CN108529196B - Square object positioning mechanism and method for positioning square object - Google Patents
Square object positioning mechanism and method for positioning square object Download PDFInfo
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- CN108529196B CN108529196B CN201810362615.7A CN201810362615A CN108529196B CN 108529196 B CN108529196 B CN 108529196B CN 201810362615 A CN201810362615 A CN 201810362615A CN 108529196 B CN108529196 B CN 108529196B
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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
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Abstract
The invention discloses a square object positioning mechanism and a method for positioning a square object, wherein the main technical scheme of the square object positioning mechanism is as follows: the positioning workbench is provided with a first positioning constraint point and a second positioning constraint point in the X-axis direction and a third positioning constraint point in the Y-axis direction; the positioning constraint assembly comprises a first positioning constraint block positioned on a first positioning constraint point, a second positioning constraint block positioned on a second positioning constraint point and a third positioning constraint block positioned on a third positioning constraint point; the positioning pressure feeding assembly comprises at least two first positioning pressure feeding components which are arranged near the axial direction of the positioning workbench X and at least one second positioning pressure feeding component which is arranged near the axial direction of the positioning workbench Y; and the manipulator is used for placing the square object to be positioned and moving and fixing at least two first positioning pressure feeding components and at least one second positioning pressure feeding component above the square object to be positioned.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to a square object positioning mechanism and a square object positioning method.
Background
It is known that the positioning of a square object in a plane must limit three degrees of freedom, namely two constraint points on the side of the square object and one constraint point on the adjacent side, so that the position of the square object on the plane can be completely determined; for a square object which is hard and the side surface of the square object is not easy to bend and deform due to thrust, three-point positioning is easy to realize; the three-point positioning method for the square object which is soft and easy to generate bending deformation when the side surface is pushed is not more, because the square object is pushed to move towards the positioning point, when the corresponding side surface is attached to the positioning point, the pushing force is difficult to control, the square object generates bending deformation, and the positioning is inaccurate. In this case, three-point positioning of a soft plate-like square object is accomplished by a mechanical structure instead of by hand, and is a direction of the same effort.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a square object positioning mechanism and a method for positioning a square object, and mainly aims to provide a novel positioning method for positioning a square plate-shaped object with a side surface extruded by a pushing force and easy to bend and deform.
In order to achieve the above purpose, the present invention mainly provides the following technical solutions:
in one aspect, an embodiment of the present invention provides a square object positioning mechanism, including:
the positioning workbench is provided with a first positioning constraint point and a second positioning constraint point in the X-axis direction and a third positioning constraint point in the Y-axis direction;
the positioning constraint assembly comprises a first positioning constraint block positioned on a first positioning constraint point, a second positioning constraint block positioned on a second positioning constraint point and a third positioning constraint block positioned on a third positioning constraint point, wherein the thicknesses of the first positioning constraint block and the second positioning constraint block can be freely set from thin to thick;
the positioning pressure feeding assembly comprises at least two first positioning pressure feeding parts and at least one second positioning pressure feeding part, wherein the at least two first positioning pressure feeding parts are arranged near the X axial direction of the positioning workbench, the at least two first positioning pressure feeding parts and the at least one second positioning pressure feeding part can freely move in a local space in the XYZ axial direction, the at least two first positioning pressure feeding parts are used for pulling a square object to be positioned to a first positioning constraint block and a second positioning constraint block, and enabling a first side surface of the square object to be positioned to be close to a constraint side surface of the first positioning constraint block and a constraint side surface of the second positioning constraint block to be close to a third positioning constraint block, so that X axial positioning of the square object to be positioned is completed, and the at least one second positioning pressure feeding part is used for pulling the square object to be positioned to be close to the direction of the third positioning constraint block and enabling the second side surface of the square object to be positioned to be close to the constraint side surface of the third positioning constraint block;
and the manipulator is used for placing the square object to be positioned and moving and fixing the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component above the square object to be positioned.
As described above, when the thicknesses of the first positioning constraint block, the second positioning constraint block, and the third positioning constraint block are each set to a relatively thin structure, the square object positioning mechanism further includes: the limiting assembly comprises a first limiting part arranged above the first positioning constraint block, a second limiting part arranged above the second positioning constraint block and a third limiting part arranged above the third positioning constraint block.
As described above, the at least two first positioning pressure feed members are connected to the first and second limiting members, respectively;
the at least one second positioning pressure feed member is connected with the third limit member.
As described above, the first positioning constraint block, the second positioning constraint block, and the third positioning constraint block are both movable positioning constraint blocks.
As described above, the number of the first positioning pressure feed members is two.
As previously described, the second positioning pressure feed member is one.
As previously mentioned, the at least two first positioning pressure feed members and the at least one second positioning pressure feed member are pressure blocks or vacuum suction blocks or pressure rollers.
As previously described, when the at least two first positioning pressure feed members and the at least one second positioning pressure feed member are pressure blocks or pressure rollers, the at least two first positioning pressure feed members and the at least one second positioning pressure feed member are disposed above the square object to be positioned;
when the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component are vacuum adsorption blocks, the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component are arranged above the square object to be positioned or below the positioning workbench.
As described above, the first limiting member, the second limiting member and the third limiting member are both limiting stoppers.
In another aspect, an embodiment of the present invention provides a method for positioning a square object, including:
(1) The square object to be positioned is placed on the positioning working platform through the manipulator, the first side surface of the square object to be positioned is close to the first positioning constraint block and the second positioning constraint block, and the second side surface of the square object to be positioned is close to the third positioning constraint block, but is not positioned accurately;
(2) The mechanical arm moves the at least two first positioning pressure feeding components, the at least one second positioning pressure feeding component and the first limiting component, the second limiting component and the third limiting component and the at least two first positioning pressure feeding components, the at least one second positioning pressure feeding component and the first limiting component, the second limiting component and the third limiting component are fixed above the square object to be positioned;
(3) The at least two first positioning pressure feeding parts, the first limiting part, the second limiting part and the third limiting part are lowered simultaneously, so that the at least two first positioning pressure feeding parts press the square object to be positioned; the first limiting component, the second limiting component and the third limiting component are respectively and correspondingly attached to the first positioning constraint block, and the second positioning constraint block and the third positioning constraint block have certain pressure;
(4) At least two first positioning pressure feeding parts pull the square object to be positioned to approach the first positioning constraint block and the second positioning constraint block, and enable the first side surface of the square object to be positioned to be attached to the constraint side surfaces of the first positioning constraint block and the second positioning constraint block to finish X-axis positioning of the square object to be positioned.
(5) At least two first positioning pressure feed parts stop moving and disengage from the square object to be positioned;
(6) At least one second positioning pressure feeding part descends and presses the square object to be positioned;
(7) And the at least one second positioning pressure feeding component pulls the square object to be positioned to approach the direction of the third limiting component, so that the second side surface of the square object to be positioned is attached to the constraint side surface of the third positioning constraint block to finish Y-axis positioning of the square object to be positioned.
(8) At least one second positioning pressure feeding part stops moving and is separated from the square object after positioning, the first limiting part, the second limiting part and the third limiting part are lifted, and the second positioning pressure feeding part is separated from the first positioning constraint block, the second positioning constraint block and the third positioning constraint block;
(9) And (3) finishing positioning, namely taking at least two first positioning pressure feeding parts and at least one second positioning pressure feeding part out of the square object subjected to positioning by using a mechanical arm, and carrying out the next processing procedure, and repeating the steps.
By means of the technical scheme, the square object positioning mechanism and the square object positioning method have the following advantages:
the square object positioning mechanism and the square object positioning method are characterized in that a first positioning constraint point and a second positioning constraint point are arranged in the X-axis direction of a positioning workbench, a third positioning constraint point is arranged in the Y-axis direction, the positioning constraint assembly comprises a first positioning constraint block positioned on the first positioning constraint point, a second positioning constraint block positioned on the second positioning constraint point and a third positioning constraint block positioned on the third positioning constraint point, the thicknesses of the first positioning constraint block and the second positioning constraint block can be freely set from thin to thick, and the at least two first positioning pressure feeding parts are used for pulling the square object to be positioned to the first positioning constraint block and the second positioning constraint block and enabling the first side face of the square object to be positioned to be close to the constraint side face of the first positioning constraint block and the constraint side face of the second positioning constraint block, the at least one second positioning pressure feeding part is used for pulling the square object to be positioned to be close to the third positioning constraint block and enabling the thickness of the square object to be positioned to be close to the third positioning constraint block, and enabling the square object to be positioned to be accurately attached to the second side face of the square object to be positioned to the Y-axis direction constraint position, and the square object to be accurately positioned to be positioned to the Y-axis direction constraint position.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a square object positioning mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a square object positioning mechanism according to an embodiment of the present invention;
FIG. 3 is a second schematic diagram of a square object positioning mechanism according to an embodiment of the present invention;
fig. 4 is a third working schematic diagram of a square object positioning mechanism according to an embodiment of the present invention.
Detailed Description
In order to further describe the technical means and effects adopted for achieving the preset aim of the invention, the following detailed description refers to the specific implementation, structure, characteristics and effects according to the application of the invention with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1, one embodiment of the present invention provides a square object positioning mechanism, which includes:
a positioning workbench 1, a positioning constraint assembly 2, a positioning pressure feeding assembly 3 and a manipulator (not shown in the figure), wherein the positioning workbench 1 is provided with a first positioning constraint point 11 and a second positioning constraint point 12 in the X axis direction and a third positioning constraint point 13 in the Y axis direction.
The positioning constraint assembly 2 comprises a first positioning constraint block 21 positioned on a first positioning constraint point 11, a second positioning constraint block 22 positioned on a second positioning constraint point 12 and a third positioning constraint block 23 positioned on a third positioning constraint point 13, wherein the thicknesses of the first positioning constraint block 21, the second positioning constraint block 22 and the third positioning constraint block 23 can be freely set from thin to thick.
The positioning pressure feed assembly 3 includes at least two first positioning pressure feed components 31 disposed near the positioning table 1X in the axial direction and at least one second positioning pressure feed component 32 disposed near the positioning table 1Y in the axial direction, where the at least two first positioning pressure feed components 31 and the at least one second positioning pressure feed component 32 are both capable of freely moving in a local space in the XYZ axial direction, the at least two first positioning pressure feed components 31 are used to draw the square object 4 to be positioned toward the first positioning constraint block 21 and the second positioning constraint block 22 and make the first side surface of the square object 4 to be positioned close to the constraint side surfaces of the first positioning constraint block 21 and the second positioning constraint block 22 to complete X-axis positioning of the square object to be positioned, the at least one second positioning pressure feed component 32 is used to draw the square object 4 to be positioned toward the third positioning constraint block 23 and make the second side surface of the square object 4 to be positioned close to the constraint side surface of the third positioning constraint block 23, where the second side surface and the second side surface of the square object 4 to be positioned can be positioned close to the square object to the first side surface of the square object to be positioned, and the second side surface of the square object to be positioned can be positioned as well set as a square object to be positioned according to the second side surface of the second positioning constraint block 4, and the first positioning constraint side surface of the square object 4 can be positioned as well be positioned as a second side surface of the square object 4, and a positioning side surface can be set to be and a positioning surface can be and a positioning side surface and a positioning surface.
The manipulator is used for placing the square object 4 to be positioned and for moving and fixing the at least two first positioning pressure feed components 31 and the at least one second positioning pressure feed component 32 above the square object 4 to be positioned.
Specifically, as shown in fig. 2 to 4, the working principle of the square object positioning mechanism is as follows:
during positioning, two first positioning pressure feeding parts 31 apply two pressures with proper magnitudes above the square object 4 to be positioned near the X-axis direction of the positioning workbench 1, and pressure points of the two pressures are respectively represented by F1 and F2, so that corresponding static friction forces F1 and F2 are generated between the two pressure points and the upper surface of the square object 4 to be positioned; two static friction forces f1_1 and f2_1 are correspondingly generated between the lower surface of the square object 4 to be positioned and the positioning workbench 1; and guarantees f1≡f2, f1> f1_1, f2> f2_1. The positions of the two pressure points applied to the square object 4 to be positioned are moved in the X-axis direction with respect to the positioning table 1, at this time, since f1≡f2, f1> f1_1, f2> f2_1; the square object 4 to be positioned slides relatively to the positioning workbench 1 under the traction of the acting forces of f1 and f2 after overcoming f1_1 and f2_1; when the square object 4 to be positioned slides to the first side face and is sequentially overlapped and tightly attached to the first constraint point 11 and the second constraint point 12 in the X-axis direction, the stress condition of the square object 4 to be positioned is changed, the first constraint point 11 and the second constraint point 12 generate reaction forces F1_1 and F2_1 at the positions of the pressure points F1 and F2 of the square object 4 to be positioned, so that the square object 4 to be positioned and the positioning workbench 1 are converted from relative sliding to relative static, the friction forces F1 and F2 are smaller than the reaction forces F1_1 and F2_1, the pressure points and the square object 4 to be positioned slide relatively, and X-axis positioning is completed; then, the positions of the two pressure points F1 and F2 applied to the square object 4 to be positioned are stopped moving in the X-axis direction relative to the positioning table, the two pressure points F1 applied to the square object are cancelled, the position of the F2 is moved in the Y-axis direction relative to the positioning table 1 so that the second side surface of the square object completely abuts against the third constraint point 13 on the Y-axis, positioning in the Y-axis direction is completed in the same way, and thus the accurate position of the square object is determined, specifically, when moving in the X-axis direction, the moving pressure points are not necessarily two or more than two, but the positions of the pressure points are necessarily all the first constraint point 11 and the second constraint point 12 which are as close to the X-axis as possible and are located above the square object 4 to be positioned, so that after the second constraint point 12 is abutted, friction between the pressure point and the square object to be positioned is converted from friction force to sliding friction, and deformation is not generated between the pressure point and the first constraint point 11 and the second constraint point 12 due to excessive friction force. When moving in the Y-axis direction, the number of the moving pressure points may be equal to or greater than one, for example, a second positioning pressure feeding part 32 is added, a proper amount of pressure F3 is applied above the square object 4 to be positioned, and the pressure points must be located as close as possible to the third constraint point 13 in the Y-axis direction and above the square object 4 to be positioned, so that after the square object 4 to be positioned is tightly attached to the third constraint point 13, friction between the pressure points and the square object to be positioned is converted from static friction force to sliding friction, and the square object to be positioned does not generate bending deformation at a part between the pressure points and the third constraint point 13 due to excessive friction force.
The square object positioning mechanism is provided with a first positioning constraint point and a second positioning constraint point in the X-axis direction of a positioning workbench, a third positioning constraint point in the Y-axis direction of the positioning workbench, the positioning constraint assembly comprises a first positioning constraint block positioned on the first positioning constraint point, a second positioning constraint block positioned on the second positioning constraint point and a third positioning constraint block positioned on the third positioning constraint point, the thicknesses of the first positioning constraint block and the third positioning constraint block can be freely set from thin to thick, and the at least two first positioning pressure feeding parts are used for pulling the square object to be positioned to the first positioning constraint block and the second positioning constraint block to enable the first side face of the square object to be positioned to be close to the constraint side face of the first positioning constraint block and the constraint side face of the second positioning constraint block to be attached, and the at least one second positioning pressure feeding part is used for pulling the square object to be positioned to be close to the third positioning constraint block to enable the thickness of the square object to be positioned to be close to the constraint side face of the third positioning constraint block to enable the second side face of the square object to be positioned to be close to the constraint side face of the second positioning constraint block to be attached to the X-axis direction, and the position of the square object to be accurately positioned in the Y-axis direction is determined.
Further, as shown in fig. 1, when the thicknesses of the first positioning constraint block 21, the second positioning constraint block 22 and the third positioning constraint block 23 are each set to a relatively thin structure, the square object positioning mechanism further includes: the limiting assembly 5, the limiting assembly 5 includes a first limiting component 51 disposed above the first positioning constraint block 21, a second limiting component 52 disposed above the second positioning constraint block 22, and a third limiting component 53 disposed above the third positioning constraint block 23, where under certain conditions, when the first positioning constraint block 21, the second positioning constraint block 22 and the third positioning constraint block 23 need to be designed to be relatively thin, the constraint side of the square object 4 to be positioned can be separated from the constraint side of the constraint block due to slight deformation of the constraint side during positioning, resulting in positioning failure, and therefore, a limiting component is added above the constraint block, so that the side of the square object 4 to be positioned is prevented from being separated from the constraint side of the constraint block, specifically, the first limiting component 51, the second limiting component 52 and the third limiting component 53 are limiting stoppers.
Further, in order to save the operation time, the at least two first positioning pressure feed members 31 are connected to the first and second limiting members 51 and 52, respectively; the at least one second positioning pressure feed member 32 is connected to the third limiting member 53.
Further, in order to prevent the positioning constraint assembly 2 from interfering with the positioned processing procedure, the first positioning constraint block 21, the second positioning constraint block 22 and the third positioning constraint block 23 may be configured as movable positioning constraint blocks, and the positioning constraint assembly 2 may be moved to a position that does not interfere with the next procedure after the square object is positioned.
Further, the at least two first positioning pressure feed members 31 and the at least one second positioning pressure feed member 32 are pressure blocks or vacuum suction blocks or pressure rollers, and particularly when the at least two first positioning pressure feed members 31 and the at least one second positioning pressure feed member 32 are pressure blocks or pressure rollers, the at least two first positioning pressure feed members 31 and the at least one second positioning pressure feed member 32 are disposed above the square object 4 to be positioned; when the at least two first positioning pressure feed members 31 and the at least one second positioning pressure feed member 32 are vacuum suction blocks, the at least two first positioning pressure feed members 31 and the at least one second positioning pressure feed member 32 are disposed above the square object 4 to be positioned or below the positioning table 1.
In another aspect, an embodiment of the present invention provides a method for positioning a square object, including:
(1) The square object to be positioned is placed on the positioning working platform through the manipulator, the first side surface of the square object to be positioned is close to the first positioning constraint block and the second positioning constraint block, and the second side surface of the square object to be positioned is close to the third positioning constraint block, but is not positioned accurately;
(2) The mechanical arm moves the at least two first positioning pressure feeding components, the at least one second positioning pressure feeding component and the first limiting component, the second limiting component and the third limiting component and the at least two first positioning pressure feeding components, the at least one second positioning pressure feeding component and the first limiting component, the second limiting component and the third limiting component are fixed above the square object to be positioned;
(3) The at least two first positioning pressure feeding parts, the first limiting part, the second limiting part and the third limiting part are lowered simultaneously, so that the at least two first positioning pressure feeding parts press the square object to be positioned; the first limiting component, the second limiting component and the third limiting component are respectively and correspondingly attached to the first positioning constraint block, and the second positioning constraint block and the third positioning constraint block have certain pressure;
(4) At least two first positioning pressure feeding parts pull the square object to be positioned to approach the first positioning constraint block and the second positioning constraint block, and enable the first side surface of the square object to be positioned to be attached to the constraint side surfaces of the first positioning constraint block and the second positioning constraint block to finish X-axis positioning of the square object to be positioned.
(5) At least two first positioning pressure feed parts stop moving and disengage from the square object to be positioned;
(6) At least one second positioning pressure feeding part descends and presses the square object to be positioned;
(7) And the at least one second positioning pressure feeding component pulls the square object to be positioned to approach the direction of the third limiting component, so that the second side surface of the square object to be positioned is attached to the constraint side surface of the third positioning constraint block to finish Y-axis positioning of the square object to be positioned.
(8) At least one second positioning pressure feeding part stops moving and is separated from the square object after positioning, the first limiting part, the second limiting part and the third limiting part are lifted, and the second positioning pressure feeding part is separated from the first positioning constraint block, the second positioning constraint block and the third positioning constraint block;
(9) And (3) finishing positioning, namely taking at least two first positioning pressure feeding parts and at least one second positioning pressure feeding part out of the square object subjected to positioning by using a mechanical arm, and carrying out the next processing procedure, and repeating the steps.
The method for positioning the square object comprises the steps that a first positioning constraint point and a second positioning constraint point are arranged on an X-axis direction of a positioning workbench, a third positioning constraint point is arranged on a Y-axis direction, a positioning constraint assembly comprises a first positioning constraint block positioned on the first positioning constraint point, a second positioning constraint block positioned on the second positioning constraint point and a third positioning constraint block positioned on the third positioning constraint point, the thicknesses of the first positioning constraint block and the third positioning constraint block can be freely set from thin to thick, and the at least two first positioning pressure feeding components are used for pulling the square object to be positioned to the first positioning constraint block and the second positioning constraint block to enable the first side face of the square object to be positioned to be close to the constraint side face of the first positioning constraint block and the constraint side face of the second positioning constraint block to be attached, and at least one second positioning pressure feeding component is used for pulling the square object to be positioned to be close to the third positioning constraint block to enable the thickness of the square object to be positioned to be close to the constraint side face of the third positioning constraint block to enable the square object to be positioned to be accurately attached to the Y-axis direction constraint side face of the square object to be positioned to be accurately positioned to the X-axis direction.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A square object positioning mechanism, comprising:
the positioning workbench is provided with a first positioning constraint point and a second positioning constraint point in the X-axis direction and a third positioning constraint point in the Y-axis direction;
the positioning constraint assembly comprises a first positioning constraint block positioned on a first positioning constraint point, a second positioning constraint block positioned on a second positioning constraint point and a third positioning constraint block positioned on a third positioning constraint point, wherein the thicknesses of the first positioning constraint block and the second positioning constraint block can be freely set from thin to thick;
the positioning pressure feeding assembly comprises at least two first positioning pressure feeding parts and at least one second positioning pressure feeding part, wherein the at least two first positioning pressure feeding parts are arranged near the X axial direction of the positioning workbench, the at least two first positioning pressure feeding parts and the at least one second positioning pressure feeding part can freely move in a local space in the XYZ axial direction, the at least two first positioning pressure feeding parts are used for pulling a square object to be positioned to a first positioning constraint block and a second positioning constraint block, and enabling a first side surface of the square object to be positioned to be close to a constraint side surface of the first positioning constraint block and a constraint side surface of the second positioning constraint block to be close to a third positioning constraint block, so that X axial positioning of the square object to be positioned is completed, and the at least one second positioning pressure feeding part is used for pulling the square object to be positioned to be close to the direction of the third positioning constraint block and enabling the second side surface of the square object to be positioned to be close to the constraint side surface of the third positioning constraint block;
the manipulator is used for placing the square object to be positioned and moving and fixing the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component above the square object to be positioned;
when the thicknesses of the first positioning constraint block, the second positioning constraint block and the third positioning constraint block are set to be relatively thin structures, the square object positioning mechanism further includes: the limiting assembly comprises a first limiting part arranged above the first positioning constraint block, a second limiting part arranged above the second positioning constraint block and a third limiting part arranged above the third positioning constraint block;
the at least two first positioning pressure feeding parts are respectively connected with the first limiting part and the second limiting part;
the at least one second positioning pressure feeding component is connected with the third limiting component;
the first limiting component, the second limiting component and the third limiting component are limiting stop blocks;
the method for positioning the square object by the square object positioning mechanism comprises the following steps:
(1) The square object to be positioned is placed on the positioning working platform through the manipulator, the first side surface of the square object to be positioned is close to the first positioning constraint block and the second positioning constraint block, and the second side surface of the square object to be positioned is close to the third positioning constraint block, but is not positioned accurately;
(2) The mechanical arm moves the at least two first positioning pressure feeding components, the at least one second positioning pressure feeding component and the first limiting component, the second limiting component and the third limiting component and the at least two first positioning pressure feeding components, the at least one second positioning pressure feeding component and the first limiting component, the second limiting component and the third limiting component are fixed above the square object to be positioned;
(3) The at least two first positioning pressure feeding parts, the first limiting part, the second limiting part and the third limiting part are lowered simultaneously, so that the at least two first positioning pressure feeding parts press the square object to be positioned; the first limiting component, the second limiting component and the third limiting component are respectively and correspondingly attached to the first positioning constraint block, and the second positioning constraint block and the third positioning constraint block have certain pressure;
(4) At least two first positioning pressure feeding parts pull the square object to be positioned to approach the first positioning constraint block and the second positioning constraint block, and the first side surface of the square object to be positioned is attached to the constraint side surfaces of the first positioning constraint block and the second positioning constraint block to finish X-axis positioning of the square object to be positioned;
(5) At least two first positioning pressure feed parts stop moving and disengage from the square object to be positioned;
(6) At least one second positioning pressure feeding part descends and presses the square object to be positioned;
(7) At least one second positioning pressure feeding component pulls the square object to be positioned to approach the direction of the third limiting component, and the second side surface of the square object to be positioned is attached to the constraint side surface of the third positioning constraint block to complete the axial positioning of the square object Y to be positioned;
(8) At least one second positioning pressure feeding part stops moving and is separated from the square object after positioning, the first limiting part, the second limiting part and the third limiting part are lifted, and the second positioning pressure feeding part is separated from the first positioning constraint block, the second positioning constraint block and the third positioning constraint block;
(9) And (3) finishing positioning, namely taking at least two first positioning pressure feeding parts and at least one second positioning pressure feeding part out of the square object subjected to positioning by using a mechanical arm, and carrying out the next processing procedure, and repeating the steps.
2. The square object positioning mechanism according to claim 1, wherein,
the first positioning constraint block, the second positioning constraint block and the third positioning constraint block are movable positioning constraint blocks.
3. The square object positioning mechanism according to claim 1, wherein,
the number of the first positioning pressure feeding parts is two.
4. The square object positioning mechanism according to claim 1, wherein,
the second positioning pressure feed member is one.
5. The square object positioning mechanism according to claim 1, wherein,
the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component are pressure blocks, vacuum adsorption blocks or pressure rollers.
6. The square object positioning mechanism according to claim 5, wherein,
when the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component are pressure blocks or pressure rollers, the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component are arranged above the square object to be positioned;
when the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component are vacuum adsorption blocks, the at least two first positioning pressure feeding components and the at least one second positioning pressure feeding component are arranged above the square object to be positioned or below the positioning workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810362615.7A CN108529196B (en) | 2018-04-20 | 2018-04-20 | Square object positioning mechanism and method for positioning square object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810362615.7A CN108529196B (en) | 2018-04-20 | 2018-04-20 | Square object positioning mechanism and method for positioning square object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108529196A CN108529196A (en) | 2018-09-14 |
| CN108529196B true CN108529196B (en) | 2023-12-22 |
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