CN102489619B - Workpiece positioning device - Google Patents
Workpiece positioning device Download PDFInfo
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- CN102489619B CN102489619B CN 201110417890 CN201110417890A CN102489619B CN 102489619 B CN102489619 B CN 102489619B CN 201110417890 CN201110417890 CN 201110417890 CN 201110417890 A CN201110417890 A CN 201110417890A CN 102489619 B CN102489619 B CN 102489619B
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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 streamline, be beneficial to the accuracy of material loading.
Background technology
Automatic production line, in punch line, automatic charging has higher specification requirement, to meet robot, fast and accurately workpiece is picked up.Therefore, the first operation 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 can be fast to unstacking robot or conveyer belt, to carry the position deviation that the workpiece of coming produces to be adjusted fast and accurately to the basic demand of Working piece positioning device.
This type of positioner be applied at present in 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 by one or more cameras, then carry out image registration, send the position error signal of workpiece to robot by PLC, by the robot control system control, adjust suitable feeding attitude with accurate grabbing workpiece.The comparative analysis of Video processing and data-signal and transmission need larger system consumption, take resource many, may affect 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, once 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, 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 location.But push-and-pull needs certain power, correspondingly, will inevitably cause block generation elastic deformation, and when push-pull device at fixed is recalled, block recovers the deformation meeting workpiece is pushed open to certain distance, causes locating inaccurate.On the other hand, push-pull device at fixed itself has increased the complexity of structure, and has extra energy consumption, and manufacturing cost is very high, and user's disposable input ratio is larger.In addition, each block needs independent adjustment, and mechanical push-pull device at fixed also needs to 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 defect of positioning precision, provides a kind of simple in structure, and can obtain the Working piece positioning device of higher positioning precision.
In order to realize goal of the invention of the present invention, the technical scheme adopted is:
A kind of Working piece positioning device, comprise a table top, and one jiao of described table top is reference angle, make table top form this reference angle lower than other parts of table top inclined table, 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 for retraining workpiece slides the keeper of the free degree on this table top, and two corresponding free degree quadratures.
The natural law that the present invention relies on is the domatic angle of friction that slides object, the moment that two members start relative sliding total reaction on contact point and its common normal between folded angle.The said structure produced accordingly contains a table top with certain slope, while expecting on this table top on associated workpiece, is subject to the effect of gravity, meets the condition of angle of friction, and, to the low end motion of the table top tilted, the part that finally is positioned stops, forms location.Known accordingly, 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 in the situation that locating piece position is definite, and the end-state of workpiece fixes on described keeper just because of the effect of gravity, positioning precision depends on the assembly precision of keeper, and this precision easily guarantees, therefore, can obtain higher positioning precision accordingly.
Above-mentioned Working piece positioning device, described keeper is a row backing pin, is convenient to the location of profiled piece.
Above-mentioned Working piece positioning device, be provided with row at described table top middle part and be parallel to the wherein middle backing pin of a row backing pin.
Above-mentioned Working piece positioning device, described in the middle of backing pin be arranged on a 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, described traversing carriage by the components bonding that can axially drive along backing pin on a straight-line motion mechanism.
Above-mentioned Working piece positioning device, described straight-line motion mechanism is the screw screw mechanism, described traversing carriage is arranged on the screw of this screw screw mechanism; And the described parts that can axially drive along backing pin are cylinder.
Above-mentioned Working piece positioning device, also comprise and be arranged on the encoder on leading screw in described screw screw mechanism, by obtaining with the closed-loop control leading screw of leading screw operational factor, moves.
Above-mentioned Working piece positioning device, described table top is gone into battle and is shown multi-directional ball, and forms the multi-directional ball table top.
Above-mentioned Working piece positioning device, described table top is provided with and detects the sensor that workpiece has or not, and is provided with for detection of extra quality sensor.
Above-mentioned Working piece positioning device, also comprise the mechanism that adjusts described table top angle of inclination, and correspondingly, described table top is supported on a support by spherical hinge and the formed spherical hinge assembly of backstay that is bonded on described spherical hinge by least three groups; Wherein, described reference angle is provided with a spherical hinge assembly, and is defined as fixing hingedly, and remaining spherical hinge assembly be that activity is hinged; And then movable in hinged one is equipped with drive unit, remaining moveable hinge has installed locking device.
Above-mentioned Working piece positioning device, described drive unit is the screw screw mechanism.
The accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram according to a kind of Working piece positioning device of the present invention.
Fig. 2 is the right TV structure schematic diagram corresponding to Fig. 1.
Fig. 3 is the plan structure schematic diagram corresponding to Fig. 1.
The view of overlooking that Fig. 4 is a kind of straight-line motion mechanism.
Fig. 5 is the right TV structure schematic diagram (clear for signal, as to be rotated counterclockwise 90 degree) corresponding to Fig. 4.
In 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, adjusting 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, it in figure, is a kind of use state, known in conjunction with two figure, at illustrated rectangle table top, be the table top to overturning angle, accordingly, one jiao of described table top is reference angle, for the upper left corner in Fig. 3, make table top form this reference angle lower than other parts of table top inclined table, 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 for retraining workpiece slides the keeper of the free degree on this table top, and two corresponding free degree quadratures.
It should be noted that, the primary condition that is defined as about 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 be selected by the man-hour of the location on this table top, such as 1 second, workpiece should be realized location in 1 second after being put on table top so, so just can be calculated according to this needed angle of inclination.Also need to consider to be tilted in two components on free degree direction, namely the component of angle of inclination on two free degree vertical direction as much as possible also all is greater than corresponding angle of friction simultaneously, but the selection that is not inevitable.The inventor thinks, those skilled in the art easily learns accordingly, because therefore the coefficient of kinetic friction will be far below confficient of static friction,, once inclined table meets above-mentioned condition (static friction), the component of its corresponding two frees degree also all meets the condition of no self-lock under the dynamic friction condition in theory so.
Certainly, the inevitable a kind of selection of those skilled in the art is two situations that component is equal, and two components differ larger shortage practicality, and those skilled in the art can not select yet; When two components equate, so just do not need the condition of considering that component need to be satisfied.In fact, two components differ many situations and usually neither those skilled in the art go the situation of selecting.
About the selection between location, the general general knowledge of mechanical technology and rational mechanics is installed, its selection has diversity, its locate mode be mainly against, as baffle plate, workpiece is resisted against on baffle plate, just can form reasonable constraints.Preferably selecting is that described keeper is a row backing pin 4, simple in structure, and has higher positioning precision.
As shown in Figure 3, in figure, for clear, express, the linear drive apparatus should dotted line meaned is meaned with solid line, can not affect those skilled in the art's understanding.In figure, table top 1 is a rectangle table top, be provided with row at described 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 to two workpiece, position simultaneously.
Preferably select to be, described in the middle of backing pin 8 be arranged on a traversing carriage, in the middle of making, the position of backing pin 8 can be adjusted, 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, described traversing carriage by the components bonding that can axially drive along backing pin on a straight-line motion mechanism.
Above-mentioned Working piece positioning device, described in the middle of backing pin be arranged on a 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, described traversing carriage by the components bonding that can axially drive along backing pin on a straight-line motion mechanism.Thereby, during use, according to the specification of workpiece, in the middle of adjusting, backing pin 8 passes from corresponding Kong Liezhong, is limited in the associated orifices row and forms concrete location positioning.The parts that wherein can axially drive along backing pin are also parts moving linearlies, it in machinery, is a kind of moving component of routine, such as cylinder, hydraulic cylinder, can also adopt some straight-line motion mechanism, as 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 be exported, just can meet corresponding instructions for use.As shown in Figure 5, the described parts that can axially drive along backing pin are cylinder, and in Fig. 4, middle backing pin is packed on a traversing carriage 11, convenient control.
Accordingly, described straight-line motion mechanism is the screw screw mechanism, described traversing carriage is arranged on the screw of this screw screw mechanism, also can adopt other straight-line motion mechanism, such as pinion and rack, tooth bar is movable part, by SERVO CONTROL, also can meet higher positioning requirements.Equally, the structure of simplification is servo hydraulic cylinder, also can obtain higher positioning precision, but cost is high.Accordingly, cylinder is not suitable in this structure, and except as only had the adjustment of two positions, corresponding to two dead-centre positions of cylinder, under this condition, it is feasible using cylinder.
Further, also comprise and be arranged on the encoder on leading screw in described screw screw mechanism, by obtaining with the operation of closed-loop control leading screw of leading screw operational factor, add corresponding digital control system, carry out Comprehensive Control.
The gradient of relevant table top 1 is as much as possible little, so just need to reduce as much as possible the coefficient of friction of table top, a kind of situation of selecting is to improve the precision of table top, but this mode is usually inadvisable, mainly that the material loading permissible accuracy is not high, and impact is higher, easily damage table top, therefore, preferably selecting is to lay roller on described table top 1 or array has multi-directional ball, forms rolling friction, coefficient of friction reduces greatly, can significantly reduce angle of friction, make table top trend towards as far as possible level, more be conducive to material loading.
Preferably, described table top is provided with and detects the sensor that workpiece has or not, and be provided with for detection of extra quality sensor, this is selection more conventional on current table top, seldom do elaboration at this, the sensor had or not such as the detection workpiece can use photoelectric sensor, also can use proximity transducer, can also adopt sonac.
Further selecting is that this programme also comprises the mechanism that adjusts described table top angle of inclination, in response to different workpiece, improves its applicability.Correspondingly, described table top is supported on a support by spherical hinge and the formed spherical hinge assembly of backstay that is bonded on described spherical hinge by least three groups; Wherein, described reference angle is provided with a spherical hinge assembly, and is defined as fixing hingedly, and remaining spherical hinge assembly be that activity is hinged; And then movable in hinged one is equipped with drive unit, remaining moveable hinge has installed locking device, thereby can meet location requirement preferably.
Preferably selecting is that described drive unit is the screw screw mechanism, is convenient to accurate driving.
Claims (7)
1. a Working piece positioning device, comprise a table top, it is characterized in that, one jiao of described table top is reference angle, make table top form this reference angle lower than other parts of table top inclined table, 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 for retraining workpiece slides the keeper of the free degree on this table top, and two corresponding free degree quadratures;
Described keeper is a row backing pin, is convenient to the location of profiled piece;
Be provided with row at described table top middle part and be parallel to the wherein middle backing pin of a row backing pin;
In the middle of described, backing pin is arranged on a 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, described traversing carriage by the components bonding that can axially drive along backing pin on a straight-line motion mechanism.
2. Working piece positioning device according to claim 1, is characterized in that, described straight-line motion mechanism is the screw screw mechanism, and described traversing carriage is arranged on the screw of this screw screw mechanism; And the described parts that can axially drive along backing pin are cylinder.
3. Working piece positioning device according to claim 2, is characterized in that, also comprises and be arranged on the encoder on leading screw in described screw screw mechanism, by obtaining with the closed-loop control leading screw of leading screw operational factor, moves.
4. according to the arbitrary described Working piece positioning device of claims 1 to 3, it is characterized in that, described table top is gone into battle and is shown multi-directional ball, and forms the multi-directional ball table top.
5. Working piece positioning device according to claim 1, is characterized in that, described table top is provided with and detects the sensor that workpiece has or not, and is provided with for detection of extra quality sensor.
6. Working piece positioning device according to claim 1, it is characterized in that, also comprise the mechanism that adjusts described table top angle of inclination, correspondingly, described table top is supported on a support by spherical hinge and the formed spherical hinge assembly of backstay that is bonded on described spherical hinge by least three groups; Wherein, described reference angle is provided with a spherical hinge assembly, and is defined as fixing hingedly, and remaining spherical hinge assembly be that activity is hinged; And then movable in hinged one is equipped with drive unit, remaining moveable hinge has installed locking device.
7. Working piece positioning device according to claim 6, is characterized in that, described 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 CN102489619A (en) | 2012-06-13 |
| CN102489619B true 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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| 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 |
| CN113905859B (en) * | 2019-07-12 | 2024-03-08 | 株式会社富士 | Robot control system and robot control method |
| 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 |
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| CN102489619A (en) | 2012-06-13 |
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