Central driving type dense array valve body flexible feeding table

Abstract

The present application relates to the technical field of valve body processing, and discloses a centralized driving type dense array valve body flexible feeding table, which comprises a rack, a table panel, a supporting array module, a centralized driving module and a control system; the table panel is installed on the top of the rack, and a plurality of through holes are arranged in an array on the table panel; the supporting array module comprises a plurality of supporting columns, the supporting columns are arranged in one-to-one correspondence in the through holes, and are vertically and liftably arranged on the table panel; the centralized driving module is located below the table panel and comprises a three-axis moving mechanism and a rotary driving unit; and the control system is electrically connected with the three-axis moving mechanism and the rotary driving unit respectively. The present application can be compatible with valve bodies of multiple varieties and multiple specifications, and can automatically adjust the supporting posture, thereby solving the problems of poor flexibility, low efficiency or high cost in the prior art.

Description

Technical Field

[0001] This invention relates to the field of valve body processing technology, and more specifically, to a centralized drive dense array flexible loading platform for valve bodies. Background Technology

[0002] In the manufacturing process of large valves, casting is a key step in forming the valve body. After casting, the remaining gating and riser on large valve bodies (usually referring to specifications with a nominal diameter of DN150 or larger) need to be removed. Given that the castings are mostly made of carbon steel or alloy steel, and the gating and riser are relatively large, the industry currently widely uses flame cutting for thermal separation, a mature and highly efficient process.

[0003] However, the application scenarios involved in this solution are highly complex and discrete. The production line needs to handle a wide variety of valves, including but not limited to ball valves (such as...). Figure 7 As shown), regulating valve (such as Figure 8 (as shown in the image); the specifications span a wide range, covering hundreds of models above DN150. Due to the significant differences in valve body structure (such as the ball structure of a ball valve, the flow channel structure of a regulating valve, etc.), the clamping posture of the valve body at the cutting station is not unique, and the geometric dimensions vary greatly.

[0004] To adapt to automated flame cutting production lines, the front-end clamping and loading processes face significant challenges: on the one hand, the flame cutting gripper needs to be highly flexible to handle workpieces of different specifications; on the other hand, the loading platform fixture, as an upstream component, must not only be compatible with various types and specifications of valve bodies, but also be able to adapt to different placement postures of the valve bodies and adjust them to a standard state that allows the robotic arm to grip them.

[0005] To address the aforementioned requirements for feeding various types and postures of materials, existing technologies mainly rely on the following two solutions, but both have significant limitations:

[0006] 1. Manual adjustment scheme This method relies on manual adjustment of the valve body's position or orientation using pads or simple auxiliary tools. However, it has the following drawbacks: It requires high worker skills: the valve body is heavy and has an irregular center of gravity, the adjustment process relies on manual experience, and the operation is difficult. Long adjustment time: The process of manually raising and aligning the equipment is time-consuming, which seriously restricts the utilization rate of the flame cutting equipment and becomes a bottleneck in the production line. Posture adjustment lag: The valve body posture cannot be adjusted to the standard grasping posture in time, resulting in a low success rate of subsequent automated grasping and even causing collision risk.

[0007] 2. Specific tooling changeover solutions This solution designs dedicated positioning fixtures for a specific product type or batch of valve bodies with uniform characteristics. All fixtures are stored in a line-side warehouse, and the entire fixture plate is replaced during production changeovers. However, it has the following drawbacks: High warehousing costs: Hundreds of specifications correspond to hundreds of sets of dedicated tooling plates, requiring a huge amount of storage space in the production line warehouse; System integration is complex: When a dedicated tooling plate is integrated onto a pallet, an additional zero-point quick-change mechanism or automatic clamping mechanism must be configured, which increases the complexity of the equipment; Inconvenient to use: The large number of tooling sets not only results in high initial design and manufacturing costs, but also makes subsequent management, maintenance and replacement extremely cumbersome, making it difficult to adapt to the needs of flexible production.

[0008] In summary, existing material feeding technologies either rely on inefficient manual intervention or fall into the trap of high-cost, low-flexibility specialized tooling, failing to meet the urgent need for efficient and flexible material feeding for a wide variety of large valve body castings of various specifications. Summary of the Invention

[0009] In view of this, the present invention proposes a centralized drive dense array valve body flexible feeding platform, which can be compatible with multiple types and specifications of valve bodies and automatically adjust the support posture, and can solve the problems of poor flexibility, low efficiency or high cost of large valve body feeding in the prior art.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: A centralized drive type dense array valve body flexible feeding platform includes a frame, a platform panel, a support array module, a centralized drive module and a control system; The table panel is installed on the top of the frame, and the table panel has a plurality of through holes arranged in an array. The support array module includes several support columns, which are inserted one-to-one into the through holes and can be raised and lowered vertically on the platform. The centralized drive module is located below the platform and includes a three-axis moving mechanism and a rotary drive unit. The three-axis moving mechanism is mounted on the frame, and the rotary drive unit is located at the execution end of the three-axis moving mechanism. The three-axis moving mechanism is used to drive the rotary drive unit to move to the position below the corresponding support column. The control system is electrically connected to the three-axis moving mechanism and the rotary drive unit, respectively, and is used to control the movement of the three-axis moving mechanism and to control the rotary drive unit to selectively drive the corresponding support column to rise and fall.

[0011] Preferably, the bottom outer periphery of the support column is provided with a driven spline, the output end of the rotary drive unit is equipped with a tightening head, the inner wall of the tightening head is provided with a driving spline, and the driving spline and the driven spline are coaxially arranged in the vertical direction and can be correspondingly plugged in.

[0012] Preferably, a first elastic connector is further connected between the tightening head and the output end of the rotary drive unit, and the tightening head is buoyantly connected to the output end of the rotary drive unit in the vertical direction through the first elastic connector.

[0013] Preferably, the inner wall of the through hole of the table panel is provided with an internal thread section and a guide bearing mounting part, the internal thread section being located below the guide bearing mounting part; the outer peripheral wall of the support column is provided with an external thread section and a smooth axis section, the external thread section being located below the smooth axis section; a guide bearing is fixedly installed in the through hole of the table panel, the outer ring of the guide bearing is fixedly connected to the guide bearing mounting part, the smooth axis section of the support column is inserted into the inner hole of the guide bearing, and is clearance-fitted with the inner hole of the guide bearing; the external thread section of the support column is threadedly connected to the internal thread section of the through hole of the table panel, and the support column is slidably arranged relative to the table panel in the vertical direction through the guide bearing.

[0014] Preferably, the upper end of the support column is provided with a telescopic cavity with a top opening, the telescopic column is slidably installed in the telescopic cavity, and a second elastic connector is installed between the bottom end of the telescopic column and the bottom of the telescopic cavity; a universal ball bearing is rotatably installed at the top end of the telescopic column.

[0015] Preferably, a distance sensor is also installed on the actuator of the three-axis moving mechanism, and the distance sensor is electrically connected to the control system.

[0016] Preferably, the control system includes a host computer and a PLC controller. The host computer is communicatively connected to the PLC controller, and the PLC controller is communicatively connected to the three-axis moving mechanism, the rotary drive unit, and the ranging sensor.

[0017] Preferably, the support columns are arranged in a rectangular array on the platform, and the center distance between adjacent support columns is equal.

[0018] Preferably, the center-to-center distance between adjacent support columns ranges from 25 mm to 35 mm.

[0019] Preferably, the three-axis moving mechanism is a gantry truss structure, including an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism. The X-axis moving mechanism is fixed on the frame beam, the Y-axis moving mechanism is installed at the execution end of the X-axis moving mechanism, the Z-axis moving mechanism is installed at the execution end of the Y-axis moving mechanism, and the rotary drive unit is installed at the execution end of the Z-axis moving mechanism.

[0020] Compared with existing technologies, the centralized drive dense array valve body flexible feeding platform of the present invention has the following advantages: (1) The present invention adopts a dense array-style support layout and makes the center distance between adjacent support columns very small. This extremely small spacing dot matrix distribution allows the support column group to form any shape of support configuration by different lifting and lowering according to the three-dimensional model of different valve bodies (such as ball valves, regulating valves, etc.). Regardless of whether the bottom surface of the valve body is flat, inclined or complex curved, it can achieve a tight fit, which solves the pain point that traditional special tooling cannot be compatible with multiple specifications of products and realizes true flexible feeding.

[0021] (2) The present invention adopts a centralized drive mode of a single three-axis moving mechanism combined with a rotary drive unit. The gantry-type three-axis moving mechanism carries the rotary drive unit to access and drive the target support columns one by one below the table. This time-sharing multiplexing design eliminates a large number of servo motors and drivers, which not only greatly reduces electrical costs and control complexity, but also reduces the equipment footprint and greatly improves the economy of the system.

[0022] (3) The lower section of the support column of this invention uses an external thread section that engages with the internal thread section of the table panel, while the upper section of the optical shaft section slides with the table panel through a guide bearing. This structure utilizes the self-locking characteristic of the threaded drive, allowing the support column to remain firmly locked in height even after the driving force is removed, effectively resisting the gravity of the heavy-duty valve body. Compared to the adaptive matrix clamps on the market with a load capacity of only 100kg, this invention can stably support a 500kg heavy-duty cast steel valve body, and has strong support rigidity with no risk of collapse.

[0023] (4) The spline interface at the bottom of the support column and the telescopic buffer structure at the top of the present invention jointly ensure the reliability of operation. The tightening head is floating through the first elastic connector, which allows the spline teeth to automatically align during docking and avoid hard collisions; the universal ball bearing at the top of the support column and the second elastic connector allow the valve body to undergo slight posture self-adaptation when placed. This dual buffer design not only protects the equipment, but also ensures that the valve body is subjected to uniform force during the lifting process, further enhancing the stability under heavy load conditions. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of a centralized drive dense array valve body flexible feeding platform (regulating valve feeding) in an embodiment of the present invention.

[0026] Figure 2 This is a front view of a centralized drive dense array valve body flexible feeding platform (regulating valve feeding) in an embodiment of the present invention.

[0027] Figure 3 This is a side view of a centralized drive dense array valve body flexible feeding platform (regulating valve feeding) in an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the internal structure of the tightening head in an embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of the external structure of the support column in an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the internal structure of the support column in an embodiment of the present invention (threads omitted).

[0031] Figure 7 This is a schematic diagram of the structure of a ball valve awaiting loading.

[0032] Figure 8 This is a schematic diagram of the regulating valve for feeding materials.

[0033] In the diagram: 1-Frame, 2-Tabletop, 3-Support column, 4-Three-axis moving mechanism, 5-Rotary drive unit, 6-Distance sensor, 7-Driven spline, 8-Tightening head, 9-Active spline, 10-First elastic connector, 11-External thread section, 12-Optical shaft section, 13-Guide bearing, 14-Telescopic column, 15-Second elastic connector, 16-Universal ball bearing, 16-Valve body. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] Example: This invention provides a centralized drive dense array flexible loading platform for valve bodies, used for automatic loading and attitude adjustment of large valve body castings (DN150 and above) before flame cutting, such as... Figures 1-3 As shown, the flexible feeding platform includes a frame 1, a platform panel 2, a support array module, a centralized drive module, and a control system.

[0038] Among them, the frame 1 serves as the supporting foundation for the whole machine and is generally made of high-strength steel welded together. A platform 2 with a thickness of not less than 40mm is horizontally installed on the upper part of the frame 1 to ensure rigidity under heavy loads.

[0039] The platform 2 has several through holes arranged in a rectangular array. The support array module includes several support columns 3, which are inserted one by one into the through holes and can be raised and lowered on the platform 2 in the vertical direction to support the valve body 17.

[0040] The centralized drive module is located below the table panel 2 and includes a three-axis moving mechanism 4 and a rotary drive unit 5. The three-axis moving mechanism 4 is mounted on the frame 1, and the rotary drive unit 5 is located at the execution end of the three-axis moving mechanism 4. The three-axis moving mechanism 4 is used to drive the rotary drive unit 5 to move to the position below the corresponding support column 3.

[0041] The control system is electrically connected to the three-axis moving mechanism 4 and the rotary drive unit 5 via cables. It is used to control the three-axis moving mechanism 4 to reach the target support column position in sequence according to the valve body model and posture, and drive the rotary drive unit 5 to lift and lower the support column to the set height, thereby adjusting the valve body 17 to a posture suitable for the robot arm to grasp.

[0042] This embodiment constructs a high-density, high-strength support lattice within a limited platform area. This dense arrangement allows the support columns to precisely fit the contours of valve bodies with complex curved surfaces or irregular bottoms, such as ball valves and regulating valves, by combining different heights, like a "bed of needles," ensuring the fit between the support surface and the bottom surface of the valve body and avoiding localized stress concentration.

[0043] Meanwhile, this embodiment employs a centralized drive mode combining a single three-axis moving mechanism with a rotary drive unit, replacing the traditional approach of configuring an independent motor for each support column. The three-axis moving mechanism acts as a "moving tool," moving beneath the frame to access and drive each support column in a time-sharing manner. This design greatly simplifies the electrical control and mechanical structure, and significantly reduces equipment manufacturing costs and maintenance difficulty while ensuring that each support point can be adjusted independently.

[0044] The control system, acting as the central hub, automatically calculates and generates the height sequence of the support columns based on the input valve body model and posture information. Precise positioning is achieved through a three-axis moving mechanism beneath the cable-driven frame, with the rotary drive unit sequentially engaging the support columns to complete the lifting and lowering motion. The entire process requires no manual intervention, automatically lifting and locking the randomly placed valve body into a preset standard gripping posture, providing a stable and consistent material reference for the subsequent flame cutting process.

[0045] In a further specific embodiment, such as Figure 4 , Figure 5 As shown, the bottom outer periphery of the support column 3 is machined with a driven spline 7, the spline teeth are rectangular or involute, and are used to transmit rotational torque.

[0046] A tightening head 8 is installed at the output end of the rotary drive unit 5. The inner wall of the tightening head is machined with a driving spline 9 that is compatible with the driven spline 7.

[0047] Specifically, the driving spline 9 and the driven spline 7 are arranged coaxially in the vertical direction. When the three-axis moving mechanism 4 drives the rotary drive unit 5 to rise, the two can be axially inserted and engaged.

[0048] In a further specific embodiment, the tightening head 8 is connected to the output shaft of the rotary drive unit 5 via a first elastic connector 10 (compression spring or disc spring). This first elastic connector 10 allows the tightening head 8 to float with a small vertical stroke relative to the output shaft of the rotary drive unit.

[0049] Specifically, during the spline mating process, if the tooth grooves of the active spline 9 and the driven spline 7 are not aligned, the tightening head 8 can be compressed and retracted to avoid hard collision; when the rotary drive unit 5 slowly rotates until the tooth grooves are aligned, the first elastic connector 10 releases its elastic force, allowing the active spline 9 to smoothly insert into the driven spline 7, thereby achieving reliable meshing.

[0050] In a further specific embodiment, such as Figure 1 , Figure 5 , Figure 6 As shown, the inner wall of the through hole of the platform 2 is divided into two sections: the lower section has an internal thread, and the upper section is a smooth guide bearing mounting part. The outer peripheral wall of the support column 3 is also divided into two sections: the lower section is an external thread section 11, and the upper section is a smooth shaft section 12.

[0051] A guide bearing 13 (such as a linear bearing or a copper bushing) is press-fitted into the guide bearing mounting part of the platform 2. The outer ring of the guide bearing 13 is interference-fitted with the platform 2, and the inner ring is clearance-fitted with the optical axis section 12 of the support column 3. The support column 3 is screwed into the internal thread section of the platform 2 through the external thread section 11. When the rotary drive unit 5 drives the support column 3 to rotate around its own axis, under the constraint of the guide bearing 13, the rotational motion is converted into vertical linear lifting and lowering.

[0052] This embodiment achieves stable lifting and lowering of the support column by segmenting the threaded drive structure and the optical axis guide structure on the platform and the support column. The cooperation between the threads and the bearings enables stable lifting and lowering of the support column. The engagement of the external and internal threads forces the rotational motion into vertical displacement, while the guide bearing strictly limits the radial swing of the support column, ensuring smooth lifting and lowering with high straightness. In particular, the use of threaded drive instead of linear push rods cleverly utilizes the self-locking characteristics of the threaded pair, allowing the support column to remain firmly locked at the current height even after the driving force is removed. This effectively resists the gravity of the 500kg heavy-duty valve body, preventing the valve body from falling when the equipment is powered off or depressurized, greatly improving the safety and reliability of the equipment.

[0053] In a further specific embodiment, the upper end of the support column 3 is machined with a telescopic cavity with a top opening, and a telescopic column 14 is slidably installed inside the telescopic cavity. A second elastic connector 15 (high-strength spring or compression spring) is installed between the bottom end of the telescopic column 14 and the bottom of the telescopic cavity. A universal ball bearing 16 is rotatably installed at the top end of the telescopic column 14 via a pivot.

[0054] When the valve body 17 rests on the support column 3, if the bottom surface of the valve body is tilted or uneven, the universal ball bearing 16 can rotate freely with the contact surface, ensuring that the force direction is always along the axial direction of the support column. Simultaneously, the second elastic connector 15 allows the telescopic column 14 to retract slightly within the telescopic cavity, absorbing impact force and compensating for height errors, thereby preventing individual support columns from being damaged due to excessive force. Overall, the above structure ensures uniform force distribution on the support columns and extends their service life.

[0055] In a further specific embodiment, a distance sensor 6 is also fixedly installed at the actuator end (beside the rotary drive unit) of the three-axis moving mechanism 4. During the lifting and lowering process of the support column, the distance sensor 6 collects the lifting and lowering height in real time and feeds back the analog signal to the control system for closed-loop control, ensuring that the final height of the support column is consistent with the target height.

[0056] In this embodiment, the three-axis moving mechanism 4 adopts a gantry truss structure and consists of an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism.

[0057] The X-axis moving mechanism is fixed on the frame beam, the Y-axis moving mechanism is installed on the execution end (i.e., the slider) of the X-axis moving mechanism, the Z-axis moving mechanism is installed on the execution end of the Y-axis moving mechanism, and the rotary drive unit 5 is installed on the execution end of the Z-axis moving mechanism.

[0058] The X-axis, Y-axis, and Z-axis moving mechanisms all adopt a linear module structure, including a base, linear guide rails, sliders, transmission components (such as ball screws or synchronous belts), drive motors, and limit components. This is existing technology and will not be described in detail here.

[0059] In this embodiment, the X-axis and Y-axis moving mechanisms are mainly used to lock the position of the dot matrix support columns, and the Z-axis moving mechanism is mainly used to move the dot matrix support columns. Through the linkage of the three axes, the rotary drive unit can be accurately positioned directly below any support column in the three-dimensional space below the platform, realizing point-by-point driving adjustment.

[0060] The control system in this embodiment consists of a host computer and a PLC controller, which are connected via Ethernet communication. The host computer pre-stores 3D models and positioning features of various valve bodies. During operation, the operator inputs the valve body model, 3D model, and posture into the host computer. The host computer calculates the required support column number and target height based on the model and generates a drive sequence (including the position information of the three-axis moving mechanism and the drive information of the rotary drive unit) which is then sent to the PLC controller.

[0061] According to the drive sequence, the PLC controller controls the three-axis moving mechanism to move sequentially to the target support column position, starts the rotary drive unit to lift and lower, and reads the feedback value of the distance measuring sensor in real time until the target height is reached and then stops, thus completing one adjustment of the support column.

[0062] In a further specific embodiment, the support columns 3 are arranged in a rectangular array on the platform 2, and the center distance between adjacent support columns 3 is equal.

[0063] This solution employs a rectangular array of support columns with equal center-to-center spacing to create a regular and dense support point matrix. This allows the control system to quickly index the coordinates of the target support columns using a unified algorithm, thereby simplifying motion control logic. Simultaneously, this layout maximizes the number and uniformity of support points within a limited platform area, enabling it to fully conform to the complex bottom contours of irregularly shaped valves such as ball valves and regulating valves. This avoids localized suspension or uneven stress caused by sparse support points, ensuring the stability and safety of the heavy-duty valve body during the lifting process.

[0064] Furthermore, the center-to-center distance between adjacent support columns 3 ranges from 25mm to 35mm, more preferably 30mm. This spacing can form a sufficient number of support points within a limited area, thereby fitting the complex bottom profile of different valve bodies such as ball valves and regulating valves.

[0065] The driving process of this invention is as follows: 1. Data Input and Path Calculation The operator imports the model number, 3D model, and rough placement orientation of the valve body to be cut into the host computer. Based on the model data, the host computer calculates the sequence number of the support columns required to support the specific valve body, calculates the target height of each support column, and finally converts it into the X / Y / Z axis coordinate sequence of the gantry truss and the pulse signal of the rotary drive unit, which is then sent to the PLC controller.

[0066] 2. Horizontal positioning (X / Y axis movement) The PLC controller drives the X-axis and Y-axis moving mechanisms of the gantry truss according to the coordinate sequence. The X-axis is fixed on the frame beam to provide the main displacement, while the Y-axis moves with the X-axis slider and carries the Z-axis. Together, they move the rotary drive unit mounted on the Z-axis actuator precisely to the projection position directly below the target support column.

[0067] 3. Axial alignment (Z-axis and spline movement) The PLC controller drives the Z-axis moving mechanism to rise, causing the rotary drive unit and tightening head to approach the driven spline at the bottom of the support column. During this process, the first elastic connector inside the tightening head provides a buffer, allowing the driving spline and driven spline to elastically retract if they are not fully aligned. As the Z-axis continues to rise and the rotary motor micro-moves, the spline teeth automatically align and mesh, completing the power connection.

[0068] 4. Lifting and lowering actuator (thread drive) The rotary drive unit starts, causing the support column to rotate around its own axis. Because the external thread of the lower section of the support column engages with the internal thread of the platform, and the upper optical shaft slides with the guide bearing, the support column, driven by the rotary drive unit and guided by the guide bearing, rises and falls vertically. Simultaneously, the Z-axis moving mechanism moves in sync with the support column, ensuring the spline remains engaged at all times.

[0069] 5. Feedback loop and attitude shaping During the lifting process, a distance sensor installed at the actuator end of the Z-axis moving mechanism monitors the displacement height of the support column (or spline) in real time and feeds the signal back to the PLC controller. The PLC corrects the output based on the deviation between the feedback value and the target value until the preset height is reached and then stops. The system sequentially traverses all the support columns that need adjustment, and finally lifts and locks the valve body into a precise posture suitable for the robotic arm to grasp.

[0070] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0071] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A centralized drive type dense array valve body flexible feeding platform, characterized in that, Includes rack, tabletop, support array module, centralized drive module and control system; The table panel is installed on the top of the frame, and the table panel has a plurality of through holes arranged in an array. The support array module includes several support columns, which are inserted one-to-one into the through holes and can be raised and lowered vertically on the platform. The centralized drive module is located below the platform and includes a three-axis moving mechanism and a rotary drive unit. The three-axis moving mechanism is mounted on the frame, and the rotary drive unit is located at the execution end of the three-axis moving mechanism. The three-axis moving mechanism is used to drive the rotary drive unit to move to the position below the corresponding support column. The control system is electrically connected to the three-axis moving mechanism and the rotary drive unit, respectively, and is used to control the movement of the three-axis moving mechanism and to control the rotary drive unit to selectively drive the corresponding support column to rise and fall.

2. The centralized drive dense array valve body flexible feeding platform according to claim 1, characterized in that, The bottom outer periphery of the support column is provided with a driven spline, and the output end of the rotary drive unit is equipped with a tightening head. The inner wall of the tightening head is provided with a driving spline. The driving spline and the driven spline are coaxially arranged in the vertical direction and can be correspondingly plugged in.

3. The centralized drive type dense array valve body flexible feeding platform according to claim 2, characterized in that, A first elastic connector is also connected between the tightening head and the output end of the rotary drive unit. The tightening head is buoyantly connected to the output end of the rotary drive unit in the vertical direction through the first elastic connector.

4. The centralized drive type dense array valve body flexible feeding platform according to claim 1, characterized in that, The inner wall of the through hole of the platform panel is provided with an internal thread section and a guide bearing mounting part, the internal thread section being located below the guide bearing mounting part; the outer peripheral wall of the support column is provided with an external thread section and a smooth axis section, the external thread section being located below the smooth axis section; a guide bearing is fixedly installed in the through hole of the platform panel, the outer ring of the guide bearing is fixedly connected to the guide bearing mounting part, the smooth axis section of the support column is inserted into the inner hole of the guide bearing, and is clearance-fitted with the inner hole of the guide bearing; the external thread section of the support column is threadedly connected to the internal thread section of the through hole of the platform panel, and the support column is slidably arranged relative to the platform panel in the vertical direction via the guide bearing.

5. The centralized drive type dense array valve body flexible feeding platform according to claim 4, characterized in that, The upper end of the support column is provided with a telescopic cavity with a top opening. The telescopic column is slidably installed in the telescopic cavity, and a second elastic connector is installed between the bottom end of the telescopic column and the bottom of the telescopic cavity. A universal ball bearing is rotatably installed at the top end of the telescopic column.

6. The centralized drive dense array valve body flexible feeding platform according to claim 1, characterized in that, A distance sensor is also installed on the actuator of the three-axis moving mechanism, and the distance sensor is electrically connected to the control system.

7. A centralized drive type dense array valve body flexible feeding platform according to claim 6, characterized in that, The control system includes a host computer and a PLC controller. The host computer is communicatively connected to the PLC controller, and the PLC controller is communicatively connected to the three-axis moving mechanism, the rotary drive unit, and the ranging sensor.

8. The centralized drive dense array valve body flexible feeding platform according to claim 1, characterized in that, The support columns are arranged in a rectangular array on the platform, and the center distance between adjacent support columns is equal.

9. A centralized drive type dense array valve body flexible feeding platform according to claim 8, characterized in that, The center-to-center distance between adjacent support columns ranges from 25mm to 35mm.

10. A centralized drive type dense array valve body flexible feeding platform according to any one of claims 1-9, characterized in that, The three-axis moving mechanism is a gantry truss structure, including an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism. The X-axis moving mechanism is fixed on the frame beam, the Y-axis moving mechanism is installed at the execution end of the X-axis moving mechanism, the Z-axis moving mechanism is installed at the execution end of the Y-axis moving mechanism, and the rotary drive unit is installed at the execution end of the Z-axis moving mechanism.

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