CN108657777B - Floating centering positioning mechanism and operation method thereof - Google Patents
Floating centering positioning mechanism and operation method thereof Download PDFInfo
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- CN108657777B CN108657777B CN201810526296.9A CN201810526296A CN108657777B CN 108657777 B CN108657777 B CN 108657777B CN 201810526296 A CN201810526296 A CN 201810526296A CN 108657777 B CN108657777 B CN 108657777B
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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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
- B65G2201/022—Flat
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- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a floating centering positioning mechanism and an operation method thereof, the floating centering positioning mechanism comprises a base, wherein a gasket is arranged on the right side of the upper end of the base, an air cylinder is fixedly arranged at the upper end of the gasket through a fixing screw, the right end of the air cylinder is connected with a push rod, universal ball fixing seats are fixedly arranged at four corners of the upper end of the base, universal balls are movably arranged at the upper ends of the universal ball fixing seats, a floating plate is horizontally arranged above the base, lining plates are fixedly arranged at the four corners of the floating plate at positions corresponding to the universal balls, the top end of the lining plates is fixedly connected with the floating plate, a sliding seat is arranged on the left side of the upper end of the base, a sliding block is movably arranged at the upper end of the sliding seat, the right end of the sliding block is hinged with a connecting rod through a sliding block pin, and the positioning mechanism is arranged at the right end of the connecting rod. The invention realizes floating and centering positioning through the combination of the floating plate, the universal ball, the central shaft, the connecting rod, the positioning mechanism and the sliding block, and can simultaneously realize floating and centering positioning.
Description
Technical Field
The invention relates to the technical field of workpiece picking and placing equipment, in particular to a floating centering positioning mechanism and an operation method thereof.
Background
In some cases, the workpiece is required to be positioned on the workpiece conveying device and at a target position of the workpiece in the process of picking, placing and conveying. However, when a workpiece is taken and placed, there is generally a certain positional deviation between a positioning mechanism on the workpiece handling apparatus and a positioning mechanism at a target position of the workpiece taking and placing. Such positional deviations are often difficult to adjust, particularly when the workpiece handling apparatus has a high rigidity. At present, the workpiece is positioned in the horizontal direction by the following two methods: after the workpiece is placed on a target plane, the accurate positioning of the workpiece is realized by two-way clamping of an air cylinder; the other method is to enable the workpiece to slide freely to lean against the positioning surface through the inclination of the target plane, and then the workpiece is clamped and fixed through the air cylinder to achieve accurate positioning. Both methods have the problems that the positioning action is time-consuming and complex, at least two cylinders are needed to participate, and the positioning precision still can have errors. Furthermore, both methods require that the clamping and positioning mechanism be in contact with the side of the workpiece during positioning, while for some types of workpieces the side is not suitable for contact with the clamping and positioning mechanism. To this end, we propose a floating centering positioning mechanism and a method of operating the same.
Disclosure of Invention
The present invention is directed to a floating centering and positioning mechanism and an operating method thereof, so as to solve the problems set forth in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a floating centering positioning mechanism, can be including the base, base upper end right side is equipped with the gasket, the gasket upper end has the cylinder through set screw fixed mounting, the cylinder right-hand member is connected with the push rod, the equal fixed mounting in base upper end four corners has the universal ball fixing base, universal ball fixing base upper end movable mounting has the universal ball, base top level is provided with the floating plate, floating plate four corners and universal ball correspond the fixed position and are provided with the welt, the contact surface of welt and universal ball is the sphere of an indent, the radius of curvature of sphere is greater than the radius of universal ball, the floating plate pass through the welt with universal ball contact, floating plate upper end left and right sides all is equipped with the locating pin, base top mid-mounting has the spacer, spacer middle part through-connection has the center pin, base upper end left side is equipped with the slide, slide upper end movable mounting has the slider, the push rod right-hand member is connected with slider fixed connection through the slider pin, the slider right-hand member is connected with positioning mechanism through the slider pin, positioning mechanism is located the radius of a connecting rod, the positioning mechanism is located the first positioning rod and two positioning rod and the first positioning rod, the left side is located the first positioning rod is located the two positioning rod and the first positioning rod, the left side is located the first positioning rod and the first positioning rod is located the locating rod and the first end, the two positioning rod sets up end and the locating rod and the first positioning rod is located the locating rod and the position.
Preferably, the positioning mechanism comprises two second positioning rods and two second positioning shafts, the two second positioning rods are arranged in an X-shaped cross mode, the middle parts of the two second positioning rods are hinged to the central shaft through bearings, the left ends of the second positioning rods are hinged to the right ends of the two connecting rods through pins respectively, the top ends of the second positioning shafts are fixedly connected with the floating plates, limiting plates are arranged at positions lower than the positions of the second positioning rods, and the two second positioning shafts are respectively positioned at the inner sides of the left end and the right end of the second positioning rods.
Preferably, the left end and the right end of the first positioning rod are both bent outwards, and the first positioning shaft is tangential to the bent parts at the outer sides of the two ends of the two first positioning rods when the sliding block is positioned at the rightmost end.
Preferably, the left end and the right end of the second positioning rod are both bent inwards, and the second positioning shaft is tangential to the bent parts of the inner sides of the two ends of the two second positioning rods when the sliding block is positioned at the leftmost end.
Preferably, the operation method of the floating centering positioning mechanism comprises the following steps:
step 1, a carrying mechanism moves to a position right below a workpiece supporting device at a workpiece taking position, a control cylinder drives a push rod to pull to the left, and the push rod drives two first positioning rods to be combined through a connecting rod, so that a floating plate is in a floating state;
step 2, slowly lifting the carrying mechanism to enable the positioning pin to be inserted into a pin hole at the bottom of the workpiece;
step 3, the carrying mechanism continues to ascend, so that the workpiece is completely separated from the constraint range of the workpiece supporting device;
and 4, driving the push rod to push to the right side through the control cylinder, and driving the two first positioning rods to separate through the connecting rod by the push rod, so that the two first positioning rods support the first positioning shaft, and the floating plate is in a centering positioning state.
Step 5, the carrying mechanism horizontally moves to the position right above the workpiece supporting device at the workpiece placing position, the pushing rod is driven by the air cylinder to pull to the left, and the floating plate is in a floating state again;
step 6, slowly descending the conveying mechanism to enable the workpiece to be embedded into the workpiece supporting device at the workpiece placing position, continuously descending until the locating pin is separated from the pin hole at the bottom of the workpiece, horizontally removing the conveying mechanism, and completing conveying of the workpiece;
preferably, the operation method of the floating centering positioning mechanism further comprises the following steps:
step 1, a carrying mechanism moves to a position right below a workpiece supporting device at a workpiece taking position, a control cylinder drives a push rod to push to the right side, and the push rod drives two second positioning rods to be combined through a connecting rod, so that a floating plate is in a floating state;
step 2, slowly lifting the carrying mechanism to enable the positioning pin to be inserted into a pin hole at the bottom of the workpiece;
step 3, the carrying mechanism continues to ascend, so that the workpiece is completely separated from the constraint range of the workpiece supporting device;
step 4, driving the push rod to pull to the left through the control cylinder, and driving the two second positioning rods to separate through the connecting rod by the push rod, so that the two second positioning rods support the second positioning shaft, and the floating plate is in a centering positioning state;
step 5, the carrying mechanism horizontally moves to the position right above the workpiece supporting device at the workpiece placing position, the pushing rod is driven by the air cylinder to push to the right side, and the floating plate is in a floating state again;
and 6, slowly descending the conveying mechanism to enable the workpiece to be embedded into the workpiece supporting device at the workpiece placing position, continuously descending until the locating pin is separated from the pin hole at the bottom of the workpiece, horizontally removing the conveying mechanism, and completing conveying of the workpiece.
Compared with the prior art, the invention has the beneficial effects that: according to the floating centering positioning mechanism and the operation method thereof, through the combination of the floating plate, the positioning shaft, the central shaft, the connecting rod, the positioning mechanism and the sliding block, the state change of floating or centering positioning of the mechanism can be realized, both floating and centering positioning can be simultaneously considered, the positioning process is very simple and quick, the accurate positioning in the horizontal direction can be simultaneously completed in the process of taking and placing the workpiece, and the use of occasions requiring both floating and centering positioning under special working conditions can be met; through the arrangement of the universal ball, the floating plate can slide on the universal ball freely and horizontally, so that the effect of avoiding friction between the bottom of a workpiece and the picking and placing mechanism is achieved, rolling friction is realized between the universal ball and the bearing, the friction coefficient can be reduced, and the service life of the mechanism is prolonged; the workpiece can be positioned in the horizontal direction by only arranging one air cylinder, so that the automatic control of a floating centering positioning mechanism can be conveniently realized, the bottom of the floating plate is contacted with the universal ball through the lining plate provided with the concave spherical surface, and the floating plate also has the automatic centering capability under the state that the centering mechanism is not clamped, so that the workpiece is prevented from swinging limitlessly; the limiting plate at the bottom end of the positioning shaft on the floating plate can enable the floating plate to float relative to the bottom plate without being separated from the bottom plate; through setting up the locating pin, can make the work piece only rub with the locating pin in getting put the in-process, do not need touching and centre gripping work piece's side, greatly reduced the damage rate of work piece.
Drawings
FIG. 1 is a cross-sectional view of a first embodiment of a floating centering mechanism according to the present invention;
FIG. 2 is a top cross-sectional view of a first embodiment of a floating centering mechanism according to the present invention;
FIG. 3 is a schematic diagram of a floating centering mechanism according to a second embodiment of the present invention;
FIG. 4 is a cross-sectional view AA of a floating centering mechanism according to the present invention.
In the figure: 1 base, 2 gaskets, 21 set screws, 3 cylinders, 31 push rods, 4 universal balls, 41 universal ball fixing seats, 5 lining plates, 51 locating pins, 6 sliding blocks, 61 sliding blocks, 7 floating plates, 8 central shafts, 81 space rings, 9 connecting rods, 91 pins, 92 sliding block pins, 10 locating mechanisms, 101 first locating rods, 102 first locating shafts, 103 second locating rods and 104 second locating shafts.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to fig. 1, 2 and 4, the present invention provides a technical solution: the utility model provides a floating centering positioning mechanism and operation method thereof, includes base 1, base 1 upper end right side is equipped with gasket 2, gasket 2 upper end is through set screw 21 fixed mounting has cylinder 3, cylinder 3 right-hand member is connected with push rod 31, base 1 upper end four corners is all fixed mounting has universal ball fixing base 41, universal ball fixing base 41 upper end movable mounting has universal ball 4, base 1 top level is provided with floating plate 7, floating plate 7 four corners and universal ball 4 correspond the fixed welt 5 that is provided with in position, floating plate 7 pass through welt 5 with universal ball 4 contact, the contact surface of welt 5 and universal ball 4 is the sphere of a indent, the radius of curvature of sphere is greater than the radius of universal ball 4. The top end of the lining plate 5 is fixedly connected with a floating plate 7, the floating plate 7 can freely and horizontally slide on a universal ball, the bottom of a workpiece is prevented from being rubbed by a picking and placing mechanism, positioning pins 51 are arranged on the left side and the right side of the upper end of the floating plate 7 and are used for being installed in pin holes in the bottom of the workpiece to fix the workpiece, a space ring 81 is installed in the middle of the top end of the base 1, a central shaft 8 is connected in the middle of the space ring 81 in a penetrating way, a sliding seat 61 is arranged on the left side of the upper end of the base 1, a sliding block 6 is movably installed at the upper end of the sliding seat 61, the right end of a push rod 31 is fixedly connected with the sliding block 6, a cylinder 3 can drive the push rod 31 to slide left and right along the sliding block 6, the right end of the sliding block 6 is hinged with two connecting rods 9 through a sliding block pin 92, the two connecting rods 9 are separately folded through the sliding block pin 92 when the push rod 31 slides left and right, the positioning mechanism 10 comprises a first positioning rod 101 and a first positioning shaft 102, wherein two first positioning rods 101 are arranged and are in X-shaped cross installation, the middle parts of the two first positioning rods 101 are hinged with a central shaft 8 through bearings, the left ends of the first positioning rods 101 are respectively hinged with the right ends of two connecting rods 9 through pins 91, the two first positioning rods 101 form a scissor cross shape, the two connecting rods 9 can drive the two first positioning rods 101 to be separated and folded when being separated and folded, the top ends of the first positioning shafts 102 are fixedly connected with a floating plate 7, limiting plates are arranged at positions lower than the positions of the first positioning rods 101 at the bottom ends of the first positioning shafts 102, four first positioning shafts 102 are arranged and are respectively positioned at the outer sides of the left end and the right end of the first positioning rods 101, the left end and the right end of the first positioning rods 101 are respectively bent outwards, the first positioning shaft 102 is tangent to the bending parts on the outer sides of the two first positioning rods 101 when the sliding block 6 is positioned at the rightmost end, and the two connecting rods 9 are opened when the sliding block 6 is positioned at the rightmost end, so that two ends of the two first positioning rods 101 are driven to be opened, the first positioning shaft 102 is abutted against the bending parts on the outer ends of the first positioning rods 101, and centering positioning is completed.
In the workpiece taking and placing carrying system based on the floating centering positioning mechanism, the floating centering positioning mechanism is fixedly arranged on the carrying mechanism, the carrying mechanism comprises a translation device and a lifting device, a workpiece is initially placed on a workpiece supporting device, two sides of the workpiece supporting device are provided with vertical guide grooves, openings of the vertical guide grooves face upwards and are provided with chamfers at two sides of the openings, two sides of the workpiece are provided with protruding parts, the protruding parts on two sides of the workpiece are just embedded into the guide grooves to restrain the workpiece when placed on the workpiece supporting device, the part of the workpiece supporting device below the workpiece is suspended and can accommodate the translation of the carrying mechanism to enter, and a pin hole is formed in the bottom of the workpiece and corresponds to the position of a positioning pin 51 on the floating centering positioning mechanism.
The operation method for operating the floating centering positioning mechanism comprises the following steps:
step 1, the carrying mechanism moves to the position right below the workpiece supporting device at the workpiece taking position, the control cylinder 3 drives the push rod 31 to pull to the left, and the push rod 31 drives the two first positioning rods 101 to be gathered together through the connecting rod 9, so that the floating plate 7 is in a floating state;
step 2, the conveying mechanism slowly ascends to enable the positioning pin 51 to be inserted into a pin hole at the bottom of the workpiece;
step 3, the carrying mechanism continues to ascend, so that the workpiece is completely separated from the constraint range of the workpiece supporting device;
step 4, driving the push rod 31 to push to the right through the control cylinder 3, and driving the two first positioning rods 101 to separate through the connecting rod 9 by the push rod 31, so that the two first positioning rods 101 abut against the first positioning shaft 102, and the floating plate 7 is in a centering positioning state;
step 5, the carrying mechanism horizontally moves to the position right above the workpiece supporting device at the workpiece placing position, the push rod 31 is driven by the air cylinder 3 to pull to the left, and the floating plate 7 is in a floating state again;
and 6, slowly descending the conveying mechanism to enable the workpiece to be embedded into the workpiece supporting device at the workpiece placing position, continuously descending until the positioning pin 51 is separated from the pin hole at the bottom of the workpiece, horizontally removing the conveying mechanism, and completing conveying of the workpiece.
Examples
Referring to fig. 3 and 4, the present invention provides a technical solution: the positioning mechanism 10 comprises two second positioning rods 103 and a second positioning shaft 104, wherein the two second positioning rods 103 are arranged and are in X-shaped cross installation, the middle parts of the two second positioning rods 103 are hinged with the central shaft 8 through bearings, the left ends of the second positioning rods 103 are respectively hinged with the right ends of the two connecting rods 9 through pins 91, the two second positioning rods 103 form a scissor cross shape, the two connecting rods 9 can drive the two second positioning rods 103 to be separated and folded when being separated and folded, the top ends of the second positioning shafts 104 are fixedly connected with the floating plates 7, the bottom ends of the second positioning shafts 104 are provided with limiting plates at positions lower than the positions of the second positioning rods 103, the two second positioning shafts 104 are respectively positioned at the inner sides of the left end and the right end of the two second positioning rods 103, the left end and the right end of the second positioning rods 103 are bent inwards, the second positioning shafts 104 are tangent to the bent parts of the inner sides of the two second positioning rods 103 when the sliding block 6 is positioned at the leftmost end, and when the sliding block 6 is positioned at the leftmost end, the two connecting rods 9 are folded so as to drive the two ends of the two second positioning rods 103 to be folded, so that the second positioning shafts 104 are clamped by the bent parts of the inner ends of the two second positioning rods 101, and the centering and positioning are completed.
In the workpiece taking and placing carrying system based on the floating centering positioning mechanism, the floating centering positioning mechanism is fixedly arranged on the carrying mechanism, the carrying mechanism comprises a translation device and a lifting device, a workpiece is initially placed on a workpiece supporting device, two sides of the workpiece supporting device are provided with vertical guide grooves, openings of the vertical guide grooves face upwards and are provided with chamfers at two sides of the openings, two sides of the workpiece are provided with protruding parts, the protruding parts on two sides of the workpiece are just embedded into the guide grooves to restrain the workpiece when placed on the workpiece supporting device, the part of the workpiece supporting device below the workpiece is suspended and can accommodate the translation of the carrying mechanism to enter, and a pin hole is formed in the bottom of the workpiece and corresponds to the position of a positioning pin 51 on the floating centering positioning mechanism.
The operation method for operating the floating centering positioning mechanism comprises the following steps:
step 1, the carrying mechanism moves to the position right below the workpiece supporting device, the control cylinder 3 drives the push rod 31 to push to the right, and the push rod 31 drives the two second positioning rods 103 to be gathered together through the connecting rod 9, so that the floating plate 7 is in a floating state;
step 2, the conveying mechanism slowly ascends to enable the positioning pin 51 to be inserted into a pin hole at the bottom of the workpiece;
step 3, the carrying mechanism continues to ascend, so that the workpiece is completely separated from the constraint range of the workpiece supporting device;
step 4, driving the push rod 31 to pull to the left through the control cylinder 3, and driving the two second positioning rods 103 to separate through the connecting rod 9 by the push rod 31, so that the two second positioning rods 103 abut against the second positioning shaft 104, and the floating plate 7 is in a centering positioning state;
step 5, the carrying mechanism horizontally moves to the position right above the workpiece supporting device at the workpiece placing position, the push rod 31 is driven by the air cylinder 3 to push to the right side, and the floating plate 7 is in a floating state again;
and 6, slowly descending the conveying mechanism to enable the workpiece to be embedded into the workpiece supporting device at the workpiece placing position, continuously descending until the positioning pin 51 is separated from the pin hole at the bottom of the workpiece, horizontally removing the conveying mechanism, and completing conveying of the workpiece.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a floating centering positioning mechanism, includes base (1), its characterized in that: the utility model discloses a sliding seat, including base (1), slide (6) and slide (6) on the base, base (1) upper end right side is equipped with gasket (2), gasket (2) upper end is through dead screw (21) fixed mounting has cylinder (3), cylinder (3) right-hand member is connected with push rod (31), universal ball fixing base (41) are all fixed mounting in base (1) upper end four corners, universal ball fixing base (41) upper end movable mounting has universal ball (4), base (1) top level is provided with floating plate (7), floating plate (7) four corners and universal ball (4) correspond the fixed welt (5) that are provided with in position, floating plate (7) pass through welt (5) with universal ball (4) contact, the contact surface of welt (5) and universal ball (4) is the sphere of an indent, the radius of curvature of sphere is greater than the radius of universal ball (4), floating plate (7) upper end left and right sides all are equipped with locating pin (51), base (1) top mid-mounting spacer (81), mid-section connection center pin (81) has center pin (6) and slide (61) are equipped with slider (6) on the slider (6), the utility model discloses a slider, including slider (6), slider pin (92), slider (9) are articulated have two connecting rods (9), connecting rod (9) right-hand member is connected with positioning mechanism (10), positioning mechanism (10) are including first locating lever (101) and first locating shaft (102), first locating lever (101) are equipped with two, are X shape cross mounting, two the middle part of first locating lever (101) is articulated with center pin (8) through the bearing, first locating lever (101) left end is articulated with two respectively through pin (91) connecting rod (9) right-hand member, first locating shaft (102) top and floating plate (7) fixed connection, the bottom of first locating shaft (102) is being less than the position of first locating lever (101) is provided with the limiting plate, first locating shaft (102) are equipped with four respectively be located the outside at both ends about two first locating lever (101).
2. A floating centering and locating mechanism as claimed in claim 1, wherein: the positioning mechanism (10) comprises two second positioning rods (103) and second positioning shafts (104), wherein the two second positioning rods (103) are arranged in an X-shaped cross mode, the middle parts of the two second positioning rods (103) are hinged to a central shaft (8) through bearings, the left ends of the second positioning rods (103) are hinged to the right ends of two connecting rods (9) through pins (91), the top ends of the second positioning shafts (104) are fixedly connected with floating plates (7), limiting plates are arranged at positions lower than the positions of the second positioning rods (103) at the bottom ends of the second positioning shafts (104), and the two second positioning shafts (104) are arranged on the inner sides of the left end and the right end of each second positioning rod (103).
3. A floating centering and locating mechanism as claimed in claim 1, wherein: the left end and the right end of the first positioning rod (101) are bent outwards, and the first positioning shaft (102) is tangential to the bent parts of the outer sides of the two ends of the first positioning rod (101) when the sliding block (6) is positioned at the rightmost end.
4. A floating centering and locating mechanism as claimed in claim 2, wherein: the left end and the right end of the second positioning rod (103) are bent inwards, and the second positioning shaft (104) is tangential to the bent parts of the inner sides of the two ends of the second positioning rod (103) when the sliding block (6) is positioned at the leftmost end.
5. A method of operating a floating centering positioning mechanism as claimed in claim 1 or 3, wherein: the method comprises the following steps:
step 1, a carrying mechanism moves to a position right below a workpiece supporting device at a workpiece taking position, a control cylinder (3) drives a push rod (31) to pull to the left, and the push rod (31) drives two first positioning rods (101) to be combined through a connecting rod (9), so that a floating plate (7) is in a floating state;
step 2, slowly lifting the conveying mechanism to enable the positioning pin (51) to be inserted into a pin hole at the bottom of the workpiece;
step 3, the carrying mechanism continues to ascend, so that the workpiece is completely separated from the constraint range of the workpiece supporting device;
step 4, driving a push rod (31) to push to the right side through a control cylinder (3), wherein the push rod (31) drives two first positioning rods (101) to be separated through a connecting rod (9), so that the two first positioning rods (101) abut against a first positioning shaft (102), and the floating plate (7) is in a centering positioning state;
step 5, the carrying mechanism horizontally moves to the position right above the workpiece supporting device at the workpiece placing position, the push rod (31) is driven by the air cylinder (3) to pull leftwards, and the floating plate (7) is in a floating state again;
and 6, slowly descending the conveying mechanism to enable the workpiece to be embedded into the workpiece supporting device at the workpiece placing position, continuously descending until the positioning pin (51) is separated from the pin hole at the bottom of the workpiece, horizontally removing the conveying mechanism, and completing conveying of the workpiece.
6. A method of operating a floating centering location mechanism as claimed in claim 2 or 4, wherein: the method comprises the following steps:
step 1, a carrying mechanism moves to a position right below a workpiece supporting device at a workpiece taking position, a control cylinder (3) drives a push rod (31) to push to the right, and the push rod (31) drives two second positioning rods (103) to be combined through a connecting rod (9), so that a floating plate (7) is in a floating state;
step 2, slowly lifting the conveying mechanism to enable the positioning pin (51) to be inserted into a pin hole at the bottom of the workpiece;
step 3, the carrying mechanism continues to ascend, so that the workpiece is completely separated from the constraint range of the workpiece supporting device;
step 4, driving a push rod (31) to pull to the left through a control cylinder (3), wherein the push rod (31) drives two second positioning rods (103) to be separated through a connecting rod (9), so that the two second positioning rods (103) support a second positioning shaft (104), and the floating plate (7) is in a centering positioning state;
step 5, the carrying mechanism horizontally moves to the position right above the workpiece supporting device at the workpiece placing position, the pushing rod (31) is driven to push to the right side through the air cylinder (3), and the floating plate (7) is in a floating state again;
and 6, slowly descending the conveying mechanism to enable the workpiece to be embedded into the workpiece supporting device at the workpiece placing position, continuously descending until the positioning pin (51) is separated from the pin hole at the bottom of the workpiece, horizontally removing the conveying mechanism, and completing conveying of the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810526296.9A CN108657777B (en) | 2018-05-29 | 2018-05-29 | Floating centering positioning mechanism and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810526296.9A CN108657777B (en) | 2018-05-29 | 2018-05-29 | Floating centering positioning mechanism and operation method thereof |
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| CN108657777A CN108657777A (en) | 2018-10-16 |
| CN108657777B true CN108657777B (en) | 2023-08-29 |
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| CN110002363B (en) * | 2019-05-05 | 2024-02-20 | 上海宝业机电科技有限公司 | Workpiece delivery device and workpiece delivery method |
| CN110447369B (en) * | 2019-08-21 | 2024-02-23 | 中国烟草总公司江西省公司 | Water-fertilizer-medicine shared quantitative fixed-point irrigation integrated platform for flue-cured tobacco |
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| CN108657777A (en) | 2018-10-16 |
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