An automatic feeding device for valve casting robotic arms

Abstract

This utility model relates to an automatic loading device for valve castings using a robotic arm. It includes a conveyor frame with multiple trays mounted on a conveyor belt. Valve castings are placed on the trays, and the upper end of each tray has multiple support plates, including a first support plate and a second support plate. The first support plate has V-shaped mounting grooves, and the first cylindrical section of the valve casting is mounted within these grooves on both sides. The horizontal section of the first flow channel is mounted on the second support plate. The loading device also includes a 3D vision recognition device and a six-axis robot. The 3D vision recognition device photographs and identifies the valve castings on the trays, calculates their pose, generates gripping point coordinates, and sends these coordinates to the six-axis robot. The six-axis robot receives the gripping point coordinates and grips the valve castings for the next process step. This solution utilizes a conveyor frame for loading and a vision-recognition robotic arm for automatic unloading, resulting in a high degree of automation, saving time and labor, and reducing labor costs.

Description

Technical Field

[0001] This utility model relates to the field of valve processing technology, and in particular to an automatic feeding device for valve castings using a robotic arm. Background Technology

[0002] The gating and riser are the "excess" parts that inevitably occur in the metal casting process. After the metal casting process is completed, the gating and riser are the first parts to be removed.

[0003] In casting production, the removal of risers and gating gates is a labor-intensive process with a low degree of automation.

[0004] After the valve body is cast, it needs to be cut to remove the gating gate after sand removal. Currently, manual cutting with an oxy-acetylene flame is commonly used. This process has problems such as harsh environment, high strength requirements, low efficiency, poor quality, and high cost. Environmental, health, safety, and labor issues are particularly prominent, seriously affecting and restricting the development of the valve industry. Specific problems are as follows:

[0005] (1) Dust and exhaust gas risk: Oxy-acetylene flame cutting generates a large amount of dust and exhaust gas containing harmful substances, which poses a huge risk of pollution to the workshop and even the surrounding environment if directly emitted.

[0006] (2) Occupational health hazards: Dust, exhaust gas, strong light, etc. pose significant occupational disease risks;

[0007] (3) Personal safety hazards: storage and fire prevention of acetylene and oxygen, manual high temperature, molten slag splash, irregular shape and overweight, etc., pose potential dangers to the personal safety of workers;

[0008] (4) Quality cost efficiency: Experienced manual flame cutting results in poor cross-sectional quality, requiring secondary machining by turning / milling to remove excess material and meet appearance requirements, which increases processing time and equipment and labor costs.

[0009] In addition, flame cutting is a type of thermal processing, which may cause changes in the metallographic structure of the valve body, affecting its lifespan and quality.

[0010] Therefore, the need to automate the cutting of casting risers and gating points is becoming increasingly apparent. However, without a corresponding automatic feeding device, manual handling of valve castings on the clamps above the automatic cutting equipment is time-consuming and labor-intensive. Summary of the Invention

[0011] To address the aforementioned issues, the present invention aims to provide an automatic loading device for valve castings using a robotic arm. This device can fix valve castings on a pallet and move them to the loading area via a conveyor frame, ensuring the stability of the valve castings during the conveying process. Then, by visually recognizing the coordinate information of the valve castings, the robotic arm automatically grabs and unloads them. The conveying process ensures accuracy and stability, saving time and effort and reducing labor costs.

[0012] To achieve the above objectives, the present invention adopts the following technical solution:

[0013] An automatic feeding device for valve castings using a robotic arm, characterized in that:

[0014] The valve casting includes a valve body and a gating system formed on the valve body. The valve body is a three-way valve, including a first circular tube and a second circular tube formed perpendicularly to the middle of the first circular tube. The first circular tube has a first connecting flange at both ends, and the second circular tube has a second connecting flange at its outer end. The gating system includes a gating block, a first runner section, and a second runner section. The first runner section includes a horizontal section located at the lower end of the gating block and parallel to the first circular tube. The two ends of the horizontal section have first connecting sections that are perpendicular to the horizontal section and connected to the first connecting flange. The horizontal section is arranged perpendicular to the axis of the second circular tube. The second runner section includes an inclined section extending from the side wall of the gating block to the second circular tube. The end of the inclined section has a second connecting section that connects to the second connecting flange. The second connecting section is arranged parallel to the axis of the first circular tube.

[0015] The robotic arm automatic feeding device includes a conveyor frame, a tray, a vision recognition device, and a six-axis robot; the conveyor frame has a feeding area, the tray is placed on the conveyor belt of the conveyor frame, and the valve castings are placed on the tray;

[0016] The upper part of the pallet is equipped with multiple support plates, including two first support plates of the same height arranged at intervals and opposite each other, and a second support plate arranged perpendicular to the two first support plates. The upper end of the first support plate is higher than the upper end of the second support plate. The upper end of the first support plate is recessed downward to form a V-shaped support groove, and the first circular tube is supported in the V-shaped support groove on both sides. The horizontal section is supported on the second support plate, and the middle part of the second support plate is recessed downward to form a relief groove, with the pouring gate block located directly above the relief groove. The second circular tube is arranged longitudinally so that the second connecting flange, the horizontal section, the first connecting section and the second connecting section are arranged horizontally, and the upper flange face of the second connecting flange is parallel to the horizontal plane. The conveyor frame conveys the valve casting to the loading area. The vision recognition device is used to photograph and recognize the valve casting on the pallet, calculate the pose of the valve casting, generate the gripping point coordinate information and send it to the six-axis robot. The six-axis robot is used to receive the gripping point coordinate information and grip the valve casting to the next process.

[0017] Preferably, the visual recognition device includes a housing and a 3D camera mounted on the housing; the 3D camera is located above the loading area and is used to photograph and recognize the valve casting and calculate the pose of the valve casting to generate gripping point coordinate information and send it to the six-axis robot; the housing is mounted on a horizontally arranged mounting rod, and the mounting rod is set on the upper end of a vertically arranged support rod.

[0018] Preferably, a diagonal brace is provided between the mounting rod and the support rod.

[0019] Preferably, the six-axis robot and the support rod are distributed on both sides of the feeding area. The gripping end of the six-axis robot is equipped with a mechanical claw, and the six-axis robot uses the mechanical claw to grip the second connecting flange of the valve casting.

[0020] Preferably, the conveyor frame is equipped with multiple servo motors to control the movement of the conveyor belt.

[0021] Preferably, the conveyor frame is ring-shaped, and the lower end of the conveyor frame is provided with multiple support frames.

[0022] The present invention adopts the above technical solution and has the following technical effects:

[0023] ① The valve casting is fixed on a pallet, which is then mounted on a conveyor belt and moves to the loading area. A 3D camera takes a picture of the valve casting, calculates its pose, generates the coordinate information of the gripping point, and transmits it to a six-axis robot. The six-axis robot uses a mechanical gripper to pick up the valve casting and transfer it to the fixture above the cutting equipment. The handling process involves loading via a conveyor frame and then automatically unloading via a vision recognition robotic arm. This process is highly automated, saves time and effort, and reduces labor costs.

[0024] ② Fix the valve casting on a special tray so that the valve casting is fixed in a standardized posture. That is, the first round tube is supported in the V-shaped support groove of the tray, and the first flow channel section is supported on the second support plate, so that the valve casting is stable on the tray. The upper flange face of the second connecting flange is horizontal. After the 3D camera takes a picture, the position is more accurately identified, which makes it easier for the robot to grasp.

[0025] ③ The tray and valve casting are matched so that the upper flange face of the second connecting flange is horizontal. When unloading, the mechanical claw on the robotic arm grabs the second connecting flange and sends the valve casting to the fixture, which makes it easier for the fixture to hold the first connecting flanges on both sides, making the clamping and matching more convenient. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of an automatic feeding device for valve casting robotic arms.

[0027] Figure 2 This is a three-dimensional structural diagram of the valve casting and its mating tray.

[0028] Figure 3 This is a side view diagram of the valve casting and its mating with the tray.

[0029] Figure 4 This is a three-dimensional structural diagram of a valve casting.

[0030] Figure 5This is a three-dimensional structural diagram of a valve casting from another perspective.

[0031] Figure 6 This is a schematic diagram of the three-dimensional structure of the tray.

[0032] Figure 7 This is a schematic diagram of the layout of a 3D visual recognition device.

[0033] Figure 8 This is a schematic diagram of the three-dimensional structure of a 3D visual recognition device.

[0034] Figure 9 This is a schematic diagram of a six-axis robot grasping a valve casting. Detailed Implementation

[0035] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown 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 this utility model, and should not be construed as limiting this utility model.

[0036] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", 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 utility model 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 utility model.

[0037] 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 utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0038] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] like Figures 1-9 The image shows an automatic feeding device for valve castings using a robotic arm.

[0041] The valve casting 100 includes a valve body and a gating and riser formed on the valve body. The valve body is a three-way valve, including a first circular tube 1 and a second circular tube 2 formed perpendicularly to the middle of the first circular tube 1. The first circular tube 1 has a first connecting flange 3 formed at both ends, and the second circular tube 2 has a second connecting flange 4 formed at its outer end. The gating and riser includes a gating block 5, a first flow channel section, and a second flow channel section. The first flow channel section includes a horizontal section 6 disposed at the lower end of the gating block 5 and parallel to the first circular tube 1. The two ends of the horizontal section 6 have a first connecting section 7 formed perpendicular to the horizontal section 6 and connected to the first connecting flange 3. The horizontal section 6 is arranged perpendicular to the axis of the second circular tube 2. The second flow channel section includes an inclined section 8 extending from the side wall of the gating block 5 to the second circular tube 2. The end of the inclined section 8 is provided with a second connecting section 9 connected to the second connecting flange 4. The second connecting section 9 is arranged parallel to the axis of the first circular tube 1.

[0042] The robotic arm automatic feeding device includes a conveyor frame 300, a tray 200, a 3D vision recognition device, and a six-axis robot 20; the conveyor frame 300 is provided with a feeding area 13, the tray 200 is set on the conveyor belt of the conveyor frame 300, and the valve casting 100 is mounted on the tray 200.

[0043] The upper end of the tray 200 is provided with multiple support plates, including two first support plates 42 of the same height arranged at intervals and opposite each other, and a second support plate 43 arranged perpendicularly to the two first support plates 42; the upper end of the first support plate 42 is higher than the upper end of the second support plate 43, and the upper end of the first support plate 42 is recessed downward to provide a V-shaped support groove 44, in which the first circular tube 1 is supported; the horizontal section 6 is supported on the second support plate 43, and the middle part of the second support plate 43 is recessed downward to provide a relief groove 45, in which the pouring gate block 5 is located. Directly above; the second circular tube 2 is arranged longitudinally so that the second connecting flange 4, the horizontal section 6, the first connecting section 7 and the second connecting section 9 are arranged horizontally, and the upper flange face of the second connecting flange 4 is parallel to the horizontal plane; the conveyor frame 300 conveys the valve casting 100 to the loading area 13, and the 3D vision recognition device is used to take pictures and recognize the valve casting 100 on the tray 200, calculate the pose of the valve casting 100, generate the gripping point coordinate information and send it to the six-axis robot 20; the six-axis robot 20 is used to receive the gripping point coordinate information and grip the valve casting 100 to the next process.

[0044] In the above technical solution, the valve casting to be cut is manually placed on a tray, and the conveyor conveys the valve casting to be cut, which is fixed on the tray, to the loading area. The valve casting includes a valve body and a riser to be cut. The first circular tube of the valve casting is supported in a V-shaped support groove, and the horizontal section of the first flow channel is supported on a second support plate, thereby keeping the valve casting stable and preventing it from sliding. At the same time, the upper flange face of the second connecting flange is horizontal. When the 3D camera takes a picture of the valve casting, the upper flange face of the second connecting flange can be clearly and completely identified, which is convenient for the six-axis robot to grasp.

[0045] The 3D vision recognition device takes pictures of valve castings, recognizes and calculates the pose of the valve castings to generate gripping point coordinate information. The six-axis robot receives the gripping point coordinate information and grips the valve castings to the next process (fixture). Thus, the process of transporting valve castings to be cut is carried out by loading them onto a conveyor and then unloading them automatically by a vision recognition robotic arm. This process is highly automated, saves time and labor, and reduces labor costs.

[0046] like Figure 7 and 8As shown, the 3D vision recognition device includes a housing 15 and a 3D camera 16 mounted on the housing 15. The 3D camera 16 is located above the loading area 13 and is used to photograph and recognize the valve casting 100, calculate the pose of the valve casting 100, generate grasping point coordinate information, and send it to the six-axis robot 20. The housing 15 is mounted on a horizontally arranged mounting rod 17, which is located at the upper end of a vertically arranged support rod 18. In this technical solution, the 3D camera takes a top-down image of the valve casting, calculates the 6-DOF pose through point cloud reconstruction, accurately identifies the position, shape, and size of the valve casting, and then generates accurate grasping point coordinate information, which is sent to the six-axis robot, thereby ensuring the accuracy and stability of the robotic arm's grasping during the unloading process.

[0047] Furthermore, a diagonal brace 19 is provided to connect the mounting rod 17 and the support rod 18. In this technical solution, the diagonal brace increases the connection strength between the mounting rod and the support rod, thereby improving the stability of the 3D camera.

[0048] Furthermore, the six-axis robot 20 and the support rod 18 are distributed on both sides of the loading area 13. The gripping end of the six-axis robot 20 is equipped with a mechanical claw 23. The six-axis robot 20 uses the mechanical claw 23 to grip the second connecting flange 4 of the valve casting 100. In this technical solution, during unloading, after the 3D camera identifies the complete upper flange surface of the second connecting flange, the mechanical claw on the robotic arm grips the second connecting flange and sends the valve casting to the fixture, making it easier for the fixture to hold the first connecting flanges on both sides, and making the clamping and engagement more convenient.

[0049] Furthermore, the conveyor frame 300 is equipped with multiple servo motors for controlling the movement of the conveyor belt. In this technical solution, using multiple servo motors on the conveyor frame to control the movement of the conveyor belt ensures that the valve castings can be automatically transported to the loading area accurately, reliably, efficiently, and smoothly. This lays a solid foundation for subsequent visual recognition and positioning and robot grasping, thereby improving the accuracy, efficiency, and automation level of the entire automatic loading device.

[0050] Furthermore, the conveyor frame 300 is annular, and multiple support frames 24 are provided at the lower end of the conveyor frame 300. In this technical solution, the conveyor frame 300 is annular, realizing the recycling of pallets, and empty pallets are automatically returned to the loading station.

[0051] The specific steps for implementing this plan are as follows:

[0052] The valve casting to be cut is manually placed on a tray. The first circular tube of the valve casting is supported in a V-shaped support groove, and the horizontal section of the first flow channel is supported on a second support plate. The second connecting flange is kept horizontal. The servo motor drives the conveyor belt to move and transport the valve casting to be cut, which is fixed on the tray, to the loading area. The 3D camera takes pictures of the valve casting to identify its position, shape and size, and then calculates the pose of the valve casting to generate the coordinate information of the gripping point and send it to the six-axis robot. The robotic arm of the six-axis robot grips the second connecting flange with the mechanical claw and moves the valve casting to the next process (fixture).

[0053] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0054] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. An automatic feeding device for valve castings using a robotic arm, characterized in that: The valve casting (100) includes a valve body and a gating and riser formed on the valve body. The valve body is a three-way valve, including a first circular tube (1) and a second circular tube (2) formed vertically on the middle of the first circular tube (1). The first circular tube (1) has a first connecting flange (3) formed at both ends, and the second circular tube (2) has a second connecting flange (4) formed at the outer end. The gating and riser includes a gating block (5), a first flow channel section, and a second flow channel section. The first flow channel section includes a section located at the lower end of the gating block (5) and connected to the first circular tube (1). The horizontal section (6) is parallel to the first connecting flange (3). The two ends of the horizontal section (6) are formed with first connecting sections (7) that are perpendicular to the horizontal section (6) and connected to the first connecting flange (3). The horizontal section (6) is arranged perpendicular to the axis of the second circular tube (2). The second flow channel section includes an inclined section (8) extending from the side wall of the pouring port block (5) to the second circular tube (2). The end of the inclined section (8) is provided with a second connecting section (9) that is connected to the second connecting flange (4). The second connecting section (9) is arranged parallel to the axis of the first circular tube (1). The robotic arm automatic feeding device includes a conveyor frame (300), a tray (200), a 3D vision recognition device and a six-axis robot (20); the conveyor frame (300) is provided with a feeding area (13), the tray (200) is set on the conveyor belt of the conveyor frame (300), and the valve casting (100) is set on the tray (200); The upper end of the tray (200) is provided with multiple support plates, including two first support plates (42) of the same height arranged at intervals and opposite each other, and a second support plate (43) arranged perpendicularly to the two first support plates (42); the upper end of the first support plate (42) is higher than the upper end of the second support plate (43), and the upper end of the first support plate (42) is recessed downward to provide a V-shaped support groove (44), and the first circular tube (1) is supported in the V-shaped support groove (44) on both sides; the horizontal section (6) is supported on the second support plate (43), and the middle part of the second support plate (43) is recessed downward to provide a relief groove (45), and the pouring gate block (5) is located in the relief groove (45). Directly above; the second circular tube (2) is arranged longitudinally so that the second connecting flange (4), the horizontal section (6), the first connecting section (7) and the second connecting section (9) are arranged horizontally, and the upper flange face of the second connecting flange (4) is parallel to the horizontal plane; the conveyor frame (300) conveys the valve casting (100) to the loading area (13), and the 3D vision recognition device is used to take pictures and recognize the valve casting (100) on the tray (200), calculate the pose of the valve casting (100) to generate the gripping point coordinate information and send it to the six-axis robot (20); the six-axis robot (20) is used to receive the gripping point coordinate information and grip the valve casting (100) to the next process.

2. The automatic feeding device for valve casting mechanical arm according to claim 1, characterized in that: The 3D vision recognition device includes a housing (15) and a 3D camera (16) mounted on the housing (15). The 3D camera (16) is located above the loading area (13) and is used to take pictures of the valve casting (100), recognize it, calculate the pose of the valve casting (100), generate the coordinate information of the gripping point, and send it to the six-axis robot (20). The housing (15) is mounted on a horizontally arranged mounting rod (17), and the mounting rod (17) is set on the upper end of a longitudinally arranged support rod (18).

3. The automatic feeding device for valve casting mechanical arm according to claim 2, characterized in that: An inclined rod (19) is provided to connect the mounting rod (17) and the support rod (18).

4. The automatic feeding device for valve casting mechanical arm according to claim 2, characterized in that: The six-axis robot (20) and the support rod (18) are distributed on both sides of the loading area (13). The gripping end of the six-axis robot (20) is equipped with a mechanical claw (23). The six-axis robot (20) grips the second connecting flange (4) of the valve casting (100) through the mechanical claw (23).

5. The automatic feeding device for valve casting mechanical arm according to claim 1, characterized in that: The conveyor frame (300) is equipped with multiple servo motors for controlling the movement of the conveyor belt.

6. The automatic feeding device for valve casting mechanical arm according to claim 5, characterized in that: The conveyor frame (300) is ring-shaped, and multiple support frames (24) are provided at the lower end of the conveyor frame (300).

Images