CN114435938A - Governing valve body automatic feeding system - Google Patents

Governing valve body automatic feeding system Download PDF

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Publication number
CN114435938A
CN114435938A CN202111664941.1A CN202111664941A CN114435938A CN 114435938 A CN114435938 A CN 114435938A CN 202111664941 A CN202111664941 A CN 202111664941A CN 114435938 A CN114435938 A CN 114435938A
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CN
China
Prior art keywords
conveying line
vertical warehouse
valve body
agv
warehouse
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111664941.1A
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Chinese (zh)
Other versions
CN114435938B (en
Inventor
吴明祥
王海军
段大军
胡建
刘俊良
王聪
刘永林
鄢凌云
肖宇亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Chuanyi Control Valve Co Ltd
Original Assignee
Chongqing Chuanyi Control Valve Co Ltd
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Filing date
Publication date
Application filed by Chongqing Chuanyi Control Valve Co Ltd filed Critical Chongqing Chuanyi Control Valve Co Ltd
Priority to CN202111664941.1A priority Critical patent/CN114435938B/en
Publication of CN114435938A publication Critical patent/CN114435938A/en
Application granted granted Critical
Publication of CN114435938B publication Critical patent/CN114435938B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B23P19/007—Picking-up and placing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0216—Codes or marks on the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention relates to the field of regulating valve production, in particular to an automatic feeding system for a regulating valve body, which comprises a forklift AGV, a vertical warehouse material frame, a feeding conveying line, a material taking platform, a manipulator, a main conveying line, a production line AGV butt joint conveying line, a production line AGV, an empty box recovery conveying line, a recovery AGV, a vertical warehouse material frame recovery conveying line and a vertical warehouse AGV; a plurality of material boxes are arranged in the material frame of the vertical warehouse; the manipulator is provided with a manipulator clamping jaw, and the manipulator clamping jaw is used for clamping the transfer bin, the valve body and accessories of the valve body; the material taking platform is connected with the tail end of the feeding conveying line and the initial end of the vertical warehouse material frame recycling conveying line; the material taking platform, the initial end of the production line AGV butt joint conveying line, the tail end of the empty box recovery conveying line and the initial end of the main conveying line are all located within the stroke range of the manipulator. The invention can realize the automatic feeding of the material frame of the vertical warehouse, the recovery of the empty material box and the automatic material taking of the material of the small material box in the large material box, thereby improving the production and assembly efficiency of the regulating valve.

Description

Governing valve body automatic feeding system
Technical Field
The invention relates to the field of production of regulating valves, in particular to an automatic feeding system for a regulating valve body.
Background
Regulating valves are used for the correct distribution and control of flowing media, and play an essential role, in particular in the automatic control of liquids and gases. The regulating valves are various in types and different in size, and are more in self part composition, so that the regulating valves need to be prepared accurately, the production complexity of the regulating valves is higher, some regulating valves are larger in size and heavier in weight, assembly line type high-efficiency assembly operation cannot be realized, and the production efficiency is lower during production and assembly, so that the automatic feeding system for the valve bodies of the regulating valves is provided when the intelligent production trend develops, and the production efficiency of the regulating valves can be greatly improved.
Disclosure of Invention
The invention aims to provide an automatic feeding system for a regulating valve body, which aims to solve the problem of low efficiency in production and assembly of the conventional regulating valve.
In order to solve the technical problems, the invention adopts the technical means of an automatic feeding system of the regulating valve body as follows: the automatic material taking and conveying system comprises a forklift AGV, a vertical warehouse material frame, a feeding conveying line, a material taking platform, a manipulator, a main conveying line, a production line AGV butt joint conveying line, a production line AGV, an empty material box recovery conveying line, a recovery AGV, a vertical warehouse material frame recovery conveying line and a vertical warehouse AGV; a plurality of material boxes are arranged in the material frame of the vertical warehouse; the manipulator is provided with a manipulator clamping jaw, and the manipulator clamping jaw is used for clamping the transfer bin, the valve body and accessories of the valve body; the material taking platform is connected with the tail end of the feeding conveying line and the initial end of the vertical warehouse material frame recycling conveying line; the material taking table, the initial end of the production line AGV butt joint conveying line, the tail end of the empty box recovery conveying line and the initial end of the main conveying line are all located within the stroke range of the manipulator; the forklift AGV conveys the material frames in the three-dimensional warehouse to a feeding conveying line, and the feeding conveying line conveys the material frames in the three-dimensional warehouse to a material taking table; the manipulator transfers part of the material box and the valve body on the material taking table to a main conveying line, the main conveying line conveys the material box and the valve body to the next production station, and a main line tray for placing the valve body is further arranged on the main conveying line; the manipulator transfers part of the material boxes on the material taking platform to a production line AGV butt joint conveying line, and the production line AGV transfers the material boxes of the production line AGV butt joint conveying line to the next production station; the vertical warehouse AGV transfers empty bins generated by other stations to an empty bin recovery conveying line, and the manipulator transfers the empty bins on the empty bin recovery conveying line to a vertical warehouse material frame; the vertical warehouse material frame recycling conveying line is used for transferring vertical warehouse material frames on the material taking table, and the vertical warehouse AGV is used for storing the vertical warehouse material frames of the vertical warehouse material frame recycling conveying line.
The automatic feeding system of the regulating valve body has the following technical advantages: according to the invention, after the material frames of the vertical warehouse are taken out from the three-dimensional warehouse, the material frames of the vertical warehouse are transferred to the material taking platform through the forklift AGV, so that the loading is completed; transferring part of bins and valve bodies in the material frames of the vertical warehouse to a main conveying line and a production line AGV butt joint conveying line through a manipulator, transferring the bins transferred to the production line AGV butt joint conveying line to the next station under the action of the production line AGV, and transferring the bins and the valve bodies positioned on the main conveying line to the next station to finish material taking; the recycling AGV collects empty boxes of all stations on an empty box recycling conveying line, transfers the empty boxes into the material frames of the vertical warehouse through a manipulator, transfers the empty boxes through the material taking platform and the vertical warehouse material recycling conveying line, and finally returns the empty vertical warehouse material frames to the three-dimensional warehouse through the vertical warehouse AGV to complete the recycling of the empty boxes; the whole feeding, material taking and empty box recycling are smoothly and efficiently carried out, and the production and assembly efficiency of the regulating valve can be obviously improved.
Preferably, the manipulator is further provided with a motion camera for photographing the interior of the material frame of the vertical warehouse, and the motion camera is used for acquiring the position of a material box in the material frame of the vertical warehouse.
According to the preferable scheme, after the motion camera obtains that the vertical warehouse material frames are filled with empty boxes, the motion camera controls the material taking platform and the vertical warehouse material frame recovery conveying line to start, the vertical warehouse material frames are conveyed to the vertical warehouse material frame recovery conveying line, and the vertical warehouse material frames are stored in a warehouse after the vertical warehouse AGV is in butt joint.
As a preferred scheme, the material taking platform is provided with a code scanning gun which is used for scanning an identification code on a material frame of the vertical warehouse and confirming that specification information in the material box is in butt joint with an MES system and a WMS system.
According to the preferable scheme, the material taking table is provided with a photoelectric sensor, and the photoelectric sensor is used for detecting whether the material frame of the vertical warehouse moves to the designated position of the material taking table or not, and controlling the material loading conveying line to stop and the material frame recycling conveying line of the vertical warehouse to start.
As a preferred scheme, the vertical warehouse material frame stores four material boxes, including a left valve body material box, a right valve body material box, an actuator material box and an accessory material box; the left valve body material box and the right valve body material box are the same in size, and the actuator material box and the accessory material box are the same in size.
As a preferred scheme, the number of the bin recovery conveying lines is two, and the two bin recovery conveying lines correspond to a right valve bin and an actuator bin respectively; the workbin of different specifications corresponds different workbin and retrieves the transfer chain, and the workbin cooperatees with the width that the transfer chain was retrieved to the workbin, and the location and deposit of being convenient for improve recovery efficiency.
As a preferable scheme, a partition plate is arranged in the vertical warehouse material frame, the partition plate partitions the vertical warehouse material frame into a plurality of chambers, the chambers are adaptive to the shape and size of the material box, and the height of the partition plate is lower than that of the material box; the baffle can prevent that the workbin from sliding in the material frame of vertical storehouse, and the height that highly is less than the workbin of baffle simultaneously when having certain wall effect, can also make things convenient for manipulator clamping jaw centre gripping.
As a preferred scheme, the edges of the material box are provided with edge covers; the edge covering can avoid the mutual close contact of the material boxes, the mechanical arm carrying is facilitated, the partition plates in the material frames of the vertical warehouse can play a role in division, and the material boxes are convenient to store.
Drawings
FIG. 1 is a schematic illustration of the present invention;
FIG. 2 is a layout view of the bins in the material frame of the vertical warehouse of the present invention.
The main component symbols in the figures are explained as follows:
1. a forklift AGV; 2. a feeding conveying line; 3. a material taking table; 4. a manipulator; 5. a main conveyor line; 6. a main line tray; 7. a production line AGV is butted with a conveying line; 8. a production line AGV; 9. an empty box recovery conveying line; 10. recycling the AGV; 11. a vertical warehouse bin recovery conveying line; 12. and (6) erecting an AGV.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the automatic feeding system of the regulating valve body comprises a vertical warehouse material frame, a forklift AGV1, a feeding conveying line 2, a material taking table 3, a manipulator 4 (manipulator model number KUKA-KR 210R2700-2), a main conveying line 5, a production line AGV butt-joint conveying line 7, a production line AGV8, an empty box recovery conveying line 9, a recovery AGV10, a vertical warehouse material frame recovery conveying line 11 and a vertical warehouse AGV 12; a plurality of material boxes are arranged in the material frame of the vertical warehouse; the manipulator 4 is provided with a manipulator clamping jaw which is used for clamping the transfer bin, the valve body and accessories thereof, and the robot clamping jaw can be two or more; the material taking table 3 is provided with a limit switch, and when the material frame of the vertical warehouse moves to a limit position, the limit switch is triggered, so that the material feeding conveying line for conveying the material frame of the vertical warehouse is controlled to stop, wherein the material taking table 3 is connected with the tail end of the material feeding conveying line 2 and the initial end of the material frame recycling conveying line 11 of the vertical warehouse; the material taking platform 3, the starting end of the production line AGV butt joint conveying line 7, the tail end of the empty box recovery conveying line 9 and the starting end of the main conveying line 5 are all located within the stroke range of the manipulator 4.
The forklift AGV1 conveys the material frames in the three-dimensional warehouse to the feeding conveying line 2, and the feeding conveying line 2 conveys the material frames in the three-dimensional warehouse to the material taking platform 3; the manipulator 4 transfers part of the material box and the valve body on the material taking table 3 to the main conveying line 5, the main conveying line 5 conveys the material box and the valve body to the next production station, and the main conveying line 5 is also provided with a main line tray 6 for placing the valve body; the manipulator 4 transfers part of the bins on the material taking table 3 to the production line AGV butt joint conveying line 7, and the production line AGV8 transfers the bins of the production line AGV butt joint conveying line 7 to the next production station; the vertical AGV12 transfers empty bins generated by other stations to the empty bin recovery conveying line 9, and the manipulator 4 transfers the empty bins on the empty bin recovery conveying line 9 to the vertical frame; the vertical warehouse material frame recycling conveying line 11 is used for transferring vertical warehouse material frames on the material taking platform 3, and the vertical warehouse AGV12 puts the vertical warehouse material frames of the vertical warehouse material frame recycling conveying line 11 into a warehouse. The feeding conveying line 2, the main conveying line 5, the production line AGV butt joint conveying line 7, the empty bin recovery conveying line 9 and the vertical warehouse bin recovery conveying line 11 can be belt lines, roller lines or chain plate lines, and the roller lines or the chain plate lines are preferably selected due to the fact that the general mass of the regulating valves is large.
The working principle and the process thereof are as follows:
1. loading a material frame of the vertical warehouse: the forklift AGV1 transports the vertical warehouse material frames to the material conveying line 2; a code scanning gun on the material taking platform 3 scans the identification codes of the material frames in the vertical warehouse, confirms the specification information of incoming materials and is convenient to be butted with MES and WMS systems; the vertical warehouse material frame is transferred to the material taking platform 3 through the material loading conveying line, after the photoelectric sensor detects that the vertical warehouse material frame is in place, the material loading conveying line 2 stops acting, and the vertical warehouse material frame stays in the material taking platform 3;
2. feeding a right valve body material box and a left valve body material box: the manipulator 4 drives a motion camera to photograph the small material box in the material frame of the vertical warehouse, so as to obtain the positions of the right valve body material box, the left valve body material box, the actuator material box and the accessory material box; clamping jaws of the manipulator 4 respectively clamp a right valve body in a right valve body feed box, and then feeding the right valve body to a main line tray 6 of a main conveying line 5; a clamping jaw of the manipulator 4 clamps a left valve body material box and then feeds the material to a main conveying line 5;
3. feeding an actuator material box and an accessory material box: a clamping jaw of the manipulator 4 clamps an actuator material box and an accessory material box respectively, and then the materials are fed to a production line AGV butt joint conveying line 7; the recovery AGV10 transfers empty bins of other production stations to the empty bin recovery conveying lines 9, the number of the empty bin recovery conveying lines 9 is two, the two empty bin recovery conveying lines are arranged in parallel in an attached mode respectively, and the two empty bin recovery conveying lines 9 are used for recovering bins of different specifications respectively;
4. recovering material frames in the vertical warehouse: after the empty boxes of all incoming materials are recovered, the manipulator 4 grabs the empty boxes from the empty box recovery conveying line 9 and then returns the empty boxes to the vertical warehouse material frame, and after the vertical warehouse material frame is filled with four empty boxes, the vertical warehouse material frame recovery conveying line 11 starts to convey the vertical warehouse material frame to the tail end of the conveying line to wait for the butt joint of the AGV12 of the vertical warehouse.
As shown in fig. 2, in the material frame of the vertical warehouse, serial number a1 is a left valve body bin, which is used for storing a left valve body, left valve body internal parts, right valve body internal parts, a valve rod packing assembly and a stud nut. Serial number a2 is a right valve body bin for storing the right valve body. Serial number B1 is the actuator magazine for storing actuators, supports, hand wheels, etc. Serial number B2 is an attachment bin for storing attachments. The left valve body material box and the right valve body material box are the same in size, the actuator material box and the accessory material box are the same in size, and the number of the corresponding material box recovery conveying lines is two.
The solid line arrows in FIG. 1 indicate left valve bin flow direction, the dashed line arrows indicate actuator bin flow direction, and the dotted line arrows indicate accessory bin flow direction. Fork truck AGV, produce the line AGV, retrieve AGV, found storehouse AGV all represent different AGV dollies, do not take the dolly in the name just for the expression convenience.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (9)

1. The utility model provides a governing valve body automatic feeding system which characterized in that: the automatic material taking and conveying system comprises a forklift AGV, a vertical warehouse material frame, a feeding conveying line, a material taking platform, a manipulator, a main conveying line, a production line AGV butt joint conveying line, a production line AGV, an empty material box recovery conveying line, a recovery AGV, a vertical warehouse material frame recovery conveying line and a vertical warehouse AGV; a plurality of material boxes are arranged in the material frame of the vertical warehouse; the manipulator is provided with a manipulator clamping jaw, and the manipulator clamping jaw is used for clamping the transfer bin, the valve body and accessories of the valve body; the material taking platform is connected with the tail end of the feeding conveying line and the start end of the vertical warehouse material frame recycling conveying line; the material taking table, the initial end of the production line AGV butt joint conveying line, the tail end of the empty box recovery conveying line and the initial end of the main conveying line are all located within the stroke range of the manipulator;
the forklift AGV conveys the material frames in the three-dimensional warehouse to a feeding conveying line, and the feeding conveying line conveys the material frames in the three-dimensional warehouse to a material taking table;
the manipulator transfers part of the material box and the valve body on the material taking table to a main conveying line, the main conveying line conveys the material box and the valve body to the next production station, and a main line tray for placing the valve body is further arranged on the main conveying line;
the manipulator transfers part of the material boxes on the material taking platform to a production line AGV butt joint conveying line, and the production line AGV transfers the material boxes of the production line AGV butt joint conveying line to the next production station;
the vertical warehouse AGV transfers empty bins generated by other stations to an empty bin recovery conveying line, and the manipulator transfers the empty bins on the empty bin recovery conveying line to a vertical warehouse material frame;
the vertical warehouse material frame recycling conveying line is used for transferring vertical warehouse material frames on the material taking table, and the vertical warehouse AGV is used for storing the vertical warehouse material frames of the vertical warehouse material frame recycling conveying line.
2. The automatic loading system of a regulating valve body of claim 1, wherein: still be equipped with the motion camera that is used for shooing in the material frame of vertical warehouse on the manipulator, the motion camera is used for acquireing the position of workbin in the material frame of vertical warehouse.
3. The automatic loading system of a regulating valve body of claim 2, wherein: and after the motion camera obtains that the vertical warehouse material frames are filled with empty material boxes, the motion camera controls the material taking platform and the vertical warehouse material frame recovery conveying line to be started, the vertical warehouse material frames are conveyed to the vertical warehouse material frame recovery conveying line, and the vertical warehouse material frames are put in a warehouse after the vertical warehouse AGV is in butt joint.
4. The automatic loading system of a regulating valve body of claim 1, wherein: the material taking platform is provided with a code scanning gun which is used for scanning an identification code on a material frame of the vertical warehouse and confirming the specification information in the material box to realize butt joint with an MES system and a WMS system.
5. The automatic loading system of a regulating valve body of claim 1, wherein: the material taking table is provided with a photoelectric sensor, and the photoelectric sensor is used for detecting whether the material frame of the vertical warehouse moves to the designated position of the material taking table or not and controlling the material feeding conveying line to stop and the material frame recycling conveying line of the vertical warehouse to start.
6. The automatic loading system of a regulating valve body of claim 1, wherein: the vertical warehouse material frame is used for storing four material boxes, including a left valve body material box, a right valve body material box, an actuator material box and an accessory material box; the left valve body material box and the right valve body material box are the same in size, and the actuator material box and the accessory material box are the same in size.
7. The automatic loading system of a regulating valve body of claim 7, wherein: the workbin is retrieved the transfer chain and is had two, two the workbin is retrieved the transfer chain and is corresponded right valve body workbin, executor workbin respectively.
8. The automatic loading system of a regulating valve body of claim 1, wherein: the vertical warehouse material frame is internally provided with a partition plate, the partition plate partitions the vertical warehouse material frame into a plurality of cavities, the cavities are adaptive to the shape and size of the material box, and the height of the partition plate is lower than that of the material box.
9. The automatic loading system of a regulating valve body of claim 1, wherein: the edges of the material box are provided with covered edges.
CN202111664941.1A 2021-12-31 2021-12-31 Automatic feeding system for valve body of regulating valve Active CN114435938B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111664941.1A CN114435938B (en) 2021-12-31 2021-12-31 Automatic feeding system for valve body of regulating valve

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Application Number Priority Date Filing Date Title
CN202111664941.1A CN114435938B (en) 2021-12-31 2021-12-31 Automatic feeding system for valve body of regulating valve

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CN114435938A true CN114435938A (en) 2022-05-06
CN114435938B CN114435938B (en) 2024-04-26

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116622968A (en) * 2023-05-26 2023-08-22 广东海洋大学 Automatic production system for heat treatment of hardware tool based on 5G technology

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US4894908A (en) * 1987-08-20 1990-01-23 Gmf Robotics Corporation Method for automated assembly of assemblies such as automotive assemblies and system utilizing same
JPH08253225A (en) * 1995-03-20 1996-10-01 Maki Seisakusho:Kk Free tray used for screening of fruit and vegetables and transferring method thereof using this
CN105290785A (en) * 2015-12-01 2016-02-03 长沙长泰机器人有限公司 Workpiece sorting and assembling system based on vision
CN212607621U (en) * 2020-06-12 2021-02-26 山东魔方新能源科技有限公司 Fuel cell stack press-fitting feeding device
CN212655081U (en) * 2020-01-21 2021-03-05 深圳宇龙机器人科技有限公司 Material frame
CN213975861U (en) * 2020-11-13 2021-08-17 宁夏巨能机器人股份有限公司 Automatic change production line's transmission equipment
CN216835786U (en) * 2021-12-31 2022-06-28 重庆川仪调节阀有限公司 Valve body material loading process transfer device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4894908A (en) * 1987-08-20 1990-01-23 Gmf Robotics Corporation Method for automated assembly of assemblies such as automotive assemblies and system utilizing same
JPH08253225A (en) * 1995-03-20 1996-10-01 Maki Seisakusho:Kk Free tray used for screening of fruit and vegetables and transferring method thereof using this
CN105290785A (en) * 2015-12-01 2016-02-03 长沙长泰机器人有限公司 Workpiece sorting and assembling system based on vision
CN212655081U (en) * 2020-01-21 2021-03-05 深圳宇龙机器人科技有限公司 Material frame
CN212607621U (en) * 2020-06-12 2021-02-26 山东魔方新能源科技有限公司 Fuel cell stack press-fitting feeding device
CN213975861U (en) * 2020-11-13 2021-08-17 宁夏巨能机器人股份有限公司 Automatic change production line's transmission equipment
CN216835786U (en) * 2021-12-31 2022-06-28 重庆川仪调节阀有限公司 Valve body material loading process transfer device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116622968A (en) * 2023-05-26 2023-08-22 广东海洋大学 Automatic production system for heat treatment of hardware tool based on 5G technology

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