CN109732299A - Position adjusting mechanism and positioning device - Google Patents
Position adjusting mechanism and positioning device Download PDFInfo
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- CN109732299A CN109732299A CN201910020665.1A CN201910020665A CN109732299A CN 109732299 A CN109732299 A CN 109732299A CN 201910020665 A CN201910020665 A CN 201910020665A CN 109732299 A CN109732299 A CN 109732299A
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- adjusting mechanism
- position adjusting
- holding table
- interconnecting piece
- displaceable member
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 44
- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 230000006698 induction Effects 0.000 claims description 24
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The invention belongs to mechanical assembly technique fields, it is related to a kind of position adjusting mechanism and positioning device, the position adjusting mechanism includes pedestal, articles holding table and displaceable member, displaceable member includes driving portion, interconnecting piece and switching part, driving portion is set on pedestal, and is connect with interconnecting piece, and driving portion is mobile relative to pedestal for being drivingly connected portion, one end of switching part is slidably connected with interconnecting piece, and the other end and articles holding table are rotatablely connected；Position adjusting mechanism includes at least three groups of displaceable members, at least one set of displaceable member is for driving articles holding table to move along first straight line direction, for at least two groups displaceable member for driving articles holding table to move along second straight line direction, first straight line direction is vertical with second straight line direction.The size and Orientation that above-mentioned position adjusting mechanism drives the displacement of articles holding table movement by the way that each displaceable member is arranged, so that it may realize that articles holding table rotates or for linear motion along different directions with respect to pedestal, can be improved productivity and positioning accuracy.
Description
Technical field
The present invention relates to mechanical assembly technique field more particularly to a kind of position adjusting mechanism and positioning devices.
Background technique
During assembling product, needs first to position two workpiece to be assembled, be in it correctly
Behind position, then two workpiece are fitted together.With the development that modern industry automates, the requirement for positioning accuracy is also got over
Come higher.
The technology that traditional station-keeping mode mostly uses greatly location hole and detent fit to position, this station-keeping mode treat group
The dependence for filling the mechanical structure of workpiece itself is strong, cannot generally be applicable in all workpiece to be assembled.Moreover, being limited to location hole
And the machining accuracy of positioning pin itself, this station-keeping mode are unable to satisfy higher positioning accuracy request.
Summary of the invention
The purpose of the present invention is to provide a kind of position adjusting mechanism and positioning devices, it is intended to solve traditional station-keeping mode
The problem of not having general applicability, and higher positioning accuracy request is unable to satisfy using traditional station-keeping mode assembled workpiece.
To solve the above problems, the present invention provides a kind of position adjusting mechanism, including pedestal, articles holding table and displaceable member,
The displaceable member includes driving portion, interconnecting piece and switching part, and the driving portion is set on the pedestal, and with the connection
Portion's connection, the driving portion is for driving the interconnecting piece mobile relative to the pedestal, one end of the switching part and the company
Socket part is slidably connected, and the other end and the articles holding table are rotatablely connected, and the interconnecting piece is relative to the mobile direction of the pedestal and institute
It is vertical relative to the mobile direction of the interconnecting piece to state switching part；
The position adjusting mechanism includes that at least displaceable member described in three groups, at least one set of displaceable member is used to drive
The articles holding table is moved along first straight line direction, and displaceable member described at least two groups is for driving the articles holding table along second straight line
Direction is mobile, and the first straight line direction is vertical with the second straight line direction.
Optionally, the axis that the articles holding table is rotated relative to the pedestal is to relatively each displaceable member of the articles holding table
The axis of rotation is equidistant.
Optionally, the driving portion is linear shaft motor.
Optionally, the position adjusting mechanism further includes displacement sensor, institute's displacement sensors and the displaceable member
It is arranged in a one-to-one correspondence, institute's displacement sensors are used to measure the distance that the driving portion drives the interconnecting piece mobile；
Institute's displacement sensors include reading head and grating scale, and the pedestal is equipped with bit-avoiding slot, the reading head setting
In in the bit-avoiding slot, the grating scale is set on the interconnecting piece.
Optionally, the position adjusting mechanism further includes limit assembly, and the limit assembly and the displaceable member are one by one
It is correspondingly arranged, the limit assembly is used to limit the position of the interconnecting piece movement.
Optionally, the limit assembly includes mounting portion, induction part and occlusion part, and the mounting portion is fixed on the pedestal
On, the induction part is set on the mounting portion；
The induction part can be mobile relative to the mounting portion, and the moving direction of the induction part and the interconnecting piece phase
Parallel to the mobile direction of the pedestal, the occlusion part is set on the interconnecting piece.
Optionally, the switching part includes bearing and bearing block, and the outer ring of the bearing is fixedly connected with the articles holding table,
The inner ring of the bearing is fixedly connected with the bearing block, and the bearing block is slidably connected with the interconnecting piece.
Optionally, the position adjusting mechanism further includes the first guide rail, the first sliding block being slidably connected with the first guide rail, the
Two guide rails and the second sliding block being slidably connected with second guide rail, first guide rail are fixedly connected with the base, institute
It states the first sliding block to be fixedly connected with the interconnecting piece, second guide rail is fixedly connected with the interconnecting piece, second sliding block
It is fixedly connected with the switching part.
Optionally, the position adjusting mechanism further includes camera assembly, and the camera assembly is for obtaining workpiece to be assembled
Image information.
In addition, the positioning device includes manipulator, controller, processor, takes the photograph the present invention also provides a kind of positioning device
As component and the position adjusting mechanism as described in above-mentioned any one, the processor respectively with the controller and the camera shooting
Component electrical connection, at least one of the manipulator and the position adjusting mechanism are equipped with the camera assembly, the camera shooting
Component is used to obtain the image information of workpiece to be assembled, and the processor is for handling described image information, and by processing result
It is sent to the controller, controller control at least one of the manipulator and the position adjusting mechanism movement.
Implement the embodiment of the present invention, will have the following beneficial effects:
The size and Orientation that above-mentioned position adjusting mechanism drives the displacement of articles holding table movement by the way that each displaceable member is arranged, just
Articles holding table may be implemented to rotate with respect to pedestal or for linear motion along different directions, with adjust be located on articles holding table to
Positioning and packaging efficiency are improved in the position of assembled workpiece.Moreover, various types of workpiece to be assembled can be placed on articles holding table,
So that above-mentioned position adjusting mechanism has general applicability.Meanwhile it being avoided using above-mentioned position adjusting mechanism using location hole
And positioning pin bring position error, positioning accuracy can be improved.Further, since driving articles holding table by controlling each displaceable member
The size and Orientation of the displacement of movement can be realized articles holding table and rotate with respect to pedestal, not need that driving glove is in addition arranged
The mechanism of platform rotation, so that the overall structure of position adjusting mechanism is simple, size is smaller.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Wherein:
Fig. 1 is the main view of position adjusting mechanism in one embodiment；
Fig. 2 is the right view of position adjusting mechanism shown in Fig. 1；
Fig. 3 is cross-sectional view of the position adjusting mechanism shown in Fig. 2 along the direction A-A；
Fig. 4 is the side view of position adjusting mechanism shown in Fig. 1；
Fig. 5 is the schematic diagram of displaceable member and its peripheral structure in position adjusting mechanism shown in Fig. 1；
Fig. 6 is the module frame chart using the positioning device of position adjusting mechanism shown in Fig. 1.
Appended drawing reference is as follows in specification:
10, position adjusting mechanism；
100, pedestal；110, bit-avoiding slot；
200, articles holding table；
300, displaceable member；301, the first displaceable member；302, the second displaceable member；303, third displaceable member；304,
4th displaceable member；310, driving portion；311, coil sliding block；312, magnetic axis；320, interconnecting piece；321, the first connector；3211,
Notch；322, the second connector；330, switching part；331, bearing；332, bearing block；
400, reading head；
500, limit assembly；510, mounting portion；511, sliding slot；520, induction part；530, occlusion part；540, positioning region；
541, the first locating piece；542, the second locating piece；543, fastener；
101, the first guide rail；102, the first sliding block；103, the second guide rail；104, the second sliding block.
201, controller；202, manipulator；203, processor；204, the first camera assembly；205, the second camera assembly.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Primary Reference Fig. 1, Fig. 3 and Fig. 5, one embodiment of the invention provide a kind of position adjusting mechanism 10, including pedestal
100, articles holding table 200 and displaceable member 300.
Displaceable member 300 includes driving portion 310, interconnecting piece 320 and switching part 330, and driving portion 310 is set to pedestal 100
On, and connect with interconnecting piece 320, driving portion 310 is mobile relative to pedestal 100 for being drivingly connected portion 320, and the one of switching part 330
End is slidably connected with interconnecting piece 320, and the other end and articles holding table 200 are rotatablely connected, the side mobile relative to pedestal 100 of interconnecting piece 320
It is vertical to the direction moved with 330 opposing connections 320 of switching part.
In the present embodiment, as shown in Figure 1 to Figure 3, position adjusting mechanism 10 includes four groups of displaceable members 300, wherein two
Group displaceable member 300 is for driving articles holding table 200 to move along first straight line direction, and in addition two groups of displaceable members 300 are for driving
Articles holding table 200 is moved along second straight line direction, and first straight line direction is vertical with second straight line direction.
It is X-direction by first straight line direction definition for ease of description, as shown in Figures 3 and 4, establishing diagram coordinate system,
It is Y direction by second straight line direction definition.It will be used to that articles holding table 200 to be driven to distinguish along two groups of displaceable members 300 that X-axis moves
It is named as the first displaceable member 301 and the second displaceable member 302, the two groups of displacements that will be used to that articles holding table 200 to be driven to move along Y-axis
Component 300 is respectively designated as third displaceable member 303 and the 4th displaceable member 304.The specific location of each displaceable member 300 is not made
It is required that.
The motion process of position adjusting mechanism 10 is further described below:
When the first displaceable member 301 and the second displaceable member 302 drive articles holding table 200 to move in the same direction along X-axis and the simultaneously
When three displaceable members 303 and the 4th displaceable member 304 do not drive articles holding table 200 mobile, articles holding table 200 is moved along X-axis.Work as third
Displaceable member 303 and the 4th displaceable member 304 drive simultaneously articles holding table 200 moved in the same direction along Y-axis and the first displaceable member 301 and
When second displaceable member 302 does not drive articles holding table 200 mobile, articles holding table 200 is moved along Y-axis.
When the first displaceable member 301 and the second displaceable member 302 while articles holding table 200 being driven to move in the same direction along X-axis, and the
When three displaceable members 303 and the 4th displaceable member 304 driving articles holding table 200 move in the same direction along Y-axis, articles holding table 200 is in X-Y plane
It is moved at the direction of angle with X-axis and Y-axis on interior edge.It is understood that the first displaceable member 301, the second displaceable member
302, the size for the displacement that third displaceable member 303 and the 4th displaceable member 304 driving articles holding table 200 move and direction are determined jointly
Size and the direction of the displacement that articles holding table 200 finally moves are determined.For example, when the first displaceable member 301 and the second displaceable member
302 drive articles holding table 200 to move along +X direction simultaneously, and third displaceable member 303 and the 4th displaceable member 304 drive glove simultaneously
Platform 200 is moved along +Y direction.So, articles holding table 200 is transported at the direction of angle in X-Y plane along with +X direction and +Y direction
It is dynamic.If the first displaceable member 301 and the second displaceable member 302 drive articles holding table 200 to move along +X direction simultaneously, third displacement group
Part 303 and the 4th displaceable member 304 drive articles holding table 200 to move along -Y direction simultaneously.So, articles holding table 200 along with +X direction
And -Y direction is moved at the direction of angle.
When the first displaceable member 301 driving articles holding table 200 is moved along +X direction, third displaceable member 303 drives articles holding table
200 move along +Y direction, and the second displaceable member 302 driving articles holding table 200 is moved along -X direction, the driving of the 4th displaceable member 304
When articles holding table 200 is moved along -Y direction, using -Z direction as direction of observation, articles holding table 200 revolves counterclockwise with respect to pedestal 100
Turn.
When the first displaceable member 301 driving articles holding table 200 is moved along -X direction, the 4th displaceable member 304 drives articles holding table
200 move along +Y direction, and the second displaceable member 302 driving articles holding table 200 is moved along +X direction, and third displaceable member 303 drives
When articles holding table 200 is moved along -Y direction, using -Z direction as direction of observation, articles holding table 200 revolves in the direction of the clock with respect to pedestal 100
Turn.
It should be noted that in other embodiments, the quantity of displaceable member 300 may be three groups or be greater than four
Group need to only guarantee at least one set of displaceable member 300 for driving articles holding table 200 to move along first straight line direction, and at least two groups are moved
Hyte part 300 is for driving articles holding table 200 to move along second straight line direction.
To sum up, since the interconnecting piece 320 of each displaceable member 300 can be mobile relative to pedestal 100, switching part 330 being capable of phase
It is mobile to interconnecting piece 320, and interconnecting piece 320 is mobile relative to the mobile direction of pedestal 100 and 330 opposing connections 320 of switching part
Direction it is vertical, i.e., the relatively each displaceable member 300 of articles holding table 200 can be moved in orthogonal both direction.In this way, working as
When articles holding table 200 is translated along any direction, each displaceable member 300 is all mobile without limitation on articles holding table 200.Further, since position
Adjustment mechanism 10 includes at least three groups of displaceable members 300, the position for driving articles holding table 200 to move by the way that each displaceable member 300 is arranged
The size of shifting and direction can make that articles holding table 200 is driven planar to rotate relative to pedestal 100 in its institute.Moreover, because turning
Socket part 330 and articles holding table 200 are rotatablely connected, and articles holding table 200 not will receive the limitation of each displaceable member 300 when rotating.
Therefore, the displacement that above-mentioned position adjusting mechanism 10 drives articles holding table 200 to move by each displaceable member 300 of setting
Size and Orientation, so that it may realize that articles holding table 200 rotates or for linear motion along different directions with respect to pedestal 100, with
Adjustment is located at the position of the workpiece to be assembled on articles holding table 200, improves positioning and packaging efficiency.Moreover, can be on articles holding table 200
Various types of workpiece to be assembled are placed, so that above-mentioned position adjusting mechanism 10 has general applicability.Meanwhile using upper rheme
It sets adjustment mechanism 10 to avoid using location hole and positioning pin bring position error, positioning accuracy can be improved.Further, since
It is opposite that articles holding table 200 can be realized in size and Orientation by controlling the displacement that each displaceable member 300 drives articles holding table 200 to move
Pedestal 100 rotates, and does not need that the mechanism that driving articles holding table 200 rotates in addition is arranged, so that position adjusting mechanism 10
Overall structure is simple, and size is smaller.
Specifically, in the present embodiment, as shown in Figures 1 and 5, the switching part 330 of position adjusting mechanism 10 includes bearing
331 and bearing block 332, the outer ring of bearing 331 be fixedly connected with articles holding table 200, the inner ring of bearing 331 and bearing block 332 are fixed
Connection, bearing block 332 are slidably connected with interconnecting piece 320.By using bearing 331 and bearing block 332, position adjustment can be improved
The kinematic accuracy of mechanism 10.In addition, position adjusting mechanism 10 further includes that the first guide rail 101 and the first guide rail 101 are slidably connected
First sliding block 102, the second guide rail 103 and the second sliding block 104 being slidably connected with the second guide rail 103.First guide rail 101 with
Pedestal 100 is fixedly connected, and the first sliding block 102 is fixedly connected with interconnecting piece 320.Second guide rail 103 and the fixed company of interconnecting piece 320
It connects, the second sliding block 104 is fixedly connected with switching part 330.By using the structure of guide rail slide block, position adjusting mechanism can be improved
10 kinematic accuracy.
Further, as shown in Figures 1 and 3, the driving portion 310 of each displaceable member 300 is drivingly connected for ease of calculation
Relationship between the displacement of displacement and articles holding table 200 that portion 320 moves, the axis that articles holding table 200 is rotated relative to pedestal 100 with set
The axis that object platform 200 is rotated relative to each displaceable member 300 is equidistant.
In the present embodiment, articles holding table 200 is with respect to the first displaceable member 301, the second displaceable member 302, third displacement group
The projection of part 303 and the axis of the 4th displaceable member 304 rotation in X-Y plane forms square after being sequentially connected, that is, L1,
L2, L3 and L4 are equal.Moreover, the first displaceable member 301 and the second diagonally setting of displaceable member 302, third displaceable member 303
And the diagonal setting of the 4th displaceable member 304, the installation space of pedestal 100 can be efficiently used, position adjusting mechanism 10 is reduced
Overall dimensions, it is also possible that the movement of articles holding table 200 is more steady.Certainly, in other embodiments, the first displaceable member 301
Can also diagonally it be arranged with third displaceable member 303, the second displaceable member 302 is then diagonally arranged with the 4th displaceable member 304.
Further, in the present embodiment, as shown in figure 5, driving portion 310 is linear shaft motor comprising a magnetic
The cylinder winding coil sliding block 311 of axis 312 and a current control.Since linear shaft motor is contactless, mechanical friction
It is lost low, failure is less, reduces the maintenance cost of position adjusting mechanism 10.Moreover, linear shaft motor does not have iron-containing core,
So there is no magnetic pull between coil sliding block 311 and magnetic axis 312, to eliminate slot effect.In addition, due to linear shaft
Magnetic flux has been fully utilized in motor, so its efficiency is very high, and does not need any type of cooling, so that position adjusts machine
The structure of structure 10 more simplifies.
Specifically, as depicted in figs. 3 and 5, in order to which driving portion 310 to be connect with interconnecting piece 320, interconnecting piece 320 includes the
A connection piece 321 and the second connector 322 being detachably connected with the first connector 321, the first connector 321 are equipped with
The coil sliding block 311 of notch 3211, linear shaft motor is located in notch 3211, and the magnetic axis 312 of linear shaft motor passes through the
Two connectors 322 are fixed on the first connector 321.By the way that notch 3211 is arranged on the first connector 321, it is fixed on pedestal
Coil sliding block 311 on 100 is contained in notch 3211, can save installation space, and then reduce position adjusting mechanism 10
Overall dimensions.
In other embodiments, the magnetic axis 312 of linear shaft motor can also be fixed on pedestal 100, linear shaft
The coil sliding block 311 of motor is then connect with interconnecting piece 320, again may be by the movement of linear shaft motor drive connection portion 320,
To drive articles holding table 200 mobile.Certainly, in other embodiments, driving portion 310 or motor lead screw structure or gas
The other forms such as cylinder.
Further, in the present embodiment, as shown in Figures 3 to 5, position adjusting mechanism 10 further includes displacement sensor,
Displacement sensor is arranged in a one-to-one correspondence with displaceable member 300, and displacement sensor is for measuring 310 drive connection portion 320 of driving portion
Mobile distance makes position adjusting mechanism 10 control the mobile distance of articles holding table 200 more accurately.
Specifically, displacement sensor includes reading head 400 and grating scale (not shown), and pedestal 100 is equipped with and keeps away position
Slot 110, reading head 400 are set in bit-avoiding slot 110, and grating scale is set on interconnecting piece 320.By setting for accommodating reading
First 400 bit-avoiding slot 110 can reduce the whole height of position adjusting mechanism 10 under the premise of guaranteeing 100 intensity of pedestal.
Further, in the present embodiment, as shown in Figures 3 to 5, position adjusting mechanism 10 further includes limit assembly 500,
Limit assembly 500 is arranged in a one-to-one correspondence with displaceable member 300, and limit assembly 500 is used to limit the position of the movement of interconnecting piece 320.
In the present embodiment, limit assembly 500 includes mounting portion 510, induction part 520 and occlusion part 530, mounting portion 510
It being fixed on pedestal 100, induction part 520 is set on mounting portion 510, and induction part 520 can be mobile relative to mounting portion 510, and
The moving direction of induction part 520 is parallel relative to the mobile direction of pedestal 100 with interconnecting piece 320, and occlusion part 530 is set to interconnecting piece
On 320.
Specifically, induction part 520 is correlation type photoelectric sensor, when the 310 drive connection portion of driving portion of displaceable member 300
320 be moved to 530 block induced portion 520 of occlusion part to the position for penetrating light when, induction part 520 generate one with interconnecting piece 320
Position corresponding signal, driving portion 310 according to the position signal change motion state, to limit interconnecting piece 320
The position of movement, to limit the position of the movement of articles holding table 200.
In order to keep induction part 520 mobile relative to mounting portion 510, mounting portion 510 is equipped with sliding slot 511, limit assembly
500 further include the positioning region 540 for being fixed on induction part 520 on mounting portion 510.It is fixed that positioning region 540 specifically includes first
Position part 541, the second locating piece 542 and fastener 543, are equipped on the first locating piece 541 and the second locating piece 542 and fastener
543 compatible threaded holes, and the first locating piece 541 is set in sliding slot 511.When installation, it is first determined the first locating piece 541
Second locating piece 542, is then fixed on the first locating piece 541 by fastener 543 by the position of opposite sliding slot 511, will
Positioning region 540 is fixed on mounting portion 510.Position is distinguished in corresponding two positioning regions 540 of one induction part 520, two positioning regions 540
In the two sides of induction part 520, induction part 520 is fixed on mounting portion 510.It is relatively sliding by changing the first locating piece 541
The position of slot 511, thus it is possible to vary position of the induction part 520 with respect to mounting portion 510, the position moved so as to adjust interconnecting piece 320.
In the present embodiment, one group of limit assembly 500 includes two induction parts 520, and two intervals of induction part 520 are arranged,
To limit interconnecting piece 320 with respect to the extreme position that pedestal 100 is moved in two opposite directions.Certainly, in other embodiments, also
It can according to need increase or reduce the quantity of induction part 520.
In addition, the present invention also provides a kind of positioning device, including manipulator 202, processor 203, camera assembly and above-mentioned
Position adjusting mechanism 10, processor 203 are electrically connected with controller 201 and camera assembly respectively, and manipulator 202 and position adjust machine
At least one of structure 10 is equipped with camera assembly, and camera assembly is used to obtain the image information of workpiece to be assembled, and processor 203 is used
It is sent to controller 201 in processing image information, and by processing result, controller 201 controls manipulator 202 according to processing result
And at least one of position adjusting mechanism 10 movement.
In the present embodiment, as shown in fig. 6, camera assembly includes the first camera assembly 204 and the second camera assembly 205,
First camera assembly 204 is arranged on pedestal 100, and the second camera assembly 205 is set on manipulator 202.
Before installation, one in two workpiece fitted together will be needed and be placed on articles holding table 200, another work
Part is grabbed by manipulator 202.For ease of description, the workpiece that manipulator 202 grabs is referred to as the first workpiece, articles holding table will be placed on
Workpiece on 200 is referred to as second workpiece.In position fixing process, the first camera assembly 204 obtains the image information of the first workpiece, and will
The image information of first workpiece is sent to processor 203, and processor 203 is by the image information of the first workpiece and pre-set image ratio
Compared with, obtain the first deviation, and the first deviation is fed back into controller 201, thus controller 201 control position adjusting mechanism
The position of 10 adjustment second workpieces.Then, controller 201 controls the movement of manipulator 202, so that the second camera assembly 205 is located at
The top of position adjusting mechanism 10.Then, the second camera assembly 205 obtains the image information of second workpiece, and by second workpiece
Image information be sent to processor 203, the image information of second workpiece compared with pre-set image, is obtained by processor 203
Two deviations.Then, the first deviation is compared by controller 201 with the second deviation.If the first deviation is inclined with second
Difference is different, then position adjusting mechanism 10 continues the position for the second workpiece that adjustment is placed on articles holding table 200, until first is inclined
Difference is identical as the second deviation.Finally, the first workpiece is assembled on second workpiece by manipulator 202 again.
In other embodiments, camera assembly can also be installed only on position adjusting mechanism 10.At this point, camera assembly is used
In the image information of the first workpiece on acquisition manipulator 202, and the image information of the first workpiece is sent to processor 203,
Processor 203 is by the image information of the first workpiece compared with pre-set image.Then, controller 201 is according to comparison result control bit
Set the position that adjustment mechanism 10 adjusts second workpiece.Certainly, camera assembly can also be installed only on manipulator 202.At this point, taking the photograph
As component is sent for obtaining the image information of the second workpiece on position adjusting mechanism 10, and by the image information of second workpiece
To processor 203, processor 203 is by the image information of second workpiece compared with pre-set image.Then, controller 201 according to than
Relatively result controls the position that position adjusting mechanism 10 adjusts second workpiece.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (10)
1. a kind of position adjusting mechanism, which is characterized in that including pedestal, articles holding table and displaceable member, the displaceable member includes
Driving portion, interconnecting piece and switching part, the driving portion are set on the pedestal, and are connect with the interconnecting piece, the driving
Portion is for driving the interconnecting piece mobile relative to the pedestal, and one end of the switching part is slidably connected with the interconnecting piece, separately
One end and the articles holding table are rotatablely connected, and the interconnecting piece is opposite with the switching part described relative to the mobile direction of the pedestal
The mobile direction of interconnecting piece is vertical；
The position adjusting mechanism includes that at least displaceable member described in three groups, at least one set of displaceable member is described for driving
Articles holding table is moved along first straight line direction, and displaceable member described at least two groups is for driving the articles holding table along second straight line direction
Mobile, the first straight line direction is vertical with the second straight line direction.
2. position adjusting mechanism as shown in claim 1, which is characterized in that the axis that the articles holding table is rotated relative to the pedestal
Axis of the line to the articles holding table relative to each displaceable member rotation is equidistant.
3. position adjusting mechanism as shown in claim 1, which is characterized in that the driving portion is linear shaft motor.
4. position adjusting mechanism as shown in claim 1, which is characterized in that the position adjusting mechanism further includes displacement sensing
Device, institute's displacement sensors are arranged in a one-to-one correspondence with the displaceable member, and institute's displacement sensors are for measuring the driving portion
The distance for driving the interconnecting piece mobile；
Institute's displacement sensors include reading head and grating scale, and the pedestal is equipped with bit-avoiding slot, and the reading head is set to institute
It states in bit-avoiding slot, the grating scale is set on the interconnecting piece.
5. position adjusting mechanism as shown in claim 1, which is characterized in that the position adjusting mechanism further includes limit group
Part, the limit assembly are arranged in a one-to-one correspondence with the displaceable member, and the limit assembly is for limiting the interconnecting piece movement
Position.
6. position adjusting mechanism as stated in claim 5, which is characterized in that the limit assembly includes mounting portion, induction part
And occlusion part, the mounting portion is fixed on the base, and the induction part is set on the mounting portion；
The induction part can be mobile relative to the mounting portion, and the moving direction of induction part institute opposite with the interconnecting piece
The direction for stating pedestal movement is parallel, and the occlusion part is set on the interconnecting piece.
7. position adjusting mechanism as shown in claim 1, which is characterized in that the switching part includes bearing and bearing block, institute
The outer ring for stating bearing is fixedly connected with the articles holding table, and the inner ring of the bearing is fixedly connected with the bearing block, the bearing
Seat is slidably connected with the interconnecting piece.
8. position adjusting mechanism as shown in claim 1, which is characterized in that the position adjusting mechanism further includes first leading
Rail, the first sliding block being slidably connected with the first guide rail, the second guide rail and the second cunning being slidably connected with second guide rail
Block, first guide rail are fixedly connected with the base, and first sliding block is fixedly connected with the interconnecting piece, and described second leads
Rail is fixedly connected with the interconnecting piece, and second sliding block is fixedly connected with the switching part.
9. position adjusting mechanism as described in claim 1, which is characterized in that the position adjusting mechanism further includes camera shooting group
Part, the camera assembly are used to obtain the image information of workpiece to be assembled.
10. a kind of positioning device, which is characterized in that the positioning device includes manipulator, controller, processor, camera assembly
And the position adjusting mechanism as described in claim 1-8 any one, the processor respectively with the controller and described take the photograph
As component electrical connection, at least one of the manipulator and the position adjusting mechanism are equipped with the camera assembly, described to take the photograph
As component is tied for obtaining the image information of workpiece to be assembled, the processor for handling described image information, and by processing
Fruit is sent to the controller, controller control at least one of the manipulator and the position adjusting mechanism fortune
It is dynamic.
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| CN201910020665.1A CN109732299A (en) | 2019-01-09 | 2019-01-09 | Position adjusting mechanism and positioning device |
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| CN201910020665.1A CN109732299A (en) | 2019-01-09 | 2019-01-09 | Position adjusting mechanism and positioning device |
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