CN102489619A - Workpiece positioning device - Google Patents
Workpiece positioning device Download PDFInfo
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- CN102489619A CN102489619A CN2011104178902A CN201110417890A CN102489619A CN 102489619 A CN102489619 A CN 102489619A CN 2011104178902 A CN2011104178902 A CN 2011104178902A CN 201110417890 A CN201110417890 A CN 201110417890A CN 102489619 A CN102489619 A CN 102489619A
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- table top
- positioning device
- working piece
- piece positioning
- backing pin
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Abstract
The invention discloses a workpiece positioning device, which comprises a table top. An angle of the table top is a reference angle, so that the table top is inclined, the reference angle is lower than other portions of the table top, and an inclination angle is larger than a friction angle of a workpiece to be positioned on the table top. Correspondingly, two edges of the table top for limiting the reference angle are respectively provided with a positioning part for restraining the workpiece on the table top, and two corresponding degrees of freedom are orthogonal. The workpiece positioning device is simple in structure and high in positioning precision.
Description
Technical field
The present invention relates to a kind of Working piece positioning device, be applied on the streamline, be beneficial to the accuracy of material loading.
Background technology
Automatic production line, in punch line, automatic charging has than higher specification requirement, fast and accurately workpiece is picked up to satisfy robot.Therefore; First procedure of material loading should be accurately and fast; Thereby require workpiece on the material loading table top, position accurately must be arranged; Especially centering position, and then be exactly to carry the position deviation that workpiece produced of coming to adjust fast and accurately to unstacking robot or conveyer belt fast to the basic demand of Working piece positioning device.
This type of positioner that is applied at present in the production practices mainly contains visual system and electromechanical stop centralising device; Wherein the former mainly depends on video processing technique and mechanics of communication; Video acquisition through one or more cameras; Carry out image registration then, send the position error signal of workpiece to robot through PLC, by the adjustment of robot control system control robot suitable get the material attitude with accurate grabbing workpiece.The comparative analysis of Video processing and data-signal and transmission need bigger system consumption, and it is many to take resource, may influence the stability of other station operations of streamline.In addition, visual system is also very high to the installation requirement of camera, and all cameras all can not have interference; In case small change appears in the camera orientation; All image coordinate all will be demarcated again, and the adjustment of visual system and maintenance are complicated, and cost is high.
For the electromechanical stop centralising device, then to be furnished with the location that some blocks form two frees degree of quadrature, and to be furnished with some mechanical push-pull device at fixed, mechanical push-pull device at fixed pushes away workpiece to the block direction, realize the location.But push-and-pull needs certain power, correspondingly, will inevitably cause block generation elastic deformation, and when push-pull device at fixed was recalled, block recovered the deformation meeting and pushes workpiece open certain distance, causes locating inaccurate.On the other hand, push-pull device at fixed itself has increased the complexity of structure, and has additional energy consumption, and manufacturing cost is very high, and user's disposable input ratio is bigger.In addition, each block all needs adjustment separately, and mechanical push-pull device at fixed also need take certain system resource, can improve the complexity of digital control system.
Summary of the invention
Therefore, the present invention is in order to overcome current Working piece positioning device complex structure, and the not good defective of positioning accuracy, provides a kind of simple in structure, and can obtain the Working piece positioning device than high orientation precision.
In order to realize goal of the invention of the present invention, the technical scheme that is adopted is:
A kind of Working piece positioning device comprises a table top, and one jiao of said table top is reference angle, make table top form this reference angle be lower than other parts of table top inclined table, the angle of inclination is greater than the angle of friction of workpiece to be positioned on this table top; Accordingly, the two edges that limit the table top of this reference angle respectively are provided with and are used to retrain workpiece slides the free degree on this table top keeper, and two corresponding free degree quadratures.
The natural law that the present invention relied on is the domatic angle of friction that slides object, and promptly two members begin moment folded angle between the total reaction on the contact point and its common normal of slip relatively.The said structure that produces in view of the above contains a table top with certain slope, in the time of on expecting this table top on the associated workpiece, receives the effect of gravity, satisfies the condition of angle of friction, and to the low end motion of the table top that tilts, the part that finally is positioned stops, forms the location.Can know that in view of the above position fixing process does not need extra power, thereby, do not need additional configuration to drive the device of workpiece action, not only save energy consumption, and simplified the motion link, the time simple in structure, reduced the consumption of digital control system resource.
On the other hand, this locate mode is under the situation that locating piece position is confirmed, the end-state of workpiece fixes on the said keeper because of the effect of gravity just; Positioning accuracy depends on the assembly precision of keeper; And this precision guarantees easily, therefore, can obtain to compare high orientation precision in view of the above.
Above-mentioned Working piece positioning device, said keeper are a row backing pin, are convenient to the location of profiled piece.
Above-mentioned Working piece positioning device is provided with row at said table top middle part and is parallel to the wherein middle backing pin of a row backing pin.
Above-mentioned Working piece positioning device, said in the middle of backing pin be installed on the traversing carriage, and the table top of middle backing pin row vertical direction go into battle show multiple row can be used in the middle of the hole that passes of backing pin; Simultaneously, said traversing carriage through the part bonding that can axially drive along backing pin on a straight-line motion mechanism.
Above-mentioned Working piece positioning device, said straight-line motion mechanism are the screw screw mechanism, and said traversing carriage is installed on the screw of this screw screw mechanism; And said can be cylinder along the parts that backing pin axially drives.
Above-mentioned Working piece positioning device also comprises being arranged on the encoder on the leading screw in the said screw screw mechanism, moves through obtaining with the closed-loop control leading screw of leading screw operational factor.
Above-mentioned Working piece positioning device, said table top are gone into battle and are shown multi-directional ball, and form the multi-directional ball table top.
Above-mentioned Working piece positioning device, said table top are provided with and detect the sensor that workpiece has or not, and are provided with and are used to detect extra quality sensor.
Above-mentioned Working piece positioning device also comprises the mechanism at adjustment said table top angle of inclination, and correspondingly, said table top is supported on the support by spherical hinge and the formed spherical hinge assembly of backstay that is bonded on the said spherical hinge through at least three groups; Wherein, said reference angle is provided with a spherical hinge assembly, and is defined as fixing hingedly, and remaining spherical hinge assembly be movablely to prop up; And then movable in hinged one is equipped with drive unit, and remaining moveable hinge has installed locking device.
Above-mentioned Working piece positioning device, said drive unit are the screw screw mechanism.
Description of drawings
Fig. 1 is the main TV structure sketch map according to a kind of Working piece positioning device of the present invention.
Fig. 2 is the right TV structure sketch map corresponding to Fig. 1.
Fig. 3 is the plan structure sketch map corresponding to Fig. 1.
Fig. 4 is a kind of view of overlooking of straight-line motion mechanism.
Fig. 5 is the right TV structure sketch map (clear for signal, as to be rotated counterclockwise 90 degree) corresponding to Fig. 4.
Among the figure: 1, table top, 2, frame, 3, adjusting device, 4, backing pin, 5, sensor, 6, sensor, 7, straight-line motion mechanism, 8, middle backing pin, 9, motor, 10, the adjustment leading screw, 11, traversing carriage, 12, cylinder, 13, encoder.
The specific embodiment
With reference to a kind of Working piece positioning device shown in Figure of description 1 and 2, comprise a table top 1, among the figure a kind of user mode; Can know in conjunction with two figure, be the table top that the diagonal angle tilts at illustrated rectangle table top, accordingly; One jiao of said table top is reference angle; Be the upper left corner among Fig. 3, make table top form this reference angle be lower than other parts of table top inclined table, the angle of inclination is greater than the angle of friction of workpiece to be positioned on this table top; Accordingly, the two edges that limit the table top of this reference angle respectively are provided with and are used to retrain workpiece slides the free degree on this table top keeper, and two corresponding free degree quadratures.
It should be noted that; About the primary condition that is defined as of angle of friction, to be a bit larger tham this value in actual the use, those skilled in the art is according to said structure; Can select through the man-hour of the location on this table top; Such as 1 second, should realize the location in 1 second after workpiece is put on the table top so, so just can calculate desired tilt angle according to this.Also need consider to be tilted in two components on the free degree direction simultaneously, just the component of angle of inclination on two free degree vertical direction be as much as possible also all greater than corresponding angle of friction, but the selection that is not inevitable.The inventor thinks; Those skilled in the art learns in view of the above easily, because therefore the coefficient of kinetic friction will be far below confficient of static friction; In case inclined table satisfies above-mentioned condition (static friction), the component of its corresponding two frees degree also all satisfies the non-condition of self-locking under the dynamic friction condition in theory so.
Certainly, the inevitable a kind of selection of those skilled in the art is the situation that two components equate, two components differ bigger shortage practicality, and those skilled in the art can not select yet; When two components equate, so just need not consider the condition that component need satisfy.In fact, two components differ many situation and usually neither those skilled in the art go the situation selected.
About the selection between the location, the general general knowledge of mechanical technology and rational mechanics is installed, its selection has diversity, its locate mode mainly be against, like baffle plate, workpiece is resisted against on the baffle plate, just can form reasonable constraints.Preferable selection is that said keeper is a row backing pin 4, and is simple in structure, and has the high orientation precision of ratio.
As shown in Figure 3, express for clear among the figure, represent the linear drive apparatus of should dotted line representing with solid line, can not influence those skilled in the art's understanding.Among the figure, table top 1 is a rectangle table top, be provided with row at said table top 1 middle part and be parallel to the wherein middle backing pin 8 of a row backing pin, thereby, having formed two localization parts, can position two workpiece simultaneously.
Preferable selection is, said in the middle of backing pin 8 be installed on the traversing carriage, the position of backing pin 8 can be adjusted in the middle of making, so the table top of middle backing pin row vertical direction go into battle show multiple row can be used in the middle of the hole that passes of backing pin; Simultaneously, said traversing carriage through the part bonding that can axially drive along backing pin on a straight-line motion mechanism.
Above-mentioned Working piece positioning device, said in the middle of backing pin be installed on the traversing carriage, and the table top of middle backing pin row vertical direction go into battle show multiple row can be used in the middle of the hole that passes of backing pin; Simultaneously, said traversing carriage through the part bonding that can axially drive along backing pin on a straight-line motion mechanism.Thereby during use, according to the specification of workpiece, backing pin 8 passes from corresponding Kong Liezhong in the middle of the adjustment, is limited to form concrete position in the associated orifices row and confirm.Can also be parts moving linearly wherein along the parts that backing pin axially drives; It in machinery a kind of moving component of routine; Such as cylinder, hydraulic cylinder, can also adopt some straight-line motion mechanism, like slider-crank mechanism, pinion and rack and screw screw mechanism etc.; Only need the olinear motion part of the corresponding moving component of configuration to export, just can satisfy corresponding instructions for use.As shown in Figure 5, said can be cylinder along the parts that backing pin axially drives, and middle backing pin is packed on the traversing carriage 11 among Fig. 4, convenient control.
Accordingly; Said straight-line motion mechanism is the screw screw mechanism; Said traversing carriage is installed on the screw of this screw screw mechanism, also can adopt other straight-line motion mechanism, such as pinion and rack; Tooth bar is a movable part, also can satisfy than higher positioning requirements through SERVO CONTROL.Equally, the structure of simplification then is a servo hydraulic cylinder, also can obtain than high orientation precision, but cost is high.Accordingly, cylinder then is not suitable in this structure, and except as having only the adjustment of two positions, corresponding to two dead-centre positions of cylinder, under this condition, it is feasible using cylinder.
Further, also comprise being arranged on the encoder on the leading screw in the said screw screw mechanism,, add corresponding digital control system, carry out Comprehensive Control through obtaining of leading screw operational factor with the operation of closed-loop control leading screw.
The gradient of relevant table top 1 is as much as possible little, so just need reduce the coefficient of friction of table top as much as possible, and a kind of situation of selecting is to improve the precision of table top; But this mode is inadvisable usually, mainly be that the material loading permissible accuracy is not high, and impact is than higher; Easy damage table top, therefore, preferable selection is to lay roller on the said table top 1 or array has multi-directional ball; Form rolling friction, coefficient of friction reduces greatly, can significantly reduce angle of friction; Make table top trend towards level as far as possible, more help material loading.
Preferably; Said table top is provided with and detects the sensor that workpiece has or not, and is provided with and is used to detect extra quality sensor, and this is selection relatively more conventional on the current table top; Seldom do elaboration at this; The sensor that has or not such as the detection workpiece can use photoelectric sensor, also can use proximity transducer, can also adopt sonac.
Further select to be, this programme also comprises the mechanism at the said table top of adjustment angle of inclination, in response to different workpiece, improves its applicability.Correspondingly, said table top is supported on the support by spherical hinge and the formed spherical hinge assembly of backstay that is bonded on the said spherical hinge through at least three groups; Wherein, said reference angle is provided with a spherical hinge assembly, and is defined as fixing hingedly, and remaining spherical hinge assembly be movablely to prop up; And then movable in hinged one is equipped with drive unit, and remaining moveable hinge has installed locking device, thereby can satisfy location requirement preferably.
Preferable selection is that said drive unit is the screw screw mechanism, is convenient to accurate driving.
Claims (10)
1. a Working piece positioning device comprises a table top, it is characterized in that, one jiao of said table top is reference angle, make table top form this reference angle be lower than other parts of table top inclined table, the angle of inclination is greater than the angle of friction of workpiece to be positioned on this table top; Accordingly, the two edges that limit the table top of this reference angle respectively are provided with and are used to retrain workpiece slides the free degree on this table top keeper, and two corresponding free degree quadratures.
2. Working piece positioning device according to claim 1 is characterized in that, said keeper is a row backing pin, is convenient to the location of profiled piece.
3. Working piece positioning device according to claim 2 is characterized in that, is provided with row at said table top middle part and is parallel to the wherein middle backing pin of a row backing pin.
4. Working piece positioning device according to claim 3 is characterized in that, said in the middle of backing pin be installed on the traversing carriage, and the table top of middle backing pin row vertical direction go into battle show multiple row can be used in the middle of the hole that passes of backing pin; Simultaneously, said traversing carriage through the part bonding that can axially drive along backing pin on a straight-line motion mechanism.
5. Working piece positioning device according to claim 4 is characterized in that, said straight-line motion mechanism is the screw screw mechanism, and said traversing carriage is installed on the screw of this screw screw mechanism; And said can be cylinder along the parts that backing pin axially drives.
6. Working piece positioning device according to claim 5 is characterized in that, also comprises being arranged on the encoder on the leading screw in the said screw screw mechanism, moves through obtaining with the closed-loop control leading screw of leading screw operational factor.
7. according to the arbitrary described Working piece positioning device of claim 1 to 6, it is characterized in that said table top is gone into battle and shown multi-directional ball, and form the multi-directional ball table top.
8. Working piece positioning device according to claim 1 is characterized in that, said table top is provided with and detects the sensor that workpiece has or not, and is provided with and is used to detect extra quality sensor.
9. Working piece positioning device according to claim 1; It is characterized in that; The mechanism that also comprises adjustment said table top angle of inclination, correspondingly, said table top is supported on the support by spherical hinge and the formed spherical hinge assembly of backstay that is bonded on the said spherical hinge through at least three groups; Wherein, said reference angle is provided with a spherical hinge assembly, and is defined as fixing hingedly, and remaining spherical hinge assembly be movablely to prop up; And then movable in hinged one is equipped with drive unit, and remaining moveable hinge has installed locking device.
10. Working piece positioning device according to claim 9 is characterized in that, said drive unit is the screw screw mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110417890 CN102489619B (en) | 2011-12-15 | 2011-12-15 | Workpiece positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110417890 CN102489619B (en) | 2011-12-15 | 2011-12-15 | Workpiece positioning device |
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| CN102489619A true CN102489619A (en) | 2012-06-13 |
| CN102489619B CN102489619B (en) | 2013-12-18 |
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| CN 201110417890 Active CN102489619B (en) | 2011-12-15 | 2011-12-15 | Workpiece positioning device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103567313A (en) * | 2013-11-22 | 2014-02-12 | 重庆长安汽车股份有限公司 | Auxiliary centering device for automatically producing sheet metal in stamping mode |
| CN104670937A (en) * | 2014-12-26 | 2015-06-03 | 南车株洲电机有限公司 | Automatic laminator and an automatic laminating method |
| CN106825286A (en) * | 2015-12-04 | 2017-06-13 | 重庆银聪科技有限公司 | A kind of numerical control press feeding detent mechanism |
| CN107270795A (en) * | 2016-04-07 | 2017-10-20 | 汉达精密电子(昆山)有限公司 | Calibration equipment |
| CN108246840A (en) * | 2017-11-29 | 2018-07-06 | 深圳国创名厨商用设备制造有限公司南海分公司 | A kind of automatic bending production line of workpiece |
| CN109201910A (en) * | 2018-04-27 | 2019-01-15 | 上海发那科机器人有限公司 | A kind of gravity centralising device for supporting polymorphic type sheet-metal press working |
| CN110450533A (en) * | 2019-07-05 | 2019-11-15 | 湖南松井新材料股份有限公司 | A kind of anti-skidding fixed tray |
| CN111672977A (en) * | 2020-06-12 | 2020-09-18 | 杭州创融汇科技服务有限公司 | Semi-automatic hinge apparatus for producing of preflex and shaping |
| CN113247848A (en) * | 2021-07-01 | 2021-08-13 | 山东大明精细化工有限公司 | Surfactant ton bucket filling device |
| CN113905859A (en) * | 2019-07-12 | 2022-01-07 | 株式会社富士 | Robot control system and robot control method |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104670937A (en) * | 2014-12-26 | 2015-06-03 | 南车株洲电机有限公司 | Automatic laminator and an automatic laminating method |
| CN106825286A (en) * | 2015-12-04 | 2017-06-13 | 重庆银聪科技有限公司 | A kind of numerical control press feeding detent mechanism |
| CN107270795A (en) * | 2016-04-07 | 2017-10-20 | 汉达精密电子(昆山)有限公司 | Calibration equipment |
| CN108246840A (en) * | 2017-11-29 | 2018-07-06 | 深圳国创名厨商用设备制造有限公司南海分公司 | A kind of automatic bending production line of workpiece |
| CN109201910A (en) * | 2018-04-27 | 2019-01-15 | 上海发那科机器人有限公司 | A kind of gravity centralising device for supporting polymorphic type sheet-metal press working |
| CN110450533A (en) * | 2019-07-05 | 2019-11-15 | 湖南松井新材料股份有限公司 | A kind of anti-skidding fixed tray |
| CN113905859A (en) * | 2019-07-12 | 2022-01-07 | 株式会社富士 | Robot control system and robot control method |
| CN113905859B (en) * | 2019-07-12 | 2024-03-08 | 株式会社富士 | Robot control system and robot control method |
| CN111672977A (en) * | 2020-06-12 | 2020-09-18 | 杭州创融汇科技服务有限公司 | Semi-automatic hinge apparatus for producing of preflex and shaping |
| CN111672977B (en) * | 2020-06-12 | 2022-06-24 | 杭州创融汇科技服务有限公司 | Semi-automatic hinge apparatus for producing of preflex and shaping |
| CN113247848A (en) * | 2021-07-01 | 2021-08-13 | 山东大明精细化工有限公司 | Surfactant ton bucket filling device |
| CN113247848B (en) * | 2021-07-01 | 2021-09-21 | 山东大明精细化工有限公司 | Surfactant ton bucket filling device |
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