CN103387127B - Working piece positioning device and belt transmission system - Google Patents
Working piece positioning device and belt transmission system Download PDFInfo
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- CN103387127B CN103387127B CN201210140823.5A CN201210140823A CN103387127B CN 103387127 B CN103387127 B CN 103387127B CN 201210140823 A CN201210140823 A CN 201210140823A CN 103387127 B CN103387127 B CN 103387127B
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Abstract
The present invention provides a kind of Working piece positioning device, it comprises driving mechanism and at least two locating mechanisms, described at least two locating mechanisms are connected with described driving mechanism, and can promote the workpiece movable between described at least two locating mechanisms under the driving of described driving mechanism and make described workpiece be in predetermined position. Present invention also offers a kind of belt transmission system, it comprises transmission belt and above-mentioned Working piece positioning device provided by the invention, described at least two locating mechanisms comprise the first locating mechanism and the 2nd locating mechanism, and described first locating mechanism and the 2nd locating mechanism are arranged on the both sides of described transmission belt, described first locating mechanism and the 2nd locating mechanism under the driving of described driving mechanism can along the direction pointing to workpiece close to each other or along the direction deviating from workpiece mutually away from. Not only structure is simple for Working piece positioning device provided by the invention and belt transmission system, and cost is lower.
Description
Technical field
The invention belongs to semi-conductor device technology field, it is specifically related to a kind of Working piece positioning device and there is the belt transmission system of this Working piece positioning device.
Background technology
It is generally required to use multiple processing unit in the manufacturing processed of solar battery sheet, in order to raise the efficiency, usually adopt the cell piece transfer system comprising mechanical manipulator and belt transmission system that from a processing unit or battery film magazine, cell piece is sent to next processing unit.
Specifically, first by corresponding mechanical manipulator cell piece taken out from a processing unit or in battery film magazine and it is placed into belt transmission system, then by belt transmission system, cell piece is sent to predetermined position, then by mechanical manipulator, cell piece is transported on next processing unit belt transmission system again. Belt transmission system, cell piece is taken away for the ease of mechanical manipulator, cell piece transfer system needs accurately to be located by cell piece usually, for this reason conventional measure has: for mechanical manipulator configures cell piece position automatic identification equipment, or configure cell piece locating device in belt transmission system. In order to reduce cost and the complexity of cell piece transfer system, existing mechanical manipulator does not configure cell piece position automatic identification equipment usually, just need under this kind of situation in belt transmission system, to configure cell piece locating device to its location after cell piece is placed in belt transmission system, thus it is convenient to mechanical manipulator and picks up cell piece belt transmission system.
Fig. 1 shows a kind of conventional cell piece locating device, and it comprises motor-driven mechanism 2 and connected pushing piece 1. As shown in Figure 1, in order to the location realized in Y-direction, this cell piece locating device is configured with two pushing pieces 1 in transmission belt 4 both sides, each pushing piece 1 is all connected with a motor-driven mechanism 2, after cell piece 3 is sent to the position corresponding with pushing piece 1 by belt transmission system, motor-driven mechanism 2 drives pushing piece 1 to move cell piece 3 is pushed to correct position, thus realizes cell piece 3 location in the Y direction.
To the location realized in X-direction, then also need to configure in the X direction one or two motor-driven mechanism 2 and corresponding pushing piece 1. Although it thus is seen that the cell piece in belt transmission system can accurately be located by this kind of cell piece locating device, but it needs two or more motor-driven mechanism 2, this is complex structure not only, and cost is higher.
Summary of the invention
For solving the problems of the technologies described above, the present invention provides a kind of Working piece positioning device, and the workpiece in belt transmission system not only can be carried out good location by it, and structure is simple, cost is lower.
For solving the problems of the technologies described above, present invention also offers a kind of belt transmission system, it has Working piece positioning device provided by the invention, the workpiece of transmission can be carried out good location, and structure is simple, cost is lower.
For this reason, the present invention provides a kind of Working piece positioning device, it comprises driving mechanism and at least two locating mechanisms, described at least two locating mechanisms are connected with described driving mechanism, and can promote the workpiece movable between described at least two locating mechanisms under the driving of described driving mechanism and make described workpiece be in predetermined position.
Wherein, described at least two locating mechanisms comprise the first locating mechanism and the 2nd locating mechanism, and described Working piece positioning device also comprises the first guiding mechanism being perpendicular to workpiece transfer direction and arrange, described first locating mechanism and the 2nd locating mechanism are arranged on described first guiding mechanism and are perpendicular to workpiece transfer direction and are positioned at the both sides in described predetermined position, described first locating mechanism and the 2nd locating mechanism can under the driving of described driving mechanism on described first guiding mechanism along the direction pointing to workpiece close to each other or along the direction deviating from workpiece mutually away from.
Can selection of land, described first guiding mechanism comprises the first guide rail, and described first locating mechanism and the 2nd locating mechanism and described first guide rail are slidably connected.
Further, described first guide rail is provided with and can be fixed on accordingly respectively on described first slide block and the 2nd slide block along the first slide block that it slides and the 2nd slide block, described first locating mechanism and the 2nd locating mechanism.
Further, described first slide block and the 2nd slide block are provided with the groove can being fastened on described first guide rail; Or on described first guide rail, it is provided with groove, described first slide block and the 2nd slide block are provided with and the projection that described groove matches.
Can selection of land, described first guiding mechanism comprises leading screw, described leading screw is provided with the screw thread that two sections of hand of spiral is contrary, described first locating mechanism and the 2nd locating mechanism are separately positioned on wherein on one section of screw thread, and adopt thread connecting mode to be connected between described first locating mechanism and the 2nd locating mechanism and described leading screw, the motor that described driving mechanism comprises with described leading screw is connected.
Can selection of land, described driving mechanism comprises two-way cylinder, and two pistons of described cylinder are connected to a described locating mechanism.
Can selection of land, described Working piece positioning device also comprises connection mechanism, described connection mechanism comprises two union levers, described first locating mechanism and the 2nd locating mechanism are connected with described driving mechanism by one of them union lever respectively, and the connection between described driving mechanism with described two union levers and between described first locating mechanism and the 2nd locating mechanism and corresponding described union lever is and is flexibly connected.
Further, described Working piece positioning device also comprises the 2nd guiding mechanism arranged along workpiece transfer direction, described at least two locating mechanisms also comprise the 3rd locating mechanism, described 3rd locating mechanism is arranged on described 2nd guiding mechanism and is positioned at the outside in described predetermined position along workpiece transfer direction, described 3rd locating mechanism is connected with described driving mechanism, and can move along the direction pointing to workpiece or the direction that deviates from workpiece under the driving of described driving mechanism.
Can selection of land, described 2nd guiding mechanism comprises the 2nd guide rail, described 2nd guide rail is provided with can along its slide the 3rd slide block, described 3rd locating mechanism is fixed on described 3rd slide block.
Further, described 3rd slide block is provided with the groove can being fastened on described 2nd guide rail; Or on described 2nd guide rail, it is provided with groove, described 3rd slide block is provided with and the projection that described groove matches.
Can selection of land, described driving mechanism comprises cylinder or hydro-cylinder, and the piston of described cylinder or hydro-cylinder moves along the transmission direction of described workpiece or the opposite direction in described workpiece transfer direction.
Can selection of land, described driving mechanism comprises motor.
Further, described connection mechanism also comprises the leading screw being connected with described motor and the Four-slider being arranged on described leading screw, and described Four-slider adopts thread connecting mode to be connected with described leading screw, and described Four-slider is flexibly connected with described two union levers; Or described connection mechanism also comprises the gear being connected with described motor and the tooth bar with described gears meshing, described tooth bar is flexibly connected with described two union levers.
In addition, present invention also offers a kind of belt transmission system, it comprises transmission belt and above-mentioned Working piece positioning device provided by the invention, described first locating mechanism and the 2nd locating mechanism are arranged on the both sides of described transmission belt, described first locating mechanism and the 2nd locating mechanism under the driving of described driving mechanism can along the direction pointing to workpiece close to each other or along the direction deviating from workpiece mutually away from.
Further, described belt transmission system also comprises hoisting appliance, and it is connected with described Working piece positioning device, for making described Working piece positioning device move along the direction being perpendicular to transmission belt place plane.
The present invention has following useful effect:
Working piece positioning device provided by the invention, it comprises a driving mechanism and at least two locating mechanisms, and this driving mechanism is directly connected with described at least two locating mechanisms or is indirectly connected with described at least two locating mechanisms by parts in the middle of such as guiding mechanism and/or connection mechanism etc., described at least two locating mechanisms can under the drive of a driving mechanism close to each other or mutually away from, thus complete the location to workpiece. It thus is seen that Working piece positioning device provided by the invention only needs a driving mechanism can complete the location of workpiece, thus not only structure is simple, and cost is lower.
Belt transmission system provided by the invention, owing to adopting above-mentioned Working piece positioning device provided by the invention, thus only need a driving mechanism can drive described at least two locating mechanisms close to each other or mutually away from and complete the location of workpiece.Therefore belt transmission system provided by the invention is while simplifying structure, reduces cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of cell piece locating device in prior art;
The original state schematic diagram of the Working piece positioning device that Fig. 2 a provides for first embodiment of the invention;
The positioning states schematic diagram of the Working piece positioning device that Fig. 2 b provides for first embodiment of the invention;
The original state schematic diagram of the Working piece positioning device that Fig. 3 a provides for second embodiment of the invention;
The positioning states schematic diagram of the Working piece positioning device that Fig. 3 b provides for second embodiment of the invention;
A concrete structural representation of the Working piece positioning device that Fig. 4 provides for second embodiment of the invention; And
The structural representation of the belt transmission system that Fig. 5 provides for the present invention's specific embodiment.
Embodiment
In order to make those skilled in the art understand the technical scheme of the present invention better, below in conjunction with accompanying drawing, Working piece positioning device provided by the invention and belt transmission system are described in detail.
Working piece positioning device provided by the invention, for the workpiece of transmission in belt transmission system is positioned, it can promote the workpiece movable not being in predetermined position in belt transmission system to predetermined position, thus be convenient to mechanical manipulator accurate picking up work piece belt transmission system, and then avoid affecting subsequent technique process and preventing mechanical manipulator to be caught broken workpiece. Wherein, the predetermined position of workpiece refers to that mechanical manipulator can carry out the position of accurately pickup, this predetermined position is undertaken regulating or setting by the relative position of the locating mechanism and Working piece positioning device and transmission belt that regulate Working piece positioning device, such as can be set as when the locating mechanism of Working piece positioning device is to each other apart from, when reaching a certain value, the workpiece between locating mechanism is just on predetermined position. Further, in order to prevent being caught broken workpiece, sensor can be set to detect whether workpiece is on predetermined position, then indicate Working piece positioning device no longer to position operation after being in predetermined position; Or locating mechanism can be set there is minor increment each other, and this minor increment mates mutually with the size of workpiece, namely, when locating mechanism is to each other apart from time minimum, one section of slight distance is still had between locating mechanism and the edge of workpiece, such as 0.25mm, thus avoid being caught broken workpiece in Workpiece fixing process.
See also Fig. 2 a and Fig. 2 b, the original state schematic diagram of the Working piece positioning device that Fig. 2 a provides for first embodiment of the invention; The positioning states schematic diagram of the Working piece positioning device that Fig. 2 b provides for first embodiment of the invention. Wherein, original state refers to, workpiece arrives position corresponding with Working piece positioning device on transmission belt, state when it is not also positioned by the locating mechanism of Working piece positioning device; Positioning states refers to, workpiece arrives position corresponding with Working piece positioning device on transmission belt, the state when locating mechanism of Working piece positioning device is pushed to predetermined position.
As shown in Figure 2 a and 2 b, the Working piece positioning device that first embodiment of the invention provides comprises the first locating mechanism 10, the 2nd locating mechanism 10 ', driving mechanism 20 and guiding mechanism 30; First locating mechanism 10 and the 2nd locating mechanism 10 ' are arranged mutually across a certain distance, and be all connected with driving mechanism 20, first locating mechanism 10 and the 2nd locating mechanism 10 ' are under the driving of driving mechanism 20, can along the direction that guiding mechanism 30 limits close to each other or mutually away from, that is, along be perpendicular to the direction (i.e. X-direction in Fig. 2 a and Fig. 2 b) of workpiece transfer direction (i.e. Y-direction in Fig. 2 a and Fig. 2 b) close to each other or mutual away from.This regulation herein so-called " connection " comprise direct mode of connection and indirect mode of connection, that is, two parts are interconnected and comprise this this two parts and directly connect, and also comprise the indirect connection that two parts realize being connected to each other by other parts.
When (namely workpiece 40 transfers to the position corresponding with Working piece positioning device, position shown in Fig. 2 a and Fig. 2 b) after, driving mechanism 20 drives the first locating mechanism 10 and the 2nd locating mechanism 10 ' to move with close to each other along the direction pointing to workpiece, thus promote workpiece 40 to move, to arrive predetermined position, thus it is convenient to the accurate picking up work piece 40 of mechanical manipulator; Behind the location of workpiece 40 to be done, driving mechanism 20 drive the first locating mechanism 10 and the 2nd locating mechanism 10 ' move along the direction deviating from workpiece 40 with mutually away from so that mechanical manipulator carries out pick-up operation and continues to be positioned by next workpiece.
In the present embodiment, the first locating mechanism 10 and the 2nd locating mechanism 10 ' share a guiding mechanism, that is, the guiding mechanism shown in Fig. 2 a and Fig. 2 b can be structure as a whole. Such as, guiding mechanism 30 can adopt a line slideway, and the vertical workpiece transfer direction of this guide rail is arranged, first locating mechanism 10 and the 2nd locating mechanism 10 ' are slidably connected with this line slideway, can slide along the direction pointing to workpiece on this line slideway under the driving of driving mechanism 20 with close to each other or slide along the direction deviating from workpiece with mutually away from. Specifically, in order to realize being slidably connected of the first locating mechanism 10 and the 2nd locating mechanism 10 ' and this line slideway, can arrange on this line slideway and can be fixed on accordingly respectively on the first slide block and the 2nd slide block along the first slide block that it slides and the 2nd slide block, the first locating mechanism 10 and the 2nd locating mechanism 10 '. Further, the groove that can be fastened on this line slideway can be set on the first slide block and the 2nd slide block; Or groove is set on this line slideway, the first slide block and the 2nd slide block arrange the projection matched with this groove. In actual applications, certainly, in order to realize being slidably connected of the first locating mechanism 10 and the 2nd locating mechanism 10 ' and this line slideway, it is possible to directly above arrange, at the first locating mechanism 10 and the 2nd locating mechanism 10 ', the groove that can be fastened on this line slideway; Or groove is set at this line slideway, and the projection matched with this groove is above set at the first locating mechanism 10 and the 2nd locating mechanism 10 '.
It should be noted that, in actual applications, also can be the first locating mechanism 10 and the 2nd locating mechanism 10 ' arranges corresponding guiding mechanism respectively, it is such as that the first locating mechanism 10 and the 2nd locating mechanism 10 ' arrange a guide rail respectively, and first locating mechanism 10 and the 2nd locating mechanism 10 ' be slidably connected with corresponding guide rail respectively, similar with mode of connection when being connected on same guide rail with the concrete mode of connection of corresponding guide rail as the first locating mechanism 10 and the 2nd locating mechanism 10 ', therefore not to repeat here. In addition, first guiding mechanism is except being perpendicular to workpiece transfer direction and arranging, can be also that acute angle is arranged with workpiece transfer direction, if can make locating mechanism under the driving of driving mechanism close to each other along the direction pointing to workpiece or deviate from workpiece direction mutually away from.
In the present embodiment, the first locating mechanism 10 and the 2nd locating mechanism 10 ' are connected with driving mechanism 20 by connection mechanism.This connection mechanism comprises two union levers 5 and the 5 ', the first locating mechanism 10 is connected with driving mechanism 20 by union lever 5, and the 2nd locating mechanism 10 ' is connected with driving mechanism 20 by union lever 5 '; And union lever 5 and the connection between the first locating mechanism 10 and driving mechanism 20, and the connection between union lever 5 ' and the 2nd locating mechanism 10 ' and driving mechanism 20, be flexible connection. Union lever 5 can rotate relative to the tie point between union lever 5 and the first locating mechanism 10 and the tie point between union lever 5 and driving mechanism 20, and union lever 5 ' can rotate relative to the tie point between union lever 5 ' and the 2nd locating mechanism 10 ' and the tie point between union lever 5 ' and driving mechanism 20. In addition, in actual applications, union lever 5 and can be between 5 ' with the first locating mechanism 10 and the 2nd locating mechanism 10 ' is directly connected, also can be indirect connection, such as, adopt when line slideway and this line slideway arrange slide block when guiding mechanism 30, union lever 5 and 5 ' can be connected on corresponding slide block, thus be indirectly connected with the first locating mechanism 10 and the 2nd locating mechanism 10 ', its reach equally make driving mechanism 20 can drive the first locating mechanism 10 and the 2nd locating mechanism 10 ' is close to each other or mutually away from object.
In the present embodiment, driving mechanism 20 adopts cylinder, the direction of motion of its piston is consistent with the opposite direction of the transmission direction Y or transmission direction Y of workpiece, piston can be made to move along the opposite direction of workpiece transfer direction Y by release gas, thus drive the first locating mechanism 10 and the 2nd locating mechanism 10 ' to move with close to each other along the direction pointing to workpiece 40, piston can be made along workpiece transfer direction Y motion by insufflation gas, thus drive the first locating mechanism 10 and the 2nd locating mechanism 10 ' move along the direction deviating from workpiece 40 with mutually away from. In actual applications, certainly, driving mechanism 20 also can adopt hydro-cylinder or motor. When adopting motor, above-mentioned connection mechanism is except comprising union lever 5 and 5 ', also comprising the leading screw being connected with motor and the slide block being arranged on this leading screw, this slide block adopts thread connecting mode to be connected on leading screw, and this slide block is flexibly connected with union lever 5 and 5 '; Or above-mentioned connection mechanism also comprises the gear being connected with motor and the tooth bar with this gears meshing, and this tooth bar is flexibly connected with union lever 5 and 5 '. The bearing of trend of leading screw or tooth bar is consistent with workpiece transfer direction Y, motor can drive screw mandrel or gear to rotate, thus band movable slider or tooth bar move along the opposite direction of workpiece transfer direction Y, and then the first locating mechanism 10 and the 2nd locating mechanism 10 ' is driven to move with close to each other along the direction pointing to workpiece 40; Or motor can drive screw mandrel or gear to rotate, thus band movable slider or tooth bar move along workpiece transfer direction Y, so drive the first locating mechanism 10 and the 2nd locating mechanism 10 ' move along the direction deviating from workpiece 40 with mutually away from.
It should be noted that, in actual applications, the Working piece positioning device that the present embodiment provides is not limited to said structure, such as driving mechanism 20 can adopt two-way cylinder, it is provided with two pistons and corresponding piston rod, first locating mechanism 10 and the 2nd locating mechanism 10 ' are connected with one of them piston rod respectively, when two pistons of this cylinder are close to each other or away from time can drive the first locating mechanism 10 and the 2nd locating mechanism 10 ' is close to each other or away from. In addition, when driving mechanism 20 adopts two-way cylinder, the Working piece positioning device that the present embodiment provides can not comprise above-mentioned guiding mechanism 30, namely the first locating mechanism 10 and the 2nd locating mechanism 10 ' are directly fixed on the piston rod, the direction of motion of piston rod is the first locating mechanism 10 and the direction of motion of the 2nd locating mechanism 10 ', thus the first locating mechanism 10 and the direction of motion of the 2nd locating mechanism 10 ' is limited without the need to arranging above-mentioned guiding mechanism again, in actual applications, as long as the direction of motion making the piston of two-way cylinder is perpendicular to workpiece transfer direction.Certainly, in actual applications, when driving mechanism 20 adopts two-way cylinder, the Working piece positioning device that the present embodiment provides equally also can comprise above-mentioned guiding mechanism 30, now piston rod directly can be connected with the first locating mechanism 10 and the 2nd locating mechanism 10 ', or be connected with above-mentioned slide block, the first locating mechanism 10 and the 2nd locating mechanism 10 ' under the driving of driving mechanism 20 can along guiding mechanism 30 limit direction close to each other or away from.
Further, in actual applications, Working piece positioning device provided by the invention also can adopt following structure: guiding mechanism 30 comprises leading screw, this leading screw is provided with the screw thread that two sections of hand of spiral is contrary, first locating mechanism 10 is arranged on wherein section screw thread, 2nd locating mechanism 10 ' is arranged on another section of screw thread, and first locating mechanism 10 and the 2nd adopt thread connecting mode to be connected between locating mechanism 10 ' with leading screw, driving mechanism 20 comprises the motor being connected with this leading screw, by motor drive screw turns can drive the first locating mechanism 10 and the 2nd locating mechanism 10 ' is close to each other or away from. can in the following way as the connection of the first locating mechanism 10 and the 2nd between locating mechanism 10 ' with leading screw: at the first locating mechanism 10 and the 2nd locating mechanism 10 ', the threaded hole mated mutually with the screw thread on leading screw is set, or slide block is set on leading screw, slide block arranges the threaded hole mated mutually with the screw thread on leading screw, or this slide block is connected on leading screw by corresponding bolt.
See also Fig. 3 a and Fig. 3 b, the Working piece positioning device that second embodiment of the invention provides comprises the first locating mechanism 10, 2nd locating mechanism 10 ', 3rd locating mechanism 11, driving mechanism 20, first guiding mechanism 30 and the 2nd guiding mechanism 30 ', wherein, first guiding mechanism 30 is mutually vertical with the 2nd guiding mechanism 30 ', first locating mechanism 10 and the 2nd locating mechanism 10 ' are on the direction that the first guiding mechanism 30 limits, namely, the direction being perpendicular to workpiece transfer direction Y is arranged mutually across a certain distance, 3rd locating mechanism 11 is arranged on the Y of workpiece transfer direction, driving mechanism 20 is by connection mechanism and the first locating mechanism 10, 2nd locating mechanism 10 ' and the 3rd locating mechanism 11 connect, and under the driving of driving mechanism 20 first locating mechanism 10, 2nd locating mechanism 10 ' and the 3rd locating mechanism 11 can close to each other or mutually away from. in the present embodiment, driving mechanism 20 directly can be connected with the 3rd locating mechanism 11, and is indirectly connected with the first locating mechanism 10 and the 2nd locating mechanism 10 ' by connection mechanism. as for similar with in first embodiment of the invention of the structure of connection mechanism, connection mechanism and driving mechanism 20 and the mode of connection between the first locating mechanism 10 and the 2nd locating mechanism 10 ', therefore not to repeat here. in addition, the structure of the first guiding mechanism 30 and the 2nd guiding mechanism 30 ' and set-up mode are all similar with the guiding mechanism in first embodiment of the invention, do not repeat equally at this. and, first guiding mechanism 30 and the 2nd guiding mechanism 30 ' except mutually vertical arrange except, also can mutually arrange in a certain acute angle, if can make locating mechanism under the driving of driving mechanism along the direction pointing to workpiece close to each other or along the direction deviating from workpiece mutually away from.
Refer to Fig. 4, its concrete structural representation of Working piece positioning device one provided for second embodiment of the invention. As shown in Figure 4, this Working piece positioning device comprises the first locating mechanism 10, the 2nd locating mechanism 10 ', the 3rd locating mechanism 11, driving mechanism 20, connection mechanism and the first guiding mechanism 30 and the 2nd guiding mechanism 30 '.Wherein, two location elements 100 that first locating mechanism 10, the 2nd locating mechanism 10 ' and the 3rd locating mechanism 11 include support component and be positioned on support component, location element 100 adopts circular resin wheel, support component comprises interconnective horizontal supporting portion 200 and vertical supporter 210, and horizontal supporting portion 200 is T-shaped, vertical supporter 210 is L-shaped. First locating mechanism 10 and the 2nd locating mechanism 10 ' are fixed on the first guiding mechanism 30, and the 3rd locating mechanism 11 is fixed on the 2nd guiding mechanism 30 '. Specifically, first guiding mechanism 30 and the 2nd guiding mechanism 30 ' all adopt line slideway form, first guiding mechanism 30 is provided with can along its slide the first slide block and the 2nd slide block, the first locating mechanism 10 and the 2nd locating mechanism 10 ' respectively correspondence be fixed on the first slide block and the 2nd slide block; Being provided with the 3rd slide block that can slide along it on the 2nd guiding mechanism 30 ', the 3rd locating mechanism 11 is fixed on the 3rd slide block. Further, first locating mechanism 10, the 2nd locating mechanism 10 ' and the 3rd locating mechanism 11 are connected to each other by connection mechanism, wherein connection mechanism comprises union lever 5 and 5 ', union lever 5 one end is fixed in the vertical supporter of the first locating mechanism 10, the other end is fixed in the vertical supporter of the 3rd locating mechanism 11, union lever 5 ' one end is fixed in the vertical supporter of the 2nd locating mechanism 10 ', and the other end is fixed in the vertical supporter of the 3rd locating mechanism 11; And the connection between the vertical supporter of union lever 5 and the first locating mechanism 10 and the vertical supporter of the 3rd locating mechanism 11, and the connection between the vertical supporter of union lever 5 ' and the 2nd locating mechanism 10 ' and the vertical supporter of the 3rd locating mechanism 11 is and is flexibly connected. Driving mechanism 20 adopts cylinder, and the direction that its piston motion direction limits with the 2nd guiding mechanism 30 ' is consistent. Driving mechanism 20 is directly connected with the 3rd locating mechanism 11, owing to the first locating mechanism 10, the 2nd locating mechanism 10 ' and the 3rd locating mechanism 11 are connected to each other by union lever 5 and 5 ', therefore, when driving mechanism 20 drives the 3rd locating mechanism 11 to move, the first locating mechanism 10 and the 2nd locating mechanism 10 ' can be driven mobile simultaneously, namely, the Working piece positioning device that the present embodiment provides only needs a driving mechanism that three locating mechanisms can be driven to move to be positioned by workpiece, and therefore this Working piece positioning device has the advantage that structure is simple, cost is lower.
It should be noted that, Fig. 4 is only a kind of concrete structural representation illustrating Working piece positioning device provided by the invention, according to particular case, the above embodiment of the present invention can be carried out various modification and improvement in actual applications, or design the Working piece positioning device of other structures according to the above embodiment of the present invention. Such as, in the Working piece positioning device shown in Fig. 4, driving mechanism 20, except adopting except cylinder, also can adopt hydro-cylinder or motor, and similar with described in first embodiment of the invention of concrete set-up mode, therefore not to repeat here. In actual applications, certainly, owing to cylinder structure is simple, cost is lower, it is preferred to use cylinder is used as driving mechanism 20.
Also it should be noted that, although the quantity of the locating mechanism in the Working piece positioning device that the above embodiment of the present invention provides is two or three, but more locating mechanism can be set in actual applications as required, such as on orthogonal two directions, it is oppositely arranged two locating mechanisms respectively, i.e. four locating mechanisms altogether, and by arrange corresponding connection mechanism make a driving mechanism can drive all locating mechanisms close to each other or mutually away from.
As the present invention's another kind of technical scheme, present invention also offers a kind of belt transmission system, it comprises transmission belt and above-mentioned Working piece positioning device provided by the invention.
Refer to Fig. 5, the belt transmission system that third embodiment of the invention provides comprises transmission belt 50 and Working piece positioning device, it is for transmitting workpiece 40, and after workpiece 40 arrives the position corresponding with Working piece positioning device, by Working piece positioning device, it is positioned, so that the accurate pickup of follow-up mechanical manipulator. in the present embodiment, Working piece positioning device adopts the structure shown in Fig. 4, it is arranged on transmission belt 50 and transmits direction (namely, direction shown in arrow in Fig. 5) downstream position, first locating mechanism 10, the location element of the 2nd locating mechanism 10 ' and the 3rd locating mechanism 11 and the upper surface of workpiece 40 or transmission belt 50 are roughly in same level, and first locating mechanism 10 and the 2nd locating mechanism 10 ' be arranged on the both sides of transmission belt 50, 3rd locating mechanism 11 is arranged near the end of transmission belt 50, other parts of Working piece positioning device, such as, driving mechanism, guiding mechanism and connection mechanism etc. are arranged on the lower section of transmission belt 50. when workpiece 40 is sent to position shown in Fig. 5 by transmission belt 50, namely corresponding with Working piece positioning device on transmission belt 50 position, driving mechanism 20 drives the first locating mechanism 10, the 2nd locating mechanism 10 ' and the 3rd locating mechanism 11 to move with close to each other at guiding mechanism 30 and 30 ' the upper direction along pointing to workpiece 40, thus promote workpiece 40 to predetermined position, it is achieved to the location of workpiece 40. after completing the location to workpiece 40, driving mechanism 20 drive the first locating mechanism 10, the 2nd locating mechanism 10 ' and the 3rd locating mechanism 11 move in the upper direction along deviating from workpiece 40 of guiding mechanism 30 and 30 ' with mutually away from, thus unclamp workpiece 40, so that mechanical manipulator carries out pick-up operation.
It should be noted that, in actual applications, belt transmission system is not limited to structure shown in Fig. 5, and such as, Working piece positioning device can adopt the Working piece positioning device of the various structures that the above embodiment of the present invention provides and modification thereof or improvement. Such as, in Figure 5, when only need to be perpendicular to transmission belt 50 transmit direction workpiece 40 is positioned time, the first locating mechanism 10 and the 2nd locating mechanism 10 ' can be only set, and without the need to arranging the 3rd locating mechanism 11 and corresponding component thereof.
Further, not only Working piece positioning device is not limited to structure shown in Fig. 4, and the position that arranges of Working piece positioning device is also not limited to the position shown in Fig. 5. Such as, Working piece positioning device can be arranged on position, middle reaches or other correct position places in transmission belt transmission direction; And the driving mechanism of Working piece positioning device, guiding mechanism and connection mechanism etc. can be arranged on the top of transmission belt. And, when Working piece positioning device is not the downstream position being arranged on transmission belt transmission direction, and it is when comprising three as shown in Fig. 4 or Fig. 5 locating mechanism, belt transmission system provided by the invention preferably also comprises hoisting appliance, it is connected with Working piece positioning device, and Working piece positioning device can be made vertically to move, to enable location element contact with workpiece in Workpiece fixing process such that it is able to promote workpiece movable; And make location element away from workpiece when completing location or do not position, thus avoid location element to contact with workpiece and affect workpiece transfer or pickup. Such as, by means of this hoisting appliance, when workpiece is positioned by needs, the location element of locating mechanism and workpiece can be roughly in same level; And when location completes or does not position, make the location element of locating mechanism be positioned at lower section or the top of transmission belt, to avoid the transmission affecting workpiece or pickup.
It should be appreciated that the illustrative embodiments that above enforcement mode is only used to the principle of the present invention is described and adopts, but the present invention is not limited thereto., it is possible to make various modification and improvement, for those skilled in the art, without departing from the spirit and substance in the present invention these modification and improvement are also considered as protection scope of the present invention.
Claims (13)
1. a Working piece positioning device, it is characterized in that, comprise driving mechanism and at least two locating mechanisms, described at least two locating mechanisms are connected with described driving mechanism, and can promote the workpiece movable between described at least two locating mechanisms under the driving of described driving mechanism and make described workpiece be in predetermined position;
Described at least two locating mechanisms comprise the first locating mechanism and the 2nd locating mechanism, and described Working piece positioning device also comprises the first guiding mechanism being perpendicular to workpiece transfer direction and arrange, described first locating mechanism and the 2nd locating mechanism are arranged on described first guiding mechanism and are perpendicular to workpiece transfer direction and are positioned at the both sides in described predetermined position, described first locating mechanism and the 2nd locating mechanism can under the driving of described driving mechanism on described first guiding mechanism along the direction pointing to workpiece close to each other or along the direction deviating from workpiece mutually away from;
Described Working piece positioning device also comprises connection mechanism, described connection mechanism comprises two union levers, described first locating mechanism and the 2nd locating mechanism are connected with described driving mechanism by one of them union lever respectively, and the connection between described driving mechanism with described two union levers and between described first locating mechanism and the 2nd locating mechanism and corresponding described union lever is and is flexibly connected;
Described Working piece positioning device also comprises the 2nd guiding mechanism arranged along workpiece transfer direction, described at least two locating mechanisms also comprise the 3rd locating mechanism, described 3rd locating mechanism is arranged on described 2nd guiding mechanism and is positioned at the outside in described predetermined position along workpiece transfer direction, described 3rd locating mechanism is connected with described driving mechanism, and can move along the direction pointing to workpiece or the direction that deviates from workpiece under the driving of described driving mechanism.
2. Working piece positioning device as claimed in claim 1, it is characterised in that, described first guiding mechanism comprises the first guide rail, and described first locating mechanism and the 2nd locating mechanism and described first guide rail are slidably connected.
3. Working piece positioning device as claimed in claim 2, it is characterized in that, described first guide rail is provided with and can be fixed on accordingly respectively on described first slide block and the 2nd slide block along the first slide block that it slides and the 2nd slide block, described first locating mechanism and the 2nd locating mechanism.
4. Working piece positioning device as claimed in claim 3, it is characterised in that, described first slide block and the 2nd slide block are provided with the groove can being fastened on described first guide rail; Or on described first guide rail, it is provided with groove, described first slide block and the 2nd slide block are provided with and the projection that described groove matches.
5. Working piece positioning device as claimed in claim 1, it is characterized in that, described first guiding mechanism comprises leading screw, described leading screw is provided with the screw thread that two sections of hand of spiral is contrary, described first locating mechanism and the 2nd locating mechanism are separately positioned on wherein on one section of screw thread, and adopt thread connecting mode to be connected between described first locating mechanism and the 2nd locating mechanism and described leading screw, the motor that described driving mechanism comprises with described leading screw is connected.
6. Working piece positioning device as described in claim 1-4 any one, it is characterised in that, described driving mechanism comprises two-way cylinder, and two pistons of described cylinder connect described locating mechanism respectively.
7. Working piece positioning device as claimed in claim 1, it is characterised in that, described 2nd guiding mechanism comprises the 2nd guide rail, is provided with the 3rd slide block that can slide along it on described 2nd guide rail, and described 3rd locating mechanism is fixed on described 3rd slide block.
8. Working piece positioning device as claimed in claim 7, it is characterised in that, described 3rd slide block is provided with the groove can being fastened on described 2nd guide rail; Or on described 2nd guide rail, it is provided with groove, described 3rd slide block is provided with and the projection that described groove matches.
9. Working piece positioning device as claimed in claim 7 or 8, it is characterised in that, described driving mechanism comprises cylinder or hydro-cylinder, and the piston of described cylinder or hydro-cylinder moves along the transmission direction of described workpiece or the opposite direction in described workpiece transfer direction.
10. Working piece positioning device as claimed in claim 7 or 8, it is characterised in that, described driving mechanism comprises motor.
11. Working piece positioning devices as claimed in claim 10, it is characterized in that, described connection mechanism also comprises the leading screw being connected with described motor and the Four-slider being arranged on described leading screw, described Four-slider adopts thread connecting mode to be connected with described leading screw, and described Four-slider is flexibly connected with described two union levers; Or
Described connection mechanism also comprises the gear being connected with described motor and the tooth bar with described gears meshing, and described tooth bar is flexibly connected with described two union levers.
12. 1 kinds of belt transmission system, it is characterised in that, comprise transmission belt and Working piece positioning device as claimed in claim 1, wherein, described first locating mechanism and the 2nd locating mechanism are arranged on the both sides of described transmission belt.
13. belt transmission system as claimed in claim 12, it is characterised in that, also comprise hoisting appliance, it is connected with described Working piece positioning device, for making described Working piece positioning device move along the direction being perpendicular to transmission belt place plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210140823.5A CN103387127B (en) | 2012-05-08 | 2012-05-08 | Working piece positioning device and belt transmission system |
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| CN201210140823.5A CN103387127B (en) | 2012-05-08 | 2012-05-08 | Working piece positioning device and belt transmission system |
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| CN103387127A CN103387127A (en) | 2013-11-13 |
| CN103387127B true CN103387127B (en) | 2016-06-08 |
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| CN201210140823.5A Active CN103387127B (en) | 2012-05-08 | 2012-05-08 | Working piece positioning device and belt transmission system |
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| CN104876163A (en) * | 2015-05-11 | 2015-09-02 | 安徽合力股份有限公司 | Forward-moving electric fork-lift truck having battery entrance-exit self-centering mechanism |
| CN105645087B (en) * | 2016-03-16 | 2019-01-08 | 广东富山玻璃机械有限公司 | A kind of positioning mechanism of rearview mirror autoloader |
| CN105645088B (en) * | 2016-03-16 | 2019-01-08 | 广东富山科技股份有限公司 | A kind of rearview mirror autoloader |
| CN106382902B (en) * | 2016-09-20 | 2019-03-19 | 图灵视控（北京）科技有限公司 | A kind of hub runout flexibility automatic checkout system based on computer vision |
| CN108946087B (en) * | 2018-07-27 | 2023-07-28 | 江苏云天高胜机器人科技有限公司 | Cover plate feeding device |
| CN109230404A (en) * | 2018-10-20 | 2019-01-18 | 安徽工程大学 | A kind of automatic contraposition device and its working method |
| CN109650010A (en) * | 2018-11-09 | 2019-04-19 | 东莞长盈精密技术有限公司 | Secondary positioner |
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