CN108529196A - Square objects detent mechanism and the method for positioning square objects - Google Patents
Square objects detent mechanism and the method for positioning square objects Download PDFInfo
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- CN108529196A CN108529196A CN201810362615.7A CN201810362615A CN108529196A CN 108529196 A CN108529196 A CN 108529196A CN 201810362615 A CN201810362615 A CN 201810362615A CN 108529196 A CN108529196 A CN 108529196A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims 1
- 238000005452 bending Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
Abstract
The invention discloses a kind of square objects detent mechanism and the methods for positioning square objects, wherein the main technical schemes of square objects detent mechanism are：Positioning table is provided with the first position constraint point and the second position constraint point on X axis, third position constraint point is provided in Y-axis；Position constraint component comprising the first position constraint block being located on the first position constraint point is located at the second position constraint block on the second position constraint point and the third position constraint block on third position constraint point；Positioning pressure feeder assembly comprising be positioned close at least two first positioning pressure infeed means of positioning table X axis and be positioned close at least one second positioning pressure infeed mean of positioning table Y-axis；Manipulator, for placing square objects to be positioned and at least two first positioning pressure infeed means and at least one second positioning pressure infeed mean is mobile and be fixed on the top of square objects to be positioned.
Description
Technical field
The present invention relates to technical field of mechanical automation more particularly to a kind of square objects detent mechanism and the rectangular objects of positioning
The method of body.
Background technology
It is well known that the square objects positioning in plane need limit three degree of freedom, the i.e. side of square objects two
One obligatory point of obligatory point and adjacent side can determine the position of square objects in the plane completely；For hard and side
Be not easy the square objects of Bending Deformation by thrust, three-point fix it is easy to implement；And hold when for soft and side by thrust
The three-point fox method localization method for being also easy to produce the square objects of Bending Deformation is then few, because pushing square objects towards anchor point
Direction is moved, and when respective side is bonded anchor point, thrust is difficult to control, and square objects generate Bending Deformation, leads to positioning not
Accurately.In this case, the three-point fix for how replacing having been manually done soft plate square objects with mechanical structure becomes same
The direction of row unremitting effort.
Invention content
In view of this, a kind of method that the embodiment of the present invention provides square objects detent mechanism and positions square objects, main
Syllabus is a kind of novel positioning side of positioning proposition for being squeezed the rectangular plate-shaped body for being easily bent deformation by thrust for side
Method.
In order to achieve the above objectives, present invention generally provides following technical solutions：
On the one hand, an embodiment of the present invention provides a kind of square objects detent mechanisms, including：
Positioning table is provided with the first position constraint point and the second position constraint point on X axis, is set in Y-axis
It is equipped with third position constraint point；
Position constraint component comprising the first position constraint block being located on the first position constraint point is located at the second positioning
The second position constraint block on obligatory point and the third position constraint block on third position constraint point, first positioning is about
The thickness of beam block, the second position constraint block and the third position constraint block can be freely arranged by thin to thickness；
Positioning pressure feeder assembly comprising be positioned close to the positioning table X axis at least two first are fixed
Position forced feed component and at least one second positioning pressure infeed mean for being positioned close to the positioning table Y-axis,
Described at least two first positioning pressure infeed means and at least one second positioning pressure infeed mean can be in XYZ axis
To local space in move freely, described at least two first positioning pressure infeed means are for drawing square objects to be positioned
It is close to the first position constraint block and the second position constraint block and make the first side of square objects to be positioned and described first fixed
The X axis positioning of square objects to be positioned is completed in the constraint side fitting of position constraint block and the second position constraint block, described
At least one second positioning pressure infeed mean is close simultaneously to third position constraint Block direction for drawing square objects to be positioned
The second side for making square objects to be positioned is bonded the Y for completing square objects to be positioned with the constraint side of third position constraint block
Axially position；
Manipulator, for placing square objects to be positioned and being used for described at least two first positioning pressure infeed means
It is mobile at least one second positioning pressure infeed mean and be fixed on the top of square objects to be positioned.
As previously described, when the first position constraint block, the second position constraint block and the third position constraint
When the thickness of block is disposed as relatively thin structure, the square objects detent mechanism further includes：Limit assembly comprising set
The first limiting component above the first position constraint block is set, the second limit being arranged above the second position constraint block
Position component and the third limiting component being arranged above the third position constraint block.
As previously described, described at least two first positioning pressure infeed means respectively with first limiting component and institute
State the connection of the second limiting component；
At least one second positioning pressure infeed mean is connect with the third limiting component.
As previously described, the first position constraint block, the second position constraint block and the third position constraint block
It is removable position constraint block.
As previously described, the first positioning pressure infeed mean is two.
As previously described, the second positioning pressure infeed mean is one.
As previously described, described at least two first positioning pressure infeed means and at least one second positioning pressure
Infeed mean is that pressure block is either vacuum suction block or is pressure roller.
As previously described, when described at least two first positioning pressure infeed means and at least one second positioning pressure
When power infeed mean is pressure block or is pressure roller, described at least two first positioning pressure infeed means and it is described at least
One the second positioning pressure infeed mean is arranged in the top of the square objects to be positioned；
When described at least two first positioning pressure infeed means and at least one second positioning pressure infeed mean
For vacuum suction block when, described at least two first positioning pressure infeed means and at least one second positioning pressure feeding
Component is arranged in the top of the square objects to be positioned or is arranged below the positioning table.
As previously described, first limiting component, second limiting component and the third limiting component are limited
Position block.
On the other hand, an embodiment of the present invention provides a kind of methods of positioning square objects, including：
(1) square objects to be positioned are positioned over by the manipulator on positioning workbench, and first side is close to the
One positioning constraint block and the second position constraint block, second side are not accurately positioned close to third position constraint block；
(2) manipulator moves at least two first positioning pressure infeed mean, at least one second positioning pressure
Power infeed mean and first limiting component, second limiting component and the third limiting component and will described at least
Two the first positioning pressure infeed means, at least one second positioning pressure infeed mean and first limiting section
Part, second limiting component and the third limiting component are fixed on above square objects to be positioned；
(3) at least two first positioning pressure infeed means, the first limiting component, the second limiting component and third limiting section
Part simultaneously declines so that at least two first positioning pressure infeed means push down square objects to be positioned；First limiting component, the
Two limiting components and third limiting component correspond respectively is adjacent to the first position constraint block, and the second position constraint block and third are fixed
Position constraint block, and have certain pressure；
(4) at least two first positioning pressure infeed means draw square objects to be positioned to the first position constraint block and the
Two position constraint Block directions are close and make the first side of square objects to be positioned and the first position constraint block and the second positioning
The X axis positioning of square objects to be positioned is completed in the constraint side fitting of constraint block.
The stopping of (5) at least two first positioning pressure infeed means is moved out square objects to be positioned；
(6) at least one second positioning pressure infeed mean declines and pushes down square objects to be positioned；
(7) at least one second positioning pressure infeed mean draws square objects to be positioned to the direction of third limiting component
It is close and the second side of square objects to be positioned is made to be bonded completion side to be positioned with the constraint side of third position constraint block
The Y-axis of shape object positions.
(8) at least one second positioning pressure infeed mean stops being moved out the square objects that positioning is completed, and lifts
First limiting component, the second limiting component and third limiting component are detached from the first position constraint block, the second position constraint block and the
Three position constraint blocks；
(9) positioning is completed, is determined at least two first positioning pressure infeed means and at least one second by manipulator
Position forced feed component takes away above the square objects that positioning is completed, and carries out next step manufacturing procedure, in cycles.
By above-mentioned technical proposal, square objects detent mechanism of the present invention and position square objects method at least have with
Lower advantage：
The square objects detent mechanism of the present invention and the method for positioning square objects pass through the X axis of setting positioning table
On be provided with the first position constraint point and the second position constraint point, third position constraint point is provided in Y-axis, it is fixed by being arranged
Position restraint assembly includes the first position constraint block being located on the first position constraint point, second be located on the second position constraint point
Position constraint block and the third position constraint block on third position constraint point, the first position constraint block, described second
The thickness of position constraint block and the third position constraint block can by it is thin to thickness freely be arranged, and by be arranged described at least
Two the first positioning pressure infeed means are for drawing square objects to be positioned to the first position constraint block and the second position constraint
Block is close and makes the first side of square objects to be positioned and the first position constraint block and the second position constraint block
Side fitting is constrained, at least one second positioning pressure infeed mean is positioned for drawing square objects to be positioned to third
Constraint Block direction is close and the second side of square objects to be positioned and the constraint side of third position constraint block is made to be bonded, and completes
Square objects X axis and Y-axis positioning, so that it is determined that the accurate location of square objects.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.
Description of the drawings
Fig. 1 is a kind of square objects detent mechanism structural schematic diagram that the embodiment of the present invention provides；
Fig. 2 is a kind of square objects detent mechanism fundamental diagram one that the embodiment of the present invention provides；
Fig. 3 is a kind of square objects detent mechanism fundamental diagram two that the embodiment of the present invention provides；
Fig. 4 is a kind of square objects detent mechanism fundamental diagram three that the embodiment of the present invention provides.
Specific implementation mode
It is of the invention to reach the technological means and effect that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Specific implementation mode, structure, feature and its effect applied according to the present invention is described in detail such as in attached drawing and preferred embodiment
Afterwards.
As shown in Figure 1, a kind of square objects detent mechanism that one embodiment of the present of invention provides comprising：
Positioning table 1, position constraint component 2, positioning pressure feeder assembly 3 and manipulator (not shown), wherein
The positioning table 1 is provided with the first position constraint point 11 and the second position constraint point 12, Y on X axis
Third position constraint point 13 is provided in axial direction.
The position constraint component 2 comprising the first position constraint block 21 being located on the first position constraint point 11 is located at
The second position constraint block 22 on second position constraint point 12 and the third position constraint block on third position constraint point 13
23, the first position constraint block 21, the thickness of the second position constraint block 22 and the third position constraint block 23
Freely it is arranged to thickness by thin.
The positioning pressure feeder assembly 3 comprising be positioned close to the positioning table 1X axial at least two
First positioning pressure infeed mean 31 and at least one second positioning pressure for being positioned close to the positioning table 1Y axial directions
Infeed mean 32, described at least two first positioning pressure infeed means 31 and at least one second positioning pressure feeding portion
Part 32 can move freely in the local space of XYZ axial directions, and described at least two first positioning pressure infeed means 31 are used for
It is close to the first position constraint block 21 and the second position constraint block 22 and make square objects to be positioned to draw square objects 4 to be positioned
It is undetermined that 4 first side is bonded completion with the constraint side of the first position constraint block 21 and the second position constraint block 22
The X axis positioning of position square objects, at least one second positioning pressure infeed mean 32 is for drawing rectangular object to be positioned
Body 4 is close to 23 directions of third position constraint block and makes the second side of square objects 4 to be positioned and third position constraint block 23
The fitting of constraint side complete the Y-axis positioning of square objects to be positioned, wherein the first positioning pressure infeed mean 31 can be
It two or multiple, specifically can be according to the property settings of square objects 4 to be positioned, the second positioning pressure infeed mean
32 can be for one or multiple, specifically can be according to the property settings of square objects 4 to be positioned, rectangular object to be positioned
The first side 41 of body 4 and the second side 42 of square objects to be positioned are two adjacent sides.
The manipulator, for place square objects 4 to be positioned and for by described at least two first positioning pressures into
It is moved to component 31 and at least one second positioning pressure infeed mean 32 and is fixed on the upper of square objects 4 to be positioned
Side.
Specifically, as shown in Figures 2 to 4, the operation principle of square objects detent mechanism is：
When positioning, near the X axis of positioning table 1, two the first positioning pressure infeed means 31 are in side to be positioned
The top of shape object 4 applies two appropriately sized pressure, and the pressure spot of two pressure is indicated with F1, F2 respectively so that above-mentioned two
A pressure spot stiction f1, f2 corresponding with 4 upper surface of square objects generation to be positioned；4 lower surface of square objects to be positioned
Two quiet frictional force f1_1, f2_1 of corresponding generation between positioning table 1；And ensure f1 ≈ f2, f1>F1_1, f2>f2_
1.The position that two pressure spots of square objects 4 to be positioned will be applied to is moved relative to positioning table 1 to X-direction, this
When, due to f1 ≈ f2, f1>F1_1, f2>f2_1；Square objects 4 to be positioned overcome f1_1 in f1, f2, and the active force after f2_1 is led
Under drawing, opposite slide occurs with positioning table 1；When square objects 4 to be positioned slide into first side and first on X axis
Obligatory point 11, the second obligatory point 12 successively overlap be adjacent to after, 4 stressing conditions of square objects to be positioned change, first constraint
The 11, second obligatory point 12 of point generates reaction force F1_1, F2_1 to square objects to be positioned in the positions pressure spot F1, F2 so that
Square objects 4 to be positioned are changed into opposing stationary, frictional force f1 with positioning table 1 from opposite sliding, and f2 is less than reaction force
F1_1, F2_1, pressure spot occur to slide relatively with square objects 4 to be positioned, and X axis positioning is completed；Then, it will be applied to undetermined
The position of two pressure spots F1, F2 of position square objects 4 stop moving to X-direction relative to positioning table, and will apply
Cancel to two pressure spot F1 of square objects, the position of F2 is moved to Y direction so that rectangular object relative to positioning table 1
The second side of body is bonded the third obligatory point 13 in Y-axis completely, the positioning of Y direction is similarly completed, so that it is determined that rectangular object
The accurate location of body, specifically, when being moved to X-direction, mobile pressure spot is not necessarily two, can also be more than two
A, still, the position of these pressure spots must all be the first obligatory point 11 and the second obligatory point 12 as close to X-axis, and
On square objects 4 to be positioned, it is ensured that 4 and first obligatory point 11 of square objects to be positioned, the second obligatory point 12 are adjacent to
Afterwards, the friction between pressure spot and square objects to be positioned is changed into sliding friction, and square objects to be positioned 4 from quiet frictional force
Pressure spot and the first obligatory point 11 are not led to because frictional force is excessive, the part between the second obligatory point 12 generates Curved
Become.When being moved to Y direction, the quantity of mobile pressure spot may be greater than equal to one, such as increase by one second positioning
Forced feed component 32 applies appropriately sized pressure F3, and these pressure spots in the top of square objects 4 to be positioned
Position must all be the third obligatory point 13 as close to Y-axis, and on square objects 4 to be positioned, it is ensured that wait for
After positioning square objects 4 and third obligatory point 13 are adjacent to, friction between pressure spot and square objects to be positioned is from quiet frictional force
It is changed into sliding friction, and square objects to be positioned do not cause because frictional force is excessive between pressure spot and third obligatory point 13
Part generate Bending Deformation.
The square objects detent mechanism of the present invention is provided with the first position constraint by being arranged on the X axis of positioning table
Point and the second position constraint point are provided with third position constraint point in Y-axis, include being located at the by the way that position constraint component is arranged
The first position constraint block on one positioning obligatory point is located at the second position constraint block on the second position constraint point and is located at third
Third position constraint block on position constraint point, the first position constraint block, the second position constraint block and the third
The thickness of position constraint block can be freely arranged by thin to thickness, and be fed by the way that at least two first positioning pressure is arranged
Component is close to the first position constraint block and the second position constraint block and make to be positioned rectangular for drawing square objects to be positioned
The first side of object is bonded with the constraint side of the first position constraint block and the second position constraint block, it is described at least
One the second positioning pressure infeed mean is close to third position constraint Block direction and make to wait for for drawing square objects to be positioned
The second side of positioning square objects is bonded with the constraint side of third position constraint block, completes square objects in X axis and Y-axis
To positioning, so that it is determined that the accurate location of square objects.
Further, as shown in Figure 1, working as the first position constraint block 21, the second position constraint block 22 and described
When the thickness of third position constraint block 23 is disposed as relatively thin structure, the square objects detent mechanism further includes：Limit
Hyte part 5, the limit assembly 5 comprising the first limiting component 51 above the first position constraint block 21 is set, if
It sets the second limiting component 52 above the second position constraint block 22 and is arranged above the third position constraint block 23
Third limiting component 53, under the conditions of certain, the first position constraint block 21, the second position constraint block 22 and third position constraint
When block 23 needs to be designed relatively thin, thus 4 constrained side of square objects generation to be positioned subtle deformation when positioning
It is detached from the constraint side of constraint block, positioning is caused to fail, therefore increases limiting component in constraint block top position, is prevented to be positioned
4 side of square objects is detached from the constraint side of constraint block, specifically, first limiting component 51, second limiting component
52 and the third limiting component 53 be limited block,
Further, in order to save the operating time, described at least two first positioning pressure infeed means 31 respectively with institute
State the first limiting component 51 and second limiting component 52 connection；At least one second positioning pressure infeed mean 32 with
The third limiting component 53 connects.
Further, when the setting of position constraint component 2 generates interference to the manufacturing procedure after positioning in order to prevent, first
Position constraint block 21, the second position constraint block 22 and third position constraint block 23 may be configured as removable position constraint block, rectangular
Position constraint component 2 can be moved to the position for not interfering the next step after the completion of object positioning.
Further, described at least two first positioning pressure infeed means 31 and at least one second positioning pressure
Infeed mean 32 is that pressure block is either vacuum suction block or is pressure roller, specifically when described at least two first positioning
When forced feed component 31 and at least one second positioning pressure infeed mean 32 are pressure block or are pressure roller, institute
It states at least two first positioning pressure infeed means 31 and at least one second positioning pressure infeed mean 32 is arranged in institute
State the top of square objects 4 to be positioned；When described at least two first positioning pressure infeed means 31 and described at least one
Two positioning pressure infeed means 32 be vacuum suction block when, described at least two first positioning pressure infeed means 31 and it is described extremely
A few second positioning pressure infeed mean 32 is arranged in the top of the square objects 4 to be positioned or is arranged in the positioning
Below workbench 1.
On the other hand, an embodiment of the present invention provides a kind of methods of positioning square objects, including：
(1) square objects to be positioned are positioned over by the manipulator on positioning workbench, and first side is close to the
One positioning constraint block and the second position constraint block, second side are not accurately positioned close to third position constraint block；
(2) manipulator moves at least two first positioning pressure infeed mean, at least one second positioning pressure
Power infeed mean and first limiting component, second limiting component and the third limiting component and will described at least
Two the first positioning pressure infeed means, at least one second positioning pressure infeed mean and first limiting section
Part, second limiting component and the third limiting component are fixed on above square objects to be positioned；
(3) at least two first positioning pressure infeed means, the first limiting component, the second limiting component and third limiting section
Part simultaneously declines so that at least two first positioning pressure infeed means push down square objects to be positioned；First limiting component, the
Two limiting components and third limiting component correspond respectively is adjacent to the first position constraint block, and the second position constraint block and third are fixed
Position constraint block, and have certain pressure；
(4) at least two first positioning pressure infeed means draw square objects to be positioned to the first position constraint block and the
Two position constraint Block directions are close and make the first side of square objects to be positioned and the first position constraint block and the second positioning
The X axis positioning of square objects to be positioned is completed in the constraint side fitting of constraint block.
The stopping of (5) at least two first positioning pressure infeed means is moved out square objects to be positioned；
(6) at least one second positioning pressure infeed mean declines and pushes down square objects to be positioned；
(7) at least one second positioning pressure infeed mean draws square objects to be positioned to the direction of third limiting component
It is close and the second side of square objects to be positioned is made to be bonded completion side to be positioned with the constraint side of third position constraint block
The Y-axis of shape object positions.
(8) at least one second positioning pressure infeed mean stops being moved out the square objects that positioning is completed, and lifts
First limiting component, the second limiting component and third limiting component are detached from the first position constraint block, the second position constraint block and the
Three position constraint blocks；
(9) positioning is completed, is determined at least two first positioning pressure infeed means and at least one second by manipulator
Position forced feed component takes away above the square objects that positioning is completed, and carries out next step manufacturing procedure, in cycles.
The method of the positioning square objects of the present invention is provided with the first positioning about by being arranged on the X axis of positioning table
Spot and the second position constraint point are provided with third position constraint point in Y-axis, include being located at by the way that position constraint component is arranged
The first position constraint block on first position constraint point is located at the second position constraint block on the second position constraint point and positioned at the
Third position constraint block on 3 position constraint points, the first position constraint block, the second position constraint block and described
The thickness of three position constraint blocks can be freely arranged by thin to thickness, and by setting at least two first positioning pressure into
It is close to the first position constraint block and the second position constraint block and make side to be positioned for drawing square objects to be positioned to component
The first side of shape object is bonded with the constraint side of the first position constraint block and the second position constraint block, it is described extremely
A few second positioning pressure infeed mean is close to third position constraint Block direction and make for drawing square objects to be positioned
The second side of square objects to be positioned is bonded with the constraint side of third position constraint block, completes square objects in X axis and Y
Axial positioning, so that it is determined that the accurate location of square objects.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of square objects detent mechanism, which is characterized in that including：
Positioning table is provided with the first position constraint point and the second position constraint point on X axis, is provided in Y-axis
Third position constraint point；
Position constraint component comprising the first position constraint block being located on the first position constraint point is located at the second position constraint
The second position constraint block on point and the third position constraint block on third position constraint point, first position constraint
The thickness of block, the second position constraint block and the third position constraint block can be freely arranged by thin to thickness；
Positioning pressure feeder assembly comprising be positioned close at least two first positioning pressures of the positioning table X axis
Power infeed mean and at least one second positioning pressure infeed mean for being positioned close to the positioning table Y-axis, it is described
At least two first positioning pressure infeed means and at least one second positioning pressure infeed mean can be in XYZ axial directions
It is moved freely in local space, described at least two first positioning pressure infeed means are for drawing square objects to be positioned to the
One positioning constraint block and the second position constraint block it is close and make the first side of square objects to be positioned with it is described first positioning about
The X axis positioning of square objects to be positioned is completed in the constraint side fitting of beam block and the second position constraint block, it is described at least
One the second positioning pressure infeed mean is close to third position constraint Block direction and make to wait for for drawing square objects to be positioned
The second side of positioning square objects is bonded the Y-axis for completing square objects to be positioned with the constraint side of third position constraint block
Positioning；
Manipulator, for placing square objects to be positioned and being used for described at least two first positioning pressure infeed means and institute
It states at least one second positioning pressure infeed mean movement and is fixed on the top of square objects to be positioned.
2. square objects detent mechanism according to claim 1, feature exist,
When the first position constraint block, the thickness of the second position constraint block and the third position constraint block is disposed as
When relatively thin structure, the square objects detent mechanism further includes：Limit assembly comprising setting is in first positioning
The first limiting component above constraint block, the second limiting component being arranged above the second position constraint block and setting are in institute
State the third limiting component above third position constraint block.
3. square objects detent mechanism according to claim 2, which is characterized in that
Described at least two first positioning pressure infeed means respectively with first limiting component and second limiting component
Connection；
At least one second positioning pressure infeed mean is connect with the third limiting component.
4. square objects detent mechanism according to claim 1, which is characterized in that
The first position constraint block, the second position constraint block and the third position constraint block are removable position about
Beam block.
5. square objects detent mechanism according to claim 1, which is characterized in that
First positioning pressure infeed mean is two.
6. square objects detent mechanism according to claim 1, which is characterized in that
Second positioning pressure infeed mean is one.
7. square objects detent mechanism according to claim 1, which is characterized in that
Described at least two first positioning pressure infeed means and at least one second positioning pressure infeed mean are pressure
Power block is either vacuum suction block or is pressure roller.
8. square objects detent mechanism according to claim 7, which is characterized in that
When described at least two first positioning pressure infeed means and at least one second positioning pressure infeed mean are pressure
Power block or for pressure roller when, described at least two first positioning pressure infeed means and it is described it is at least one second positioning pressure
Power infeed mean is arranged in the top of the square objects to be positioned；
When described at least two first positioning pressure infeed means and at least one second positioning pressure infeed mean are true
When empty Attraction block, described at least two first positioning pressure infeed means and at least one second positioning pressure infeed mean
It is arranged in the top of the square objects to be positioned or is arranged below the positioning table.
9. square objects detent mechanism according to claim 2, which is characterized in that
First limiting component, second limiting component and the third limiting component are limited block.
10. a kind of method of square objects detent mechanism positioning square objects according to claim 1-9, feature exist
In, including：
(1) square objects to be positioned are positioned over by the manipulator on positioning workbench, and first side is fixed close to first
Position constraint block and the second position constraint block, second side are not accurately positioned close to third position constraint block；
(2) manipulator moves at least two first positioning pressure infeed mean, at least one second positioning pressure into
To component and first limiting component, second limiting component and the third limiting component and by described at least two
First positioning pressure infeed mean, at least one second positioning pressure infeed mean and first limiting component, institute
It states the second limiting component and the third limiting component is fixed on above square objects to be positioned；
(3) at least two first positioning pressure infeed means, the first limiting component, the second limiting component and third limiting component are same
When decline so that at least two first positioning pressure infeed means push down square objects to be positioned；First limiting component, the second limit
Position component and third limiting component correspond be adjacent to the first position constraint block respectively, and the second position constraint block and third positioning are about
Beam block, and have certain pressure；
It is fixed to the first position constraint block and second that (4) at least two first positioning pressure infeed means draw square objects to be positioned
Position constraint Block direction is close and makes the first side of square objects to be positioned and the first position constraint block and the second position constraint
The X axis positioning of square objects to be positioned is completed in the constraint side fitting of block；
The stopping of (5) at least two first positioning pressure infeed means is moved out square objects to be positioned；
(6) at least one second positioning pressure infeed mean declines and pushes down square objects to be positioned；
(7) it is close to the direction of third limiting component to draw square objects to be positioned at least one second positioning pressure infeed mean
And make the second side of square objects to be positioned is bonded with the constraint side of third position constraint block to complete rectangular object to be positioned
Body Y-axis positions；
(8) at least one second positioning pressure infeed mean stops being moved out the square objects that positioning is completed, and lifts first
Limiting component, the second limiting component and third limiting component, are detached from the first position constraint block, and the second position constraint block and third are fixed
Position constraint block；
(9) positioning is completed, is pressed at least two first positioning pressure infeed means and at least one second positioning by manipulator
Power infeed mean takes away above the square objects that positioning is completed, and carries out next step manufacturing procedure, in cycles.
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Cited By (1)
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| CN110127340A (en) * | 2019-04-15 | 2019-08-16 | 深圳市贵峰精密有限公司 | A kind of square objects localization method and its positioning device |
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