Material taking and discharging device in liquid nitrogen environment and working method

Abstract

The invention discloses a material taking and placing device in a liquid nitrogen environment and a working method.The device comprises a main body frame, a vertical plate is installed on a support at the upper end of the main body frame, and a plurality of material taking and placing mechanisms 3 are installed on the vertical plate in parallel; a liquid nitrogen storage device is installed above the bottom of the main body frame and located below the multiple material taking and placing mechanisms, and a lining screening assembly is installed on the vertical plate and located on one side of the multiple material taking and placing mechanisms. The material taking and placing mechanism comprises a pair of L-shaped connecting pieces fixedly installed on the vertical plate, a sliding table air cylinder is installed between the two L-shaped connecting pieces, a plurality of sliding blocks are installed on the sliding table air cylinder in a sliding mode, a vertical installation plate is installed on the multiple sliding blocks, a horizontal installation plate is installed at the bottom of the vertical installation plate, and the horizontal installation plate is connected with the sliding table air cylinder in a sliding mode. A vertical connecting plate is mounted on the lower side face of the horizontal mounting plate, a lining carrying plate is mounted on the lower end face of the vertical connecting plate, and a lining positioning piece is mounted on the lining carrying plate.

Description

TECHNICAL FIELD

[0001] The application relates to a part cold assembly taking and placing device and a working method. BACKGROUND

[0002] Mechanical assembly is an important link of machine manufacturing and repair. Cold assembly, as a kind of mechanical assembly, belongs to interference fit technology, is an assembly process of making the contained part shrink in size by using a cooling medium such as liquid nitrogen to generate a shrinkage gap. The process does not change the original size of the contained part, and the thermal expansion and cold shrinkage effect reduces the assembly resistance, and finally realizes the precise fit of the parts. The cold assembly has the following advantages: 1. operation cycle is shortened: compared with the heating process of the hot assembly method, the cooling process time is reduced by about 60%-80%, which effectively improves the assembly efficiency; 2. material protection is reliable: the metal surface oxidation problem caused by high temperature is avoided throughout the process, and the original physical properties of the parts are maintained; 3. good size adaptability: especially suitable for the assembly operation of small parts with an outer diameter of less than 250mm, and the equipment investment cost is relatively low.

[0003] In the prior art, the bushing press-fitting plays an important role in the assembly of mechanical parts. After the bushing is press-fitted in the hole of the mechanical part, the friction, wear, vibration and noise can be reduced, and the necessary protection and sealing effect can be provided. By reducing the direct contact between the shaft and the hole diameter, the friction and wear are reduced, thereby prolonging the service life of the parts; the use of the bushing can significantly reduce the vibration and noise of the mechanical equipment, provide a more stable operating environment, simplify the structure and manufacturing process of the mechanical equipment, facilitate the maintenance and maintenance of the parts, and also have the sealing and lubricating effect. At present, many production workshops use manual taking and placing of materials. This method is time-consuming and labor-intensive, and is prone to cause low-temperature injury, suffocation risk and pressure explosion of personnel. SUMMARY

[0004] (I) Technical problems to be solved

[0005] In view of the shortcomings of the prior art, the application provides a taking and placing device in a liquid nitrogen environment and a working method. The device is installed on the main frame and cooperates with the liquid nitrogen storage to realize efficient and stable taking and placing operation in the liquid nitrogen environment, and solves the technical problems of risk in the prior art.

[0006] (II) Technical scheme

[0007] In order to achieve the above object, the present application provides the following technical scheme: a kind of liquid nitrogen environment under material taking and placing device, including main frame, the upper end support of the main frame is installed and is provided with vertical plate, a plurality of material taking and placing mechanisms 3 are installed and arranged in parallel on the vertical plate, liquid nitrogen reservoir is installed and arranged above the bottom of the main frame and below a plurality of the material taking and placing mechanism, bushing screening assembly is installed and arranged on the vertical plate and at one side of a plurality of the material taking and placing mechanism;

[0008] The material taking and placing mechanism includes a pair of L-shaped connectors fixedly installed on the vertical plate, a slide table cylinder is installed and arranged between the two L-shaped connectors, a plurality of sliding blocks are slidably installed on the slide table cylinder, a vertical mounting plate is installed and arranged on a plurality of the sliding blocks, a horizontal mounting plate is installed and arranged at the bottom of the vertical mounting plate, a vertical connecting plate is installed and arranged on the lower side of the horizontal mounting plate, a bushing carrier plate is installed and arranged at the lower end surface of the vertical connecting plate, and a bushing positioning member is installed and arranged on the bushing carrier plate.

[0009] Further, the main frame includes a bottom frame, a vertical frame is installed and arranged on the bottom frame, and the liquid nitrogen reservoir is fixedly installed on the bottom frame.

[0010] Further, a plurality of long slot installation grooves are formed in the vertical plate, a plurality of the material taking and placing mechanisms are installed on the vertical plate through the respective L-shaped connectors, and the slide table cylinder is installed in the long slot installation groove.

[0011] Further, a long slot sliding groove is formed in the vertical mounting plate, a hydraulic buffer block is connected and installed in the long slot sliding groove through a positioning pin shaft, the hydraulic buffer assembly is slidably installed on the slide table cylinder, a pair of hydraulic buffers are installed and arranged on one side of the long slot installation groove on the vertical plate, the sliding stroke of the hydraulic buffer block in the long slot sliding groove is located between the two hydraulic buffers, and a position detection sensor is installed and arranged above the material taking and placing mechanism on the vertical plate.

[0012] Further, a triangular rib plate is fixedly connected between the vertical mounting plate and the horizontal mounting plate.

[0013] Further, the liquid nitrogen reservoir includes a plurality of legs installed and arranged on the main frame, a freezing box is installed and arranged on a plurality of the legs, and a reservoir opening through which the bushing carrier plate of the material taking and placing mechanism can enter is formed in the freezing box.

[0014] Further, the bushing screening assembly comprises a fixed plate fixedly installed on the vertical plate, a long strip profile is installed on the fixed plate, a backing plate is installed below the front end of the profile, a code scanner, preferably a 3D camera, is installed below the backing plate.

[0015] Further, an unqualified part discharging device is placed on one side of the bottom surface of the main frame, the unqualified part discharging device comprises an aluminum profile support, adjustable feet are installed on the four bottom feet of the aluminum profile support, a recycling material collecting box is installed on the aluminum profile support in an inclined manner, a cover plate is installed on the recycling material collecting box, and a photoelectric sensor is installed on one side of the upper end of the inclined recycling material collecting box.

[0016] Further, a foot adjusting assembly is installed at the bottom of the main frame, the foot adjusting assembly comprises a foot bottom plate installed at the bottom of the main frame, a limiting stud is installed on the foot bottom plate, and an adjusting bolt is installed on the limiting stud.

[0017] To achieve the above-mentioned purpose, the present application also provides the following technical solutions:

[0018] A working method of a liquid nitrogen environment material taking and placing device is used for the above-mentioned liquid nitrogen environment material taking and placing device, and comprises the following steps:

[0019] S1, code scanning: the robot grasps the to-be-processed bushing and accurately places it at a predetermined position below the code scanner of the bushing screening assembly, and the code scanner automatically scans and reads the unique code information on the bushing;

[0020] S2, material placing or recycling: if the code scanning is successful and the information is confirmed to be valid, the bushing is sequentially transferred and placed on the bushing positioning part of the corresponding material taking and placing mechanism according to the system instruction; if the code scanning does not read the information, the bushing is transferred into the recycling material collecting box of the unqualified part discharging device;

[0021] S3, material falling and cooling: after the bushing positioning parts of the plurality of material taking and placing mechanisms are all placed with the bushings, the corresponding slide table cylinder is started after receiving the material placing completion signal, drives the slide block, the vertical mounting plate, the horizontal mounting plate, the vertical connecting plate and the bushing loading plate to move downward along the long strip installation groove on the vertical plate stably, in this process, the hydraulic buffer block moves downward to touch the hydraulic buffer to play a buffering role, so as to ensure the stable operation of the mechanism, the in-place detection sensor monitors the position in real time, when the bushing loading plate carrying the bushing is completely immersed in the specified depth of the refrigeration box of the liquid nitrogen storage, the cylinder stops moving, and the bushing is completely immersed in the liquid nitrogen to start cooling;

[0022] S4, material resetting: according to the preset cooling time, the program automatically controls the sliding table cylinder to move upward smoothly, the liner carrier plate and the cooled liner thereon are lifted from the liquid nitrogen smoothly until the initial fixed height position, that is, the initial feeding position in S2, in the process, the hydraulic buffer block moves upward and touches the hydraulic buffer to play a buffering role, ensuring the smooth operation of the mechanism, when the liner carrier plate carrying the liner returns to the initial position is detected by the in-place detection sensor, the cylinder stops moving;

[0023] S5, cooling piece moving: after receiving the liner lifting in-place signal, the manipulator moves to the station, grabs the liner which has completed the liquid nitrogen cooling, and transports it to the next process for subsequent processing.

[0024] S6, cycle operation: repeat S1-S5 to perform the next batch of liner feeding and discharging in the liquid nitrogen environment.

[0025] (Three) beneficial effects

[0026] Compared with the prior art, the present application provides a feeding and discharging device in a liquid nitrogen environment and a working method, which has the following beneficial effects:

[0027] 1. Through the intelligent cooperation of the high-precision code scanner and the six-axis manipulator, based on the preset image recognition algorithm, the unique code information on the surface of the liner can be accurately identified and automatically compared with the standard parameters in the database in real time. Once the unqualified conditions such as size tolerance or surface defects are detected, the manipulator immediately sorts the defective parts into a special recycling material collection box, and the whole process does not need manual visual inspection, which significantly reduces human intervention and misjudgment rate, and improves the liner screening accuracy to more than 99.8%.

[0028] 2. The feeding and discharging mechanism and the liquid nitrogen storage are innovatively designed in an integrated and compact manner, which shortens the circulation path of the material from the code scanning station to the liquid cooling station, accurately controls the immersion speed, depth and lifting trajectory of the liner in the liquid nitrogen storage through the dynamic cooperation of the high-precision sliding table cylinder and the hydraulic buffer, and ensures uniform cooling of the workpiece in the-196℃ environment without air bubbles. The feeding and discharging device in the liquid nitrogen environment completely replaces manual operation from liner feeding, information identification, automatic sorting, liquid nitrogen immersion to finished product feeding, completely eliminates the risk of manual contact with ultra-low temperature medium for feeding, and provides work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a first perspective view of the feeding and discharging device in the liquid nitrogen environment of the present application;

[0030] Figure 2 It is a second perspective view of the feeding and discharging device in the liquid nitrogen environment of the present application;

[0031] Figure 3It is a perspective view of the main frame and the vertical plate in the material taking and placing device in the liquid nitrogen environment of the application;

[0032] Figure 4 It is a perspective view of the main frame in the material taking and placing device in the liquid nitrogen environment of the application;

[0033] Figure 5 It is a perspective view of the vertical plate in the material taking and placing device in the liquid nitrogen environment of the application;

[0034] Figure 6 It is a perspective view of the material taking and placing mechanism in the material taking and placing device in the liquid nitrogen environment of the application;

[0035] Figure 7 It is a perspective view of the liquid nitrogen storage in the material taking and placing device in the liquid nitrogen environment of the application;

[0036] Figure 8 It is a perspective view of the bushing screening assembly in the material taking and placing device in the liquid nitrogen environment of the application;

[0037] Figure 9 It is a perspective view of the unqualified part discharging device in the material taking and placing device in the liquid nitrogen environment of the application;

[0038] Figure 10 It is a perspective view of the foot adjusting assembly in the material taking and placing device in the liquid nitrogen environment of the application;

[0039] In the figure: 1, main frame; 101, bottom frame; 102, vertical frame; 2, vertical plate; 201, long installation slot; 3, material taking and placing mechanism; 301, L-shaped connecting piece; 302, sliding table air cylinder; 303, sliding block; 304, vertical installation plate; 305, horizontal installation plate; 306, vertical connecting plate; 307, bushing loading plate; 308, bushing positioning piece; 309, long sliding groove; 310, positioning pin shaft; 311, hydraulic buffer block; 312, hydraulic buffer; 313, in-place detection sensor; 314, triangular rib plate; 4, liquid nitrogen storage; 401, supporting leg; 402, freezer; 403, storage opening; 5, bushing screening assembly; 501, fixed plate; 502, long profile; 503, pad plate; 504, code scanner; 6, unqualified part discharging device; 601, aluminum profile support; 602, adjustable foot; 603, recycled material collection box; 604, cover plate; 605, photoelectric sensor; 606, bushing; 7, foot adjusting assembly; 701, foot bottom plate; 702, limiting stud; 703, adjusting bolt. DETAILED DESCRIPTION

[0040] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort should belong to the protection scope of the present application.

[0041] Embodiment 1

[0042] Please refer to Figures 1-6A kind of liquid nitrogen environment under material taking and placing device, including main frame 1, the upper end support of main frame 1 is installed and is provided with vertical plate 2, multiple material taking and placing mechanisms 3 are installed and provided with parallel on vertical plate 2, these material taking and placing mechanisms 3 are used to efficiently execute the taking and placing operation of material in low temperature environment, the bottom of main frame 1 is installed and is provided with liquid nitrogen reservoir 4 above and below multiple material taking and placing mechanisms 3, liquid nitrogen reservoir 4 provides stable low temperature environment to ensure cooling effect in material processing process, sleeve screening component 5 is installed and provided with on vertical plate 2 and at the side of multiple material taking and placing mechanisms 3, sleeve screening component 5 is responsible for screening and positioning to sleeve;Main frame 1 includes bottom frame 101, vertical frame 102 is installed and provided with on bottom frame 101, liquid nitrogen reservoir 4 is fixedly installed on bottom frame 101, vertical plate 2 is fixedly installed on vertical frame 102, this structure design enhances the rigidity and stability of entire device;Material taking and placing mechanism 3 includes a pair of L-shaped connecting pieces 301 fixedly installed on vertical plate 2, slide table air cylinder 302 is installed and provided with between two L-shaped connecting pieces 301, multiple sliding blocks 303 are slidably installed on slide table air cylinder 302, sliding block 303 can move stably on slide table air cylinder 302 to realize accurate position adjustment, multiple sliding blocks 303 are installed and provided with vertical mounting plate 304, horizontal mounting plate 305 is installed and provided with on the bottom of vertical mounting plate 304, vertical connecting plate 306 is installed and provided with on the lower side of horizontal mounting plate 305, sleeve carrier plate 307 is installed and provided with on the lower end surface of vertical connecting plate 306, sleeve positioning piece 308 is installed and provided with on sleeve carrier plate 307, sleeve positioning piece 308 is used to firmly fix sleeve and prevent falling during taking and placing;Multiple long strip installation grooves 201 are opened in vertical plate 2, multiple material taking and placing mechanisms 3 are installed on vertical plate 2 by each L-shaped connecting piece 301, slide table air cylinder 302 is installed in long strip installation groove 201, long strip installation groove 201 allows the position of slide table air cylinder 302 to be flexibly adjusted as required;Long strip sliding groove 309 is opened in vertical mounting plate 304, hydraulic buffer block 311 is connected and installed in long strip sliding groove 309 by positioning pin shaft 310, hydraulic buffer assembly 311 is slidably installed on slide table air cylinder 302, and plays the role of buffering and shock absorption to protect mechanism from impact;A pair of hydraulic buffers 312 are installed and provided with on vertical plate 2 and at the side of long strip installation groove 201, the sliding stroke of hydraulic buffer block 311 in long strip sliding groove 309 is between two hydraulic buffers 312, hydraulic buffer 312 limits sliding range and absorbs energy in movement, ensure that operation is stable;Arrival detection sensor 313 is installed and provided with on vertical plate 2 and above material taking and placing mechanism 3, arrival detection sensor 313 is used to detect whether vertical mounting plate 304 reaches predetermined position in real time, triangular muscle plate 314 is fixedly connected between vertical mounting plate 304 and horizontal mounting plate 305, triangular muscle plate 314 provides additional support to enhance structural strength and deformation resistance.

[0043] Please refer toFigure 7 The liquid nitrogen storage 4 includes a plurality of legs 401 mounted on the main frame 1, a plurality of freezer boxes 402 are mounted on the plurality of legs 401, a storage opening 403 is opened on the freezer box 402, which can allow the bushing loading plate 307 of the material taking and placing mechanism 3 to enter, the storage opening 403 is designed to allow the bushing loading plate 307 to smoothly enter the inside of the freezer box 402, which is convenient for the material to be cooled and stored in the liquid nitrogen, while ensuring the sealing to maintain the low-temperature environment.

[0044] Please refer to Figure 8 The bushing screening assembly 5 includes a fixed plate 501 mounted on the vertical plate 2, a long profile 502 is mounted on the fixed plate 501, a pad plate 503 is mounted below the front end of the profile 502, a code scanner 504 is mounted below the pad plate 503, the code scanner 504 is preferably a 3D camera, the code scanner 504 is used for high-precision scanning and identification of the bushing, the pad plate 503 provides stable support to ensure that the lens of the code scanner 504 is aligned with the target, and the length of the profile 502 allows the assembly to be adjusted in the horizontal direction to adapt to bushings of different sizes.

[0045] Please refer to Figure 1 and Figure 9 An unqualified part unloading device 6 is placed on one side of the bottom surface of the main frame 1, the unqualified part unloading device 6 includes an aluminum profile bracket 601, four bottom feet of the aluminum profile bracket 601 are mounted with adjustable feet 602, the adjustable feet 602 facilitate adjustment of the height and levelness of the device, the aluminum profile bracket 601 is mounted with a recovery material collection box 603 in an inclined manner, the recovery material collection box 603 is mounted with a cover plate 604, the cover plate 604 prevents the material from scattering during collection, and a photoelectric sensor 605 is mounted on one side of the top end of the inclined recovery material collection box 603, the photoelectric sensor 605 is used to detect whether the recovered bushing 606 enters the collection box 603 and triggers the unloading action.

[0046] Please refer to Figure 10 A foot adjusting assembly 7 is mounted at the bottom of the main frame 1, the foot adjusting assembly 7 includes a foot bottom plate 701 mounted at the bottom of the main frame 1, a limiting stud 702 is mounted on the foot bottom plate 701, an adjusting bolt 703 is mounted on the limiting stud 702, the adjusting bolt 703 allows the user to rotate and adjust the height and horizontal position of the main frame 1, the limiting stud 702 limits the adjustment range to prevent excessive movement, and ensures that the entire device remains stable and balanced during operation.

[0047] In summary, the device realizes efficient and stable material taking and placing operation in liquid nitrogen environment through the cooperation of the plurality of material taking and placing mechanisms 3 installed on the main frame 1 and the liquid nitrogen storage. Specifically, the combination of the sliding table air cylinder 302 and the hydraulic buffer assembly 311 effectively reduces vibration and impact during movement, ensuring accurate positioning of the bushing carrier plate 307; the in-place detection sensor 313 monitors the position of the vertically installed plate 304 in real time, improving the reliability and automation level of the operation; the storage opening 403 of the liquid nitrogen storage 4 is designed to facilitate the smooth entry and exit of the bushing carrier plate 307, optimizing the material processing process in a low-temperature environment. At the same time, the code scanner 504 (preferably a 3D camera) of the bushing screening assembly 5 can automatically identify the quality of the bushing, and cooperate with the unqualified part unloading device 6 to realize rapid sorting and recycling, reducing manual intervention; the limiting stud 702 and adjusting bolt 703 of the foot adjusting assembly 7 facilitate overall leveling of the equipment, enhancing the stability and adaptability of the system. These designs significantly improve production efficiency, reduce failure rate, and ensure product quality consistency.

[0048] Embodiment 2:

[0049] A working method of a material taking and placing device in a liquid nitrogen environment, for using the material taking and placing device in a liquid nitrogen environment of embodiment 1, comprising the following steps:

[0050] S1, code scanning positioning: the robot grasps the bushing to be processed according to the preset path, and accurately places it under the visual positioning mark of the code scanner 504 of the bushing screening assembly 5, the code scanner 504 automatically scans and reads the unique code information on the surface of the bushing, and transmits the data to the central control system;

[0051] S2, material placing or recycling determination: if the code scanning is successful and the system database confirms that the code information is valid, it is determined as a qualified part, and the robot transfers and accurately places the bushing into the clamping groove of the bushing positioning piece 308 of the idle material taking and placing mechanism 3 according to the instruction of the PLC control system; if the code scanning fails to read valid information or the information verification fails, it is determined as an unqualified part, and the robot transfers the bushing to the recycling collection box 603 of the unqualified part unloading device 6 for temporary storage;

[0052] S3. Material Discharge and Cooling Execution: After qualified bushings are placed on the bushing positioning parts 308 of multiple material handling mechanisms 3, the corresponding slide cylinder 302 starts after receiving the material discharge completion confirmation signal from the system. Controlled by a servo motor, it drives the slider 303, vertical mounting plate 304, horizontal mounting plate 305, vertical connecting plate 306, and bushing carrier plate 307 to move smoothly downwards at a constant speed along the long mounting groove 201 on the vertical plate 2. During this movement, the hydraulic buffer block 311 fixed to the vertical mounting plate 304 moves downwards accordingly, and touches the fixed... The hydraulic buffer 312 on the base generates nonlinear damping force to buffer the impact, effectively absorb kinetic energy, and ensure the smooth operation of the mechanism without impact. At the same time, the position detection sensor 313 installed on the side of the upright plate 2 monitors the position of the bushing carrier plate 307 in real time. When the bushing carrier plate 307 carrying the bushing is completely immersed in the freezing box 402 of the liquid nitrogen storage 4 to a specified depth (usually the bushing is completely submerged 10-15mm below the liquid nitrogen surface), the position detection sensor 313 triggers the position signal, the cylinder stops moving, and the bushing is completely immersed in liquid nitrogen at -196℃ to start the timed cooling according to the process requirements.

[0053] S4. Material Lifting and Reset Control: According to the preset cooling time (e.g., 180 seconds), the central control program automatically triggers a command to control the slide cylinder 302 to supply air in reverse, driving the bushing carrier plate 307 and the cooled bushing on it to be lifted vertically from the liquid nitrogen at a stable speed. During this lifting process, the hydraulic buffer block 311 moves upward with the vertical mounting plate 304 and touches the top-mounted hydraulic buffer 312 when it approaches the upper stop point, achieving flexible buffering again. When the position detection sensor 313 detects that the bushing carrier plate 307 carrying the bushing has accurately returned to the initial material release position (i.e., the fixed height reference point) in step S2, the sensor sends a reset completion signal, the cylinder stops moving and maintains the position lock.

[0054] S5. Cooling component transfer: After receiving the bushing lifting and reset signal from the system, the robot immediately moves to the station and uses a vacuum suction cup clamp to grab the bushing that has completed liquid nitrogen cryogenic treatment and smoothly transport it to the designated next process (such as the assembly station) for subsequent processing.

[0055] S6. Cyclic Operation: After completing the current batch, the system automatically resets, the robot returns to the initial position, and repeats steps S1 to S5 to continuously carry out the material handling and cooling process for the next batch of bushings in a liquid nitrogen environment.

[0056] In summary, the method of the present work significantly improves the efficiency and reliability of the material loading and unloading process in liquid nitrogen environment by integrating an automatic control system and a precision mechanical structure. Specifically, the code scanning and positioning step (S1) combines visual positioning markers and unique code recognition to ensure the accuracy of the liner processing, avoid manual operation errors, and improve the recognition accuracy to more than 99.5%; the material loading or recycling determination step (S2) realizes the automatic isolation of unqualified parts through real-time database verification, reduces material waste and equipment pollution risk, and optimizes the flow efficiency of qualified parts. In the material cooling execution (S3) and material lifting reset control (S4), the cooperation of hydraulic buffer block and buffer, as well as the real-time monitoring of in-place detection sensor, effectively absorbs kinetic energy impact, ensures the vibration-free immersion and smooth lifting of the liner in -196℃ liquid nitrogen, thereby protecting the structural integrity of the liner, prolonging the service life, and the cooling time control accuracy can reach ±1 second. The cooling part material transfer step (S5) uses vacuum chuck clamps to realize fast and lossless transfer, shortens the connection time between processes by about 30%, and improves the overall production line throughput. The cycle operation design (S6) supports continuous batch processing without manual intervention, greatly reduces the operating cost and safety risk, and is suitable for large-scale industrial application scenarios.

[0057] It should be noted that if in this text, such as the relationship between the terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of another identical element in the process, method, article or equipment that includes the element.

[0058] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A material loading and unloading device in liquid nitrogen environment, comprising a main frame (1), characterized in that: The upper end support of the main body frame (1) is provided with a vertical plate (2), a plurality of material taking and placing mechanisms (3) are installed in parallel on the vertical plate (2), a liquid nitrogen storage device (4) is installed above the bottom of the main body frame (1) and below the plurality of material taking and placing mechanisms (3), a bushing screening assembly (5) is installed on one side of the vertical plate (2) and below the plurality of material taking and placing mechanisms (3). The material taking and placing mechanism (3) comprises a pair of L-shaped connecting pieces (301) fixedly installed on the vertical plate (2), a sliding table air cylinder (302) is installed between the two L-shaped connecting pieces (301), a plurality of sliding blocks (303) are slidably installed on the sliding table air cylinder (302), a vertical installation plate (304) is installed on the plurality of sliding blocks (303), a horizontal installation plate (305) is installed at the bottom of the vertical installation plate (304), a vertical connecting plate (306) is installed on the lower side of the horizontal installation plate (305), a bushing carrier plate (307) is installed at the lower end surface of the vertical connecting plate (306), and a bushing positioning piece (308) is installed on the bushing carrier plate (307).

2. The material taking and placing device in liquid nitrogen environment according to claim 1, characterized in that: The main body frame (1) comprises a bottom frame (101), a vertical frame (102) is installed on the bottom frame (101), the liquid nitrogen storage device (4) is fixedly installed on the bottom frame (101), and the vertical plate (2) is fixedly installed on the vertical frame (102).

3. The material taking and placing device in liquid nitrogen environment according to claim 1 or 2, characterized in that: A plurality of long strip installation grooves (201) are formed in the vertical plate (2), the material taking and placing mechanism (3) is installed on the vertical plate (2) through the L-shaped connecting piece (301), and the sliding table air cylinder (302) is installed in the long strip installation groove (201).

4. The material taking and placing device in liquid nitrogen environment according to claim 3, characterized in that: A long strip sliding groove (309) is formed in the vertical installation plate (304), a hydraulic buffer block (311) is connected and installed in the long strip sliding groove (309) through a positioning pin shaft (310), the hydraulic buffer block (311) is slidably installed on the sliding table air cylinder (302), a pair of hydraulic buffers (312) are installed on one side of the long strip installation groove (201) and above the material taking and placing mechanism (3), the sliding stroke of the hydraulic buffer block (311) in the long strip sliding groove (309) is located between the two hydraulic buffers (312), and a position detection sensor (313) is installed above the material taking and placing mechanism (3) and on the vertical plate (2).

5. The material taking and placing device in liquid nitrogen environment according to claim 4, characterized in that: The vertical installation plate (304) and the horizontal installation plate (305) are fixedly connected with a triangular rib plate (314).

6. The material taking and placing device in liquid nitrogen environment according to claim 1, characterized in that: The liquid nitrogen storage device (4) comprises a plurality of supporting legs (401) installed on the main body frame (1), a freezing box (402) is installed on the plurality of supporting legs (401), and a storage device opening (403) is formed in the freezing box (402) to enable the bushing carrier plate (307) of the material taking and placing mechanism (3) to enter.

7. The material taking and placing device in liquid nitrogen environment according to claim 1, characterized in that: The bushing screening assembly (5) comprises a fixed plate (501) fixedly installed on the upright plate (2), a long strip profile (502) is installed on the fixed plate (501), a backing plate (503) is installed below the front end of the profile (502), a code scanner (504), preferably a 3D camera, is installed below the backing plate (503).

8. The material taking and placing device in liquid nitrogen environment according to claim 1, characterized in that: An unqualified piece discharging device (6) is placed on one side of the bottom surface of the main frame (1), the unqualified piece discharging device (6) comprises an aluminum profile support (601), adjustable feet (602) are installed on the four bottom feet of the aluminum profile support (601), a recycling material collecting box (603) is installed on the aluminum profile support (601) in an inclined manner, a cover plate (604) is installed on the recycling material collecting box (603), and a photoelectric sensor (605) is installed on one side of the top end of the inclined recycling material collecting box (603).

9. The material taking and placing device in liquid nitrogen environment according to claim 1, characterized in that: A foot adjusting assembly (7) is installed at the bottom of the main frame (1), the foot adjusting assembly (7) comprises a foot bottom plate (701) installed at the bottom of the main frame (1), a limiting stud (702) is installed on the foot bottom plate (701), and an adjusting bolt (703) is installed on the limiting stud (702).

10. A method for operating a liquid nitrogen environment material loading and unloading device according to any one of claims 1-8. The method comprises the following steps: S1, code scanning: the robot grasps the bushing to be processed and accurately places it at a predetermined position below the code scanner (504) of the bushing screening assembly (5), and the code scanner (504) automatically scans and reads the unique code information on the bushing; S2, discharging or recycling: if the code scanning is successful and the information is confirmed to be valid, the robot transfers and places the bushing on the bushing positioning piece (308) of the corresponding discharging and taking mechanism (3) according to the system instruction; if the code scanning does not read the information, the robot transfers the bushing to the recycling material collecting box (603) of the unqualified piece discharging device (6); S3, discharging and cooling: when the bushing positioning pieces (308) of the plurality of discharging and taking mechanisms (3) are placed with the bushings, the corresponding slide cylinder (302) is started after receiving the discharging completion signal, drives the slide block (303), the vertical mounting plate (304), the horizontal mounting plate (305), the vertical connecting plate (306) and the bushing carrier plate (307) to move downward along the long strip mounting groove (201) on the upright plate (2) stably, in this process, the hydraulic buffer block (311) moves downward to touch the hydraulic buffer (312) to play a buffering role, ensuring the stable operation of the mechanism, and the in-place detection sensor (313) monitors the position in real time, when the bushing carrier plate (307) carrying the bushing is completely immersed in the specified depth of the refrigeration box (402) of the liquid nitrogen storage (4), the cylinder stops moving, and the bushing is completely immersed in the liquid nitrogen to start cooling; S4, material reset: according to the preset cooling time, the program automatically controls the sliding table cylinder (302) to move upward smoothly, lifts the liner carrier plate (307) and the cooled liner on it from the liquid nitrogen smoothly until it returns to the initial fixed height position, that is, the initial feeding position in S2. During this process, the hydraulic buffer block (311) moves upward and touches the hydraulic buffer (312) to play a buffering role, ensuring the smooth operation of the mechanism. When the to-position detection sensor (313) detects that the liner carrier plate (307) carrying the liner returns to the initial position, the cylinder stops moving; S5, cooling piece moving: after the manipulator receives the liner lifting signal, it moves to the station, grabs the liner that has completed the liquid nitrogen cooling, and transports it to the next process for subsequent processing. S6, cycle operation: repeat S1-S5 to perform the next batch of liner taking and feeding in the liquid nitrogen environment.

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