Automatic valve plate feeding device

Abstract

The invention discloses an automatic valve plate feeding device, belongs to the technical field of compressor valve plates, and solves the problem that subsequent machining equipment cannot accurately machine hole grooves of valve plates due to the fact that the hole grooves of the valve plates cannot be accurately aligned when the valve plates are conveyed by an existing automatic valve plate feeding device. The automatic feeding device comprises a moving assembly, split stands, valve block bins and a moving manipulator, the moving manipulator is installed on the side face of the moving assembly, the split stands are symmetrically arranged on the two sides of the moving assembly, the valve block bins are installed on the split stands, and the moving manipulator comprises a bearing plate, an electromagnetic chuck assembly and an adjusting assembly. The electromagnetic chuck assembly stably sucks the valve plates, the adjusting assembly adjusts and changes the positions of hole grooves in the valve plates, the angles of the hole grooves of the valve plates placed on the surface of a feeding table of follow-up equipment are consistent, the valve plates are assisted in being accurately aligned, and the hole grooves of the valve plates can be conveniently and accurately polished by the follow-up equipment.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of compressor valve plate, and particularly relates to an automatic valve plate feeding device. BACKGROUND

[0002] The compressor valve plate is a key component of the compressor, and its performance directly affects the service life and refrigeration effect of the compressor. The compressor valve plate is mainly applied to the fields of refrigeration compressors and gas compressors. As a part that bears the main impact force in the compressor, the valve plate needs to meet the requirements of high precision, fatigue resistance, sealing performance, elastic recovery and the like. Therefore, the existing valve plate needs to be processed through multiple processes to ensure the quality of the valve plate. When the valve plate is processed, the valve plate needs to be subjected to processes such as hole opening and polishing. When the valve plate is polished, the existing valve plate feeding device mainly uses a mechanical hand to adsorb the valve plate, and then moves the valve plate to a subsequent polishing device under the movement of the mechanical hand to realize automatic feeding of the valve plate.

[0003] The patent document CN108942161A discloses a mechanism for automatic feeding of a cylinder valve plate, which comprises a feeding head device. The feeding head device is installed on a four-axis moving device. The four-axis moving device mainly comprises an X-axis moving module, a Y-axis moving module, a Z-axis moving module and an R-axis rotating module. The position and angle of the feeding head device are adjusted by using the X-axis moving module, the Y-axis moving module, the Z-axis moving module and the R-axis rotating module. A position sensor and an angle sensor are arranged on the feeding head device to control the feeding angle of the valve plate and realize accurate feeding of the valve plate.

[0004] The above-mentioned automatic feeding mechanism can stably adsorb and move the valve plate. The valve plate can be placed in the subsequent processing equipment at a specific angle. However, there are some problems in actual use. Specifically, the shapes of the holes and grooves on the valve plate are different. There are strip-shaped holes and grooves. The pressing positioning rod can only be inserted into the specific cylindrical hole and groove. When the pressing positioning rod is inserted into the strip-shaped hole and groove, the above-mentioned mechanism cannot accurately detect it even if the pressing positioning rod does not fit the edge of the hole and groove. The length of the strip-shaped hole and groove directly affects the error of the final placement angle of the valve plate. It is impossible to ensure that the final landing angle and the position of the hole and groove of each valve plate can be aligned, which affects the processing effect of the subsequent device on the hole and groove of the valve plate. SUMMARY

[0005] This section is intended to summarize some aspects of the embodiments of the application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, the abstract and the title. Such simplifications or omissions cannot be used to limit the scope of the application.

[0006] To solve the problems raised in the background art, the present application adopts the technical solutions as follows.

[0007] The valve piece automatic feeding device comprises a moving assembly and a split frame table, the bottom ends of the moving assembly are provided with the split frame table on both sides, a moving manipulator is installed on the moving assembly, a valve piece bin is installed on the upper surface of the split frame table, the moving assembly drives the moving manipulator to move horizontally and vertically, the moving manipulator comprises a bearing plate and an electromagnetic chuck assembly, the bearing plate is installed on the moving assembly, the electromagnetic chuck assembly is symmetrically installed on the bearing plate, the electromagnetic chuck assembly absorbs the valve piece through magnetic force, and an adjusting assembly for accurately adjusting the angle of the valve piece is installed on the bearing plate.

[0008] As a preferred technical solution of the present application, the adjusting assembly comprises an adjusting ring, a touch piece and a driven gear, the adjusting ring is installed outside the electromagnetic chuck assembly, the touch piece is equidistantly installed on the lower surface of the adjusting ring, the driven gear is installed on the upper surface of the adjusting ring, a driving motor is installed on the bearing plate and located on the side of the electromagnetic chuck assembly, a main gear is installed on the output end of the driving motor, and the main gear is connected with the driven gear in meshing.

[0009] As a preferred technical solution of the present application, the touch piece comprises a sliding cylinder, a touch slide rod, a touch alarm and a spring set, the sliding cylinder is equidistantly installed on the lower surface of the adjusting ring, the touch slide rod is slidably installed in the sliding cylinder, the touch alarm is installed in the sliding cylinder and located at the end of the touch slide rod, the end of the touch slide rod is in extrusion contact with the touch alarm, the spring set is sleeved outside the touch slide rod, and the end of the spring set is connected with the inner wall of the sliding cylinder.

[0010] As a preferred technical solution of the present application, the moving manipulator further comprises an engagement tooth plate, the engagement tooth plate is installed on the side of the bearing plate, and the engagement tooth plate is arranged between the two groups of electromagnetic chuck assemblies.

[0011] As a preferred technical solution of the present application, the valve piece bin comprises a guide rail, a moving seat and a magnetic force separating device, the guide rail is fixedly and symmetrically installed on the upper surface of the split frame table, the moving seat is installed on the guide rail, the moving seat slides on the guide rail and is positioned on the guide rail through a screw rod, the magnetic force separating device is symmetrically installed on the upper surface of the moving seat, a proximity sensor is arranged at the end of the magnetic force separating device, the end of the magnetic force separating device has magnetism at 50mm, and a magnetic area is formed between the ends of the multiple groups of magnetic force separating devices.

[0012] As a preferred technical solution of the present application, the valve piece bin further comprises a telescopic air cylinder and a lifting push rod, the telescopic air cylinder is installed in the split frame table, the lifting push rod is installed on the output end of the telescopic air cylinder, and the lifting push rod pushes the valve pieces placed between the magnetic force separating devices.

[0013] As a preferred technical scheme of the present application, the support detection assembly further comprises an outer housing, an engaging gear and a bidirectional screw rod, the outer housing is installed on the upper surface of the split frame and located at the side of the valve piece warehouse, the bidirectional screw rod is rotatably installed in the outer housing, a rotating groove is formed in the outer housing, the engaging gear is installed in the rotating groove, the engaging gear is connected with the middle end of the bidirectional screw rod, the engaging gear is engaged with the engaging toothed plate, and the moving side plate is symmetrically screw-engaged with the outer part of the bidirectional screw rod.

[0014] As a preferred technical scheme of the present application, the detection member comprises a connecting frame, a matching bottom plate and a first detection camera, the connecting frame is installed at the end of the support frame, the matching bottom plate is installed at the side of the connecting frame, and the first detection camera for shooting the initial angle of the next group of valve pieces is installed at the side of the matching bottom plate.

[0015] As a preferred technical scheme of the present application, a matching groove with the same structure as the valve piece hole groove is formed in the matching bottom plate, and the angle of the matching groove is consistent with the final placement angle of the valve piece.

[0016] As a preferred technical scheme of the present application, the detection member comprises a connecting rod, a connecting plate, a second detection camera and a limiting arc piece, the connecting rod is installed at the end of the support frame, the connecting plate is installed at the side of the connecting rod, the second detection camera is installed at the side of the connecting plate, and the limiting arc piece is installed at the side of the connecting plate and above the second detection camera, and the limiting arc piece assists the rotation of the angle of the valve piece.

[0017] Compared with the prior art, the present application has the following advantages: in the present application, the horizontal position and vertical height of the moving manipulator can be stably adjusted under the cooperation of the moving assembly, so that the moving manipulator can be moved to the upper side of the valve piece warehouse to transport and take the valve pieces in the valve piece warehouse, and the establishment of the adjustment assembly in the moving manipulator can move the position of the angle-adjustable touch piece, insert the touch piece into the hole groove in the valve piece, and then rotate the whole angle of the adjustment ring to adjust the angle of the valve piece, so that the valve piece can be transported to the feeding table of the subsequent equipment with accurate angle, avoiding the problem that the pressing positioning rod is inserted into the hole groove on the valve piece but does not fit the edge of the hole groove on the valve piece, resulting in deviation of the angle of the final valve piece.

[0018] The valve piece warehouse is set up in the application, the magnetic force is set up by the use of the magnetic force, the valve piece is magnetized in the end of the magnetic force, the valve piece has the same magnetism in the area, the upper and lower valve pieces are separated and suspended due to the same repulsion, the separation of each group of valve pieces is realized, the moving manipulator is convenient for single grabbing and moving of the valve piece, and the detection piece is convenient for the initial position adjustment of the touch piece, the detection piece comprises a connecting frame, a matching bottom plate and a first detection camera, the valve piece is stably adjusted and rotated on the surface of the matching bottom plate under the support of the matching bottom plate, and the groove hole is arranged on the matching bottom plate, so that the valve piece position angle is calibrated, and the first detection camera is arranged, so that the initial angle of the next group of valve pieces to be transported is shot, so that the touch piece adjusts the position according to the initial angle of the valve piece, the touch piece is stably arranged in the hole groove of the valve piece, the edge of the touch piece is matched with the edge of the hole groove of the valve piece, the positioning of the valve piece is more accurate and stable, the detection piece comprises a connecting rod, a connecting plate, a second detection camera and a limiting arc piece, the limiting arc piece can be matched with the side surface of the valve piece to be transported, the position of the valve piece is limited by the limiting arc piece when the valve piece is rotated, the valve piece is stably rotated, and the second detection camera can detect and shoot the initial position of the hole groove of the valve piece, so that the position of the touch piece is adjusted. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a perspective view of the overall structure of the automatic feeding device of the application.

[0020] Figure 2 It is a perspective view of the structure of each component in the device shell of the application.

[0021] Figure 3 It is a perspective view of the structure of the moving assembly and the moving manipulator of the application.

[0022] Figure 4 It is a structural schematic view of the adjusting assembly and the meshing tooth plate in the application.

[0023] Figure 5 It is a perspective view of the structure of the adjusting ring and the electromagnetic chuck assembly after being split in the application.

[0024] Figure 6 It is a perspective view of the structure of the touch piece in the application.

[0025] Figure 7 It is a perspective view of the structure of the valve piece warehouse and the split frame table in the application.

[0026] Figure 8It is a perspective view of the valve piece warehouse structure of the present application.

[0027] Figure 9 It is a perspective view of the support detection assembly and the detection piece structure in embodiment 1 of the present application.

[0028] Figure 10 It is a perspective view of the detection piece structure in embodiment 2 of the present application.

[0029] The correspondence between the reference signs of the various figures in the drawings and the component names is as follows: 1, moving assembly; 2, split frame table; 3, valve piece warehouse; 31, guide rail; 32, moving seat; 33, magnetic force separating device; 34, proximity sensor; 35, telescopic air cylinder; 36, lifting push rod; 4, moving manipulator; 41, bearing plate; 42, electromagnetic chuck assembly; 43, adjusting ring; 44, touch piece; 441, sliding cylinder; 442, touch sliding rod; 443, touch type alarm; 444, spring set; 45, driven gear; 46, main gear; 47, driving motor; 48, meshing tooth plate; 5, support detection assembly; 51, outer housing; 52, meshing gear; 53, bidirectional screw; 54, moving side plate; 55, support frame; 56, detection piece; 561, connecting frame; 562, matching bottom plate; 563, first detection camera; 564, connecting rod; 565, connecting plate; 566, second detection camera; 567, limiting arc piece. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0031] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in other ways that are not exactly as described in the present disclosure, and those skilled in the art can make similar extensions without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0032] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is independent or alternative to other embodiments. The present application provides the following embodiments.

[0033] Embodiment 1 As Figure 1 and Figure 2As shown, it is the structure schematic view of the valve piece automatic feeding device in the embodiment, the valve piece automatic feeding device in the embodiment can stably adsorb and then transport the valve piece, and can be adjusted according to the current valve piece placing angle before adsorption, ensure that the hole groove landing position and angle of each valve piece are aligned, so that the valve piece is placed on the subsequent equipment feeding table at a specific angle, which is convenient for the subsequent equipment to accurately process the hole groove in the valve piece, the automatic feeding device comprises a moving assembly 1, a split frame table 2, a valve piece bin 3 and a mobile manipulator 4, the mobile manipulator 4 is installed on the side of the moving assembly 1, the moving assembly 1 can flexibly adjust the horizontal position and vertical height of the mobile manipulator 4, the split frame table 2 is symmetrically arranged on both sides of the moving assembly 1, the valve piece bin 3 is installed on the split frame table 2, the valve piece bin 3 stably arranges the valve pieces, and there is a spacing between the valve pieces at the top end of the valve piece bin 3, the mobile manipulator 4 sucks the valve pieces arranged at the top end of the valve piece bin 3, and transports the sucked valve pieces under the action of the moving assembly 1, and places the valve pieces on the feeding table of the subsequent processing equipment at a specific angle and placing angle.

[0034] It is worth noting that the moving assembly 1 mainly comprises a horizontal linear module and a lifting linear module, the lifting linear module is installed on the moving end of the horizontal linear module, the output end of the lifting linear module is connected with the mobile manipulator 4, the horizontal position and vertical height of the mobile manipulator 4 are adjusted and changed through the horizontal linear module and the lifting linear module, and the moving assembly 1, the split frame table 2, the valve piece bin 3 and the mobile manipulator 4 in the embodiment are installed on the same closed shell, and the shell side is shielded by glass, the control panel is installed on the glass, and the warning light is installed on the shell to prompt the running state of the current device.

[0035] As shown in the accompanying Figure 3 , Figure 4 and Figure 5As shown, it is a structural schematic diagram of the mobile manipulator 4 in the embodiment, the mobile manipulator 4 includes a carrier plate 41, an electromagnetic chuck assembly 42 and an adjusting ring 43, the carrier plate 41 is installed on the mobile assembly 1, the electromagnetic chuck assembly 42 is symmetrically installed at both ends of the carrier plate 41, the adjusting ring 43 is installed outside the electromagnetic chuck assembly 42, the adjusting ring 43 rotates along the outer wall of the electromagnetic chuck assembly 42, the driven gear 45 is installed on the upper surface of the adjusting ring 43, the touch piece 44 is equidistantly installed on the lower surface of the adjusting ring 43, the touch piece 44 is used to detect the position of the hole groove of the current valve plate, and the drive motor 47 is installed on the carrier plate 41 and located on the side of the electromagnetic chuck assembly 42, the main gear 46 is installed at the output end of the drive motor 47, the main gear 46 is engaged with the driven gear 45, under the action of the mobile assembly 1, the plurality of touch pieces 44 move with the position of the electromagnetic chuck assembly 42, so that the plurality of touch pieces 44 are connected with the hole groove on the valve plate, when the touch piece 44 is blocked, the touch piece 44 will automatically trigger an alarm, at this time the mobile assembly 1 drives the touch piece 44 and the electromagnetic chuck assembly 42 to move upwards, through the rotation of the output end of the drive motor 47, the main gear 46 drives the driven gear 45 to rotate, the angle and position of the touch piece 44 are adjusted, at this time the control panel in the device records the angle of the touch piece 44 at this time, then the touch piece 44 after adjusting the angle is inserted into the hole groove on the valve plate, and the angle of the touch piece 44 is further adjusted to ensure that the touch piece 44 is attached to the edge of the hole groove in the valve plate, at this time, according to the rotation angle of the touch piece 44 recorded in the control panel, the touch piece 44 is adjusted and rotated, the touch piece 44 pushes and adjusts the angle of the valve plate, so that the valve plate is sucked by the electromagnetic chuck assembly 42 at a specific angle, which is convenient for the electromagnetic chuck assembly 42 to place the valve plate on the feeding table of the subsequent equipment at an accurate angle.

[0036] The mobile manipulator 4 in the embodiment is mainly adjusted in position by the movement of the movement assembly 1 in actual use, so as to move the mobile manipulator 4 to the top of the valve plate to be transported. At this time, the rotation of the output end of the driving motor 47 is used to make the main gear 46 mesh with the driven gear 45, so that the adjusting ring 43 rotates around the outside of the electromagnetic chuck assembly 42, the position of the actuating piece 44 is adjusted, and the actuating piece 44 is stably inserted into the hole slot of the valve plate. Then, the position of the actuating piece 44 is adjusted by the operation of the driving motor 47, so that the actuating piece 44 is in contact with the inner wall of the hole slot, the initial angle of the valve plate is locked, and then the driving motor 47 is operated according to the rotation angle value of the actuating piece 44 to continue rotating the main gear 46, so that the actuating piece 44 continues to rotate under the premise of contacting the inner wall of the hole slot, and the valve plate is rotated to a predetermined angle. Then, the valve plate is adsorbed by using the electromagnetic chuck assembly 42, the valve plate is sucked, and then the valve plate is transported to the feeding table of the subsequent processing equipment by the operation of the movement assembly 1, so as to realize the accurate movement of the valve plate, which can effectively avoid the situation that the angle of the valve plate is still deviated after the pressing positioning rod is inserted into the strip-shaped hole slot.

[0037] It is worth noting that the engaging tooth plate 48 is installed on the side of the bearing plate 41 in the embodiment, the position of the engaging tooth plate 48 is adjusted and moved synchronously with the position of the bearing plate 41, the bearing plate 41 needs to be moved horizontally first when taking the valve plate, so that the electromagnetic chuck assembly 42 moves to the top of the valve plate, and then is moved vertically, so as to facilitate the adsorption of the valve plate by the electromagnetic chuck assembly 42. In the vertical movement process, the engaging tooth plate 48 is engaged with other components to provide power for the operation of the subsequent components. The adjusting ring 43, the actuating piece 44, the driven gear 45, the main gear 46 and the driving motor 47 constitute an adjusting assembly for accurately adjusting the position angle of the valve plate.

[0038] As shown in the accompanying Figure 6 As shown in the accompanying

[0039] In use, the sliding cylinder 441 moves synchronously with the electromagnetic chuck assembly 42, and as the electromagnetic chuck assembly 42 moves downward, the sliding rod 442 is in contact with the valve piece, at which time the sliding rod 442 is pressed inwardly into the sliding cylinder 441, the end of the sliding rod 442 presses the touch alarm 443, the touch alarm 443 sends an alarm, and the angle of the valve piece is determined to be deviated, a signal is sent to the driving motor 47, and the touch piece 44 is rotated and inserted into the hole of the valve piece.

[0040] As shown in the accompanying Figure 7 and Figure 8 , it is a structure diagram of the valve piece warehouse 3 in the embodiment, the valve piece warehouse 3 includes guide rails 31, moving seats 32 and magnetic force separating devices 33, the guide rails 31 are symmetrically installed on the upper surface of the split frame table 2, the moving seats 32 are installed on the guide rails 31, the moving seats 32 move on the guide rails 31, the moving seats 32 are locked on the guide rails 31 by the extrusion of bolts, the magnetic force separating devices 33 are symmetrically installed on the upper surface of the moving seats 32, the workers place the valve pieces to be processed between the magnetic force separating devices 33, the positions of the valve pieces are positioned by the magnetic force separating devices 33, the proximity sensors 34 are installed at the ends of the magnetic force separating devices 33, the proximity sensors 34 detect the highest horizontal position of the valve pieces between the magnetic force separating devices 33, the telescopic cylinders 35 are installed in the split frame table 2, the lifting push rods 36 are installed at the output ends of the telescopic cylinders 35, the lifting push rods 36 push the valve pieces placed between the magnetic force separating devices 33, the overall height of the valve pieces is pushed, the valve pieces move to the ends of the magnetic force separating devices 33, the ends of the magnetic force separating devices 33 have magnetism within 50mm, the magnetic force separating devices 33 form a magnetic area between each group, when the valve pieces rise to the magnetic area, the magnetic force separating devices 33 magnetize the valve pieces in the area, the valve pieces in the area have the same magnetism, the upper and lower valve pieces are separated and suspended due to repulsion between the same poles, the separation of the valve pieces is realized, and the moving manipulator 4 can grab and move the valve pieces individually.

[0041] As shown in the accompanying Figure 9As shown, it is the structural schematic view of the support detection assembly 5 in the embodiment, the split rack 2 in the embodiment is provided with the support detection assembly 5, the support detection assembly 5 comprises a shell body 51, an engagement gear 52 and a bidirectional screw rod 53, the shell body 51 is installed on the split rack 2 and located at the side of the valve piece warehouse 3, a rotating groove is formed in the shell body 51, the engagement gear 52 is rotatably installed in the rotating groove, the bidirectional screw rod 53 is rotatably installed in the shell body 51, the middle end of the bidirectional screw rod 53 is connected with the engagement gear 52, the engagement gear 52 is engaged with the engagement toothed plate 48, the movable side plate 54 is symmetrically screw-engaged and installed outside the bidirectional screw rod 53, the support frame 55 is installed on the side of the movable side plate 54, the detection piece 56 for determining the initial angle of the next group of valve pieces to be transported is installed at the end of the support frame 55, in use, the carrying plate 41 is first moved horizontally to ensure that each group of electromagnetic suction disc assemblies 42 is moved to the upper side of the valve piece, and then the carrying plate 41 is vertically lowered, at this time, the engagement toothed plate 48 is engaged with the engagement gear 52 to drive the bidirectional screw rod 53 to rotate, and the distance between the movable side plates 54 installed outside the bidirectional screw rod 53 is reduced, so that the detection piece 56 moves to the central area of the valve piece, which facilitates the detection piece 56 to determine the initial angle of the next group of valve pieces to be transported, and facilitates the position of the triggering piece 44 to be adjusted according to the initial angle of the next group of valve pieces and the position of the hole and groove, thereby speeding up the overall work efficiency.

[0042] As shown in the accompanying drawings Figure 9 As shown, it is the structural schematic view of the detection piece 56 in the embodiment, the detection piece 56 in the embodiment comprises a connecting frame 561, a matching bottom plate 562 and a first detection camera 563, the connecting frame 561 is installed at the end of the support frame 55, the matching bottom plate 562 is installed at the end of the connecting frame 561, the hole and groove consistent with the structure on the valve piece are formed in the matching bottom plate 562, and the position and angle of the hole and groove on the matching bottom plate 562 are consistent with the position and angle of the hole and groove when the valve piece is finally discharged, the first detection camera 563 is installed at the middle end of the matching bottom plate 562, and the first detection camera 563 shoots the initial position and angle of the next group of valve pieces, which facilitates the initial position of the triggering piece 44 to be adaptively adjusted according to the shot picture.

[0043] It is worth noting that when the first detection camera 563 shoots the valve piece, the triggering piece 44 adjusts its angle according to the deviation between the shot picture and the final angle of the valve piece, so that the triggering piece 44 is accurately inserted into the hole and groove of the valve piece, and at this time, it is necessary to ensure that the edge of the triggering piece 44 is in contact with the inner wall of the edge of the hole and groove of the valve piece, which assists the triggering piece 44 to adjust the angle of the valve piece.

[0044] Embodiment 2 As shown in the accompanying drawings Figure 1 and Figure 2As shown, it is the structure schematic view of the valve piece automatic feeding device in the embodiment, the valve piece automatic feeding device in the embodiment can stably adsorb and then transport the valve piece, and can be adjusted according to the current valve piece placing angle before adsorption, ensure that the hole groove landing position and angle of each valve piece are aligned, so that the valve piece is placed on the subsequent equipment feeding table at a specific angle, which is convenient for the subsequent equipment to accurately process the hole groove in the valve piece. The automatic feeding device comprises a moving assembly 1, a split frame table 2, a valve piece bin 3 and a mobile manipulator 4, the mobile manipulator 4 is installed on the side of the moving assembly 1, the moving assembly 1 can flexibly adjust the horizontal position and vertical height of the mobile manipulator 4, the split frame table 2 is symmetrically arranged on both sides of the moving assembly 1, the valve piece bin 3 is installed on the split frame table 2, the valve piece bin 3 stably arranges the valve pieces, and there is a spacing between the valve pieces at the top end of the valve piece bin 3, the mobile manipulator 4 sucks the valve pieces arranged at the top end of the valve piece bin 3, and transports the sucked valve pieces under the action of the moving assembly 1, and places the valve pieces on the feeding table of the subsequent processing equipment at a specific angle and placing angle.

[0045] It is worth noting that the moving assembly 1 mainly comprises a horizontal linear module and a lifting linear module, the lifting linear module is installed on the moving end of the horizontal linear module, the output end of the lifting linear module is connected with the mobile manipulator 4, the horizontal position and vertical height of the mobile manipulator 4 are adjusted and changed through the horizontal linear module and the lifting linear module, and the moving assembly 1, the split frame table 2, the valve piece bin 3 and the mobile manipulator 4 in the embodiment are installed on the same closed shell, and the shell side is shielded by glass, the control panel is installed on the glass, and the warning light is installed on the shell to prompt the running state of the current device.

[0046] As shown in the accompanying Figure 3 , Figure 4 and Figure 5As shown, it is a structural schematic diagram of the mobile manipulator 4 in the embodiment, the mobile manipulator 4 includes a carrier plate 41, an electromagnetic chuck assembly 42 and an adjusting ring 43, the carrier plate 41 is installed on the mobile assembly 1, the electromagnetic chuck assembly 42 is symmetrically installed at both ends of the carrier plate 41, the adjusting ring 43 is installed outside the electromagnetic chuck assembly 42, the adjusting ring 43 rotates along the outer wall of the electromagnetic chuck assembly 42, the driven gear 45 is installed on the upper surface of the adjusting ring 43, the touch piece 44 is equidistantly installed on the lower surface of the adjusting ring 43, the touch piece 44 is used to detect the position of the hole groove of the current valve plate, and the drive motor 47 is installed on the carrier plate 41 and located on the side of the electromagnetic chuck assembly 42, the main gear 46 is installed at the output end of the drive motor 47, the main gear 46 is engaged with the driven gear 45, under the action of the mobile assembly 1, the plurality of touch pieces 44 move with the position of the electromagnetic chuck assembly 42, so that the plurality of touch pieces 44 are connected with the hole groove on the valve plate, when the touch piece 44 is blocked, the touch piece 44 will automatically trigger an alarm, at this time the mobile assembly 1 drives the touch piece 44 and the electromagnetic chuck assembly 42 to move upwards, through the rotation of the output end of the drive motor 47, the main gear 46 drives the driven gear 45 to rotate, the angle and position of the touch piece 44 are adjusted, at this time the control panel in the device records the angle of the touch piece 44 at this time, then the touch piece 44 after adjusting the angle is inserted into the hole groove on the valve plate, and the angle of the touch piece 44 is further adjusted to ensure that the touch piece 44 is attached to the edge of the hole groove in the valve plate, at this time, according to the rotation angle of the touch piece 44 recorded in the control panel, the touch piece 44 is adjusted and rotated, the touch piece 44 pushes and adjusts the angle of the valve plate, so that the valve plate is sucked by the electromagnetic chuck assembly 42 at a specific angle, which is convenient for the electromagnetic chuck assembly 42 to place the valve plate on the feeding table of the subsequent equipment at an accurate angle.

[0047] In this embodiment, the mobile robotic arm 4, in actual use, mainly adjusts the overall position of the mobile robotic arm 4 by moving the moving component 1, so that the mobile robotic arm 4 moves directly above the valve plate to be transported. At this time, the rotation of the output end of the drive motor 47 causes the main gear 46 and the driven gear 45 to mesh, allowing the adjusting ring 43 to rotate around the outside of the electromagnetic chuck assembly 42, adjusting the position of the actuating element 44, so that the actuating element 44 is stably inserted into the groove of the valve plate. Then, by running the drive motor 47, the position of the actuating element 44 is adjusted so that the actuating element 44 is aligned with the inner wall of the groove. The valve plate is initially locked in place by the contact element 44. Then, the drive motor 47 rotates, and the main gear 46 continues to rotate according to the rotation angle of the contact element 44. This allows the contact element 44 to continue rotating while still in contact with the inner wall of the slot, so that the valve plate rotates to the predetermined angle. Then, the electromagnetic chuck assembly 42 is used to pick up the valve plate, completing the valve plate pickup. After that, the moving assembly 1 transports the valve plate to the loading platform of the subsequent processing equipment, achieving precise movement of the valve plate. This effectively avoids the situation where the angle of the valve plate still deviates after the pressure positioning rod is inserted into the slot.

[0048] It is worth noting that in this embodiment, a meshing toothed plate 48 is installed on the side of the support plate 41. The position of the meshing toothed plate 48 is adjusted and moved synchronously with the position of the support plate 41. When the support plate 41 picks up the valve plate, it needs to move horizontally first, so that the electromagnetic chuck assembly 42 moves directly above the valve plate, and then moves vertically to facilitate the electromagnetic chuck assembly 42 to adsorb the valve plate. During the vertical movement, the meshing toothed plate 48 meshes with other components to provide power for the operation of subsequent components. The adjusting ring 43, the trigger 44, the driven gear 45, the main gear 46 and the drive motor 47 form an adjustment assembly for precise adjustment of the valve plate position angle.

[0049] As attached Figure 6 As shown, this is a schematic diagram of the structure of the trigger 44 in this embodiment. The trigger 44 includes a sliding cylinder 441, a trigger slide rod 442, and a trigger alarm 443. The sliding cylinder 441 is equidistantly installed at the bottom end of the adjusting ring 43. The trigger slide rod 442 is slidably installed inside the sliding cylinder 441. The top end of the trigger slide rod 442 enters the slot on the valve plate. The trigger alarm 443 is installed inside the sliding cylinder 441 and at the bottom end of the trigger slide rod 442. A spring assembly 444 is sleeved on the outside of the trigger slide rod 442. When the trigger slide rod 442 moves closer to the trigger alarm 443, the spring assembly 444 enters a storage state, which facilitates the subsequent pull of the trigger slide rod 442 to reset.

[0050] In use, the position of the sliding cylinder 441 moves synchronously with the position of the electromagnetic chuck assembly 42. As the position of the electromagnetic chuck assembly 42 descends, the trigger slide rod 442 comes into contact with the valve plate. At this time, the trigger slide rod 442 is compressed and retracts into the sliding cylinder 441. The end of the trigger slide rod 442 presses the trigger alarm 443, causing the trigger alarm 443 to sound an alarm. This confirms that the current valve plate's placement angle has deviated, which facilitates sending a signal to the drive motor 47 to rotate the entire position of the trigger 44, allowing the trigger 44 to be inserted into the slot in the valve plate.

[0051] As attached Figure 7 and Figure 8 As shown, this is a structural schematic diagram of the valve plate hopper 3 in this embodiment. The valve plate hopper 3 includes a guide rail 31, a movable seat 32, and a magnetic separator 33. The guide rail 31 is symmetrically installed on the upper surface of the split frame 2. The movable seat 32 is installed on the guide rail 31 and moves on the guide rail 31. The movable seat 32 is locked in position on the guide rail 31 by the compression of bolts. The magnetic separator 33 is symmetrically installed on the upper surface of the movable seat 32. The operator places the valve plate to be processed between multiple sets of magnetic separators 33 and uses the magnetic separators 33 to position the valve plate. A proximity sensor 34 is installed at the end of the magnetic separator 33. The proximity sensor 34 detects the valve plate between the magnetic separators 33. The highest level of detection is performed. A telescopic cylinder 35 is installed inside the split frame 2. A lifting push rod 36 is installed at the output end of the telescopic cylinder 35. The lifting push rod 36 pushes the valve plates placed between the magnetic separators 33, pushing the overall height of the valve plates and moving them towards the end of the magnetic separators 33. The end of the magnetic separators 33 is 50mm away from the magnetic separators. A magnetic area is formed between each set of magnetic separators 33. After the valve plate rises to the magnetic area, the magnetic separators 33 magnetize the valve plates in this area, making the valve plates in this area have the same magnetism. The upper and lower valve plates separate and suspend due to the repulsion of like poles, realizing the separation of the valve plates, which makes it convenient for the mobile robot 4 to grasp and move the valve plates individually.

[0052] As attached Figure 9As shown, this is a structural schematic diagram of the support detection component 5 in this embodiment. The support detection component 5 is installed on the split frame 2 in this embodiment. The support detection component 5 includes a housing 51, a meshing gear 52, and a bidirectional lead screw 53. The housing 51 is installed on the split frame 2 and located on the side of the valve plate hopper 3. A rotating groove is provided on the housing 51, and the meshing gear 52 is rotatably installed in the rotating groove. The bidirectional lead screw 53 is rotatably installed inside the housing 51. The middle end of the bidirectional lead screw 53 is connected to the meshing gear 52. The meshing gear 52 meshes with the meshing tooth plate 48. A movable side plate 54 is symmetrically threaded and installed on the outside of the bidirectional lead screw 53. A support frame 55 is installed on the side of the movable side plate 54. The end of 55 is equipped with a detection element 56 to determine the initial angle of the next set of valve plates to be transported. In use, the support plate 41 is first moved horizontally to ensure that each set of electromagnetic chuck assemblies 42 moves directly above the valve plate. Then the support plate 41 is lowered vertically. At this time, the meshing tooth plate 48 and the meshing gear 52 mesh, driving the bidirectional lead screw 53 to rotate. The gap between the moving side plates 54 installed outside the bidirectional lead screw 53 is reduced, allowing the detection element 56 to move towards the center area of ​​the valve plate. This makes it easier for the detection element 56 to determine the initial angle of the next set of valve plates to be transported. It is also convenient to adjust the position of the trigger 44 according to the initial angle of the next set of valve plates and the position of the slot, thus speeding up the overall work efficiency.

[0053] As attached Figure 10 As shown, this is a structural schematic diagram of the detection component 56 in this embodiment. The detection component 56 in this embodiment includes a connecting rod 564, a connecting plate 565, a second detection camera 566, and a limiting arc plate 567. The connecting rod 564 is installed at the end of the support frame 55, and the connecting plate 565 is installed at the end of the connecting rod 564. The second detection camera 566 is installed on the side of the connecting plate 565. The second detection camera 566 captures the initial position of the next set of valve plates. The limiting arc plate 567 is installed on the side of the connecting plate 565 and above the second detection camera 566. The limiting arc plate 567 fits against the edge of the valve plate, allowing the valve plate to rotate within the limiting arc plate 567, thus assisting in the flexible adjustment and change of the valve plate angle.

[0054] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection defined by the claims submitted herein.

Claims

1. A valve piece automatic feeding device, comprising a moving assembly (1) and a split frame table (2), the split frame table (2) is installed on both sides of the bottom end of the moving assembly (1), a moving manipulator (4) is installed on the moving assembly (1), a valve piece bin (3) is installed on the upper surface of the split frame table (2), the moving assembly (1) drives the moving manipulator (4) to move horizontally and vertically, the moving manipulator (4) comprises a bearing plate (41) and an electromagnetic chuck assembly (42), the bearing plate (41) is installed on the moving assembly (1), the electromagnetic chuck assembly (42) is symmetrically installed on the bearing plate (41), and the electromagnetic chuck assembly (42) adsorbs the valve piece through magnetic force, characterized in that: The bearing plate (41) is provided with an adjusting assembly for accurately adjusting the valve piece angle.

2. The automatic valve plate feeding device according to claim 1, characterized in that: The adjusting assembly comprises an adjusting ring (43), a trigger (44) and a driven gear (45), the adjusting ring (43) is externally mounted on the electromagnetic chuck assembly (42), the trigger (44) is equidistantly mounted on the lower surface of the adjusting ring (43), the driven gear (45) is mounted on the upper surface of the adjusting ring (43), the driving motor (47) is mounted on the bearing plate (41) and located on the side of the electromagnetic chuck assembly (42), the main gear (46) is mounted on the output end of the driving motor (47), and the main gear (46) is in meshing connection with the driven gear (45).

3. The automatic valve plate feeding device according to claim 2, characterized in that: The trigger (44) comprises a sliding cylinder (441), a trigger sliding rod (442), a trigger alarm (443) and a spring set (444), the sliding cylinder (441) is equidistantly mounted on the lower surface of the adjusting ring (43), the trigger sliding rod (442) is slidingly mounted in the sliding cylinder (441), the trigger alarm (443) is mounted in the sliding cylinder (441) and located on the end of the trigger sliding rod (442), the end of the trigger sliding rod (442) is in extrusion contact with the trigger alarm (443), and the spring set (444) is sleeved on the outer portion of the trigger sliding rod (442) and connected with the inner wall of the sliding cylinder (441).

4. The automatic valve plate feeding device according to claim 1, characterized in that: The mobile manipulator (4) further comprises an engagement tooth plate (48), which is mounted on the side of the bearing plate (41) and arranged between the two groups of electromagnetic chuck assemblies (42).

5. The automatic valve plate feeding device according to claim 1, characterized in that: The valve piece stock bin (3) comprises a guide rail (31), a moving seat (32) and a magnetic force separating device (33), the guide rail (31) is fixedly and symmetrically mounted on the upper surface of the split frame table (2), the moving seat (32) is mounted on the guide rail (31), the moving seat (32) slides on the guide rail (31) and is positioned on the guide rail (31) by a screw rod, the magnetic force separating device (33) is symmetrically mounted on the upper surface of the moving seat (32), the end of the magnetic force separating device (33) is provided with a proximity sensor (34), the end of the magnetic force separating device (33) is provided with magnetism at a distance of 50 mm, and the magnetic force separating devices (33) of the plurality of groups are arranged to form a magnetic area between the ends.

6. The automatic valve plate feeding device according to claim 5, characterized in that: The valve piece stock bin (3) further comprises a telescopic air cylinder (35) and a lifting push rod (36), the telescopic air cylinder (35) is mounted in the split frame table (2), the lifting push rod (36) is mounted on the output end of the telescopic air cylinder (35), and the lifting push rod (36) pushes the valve pieces placed between the magnetic force separating devices (33).

7. The automatic valve plate feeding device according to claim 4, characterized in that: Also include support detection assembly (5), support detection assembly (5) includes the outer shell (51), meshing gear (52) and bidirectional screw rod (53), split frame table (2) upper surface and located on the side of the valve piece warehouse (3) is equipped with the outer shell (51), the outer shell (51) is rotatably mounted with bidirectional screw rod (53), the outer shell (51) is provided with rotating groove, the rotating groove is installed with meshing gear (52), meshing gear (52) and the middle end of bidirectional screw rod (53) are connected, meshing gear (52) and meshing gear plate (48) are engaged, the external symmetry screw thread of bidirectional screw rod (53) is installed with moving side plate (54), moving side plate (54) is installed with support frame (55), support frame (55) side is equipped with detection piece (56) for detecting the initial angle of the next group of valve pieces.

8. The automatic valve plate feeding device according to claim 7, characterized in that: The detection piece (56) includes a connecting frame (561), a matching bottom plate (562), and a first detection camera (563), the end of the support frame (55) is equipped with the connecting frame (561), the side of the connecting frame (561) is equipped with the matching bottom plate (562), and the side of the matching bottom plate (562) is equipped with the first detection camera (563) for shooting the initial angle of the next group of valve pieces.

9. The automatic valve plate feeding device according to claim 8, characterized in that: The matching bottom plate (562) is provided with a matching groove with the same structure as the valve piece hole groove, and the angle of the matching groove is consistent with the final placement angle of the valve piece.

10. The automatic valve plate feeding device according to claim 7, characterized in that: The detection piece (56) includes a connecting rod (564), a connecting plate (565), a second detection camera (566), and a limiting arc piece (567), the end of the support frame (55) is equipped with the connecting rod (564), the side of the connecting rod (564) is equipped with the connecting plate (565), the side of the connecting plate (565) is equipped with the second detection camera (566), and the side of the connecting plate (565) and above the second detection camera (566) is equipped with the limiting arc piece (567), which assists the rotation of the valve piece angle.

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