A valve body six-sided automatic milling machine

Abstract

An automatic six-sided milling machine for valve bodies is disclosed. The valve body is magnetic. The machine comprises a robotic arm, a aligning device, a second transport mechanism, and a milling mechanism. The robotic arm has a magnetic suction cup at its end for adsorbing the valve body. The aligning device includes a first worktable, multiple aligning mechanisms mounted on the first worktable, a first transport mechanism, and a first unloading mechanism. Each of the aligning mechanisms includes a rotary drive and grippers fixedly connected to the rotary drive. At least some of the rotary drive mechanisms have their shafts arranged in different directions. The valve body is aligned after passing through the multiple aligning mechanisms. The first transport mechanism transports the aligned valve body to the first unloading mechanism. The second transport mechanism transports the valve body from the first unloading mechanism to the milling mechanism for milling. Compared with existing technologies, the magnetic suction cup of this invention can also magnetically fix and transport the valve body, reducing gripping difficulty and improving gripping efficiency.

Description

Technical Field

[0001] This utility model belongs to the technical field of milling equipment, specifically relating to an automatic six-sided milling equipment for valve bodies. Background Technology

[0002] Cast valve bodies may have surface defects such as porosity and sand holes due to the casting process. Milling can remove excess material from the surface, eliminating these defects and improving the valve body's density and reliability. Depending on the valve body material, some valve bodies are magnetic, while others are not.

[0003] To improve processing efficiency, existing milling machines for valve bodies are equipped with two spindles for double-sided milling of two opposite sides of the valve body. All six sides of the valve body are processed using three machines in an assembly line manner. Specifically, during the milling of the first two sides, based on the relative positions of the two surfaces to be machined and the two spindles, the operator places the valve body onto the loading mechanism according to a predetermined orientation. The loading mechanism then transports the valve body to a fixed fixture, which holds the valve body in place. The valve body is then moved to a position opposite the spindles for machining. After machining, the fixed fixture moves the valve body to the unloading station for unloading, completing the machining of two sides of the valve body. The semi-finished product processed by the first machine is transferred to the second machine and processed using the same steps (placement, loading, machining, unloading). The third machine also processes the valve body using the same method, ultimately completing the machining of all six sides of the valve body.

[0004] Currently, robotic arms are widely used in material handling. Combined with existing milling equipment that uses grippers to hold valve bodies, the applicant attempted to install grippers and cameras on the robotic arm. This robotic arm would then pick up unprocessed valve bodies from a material box and place them on a platform. The robotic arm would then move to different sides of the valve body, taking pictures of two or three sides. Based on the image results, the system would control the robotic arm to grip and repeatedly flip the valve body to automatically align it. However, due to the large number of valve bodies in the material box, which are closely packed together, gripping the valve bodies becomes more difficult. During the valve body alignment process, especially when the front side to be aligned is at the bottom, the robotic arm needs to repeatedly pick up and put down the valve body, resulting in slow alignment speed and low alignment efficiency. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an automatic milling machine for six sides of a valve body.

[0006] To achieve the above objectives, this utility model discloses an automatic six-sided milling processing equipment for valve bodies, wherein the valve body is magnetic and includes a robotic arm, a positioning device, a second conveying mechanism, and a milling mechanism;

[0007] The end of the robotic arm is equipped with a magnetic suction cup, which is used to attract the valve body;

[0008] The alignment device includes a first worktable, multiple alignment mechanisms disposed on the first worktable, a first conveying mechanism, and a first unloading mechanism. Each of the multiple alignment mechanisms includes a rotary drive device and a gripper fixedly connected to the rotary drive device. The rotating shafts of the rotary drive devices of at least some of the alignment mechanisms are arranged in different directions. The valve body is aligned after passing through the multiple alignment mechanisms in sequence. The first conveying mechanism is used to convey the aligned valve body to the first unloading mechanism.

[0009] The second transport mechanism is used to transport the valve body on the first unloading mechanism to the milling mechanism for milling.

[0010] Preferably, the straightening mechanism has three sets, namely a first straightening mechanism, a second straightening mechanism and a third straightening mechanism;

[0011] The first alignment mechanism includes a three-dimensional moving component, a first rotary driving device, a first camera, and a first gripper. The three-dimensional moving component is disposed on the first worktable. The first rotary driving device and the first camera are both mounted on the three-dimensional moving component. The rotating shaft of the first rotary driving device is vertically arranged, and the lens of the first camera faces downward. The first gripper is mounted on the bottom of the first rotary driving device. The three-dimensional moving component is used to drive the first gripper to move to a position opposite to the carrier and to a position away from the carrier.

[0012] The second alignment mechanism includes a second rotary drive device, a second gripper, and a second camera. The shaft of the second rotary drive device is vertically arranged, the second gripper is mounted on the second rotary drive device, and the lens of the second camera is arranged opposite to the second gripper.

[0013] The third alignment mechanism includes a third rotary drive device and a third gripper. The shaft of the third rotary drive device is horizontally arranged in the left-right direction. The third gripper is mounted on the third rotary drive device. The first transport mechanism is used to transport the valve bodies on the second and third alignment mechanisms.

[0014] Preferably, the first conveying mechanism includes a first support, a first left-right moving component, a first telescopic cylinder, and a fourth gripper. The first support is mounted on the first workbench, the first left-right moving component is mounted on the first support, the first telescopic cylinder is mounted on the first left-right moving component, and the fourth gripper is mounted on the telescopic cylinder and moves up and down under the action of the telescopic cylinder. The fourth gripper is arranged opposite to the second and third grippers.

[0015] Preferably, the first feeding mechanism includes a feeding seat, the top surface of which is provided with a feeding straight groove, the width of which is adapted to the valve body after it is aligned, and the fourth gripper can transport the valve body on the third gripper to the feeding straight groove.

[0016] The first feeding mechanism further includes a second left-right moving component, a front-back moving component, and a translation plate. The front-back moving component is mounted on the left-right moving mechanism. One side of the translation plate is fixedly connected to the front-back moving component. The other side of the translation plate is provided with a plurality of equally spaced slots. The plurality of slots are arranged opposite to the feeding straight groove. Each slot is used to hold a valve body.

[0017] Preferably, the milling structure includes a base, a spindle, a second worktable, a first transfer table, and a third transport mechanism. The spindle is slidably connected to the base. There are two spindles, which are arranged sequentially and facing each other along a first axis. The second worktable is slidably connected to the base. The movement direction of the second worktable is a first direction, which is perpendicular to the first axis.

[0018] The second worktable includes a slide, three support seats, and a fixing assembly. The slide is slidably connected to the base. The three support seats are arranged along the first direction and fixedly connected to the slide. The fixing assembly includes a first driving device and a clamping member. The first driving device is used to drive the clamping member to move to a first position and a second position. In the first position, the clamping member is located above the support seat and clamps the valve body. In the second position, the clamping member avoids the support seat. The third conveying mechanism is used to convey the valve body to the three support seats to process the three pairs of sides of the valve body respectively.

[0019] Preferably, at least one of the support bases and the slide is provided with a first positioning component;

[0020] The first positioning component includes a second driving device and two lateral positioning structures;

[0021] The second drive device is fixedly connected to the slide, and the corresponding support is provided on the second drive device. The second drive device is provided with telescopic shafts on both sides along the first direction, and the telescopic shafts are arranged along the first direction.

[0022] The two lateral positioning structures are respectively fixedly connected to the two telescopic shafts;

[0023] The lateral positioning structure includes a first connecting block, a second connecting block, and a positioning shaft. The first connecting block is fixedly connected to a corresponding telescopic shaft, the second connecting block is movably connected to the first connecting block, and the positioning shaft is fixedly connected to the side of the second connecting block near the support.

[0024] Preferably, the end of the positioning shaft is provided with a positioning bevel, the positioning bevel is flared and the flared opening faces the second connecting block, and the positioning bevel is used to lock into the port of the internal channel of the valve body.

[0025] Preferably, the second connecting block is provided with a plurality of vertically penetrating connecting holes;

[0026] The lateral positioning structure also includes multiple connectors and multiple springs;

[0027] Each connector includes a limiting part, a guiding part, and a connecting part arranged in sequence. The limiting part is in a limiting fit with the connecting hole, the guiding part is in a guiding fit with the inner sidewall of the connecting hole, and the connecting part is fixedly connected to the first connecting block.

[0028] The guide portion is fitted with a spring, and the two ends of the spring abut against the second connecting block and the first connecting block, respectively.

[0029] Preferably, there are two sets of the second workbench, and the two sets of the second workbench are symmetrically arranged in the middle position of the base.

[0030] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0031] The robotic arm is equipped with a magnetic suction cup at its end. After the end of the robotic arm enters the material frame, it moves to above any valve body, aligning the magnetic suction cup with the top surface of the valve body. The magnetic suction cup then moves downwards to magnetically hold the valve body, subsequently transporting it to the alignment device, and finally releasing the magnetic attraction. Because the magnetic suction cup lacks gripping parts like claws, even if the valve bodies are tightly packed within the material frame, the robotic arm can still magnetically hold and transport them, making gripping easier and improving efficiency.

[0032] The alignment device is equipped with multiple sets of rotary drive units and grippers, with some of the rotary drive units having their shafts arranged in different directions. Therefore, the valve body can be aligned by rotating multiple times according to the position of the target surface to be aligned. During the alignment process, the valve body passes through multiple alignment mechanisms in sequence. In actual working conditions, each alignment mechanism operates simultaneously. Therefore, the time it takes for the alignment mechanism to provide the aligned valve body to the conveying device is the longest among the multiple alignment mechanisms. This is less time and more efficient than the alignment completed by a robotic arm alone.

[0033] Through the coordinated operation of the robotic arm (magnetic chuck gripping), the alignment device (multi-directional rotation alignment), the first transport mechanism (automatic transfer), and the milling mechanism, a fully automated processing chain of "gripping-aligning-transfer-milling" is formed. This not only reduces the cost of manual intervention but also avoids processing quality problems caused by human operation errors. At the same time, the seamless connection of each process improves the overall cycle time of the valve body and increases production efficiency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of an existing solenoid valve.

[0035] Figure 2 for Figure 1 A structural schematic diagram of a solenoid valve from another perspective;

[0036] Figure 3 This is a schematic diagram of the structure of the automatic six-sided milling equipment for valve bodies, as shown in the embodiment.

[0037] Figure 4 for Figure 3 A three-dimensional structural diagram of a robotic arm;

[0038] Figure 5 for Figure 3 A three-dimensional structural diagram of the center alignment device;

[0039] Figure 6 for Figure 5 A schematic diagram of the first alignment mechanism in the middle;

[0040] Figure 7 for Figure 5 A structural schematic diagram of the first alignment mechanism from another perspective;

[0041] Figure 8 for Figure 5 A schematic diagram of the second alignment mechanism;

[0042] Figure 9 for Figure 5 A magnified view of a portion of point A in the middle;

[0043] Figure 10 for Figure 5 A three-dimensional structural diagram of the first handling mechanism in the middle;

[0044] Figure 11 for Figure 5 A three-dimensional structural diagram of the first feeding mechanism;

[0045] Figure 12 for Figure 3 3D structural diagram of the second conveying mechanism

[0046] Figure 13 for Figure 3A three-dimensional structural diagram of the intermediate milling mechanism;

[0047] Figure 14 for Figure 13 A structural schematic diagram of the central base, spindle, worktable, and second positioning assembly;

[0048] Figure 15 for Figure 13 A schematic diagram of the three-dimensional structure of the intermediate workbench;

[0049] Figure 16 for Figure 15 An exploded three-dimensional structural diagram of the middle support and the first positioning component;

[0050] Figure 17 for Figure 14 A three-dimensional structural diagram of the first positioning component;

[0051] Figure 18 for Figure 13 A three-dimensional structural diagram of the conveying mechanism;

[0052] Figure 19 for Figure 13 A three-dimensional structural diagram of the conveying mechanism from another perspective;

[0053] Figure 20 for Figure 19 A schematic diagram of the structure installed at the bottom of the lifting arm;

[0054] Valve body 1000; channel 1100; groove 1110; marking 1200;

[0055] Robotic arm 2000; Magnetic chuck 2100;

[0056] Alignment device 3000; First worktable 3100; Carrier 3200; First alignment mechanism 3300; Three-dimensional moving component 3310; Second support 3311; First moving seat 3312; Second moving seat 3313; Third moving seat 3314; First connecting seat 3315; First rotary drive device 3320; First camera 3330; First gripper 3340; Second alignment mechanism 3400; First support 3410; Second gripper 3420; Second camera 3430; Third alignment mechanism 3500; Third rotary drive device 3510; third gripper 3520; first conveying mechanism 3600; first support 3610; first left-right moving component 3620; second connecting plate 3621; lead screw 3622; first telescopic cylinder 3630; fourth gripper 3640; first unloading mechanism 3700; unloading seat 3710; unloading straight groove 3711; second left-right moving component 3720; linear motor 3721; third connecting plate 3722; front-back moving component 3730; translation plate 3740; slot 3741;

[0057] Second handling mechanism 4000; truss 4100; handling assembly 4200; fourth connecting seat 4210; second telescopic cylinder 4220; fifth gripper 4230;

[0058] Milling mechanism 5000; base 5100; spindle 5200; second worktable 5300; slide 5310; bearing seat 5320; first bearing seat 5321; second bearing seat 5322; third bearing seat 5323; bearing block 53231; positioning block 53232; fixing assembly 5330; first drive device 5331; clamping member 5332; connecting bar 53321; clamping block 53322; first positioning assembly 5340; second drive device 5341; telescopic shaft 53411; first connecting block 5342; second connecting block 5343; connecting hole 53431; positioning shaft 5344; positioning inclined surface 53441; connecting member 5345; Limiting part 53451; Guide part 53452; Connecting part 53453; Spring 5346; Second positioning component 5400; Third bracket 5410; Mounting plate 5420; U-shaped clearance 5421; First pushing device 5430; Second pushing device 5440; Third pushing device 5450; Third conveying mechanism 5500; Frame 5511; Crossbeam 5512; Horizontal sliding seat 5513; Lifting arm 5514; Second connecting seat 55141; First rotating device 5520; Third connecting seat 5521; Second rotating device 5530; Vision recognition component 5540; Sixth gripper 5550; First transfer platform 5600;

[0059] Second transfer station 6000. Detailed Implementation

[0060] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0061] Before explaining this solution, this embodiment will briefly describe the structure of a magnetic solenoid valve body 1000. For example... Figures 1-2 As shown, the valve body is a rectangular block with a channel 1100 penetrating both of its surfaces. The two ends of the channel are different; one end has a groove 1110 at its opening, while the other end does not. A marking 1200 is located on one surface of the valve body. Therefore, during alignment, simply identifying the characteristics of two adjacent surfaces of the valve body clarifies how to align it. It is understandable that for other types of valve bodies, if the alignment steps cannot be confirmed using two surfaces, the second gripper 3420 can be rotated to identify another surface (a total of three surfaces are identified), allowing for confirmation of alignment using all three surfaces.

[0062] An automatic milling machine for six sides of a valve body includes a robot arm 2000, a leveling device 3000, a second conveying mechanism 4000, and a milling mechanism 5000.

[0063] The end of the robotic arm 2000 is equipped with a magnetic suction cup 2100, which is used to attract valve bodies 1000. In this embodiment, the magnetic suction cup is an existing type of suction cup, such as an electromagnetic suction cup, which attracts magnetically when energized and releases magnetically when de-energized. Furthermore, the cross-sectional dimension of the magnetic suction surface of the magnetic suction cup 2100 is smaller than the minimum cross-sectional dimension of the valve body 1000. This allows the magnetic suction cup 2100 to attract only one valve body 1000 at a time, thus enabling the alignment device 3000 to feed valve bodies one by one, avoiding the problem of some valve bodies falling off due to insecure adhesion when the magnetic suction cup 2100 attracts multiple valve bodies. It is understood that, in order to ensure that the magnetic suction cup 2100 can accurately align with the valve body, the end of the robotic arm can also be equipped with commonly used recognition devices, such as a camera.

[0064] The alignment device 3000 includes a first worktable 3100, multiple alignment mechanisms mounted on the first worktable 3100, a first conveying mechanism 3600, and a first unloading mechanism 3700. Each of the alignment mechanisms includes a rotary drive and grippers fixedly connected to the rotary drive. The rotating shafts of the rotary drive of at least some of the alignment mechanisms are arranged in different directions. The valve body is aligned after passing through the multiple alignment mechanisms in sequence. The first conveying mechanism 3600 is used to convey the aligned valve body to the first unloading mechanism 3700. The second conveying mechanism 4000 is used to convey the valve body from the first unloading mechanism 3700 to the milling mechanism 5000 for milling.

[0065] The following is a detailed description of the alignment device 3000, the second conveying mechanism 4000, and the milling mechanism 5000.

[0066] This embodiment has three sets of alignment mechanisms: a first alignment mechanism 3300, a second alignment mechanism 3400, and a third alignment mechanism 3500. These three mechanisms are arranged sequentially in the left-right direction. A carrier 3200 is provided on the first worktable, positioned in front of the first alignment mechanism 3300 to support the valve body. By positioning the carrier in front of the first alignment mechanism 3300, the robot arm will not interfere with the first alignment mechanism 3300 when it moves the valve body onto the carrier 3200.

[0067] The first alignment mechanism 3300 includes a three-dimensional moving component 3310, a first rotary drive device 3320, a first camera 3330, and a first gripper 3340. The three-dimensional moving component 3310 has the ability to move in the front-back, left-right, and up-down directions. Specifically, the three-dimensional moving component 3310 includes a second support 3311, a first moving seat 3312, a second moving seat 3313, and a third moving seat 3314. The second support 3311 is fixedly connected to the first worktable 3100, and its top surface is provided with guide rails arranged in the left-right direction. The first moving seat 3312 is slidably connected to the guide rails via sliders. Similarly, the second moving seat 3313 is connected to the first moving seat 3312 via guide rail sliders arranged in the front-back direction, and the second moving seat 3313 is connected to the third moving seat 3314 via guide rail sliders arranged in the vertical direction, thereby enabling the three-dimensional moving component 3310 to have three-dimensional moving capabilities. The three moving seats can be driven by lead screws, belts, or other existing drive structures, which will not be elaborated further here. The third moving seat 3314 is equipped with a first connecting seat 3315. The first rotary drive device 3320 and the first camera 3330 are both mounted on the three-dimensional moving component 3310. The first rotary drive device 3320 is a motor with its shaft vertically downward. The lens of the first camera 3330 faces downward, allowing it to photograph the top surface of the valve body on the carrier 3200. The first gripper 3340 is mounted on the bottom of the first rotary drive device 3320. After the valve body is placed on the carrier 3200, the three-dimensional moving component 3310 drives the first gripper 3340 to move to a position opposite to the valve body. The first rotary drive device 3320 then drives the first gripper 3340 to rotate, so that the two claws of the first gripper 3340 face the two surfaces of the valve body. Then, it moves downward to clamp the valve body and finally transports the valve body to the second alignment mechanism 3400. After the transfer is completed, the first gripper 3340 moves to the rear of the carrier 3200 to avoid affecting the loading of the valve body.

[0068] The second alignment mechanism 3400 includes a first support 3410, a second rotary drive device, a second gripper 3420, and a second camera 3430. The first support 3410 is fixedly connected to the first worktable 3100, and the second rotary drive device is fixedly connected to the first support 3410. The shaft of the second rotary drive device is vertically arranged. The second gripper 3420 is mounted on the second rotary drive device with its gripper portion facing upwards. When the first gripper 3440 moves to a position opposite to the second gripper 3420, the first gripper 3440 moves downwards, placing the valve body on the second gripper 3420, and then moves back to its initial position. The second camera 3430 is located in front of the second gripper 3420, with its lens facing the second gripper 3420, to photograph the valve body on the second gripper 3420. After the second camera 3430 takes a picture, it combines the picture taken by the first camera 3330 (a total of two pictures) with the picture taken by the first camera 3330. The system then matches the surface combination with the picture, and then the second gripper 3420 rotates the valve body to the corresponding posture according to the matching steps. Finally, the first conveying mechanism 3600 transports the valve body to the third gripper 3520.

[0069] The third alignment mechanism 3500 includes a third rotary drive device 3510 and a third gripper 3520. The shaft of the third rotary drive device 3510 is horizontally arranged in the left-right direction, and the third gripper 3520 is mounted on the third rotary drive device 3510. After the first conveying mechanism 3600 conveys the valve body onto the third gripper 3520, the third gripper 3520 rotates the valve body step by step, finally completing the automatic alignment of the valve body.

[0070] By setting up the first, second, and third alignment mechanisms 3500, the first, second, and third grippers 3520 cooperate with the first and second cameras 3430, and the first, second, and third rotary drive devices 3510 can rotate along their respective axes, thereby driving the valve body to rotate and ultimately achieving automatic alignment of the valve body. This provides a foundation for automated processing on the production line.

[0071] The second and third rotary drive devices 3510 can also be motors, or other structures, such as a motor, belt, pulley, and first connecting plate. The pulley is installed at the bottom of the first connecting plate. The motor drives the belt to rotate, and the belt drives the pulley to rotate, thereby rotating the first connecting plate. The second and third grippers 3520 are fixedly connected to the corresponding connecting plates.

[0072] In this embodiment, the first conveying mechanism 3600 includes a first support 3610, a first left-right moving component 3620, a first telescopic cylinder 3630, and a fourth gripper 3640. The first support 3610 is fixedly connected to the first worktable 3100. The first left-right moving component 3620 is disposed on the first support 3610, the first telescopic cylinder 3630 is mounted on the first left-right moving component 3620, and the fourth gripper 3640 is fixedly connected to the telescopic cylinder. The fourth gripper 3640 can move left and right under the action of the first left-right moving component 3620 and can move up and down under the action of the telescopic cylinder. The fourth gripper 3640 is arranged opposite to the second gripper 3420 and the third gripper 3520, thereby enabling the valve body on the second gripper 3420 to be transferred to the third gripper 3520 and the valve body on the third gripper 3520 to be removed for unloading.

[0073] The first left-right moving component 3620 includes a second connecting plate 3621, a motor, and a lead screw 3622. The second connecting plate 3621 is slidably connected to the first bracket 3610 via a guide rail slider. The motor is fixedly connected to the first bracket 3610, and its rotating shaft is connected to the lead screw 723. The lead screw 723 is threadedly connected to the second connecting plate 3621, so that the motor drives the lead screw to rotate, and the lead screw 723 drives the second connecting plate 3621 to move left and right.

[0074] The first, second, third, and fourth grippers 3640 mentioned above are pneumatic grippers currently available on the market; their specific structures will not be described in detail here.

[0075] In this embodiment, the alignment device further includes a first unloading mechanism 3700 disposed on the first workbench 3100. The first unloading mechanism 3700 is located on the side of the third alignment mechanism 3500 away from the second alignment mechanism 3400. The first unloading mechanism 3700 includes an unloading seat 3710, and the top surface of the unloading seat 3710 is provided with an unloading straight groove 3711, which is arranged in the left-right direction.

[0076] The first feeding mechanism 3700 also includes a second left-right moving component 3720, a front-back moving component 3730, and a translation plate 3740. The second left-right moving component 3720 includes a linear motor 3721 and a third connecting plate 3722. The third connecting plate 3722 is fixedly connected to the output end of the linear motor 3721 and can move left and right under its drive. The front-back moving component 3730 is fixedly connected to the third connecting plate 3722. The front-back moving component 3730 is a cylinder, with the piston rod arranged front-back. One side of the translation plate 3740 is fixedly connected to the front-back moving component 3730, and the other side of the translation plate 3740 has multiple spaced slots 3741. These slots 3741 can move to face the feeding straight groove 3711, and each slot 3741 is used to hold a valve body. When the valve body is transferred from the third gripper 3520 to the discharge groove 3711, under the action of the second left-right moving component 3720 and the front-back moving component 3730, the translation plate 3740 moves to a position opposite to the valve body, and then holds the valve body that has just been placed on the discharge groove 3711 through the slot 3741. Then the translation plate 3740 moves away from the third gripper 3520, so that the valve body on the third gripper 3520 can be placed on the discharge groove 3711.

[0077] The valve body is placed in a series of slots 3741 at equal intervals. The distance between the position of the fourth gripper 3640 and the nearest slot 3741 on the translation plate 3740 is equal to the distance between two adjacent slots 3741. This ensures that while a slot 3741 is holding a newly placed valve body, other slots 3741 can also hold other valve bodies on the feeding groove 3711. The equal intervals between valve bodies on the feeding groove 3711 facilitate the robot's transport of them to the next workstation.

[0078] The first telescopic cylinder 3630 and the fourth gripper 3640 are in two sets. The distance between the third gripper 3520 and the second gripper 3420 and the discharge straight groove 3711, the distance between the third gripper 3520 and the fourth gripper 3640 on the discharge straight groove 3711, and the distance between the two fourth grippers 3640 are equal. Thus, when one of the fourth grippers 3640 moves the valve body on the second gripper 3420 to the third gripper 3520, the valve body on the third gripper 3520 can be moved to the discharge straight groove 3711 at the same time, which is highly efficient.

[0079] The carrier 3200, the second gripper 3420, the third gripper 3520, the fourth gripper 3640, and the discharge straight groove 3711 are arranged in a linear configuration, that is, they are located on the same branch line, and only need to be moved left and right during handling.

[0080] In this embodiment, there are three sets of milling mechanisms 5000, which are arranged sequentially in the left-right direction. The second conveying mechanism 4000 includes a truss 4100 and a conveying assembly 4200. The truss 4100 is fixedly connected to the frame 5511 of the three sets of milling mechanisms 5000. Specifically, one end of the truss 4100 extends to the first unloading mechanism 3700 of the aligning device 3000, and the other end extends to the milling mechanism 5000 furthest from the aligning device. The conveying assembly 4200 includes a fourth connecting seat 4210, six second telescopic cylinders 4220, and six fifth grippers 4230. The fourth connecting seat 4210 is slidably connected to the truss in the left and right directions. The second telescopic cylinders 4220 are fixedly connected to the fourth connecting seat 4210. The piston rods of the second telescopic cylinders 4220 are arranged vertically downwards, and the piston rod of each second telescopic cylinder 4220 is connected to a sixth gripper 4230. The six transport components 4200 are divided into three groups of two, each group consisting of two transport components 4200. This allows each milling mechanism 5000 to transport two unprocessed valve bodies while simultaneously picking up two processed valve bodies (finished products). When a transport component 4200 picks up two finished products from the last milling mechanism 5000, all valve bodies on the transport component are finished valve bodies, and the six finished products can then be unloaded.

[0081] The three sets of milling mechanisms 5000 above have the same structure. The following description will focus on one of the milling mechanisms 5000.

[0082] The milling mechanism 5000 includes a base 5100, a spindle 5200, a second worktable 5300, a third transport mechanism 5500, and a first transfer table 5600.

[0083] The spindle 5200 is an existing milling machine spindle 5200 used for machining valve body surfaces, and it is slidably connected to the base 5100. There are two spindles 5200, which are coaxial and facing each other along the first axis direction (left-right direction). The second worktable 5300 is slidably connected to the base 5100, and it can move along... Figure 2 The second worktable 5300 moves in the forward and backward direction. The movement direction of the second worktable 5300 is the first direction, which is perpendicular to the first axis. During processing, the transport mechanism 5500 transports the unprocessed valve body from the first transfer table 5600 to the second worktable 5300. The second worktable 5300 moves to a position between the two spindles 5200. The two spindles 5200 move towards each other, thereby milling the two opposite surfaces of the valve body on the second worktable 5300. After processing, the two spindles 5200 move in a direction that is relatively far apart, and the second worktable 5300 moves to its initial position. The transport mechanism 5500 then transports the finished valve body to the first transfer table 5600.

[0084] The second workbench 5300 includes a slide 5310, three support seats 5320, and a fixing assembly 5330. The slide 5310 is slidably connected to the base 5100 via a guide rail slider structure. The three support seats 5320 are spaced apart in the front-back direction and fixedly connected to the slide 5310. The fixing assembly 5330 includes a first driving device 5331 and a clamping member 5332. The first driving device 5331 is used to drive the clamping member 5332 to move to a first position and a second position. In the first position, the clamping member 5332 is located above the support seat 5320 and clamps the valve body. In the second position, the clamping member 5332 avoids the support seat 5320. The third conveying mechanism 5500 is used to convey the valve body to the three support seats 5320 for processing the three pairs of sides of the valve body respectively.

[0085] For ease of explanation, a valve body with all six sides unprocessed is called an unprocessed valve body, a valve body with two sides processed is called a first semi-finished product, a valve body with four sides processed is called a second semi-finished product, and a valve body with all six sides processed is called a finished product. The three support seats 5320 are designated as the first support seat 5321, the second support seat 5322, and the third support seat 5323, located gradually away from the main shaft 5200. During processing, firstly, the unprocessed valve body is placed on the third support seat 5323 to process two sides of the valve body, obtaining a first semi-finished product; secondly, the third transport mechanism 5500 transports the first semi-finished product to the second support seat 5322, while simultaneously placing another unprocessed valve body on the third support seat 5323, and the two valve bodies are processed sequentially to obtain the second semi-finished product and the first semi-finished product; thirdly, the third transport mechanism 5500 transports the second semi-finished product to the first support seat 5321 and the first semi-finished product to the second support seat 5322, while simultaneously placing another unprocessed valve body on the first support seat 5321, and the three valve bodies are processed sequentially to obtain the finished product, the second semi-finished product, and the first semi-finished product; fourthly, the finished product is removed, and the third step is repeated. Since the slide 5310 has three bearing seats 5320, each bearing seat only processes two specific surfaces of the valve body. After the valve body is placed on the three bearing seats and processed three times, all six surfaces of the valve body can be processed. Each valve body on each bearing seat 5320 needs to be processed. Therefore, after processing each valve body, the two spindles 5200 move outward away from the slide 5310, while the slide 5310 moves towards the spindle 5200 to place the next bearing seat 5320 in the processing position. Then, the two spindles 5200 move inward.

[0086] Processing valve bodies using the above equipment has the following advantages;

[0087] (1) By setting three bearing seats 5320 (i.e., three work stations and three processes) on the slide 5310 to process the six sides of the valve body, compared with the existing technology which uses three machines to process, only one machine is needed, which reduces equipment costs and production costs, and also reduces the floor space.

[0088] (2) During the processing, the valve body on the three bearing seats 5320 can be processed at the same time, which improves the continuity of production and increases production efficiency. After processing, the semi-finished valve body is transferred from one bearing seat 5320 to another bearing seat 5320, eliminating the transfer action in the traditional assembly line, shortening the production cycle and further improving production efficiency.

[0089] (4) If any of the bearing seats 5320 and the corresponding valve body fixing structure malfunctions, the third transport mechanism 5500 will transport the valve body to other bearing seats 5320 for processing. After processing, the valve body will be unloaded directly to avoid the product from accumulating in a certain process, which would affect subsequent production and reduce production efficiency.

[0090] There are two sets of fixing components 5330, with one fixing component 5330 located between two adjacent bearing seats 5320. The two sets of fixing components 5330 have the same structure; the following description focuses on one set. The first driving device 5331 is a rotary clamping cylinder. The clamping component 5332 includes a connecting bar 53321 and a clamping block 53322. Both ends of the connecting bar 53321 are connected to the middle position of the clamping block 53322 and the first driving device 5331, respectively. The width of the clamping block 53322 is less than the length of the valve body in the first axial direction, so that the sixth gripper 5550 can clamp the valve body. At least one fixing component 5330 has two ends of its clamping member 5332 pressing against the valve bodies on two adjacent bearing seats 5320. Specifically, one end of the clamping member 5332 is located on the valve body of the first bearing / third bearing and can completely press against the corresponding valve body, while the other end of the clamping member 5332 is located on the valve body of the second bearing and presses against one side of the valve body. The valve body of the second bearing is pressed against the clamping blocks 53322 of the two fixing components 5330 together. Before processing, the rotary clamping cylinder drives the clamping member 5332 to rotate downward, so that the two ends of the clamping blocks 53322 of the clamping member 5332 press against the two valve bodies respectively. After processing, the rotary clamping cylinder drives the clamping member 5332 to rotate upward, and the clamping blocks 53322 of the clamping member 5332 no longer press against the valve body. At this time, the clamping blocks 53322 are arranged in the left and right direction, which will not affect the third conveying mechanism 5500 to grasp and move the valve body.

[0091] In this embodiment, the valve body is a rectangular block, and the height of the three support seats can be specifically set so that the valve body on the three support seats is at the same height, ensuring that the three valve bodies can be pressed by the two clamping blocks 53322.

[0092] To improve processing accuracy and effectiveness, the valve body on each support seat 5320 needs to be positioned. Cast valve bodies have relatively low dimensional accuracy. If the valve body's dimensions deviate, the positioning assembly cannot effectively position it. In this embodiment, a first positioning assembly 5340 is provided between the first support seat 5321 and the second support seat 5322 and the slide seat 5310. The two first positioning assemblies 5340 have the same structure; taking one as an example: the first positioning assembly 5340 includes a second driving device 5341 and two lateral positioning structures. The second driving device 5341 is fixedly connected to the slide seat 5310, and the corresponding support seat 5320 is fixed to the second driving device 5341. The second driving device 5341 is a cylinder, and it has telescopic shafts 53411 on both sides along the front-rear direction. Both telescopic shafts 53411 are arranged along the front-rear direction. The two lateral positioning structures are respectively fixedly connected to the two telescopic shafts 53411. The two lateral positioning structures are identical, each including a first connecting block 5342, a second connecting block 5343, and a positioning shaft 5344. The first connecting block 5342 is fixedly connected to the corresponding telescopic shaft 53411, and the second connecting block 5343 is movably connected to the first connecting block 5342. The positioning shaft 5344 is fixedly connected to the side of the second connecting block 5343 near the support seat 5320. Under normal conditions, the two telescopic shafts 53411 of the second drive device 5341 extend outwards, corresponding to the two lateral positioning structures. At this time, the valve body can be placed on the first / second support seat 5322, with the internal channel of the valve body opposite to the positioning shaft 5344. Then, the two telescopic shafts 53411 retract, and the corresponding two lateral positioning structures retract inwards. The positioning shaft 5344 engages with the internal channel of the valve body, thereby positioning the valve body placed on the first / second support seat 5322. The second connecting block 5343 is movable in the vertical direction, and this structure can also position the valve body if there is a manufacturing deviation.

[0093] Specifically, the end of the positioning shaft 5344 is provided with a positioning inclined surface 53441, which is flared with its opening facing the second connecting block 5343. The positioning inclined surface 53441 is used to engage with the port of the internal channel of the valve body. The second connecting block 5343 is provided with four vertically penetrating connecting holes 53431. The lateral positioning structure also includes multiple connecting parts 5345 and multiple springs 5346. Each connecting part 5345 includes a limiting part 53451, a guide part 53452, and a connecting part 53453 arranged sequentially. The limiting part 53451 engages with the connecting hole 53431. For example, the connecting hole 53431 is a countersunk hole, and the limiting part 53451 is engaged within the countersunk hole. The guide portion 53452 engages with the inner wall of the connecting hole 53431. If the guide portion 53452 is a shaft, it engages with the inner wall of the countersunk hole, allowing the second connecting block 5343 to move up and down relative to the shaft. The connecting portion 53453 is fixedly connected to the first connecting block 5342, such as via a threaded connection. The connecting element 5345 is further specifically a bolt. Each guide portion 53452 is fitted with a spring 5346, with both ends of the spring 5346 engaging with the second connecting block 5343 and the first connecting block 5342, respectively. The positioning is achieved by engaging the flared positioning bevel 53441 with the valve body channel. This facilitates the insertion of the positioning shaft 5344 into the valve body channel for positioning. Furthermore, the positioning bevel 53441, in conjunction with the second connecting block 5343, can also position valve bodies with manufacturing deviations. Specifically, when the valve body height is slightly smaller than the set size, as the second drive device 5341 drives the lateral positioning structure to move inward, the positioning shaft 5344 gradually inserts into the channel, lifting the valve body. Then, the clamping member 5332 rotates downward, pressing the valve body downward and fixing it, thereby achieving the fixing and positioning of the valve body and improving the processing quality. When processing valve bodies of different sizes, the vertical height of the rotating connecting member 5345 is adjusted, thereby adjusting the height of the positioning shaft 5344. This can adapt to the processing of valve bodies of different sizes, providing high versatility. The spring 5346 can lift the second connecting block 5343 and also increase the rotational resistance between the connecting part 53453 and the second connecting block 5343, ultimately improving the overall structural connection reliability.

[0094] The third support 5323 is L-shaped and includes a support block 53231 and a positioning block 53232. The positioning block 53232 is located on the side of the support block 53231 near the spindle 5200. The milling mechanism also includes a second positioning assembly 5400, including a third bracket 5410, a mounting plate 5420, and a first pushing device 5430, a second pushing device 5440, and a third pushing device 5450 mounted on the mounting plate 5420. The mounting plate 5420 is mounted on the third bracket 5410. The mounting plate 5420 is provided with a U-shaped clearance opening 5421. The opening of the U-shaped clearance opening 5421 is opposite to the positioning block 53232. When the unprocessed valve body is transported onto the support block 53231, the second worktable 5300 is moved first so that the support block 53231 is located in the U-shaped clearance opening 5421. The unprocessed valve body can then be placed on the support block 53231 through the U-shaped clearance opening 5421. The first pushing device 5430, the second pushing device 5440, and the third pushing device 5450 are all first telescopic cylinders, located inside the U-shaped clearance opening 5421 (on one side of the bottom of the U-shape) and on both sides (on both sides of the U-shape), respectively. After the unprocessed valve body is placed on the support block 53231, the first pushing device 5430 pushes the valve body until it rests against the positioning block 53232. Then, the second pushing device 5440 and the third pushing device 5450 push the unprocessed valve body from both sides to achieve its positioning.

[0095] In this embodiment, the first positioning component 5340 fully utilizes the channel of the valve body, allowing for a simpler, more compact, and smaller structure design, thus enabling it to be directly mounted on the slide block 5310. The first support seat 5321 and the second support seat 5322, which house the first positioning component 5340, are positioned near the spindle 5200, allowing the third support seat 5323 to be positioned away from the spindle 5200. This side has sufficient space to accommodate the second positioning component 5400, preventing the second positioning component 5400 from easily interfering with the spindle 5200's machining process if positioned near the spindle 5200.

[0096] The third conveying mechanism 5500 includes a three-dimensional moving component, a first rotating device 5520, two second rotating devices 5530, a visual recognition component 5540, and two sixth grippers 5550. The three-dimensional moving component refers to its ability to move in the forward / backward, left / right, and up / down directions. Specifically, in this embodiment, the three-dimensional moving component includes a frame 5511, a crossbeam 5512, a transverse sliding seat 5513, and a lifting arm 5514. The top of the frame 5511 is provided with a first rack arranged forward and backward. The crossbeam 5512 is slidably connected to the top surface of the frame 5511 via a guide rail slider structure. The crossbeam 5512 is equipped with a first motor, the output gear of which engages with the first rack to drive the crossbeam 5512 to move forward and backward. Similarly, the crossbeam 5512 is provided with a second rack arranged left and right, and the transverse sliding seat 5513 is equipped with a second motor, the output gear of which engages with the second rack to drive the transverse sliding seat 5513 to move left and right. The lifting arm 5514 is equipped with a third rack arranged vertically, and the transverse base 5513 is equipped with a third motor. The output gear of the second motor meshes with the third rack, thereby driving the lifting arm 5514 to move vertically. The lifting arm 5514 is equipped with a second connecting seat 55141. A first rotating device 5520 is mounted on the second connecting seat 55141 with its rotation axis arranged in the front-rear direction. The output end of the first rotating device 5520 is equipped with a third connecting seat 5521. Two second rotating devices 5530 and a vision recognition device are all mounted on the third connecting seat 5521. The rotation axes of the two second rotating devices 5530 are arranged in the vertical direction, and two sixth grippers 5550 are respectively mounted on the two second rotating devices 5530. The sixth grippers 5550 adopt the existing pneumatic sixth grippers 5550. The head of the vision recognition device and the claw of the sixth gripper 5550 face the same side. After the recognition device recognizes the valve body, the sixth gripper 5550 performs the action of gripping the valve body.

[0097] After the alignment device aligns all valve bodies to the same position and transports them to the first transfer platform, the third transport mechanism transports the valve bodies to the third support seat (the internal channels of the valve bodies are arranged in a left-right direction). Once the valve bodies on the third support seat are machined, the sixth gripper clamps the valve body onto the third support seat, and the second rotating device rotates 90° (the internal channels of the valve bodies are arranged in a front-back direction so they can be positioned via the positioning shaft), then transports the valve bodies to the second support seat. Once the valve bodies on the second support seat are machined, the sixth gripper clamps the valve body onto the second support seat, and the first rotating device rotates 90° to transport the valve bodies to the first support seat.

[0098] In this embodiment, there are two sets of second worktables 5300, which are symmetrically arranged in the middle of the base 5100. By setting up two sets of second worktables 5300, when one second worktable 5300 is processing, the other second worktable 5300 can perform valve body transport work, and the two second worktables 5300 can work alternately and cyclically, thereby improving processing efficiency.

[0099] In this embodiment, a second transfer platform 6000 is provided beside the last milling mechanism. The finished valve bodies transported by the second conveying mechanism can be placed on the second transfer platform for later unloading. The second transfer platform has the same function as the first transfer platform, which is to temporarily place the valve bodies. It can be a simple support plate or other structure, and the specific configuration can be determined according to needs.

[0100] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An automatic milling machine for six sides of a valve body, wherein the valve body is magnetic, characterized in that: Includes a robotic arm, a leveling device, a second handling mechanism, and a milling mechanism; The end of the robotic arm is equipped with a magnetic suction cup, which is used to attract the valve body; The alignment device includes a first worktable, multiple alignment mechanisms disposed on the first worktable, a first conveying mechanism, and a first unloading mechanism. Each of the multiple alignment mechanisms includes a rotary drive device and a gripper fixedly connected to the rotary drive device. The rotating shafts of the rotary drive devices of at least some of the alignment mechanisms are arranged in different directions. The valve body is aligned after passing through the multiple alignment mechanisms in sequence. The first conveying mechanism is used to convey the aligned valve body to the first unloading mechanism. The second transport mechanism is used to transport the valve body on the first unloading mechanism to the milling mechanism for milling.

2. The automatic six-sided milling equipment for valve bodies according to claim 1, characterized in that: The straightening mechanism consists of three sets: a first straightening mechanism, a second straightening mechanism, and a third straightening mechanism. The first alignment mechanism includes a three-dimensional moving component, a first rotary driving device, a first camera, and a first gripper. The three-dimensional moving component is disposed on the first worktable. The first rotary driving device and the first camera are both mounted on the three-dimensional moving component. The rotating shaft of the first rotary driving device is vertically arranged, and the lens of the first camera faces downward. The first gripper is mounted on the bottom of the first rotary driving device. The three-dimensional moving component is used to drive the first gripper to move to a position opposite to the carrier and to a position away from the carrier. The second alignment mechanism includes a second rotary drive device, a second gripper, and a second camera. The shaft of the second rotary drive device is vertically arranged, the second gripper is mounted on the second rotary drive device, and the lens of the second camera is arranged opposite to the second gripper. The third alignment mechanism includes a third rotary drive device and a third gripper. The shaft of the third rotary drive device is horizontally arranged in the left-right direction. The third gripper is mounted on the third rotary drive device. The first transport mechanism is used to transport the valve bodies on the second and third alignment mechanisms.

3. The automatic six-sided milling machine for valve bodies according to claim 2, characterized in that: The first conveying mechanism includes a first support, a first left-right moving component, a first telescopic cylinder, and a fourth gripper. The first support is mounted on the first workbench, the first left-right moving component is mounted on the first support, the first telescopic cylinder is mounted on the first left-right moving component, and the fourth gripper is mounted on the telescopic cylinder and moves up and down under the action of the telescopic cylinder. The fourth gripper is arranged opposite to the second gripper and the third gripper.

4. The automatic six-sided milling machine for valve bodies according to claim 3, characterized in that: The first feeding mechanism includes a feeding seat, the top surface of which is provided with a feeding straight groove. The width of the feeding straight groove is adapted to the valve body after it is aligned. The fourth gripper can transport the valve body on the third gripper to the feeding straight groove. The first feeding mechanism further includes a second left-right moving component, a front-back moving component, and a translation plate. The front-back moving component is mounted on the left-right moving mechanism. One side of the translation plate is fixedly connected to the front-back moving component. The other side of the translation plate is provided with a plurality of equally spaced slots. The plurality of slots are arranged opposite to the feeding straight groove. Each slot is used to hold a valve body.

5. The automatic six-sided milling machine for valve bodies according to claim 1, characterized in that: The milling structure includes a base, a spindle, a second worktable, a first transfer table, and a third transport mechanism. The spindle is slidably connected to the base. There are two spindles, which are arranged sequentially and facing each other along a first axis. The second worktable is slidably connected to the base. The movement direction of the second worktable is a first direction, which is perpendicular to the first axis. The second worktable includes a slide, three support seats, and a fixing assembly. The slide is slidably connected to the base. The three support seats are arranged along the first direction and fixedly connected to the slide. The fixing assembly includes a first driving device and a clamping member. The first driving device is used to drive the clamping member to move to a first position and a second position. In the first position, the clamping member is located above the support seat and clamps the valve body. In the second position, the clamping member avoids the support seat. The third conveying mechanism is used to convey the valve body to the three support seats to process the three pairs of sides of the valve body respectively.

6. The automatic six-sided milling machine for valve bodies according to claim 5, characterized in that: At least one of the support bases and the slide is provided with a first positioning component; The first positioning component includes a second driving device and two lateral positioning structures; The second drive device is fixedly connected to the slide, and the corresponding support is provided on the second drive device. The second drive device is provided with telescopic shafts on both sides along the first direction, and the telescopic shafts are arranged along the first direction. The two lateral positioning structures are respectively fixedly connected to the two telescopic shafts; The lateral positioning structure includes a first connecting block, a second connecting block, and a positioning shaft. The first connecting block is fixedly connected to a corresponding telescopic shaft, the second connecting block is movably connected to the first connecting block, and the positioning shaft is fixedly connected to the side of the second connecting block near the support.

7. The automatic six-sided milling machine for valve bodies according to claim 6, characterized in that: The end of the positioning shaft is provided with a positioning bevel, which is horn-shaped with the horn opening facing the second connecting block. The positioning bevel is used to lock into the port of the internal channel of the valve body.

8. The automatic six-sided milling machine for valve bodies according to claim 6, characterized in that: The second connecting block is provided with multiple vertical through connecting holes; The lateral positioning structure also includes multiple connectors and multiple springs; Each connector includes a limiting part, a guiding part, and a connecting part arranged in sequence. The limiting part is in a limiting fit with the connecting hole, the guiding part is in a guiding fit with the inner sidewall of the connecting hole, and the connecting part is fixedly connected to the first connecting block. The guide portion is fitted with a spring, and the two ends of the spring abut against the second connecting block and the first connecting block, respectively.

9. The automatic six-sided milling machine for valve bodies according to claim 1, characterized in that: The second workbench has two sets, and the two sets of the second workbench are symmetrically arranged in the middle position of the base.

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