An automatic alignment device for cast valve bodies

Abstract

An automatic alignment device for casting valve bodies includes a worktable and a carrier seat, a first alignment mechanism, a second alignment mechanism, a third alignment mechanism, and a transport mechanism mounted on the worktable. The carrier seat is located in front of the first alignment mechanism. The first alignment mechanism includes a three-dimensional moving component, a first rotary drive device and a first camera mounted on the three-dimensional moving component, and a first gripper mounted on the first rotary drive device. The rotating shaft of the first rotary drive device is vertically arranged, and the lens of the first camera faces downward. The second alignment mechanism includes a second rotary drive device with a vertically arranged rotating shaft, a second gripper and a second camera mounted on the second rotary drive device, with the lens of the second camera facing the gripper. The third alignment mechanism includes a third rotary drive device with a rotating shaft horizontally arranged in the left-right direction and a third gripper fixed thereon. Compared with the prior art, this device can automatically align the valve body.

Description

Technical Field

[0001] This utility model pertains to automatic alignment devices, specifically an automatic alignment device for a cast valve body. 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, eliminate these defects, and improve the density and reliability of the valve body.

[0003] For example, the double-sided milling machine for precision machining of hydraulic valve blocks disclosed in CN111790933A uses two spindles to mill two opposite sides of the valve body in order to improve machining efficiency. During the loading process, the valve body is placed on the loading mechanism according to the relative positional relationship between the two surfaces to be machined and the two spindles (the two surfaces to be machined are respectively opposite to the tools of the two spindles). This process is usually completed manually, which limits the automation of the production line. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an automatic alignment device for cast valve bodies.

[0005] To achieve the above objectives, this utility model discloses an automatic alignment device for casting valve bodies, including a worktable and a carrier seat, a first alignment mechanism, a second alignment mechanism, a third alignment mechanism, and a transport mechanism disposed on the worktable;

[0006] The support is located on the front side of the first alignment mechanism and is used to support the valve body;

[0007] 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 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.

[0008] 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.

[0009] 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 transport mechanism is used to transport the valve bodies on the second and third alignment mechanisms.

[0010] Preferably, the conveying mechanism includes a first support, a first left-right moving component, a telescopic cylinder, and a fourth gripper. The first support is mounted on the workbench, the first left-right moving component is mounted on the first support, the 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.

[0011] Preferably, it also includes a feeding mechanism disposed on the workbench, the feeding mechanism being located on the side of the third straightening mechanism away from the second straightening mechanism, the feeding mechanism having a feeding channel, the width of the feeding channel being adapted to the straightened valve body, and the fourth gripper being able to transport the valve body onto the feeding channel.

[0012] Preferably, the feeding mechanism includes a feeding seat, the top surface of which is provided with a feeding straight groove, the feeding straight groove is arranged in the left-right direction, and the feeding straight groove is the feeding channel.

[0013] Preferably, the 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 spaced slots. The plurality of slots are arranged opposite to the feeding straight groove. Each slot is used to hold a valve body.

[0014] Preferably, the multiple card slots are arranged at equal intervals.

[0015] Preferably, there are two sets of telescopic cylinder and fourth gripper, and the distance between the third gripper, the second gripper, and the discharge straight groove is adapted to the distance between the two fourth grippers.

[0016] Preferably, the carrier, the second gripper, the third gripper, and the unloading straight groove are arranged in a linear configuration.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] The system is equipped with a first, second, and third alignment mechanism. The first, second, and third grippers work in coordination with the first and second cameras. The first, second, and third rotary drive devices can rotate along their respective axes, thereby driving the valve body to rotate and ultimately achieving automatic alignment of the valve body, providing a foundation for automated processing on the production line.

[0019] The three-dimensional moving component can drive the first gripper to move in three-dimensional space. The carrier is located in front of the first straightening mechanism. In this way, when the valve body is placed on the carrier, the first gripper can be moved away from the carrier, so that there is enough space near the carrier to move and place the valve body. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of an existing solenoid valve.

[0021] Figure 2 for Figure 1 A structural schematic diagram of a solenoid valve from another perspective;

[0022] Figure 3 A three-dimensional structural schematic diagram of the automatic alignment device for the cast valve body in an embodiment;

[0023] Figure 4 for Figure 3 A schematic diagram of the first alignment mechanism in the middle;

[0024] Figure 5 for Figure 3 A schematic diagram of the first alignment mechanism from another perspective;

[0025] Figure 6 for Figure 3 A schematic diagram of the second alignment mechanism;

[0026] Figure 7 for Figure 3 A magnified view of a portion of point A in the middle;

[0027] Figure 8 for Figure 3 A three-dimensional structural diagram of the conveying mechanism;

[0028] Figure 9 for Figure 3 A three-dimensional structural diagram of the feeding mechanism;

[0029] Valve body 100; channel 110; groove 111; marking 120;

[0030] Workbench 200;

[0031] 300 cargo seat;

[0032] First alignment mechanism 400; three-dimensional moving component 410; second support 411; first moving seat 412; second moving seat 413; third moving seat 414; first connecting seat 415; first rotation drive device 420; first camera 430; first gripper 440;

[0033] Second alignment mechanism 500; First support 510; Second gripper 530; Second camera 540;

[0034] Third alignment mechanism 600; third rotary drive device 610; third gripper 620;

[0035] The conveying mechanism 700; the first support 710; the first left and right moving component 720; the second connecting plate 721; the lead screw 723; the telescopic cylinder 730; and the fourth gripper 740.

[0036] Feeding mechanism 800; feeding seat 810; feeding straight groove 811; second left and right moving component 820; linear motor 821; third connecting plate 822; front and back moving component 830; translation plate 840; slot 841. Detailed Implementation

[0037] 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.

[0038] Before explaining this solution, this embodiment will briefly describe the structure of the solenoid valve body 100. For example... Figures 1-2 As shown, the valve body is a rectangular block with a channel 110 penetrating both of its surfaces. The two ends of the channel are different; one end has a groove 111 at its opening, while the other end does not. A marking 120 is located on one surface of the valve body. Therefore, by identifying the characteristics of two adjacent surfaces, it is clear how to align the valve body. It is understandable that for other types of valve bodies, if the alignment cannot be confirmed using two surfaces, the second gripper 530 can be rotated to identify another surface (a total of three surfaces are identified), thus confirming the alignment method using all three surfaces.

[0039] An automatic alignment device for cast valve bodies, see [link / reference] Figures 3-9 It includes a workbench 200 and a carrier seat 300, a first straightening mechanism 400, a second straightening mechanism 500, a third straightening mechanism 600 and a transport mechanism 700 disposed on the workbench 200.

[0040] The first alignment mechanism 400, the second alignment mechanism 500, and the third alignment mechanism 600 are arranged sequentially in the left-right direction. The support 300 is located in front of the first alignment mechanism 400 and is used to support the valve body. The valve body is positioned in front of the first alignment mechanism 400 so that when the valve body is placed on the support 300, especially when a robotic arm is used to move the valve body onto the support 300, the robotic arm will not interfere with the first alignment mechanism 400.

[0041] The first alignment mechanism 400 includes a three-dimensional moving component 410, a first rotary drive device 420, a first camera 430, and a first gripper 440. The three-dimensional moving component 410 has the ability to move in the front-back, left-right, and up-down directions. Specifically, the three-dimensional moving component 410 includes a second support 411, a first moving seat 412, a second moving seat 413, and a third moving seat 414. The second support 411 is fixedly connected to the worktable 200, and its top surface is provided with guide rails arranged in the left-right direction. The first moving seat 412 is slidably connected to the guide rails via sliders. Similarly, the second moving seat 413 is connected to the first moving seat 412 via guide rail sliders arranged in the front-back direction, and the second moving seat 413 is connected to the third moving seat 414 via guide rail sliders arranged in the vertical direction, thus enabling the three-dimensional moving component 410 to have three-dimensional moving capabilities. The driving method for the three moving seats can be a lead screw, belt, or other drive mechanism, which can be selected from existing drive structures and will not be elaborated further here. The third movable seat 414 is equipped with a first connecting seat 415. The first rotary drive device 420 and the first camera 430 are both mounted on the three-dimensional moving assembly 410. The first rotary drive device 420 is a motor with its shaft vertically downwards. The lens of the first camera 430 faces downwards, allowing it to photograph the top surface of the valve body on the loading platform 300. The first gripper 440 is mounted on the bottom of the first rotary drive device 420. After the valve body is placed on the loading platform 300, the three-dimensional moving assembly 410 drives the first gripper 440 to move to a position opposite the valve body. The first rotary drive device 420 then drives the first gripper 440 to rotate, so that the two claws of the first gripper 440 face the two surfaces of the valve body. It then moves downwards to grip the valve body and finally transports the valve body to the second aligning mechanism 500. After transport, the first gripper 440 moves to the rear of the loading platform 300 to avoid affecting the valve body loading.

[0042] The second alignment mechanism 500 includes a first support 510, a second rotary drive device, a second gripper 530, and a second camera 540. The first support 510 is fixedly connected to the worktable 200, and the second rotary drive device is fixedly connected to the first support 510. The shaft of the second rotary drive device is vertically arranged. The second gripper 530 is mounted on the second rotary drive device with its gripper facing upward. When the first gripper 440 moves to a position opposite to the second gripper 530, the first gripper 440 moves downward, placing the valve body on the second gripper 530, and then moves back to its initial position. The second camera 540 is located in front of the second gripper 530, with its lens facing the second gripper 530, and takes a picture of the valve body on the second gripper 530. After the second camera 540 takes the picture, it combines it with the picture taken by the first camera 430 (a total of two pictures), matches the corresponding surface combination from the system, and then rotates the valve body to the corresponding posture according to the matching steps. Finally, the valve body is moved onto the third gripper 620 by the transport mechanism 700.

[0043] The third alignment mechanism 600 includes a third rotary drive device 610 and a third gripper 620. The shaft of the third rotary drive device 610 is horizontally arranged in the left-right direction, and the third gripper 620 is mounted on the third rotary drive device 610. After the conveying mechanism 700 conveys the valve body onto the third gripper 620, the third gripper 620 rotates the valve body step by step, finally completing the automatic alignment of the valve body.

[0044] The above-mentioned first, second, and third alignment mechanisms 600 are set up. The first, second, and third grippers 620 cooperate with the first and second cameras 540. The first, second, and third rotary drive devices 610 can rotate along their respective axes, thereby driving the valve body to rotate and finally realizing the automatic alignment of the valve body. This provides a foundation for the automated processing of the production line.

[0045] The second and third rotary drive devices 610 can 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 620 are fixedly connected to the corresponding connecting plates.

[0046] In this embodiment, the conveying mechanism 700 includes a first support 710, a first left-right moving component 720, a telescopic cylinder 730, and a fourth gripper 740. The first support 710 is fixedly connected to the worktable 200. The first left-right moving component 720 is disposed on the first support 710, the telescopic cylinder 730 is mounted on the first left-right moving component 720, and the fourth gripper 740 is fixedly connected to the telescopic cylinder. Under the action of the first left-right moving component 720, it can move left and right, and under the action of the telescopic cylinder, it can move up and down. The fourth gripper 740 is arranged opposite to the second gripper 530 and the third gripper 620, thereby enabling it to move the valve body on the second gripper 530 to the third gripper 620, and to remove the valve body on the third gripper 620 for unloading.

[0047] The first left-right moving component 720 includes a second connecting plate 721, a motor, and a lead screw 723. The second connecting plate 721 is slidably connected to the first bracket 710 via a guide rail slider. The motor is fixedly connected to the first bracket 710, and its rotating shaft is connected to the lead screw 723. The lead screw 723 is threadedly connected to the second connecting plate 721, thereby the motor drives the lead screw to rotate, and the lead screw 723 drives the second connecting plate 721 to move left and right.

[0048] The first, second, third, and fourth grippers 740 mentioned above are pneumatic grippers currently available on the market, and their specific structures will not be described in detail.

[0049] In this embodiment, the device further includes a feeding mechanism 800 disposed on the worktable 200. The feeding mechanism 800 is located on the side of the third straightening mechanism 600 away from the second straightening mechanism 500. The feeding mechanism 800 has a feeding channel, the width of which is adapted to the straightened valve body. The fourth gripper 740 can transport the valve body onto the feeding channel, where the valve body can be fed for the next processing step.

[0050] Specifically, the feeding mechanism 800 includes a feeding seat 810, and the top surface of the feeding seat 810 is provided with a feeding straight groove 811. The feeding straight groove 811 is arranged in the left and right direction and is the feeding channel mentioned above.

[0051] The feeding mechanism 800 also includes a second left-right moving component 820, a front-back moving component 830, and a translation plate 840. The second left-right moving component 820 includes a linear motor 821 and a third connecting plate 822. The third connecting plate 822 is fixedly connected to the output end of the linear motor 821 and can move left and right under its drive. The front-back moving component 830 is fixedly connected to the third connecting plate 822. The front-back moving component 830 is a cylinder, with the piston rod arranged front-back. One side of the translation plate 840 is fixedly connected to the front-back moving component 830, and the other side of the translation plate 840 has multiple spaced slots 841. These slots 841 can move to face the feeding straight groove 811, and each slot 841 is used to hold a valve body. When the valve body is transported from the third gripper 620 to the discharge groove 811, under the action of the second left-right moving component 820 and the front-back moving component 830, the translation plate 840 moves to a position opposite to the valve body, and then holds the valve body that has just been placed on the discharge groove 811 through the slot 841. Then the translation plate 840 moves away from the third gripper 620, so that the valve body on the third gripper 620 can be placed on the discharge groove 811.

[0052] The valve body is placed in a series of slots 841 at equal intervals. The distance between the fourth gripper 740 and the nearest slot 841 on the translation plate 840 is equal to the distance between two adjacent slots 841. This ensures that while a slot 841 is holding a newly placed valve body, other slots 841 can also hold other valve bodies on the feeding chute 811. The equal intervals between valve bodies on the feeding chute 811 facilitate the robot's transport of them to the next workstation.

[0053] The telescopic cylinder 730 and the fourth gripper 740 are in two sets. The distance between the third gripper 620 and the second gripper 530 and the discharge straight groove 811, the distance between the third gripper 620 and the fourth gripper 740 on the discharge straight groove 811, and the distance between the two fourth grippers 740 are equal. Thus, when one of the fourth grippers 740 moves the valve body on the second gripper 530 to the third gripper 620, the valve body on the third gripper 620 can be moved to the discharge straight groove 811 at the same time, which is highly efficient.

[0054] In this embodiment, the carrier 300, the second gripper 530, the third gripper 620, the fourth gripper 740, and the unloading straight groove 811 are arranged in a linear fashion, that is, they are located on the same branch line, and only need to be moved left and right during transportation.

[0055] 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 alignment device for a cast valve body, characterized in that: It includes a workbench and a carrier seat, a first alignment mechanism, a second alignment mechanism, a third alignment mechanism, and a transport mechanism disposed on the workbench; The support is located on the front side of the first alignment mechanism and is used to support the valve body; 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 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 transport mechanism is used to transport the valve bodies on the second and third alignment mechanisms.

2. The automatic alignment device for cast valve bodies according to claim 1, characterized in that: The conveying mechanism includes a first support, a first left-right moving component, a telescopic cylinder, and a fourth gripper. The first support is mounted on the workbench, the first left-right moving component is mounted on the first support, the 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.

3. The automatic alignment device for cast valve bodies according to claim 2, characterized in that: It also includes a feeding mechanism on the workbench, which is located on the side of the third straightening mechanism away from the second straightening mechanism. The feeding mechanism has a feeding channel, the width of which is adapted to the straightened valve body. The fourth gripper can transport the valve body onto the feeding channel.

4. The automatic alignment device for cast valve bodies according to claim 3, characterized in that: The feeding mechanism includes a feeding seat, and the top surface of the feeding seat is provided with a feeding straight groove. The feeding straight groove is arranged in the left-right direction and serves as the feeding channel.

5. The automatic alignment device for cast valve bodies according to claim 4, characterized in that: The feeding mechanism also 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 spaced slots. The plurality of slots are arranged opposite to the feeding straight groove. Each slot is used to hold a valve body.

6. The automatic alignment device for cast valve bodies according to claim 5, characterized in that: The multiple card slots are arranged at equal intervals.

7. The automatic alignment device for casting valve bodies according to claim 5, characterized in that: The telescopic cylinder and the fourth gripper are in two sets. The distance between the third gripper, the second gripper, and the discharge straight groove is adapted to the distance between the two fourth grippers.

8. The automatic alignment device for cast valve bodies according to claim 1, characterized in that: The carrier, the second gripper, the third gripper, and the unloading straight groove are arranged in a linear configuration.

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