Automatic valve plate feeding device

Abstract

The application discloses a valve piece automatic feeding device, belongs to the technical field of compressor valve pieces, solves the problem that the hole groove of a valve piece cannot be accurately aligned when the valve piece is transported by an existing valve piece automatic feeding device, and the subsequent processing equipment cannot accurately process the hole groove of the valve piece, and the automatic feeding device comprises a moving assembly, split frame tables, a valve piece stock bin and a moving manipulator, the moving assembly is provided with the moving manipulator on the side surface, split frame tables are symmetrically arranged on the two sides of the moving assembly, the valve piece stock bin is arranged on the split frame table, the moving manipulator comprises a bearing plate, an electromagnetic chuck assembly and an adjusting assembly, the electromagnetic chuck assembly stably sucks the valve piece, the adjusting assembly adjusts and changes the position of the hole groove in the valve piece, the angle of the hole groove of the valve piece placed on the feeding table surface of subsequent equipment is consistent, the valve piece is accurately aligned, and the subsequent equipment can accurately polish the hole groove of the valve piece.

Description

Technical Field

[0001] This invention belongs to the field of compressor valve plate technology, specifically relating to an automatic valve plate feeding device. Background Technology

[0002] Compressor valves are a key component of compressors, and their performance directly affects the compressor's lifespan and cooling effect. They are mainly used in refrigeration compressors and gas compressors. As the part of the compressor that bears the main impact force, the valve must meet requirements such as high precision, fatigue resistance, sealing performance, and elastic recovery. This means that existing valves need to undergo multiple processing steps to ensure their quality. The processing of valves involves drilling, grinding, and other steps. In the grinding process, existing valve feeding devices mainly use a robotic arm to pick up the valves and then move them to the subsequent grinding device to achieve automatic valve feeding.

[0003] Chinese invention patent CN108942161A discloses an automatic feeding mechanism for cylinder valve plates, including a feeding head device mounted on a four-axis transfer device. The four-axis transfer device mainly consists of an X-axis moving module, a Y-axis moving module, a Z-axis moving module, and an R-axis rotating module. By using the X-axis moving module, Y-axis moving module, Z-axis moving module, and R-axis rotating module, the position and angle of the feeding head device can be adjusted. Furthermore, the feeding head device is equipped with a position sensor and an angle sensor, which can control the feeding angle of the valve plates to achieve precise feeding of the valve plates.

[0004] The aforementioned automatic feeding mechanism can stably pick up and move the valve plates, and can also place the valve plates at a specific angle in the subsequent processing equipment. However, there are certain problems in actual use. Specifically, the shapes of the slots on the valve plates are different. There are strip-shaped slots, and the pressure positioning rod can only be inserted into specific cylindrical slots. When the pressure positioning rod is inserted into the strip-shaped slot, even if the pressure positioning rod is not in contact with the edge of the slot, the aforementioned mechanism cannot accurately detect it. As a result, the length of the strip-shaped slot directly affects the error of the final valve plate placement angle. It cannot ensure that the final landing angle and slot position of each valve plate are aligned, which affects the effect of subsequent equipment in processing the slots on the valve plates. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] To address the problems mentioned in the background section, the present invention adopts the following technical solution.

[0007] An automatic valve plate feeding device includes a moving component and a split frame. The split frame is installed on both sides of the bottom of the moving component. A moving robot is installed on the moving component. A valve plate hopper is installed on the upper surface of the split frame. The moving component drives the moving robot to perform horizontal and vertical linear movements. The moving robot includes a support plate and an electromagnetic chuck assembly. The support plate is installed on the moving component. The electromagnetic chuck assembly is symmetrically installed on the support plate. The electromagnetic chuck assembly attracts the valve plates by magnetic force. An adjustment component for precise adjustment of the valve plate angle is installed on the support plate.

[0008] As a preferred embodiment of the present invention, the adjustment assembly includes an adjustment ring, a trigger, and a driven gear. The adjustment ring is installed on the outside of the electromagnetic chuck assembly. The trigger is installed at equal intervals on the lower surface of the adjustment ring. The driven gear is installed on the upper surface of the adjustment ring. A drive motor is installed on the support plate and on the side of the electromagnetic chuck assembly. A main gear is installed at the output end of the drive motor. The main gear is meshed with the driven gear.

[0009] As a preferred embodiment of the present invention, the triggering element includes a sliding cylinder, a triggering slide rod, a triggering alarm, and a spring assembly. The sliding cylinder is equidistantly installed on the lower surface of the adjusting ring. The triggering slide rod is slidably installed inside the sliding cylinder. The triggering alarm is installed inside the sliding cylinder and located at the end of the triggering slide rod. The end of the triggering slide rod is in pressure contact with the triggering alarm. A spring assembly is sleeved on the outside of the triggering slide rod, and the end of the spring assembly is connected to the inner wall of the sliding cylinder.

[0010] As a preferred embodiment of the present invention, the mobile manipulator further includes a meshing toothed plate, which is mounted on the side of the support plate and disposed between two sets of electromagnetic chuck assemblies.

[0011] As a preferred embodiment of the present invention, the valve plate hopper includes a guide rail, a movable seat, and a magnetic separator. The guide rail is symmetrically fixedly installed on the upper surface of the split frame, and the movable seat is installed on the guide rail. The movable seat slides on the guide rail and is positioned on the guide rail by a screw. The magnetic separator is symmetrically installed on the upper surface of the movable seat. The end of the magnetic separator has a proximity sensor, and the end of the magnetic separator is magnetic at 50mm. A magnetic area is formed between the ends of multiple sets of magnetic separators.

[0012] As a preferred embodiment of the present invention, the valve plate hopper further includes a telescopic cylinder and a lifting push rod. The telescopic cylinder is installed inside the split frame, and the lifting push rod is installed at the output end of the telescopic cylinder. The lifting push rod pushes the valve plates placed between the magnetic separators.

[0013] As a preferred embodiment of the present invention, it further includes a support detection assembly, which includes a housing, a meshing gear, and a bidirectional lead screw. The housing is installed on the upper surface of the split frame and on the side of the valve plate hopper. The bidirectional lead screw is rotatably installed inside the housing. A rotating groove is provided on the housing, and the meshing gear is installed in the rotating groove. The meshing gear is connected to the middle end of the bidirectional lead screw and meshes with a meshing tooth plate. A movable side plate is symmetrically threaded and installed on the outside of the bidirectional lead screw. A support frame is installed on the side of the movable side plate, and a detection element for detecting the initial angle of the next set of valve plates is installed on the side of the support frame.

[0014] As a preferred embodiment of the present invention, the detection component includes a connecting frame, a mating base plate, and a first detection camera. The connecting frame is installed at the end of the support frame, the mating base plate is installed on the side of the connecting frame, and the first detection camera for capturing the initial angle of the next set of valve plates is installed on the side of the mating base plate.

[0015] As a preferred embodiment of the present invention, the mating base plate is provided with a mating groove whose structure is consistent with the valve plate hole groove, and the angle of the mating groove is consistent with the final placement angle of the valve plate.

[0016] As a preferred embodiment of the present invention, the detection component includes a connecting rod, a connecting plate, a second detection camera, and a limiting arc plate. The connecting rod is installed at the end of the support frame, the connecting plate is installed on the side of the connecting rod, the second detection camera is installed on the side of the connecting plate, and a limiting arc plate is installed on the side of the connecting plate and above the second detection camera. The limiting arc plate assists the valve plate in rotating.

[0017] Compared to existing technologies, the advantages of this invention are as follows: By incorporating a mobile robotic arm and a mobile component, the horizontal position and vertical height of the robotic arm can be stably adjusted with the cooperation of the mobile component. This allows the robotic arm to move directly above the valve plate hopper to transport and retrieve the valve plates. Furthermore, the adjustment component within the robotic arm utilizes the movement of a rotatable actuator to insert it into the groove within the valve plate. Then, by rotating the overall angle of the adjustment ring, the angle of the valve plate is adjusted, ensuring the valve plate is transported at a precise angle to the loading platform on subsequent equipment. This avoids the problem of the pressure positioning rod inserting into the groove on the valve plate but not fitting against the edge of the groove, leading to a deviation in the final valve plate angle.

[0018] In this invention, the valve disc hopper and magnetic separator are used to magnetize the valve discs entering the separator, ensuring they have the same magnetism within the area. The upper and lower valve discs separate and suspend due to repulsion of like poles, thus separating the valve discs into groups. This facilitates individual grasping and movement of the valve discs by a mobile robotic arm. Furthermore, a detection component is integrated, allowing a sensor to be inserted into the gaps between the valve discs to capture the initial placement angle of the next group of valve discs. This facilitates subsequent adjustment of the initial position of the trigger. The detection component includes a connecting frame, a base plate, and a first detection camera. Supported by the base plate, the valve discs can be stably adjusted and rotated on its surface. The slots on the base plate aid in calibrating the valve disc position and angle. The first detection camera... The initial angle of the next set of valve plates to be transported is photographed, allowing the actuator to adjust its position according to the initial angle of the valve plate. This ensures that the actuator stably enters the slot in the valve plate, and the edge of the actuator fits against the edge of the slot, making the valve plate positioning more accurate and stable. The detection components in this invention include a connecting rod, a connecting plate, a second detection camera, and a limiting arc plate. The limiting arc plate fits against the side of the valve plate to be transported. When the valve plate rotates, the limiting arc plate limits the position of the valve plate, allowing it to rotate stably. The second detection camera can detect and photograph the initial position of the slot in the valve plate, facilitating subsequent adjustment of the actuator position. Through the cooperation of the detection components and the moving robot, the final placement angle of the valve plate is precisely controlled, ensuring the overall working quality of the device. Attached Figure Description

[0019] Figure 1 This is a perspective view of the overall structure of the automatic feeding device of the present invention.

[0020] Figure 2 This is a perspective view of the structure of each component inside the housing of the device of the present invention.

[0021] Figure 3 This is a perspective view of the moving component and the moving manipulator structure of the present invention.

[0022] Figure 4 This is a schematic diagram of the adjustment component and meshing tooth plate in this invention.

[0023] Figure 5 This is a perspective view of the structure of the adjustment ring and electromagnetic chuck assembly after disassembly.

[0024] Figure 6 This is a perspective view of the trigger structure of the present invention.

[0025] Figure 7 This is a perspective view of the valve plate hopper and split frame structure of the present invention.

[0026] Figure 8This is a perspective view of the valve plate hopper structure of the present invention.

[0027] Figure 9 This is a perspective view of the supporting detection component and the detection element structure in Embodiment 1 of the present invention.

[0028] Figure 10 This is a perspective view of the detection component structure in Embodiment 2 of the present invention.

[0029] The correspondence between the labels and component names in the attached figures is as follows:

[0030] 1. Moving assembly; 2. Split frame; 3. Valve plate hopper; 31. Guide rail; 32. Moving base; 33. Magnetic sheet separator; 34. Proximity sensor; 35. Telescopic cylinder; 36. Lifting push rod; 4. Moving robot; 41. Support plate; 42. Electromagnetic chuck assembly; 43. Adjusting ring; 44. Actuating element; 441. Sliding cylinder; 442. Actuated slide rod; 443. Actuated alarm; 444. Spring assembly; 45. 46. ​​Driven gear; 47. Main gear; 48. Drive motor; 59. Meshing gear plate; 50. Support detection assembly; 51. Housing; 52. Meshing gear; 53. Two-way lead screw; 54. Moving side plate; 55. Support frame; 56. Detection piece; 561. Connecting frame; 562. Mating base plate; 563. First detection camera; 564. Connecting rod; 565. Connecting plate; 566. Second detection camera; 567. Limiting arc plate. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many 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 those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments. The present invention provides the following embodiments.

[0034] Example 1

[0035] like Figure 1 and Figure 2The diagram shows the structure of the automatic valve plate feeding device in this embodiment. This device can stably adsorb and transport valve plates. Before adsorption, it can adjust the valve plate's placement angle to ensure the alignment of the grooves and holes on each valve plate, allowing the valve plate to be placed at a specific angle on the loading platform of subsequent equipment. This facilitates precise processing of the grooves and holes in the valve plate by the subsequent equipment. The automatic feeding device includes a moving assembly 1, a split frame 2, a valve plate hopper 3, and a moving robotic arm 4. A mobile robot arm 4 is installed on the side of component 1. The mobile component 1 can flexibly adjust the horizontal position and vertical height of the mobile robot arm 4. Split platforms 2 are symmetrically arranged on both sides of the mobile component 1. Valve plate hoppers 3 are installed on the split platforms 2. The valve plate hoppers 3 stably arrange the valve plates, and there are gaps between the valve plates at the top of the valve plate hoppers 3. The mobile robot arm 4 picks up the valve plates arranged at the top of the valve plate hoppers 3. Under the action of the mobile component 1, the picked-up valve plates are transported and placed on the loading platform of the subsequent processing equipment at a specific angle and placement angle.

[0036] It is worth noting that the moving component 1 is mainly composed of 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 to the moving robot 4. The horizontal position and vertical height of the moving robot 4 are adjusted and changed through the horizontal linear module and the lifting linear module. In this embodiment, the moving component 1, the split frame 2, the valve plate hopper 3 and the moving robot 4 are installed on the same closed housing. The side of the housing is covered by glass. A control panel is installed on the glass. Warning lights are installed on the housing to indicate the current operating status of the device to the operator.

[0037] As attached Figure 3 , Figure 4 and Figure 5As shown, this is a schematic diagram of the structure of the mobile manipulator 4 in this embodiment. The mobile manipulator 4 includes a support plate 41, an electromagnetic chuck assembly 42, and an adjusting ring 43. The support plate 41 is mounted on the mobile assembly 1. The electromagnetic chuck assembly 42 is symmetrically mounted at both ends of the support plate 41. An adjusting ring 43 is mounted on the outside of the electromagnetic chuck assembly 42. The adjusting ring 43 rotates along the outer wall of the electromagnetic chuck assembly 42. A driven gear 45 is mounted on the upper surface of the adjusting ring 43, and actuating elements 44 are equidistantly mounted on the lower surface of the adjusting ring 43. The actuating elements 44 are used to detect the position of the current valve plate's slot. A drive motor 47 is mounted on the support plate 41 on the side of the electromagnetic chuck assembly 42. A main gear 46 is mounted on the output end of the drive motor 47. The main gear 46 meshes with the driven gear 45. Under the action of the mobile assembly 1, multiple actuating elements 44 move with the position of the electromagnetic chuck assembly 42, allowing multiple actuating elements 44 to mate with the slots on the valve plate. When the actuating element 44 is activated, the actuating element 44 will activate the valve plate's slots. When the moving part 44 is obstructed, the trigger part 44 will automatically trigger an alarm. At this time, the moving component 1 will drive the trigger part 44 and the electromagnetic chuck assembly 42 to move upward. Through the rotation of the output end of the drive motor 47, the main gear 46 drives the driven gear 45 to rotate, adjusting the angle and position of the trigger part 44. At this time, the control panel in the device will record the rotation angle of the trigger part 44. Then, the trigger part 44 after the angle adjustment will be inserted into the hole groove on the valve plate. By further adjusting the angle of the trigger part 44, it is ensured that the trigger part 44 fits against the edge of the hole groove in the valve plate. At this time, according to the rotation angle of the trigger part 44 recorded in the control panel, the trigger part 44 is adjusted and rotated to push and adjust the angle of the valve plate, so that the valve plate is picked up by the electromagnetic chuck assembly 42 at a specific angle, which makes it convenient for the electromagnetic chuck assembly 42 to place the valve plate at an accurate angle on the loading platform of the subsequent equipment.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] As attached Figure 9 As shown, this is a schematic diagram of the structure of the detection component 56 in this embodiment. The detection component 56 in this embodiment includes a connecting frame 561, a mating base plate 562, and a first detection camera 563. The connecting frame 561 is installed at the end of the support frame 55, and the mating base plate 562 is installed at the end of the connecting frame 561. The mating base plate 562 has a hole and groove that are consistent with the structure on the valve plate, and the position and angle of the hole and groove on the mating base plate 562 are consistent with the position and angle of the hole and groove when the valve plate is finally unloaded. The first detection camera 563 is installed at the middle of the mating base plate 562. The first detection camera 563 takes pictures of the initial position and angle of the next set of valve plates, so as to make adaptive adjustments to the initial position of the trigger 44 based on the captured images.

[0045] It is worth noting that when the first detection camera 563 takes a picture of the valve plate, the trigger 44 adjusts its own angle according to the deviation between the captured image and the final angle of the valve plate, so that the trigger 44 is accurately inserted into the groove of the valve plate. At this time, it is necessary to ensure that the edge of the trigger 44 is in contact with the inner wall of the edge of the groove of the valve plate, so as to assist the trigger 44 in adjusting the angle of the valve plate.

[0046] Example 2

[0047] like Figure 1 and Figure 2The diagram shows the structure of the automatic valve plate feeding device in this embodiment. This device can stably absorb and transport valve plates. Before absorption, it can adjust the valve plate's placement angle to ensure the alignment of the grooves and holes on each valve plate, allowing the valve plate to be placed at a specific angle on the loading platform of subsequent equipment. This facilitates precise processing of the grooves and holes in the valve plate by the subsequent equipment. The automatic feeding device includes a moving assembly 1, a split frame 2, a valve plate hopper 3, and a moving robotic arm 4. A mobile robot arm 4 is installed on the side of component 1. The mobile component 1 can flexibly adjust the horizontal position and vertical height of the mobile robot arm 4. Split platforms 2 are symmetrically arranged on both sides of the mobile component 1. Valve plate hoppers 3 are installed on the split platforms 2. The valve plate hoppers 3 stably arrange the valve plates, and there are gaps between the valve plates at the top of the valve plate hoppers 3. The mobile robot arm 4 picks up the valve plates arranged at the top of the valve plate hoppers 3. Under the action of the mobile component 1, the picked-up valve plates are transported and placed on the loading platform of the subsequent processing equipment at a specific angle and placement angle.

[0048] It is worth noting that the moving component 1 is mainly composed of 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 to the moving robot 4. The horizontal position and vertical height of the moving robot 4 are adjusted and changed through the horizontal linear module and the lifting linear module. In this embodiment, the moving component 1, the split frame 2, the valve plate hopper 3 and the moving robot 4 are installed on the same closed housing. The side of the housing is covered by glass. A control panel is installed on the glass. Warning lights are installed on the housing to indicate the current operating status of the device to the operator.

[0049] As attached Figure 3 , Figure 4 and Figure 5As shown, this is a schematic diagram of the structure of the mobile manipulator 4 in this embodiment. The mobile manipulator 4 includes a support plate 41, an electromagnetic chuck assembly 42, and an adjusting ring 43. The support plate 41 is mounted on the mobile assembly 1. The electromagnetic chuck assembly 42 is symmetrically mounted at both ends of the support plate 41. An adjusting ring 43 is mounted on the outside of the electromagnetic chuck assembly 42. The adjusting ring 43 rotates along the outer wall of the electromagnetic chuck assembly 42. A driven gear 45 is mounted on the upper surface of the adjusting ring 43, and actuating elements 44 are equidistantly mounted on the lower surface of the adjusting ring 43. The actuating elements 44 are used to detect the position of the current valve plate's slot. A drive motor 47 is mounted on the support plate 41 on the side of the electromagnetic chuck assembly 42. A main gear 46 is mounted on the output end of the drive motor 47. The main gear 46 meshes with the driven gear 45. Under the action of the mobile assembly 1, multiple actuating elements 44 move with the position of the electromagnetic chuck assembly 42, allowing multiple actuating elements 44 to mate with the slots on the valve plate. When the actuating element 44 is activated, the actuating element 44 will activate the valve plate's slots. When the moving part 44 is obstructed, the trigger part 44 will automatically trigger an alarm. At this time, the moving component 1 will drive the trigger part 44 and the electromagnetic chuck assembly 42 to move upward. Through the rotation of the output end of the drive motor 47, the main gear 46 drives the driven gear 45 to rotate, adjusting the angle and position of the trigger part 44. At this time, the control panel in the device will record the rotation angle of the trigger part 44. Then, the trigger part 44 after the angle adjustment will be inserted into the hole groove on the valve plate. By further adjusting the angle of the trigger part 44, it is ensured that the trigger part 44 fits against the edge of the hole groove in the valve plate. At this time, according to the rotation angle of the trigger part 44 recorded in the control panel, the trigger part 44 is adjusted and rotated to push and adjust the angle of the valve plate, so that the valve plate is picked up by the electromagnetic chuck assembly 42 at a specific angle, which makes it convenient for the electromagnetic chuck assembly 42 to place the valve plate at an accurate angle on the loading platform of the subsequent equipment.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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 angle of the valve plate; 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); The mobile manipulator (4) further comprises an engagement tooth plate (48), which is installed on the side of the bearing plate (41) and is arranged between the two groups of electromagnetic chuck assemblies (42). Further comprising a support detection assembly (5), the support detection assembly (5) comprises an outer housing (51), an engagement gear (52) and a bidirectional screw rod (53), the engagement gear (52) is connected with the middle end of the bidirectional screw rod (53), the engagement gear (52) is engaged with the engagement tooth plate (48), and the bidirectional screw rod (53) is externally and symmetrically screw-engaged with a moving side plate (54), the moving side plate (54) is provided with a support frame (55) on the side, and the support frame (55) is provided with a detection piece (56) for detecting the initial angle of the next group of valve plates on the side.

2. The automatic valve plate feeding device according to claim 1, characterized in that: The trigger (44) comprises a sliding cylinder (441), a trigger slide rod (442), a touch alarm (443) and a spring group (444), the sliding cylinder (441) is equidistantly mounted on the lower surface of the adjusting ring (43), the trigger slide rod (442) is slidably mounted in the sliding cylinder (441), the touch alarm (443) is mounted in the sliding cylinder (441) and located at the end of the trigger slide rod (442), the end of the trigger slide rod (442) is in extrusion contact with the touch alarm (443), and the trigger slide rod (442) is externally sleeved with the spring group (444), and the end of the spring group (444) is connected with the inner wall of the sliding cylinder (441).

3. The automatic valve plate feeding device according to claim 1, characterized in that: The valve plate stock bin (3) comprises guide rails (31), a moving seat (32) and magnetic force separating devices (33), the guide rails (31) are fixedly and symmetrically installed on the upper surface of the split frame table (2), the moving seat (32) is installed on the guide rails (31), the moving seat (32) slides on the guide rails (31) and is positioned on the guide rails (31) through a screw rod, the magnetic force separating devices (33) are symmetrically installed 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 magnetic within 50mm, and a magnetic area is formed between the ends of the plurality of magnetic force separating devices (33).

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

5. The automatic valve plate feeding device according to claim 1, characterized in that: The outer shell (51) is installed on the upper surface of the split frame (2) and at the side of the valve piece warehouse (3), the bidirectional screw rod (53) is rotatably installed in the outer shell (51), the rotating groove is formed in the outer shell (51), and the meshing gear (52) is installed in the rotating groove.

6. The automatic valve plate feeding device according to claim 1, characterized in that: The detection piece (56) 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 supporting frame (55), the matching bottom plate (562) is installed at the side of the connecting frame (561), and the first detection camera (563) for shooting the initial angle of the next group of valve pieces is installed at the side of the matching bottom plate (562).

7. The automatic valve plate feeding device according to claim 6, characterized in that: The matching groove with the same structure as the valve piece hole groove is formed in the matching bottom plate (562), and the angle of the matching groove is consistent with the final placement angle of the valve piece.

8. The automatic valve plate feeding device according to claim 7, characterized in that: The detection piece (56) comprises a connecting rod (564), a connecting plate (565), a second detection camera (566) and a limiting arc piece (567), the connecting rod (564) is installed at the end of the supporting frame (55), the connecting plate (565) is installed at the side of the connecting rod (564), the second detection camera (566) is installed at the side of the connecting plate (565), the limiting arc piece (567) is installed at the side of the connecting plate (565) and above the second detection camera (566), and the limiting arc piece (567) assists in rotating the angle of the valve piece.

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