric telescopic cylinders are fixedly connected to the top of the top plate and the top of the side block. The bidirectional electric telescopic cylinders are respectively positioned above the fixed plate and the sliding plate. The top of the top plate and the side block are provided with through slots on the front and rear sides of the bidirectional electric telescopic cylinders. A moving plate is slidably connected to the inner side of each through slot. The output end of each bidirectional electric telescopic cylinder is fixedly connected to the side wall of the moving plate. A clamping block is fixedly connected to the bottom end of the moving plate on the side closest to each other. The side walls of the moving plate and the clamping block are both inclined.

[0011] In the above technical solution, the discharge mechanism further includes a lower electric telescopic cylinder, which is fixedly connected to the top of the lower L-shaped plate. The lower L-shaped plate has a through hole in its side wall. A pair of pull ropes are fixedly connected to the top of the side block. An adjustment frame is slidably connected to the inner side of the lower L-shaped plate. A pair of upper holes are through the top of the adjustment frame. The other end of the pull rope passes through the through hole and the upper hole and is fixedly connected to a limiting block. The output end of the lower electric telescopic cylinder passes through the lower L-shaped plate and is fixedly connected to the top of the adjustment frame. A pair of vertical plates are slidably connected to the bottom of the adjustment frame. Side plates are slidably connected to both sides of the bottom of the top plate. Vertical grooves are opened on the side walls of the side plates relative to the positions next to the vertical plates. The bottom ends of the vertical plates are all inclined.

[0012] In the above technical solution, the vertical plate is further provided inside the vertical groove, a guide roller is rotatably connected to the inside of the perforation, the pull rope passes through the top of the guide roller, a reset plate is fixedly connected to the top of the side wall of the lower L-shaped plate, and a pair of reset springs are fixedly connected to the bottom of the reset plate.

[0013] In the above technical solution, the upper bidirectional lead screw is rotatably connected to the inner side of the adjustment frame, and the side end of the upper bidirectional lead screw passes through the front side of the adjustment frame. The upper bidirectional lead screw is threadedly connected to the inner side wall of the vertical plate.

[0014] In the above technical solution, the bottom end of the top plate is provided with a T-shaped groove, the top ends of the side plates are slidably connected in the T-shaped groove, a lower bidirectional screw is rotatably connected to the inner side of the T-shaped groove, and the front end of the lower bidirectional screw is provided through the outer wall of the top plate, and the lower bidirectional screw is threadedly connected to the inner side wall of the side plate.

[0015] A fully automatic valve plate precision manufacturing welding automatic feeding robot method includes the following steps: Step 1: Placing the frame, firstly place the material box for storing valve seats on the placement table.

[0016] Step 2: Material Retrieval. Next, the multi-axis robotic arm moves the upper L-shaped plate to above one row of valve seats in the material box. Then, the upper electric telescopic cylinder is activated to drive the top plate downward. Subsequently, the material retrieval mechanism releases the fixed plate and sliding plate from their positions in the material box and clamps the fixed plate and sliding plate. Then, the upper electric telescopic cylinder is activated to pull one row of valve seats out of the material box.

[0017] Step 3: Adjust the position, and then control the multi-axis robotic arm to drive the upper L-shaped plate to rotate and move, so that the removed lower plate flips from a horizontal state to a vertical state, and at the same time moves the sliding plate to the top of one of the storage frames in the valve plate loading tray.

[0018] Step 4: Unloading. Finally, the discharge mechanism can be started to automatically release the position restriction of the sliding plate and pull the sliding plate out from the lower plate, thereby releasing the position restriction of the valve seat. Then, under the weight of the valve seat itself, it falls into the storage box on the loading tray of the valve plate. Then, repeat the above operation to reinstall the lower plate, fixed plate and sliding plate, and repeat this process to remove all the valve seats from the material box.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention, through the setting of a limiting mechanism, a positioning mechanism, a material picking mechanism and a material discharging mechanism, can automatically take out a row of valve seats from the material box and automatically put them into the valve plate loading tray on the fully automatic valve plate welding line. There is no need for workers to stand by for a long time to perform material feeding work. Only the material box needs to be replaced periodically, which greatly improves the convenience of the device.

[0020] 2. By setting up structures such as upper bidirectional lead screw and lower bidirectional lead screw, the present invention can flexibly adjust the position of the side plate and the vertical plate according to the size of valve seat of different specifications, thereby enabling automatic feeding of valve seats of different specifications and further improving the flexibility of the device. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall appearance and structure of the welding device of the present invention.

[0022] Figure 2 This is a schematic diagram of the overall appearance structure of the multi-axis robotic arm, top plate, and material box of the present invention.

[0023] Figure 3 Appendix of the present invention Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0024] Figure 4 This is a bottom-view perspective view of the three-dimensional structure of the lower plate, fixed plate, and sliding plate of the present invention.

[0025] Figure 5 Appendix of the present invention Figure 4 A magnified schematic diagram of the structure at point B in the middle.

[0026] Figure 6 This is a bottom-view, partially sectional, three-dimensional structural diagram of the material box and placement platform of the present invention.

[0027] Figure 7 This is a partial three-dimensional structural diagram of the material box of the present invention.

[0028] Figure 8 This is a schematic diagram of the three-dimensional structure of the vertical plate, adjustment frame and side block of the present invention.

[0029] Figure 9 This is a schematic diagram of the three-dimensional structure of the lower L-shaped plate and the sliding plate separated by a partial cross section of the present invention.

[0030] Figure 10 This is a schematic diagram of the overall appearance structure of the side plate and lower bidirectional lead screw of the present invention.

[0031] In the diagram: 1. Fully automatic welding line; 2. Valve plate loading tray; 3. Material box; 4. Placement table; 5. Multi-axis robotic arm; 6. Upper L-shaped plate; 7. Upper electric telescopic cylinder; 8. Top plate; 9. Lower L-shaped plate; 10. Side block; 11. Lower plate; 12. Fixed plate; 13. Sliding plate; 14. Insert block; 15. Insertion hole; 16. Limiting rod; 17. Limiting spring; 18. Clamping groove; 19. Limiting groove; 20. Positioning plate; 21. Round rod; 22. Positioning spring; 23. Positioning groove; 24. Bidirectional electric telescopic cylinder; 25. Side plate; 26. Moving plate; 27. Clamping block; 28. Lower electric telescopic cylinder; 29. ​​Pull rope; 30. Adjusting frame; 31. Limiting block; 32. Vertical plate; 33. Guide roller; 34. Reset plate; 35. Reset spring; 36. Upper bidirectional lead screw; 37. Lower bidirectional lead screw. Detailed Implementation

[0032] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the invention is not limited to the specific embodiments disclosed below.

[0034] In practical use, it was found that when assembling and welding compressor valve plates, the valve seat needs to be manually removed from the material box and placed in the welding storage box. Although the existing valve plate welding device can automatically remove the valve seat from the storage box for welding, this process still requires workers to be on duty for a long time to feed the material. This not only increases labor costs but also reduces production efficiency. To solve the above problems, the following structure was invented.

[0035] like Figures 1-10 The diagram shows an automated feeding robot for precision welding of valve plates, comprising an automated welding line 1, a material box 3, and a valve plate loading tray 2 mounted on the automated welding line 1. A placement platform 4 for placing the material box 3 is fixedly connected to the front of the automated welding line 1. The automated welding line 1 mainly consists of a feeding unit, a positioning unit, a control system, and auxiliary systems. The feeding unit automatically removes valve seats and valve cores from the valve plate loading tray 2 using the robot, precisely transporting valve cores, valve seats, and other parts to the welding station, avoiding errors from manual placement. The positioning system... The system primarily employs precision fixtures (with pneumatic / servo drives) and a vision positioning system (CCD camera + image processing) to ensure the relative positional accuracy of the valve plate and the part to be welded, guaranteeing welding alignment. The control system is mainly based on a PLC, coupled with a touch screen operating interface, which can preset welding parameters (such as laser power, welding time, pressure, etc.) and supports batch programming. Auxiliary systems include a cooling system (for thermal management of laser welding), a dust removal system (to remove welding fumes), and a defective product sorting mechanism (to automatically separate defective products after inspection), ensuring stable equipment operation and workpiece quality.

[0036] A multi-axis robotic arm 5 is fixedly connected to the fully automatic welding line 1 at a position relative to the valve plate loading tray 2. The moving end of the multi-axis robotic arm 5 is fixedly connected to an upper L-shaped plate 6. An upper electric telescopic cylinder 7 is fixedly connected to the top of the upper L-shaped plate 6. The output end of the upper electric telescopic cylinder 7 passes through the upper L-shaped plate 6 and is fixedly connected to a top plate 8. A lower L-shaped plate 9 is fixedly connected to one side of the top of the top plate 8. A side block 10 is longitudinally slidably connected to the side wall of the lower L-shaped plate 9. Several lower plates 11 are equidistantly arranged at the bottom of the material box 3. A fixed plate 12 is fixedly connected to one side of several lower plates 11. A sliding plate 13 is slidably connected to the other side of the lower plates 11. Each fixed plate 12 is provided with a limiting mechanism to restrict its position. The lower plate 11 is also provided with a positioning mechanism to restrict the position of the sliding plate 13. Both the side block 10 and the top plate 8 are provided with a material picking mechanism to first release the fixed plate 12 and then clamp. The lower L-shaped plate 9 is provided with a material discharge mechanism to release the positioning mechanism and pull out the sliding plate 13.

[0037] The top of the placement platform 4 is fixedly connected to the insertion block 14. The bottom of the material box 3 is provided with insertion holes 15 at the position above the insertion block 14. The material box 3 is inserted into the insertion block 14 through the insertion holes 15. The insertion block 14 and the insertion holes 15 can play a certain limiting role for the placed material box 3. The side block 10 is longitudinally slidably connected to the side of the top plate 8.

[0038] The limiting mechanism includes limiting rods 16, and several limiting rods 16 are provided. The top of the fixed plate 12 and the sliding plate 13 are each provided with a pair of top holes. The limiting rods 16 are laterally slidably connected to the inside of the top holes. The limiting rods 16 are L-shaped, and the inner side of the limiting rods 16 is a smooth arc surface. Limiting springs 17 are fixedly connected between the side wall of the limiting rods 16 and the inner side of the top holes. A clamping groove 18 is provided between the sides of each pair of top holes that are close to each other. Limiting grooves 19 are provided on the inner side of the material box 3 relative to the position next to the limiting rods 16. The side ends of the limiting rods 16 penetrate through the outer wall of the fixed plate 12 and the sliding plate 13 and are inserted into the inner side of the corresponding limiting grooves 19.

[0039] The positioning mechanism includes a positioning plate 20, a lower plate 11 in a U-shape, a side groove on the side of the lower plate 11 near the sliding plate 13, a transverse groove on the inner side of the side groove, a plurality of positioning plates 20, all of which are laterally slidably connected to the inner side of the transverse groove, a round rod 21 fixedly connected to the side wall of each positioning plate 20, a pair of positioning springs 22 fixedly connected between the inner side of the transverse groove and the side wall of the positioning plate 20, and a positioning groove 23 on the side wall of the sliding plate 13 relative to the position next to the positioning plate 20, and the positioning plates 20 are all inserted into the inner side of the corresponding positioning groove 23.

[0040] The material handling mechanism includes a pair of bidirectional electric telescopic cylinders 24. Both bidirectional electric telescopic cylinders 24 are fixedly connected to the top of the top plate 8 and the top of the side block 10. The bidirectional electric telescopic cylinders 24 are respectively positioned above the fixed plate 12 and the sliding plate 13. The top of the top plate 8 and the side block 10 are provided with through slots on the front and rear sides of the bidirectional electric telescopic cylinders 24. Movable plates 26 are slidably connected to the inside of the through slots. The output ends of the bidirectional electric telescopic cylinders 24 are fixedly connected to the side walls of the movable plates 26. Clamping blocks 27 are fixedly connected to the bottom of the movable plates 26 on the side closest to each other. The side walls of the movable plates 26 and the clamping blocks 27 are inclined.

[0041] The discharge mechanism includes a lower electric telescopic cylinder 28, which is fixedly connected to the top of the lower L-shaped plate 9. The lower L-shaped plate 9 has a through hole in its side wall. A pair of pull ropes 29 are fixedly connected to the top of the side block 10. An adjustment frame 30 is longitudinally slidably connected to the inner side of the lower L-shaped plate 9. A pair of upper holes are through the top of the adjustment frame 30, and the other end of the pull rope 29 passes through the through hole and the upper hole and is fixedly connected to a limiting block 31. The output end of the lower electric telescopic cylinder 28 passes through the lower L-shaped plate 9 and is fixedly connected to the top of the adjustment frame 30. A pair of vertical plates 32 are slidably connected to the bottom of the adjustment frame 30. Side plates 25 are slidably connected to both sides of the bottom of the top plate 8. The side walls of the side plates 25 are provided with vertical grooves relative to the position next to the vertical plates 32. The bottom ends of the vertical plates 32 are all inclined.

[0042] The vertical plate 32 is set inside the vertical groove and penetrates the outer wall of the top plate 8. A guide roller 33 is rotatably connected inside the perforation. The pull rope 29 passes through the guide roller 33. The guide roller 33 guides the sliding of the pull rope 29 and prevents the pull rope 29 from directly contacting the corner of the perforation and causing friction, which would affect the service life of the pull rope 29. A reset plate 34 is fixedly connected to the top of the side wall of the lower L-shaped plate 9. A pair of reset springs 35 are fixedly connected to the bottom of the reset plate 34. The reset springs 35 can be used to reset the adjustment frame 30 driven by the lower electric telescopic cylinder 28. When the pull on the pull rope 29 is released, the side block 10 is quickly pushed to reset. The bottom of the reset springs 35 can be fixed to the outer wall of the bidirectional electric telescopic cylinder 24.

[0043] When welding the valve plate, first place the material box 3 storing the valve seat on the placement platform 4, and insert the insertion hole 15 on the material box 3 into the insertion block 14. Then, control the multi-axis robotic arm 5 to move the upper L-shaped plate 6 to the top of one row of valve seats in the material box 3. Then, control the upper electric telescopic cylinder 7 to start and drive the top plate 8 to move downward. During this process, the moving plate 26 will be inserted into the top hole on the fixed plate 12 and the sliding plate 13. Then, the top plate 8 and the side block 10 will be completely placed on the fixed plate 12 and the sliding plate 13, and drive the side plate 25 to move above the lower plate 11 and be located on both sides of the valve seat on the U-shaped lower plate 11, restricting the position of the valve seat on both sides. At the same time, the inclined surface at the bottom of the moving plate 26 will press the arc surface inside the limiting rod 16 (it should be noted that since the elastic force of the return spring 35 is greater than the elastic force of the limiting spring 17, the side block 10 will not be pressed upward. The elastic force of the limiting spring 17 cannot press the side block 10 upward).

[0044] This causes the side end of the limiting rod 16 to slide out of the limiting groove 19, while simultaneously compressing the limiting spring 17. Then, the bidirectional electric telescopic cylinder 24 can be started to move the moving plate 26 towards the center, while simultaneously driving the clamping block 27 to insert into the clamping groove 18. At this time, the moving plate 26 will slide on the arc surface of the limiting rod 16 without releasing the pressure on the limiting rod 16. Then, the upper electric telescopic cylinder 7 can be started to pull out one row of valve seats from the material box 3 (since the sliding plate 13 is restricted by the positioning mechanism at this time, it will drive the top plate 8 to rise together). Then, the multi-axis robotic arm 5 can be controlled to drive the upper L-shaped plate 6 to rotate and move, so that the removed lower plate 11 flips from a horizontal state to a vertical state, while moving the sliding plate 13 to the top of the storage frame that needs to be loaded on the valve plate loading tray 2 (at this time, the sliding plate 13 is in contact with the top of the storage frame on the valve plate loading tray 2).

[0045] Finally, the electric telescopic cylinder 28 can be activated to move the adjusting frame 30, which in turn moves the vertical plate 32. The inclined surface of the vertical plate 32 then presses against the round rod 21 on the side wall of the positioning plate 20. Since the positioning plate 20 can only move laterally within the transverse groove, the inclined surface of the vertical plate 32 presses against the round rod 21, causing the positioning plate 20 to slide within the transverse groove. This allows the positioning plate 20 to slide out of the positioning groove 23, automatically releasing the position restriction of the sliding plate 13. Simultaneously, the positioning spring 22 is compressed, and the round rod 21 moves to the side wall of the vertical plate 32, maintaining pressure on the round rod 21. At the same time, the adjusting frame 30 moves to the side of the limiting block 31 at the end of the pull rope 29, causing the adjusting frame 30 to move along with the limiting block 31 and the pull rope 29. The other end of the pull rope 29 will pull the side block 10 to slide on the side wall of the lower L-shaped plate 9, while driving the clamped sliding plate 13 to move and gradually compress the return spring 35. At this time, the sliding plate 13 will be pulled out from the lower plate 11, thus releasing the position restriction on the valve seat. Then, under the gravity of the valve seat itself, it will fall into the storage box on the upper loading tray 2 of the valve plate. Then, the above operation can be repeated in reverse to first install the sliding plate 13 back, and then control the multi-axis robotic arm 5 and the upper electric telescopic cylinder 7 to run in reverse to install the lower plate 11, the fixed plate 12 and the sliding plate 13 back. And so on. By simply changing the position coordinate of the multi-axis robotic arm 5 driving the upper L-shaped plate 6 to move above the material box 3, all the valve seats in the material box 3 can be taken out.

[0046] In summary, the above-described structure design enables the automatic removal of the entire row of valve seats from the material box 3 and their placement into the valve plate loading tray 2 on the fully automatic valve plate welding line 1. This eliminates the need for workers to be on-site for extended periods to perform the loading work; only the material box 3 needs to be replaced periodically, greatly improving the convenience of the device.

[0047] Based on the above embodiments, it was found during use that since the valve plate of the compressor has various specifications, if the distance between the side plate 25 and the vertical plate 32 is fixed, only valve plates of the same size can be used for feeding, which is quite limiting. In order to solve the above problems, the above structure has been further improved.

[0048] An upper bidirectional lead screw 36 is rotatably connected to the inner side of the adjusting frame 30, and the side end of the upper bidirectional lead screw 36 passes through the front side of the adjusting frame 30. The upper bidirectional lead screw 36 is threadedly connected to the inner wall of the vertical plate 32.

[0049] The top plate 8 has a T-slot at its bottom end, and the top of the side plate 25 is slidably connected to the T-slot. A lower bidirectional screw 37 is rotatably connected to the inside of the T-slot, and the front end of the lower bidirectional screw 37 passes through the outer wall of the top plate 8. The lower bidirectional screw 37 is threadedly connected to the inner side wall of the side plate 25.

[0050] When producing valve seats of different specifications according to production needs, and it is necessary to adjust the position of the side plate 25 and the vertical plate 32 (it should be noted that the material box 3 used for valve seats of different sizes is matched, and the width of the fixed plate 12 and the sliding plate 13 inside the material box 3 is also the same, so it is necessary to adjust the distance between the vertical plate 32 and the side plate 25), firstly rotate the upper double-acting screw 36 to drive the two threaded vertical plates 32 to move to both sides, thereby adjusting the position of the vertical plate 32. Then rotate the lower double-acting screw 37 to drive the two threaded side plates 25 to move to both sides until they are in the designated position, thereby achieving rapid adjustment of the position of the side plate 25 and the vertical plate 32.

[0051] In summary, through the design of the above structure, the positions of the side plate 25 and the vertical plate 32 can be flexibly adjusted according to the valve seat size of different specifications, thereby enabling automatic feeding of valve seats of different specifications and further improving the flexibility of the device.

[0052] A fully automatic valve plate precision manufacturing welding automatic feeding robot method includes the following steps: Step 1: Placing the frame, first place the material box 3 for storing valve seats on the placement table 4.

[0053] Step 2: Material Retrieval. Next, the multi-axis robotic arm 5 moves the upper L-shaped plate 6 to above one row of valve seats in the material box 3. Then, the upper electric telescopic cylinder 7 is activated to drive the top plate 8 downward. Subsequently, the material retrieval mechanism releases the limiting position of the fixed plate 12 and the sliding plate 13 in the material box 3 and clamps the fixed plate 12 and the sliding plate 13. Then, the upper electric telescopic cylinder 7 is activated to pull one row of valve seats out of the material box 3.

[0054] Step 3: Adjust the position, and then control the multi-axis robotic arm 5 to drive the upper L-shaped plate 6 to rotate and move, so that the removed lower plate 11 is flipped from a horizontal state to a vertical state, and at the same time the sliding plate 13 is moved to the top of one of the storage frames in the valve plate loading tray 2.

[0055] Step 4: Discharge. Finally, control the discharge mechanism to start, automatically release the position restriction of the sliding plate 13, and pull the sliding plate 13 out from the lower plate 11. This will release the position restriction on the valve seat. Then, under the weight of the valve seat itself, it will fall into the storage box on the upper loading tray 2 of the valve plate. Then repeat the above operation to install the lower plate 11, the fixed plate 12 and the sliding plate 13 back. Repeat this process to remove all the valve seats from the material box 3.

[0056] The foregoing has shown and described the basic principles, main features, and advantages of the present invention.

[0057] Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. An automatic feeding robot for precision manufacturing and welding of valve plates, comprising an automatic welding line (1) and a material box (3), and a valve plate feeding tray (2) disposed on the automatic welding line (1), characterized in that: The fully automatic welding line (1) is fixedly connected to a placement platform (4) for placing material boxes (3) on its front side. A multi-axis robotic arm (5) is fixedly connected to the fully automatic welding line (1) at a position relative to the loading tray (2) on the valve plate. An upper L-shaped plate (6) is fixedly connected to the moving end of the multi-axis robotic arm (5). An upper electric telescopic cylinder (7) is fixedly connected to the top of the upper L-shaped plate (6). A top plate (8) is fixedly connected to the output end of the upper electric telescopic cylinder (7) through the upper L-shaped plate (6). A lower L-shaped plate (9) is fixedly connected to one side of the top of the top plate (8). A side block (10) is slidably connected to the side wall of the lower L-shaped plate (9). The material box (3) has several lower plates (11) evenly spaced at the bottom. A fixed plate (12) is fixedly connected to one side of each of the lower plates (11), and a sliding plate (13) is slidably connected to the other side of each lower plate (11). Each fixed plate (12) is provided with a limiting mechanism to restrict its position. Each lower plate (11) is also provided with a positioning mechanism to restrict the position of the sliding plate (13). Each side block (10) and top plate (8) is provided with a material picking mechanism to first release the fixed plate (12) from the limit and then clamp it. Each lower L-shaped plate (9) is provided with a material discharging mechanism to release the positioning mechanism from the limit and then pull out the sliding plate (13).

2. The fully automatic valve plate precision manufacturing welding automatic feeding robot according to claim 1, characterized in that: The top of the placement platform (4) is fixedly connected to the insertion block (14), and the bottom of the material box (3) is provided with insertion holes (15) at the position above the insertion block (14). The material box (3) is inserted into the insertion block (14) through the insertion holes (15), and the side block (10) is longitudinally slidably connected to the side of the top plate (8).

3. The fully automatic valve plate precision manufacturing and welding automatic feeding robot according to claim 1, characterized in that: The limiting mechanism includes a limiting rod (16), and there are several limiting rods (16). The top of the fixed plate (12) and the sliding plate (13) are each provided with a pair of top holes. Several limiting rods (16) are slidably connected to the inside of the top holes. The limiting rods (16) are L-shaped, and the inside of the limiting rods (16) is a smooth arc surface. The side wall of the limiting rods (16) and the inside of the top holes are fixedly connected with limiting springs (17). A clamping groove (18) is provided between the sides of each pair of top holes. The inside of the material box (3) is provided with limiting grooves (19) relative to the position next to the limiting rods (16). The side ends of the limiting rods (16) penetrate the outer wall of the fixed plate (12) and the sliding plate (13) and are inserted into the inside of the corresponding limiting grooves (19).

4. The fully automatic valve plate precision manufacturing welding automatic feeding robot according to claim 1, characterized in that: The positioning mechanism includes a positioning plate (20), the lower plate (11) is U-shaped, the lower plate (11) has a side groove on the side near the sliding plate (13), the side groove has a transverse groove, the positioning plate (20) is provided in a plurality of them, the plurality of positioning plates (20) are all slidably connected to the inside of the transverse groove, the side wall of the positioning plate (20) is fixedly connected to a round rod (21), the inside of the transverse groove and the side wall of the positioning plate (20) are all fixedly connected to a pair of positioning springs (22), the side wall of the sliding plate (13) is provided with a positioning groove (23) at a position relative to the side of the positioning plate (20), and the positioning plate (20) is inserted into the inside of the corresponding positioning groove (23).

5. The fully automatic valve plate precision manufacturing welding automatic feeding robot according to claim 1, characterized in that: The material handling mechanism includes a pair of bidirectional electric telescopic cylinders (24). The bidirectional electric telescopic cylinders (24) are fixedly connected to the top of the top plate (8) and the top of the side block (10). The bidirectional electric telescopic cylinders (24) are respectively located above the fixed plate (12) and the sliding plate (13). The top of the top plate (8) and the side block (10) are provided with through slots at the front and rear sides of the bidirectional electric telescopic cylinders (24). The inner side of the through slots is slidably connected to a moving plate (26). The output end of the bidirectional electric telescopic cylinders (24) is fixedly connected to the side wall of the moving plate (26). The bottom end of the moving plate (26) on the side closest to each other is fixedly connected to a clamping block (27). The side walls of the moving plate (26) and the clamping block (27) are inclined.

6. The fully automatic valve plate precision manufacturing welding automatic feeding robot according to claim 1, characterized in that: The discharge mechanism includes a lower electric telescopic cylinder (28), which is fixedly connected to the top of the lower L-shaped plate (9). The lower L-shaped plate (9) has a through hole through its side wall. A pair of pull ropes (29) are fixedly connected to the top of the side block (10). An adjustment frame (30) is longitudinally slidably connected to the inner side of the lower L-shaped plate (9). A pair of upper holes are through its top of the adjustment frame (30). The other end of the pull rope (29) passes through the through hole and the upper hole and is fixedly connected to a limiting block (31). The output end of the lower electric telescopic cylinder (28) passes through the lower L-shaped plate (9) and is fixedly connected to the top of the adjustment frame (30). A pair of vertical plates (32) are slidably connected to the bottom of the adjustment frame (30). Side plates (25) are slidably connected to both sides of the bottom of the top plate (8). Vertical grooves are opened on the side walls of the side plates (25) relative to the position next to the vertical plates (32). The bottom ends of the vertical plates (32) are all inclined.

7. The fully automatic valve plate precision manufacturing welding automatic feeding robot according to claim 6, characterized in that: The vertical plate (32) is set inside the vertical groove, and the guide roller (33) is rotatably connected to the inside of the perforation. The pull rope (29) passes through the top of the guide roller (33). The top of the side wall of the lower L-shaped plate (9) is fixedly connected to a reset plate (34), and a pair of reset springs (35) are fixedly connected to the bottom of the reset plate (34).

8. The fully automatic valve plate precision manufacturing welding automatic feeding robot according to claim 6, characterized in that: The inner side of the adjustment frame (30) is rotatably connected to an upper bidirectional lead screw (36), and the side end of the upper bidirectional lead screw (36) passes through the front side of the adjustment frame (30). The upper bidirectional lead screw (36) is threadedly connected to the inner wall of the vertical plate (32).

9. The fully automatic valve plate precision manufacturing welding automatic feeding robot according to claim 6, characterized in that: The top plate (8) has a T-shaped groove at its bottom end. The top of the side plate (25) is slidably connected in the T-shaped groove. A lower bidirectional screw (37) is rotatably connected to the inside of the T-shaped groove. The front end of the lower bidirectional screw (37) passes through the outer wall of the top plate (8). The lower bidirectional screw (37) is threadedly connected to the inner wall of the side plate (25).

10. A method for loading a fully automatic valve plate precision manufacturing welding automatic feeding robot, the method being applicable to the fully automatic valve plate precision manufacturing welding automatic feeding robot described in any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Placing the frame. First, place the material box (3) containing the valve seats on the placement platform (4). Step 2: Retrieving materials. Next, use the multi-axis robotic arm (5) to move the upper L-shaped plate (6) above one row of valve seats in the material box (3). Then, control the upper electric telescopic cylinder (7) to start and drive the top plate (8) to move downward. Subsequently, the material retrieval mechanism can release the limiting position of the fixed plate (12) and sliding plate (13) in the material box (3) and clamp the fixed plate (12) and sliding plate (13). Then, control the upper electric telescopic cylinder (7) to start and pull one row of valve seats out of the material box (3). Step 3: Adjusting the position. Then, control the multi-axis robotic arm (5) to drive the upper L-shaped plate (6). Rotate and move the lower plate (11) to flip it from a horizontal state to a vertical state, and move the sliding plate (13) to the top of one of the storage boxes in the valve plate loading tray (2); Step 4: Discharge the material. Finally, the discharge mechanism can be started to automatically release the position restriction of the sliding plate (13) and pull the sliding plate (13) out from the lower plate (11), thereby releasing the position restriction of the valve seat. Then, under the gravity of the valve seat, it falls into the storage box on the valve plate loading tray (2). Then repeat the above operation to install the lower plate (11), the fixed plate (12) and the sliding plate (13) back. Repeat this process to remove all the valve seats in the material box (3).

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