Electronic expansion valve support welding method and system, electronic device, and storage medium

Abstract

This application discloses a welding method, system, electronic device, and storage medium for an electronic expansion valve bracket. The method includes: at a loading station, controlling a loading mechanism to place the valve body of the electronic expansion valve into the turntable fixture of a turntable device, and controlling a correction mechanism to correct the posture of the valve body; at a bracket installation station, controlling a robotic arm to place the qualified bracket to be welded onto the bracket installation position on the valve body, and clamping it in place by a positioning mechanism; at a welding station, controlling a laser welding head to weld the connection between the bracket and the valve body, obtaining a welded workpiece; at an unloading station, controlling a robotic arm to transfer the welded workpiece to a shaping mechanism, where the workpiece is shaped and corrected, and the qualified workpiece is unloaded. This application solves the technical problems of poor positioning accuracy and low product consistency caused by welding thermal deformation in welding systems for electronic expansion valve brackets in related technologies.

Description

Technical Field

[0001] This application relates to the field of intelligent welding technology, and more specifically, to an electronic expansion valve bracket welding method, system, electronic device, and storage medium. Background Technology

[0002] Electronic expansion valves are core throttling components in refrigeration systems, and they typically require externally welded mounting brackets for overall system fixation. In current manufacturing processes, bracket installation and welding primarily rely on manual or semi-automatic single-machine operations. In these processes, after a robotic arm or manual operator places the electronic expansion valve body into the fixture, there is often a lack of effective automatic correction mechanisms, making it difficult to ensure consistent assembly clearance between the valve body and the bracket. This can easily lead to incomplete welds or burn-through. Furthermore, welding thermal deformation can cause poor verticality or flatness of the bracket. Since the workpiece is usually shipped directly after welding, there is a lack of a process for immediate correction of deformation caused by welding thermal stress, resulting in low product qualification rates and consistency, failing to meet the demands of high-quality, high-efficiency production.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This application provides a welding method, system, electronic device, and storage medium for an electronic expansion valve bracket, which at least solves the technical problems of poor positioning accuracy and low product consistency caused by welding thermal deformation when welding electronic expansion valve brackets in related technologies.

[0005] According to one aspect of the embodiments of this application, a welding method for an electronic expansion valve bracket is provided, applied to a turntable equipment. The turntable equipment has multiple stations arranged along the axial direction, including: a loading station, a bracket installation station, a welding station, and a unloading station. The method includes: at the loading station, controlling the loading mechanism to place the valve body of the electronic expansion valve into the turntable fixture of the turntable equipment, and controlling the correction mechanism to perform attitude correction on the valve body, wherein the attitude correction is used to force the valve body to rotate to a preset angle and then clamp and fix it; at the bracket installation station, controlling the robotic arm to place the qualified bracket to be welded into the bracket installation position on the valve body, and clamping and fixing it by the positioning mechanism; at the welding station, controlling the laser welding head to weld the connection between the bracket and the valve body to obtain a welded workpiece; at the unloading station, controlling the robotic arm to transfer the welded workpiece to the shaping mechanism, the shaping mechanism to shape and correct the workpiece, and unloading the qualified workpiece after shaping.

[0006] Optionally, controlling the feeding mechanism to place the valve body of the electronic expansion valve into the turntable fixture of the turntable equipment includes: controlling the robotic arm of the feeding mechanism to grasp the valve body placed in the picking position at a preset picking angle, wherein the preset picking angle is the same for different valve bodies; determining the target feeding angle based on the product model information of the valve body, wherein the target feeding angle is different for different product models of valve bodies; and controlling the gripper of the robotic arm to rotate the valve body according to the target feeding angle, and placing the rotated valve body into the turntable fixture.

[0007] Optionally, the valve body of the electronic expansion valve includes: a cylindrical sleeve and a valve foot extending laterally from the sleeve; the correction mechanism includes: a correction cylinder and a correction gripper driven by the correction cylinder; controlling the correction mechanism to correct the posture of the valve body includes: controlling the correction cylinder to drive the correction gripper to close, so that the arc surface of the correction gripper conforms to the outer contour of the valve body and clamps the valve foot of the valve body; controlling the correction gripper to drive the valve body to rotate around the axis of the sleeve until the valve body rotates to a preset angle, wherein the preset angle is the angle corresponding to the welding direction of the valve body bracket of the current product model; controlling the clamping cylinder used to drive the turntable clamp to close to clamp the valve body, and controlling the correction cylinder to open.

[0008] Optionally, before the robotic arm places the qualified bracket to be welded into the bracket installation position on the valve body, the method further includes: controlling the positioning cylinder of the secondary positioning mechanism to open, so that the positioning fixture of the secondary positioning mechanism is in an open state, wherein the positioning fixture has a groove in the middle, and the shape of the groove matches the shape of the bracket; controlling the robotic arm to pick up the bracket from the feeding mechanism and place it into the positioning fixture, controlling the positioning cylinder to close so that the positioning fixture clamps the bracket; acquiring the positioning cylinder's position signal and the material sensing signal corresponding to the sensor at the bottom of the positioning fixture, wherein the position signal is used to indicate whether the positioning cylinder has reached the position where the positioning fixture clamps the bracket, and the material sensing signal is used to indicate whether a bracket is placed inside the positioning fixture; if the position signal is triggered and the material sensing signal indicates that there is material, the bracket is judged to be qualified; and if the position signal is not triggered or the material sensing signal indicates that there is no material, the bracket is judged to be unqualified and an alarm is triggered.

[0009] Optionally, controlling the laser welding head to weld the connection between the bracket and the valve body to obtain the welded workpiece includes: controlling the turntable to remain stationary during the welding process and locking the turntable fixture of the turntable device to fix the valve body held in the turntable fixture; controlling the valve body to rotate relative to the laser welding head so that the connection between the bracket and the valve body rotates to the welding position of the laser welding head, while controlling the protective gas path to be open; controlling the laser welding head to weld the connection between the bracket and the valve body while the valve body rotates relative to the laser welding head; and releasing the lock on the turntable fixture after welding is completed.

[0010] Optionally, the forming mechanism includes a copying mold and a forming cylinder. The copying mold has a cavity that conforms to the shape of the workpiece. The forming mechanism corrects the workpiece by: placing the workpiece into the cavity of the copying mold, controlling the forming cylinder to press the copying mold with a preset pressure; performing a delay detection during the pressing process; if the forming cylinder reaches the preset forming position within the preset delay time, the workpiece is deemed to be formed successfully; if the forming cylinder does not reach the preset forming position within the preset delay time, the workpiece is deemed to be a defective product with excessive deformation.

[0011] Optionally, the method further includes: determining whether the actuators of each workstation are all at the origin or a safe position, wherein the actuators include: the loading mechanism and correction mechanism corresponding to the loading workstation, the robotic arm and positioning mechanism corresponding to the bracket installation workstation, the laser welding head corresponding to the welding workstation, and the robotic arm and shaping mechanism corresponding to the unloading workstation; generating a turntable rotation permission condition signal when the actuators of each workstation are all at the origin or a safe position; triggering the turntable to perform indexing rotation when the turntable rotation permission condition signal is valid and the workstation completion signal sent by each workstation is received, wherein the workstation completion signal is used to indicate that the operation action of the corresponding workstation has been completed, and is triggered after the actuator of the corresponding workstation completes the workstation action; controlling the turntable to remain stationary and wait when the turntable rotation permission condition signal is invalid or the workstation completion signals of all workstations are not received.

[0012] According to another aspect of the embodiments of this application, an electronic expansion valve bracket welding system is also provided, including: a turntable device and a controller, wherein the turntable device is provided with multiple stations along the axial direction, the stations including: a loading station, a bracket installation station, a welding station, and a unloading station; the controller is used to control the loading mechanism to place the valve body of the electronic expansion valve into the turntable fixture of the turntable device at the loading station, and to control the correction mechanism to perform attitude correction on the valve body, wherein the attitude correction is used to force the valve body to rotate to a preset angle and then clamp and fix it; at the bracket installation station, the controller controls the robotic arm to place the qualified bracket to be welded on the bracket installation position on the valve body, and clamps and fixes it by the positioning mechanism; at the welding station, the controller controls the laser welding head to weld the connection between the bracket and the valve body to obtain the welded workpiece; at the unloading station, the controller controls the robotic arm to transfer the welded workpiece to the shaping mechanism, the shaping mechanism shapes and corrects the workpiece, and unloads the qualified workpiece after shaping.

[0013] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory and a processor, the processor being configured to run a program stored in the memory, wherein the program executes an electronic expansion valve bracket welding method during runtime.

[0014] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored computer program, wherein the device containing the non-volatile storage medium executes an electronic expansion valve bracket welding method by running the computer program.

[0015] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of an electronic expansion valve bracket welding method.

[0016] In this embodiment, at the loading station, the loading mechanism places the valve body of the electronic expansion valve into the turntable fixture of the turntable equipment, and the alignment mechanism corrects the posture of the valve body, forcing the valve body to rotate to a preset angle and then clamping it in place. At the bracket installation station, the robotic arm places the qualified bracket to be welded onto the bracket installation position on the valve body, and the positioning mechanism clamps it in place. At the welding station, the laser welding head welds the connection between the bracket and the valve body to obtain the welded workpiece. At the unloading station, the robotic arm transfers the welded workpiece to the shaping mechanism, where the workpiece is shaped and corrected. Furthermore, the method of unloading qualified workpieces after shaping involves setting up a correction mechanism at the loading station, which uses its posture correction function to force the valve body to rotate to a preset angle and then clamp it in place, thus improving the consistency of valve body placement. By setting up a positioning mechanism at the bracket installation station, the qualified bracket is placed and clamped in place, further ensuring the assembly accuracy between the bracket and the valve body. By setting up a shaping mechanism at the unloading station, the welded workpiece is shaped and corrected, eliminating thermal stress deformation during the welding process. This solves the technical problems of poor positioning accuracy and low product consistency caused by welding thermal deformation when welding electronic expansion valve brackets in related technologies. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 This is a hardware structure block diagram of a computer terminal (or electronic device) for implementing a method for welding an electronic expansion valve bracket according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of a welding method for an electronic expansion valve bracket according to an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of a bracket welding process based on a turntable device according to an embodiment of this application;

[0021] Figure 4 This is a structural schematic diagram of an electronic expansion valve bracket welding system provided according to an embodiment of this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] In related technologies, the installation and welding of electronic expansion valve brackets mainly rely on manual or semi-automatic single-machine operation, which has the following main problems: poor positioning accuracy leads to inconsistent assembly gaps between the valve body and the bracket, which can easily cause welding defects such as incomplete welds or weld burn-through; the sequential operation of loading and unloading and welding without flow cycle control results in long equipment waiting time and low production efficiency; in addition, welding thermal deformation can easily cause the bracket's verticality or flatness to exceed tolerances. Since the traditional process lacks an online shaping process, it often requires secondary or even multiple offline calibrations, which not only increases production costs but also leads to low product qualification rate and consistency, failing to meet the requirements of high-quality and high-efficiency production.

[0025] To address the aforementioned issues, this application provides relevant solutions, which are detailed below.

[0026] According to an embodiment of this application, a method for welding an electronic expansion valve bracket is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0027] The method embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Figure 1 A hardware block diagram of a computer terminal (or electronic device) for implementing an electronic expansion valve bracket welding method is shown. Figure 1 As shown, the computer terminal 10 (or electronic device) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0028] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or electronic device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0029] The memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the electronic expansion valve bracket welding method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned electronic expansion valve bracket welding method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0030] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0031] The display may be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or electronic device).

[0032] Under the above operating environment, this application provides an electronic expansion valve bracket welding method, which can be applied to a turntable equipment. The turntable equipment has multiple stations arranged along the axial direction, including: a loading station, a bracket installation station, a welding station, and a unloading station. Figure 2 This is a schematic diagram of a welding method for an electronic expansion valve bracket according to an embodiment of this application, as shown below. Figure 2 As shown, the method includes the following steps:

[0033] Step S202: At the loading station, control the loading mechanism to place the valve body of the electronic expansion valve into the turntable fixture of the turntable equipment, and control the correction mechanism to perform attitude correction on the valve body. The attitude correction is used to force the valve body to rotate to a preset angle and then clamp and fix it.

[0034] The aforementioned correction mechanism can perform attitude correction operations on the placed valve body. By applying physical constraints, it forces the valve body to rotate until it reaches a preset angle position, and then clamps and fixes it in that position, thereby ensuring the consistency of the valve body's attitude in subsequent processes.

[0035] Step S204: At the bracket installation station, the robotic arm is controlled to place the qualified bracket to be welded onto the bracket installation position on the valve body, and the positioning mechanism clamps and fixes it.

[0036] Step S206: At the welding station, control the laser welding head to weld the connection between the bracket and the valve body to obtain the welded workpiece.

[0037] In step S208, at the unloading station, the robotic arm is controlled to transfer the welded workpiece to the shaping mechanism, which then shapes and corrects the workpiece and unloads the qualified workpiece after shaping.

[0038] Through the above steps, by setting up a correction mechanism at the loading station, the valve body is forced to rotate to a preset angle and then clamped and fixed using its posture correction function, thus improving the consistency of valve body placement; by setting up a positioning mechanism at the bracket installation station, the qualified bracket is placed and clamped and fixed, further ensuring the assembly accuracy of the bracket and the valve body; by setting up a shaping mechanism at the unloading station, the welded workpiece is shaped and corrected, eliminating thermal stress deformation during the welding process, thereby solving the technical problems of poor positioning accuracy and low product consistency caused by welding thermal deformation when welding electronic expansion valve brackets in related technologies.

[0039] The welding method for the electronic expansion valve bracket in steps S202 to S208 of the embodiments of this application will be further described below.

[0040] Figure 3 This is a schematic diagram of a bracket welding process based on a turntable device according to an embodiment of this application, as shown below. Figure 3 As shown in this embodiment, at the loading station (station 1), the loading mechanism can perform material conveying actions to accurately place the valve body of the electronic expansion valve inside the turntable fixture equipped with the turntable equipment, and after completing the attitude correction, it is transferred to the bracket installation station (station 2); at the bracket installation station (station 2), the robotic arm can be controlled to grasp the bracket to be welded that has been confirmed as qualified through the previous inspection process, and accurately place it at the preset bracket installation position of the valve body, and after completion, it is transferred to the welding station (station 3); at the welding station (station 3), the laser welding head can be controlled to support the workpiece at the welding station. Welding is performed at the connection between the bracket and the valve body to form a complete structure that fixes the bracket and the valve body together, thus obtaining a welded workpiece. Finally, the workpiece is transferred to the unloading station (station 4). At this station, the welded workpiece is moved from the welding position to the shaping mechanism. The shaping mechanism then performs shaping and correction on the workpiece to eliminate stress or deformation generated during welding. Finally, qualified workpieces that meet the quality standards after shaping and correction are identified and screened, and then transported to the unloading area for unloading, thus achieving automated workpiece sorting and production. The following is a detailed explanation of each step in the above process.

[0041] In this embodiment of the application, the main functions of the robotic arm for loading and the cylinder for correction are as follows: The specific steps for controlling the robotic arm to perform material conveying are as follows.

[0042] In some embodiments of this application, controlling the feeding mechanism to place the valve body of the electronic expansion valve into the turntable fixture of the turntable device includes: controlling the robotic arm of the feeding mechanism to grasp the valve body placed in the picking position at a preset picking angle, wherein the preset picking angle is the same for different valve bodies; determining the target feeding angle based on the product model information of the valve body, wherein the target feeding angle is different for different product models of valve bodies; and controlling the gripper of the robotic arm to rotate the valve body according to the target feeding angle, and placing the rotated valve body into the turntable fixture.

[0043] Specifically, the robotic arm in the preceding generation process places the electronic expansion valve body into the initial positioning slot (material picking slot); the robotic arm of the feeding mechanism can first grab the valve body from the picking position at a fixed preset picking angle; then, the system reads or identifies the product model information of the current valve body, and queries or calculates the target feeding angle corresponding to the model based on this information. Different models of valve bodies have different optimal placement angles due to different welding structures or process requirements, so the target feeding angle is a specific value that dynamically changes with the model; finally, while holding the valve body, the gripper of the robotic arm drives the valve body to rotate and adjust according to the calculated target feeding angle, and then smoothly places the valve body at this specific angle into the turntable fixture. When the robotic arm descends to feed the material, it drives the turntable fixture to open. After feeding is completed, the robotic arm rises back to the picking waiting position.

[0044] For example, in this embodiment, the welding direction of the product bracket can include two types (product number 1 and 2), located on both sides of the sleeve respectively. The tooling remains unchanged. When the product number is 1, it is placed directly. When the product number is 2, the robotic arm rotates 180 degrees before placing it (the product has only two rotation directions, i.e., upright and reverse placement). The picking gripper has a rotating shaft that can rotate with the gripper. Under normal circumstances, the rotating shaft is in the initial position, i.e., the picking angle. When picking up the product, it is always picked up at the same angle. After the material is picked up from the front machine and then placed, the current product number is determined. If the product number is 1, the shaft rotates to the 1st picking angle. If the product number is 2, the shaft rotates to the 2nd picking angle. After placing the material, the shaft rotates to the picking point position to start the next action cycle.

[0045] Through this feeding process, the valve body has an initial angle that meets the requirements of the current production model when it enters the rotary fixture. This allows the subsequent correction mechanism to achieve the precise posture required for welding with only minor adjustments or without large rotations, thereby improving the feeding efficiency and the consistency of the initial welding posture when multiple models are produced on a mixed production line.

[0046] Furthermore, after placing the valve body of the electronic expansion valve inside the turntable fixture equipped with the turntable equipment, the correction mechanism can be controlled to intervene and perform attitude correction operation on the placed valve body, as follows.

[0047] In some embodiments of this application, the valve body of the electronic expansion valve includes: a cylindrical sleeve and a valve foot extending laterally from the sleeve; the correction mechanism includes: a correction cylinder and a correction gripper driven by the correction cylinder; controlling the correction mechanism to correct the posture of the valve body includes: controlling the correction cylinder to drive the correction gripper to close, so that the arc surface of the correction gripper conforms to the outer contour of the valve body and clamps the valve foot of the valve body; controlling the correction gripper to drive the valve body to rotate around the axis of the sleeve until the valve body rotates to a preset angle, wherein the preset angle is the angle corresponding to the welding direction of the valve body bracket of the current product model; controlling the clamping cylinder used to drive the turntable clamp to close to clamp the valve body, and controlling the correction cylinder to open.

[0048] Specifically, after the robotic arm completes its descent and returns to the material-collecting waiting position, the correction cylinder can be controlled to drive the correction gripper to clamp. The curved surface of the gripper conforms to the outer contour of the valve body and specifically clamps the protruding valve foot, thereby locking the rotation center on the sleeve axis and avoiding rotational errors caused by misalignment of the clamping position. Subsequently, the correction gripper drives the valve body to rotate around this axis, forcing the valve body to passively rotate to a uniform preset angle, which strictly corresponds to the welding direction of the bracket of the current product model. Finally, after the valve body position is precisely fixed, the posture correction is completed, the clamping cylinder of the turntable clamp closes to complete the final locking, and at the same time, the correction cylinder opens to release the clamp. At this time, the loading process is completed, and a loading completion signal for station 1 is sent to the turntable.

[0049] After the turntable equipment moves to the bracket installation station (station 2), the feeding mechanism (vibrating plate) can push the bracket to be welded to the designated position, and the robot will pick up the bracket and place it into the secondary positioning mechanism for inspection, as follows.

[0050] In some embodiments of this application, before the robotic arm places the qualified bracket to be welded onto the bracket mounting position on the valve body, the method further includes: controlling the positioning cylinder of the secondary positioning mechanism to open, so that the positioning fixture of the secondary positioning mechanism is in an open state, wherein the positioning fixture has a groove in the middle, and the shape of the groove matches the shape of the bracket; controlling the robotic arm to pick up the bracket from the feeding mechanism and place it into the positioning fixture, controlling the positioning cylinder to close so that the positioning fixture clamps the bracket; acquiring the positioning cylinder's position signal and the material sensing signal corresponding to the sensor at the bottom of the positioning fixture, wherein the position signal is used to indicate whether the positioning cylinder has reached the position where the positioning fixture clamps the bracket, and the material sensing signal is used to indicate whether a bracket is placed inside the positioning fixture; if the position signal is triggered and the material sensing signal indicates that there is material, the bracket is determined to be qualified; and if the position signal is not triggered or the material sensing signal indicates that there is no material, the bracket is determined to be unqualified and an alarm is triggered.

[0051] Specifically, at the bracket installation station, the positioning cylinder is first opened to open the positioning fixture, which has a central slot and conforms to the shape of the bracket, providing unobstructed space for the robotic arm to place the bracket. The robotic arm then places the picked-up bracket into the positioning fixture and closes the positioning cylinder. The slotted structure of the positioning fixture initially clamps and limits the bracket. At this point, the positioning cylinder's position signal indicates whether the cylinder has driven the positioning fixture to the preset position where the bracket is fully clamped. The material sensing signal output by the sensor at the bottom of the positioning fixture indicates whether a bracket entity exists within the fixture. The system uses logic to determine that the bracket is qualified and allows subsequent actions only when both the position signal is triggered (confirming the fixture is locked) and the material sensing signal indicates the presence of material (confirming the bracket has been placed). If any signal is abnormal (e.g., the cylinder is not in position, resulting in the bracket not being clamped, or the sensor does not detect the bracket, resulting in a missed placement), the bracket is deemed unqualified and an alarm is triggered.

[0052] For example, if the positioning fixture fits the bracket perfectly, but the bracket is deformed or not properly assembled, the cylinder clamping will not be in place. In this case, the magnetic switch will not be triggered when the cylinder is in place, indicating that the cylinder is not in place and the bracket is deformed. Another situation is that the deformation of the bracket may cause the material to jump or tilt when the cylinder clamps. In this case, the cylinder can also reach the clamping position, causing false sensing. In this case, the sensor at the bottom of the fixture (such as a material sensing fiber optic cable) can be used to judge together. If the cylinder is in place and the fiber optic cable detects no material, it is judged that the assembly is not in place. In this case, an alarm should be triggered and manual handling should be waited for. After recovery, the material handling process can be restarted.

[0053] This application embodiment introduces a dual verification mechanism for position and material before the robotic arm moves the bracket to the valve body. This effectively identifies and intercepts defective products caused by deformation or jamming of the bracket material or errors in the robotic arm's gripping, avoiding problems such as invalid welding or low product consistency. This improves the yield rate of electronic expansion valve bracket welding and the stability of the production process.

[0054] If the bracket is deemed qualified, the robotic arm grabs the qualified bracket to be welded and moves it to the material placement position (i.e., the bracket installation position on the valve body). The robotic arm descends to place the bracket. After placement, the robotic arm rises to the material waiting position. The bracket positioning mechanism (such as a positioning cylinder) at this position clamps the bracket and sends a signal to the turntable that the bracket installation position (position 2) is complete.

[0055] After the turntable equipment moves to the welding station (station 3), the laser welding head can be controlled to perform welding actions on the workpiece at the welding station, as follows.

[0056] In some embodiments of this application, controlling the laser welding head to weld the connection between the bracket and the valve body to obtain the welded workpiece includes: controlling the turntable to remain stationary during the welding process and locking the turntable fixture of the turntable device to fix the valve body held in the turntable fixture; controlling the valve body to rotate relative to the laser welding head so that the connection between the bracket and the valve body rotates to the welding position of the laser welding head, while controlling the protective gas path to be open; controlling the laser welding head to weld the connection between the bracket and the valve body while the valve body rotates relative to the laser welding head; and releasing the lock on the turntable fixture after welding is completed.

[0057] Specifically, during the welding process, a mechanical locking structure can eliminate the rotational freedom of the turntable, ensuring that the valve body maintains absolute positional stability when subjected to welding thermal stress and mechanical vibration, preventing the welding starting point from shifting due to loose fixtures or slight turntable movements. Then, a servo-axis cylinder can be used to drive the valve body to rotate continuously or intermittently, allowing the laser welding head to track and weld along the annular joint path between the support and the valve body, while simultaneously delivering inert gas to cover the molten pool, creating a localized oxygen-free environment to prevent the high-temperature metal from contacting air and generating pores or oxide inclusions. As the valve body rotates relative to the laser welding head, the laser welding head is simultaneously controlled to weld the connection between the support and the valve body, achieving uniform fusion across the entire circumference.

[0058] For example, during welding, the tooling locking cylinder can be opened, the servo axis cylinder can rise, lock the tooling groove, drive the tooling to rotate, and the laser welding head can emit laser to start welding. During the welding process, the turntable remains stationary and locked, while protecting the air passage to prevent oxidation.

[0059] After welding is completed, release the locking mechanism (such as cylinder reset) to release the lock on the turntable fixture, allowing the turntable to resume its rotation function so as to enter the next station; at the same time, send a welding station (station 3) welding completion signal to the turntable.

[0060] Through the synergistic effect of the above steps, the problems of poor positioning accuracy and thermal deformation caused by the workpiece not being firmly fixed in traditional welding can be effectively solved. At the same time, through the combination of dynamic rotation and protective gas circuit, high-quality, oxidation-free continuous welding of circumferential welds is achieved, improving the consistency and structural strength of electronic expansion valve bracket welding products.

[0061] After the turntable equipment moves to the unloading station (station 4), the robotic arm can take out the welded workpiece as a whole and transfer it to the shaping mechanism. The shaping mechanism will then perform shaping and correction processing, as follows.

[0062] In some embodiments of this application, the shaping mechanism includes a contouring mold and a shaping cylinder. The contouring mold has a cavity that conforms to the shape of the workpiece. The shaping and correcting of the workpiece by the shaping mechanism includes: placing the workpiece into the cavity of the contouring mold, controlling the shaping cylinder to press the contouring mold with a preset pressure; performing a delay detection during the pressing process, and determining that the workpiece is qualified if the shaping cylinder reaches the preset shaping position within the preset delay time; and determining that the workpiece is a defective product with excessive deformation if the shaping cylinder does not reach the preset shaping position within the preset delay time.

[0063] In this embodiment, the forming mechanism is equipped with a contour mold having a cavity that conforms to the shape of the workpiece and a forming cylinder. The purpose is to utilize the rigid constraint of the mold to press or compress the support that has undergone thermal deformation after welding according to a preset pressure and stroke, thereby eliminating deformation caused by welding thermal stress. Specifically, after the workpiece is placed in the cavity of the contour mold, the forming cylinder is controlled to press it with a preset pressure, so that the mold cavity applies a uniform reaction force to the workpiece that conforms to the design dimensions, thereby eliminating deformation caused by welding stress.

[0064] Meanwhile, a delay detection mechanism is introduced during this pressing process to monitor whether the shaping cylinder can reach the preset shaping position within the preset delay time. If the cylinder successfully reaches the position within the time, it means that the workpiece deformation is within the correction range of the mold and is judged as qualified. Conversely, if the cylinder fails to reach the specified position within the preset delay time, it means that the workpiece deformation is too large and exceeds the elastic correction capability of the forming mold. At this time, it is directly judged as a defective product with excessive deformation. At this time, the robot arm is controlled to grab the material and move it to the NG unloading conveyor line.

[0065] After the shaping is completed, another set of robotic arms can change the end gripper to grab the finished product to the unloading conveyor line, complete the unloading, and send the unloading station (station 4) unloading completion signal to the turntable.

[0066] By using the dynamic judgment method based on the cylinder's position, there is no need to add additional complex vision or distance sensors. During the shaping process, products that cannot be repaired by conventional shaping due to severe welding heat deformation can be identified in real time and accurately. This effectively prevents defective products from flowing into subsequent processes and improves the efficiency of product consistency screening and production yield.

[0067] In this embodiment, after receiving completion signals from four workstations, the turntable device can perform a positioning rotation to begin the next process flow. Its specific indexing rotation logic is as follows.

[0068] In some embodiments of this application, the method further includes: determining whether the actuators of each workstation are all at the origin or a safe position, wherein the actuators include: a loading mechanism and a correction mechanism corresponding to the loading workstation, a robotic arm and a positioning mechanism corresponding to the bracket installation workstation, a laser welding head corresponding to the welding workstation, and a robotic arm and a shaping mechanism corresponding to the unloading workstation; generating a turntable rotation permission condition signal when the actuators of each workstation are all at the origin or a safe position; triggering the turntable to perform indexing rotation when the turntable rotation permission condition signal is valid and the workstation completion signal sent by each workstation is received, wherein the workstation completion signal is used to indicate that the operation action of the corresponding workstation has been completed, and is triggered after the actuator of the corresponding workstation completes the workstation action; controlling the turntable to remain stationary and wait when the turntable rotation permission condition signal is invalid or the workstation completion signals of all workstations have not been received.

[0069] Specifically, before starting the indexing process, the grippers of the loading mechanism, the push rods of the correction mechanism, the robotic arm and positioning pins of the bracket installation station, the laser head of the welding station, and the robotic arm and forming mold of the unloading station are monitored in real time to confirm that they are not in the motion interference zone or working position. For example, it is confirmed that the robotic arm has returned to the initial coordinate point and the laser head has returned to zero. Only when all the above-mentioned actuators have been reset to their positions are the turntable rotation permission signal set to valid, thereby eliminating the risk of collision caused by the equipment being forcibly rotated due to the failure of the mechanism to be reset from the physical state level.

[0070] Subsequently, after confirming that the rotation permission signal is valid and receiving completion signals from the loading station, bracket installation station, welding station, and unloading station respectively indicating completion of loading correction, bracket positioning and clamping, laser welding, and shaping and unloading, the control system triggers the turntable to rotate in an indexing manner to proceed to the next process. Conversely, if any actuator is not in a safe position or has not received completion signals from all stations, the control turntable remains stationary and waits to ensure the safety and integrity of the action sequence of each station.

[0071] This dual logic control based on position status and operation signals can effectively avoid mechanical interference, product damage, or quality fluctuations caused by accidental triggering of turntable rotation due to equipment failure to reset or incomplete operation, thereby improving the operational safety and process stability of the turntable equipment.

[0072] This application's solution achieves high-precision positioning of the valve body by setting up a correction mechanism at the loading station. After the valve body is placed in the turntable fixture, it is forced to rotate to a preset angle and clamped in place, avoiding welding misalignment caused by initial position deviation. At the bracket installation station, a robotic arm is used to precisely place the bracket and clamp it through a positioning mechanism, further ensuring the accurate relative position of the bracket and the valve body. Subsequently, at the welding station, the connection is welded using a laser welding head. Finally, at the unloading station, the welded workpiece is transferred to a shaping mechanism for shaping and correction, eliminating thermal deformation generated during welding and ensuring product consistency. Compared with related technologies, this application's solution, by combining front-end posture correction and back-end shaping and correction, effectively solves the problems of poor positioning accuracy and low product consistency caused by welding thermal deformation during electronic expansion valve bracket welding, improving welding quality and product qualification rate.

[0073] According to an embodiment of this application, an embodiment of an electronic expansion valve bracket welding system is also provided. Figure 4 This is a structural schematic diagram of an electronic expansion valve bracket welding system provided according to an embodiment of this application. Figure 4 As shown, the device includes a turntable device 40 and a controller 42, as detailed below.

[0074] The turntable equipment 40 has multiple stations arranged along the axial direction, including: a loading station, a bracket installation station, a welding station, and a unloading station;

[0075] The controller 42 is used to control the loading mechanism at the loading station to place the valve body of the electronic expansion valve into the turntable fixture of the turntable device 40, and to control the correction mechanism to correct the posture of the valve body. The posture correction is used to force the valve body to rotate to a preset angle and then clamp and fix it. At the bracket installation station, the controller controls the robotic arm to place the qualified bracket to be welded on the bracket installation position on the valve body and clamp and fix it by the positioning mechanism. At the welding station, the controller controls the laser welding head to weld the connection between the bracket and the valve body to obtain the welded workpiece. At the unloading station, the controller controls the robotic arm to transfer the welded workpiece to the shaping mechanism, which shapes and corrects the workpiece and unloads the qualified workpiece after shaping.

[0076] Optionally, the controller 42 is also used to: control the robotic arm of the feeding mechanism to grab the valve body placed in the picking position at a preset picking angle, wherein the preset picking angle is the same for different valve bodies; determine the target feeding angle according to the product model information of the valve body, wherein the target feeding angle is different for different product models of valve bodies; and control the gripper of the robotic arm to rotate the valve body according to the target feeding angle, and place the rotated valve body in the turntable fixture.

[0077] Optionally, the valve body of the electronic expansion valve includes: a cylindrical sleeve and a valve foot extending laterally from the sleeve; the correction mechanism includes: a correction cylinder and a correction gripper driven by the correction cylinder; the controller 42 is further configured to: control the correction cylinder to drive the correction gripper to close, so that the arc surface of the correction gripper conforms to the outer contour of the valve body and clamps the valve foot of the valve body; control the correction gripper to drive the valve body to rotate around the axis of the sleeve until the valve body rotates to a preset angle, wherein the preset angle is the angle corresponding to the welding direction of the valve body bracket of the current product model; control the clamping cylinder used to drive the turntable clamp to close to clamp the valve body, and control the correction cylinder to open.

[0078] Optionally, before the controller robotic arm places the inspected and qualified bracket to be welded into the bracket installation position on the valve body, the controller 42 is further configured to: control the positioning cylinder of the secondary positioning mechanism to open, so that the positioning fixture of the secondary positioning mechanism is in an open state, wherein the positioning fixture has a groove in the middle, and the shape of the groove matches the shape of the bracket; control the robotic arm to pick up the bracket from the feeding mechanism and place it into the positioning fixture, control the positioning cylinder to close so that the positioning fixture clamps the bracket; acquire the positioning cylinder's position signal and the material sensing signal corresponding to the sensor at the bottom of the positioning fixture, wherein the position signal is used to indicate whether the positioning cylinder has reached the position where the positioning fixture clamps the bracket, and the material sensing signal is used to indicate whether a bracket is placed inside the positioning fixture; if the position signal is triggered and the material sensing signal indicates that there is material, the bracket is judged to be qualified; and if the position signal is not triggered or the material sensing signal indicates that there is no material, the bracket is judged to be unqualified and an alarm is triggered.

[0079] Optionally, the controller 42 is also used to: control the turntable to remain stationary during the welding process and lock the turntable fixture of the turntable device 40 to fix the valve body clamped in the turntable fixture; control the valve body to rotate relative to the laser welding head so that the connection between the bracket and the valve body rotates to the welding position of the laser welding head, while controlling the protective gas path to be open; control the laser welding head to weld the connection between the bracket and the valve body during the rotation of the valve body relative to the laser welding head; and release the lock on the turntable fixture after welding is completed.

[0080] Optionally, the forming mechanism includes a copying mold and a forming cylinder. The copying mold has a cavity that conforms to the shape of the workpiece. The controller 42 is also used to: place the workpiece into the cavity of the copying mold, control the forming cylinder to press the copying mold with a preset pressure, perform a delay detection during the pressing process, and determine that the workpiece is qualified if the forming cylinder reaches the preset forming position within the preset delay time; and determine that the workpiece is an unqualified product with excessive deformation if the forming cylinder does not reach the preset forming position within the preset delay time.

[0081] Optionally, the controller 42 is further configured to: determine whether the actuators of each workstation are all in the origin or safe position, wherein the actuators include: the loading mechanism and correction mechanism corresponding to the loading workstation, the robotic arm and positioning mechanism corresponding to the bracket installation workstation, the laser welding head corresponding to the welding workstation, and the robotic arm and shaping mechanism corresponding to the unloading workstation; generate a turntable rotation permission signal when the actuators of each workstation are all in the origin or safe position; trigger the turntable to perform indexing rotation when the turntable rotation permission signal is valid and the workstation completion signal sent by each workstation is received, wherein the workstation completion signal is used to indicate that the operation action of the corresponding workstation has been completed, and is triggered after the actuator of the corresponding workstation completes the workstation action; control the turntable to remain stationary and wait when the turntable rotation permission signal is invalid or the workstation completion signals of all workstations are not received.

[0082] It should be noted that each module in the above-mentioned electronic expansion valve bracket welding device can be a program module (for example, a set of program instructions to implement a certain function) or a hardware module. For the latter, it can be manifested in the following forms, but is not limited to them: each of the above modules is manifested as a processor, or the functions of each of the above modules are implemented by a processor.

[0083] It should be noted that the electronic expansion valve bracket welding device provided in this embodiment can be used to perform... Figure 2 The electronic expansion valve bracket welding method shown above is also applicable to the embodiments of this application, and will not be repeated here.

[0084] This application embodiment also provides a non-volatile storage medium, which includes a stored computer program. The device containing the non-volatile storage medium executes the following electronic expansion valve bracket welding method by running the computer program: At the loading station, the loading mechanism is controlled to place the valve body of the electronic expansion valve into the turntable fixture of the turntable device, and the correction mechanism is controlled to perform attitude correction on the valve body. The attitude correction forces the valve body to rotate to a preset angle and then clamps it in place. At the bracket installation station, the robotic arm is controlled to place the qualified bracket to be welded onto the bracket installation position on the valve body, and the positioning mechanism clamps it in place. At the welding station, the laser welding head is controlled to weld the connection between the bracket and the valve body to obtain a welded workpiece. At the unloading station, the robotic arm is controlled to transfer the welded workpiece to the shaping mechanism, where the workpiece is shaped and corrected, and the qualified workpiece is unloaded.

[0085] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the electronic expansion valve bracket welding method described in various embodiments of this application: At the loading station, the loading mechanism is controlled to place the valve body of the electronic expansion valve into the turntable fixture of the turntable equipment, and the alignment mechanism is controlled to perform attitude correction on the valve body, wherein the attitude correction is used to force the valve body to rotate to a preset angle and then clamp and fix it; at the bracket installation station, the robotic arm is controlled to place the qualified bracket to be welded into the bracket installation position on the valve body, and the positioning mechanism clamps and fixes it; at the welding station, the laser welding head is controlled to weld the connection between the bracket and the valve body to obtain the welded workpiece; at the unloading station, the robotic arm is controlled to transfer the welded workpiece to the shaping mechanism, where the workpiece is shaped and corrected, and the qualified workpiece is unloaded after shaping.

[0086] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0087] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0089] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0090] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0091] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0092] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A welding method for an electronic expansion valve bracket, characterized in that, The method is applied to a turntable device, which has multiple stations arranged along its axial direction, including: a loading station, a bracket installation station, a welding station, and an unloading station; the method includes: At the loading station, the loading mechanism is controlled to place the valve body of the electronic expansion valve into the turntable fixture of the turntable equipment, and the correction mechanism is controlled to perform attitude correction on the valve body. The attitude correction is used to force the valve body to rotate to a preset angle and then clamp and fix it. At the bracket installation station, the robotic arm is controlled to place the qualified bracket to be welded onto the bracket installation position on the valve body, and the positioning mechanism clamps and fixes it. At the welding station, the laser welding head is controlled to weld the connection between the bracket and the valve body to obtain the welded workpiece; At the unloading station, the robotic arm is controlled to transfer the welded workpiece to the shaping mechanism, which then shapes and corrects the workpiece and unloads the qualified workpiece after shaping.

2. The electronic expansion valve bracket welding method according to claim 1, characterized in that, The control mechanism for placing the valve body of the electronic expansion valve into the turntable fixture of the turntable equipment includes: The robotic arm of the feeding mechanism is controlled to grab the valve body placed in the picking position at a preset picking angle, wherein the preset picking angle is the same for different valve bodies; Based on the product model information of the valve body, the target feeding angle is determined, wherein the target feeding angle is different for different product models of the valve body; Based on the target feeding angle, the gripper of the robotic arm is controlled to rotate the valve body, and the rotated valve body is placed in the turntable fixture.

3. The electronic expansion valve bracket welding method according to claim 2, characterized in that, The valve body of the electronic expansion valve includes: a cylindrical sleeve and a valve foot extending laterally from the sleeve; the correction mechanism includes: a correction cylinder and a correction gripper driven by the correction cylinder; controlling the correction mechanism to correct the attitude of the valve body includes: The correction cylinder is controlled to drive the correction gripper to close, so that the arc surface of the correction gripper fits the outer contour of the valve body and clamps the valve foot of the valve body; The correction gripper is controlled to drive the valve body to rotate around the axis of the sleeve until the valve body rotates to the preset angle, wherein the preset angle is the angle corresponding to the bracket welding direction of the valve body of the current product model; The clamping cylinder used to drive the turntable clamp to close to clamp the valve body is controlled, and the correction cylinder is controlled to open.

4. The electronic expansion valve bracket welding method according to claim 1, characterized in that, Before the robotic arm places the inspected and qualified bracket to be welded into the bracket mounting position on the valve body, the method further includes: The positioning cylinder of the secondary positioning mechanism is opened to make the positioning fixture of the secondary positioning mechanism in the open state, wherein the positioning fixture has a groove in the middle and the shape of the groove matches the shape of the bracket. The robotic arm is controlled to pick up the bracket from the feeding mechanism and place it into the positioning fixture; the positioning cylinder is controlled to close so that the positioning fixture clamps the bracket. The positioning cylinder's position signal and the material sensing signal corresponding to the sensor at the bottom of the positioning fixture are obtained. The position signal is used to indicate whether the positioning cylinder has reached the position where the positioning fixture clamps the bracket. The material sensing signal is used to indicate whether the bracket is placed inside the positioning fixture. If the arrival signal is triggered and the material sensing signal indicates that there is material, the support is determined to be qualified; if the arrival signal is not triggered or the material sensing signal indicates that there is no material, the support is determined to be unqualified and an alarm is issued.

5. The welding method for the electronic expansion valve bracket according to claim 1, characterized in that, The laser welding head is controlled to weld the connection between the bracket and the valve body, resulting in a welded workpiece comprising: During the welding process, the turntable is kept stationary, and the turntable clamp of the turntable device is locked to fix the valve body clamped in the turntable clamp; The valve body is controlled to rotate relative to the laser welding head, so that the connection between the bracket and the valve body rotates to the welding position of the laser welding head, while the protective gas path is controlled to be open. During the rotation of the valve body relative to the laser welding head, the laser welding head is controlled to weld the connection between the bracket and the valve body; After welding is completed, release the lock on the turntable fixture.

6. The electronic expansion valve bracket welding method according to claim 1, characterized in that, The forming mechanism includes a contouring mold and a forming cylinder, wherein the contouring mold has a cavity that conforms to the shape of the workpiece; The shaping and correction of the workpiece by the shaping mechanism includes: The workpiece is placed into the cavity of the contouring mold, and the shaping cylinder is controlled to press the contouring mold with a preset pressure. During the pressing process, a delay detection is performed. If the shaping cylinder reaches the preset shaping position within the preset delay time, the workpiece is determined to be qualified for shaping. If the shaping cylinder fails to reach the preset shaping position within the preset delay time, the workpiece is determined to be a defective product with excessive deformation.

7. The electronic expansion valve bracket welding method according to claim 1, characterized in that, The method further includes: Determine whether the actuators at each workstation are all at the origin or in a safe position. The actuators include: the loading mechanism and correction mechanism corresponding to the loading workstation, the robotic arm and positioning mechanism corresponding to the bracket installation workstation, the laser welding head corresponding to the welding workstation, and the robotic arm and shaping mechanism corresponding to the unloading workstation. When the actuators at each workstation are in the origin or safe position, a turntable rotation permission signal is generated. When the turntable rotation permission signal is valid and the station completion signal sent by each station is received, the turntable is triggered to perform indexing rotation. The station completion signal is used to indicate that the operation action of the corresponding station has been completed, and is triggered after the actuator of the corresponding station completes the station action. If the turntable rotation permission signal is invalid, or if the completion signal of all workstations is not received, the turntable is controlled to remain stationary and wait.

8. An electronic expansion valve bracket welding system, characterized in that, include: Turntable equipment and controller, among which, The turntable equipment is provided with multiple stations along the axial direction, including: a loading station, a bracket installation station, a welding station, and a unloading station; The controller is used to: at the loading station, control the loading mechanism to place the valve body of the electronic expansion valve into the turntable fixture of the turntable equipment, and control the correction mechanism to correct the posture of the valve body, wherein the posture correction is used to force the valve body to rotate to a preset angle and then clamp and fix it; at the bracket installation station, control the robotic arm to place the qualified bracket to be welded on the bracket installation position on the valve body, and clamp and fix it by the positioning mechanism; at the welding station, control the laser welding head to weld the connection between the bracket and the valve body to obtain the welded workpiece; at the unloading station, control the robotic arm to transfer the welded workpiece to the shaping mechanism, and the shaping mechanism to shape and correct the workpiece, and unload the qualified workpiece after shaping.

9. An electronic device, characterized in that, include: A memory and a processor, the processor being configured to run a program stored in the memory, wherein the program, when running, performs the electronic expansion valve bracket welding method according to any one of claims 1 to 7.

10. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored computer program, wherein the device containing the non-volatile storage medium executes the electronic expansion valve bracket welding method according to any one of claims 1 to 7 by running the computer program.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the electronic expansion valve bracket welding method according to any one of claims 1 to 7.

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