Full-automatic feeding and discharging device of ball valve machining equipment

Abstract

The invention relates to the technical field of ball valve machining and conveying, in particular to a full-automatic feeding and discharging device of ball valve machining equipment, which comprises a conveying table and a mechanical clamping jaw, a guide plate is arranged on the conveying table, and a moving plate driven by a motor to move left and right is slidably assembled in the guide plate; according to the full-automatic feeding and discharging device of the ball valve machining equipment, when the full-automatic feeding and discharging device of the ball valve machining equipment is used, through the linkage design of the conveying unit and the positioning piece, when a single-side valve body is conveyed to a combined station through the moving plate, the valve body is conveyed to the combined station through the positioning piece, and the valve body is conveyed to the combined station through the positioning piece; the posture of the valve body on the other side conveyed by the mechanical clamping jaw is synchronously regulated and controlled, so that the combined bolt holes of the left valve body and the right valve body are automatically aligned, the low-efficiency operation of manual repeated adjustment and alignment is eliminated, the control of descending, positioning and transferring of the single-side valve body is realized through the synergistic effect of the pneumatic bin, the expansion air bag and the regulation and control piece, and the risk of uneven manual operation force is avoided.

Description

Technical Field

[0001] This invention relates to the field of ball valve processing and conveying technology, specifically to a fully automatic loading and unloading device for ball valve machining equipment. Background Technology

[0002] A ball valve is a type of rotary valve whose core opening and closing element is a ball with a through hole. The ball rotates 90 degrees around the valve stem axis to achieve the functions of cutting off, connecting, and regulating the flow of pipeline media. It features a compact structure, minimal flow resistance, rapid opening and closing, and reliable sealing. It is widely used in industrial pipeline systems for water, oil, gas, and corrosive media. Structurally, ball valves can be divided into two categories: integral and split (such as two-stage). Two-stage ball valves use a structure where the left and right valve bodies are manufactured separately and then assembled. For the manufacturing process of two-stage ball valves, after the independent machining of the left and right valve bodies, they need to be precisely assembled to form a complete valve cavity. After the independent machining of the left and right valve bodies and the pre-assembly of their respective internal components (such as sealing rings and valve seats), strict cleaning and inspection are required, including removing machining residues, verifying the integrity of the sealing surfaces and dimensional accuracy, and ensuring no impurities remain or structural damage. The inspected and qualified left and right valve bodies are then transferred to a dedicated assembly station via transfer equipment, where they are finally integrated with the ball, valve stem, and other core components.

[0003] In the ball valve manufacturing process, manual transfer has become the traditional method for loading, unloading, and transferring the left and right valve bodies due to its intuitive operation and adaptability. However, existing technologies have significant bottlenecks: First, manual transfer only supports the handling and transfer of single valve bodies one by one, lacking the ability to simultaneously grasp and coordinate the positioning of two valve bodies. This results in the need for repeated adjustments to the alignment of the left and right valve bodies at the assembly station, greatly reducing the assembly efficiency of the left and right valve bodies. Second, it is difficult to accurately guarantee the force control and stability of manual transfer, making it difficult to meet the damage prevention requirements of key valve body surfaces (such as sealing surfaces). Fluctuations in force or uneven contact during operation can easily cause micro-scratches or deformations, directly affecting the reliability of sealing performance. Therefore, we propose a fully automatic loading and unloading device for ball valve machining equipment. Summary of the Invention

[0004] One of the technical problems this application aims to solve is that mechanical grippers only support single valve body grabbing and transfer in multiple steps, lacking the ability to grab and coordinate dual valve bodies synchronously and position them together. This results in the need for secondary alignment and calibration of the left and right valve bodies at the assembly station, which greatly reduces the assembly efficiency of the left and right valve bodies. Secondly, the rigid structure of traditional mechanical grippers is difficult to be compatible with the damage prevention requirements of key valve body surfaces (such as sealing surfaces).

[0005] To address the aforementioned technical problems, this application provides a fully automatic loading and unloading device for ball valve machining equipment, including a conveyor table and mechanical grippers. A guide plate is provided on the conveyor table, and a movable plate driven by a motor to move left and right is slidably mounted within the guide plate. Two lower plates are installed on the guide plate. A loading unit connected to the movable plate and lower plates is provided on the conveyor table, used to drive the lower plates to lower one side of the valve body onto the surface of the movable plate during machining, thereby transferring one side of the valve body in a two-section valve body to the next process. A conveying unit is provided on the guide plate, used to drive the movable plate to convey the one side of the valve body it carries to a preset assembly station. When the one side of the valve body reaches the assembly station, the positioning and adjustment of the other side of the valve body conveyed by the mechanical grippers are performed to align the bolt holes of the upper and lower valve bodies.

[0006] In some embodiments, the unloading unit includes a placement member disposed on a guide plate, through which a single-sided valve body is lowered to the surface of a moving plate. A power member is disposed on the guide plate to provide power for the placement member to operate. An adjustment control is disposed on the placement member to adjust the position of the combined bolt holes on the single-sided valve body during the descent process.

[0007] In some embodiments, the placement component includes a sliding plate disposed on a conveyor table, the sliding plate being inclined, support plates being disposed on both sides of the guide plate, a through groove being formed in the support plate, and multiple moving grooves being formed on opposite sides of the two support plates, a lifting plate being slidably disposed in the through groove, two extension plates being disposed on the lifting plate, the extension plates passing through the moving grooves and being slidably connected to the moving grooves, and the extension plates being connected to the lower plate, a lifting screw being rotatably disposed in the through groove, the lifting screw passing through the lifting plate and being threadedly connected to the lifting plate.

[0008] In some embodiments, the power component includes a power groove one and a power groove two formed within a guide plate. One end of the lifting screw passes through the power groove one and the power groove two. A pneumatic chamber is provided within the power groove one, and a piston plate is slidably disposed within the pneumatic chamber. A power rack is disposed on the piston plate, and one end of the power rack passes through and is slidably connected to the pneumatic chamber. A power spring is sleeved on one end of the power rack located within the pneumatic chamber. A power shaft is rotatably disposed within the power groove one, and a transmission shaft is rotatably disposed within the power groove one, with one end of the transmission shaft extending into the power groove two. An amplifying gear set that meshes with the power rack is disposed on the power shaft and the transmission shaft. The transmission shaft and the lifting screw... Each rod is equipped with a transmission gear at one end within the second power slot. A transmission belt is fitted onto the transmission gear. An inflatable airbag is mounted on the guide plate and is connected to the pneumatic chamber via a conduit. A compression plate that works in conjunction with the inflatable airbag is mounted on the moving plate. A sliding rod is slidably mounted on the guide plate, with one end of the sliding rod extending into the first power slot. A locking rod is mounted on the end of the sliding rod within the first power slot. A locking block that works in conjunction with the locking rod is mounted on the top of the power rack. A triangular block is mounted on the end of the sliding rod away from the locking rod. A locking spring is fitted onto the end of the sliding rod within the first power slot. Top blocks that work in conjunction with the triangular blocks are mounted on both sides of the moving plate.

[0009] In some embodiments, the adjustment control includes a fixed plate disposed on an extension plate, a telescopic rod disposed on the fixed plate, a push plate disposed on the telescopic rod, a compression spring sleeved on the telescopic rod, and the compression spring being in a compressed state when the lower plate is not descending, and a traction rope disposed on the push plate, the traction rope passing through a guide hole on the fixed plate and connecting to a support plate.

[0010] In some embodiments, the conveying unit includes a locking member disposed on a movable plate, which presses and fixes a valve body on one side of the movable plate. A driving member is disposed on the movable plate, which provides power for the locking member to work. A positioning member is disposed on the guide plate, which positions and controls the valve body on the other side conveyed by the mechanical gripper.

[0011] In some embodiments, the locking member includes a placement groove formed on a movable plate, a plurality of limiting grooves are formed in the placement groove, and a pressing block is slidably disposed in each of the plurality of limiting grooves. An extension rod is disposed on the side of the pressing block opposite to the inner wall of the placement groove. An annular groove is formed in the movable plate, and a locking screw is rotatably disposed in the annular groove. One end of the locking screw extends into the extension rod and is threadedly connected to the extension rod.

[0012] In some embodiments, the driving component includes an annular plate rotatably disposed within an annular groove, the annular plate having a driving tooth groove, a driving gear meshing with the driving tooth groove at one end of the locking screw located within the annular groove, a plurality of linkage teeth circumferentially disposed on the outer side of the annular plate, a plurality of linkage shafts rotatably disposed within the annular groove, the plurality of linkage shafts being respectively located on both sides of the annular plate, a linkage gear meshing with the linkage teeth being disposed on the linkage shaft, linkage racks meshing with the linkage gears being disposed at both ends of the guide plate, and through grooves communicating with the annular groove being provided on both sides of the moving plate for use with the linkage racks.

[0013] In some embodiments, the positioning element includes a positioning plate disposed on a conveyor table. The positioning plate is an L-shaped plate with an adjustment groove. An installation groove is formed in the adjustment groove. Two adjustment rods are disposed in the installation groove, with the two adjustment rods located at opposite ends of the installation groove. A bidirectional lead screw is rotatably disposed in the installation groove. The two ends of the bidirectional lead screw pass through the adjustment rods at both ends of the installation groove and are threadedly connected to the adjustment rods. A knob is rotatably disposed on the positioning plate and is connected to the bidirectional lead screw.

[0014] In some embodiments, the side of the extrusion block that contacts the valve body is arc-shaped.

[0015] The present invention has at least the following beneficial effects:

[0016] The device utilizes a linkage design between the conveying unit and the positioning components. As the moving plate transports one side of the valve body to the assembly station, the position and posture of the other side of the valve body conveyed by the mechanical gripper are simultaneously adjusted. This automatically aligns the bolt holes of the left and right valve bodies, eliminating the inefficient operation of repeated manual adjustments and significantly improving assembly accuracy and efficiency. Meanwhile, the locking components employ a pressing block in conjunction with an adjustable pressure system. When fixing the valve body, the evenly distributed pressure avoids scratches or deformation of the sealing surface caused by force fluctuations during traditional manual handling, ensuring the integrity of critical surfaces. Finally, the unloading unit, through the coordinated action of the pneumatic chamber, the expansion airbag, and the adjustment control, achieves fully automatic closed-loop control of the single-side valve body from descent, positioning, to transfer. This not only avoids the risk of uneven force during manual operation but also overcomes the limitations of processing each valve body individually through mechanical synchronization. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 For the present invention Figure 1 Another structural diagram;

[0019] Figure 3 The diagram below shows a cutaway view of the conveyor table and mechanical gripper structure of this invention.

[0020] Figure 4 This is a schematic diagram of the cross-sectional structure of the guide plate of the present invention;

[0021] Figure 5 This is a schematic diagram of the exploded structure of the placement component of the present invention;

[0022] Figure 6 This is a schematic diagram of the power component structure of the present invention;

[0023] Figure 7 This is a schematic diagram of the explosive structure of the pneumatic chamber of the present invention;

[0024] Figure 8 This is a schematic diagram of the locking component structure of the present invention;

[0025] Figure 9 This is a schematic diagram of the cross-sectional structure of the movable plate of the present invention;

[0026] Figure 10 For the present invention Figure 9 Enlarged structural diagram of area A in the middle;

[0027] Figure 11 This is an exploded structural diagram of the positioning component of the present invention;

[0028] Figure 12 This is a schematic diagram of the structure of Embodiment 2 of the present invention.

[0029] In the diagram: 1. Conveyor table; 2. Mechanical gripper; 3. Guide plate; 4. Moving plate; 5. Lower plate; 6. Unloading unit; 7. Placement component; 71. Sliding plate; 72. Support plate; 73. Through slot; 74. Moving slot; 75. Lifting plate; 76. Extension plate; 77. Lifting screw; 8. Power component; 81. Power slot one; 82. Power slot two; 83. Pneumatic chamber; 84. Piston plate; 85. Power rack; 86. Power spring; 87. Power shaft; 88. Transmission shaft; 89. Amplifying gear set; 810. Transmission gear; 811. Transmission belt; 812. Inflatable airbag; 813. Extrusion plate; 814. Sliding rod; 815. Triangular block; 816. Locking rod; 817. Locking block; 818. Locking spring 819. Top block; 9. Adjustment control; 91. Fixing plate; 92. Telescopic rod; 93. Push plate; 94. Compression spring; 95. Traction rope; 10. Conveying unit; 11. Locking component; 111. Placement slot; 112. Limiting slot; 113. Extrusion block; 114. Extension rod; 115. Annular slot; 116. Locking screw; 12. Driving component; 121. Annular plate; 122. Driving gear groove; 123. Driving gear; 124. Linkage tooth; 125. Linkage shaft; 126. Linkage gear; 127. Linkage rack; 128. Through slot; 13. Positioning component; 131. Positioning plate; 132. Adjustment slot; 133. Mounting slot; 134. Adjustment rod; 135. Two-way screw; 136. Knob. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Example 1: Please refer to Figures 1-11 This invention provides a technical solution: a fully automatic loading and unloading device for ball valve machining equipment, including a conveyor table 1 and a mechanical gripper 2. The conveyor table 1 is provided with a guide plate 3, and a moving plate 4 driven by a motor to move left and right is slidably assembled inside the guide plate 3. Two lower plates 5 are installed on the guide plate 3. The conveyor table 1 is provided with a loading unit 6 connected to the moving plate 4 and the lower plates 5, which is used to drive the lower plates 5 to lower one side of the valve body to the surface of the moving plate 4 during the processing, so as to realize the transfer of one side of the valve body in the two-section valve body to the next process. The guide plate 3 is provided with a conveying unit 10, which is used to drive the moving plate 4 to convey the one side of the valve body it carries to a preset assembly station. When the one side of the valve body reaches the assembly station, the other side of the valve body conveyed by the mechanical gripper 2 is positioned and adjusted so that the assembly bolt holes of the upper and lower valve bodies are aligned.

[0032] The unloading unit 6 includes a placement component 7 disposed on the guide plate 3. The placement component 7 lowers the single-sided valve body to the surface of the moving plate 4. The guide plate 3 is provided with a power component 8, which provides power for the placement component 7 to work. The placement component 7 is provided with an adjustment control 9, which adjusts the position of the combined bolt hole on the single-sided valve body during the descent.

[0033] The placement component 7 includes a sliding plate 71 mounted on the conveyor table 1. The sliding plate 71 is inclined. Support plates 72 are provided on both sides of the guide plate 3. A through groove 73 is provided in the support plate 72. Multiple moving grooves 74 are provided on opposite sides of the two support plates 72. A lifting plate 75 is slidably mounted in the through groove 73. Two extension plates 76 are provided on the lifting plate 75. The extension plates 76 pass through the moving grooves 74 and are slidably connected to the moving grooves 74. The extension plates 76 are also connected to the lower plate 5. A lifting screw 77 is rotatably mounted in the through groove 73. The lifting screw 77 passes through the lifting plate 75 and is threadedly connected to the lifting plate 75.

[0034] The power component 8 includes a first power slot 81 and a second power slot 82 formed within the guide plate 3. One end of the lifting screw 77 passes through the first power slot 81 and the second power slot 82. A pneumatic chamber 83 is provided within the first power slot 81. A piston plate 84 is slidably disposed within the pneumatic chamber 83. A power rack 85 is disposed on the piston plate 84. One end of the power rack 85 passes through the pneumatic chamber 83 and is slidably connected to it. A power spring 86 is sleeved on one end of the power rack 85 located within the pneumatic chamber 83. A power shaft 87 is rotatably disposed within the first power slot 81. A transmission shaft 88 is rotatably disposed within the first power slot 81, and one end of the transmission shaft 88 extends into the second power slot 82. An amplifying gear set 89 that meshes with the power rack 85 is disposed on the power shaft 87 and the transmission shaft 88. One end of the transmission shaft 88 and the lifting screw 77 are located within the second power slot 82. Each component is equipped with a transmission gear 810, on which a transmission toothed belt 811 is fitted. An inflatable airbag 812 is mounted on the guide plate 3, and the inflatable airbag 812 is connected to the pneumatic chamber 83 via a conduit. A compression plate 813 is mounted on the moving plate 4 to cooperate with the inflatable airbag 812. A sliding rod 814 is slidably mounted on the guide plate 3, with one end of the sliding rod 814 extending into the power groove 81. A locking rod 816 is mounted on the end of the sliding rod 814 located within the power groove 81. A locking block 817 is mounted on the top of the power rack 85 to cooperate with the locking rod 816. A triangular block 815 is mounted on the end of the sliding rod 814 away from the locking rod 816. A locking spring 818 is mounted on the end of the sliding rod 814 located within the power groove 81. Top blocks 819 are mounted on both sides of the moving plate 4 to cooperate with the triangular blocks 815.

[0035] During valve body unloading and transfer, the pre-treated single-sided valve body moves with the conveyor belt between the two sliding plates 71. Constrained by the flange boss on the valve body, the valve body is confined between the two sliding plates 71 and slides onto the lower plate 5 under gravity. When the moving plate 4 moves directly below the valve body, the pressing plate 813 on it simultaneously presses the expansion bladder 812. The pressure on the expansion bladder 812 causes gas inside to enter the pneumatic chamber 83 through a conduit. Once inside the pneumatic chamber 83, the gas pushes the piston plate 84, causing the power rack 85 to overcome the elastic force of the power spring 86. When the power rack 85 moves, it drives the amplifying gear set 89 on the power shaft 87 and the transmission shaft 88 to rotate. The rotation of the amplifying gear set 89 drives the transmission shaft 88 to rotate synchronously. When the transmission shaft 88 rotates, it drives the transmission gear 810 set on it to rotate. When the transmission gear 810 rotates, it drives the transmission gear 810 set on the lifting screw 77 to rotate through the transmission belt 811, thereby driving the two lifting screws 77 to rotate. When the lifting screws 77 rotate, they drive the lifting plate 75 and the extension plate 76 to descend, which in turn drives the lower plate 5 connected to the extension plate 76 to descend the valve body on one side until the valve body falls on the moving plate 4.

[0036] During the extension process, the power rack 85 will contact the locking rod 816 and push the locking rod 816 through the wedge-shaped locking block 817 at the top of the power rack 85 until the locking block 817 passes the locking rod 816 and is limited by the locking rod 816. When the moving plate 4 drives the valve body to move, it will drive the top block 819 set on it to move synchronously. During the movement, the top block 819 pushes the triangular block 815 to rise, so that the locking rod 816 releases the limitation on the locking block 817. At this time, the power rack 85 is reset under the push of the power spring 86, thereby driving the lower plate 5 to rise and reset synchronously.

[0037] By cooperating with the inclined sliding plate 71 and the gravity self-positioning structure, the valve body is automatically aligned and limited during the transmission process, eliminating the positional deviation caused by manual placement. The pneumatic chamber 83 and the inflatable air bladder 812 constitute a pressure sensing triggering system, which accurately converts the displacement of the moving plate 4 into gas pressure changes, driving the piston plate 84 to push the power rack 85. The linear motion is converted into the synchronous rotation of the lifting screw 77 through the amplified gear set 89 and the transmission belt 811, ensuring that the lower plate 5 descends smoothly and vertically, avoiding the risk of uneven force and collision during manual handling. The self-locking reset mechanism composed of the locking rod 816 and the power spring 86 locks the stroke through the wedge-shaped locking block 817 when the power rack 85 extends. After the valve body is transferred, the top block 819 triggers the triangular block 815 to release the limit, so that the lower plate 5 automatically resets, forming a non-interventional operation cycle. The design has created zero-contact and positioning capabilities throughout the valve body transfer process, solving systemic defects such as scratches on the sealing surface, low alignment efficiency, and poor reset consistency caused by manual operation.

[0038] The adjustment control 9 includes a fixed plate 91 disposed on the extension plate 76, a telescopic rod 92 disposed on the fixed plate 91, a push plate 93 disposed on the telescopic rod 92, a compression spring 94 sleeved on the telescopic rod 92, and the compression spring 94 being in a compressed state when the lower plate 5 is not lowered, and a traction rope 95 disposed on the push plate 93, the traction rope 95 passing through the guide hole on the fixed plate 91 and connecting to the support plate 72.

[0039] As the lower plate 5 descends, the distance between the connection point of the traction rope 95 and the support plate 72 and the push plate 93 decreases. At this time, the pressure on the compression spring 94 sleeved on the telescopic rod 92 decreases, thereby pushing the push plates 93 on the two lower plates 5 to move towards each other. When the push plate 93 moves, it will contact the flange boss on the valve body and push the square flange boss to deflect, thereby causing the combination bolt holes on the valve body to automatically deflect and maintain the same position, which is convenient for the subsequent assembly of the valve bodies at both ends.

[0040] As the valve descends, the distance between the connection point of the traction rope 95 and the support plate 72 shortens, releasing the preload of the compression spring 94. The push plate 93 moves towards the flange under the action of the spring's restoring force, actively contacting the flange boss and applying a precise lateral thrust, forcing the valve body to deflect around the axis. This process, through the wedge-shaped action of the flange boss's geometric surface and the push plate 93, converts the linear thrust into rotational torque, enabling the valve body to simultaneously complete circumferential angle self-correction during descent. This ensures that the combined bolt holes always maintain the preset orientation. This design converts gravitational potential energy into positioning driving force, forming a closed-loop control system without power input. It solves the efficiency bottleneck and orientation error problem of manually adjusting the valve body angle, laying the foundation for subsequent automatic alignment and assembly of dual valve bodies.

[0041] The conveying unit 10 includes a locking member 11 disposed on the moving plate 4, which presses and fixes a valve body on one side of the moving plate 4. A driving member 12 is disposed on the moving plate 4, which provides power for the locking member 11. A positioning member 13 is disposed on the guide plate 3, which positions and adjusts the valve body on the other side conveyed by the mechanical gripper 2.

[0042] The locking component 11 includes a placement groove 111 formed on the movable plate 4. The placement groove 111 has multiple limiting grooves 112 formed therein. Each of the multiple limiting grooves 112 has a pressing block 113 slidably disposed therein. An extension rod 114 is provided on the side of the pressing block 113 opposite to the inner wall of the placement groove 111. An annular groove 115 is formed in the movable plate 4. A locking screw 116 is rotatably disposed in the annular groove 115. One end of the locking screw 116 extends into the extension rod 114 and is threadedly connected to the extension rod 114.

[0043] The driving component 12 includes an annular plate 121 rotatably disposed within an annular groove 115. The annular plate 121 has a driving tooth groove 122. The locking screw 116 is located within the annular groove 115 and has a driving gear 123 at one end that meshes with the driving tooth groove 122. The annular plate 121 has multiple connecting teeth 124 circumferentially disposed on its outer side. Multiple connecting shafts 125 are rotatably disposed within the annular groove 115. The multiple connecting shafts 125 are located on both sides of the annular plate 121. The connecting shafts 125 are provided with connecting gears 126 that mesh with the connecting teeth 124. Both ends of the guide plate 3 are provided with connecting racks 127 that mesh with the connecting gears 126. Both sides of the moving plate 4 have through grooves 128 that cooperate with the connecting racks 127. The through grooves 128 are connected to the annular groove 115.

[0044] When the movable plate 4 moves, it drives the connecting gear 126 mounted on it to move synchronously. As the connecting gear 126 moves, it meshes with the connecting rack 127 at the starting end of the guide plate 3, thereby pushing the connecting gear 126 to rotate. The rotation of the connecting gear 126 drives the connecting teeth 124 meshing with it to rotate, which in turn drives the annular plate 121 connected to the connecting teeth 124 to rotate. The rotation of the annular plate 121 drives the drive tooth groove 122 to rotate, further driving multiple drive gears 123 to rotate, thus driving... The rotation of gear 123 drives the locking screw 116 to rotate. The rotation of locking screw 116 drives the extension rod 114 and the pressing block 113 to move towards the center. Multiple pressing blocks 113 move towards the center simultaneously to fix the valve body and prevent the valve body from shifting during the movement. When the moving plate 4 moves the valve body on one side to the assembly station, the connecting gear 126 on the other side of the annular plate 121 meshes with the connecting rack 127 at the end of the guide plate 3, thereby driving the pressing block 113 to reset and release the limit on the valve body.

[0045] The linear displacement of the moving plate 4 is converted into rotational motion through the meshing of the connecting gear 126 and the fixed rack, driving the annular plate 121 to rotate circumferentially. The annular plate 121 drives all the locking screws 116 to rotate synchronously through the driving tooth groove 122, converting the circumferential motion into the radial linear displacement of multiple extrusion blocks 113, realizing the multi-directional synchronous clamping of the valve body in the placement groove 111. The end rack triggers the reverse rotation to achieve automatic reset, forming a closed-loop control of "movement is clamping, and positioning is releasing". This design transforms the conveying process into a clamping force generation source, completing dynamic locking and releasing without independent power input, eliminating the risk of force deviation and reset omissions in manual tightening.

[0046] The positioning component 13 includes a positioning plate 131 disposed on the conveyor table 1. The positioning plate 131 is an L-shaped plate. An adjustment groove 132 is formed on the positioning plate 131. An installation groove 133 is formed in the adjustment groove 132. Two adjustment rods 134 are disposed in the installation groove 133. The two adjustment rods 134 are respectively located at both ends of the installation groove 133. A bidirectional lead screw 135 is rotatably disposed in the installation groove 133. Both ends of the bidirectional lead screw 135 pass through the adjustment rods 134 at both ends of the installation groove 133 and are threadedly connected to the adjustment rods 134. A knob 136 is rotatably disposed on the positioning plate 131 and is connected to the bidirectional lead screw 135.

[0047] When the moving plate 4 moves the valve body on one side to directly below the positioning plate 131, it will stop moving. At this time, the mechanical gripper 2 will move the valve body on the other side, aligning the bolt holes on the flange bosses of the two valve bodies. When the valve body on the other side moves, it will be limited by the adjusting rod 134, causing the square flange boss to rotate and keep its position consistent with the flange boss on the bottom valve body, thus facilitating subsequent assembly.

[0048] The L-shaped positioning plate 131 provides a vertical reference surface for the valve body, ensuring initial positioning stability. The symmetrical transmission system composed of the bidirectional lead screw 135 and the adjusting rod 134 precisely controls the relative or opposite displacement of the two adjusting rods 134 through the input of the knob 136, forming an adjustable guide channel. When the valve body conveyed by the mechanical gripper 2 enters the channel, its flange boss side contacts the adjusting rod 134. Under the action of the inertial force of continuous movement, the adjusting rod 134 applies a tangential thrust to the boss, converting the linear constraint into a rotational torque, forcing the valve body to rotate around the axis. This process dynamically corrects the circumferential angle of the valve body through the wedge-shaped fit between the geometric surface of the boss and the adjusting rod 134 until the orientation of its combined bolt hole is aligned with the bottom valve body, converting passive limiting into active correction. It achieves autonomous coordination of the spatial posture of the two valve bodies without the need for sensors or external power, eliminating the angle deviation and efficiency bottleneck of manual adjustment.

[0049] Example 2: Please refer to Figure 12 The present invention provides a technical solution: the side of the extrusion block 113 that contacts the valve body is arc-shaped, and the arc-shaped curved surface forms a continuous fit with the cylindrical outer wall of the valve body, which significantly increases the effective contact area, so that the clamping force is evenly distributed. The curved surface adapts to the contour of the valve body, avoiding micro-cracks or plastic deformation of the sealing surface due to excessive local pressure at the corners or edges during clamping. At the same time, the curved surface contact increases the friction coefficient, and combined with the uniform clamping force, it effectively resists the displacement of the valve body caused by inertial impact or vibration during the transfer process.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0051] Although embodiments of the invention 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 to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A fully automatic loading and unloading device for ball valve machining equipment, comprising a conveyor table (1) and mechanical grippers (2), characterized in that: The conveying table (1) is provided with a guide plate (3), and a moving plate (4) driven by a motor to move left and right is slidably assembled inside the guide plate (3); two lower plates (5) are installed on the guide plate (3), and a feeding unit (6) connected to the moving plate (4) and the lower plate (5) is provided on the conveying table (1) for driving the lower plate (5) to lower the single-sided valve body to the surface of the moving plate (4) during the processing, so as to realize the transfer of the single-sided valve body in the two-section valve body to the next process. The guide plate (3) is provided with a conveying unit (10) for driving the moving plate (4) to convey the single-sided valve body it carries to the preset combination station, and when the single-sided valve body reaches the combination station, the positioning and adjustment of the other side valve body conveyed by the mechanical gripper (2) is performed so that the combination bolt holes of the upper and lower valve bodies are aligned.

2. The fully automatic loading and unloading device for ball valve machining equipment according to claim 1, characterized in that: The unloading unit (6) includes a placement component (7) set on the guide plate (3). The single-sided valve body is lowered to the surface of the moving plate (4) by the placement component (7). The guide plate (3) is provided with a power component (8) to provide power for the placement component (7) to work. The placement component (7) is provided with an adjustment control (9) to adjust the position of the combined bolt hole on the single-sided valve body during the descent process by the adjustment control (9).

3. The fully automatic loading and unloading device for ball valve machining equipment according to claim 2, characterized in that: The placement component (7) includes a sliding plate (71) set on the conveyor table (1). The sliding plate (71) is inclined. Support plates (72) are set on both sides of the guide plate (3). A through groove (73) is opened in the support plate (72). Multiple moving grooves (74) are set on opposite sides of the two support plates (72). A lifting plate (75) is slidably set in the through groove (73). Two extension plates (76) are set on the lifting plate (75). The extension plate (76) passes through the moving groove (74) and is slidably connected to the moving groove (74). The extension plate (76) is connected to the lower plate (5). A lifting screw (77) is rotatably set in the through groove (73). The lifting screw (77) passes through the lifting plate (75) and is threadedly connected to the lifting plate (75).

4. The fully automatic loading and unloading device for ball valve machining equipment according to claim 3, characterized in that: The power component (8) includes a power slot one (81) and a power slot two (82) formed in the guide plate (3). One end of the lifting screw (77) passes through the power slot one (81) and the power slot two (82). A pneumatic chamber (83) is provided in the power slot one (81). A piston plate (84) is slidably arranged in the pneumatic chamber (83). A power rack (85) is provided on the piston plate (84). One end of the power rack (85) passes through the pneumatic chamber (83) and is slidably connected to the pneumatic chamber (83). A power rack (85) is located inside the pneumatic chamber (83), with a power spring (86) fitted at one end. A power shaft (87) is rotatably mounted inside the first power slot (81), and a transmission shaft (88) is rotatably mounted inside the first power slot (81). One end of the transmission shaft (88) extends into the second power slot (82). An amplifying gear set (89) that meshes with the power rack (85) is mounted on the power shaft (87) and the transmission shaft (88). The transmission shaft (88) and the lifting screw (77) are located in the second power slot (82). One end of each component is provided with a transmission gear (810), and a transmission belt (811) is fitted on the transmission gear (810). An inflatable airbag (812) is provided on the guide plate (3), and the inflatable airbag (812) is connected to the pneumatic chamber (83) through a conduit. A compression plate (813) is provided on the moving plate (4) to cooperate with the inflatable airbag (812). A sliding rod (814) is slidably provided on the guide plate (3), and one end of the sliding rod (814) extends into the power slot (81). A locking rod (816) is provided at one end of the moving rod (814) located in the first power groove (81). A locking block (817) is provided at the top of the power rack (85) to cooperate with the locking rod (816). A triangular block (815) is provided at the end of the sliding rod (814) away from the locking rod (816). A locking spring (818) is sleeved on one end of the sliding rod (814) located in the first power groove (81). Top blocks (819) are provided on both sides of the moving plate (4) to cooperate with the triangular block (815).

5. The fully automatic loading and unloading device for ball valve machining equipment according to claim 4, characterized in that: The adjustment control (9) includes a fixed plate (91) set on the extension plate (76), a telescopic rod (92) set on the fixed plate (91), a push plate (93) set on the telescopic rod (92), a compression spring (94) sleeved on the telescopic rod (92), and the compression spring (94) is in a compressed state when the lower plate (5) is not lowered. A traction rope (95) is set on the push plate (93), and the traction rope (95) passes through the guide hole on the fixed plate (91) and connects to the support plate (72).

6. The fully automatic loading and unloading device for ball valve machining equipment according to claim 5, characterized in that: The conveying unit (10) includes a locking member (11) disposed on the moving plate (4), which presses and fixes the valve body on one side of the moving plate (4). The moving plate (4) is provided with a driving member (12), which provides power for the locking member (11) to work. The guide plate (3) is provided with a positioning member (13), which positions and controls the valve body on the other side conveyed by the mechanical gripper (2).

7. The fully automatic loading and unloading device for ball valve machining equipment according to claim 6, characterized in that: The locking component (11) includes a placement groove (111) opened on the movable plate (4). Multiple limiting grooves (112) are opened in the placement groove (111). Each of the multiple limiting grooves (112) is slidably arranged with a pressing block (113). An extension rod (114) is arranged on the side opposite to the inner wall of the placement groove (111) of the pressing block (113). An annular groove (115) is opened in the movable plate (4). A locking screw (116) is rotatably arranged in the annular groove (115). One end of the locking screw (116) extends into the extension rod (114) and is threadedly connected to the extension rod (114).

8. The fully automatic loading and unloading device for ball valve machining equipment according to claim 7, characterized in that: The driving component (12) includes an annular plate (121) rotatably disposed within an annular groove (115). A driving tooth groove (122) is provided on the annular plate (121). A locking screw (116) is located within the annular groove (115), with one end having a driving gear (123) meshing with the driving tooth groove (122). Multiple connecting teeth (124) are circumferentially arranged on the outer side of the annular plate (121). Multiple connecting shafts (125) are rotatably disposed within the annular groove (115). Multiple connecting shafts (125) are located on both sides of the annular plate (121). The connecting shafts (125) are provided with connecting gears (126) that mesh with connecting teeth (124). Both ends of the guide plate (3) are provided with connecting racks (127) that mesh with the connecting gears (126). Both sides of the moving plate (4) are provided with through grooves (128) that cooperate with the connecting racks (127). The through grooves (128) are connected to the annular groove (115).

9. The fully automatic loading and unloading device for ball valve machining equipment according to claim 8, characterized in that: The positioning component (13) includes a positioning plate (131) set on the conveyor table (1). The positioning plate (131) is an L-shaped plate. An adjustment groove (132) is opened on the positioning plate (131). An installation groove (133) is opened in the adjustment groove (132). Two adjustment rods (134) are set in the installation groove (133). The two adjustment rods (134) are located at both ends of the installation groove (133). A double-acting screw (135) is rotatably set in the installation groove (133). The two ends of the double-acting screw (135) pass through the adjustment rods (134) at both ends of the installation groove (133) and are threadedly connected to the adjustment rods (134). A knob (136) is rotatably set on the positioning plate (131). The knob (136) is connected to the double-acting screw (135).

10. The fully automatic loading and unloading device for ball valve machining equipment according to claim 9, characterized in that: The side of the extrusion block (113) that contacts the valve body is arc-shaped.

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