CN110962019A

CN110962019A - Positioning device, automatic polishing workstation and feeding polishing method

Info

Publication number: CN110962019A
Application number: CN201911267838.6A
Authority: CN
Inventors: 徐耀辉; 何凯; 李鹏涛; 赵文亮
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-04-07
Also published as: WO2021115060A1

Abstract

The invention provides a positioning device, an automatic polishing workstation and a feeding polishing method, wherein the positioning device comprises: the positioning table is used for receiving the parts at the feed opening and positioning the parts; the clamping and overturning mechanism comprises a clamping assembly and an overturning assembly, wherein the clamping assembly is used for clamping a part from the positioning table, and the overturning assembly is used for overturning the clamping assembly and the part for clamping by the manipulator; the first linear driving mechanism is used for driving the positioning table to move between the feed opening and the clamping and overturning mechanism; and the second linear driving mechanism is used for driving the positioning table to move up and down so as to receive the parts from the feed opening. The positioning device, the automatic polishing workstation and the feeding polishing method provided by the invention can automatically position the part, so that the part is accurately positioned and is convenient for a manipulator to accurately grab; the positioning table can be suitable for parts of different types and sizes by replacement; degree of automation is higher, need not manpower material loading location, improves production efficiency and machining precision.

Description

Positioning device, automatic polishing workstation and feeding polishing method

Technical Field

The invention belongs to the technical field of machining, and particularly relates to a positioning device, an automatic polishing workstation and a feeding polishing method.

Background

With the development of the manufacturing industry, the traditional manual polishing has the defects of low polishing efficiency and poor quality consistency due to high labor intensity, poor working environment and frequent occupational diseases, so that the requirements of enterprises cannot be met; meanwhile, the continuous development of industrial technology, robot technology and automation technology also makes the modern casting cleaning equipment technology continuously new. From the initial four-side grinding machine tool to the grinding equipment developed for specific parts, the three-axis and even multi-axis combined grinding machine tool is gradually developed, and then the intelligent grinding equipment based on six-axis industrial robots is developed. Because the castings are complicated, the grinding equipment is also diversified in form; although the special grinding equipment is various, the automatic grinding requirement of certain special parts cannot be met, and the parts are required to be polished and ground on the grinding equipment through manual part clamping. The degree of automation and the clamping precision that the manpower centre gripping leads to production are lower, lead to machining efficiency and machining precision can't satisfy the demand.

Disclosure of Invention

The invention aims to provide a positioning device to solve the technical problem that in the prior art, the machining efficiency and the machining precision are low due to manual feeding.

In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a positioning device comprising:

the positioning table is used for receiving the parts at the feed opening and positioning the parts;

the clamping and overturning mechanism comprises a clamping assembly and an overturning assembly, wherein the clamping assembly is used for clamping a part from the positioning table, and the overturning assembly is used for overturning the clamping assembly and the part for clamping by a manipulator;

the first linear driving mechanism is used for driving the positioning table to move between the feed opening and the clamping and overturning mechanism; and

the second linear driving mechanism is used for driving the positioning table to move up and down so as to receive parts from the feed opening;

the first linear driving mechanism and the second linear driving mechanism are connected with the positioning table.

In one embodiment, the first linear driving mechanism, the second linear driving mechanism and the positioning table are connected in sequence, and the driving direction of the first linear driving mechanism and the driving direction of the second linear driving mechanism are perpendicular to each other.

In one embodiment, a connecting plate is arranged between the first linear driving mechanism and the second linear driving mechanism, one end of the connecting plate is fixed at the moving end of the first linear driving mechanism, and the other end of the connecting plate is fixed at the fixed end of the second linear driving mechanism.

In one embodiment, the positioning device further comprises a first sensor for detecting whether the positioning table is located right below the feed opening, and a first trigger piece for triggering the first sensor is fixed on the connecting plate.

In one embodiment, the positioning device further includes two buffering members for abutting against the connecting plate to buffer the first linear driving mechanism, and the two buffering members are respectively disposed at two ends of a moving stroke of the first linear driving mechanism.

In one embodiment, a first sliding assembly is arranged on the connecting plate, the first sliding assembly includes a first sliding rail fixed to the connecting plate and a first sliding block fixed to the positioning table, and a sliding direction of the first sliding block is parallel to a driving direction of the second linear driving mechanism.

In one embodiment, the connecting plate comprises a transverse plate and a longitudinal plate which are connected with each other, the moving end of the first linear driving mechanism and the sliding rail are fixed on the longitudinal plate, and the fixed end of the second linear driving mechanism is fixed on the transverse plate.

In one embodiment, the clamping assembly comprises a first air cylinder and a second air cylinder which are arranged oppositely, a moving end of the first air cylinder is connected with a first clamping plate, a moving end of the second air cylinder is connected with a second clamping plate, and the first clamping plate and the second clamping plate are opposite to form a clamping groove for clamping a part.

In one embodiment, the clamping and overturning mechanism further comprises a second sliding assembly, the second sliding assembly comprises a supporting plate, a second sliding rail fixed to the supporting plate, and two second sliding blocks, and the two second sliding blocks are fixedly connected to the first clamping plate and the second clamping plate respectively.

In one embodiment, a second sensor for detecting whether a part is located in the clamping groove is arranged on each of the first clamping plate and the second clamping plate.

In one embodiment, the flipping assembly comprises a rotary drive, and the moving end of the rotary drive is fixedly connected to the supporting plate.

In one embodiment, the clamping and overturning mechanism further comprises a third sensor for detecting whether the clamping assembly is overturned in place, and a second trigger for triggering the third sensor is fixed at the moving end of the rotary driving member.

The positioning device comprises a positioning table, a clamping turnover mechanism, a first linear driving mechanism and a second linear driving mechanism, wherein the first linear driving mechanism drives the positioning table to move to a feed opening to receive a part, the second linear driving mechanism pushes the part upwards to transfer the part to the positioning table, the first linear driving mechanism drives the positioning table to move to a clamping assembly, and the clamping assembly clamps the part and then turns the part by the clamping turnover mechanism, so that the part is convenient to grasp by a manipulator. Compared with the prior art, the positioning device provided by the invention has the advantages that: the positioning device can automatically position the part, so that the part is accurately positioned and is convenient for the manipulator to accurately grab; the positioning table can be suitable for parts of different types and sizes by replacement; degree of automation is higher, need not manpower material loading location, improves production efficiency and machining precision.

The invention also provides an automatic grinding workstation which comprises the positioning device, a feeding device used for feeding and provided with a feed opening, a grinding device used for grinding the part and a manipulator used for moving the part from the clamping assembly to the grinding device.

In one embodiment, the feeding device comprises a vibration disc, a straight vibration track connected to the outlet of the vibration disc, and a straight vibration generator used for vibrating the straight vibration track, and the tail end of the straight vibration track is provided with the feed opening.

The automatic polishing workstation comprises the positioning device, a feeding device, a manipulator and a polishing device. Compared with the traditional polishing device, the automatic polishing workstation provided by the invention has the advantages that: the automatic feeding of parts is realized, the manual labor is reduced, and the production efficiency and the machining precision are improved; the processes of feeding, positioning, polishing and the like are integrated in the same workstation, so that the automation degree is improved, and the streamlined operation is more convenient.

The invention also provides a feeding and polishing method, which is applied to the automatic polishing workstation and comprises the following steps:

the feeding device conveys the parts to a feed opening;

the first linear driving mechanism moves the positioning table to the position below the feed opening, the second linear driving mechanism pushes the positioning table upwards to transfer the part to the positioning table, and the first linear driving mechanism moves in the reverse direction to move the part on the positioning table into the clamping assembly;

after the clamping assembly clamps the part, the overturning assembly overturns the clamping assembly and the part;

the manipulator is followed the part is got to the clamp in the centre gripping subassembly and is transferred to grinding device, grinding device polishes the part.

Compared with the traditional feeding and polishing method, the feeding and polishing method has the advantages that the automation of part feeding and positioning is realized by adopting the feeding device and the positioning device, the labor intensity of manpower is reduced, and the processing efficiency, the processing precision and the automation operation level are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a perspective structural view of a positioning device according to an embodiment of the present invention;

FIG. 2 is a side view of a positioning device provided by an embodiment of the present invention;

fig. 3 is a perspective structural view of a first linear driving mechanism and a second linear driving mechanism according to an embodiment of the present invention;

fig. 4 is a perspective structural view of the clamping and turning mechanism provided in the embodiment of the present invention;

FIG. 5 is a perspective view of a clamping assembly according to an embodiment of the present invention;

FIG. 6 is a perspective view of an automated sanding station provided in accordance with an embodiment of the present invention;

FIG. 7 is a perspective view of the interior of an automated sanding station provided in accordance with an embodiment of the present invention;

FIG. 8 is a perspective view of a feed section of an automated sanding station provided in accordance with an embodiment of the present invention;

fig. 9 is a flowchart of a feeding positioning method according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

100-a positioning device; 11-a first linear drive mechanism; 12-a second linear drive mechanism; 13-a positioning table; 131-a magnetic support table; 132-a positioning block; 14-clamping and overturning mechanism; 141-a clamping assembly; 1411-a first cylinder; 1412-first splint; 1413-a second cylinder; 1414-a second splint; 1415-a second sensor; 1416-a second slide assembly; 1417-a support plate; 1418-a second slide rail; 1419-a second slider; 142-a flip assembly; 1421 — a rotary drive; 1422-coupling; 1423-bearings; 1424 — second trigger; 1425-third sensor; 15-a buffer; 16-a first sensor; 171-a first mounting plate; 172-a second mounting plate; 173-a third mounting plate; 174-upright post; 18-a first slide assembly; 181-a first slide rail; 182-a first slider; 183-limit piece; 19-a connecting plate; 191-longitudinal plates; 192-a transverse plate; 193-a first trigger; 200-a housing; 21-a shell body; 22-a main door; 23-a loading gate; 300-a feeding device; 31-a vibrating disk; 32-a direct vibration track; 33-a direct vibration generator; 34-a housing; 400-a manipulator; 500-grinding device.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

A positioning apparatus provided in an embodiment of the present invention will now be described.

The positioning device 100 can be applied to processing equipment such as an automatic polishing workstation and the like, and is used for positioning parts and improving the positioning precision and the processing precision. After receiving the parts from the feed opening of the feeding device 300, the positioning device 100 positions and transfers the parts, so that the manipulator 400 or other transmission mechanisms can transfer the parts conveniently, and the parts can be moved to the processing devices such as the polishing device 500.

Referring to fig. 1 and 2, in one embodiment, the positioning apparatus 100 includes a first linear driving mechanism 11, a second linear driving mechanism 12, a positioning table 13, and a clamping and turning mechanism 14. The positioning table 13 is used for receiving the parts at the feed opening and positioning the parts. The first linear driving mechanism 11 is used for driving the positioning table 13 to move between the feed opening and the clamping and overturning mechanism 14, when a part needs to be received, the positioning table 13 is moved to the feed opening by the first linear driving mechanism 11, when the part needs to be transferred, the positioning table 13 is moved to the clamping and overturning mechanism 14 by the first linear driving mechanism 11, and after the part is clamped, the part is overturned to enable the part to be convenient for the transmission mechanisms such as the manipulator 400 and the like to transfer the part. The second linear driving mechanism 12 can drive the positioning table 13 to move up and down so that the part can be transferred to the positioning table 13. More specifically, after the first linear driving mechanism 11 moves the positioning table 13 to a position directly below the part, the second linear driving mechanism 12 moves the positioning table 13 upward to push the part, and the part is separated from the support surface at the feed opening, thereby transferring the part from the feed opening to the positioning table 13. The first linear driving mechanism 11 and the second linear driving mechanism 12 are both connected with the positioning table 13, and drive the positioning table 13 to move so as to realize the transfer of the parts. The clamping and overturning mechanism 14 comprises a clamping component 141 and an overturning component 142, the clamping component 141 is used for clamping a part from the positioning table 13, the overturning component 142 is used for overturning the whole clamping component 141, the part is overturned along with the clamping component 141, the part is arranged towards the positioning table 13 after being overturned, and the transmission mechanism such as the manipulator 400 is convenient to transfer.

More specifically, when the positioning apparatus 100 is in operation, the first linear driving mechanism 11 first moves the positioning table 13 to a position below the feed opening, the second linear driving mechanism 12 pushes the positioning table 13 to transfer the part from the feed opening to the positioning table 13, after the part is transferred, the first linear driving mechanism 11 moves the positioning table 13 to a position below the clamping and overturning assembly 142, the clamping assembly 141 clamps the part from the positioning table 13, the second linear driving mechanism 12 drives the positioning table 13 to move downwards, the part and the positioning table 13 are separated from each other, and after the clamping assembly 141 clamps the part, the overturning assembly 142 overturns the clamping assembly 141 to arrange the exposed surface of the part to face to the side or to the upper side. And finishing the positioning of the single part, and repeating the steps to position the next part.

The positioning device 100 in the above embodiment can automatically position the part, so that the part is accurately positioned and can be accurately grasped by the manipulator 400; the positioning table 13 can be changed to adapt to different types and sizes of parts; degree of automation is higher, need not manpower material loading location, improves production efficiency and machining precision.

Alternatively, as shown in fig. 1 and 2, the driving direction of the first linear driving mechanism 11 is the X direction, the driving direction of the second linear driving mechanism 12 is the Z direction, and the X direction and the Z direction are vertically arranged.

Optionally, referring to fig. 1 and fig. 2, the positioning device 100 further includes a first mounting plate 171 and a column 174 for mounting and supporting the first linear driving mechanism 11, the second linear driving mechanism 12, the clamping and turning mechanism 14, and the like. More specifically, the first linear drive mechanism 11 or the second linear drive mechanism 12 is fixed to the first mounting plate 171, and the positioning table 13 is attached to one of the linear drive mechanisms. One end of the column 174 is fixed to the first mounting plate 171, the other end of the column 174 is fixed to the clamping and turning mechanism 14, the clamping and turning mechanism 14 is fixed above the positioning table 13, and the clamping and turning mechanism 14 turns the component to the side or above after clamping the component downward. The number of the pillars 174 may be plural, and the distribution and number of the pillars 174 are not limited herein.

Referring to fig. 2 and 3, in one embodiment of the positioning apparatus 100, the first linear driving mechanism 11, the second linear driving mechanism 12 and the positioning table 13 are connected in sequence. Namely, the moving end of the first linear driving mechanism 11 is connected with the fixed end of the second linear driving mechanism 12, and the moving end of the second linear driving mechanism 12 is connected with the positioning table 13. In this embodiment, the stationary end of the first linear drive mechanism 11 is fixed to the first mounting plate 171. When the first linear driving mechanism 11 moves, the second linear driving mechanism 12 and the positioning table 13 are driven to move, when the second linear driving mechanism 12 moves, only the positioning table 13 is driven to move, the up-and-down movement of the positioning table 13 can be controlled more accurately, and the influence of the movement precision of the first linear driving mechanism 11 is avoided in the up-and-down movement process of the positioning table 13. In another embodiment of the positioning apparatus 100, the second linear driving mechanism 12, the first linear driving mechanism 11 and the positioning table 13 are connected in sequence.

Further, the first linear drive mechanism 11 and the second linear drive mechanism 12 may be selected as a mechanism that outputs linear motion, such as an air cylinder. The positioning table 13 includes a magnetic support table 131 and a positioning block 132 disposed on the magnetic support table 131, and the magnetic support table 131 can adsorb iron parts, so that the iron parts are more easily transferred to the positioning block 132 under the action of the adsorption force. The positioning block 132 is provided with a positioning groove, and the size of the positioning groove is matched with that of the part, so that the positioning block has a positioning effect on the part. When the size of the part to be positioned changes, only the positioning block 132 needs to be replaced. In order to facilitate replacement of the positioning block 132, the positioning block 132 and the magnetic support table 131 are detachably connected. For example, the positioning block 132 is an iron member, and the positioning block 132 can be attached to the magnetic support table 131 and is also easily detached; or by screw removal. Of course, the positioning table 13 may be integrally formed, and the material thereof is not limited, and the parts are positioned and fixed by a method such as vacuum suction.

Referring to fig. 1 to 3, in one embodiment of the positioning apparatus 100, a first linear driving mechanism 11, a second linear driving mechanism 12 and a positioning table 13 are sequentially connected, a connecting plate 19 is disposed between the first linear driving mechanism 11 and the second linear driving mechanism 12, one end of the connecting plate 19 is fixed to a moving end of the first linear driving mechanism 11, and the other end of the connecting plate 19 is fixed to a stationary end of the second linear driving mechanism 12. Arrangement of the connection plate 19: the first is to facilitate the connection between the movable end of the first linear driving mechanism 11 and the fixed end of the second linear driving mechanism 12, and provide a mounting position for the connection between the two; secondly, the position of the second linear driving mechanism 12 relative to the first linear driving mechanism 11 can be adjusted through the shape and size of the connecting plate 19, so that the overall layout of the positioning device 100 is more convenient; third, a mounting position may be provided for the first trigger 193 described below, and an abutment position may be provided for the cushion 15 described below.

Further, the connecting plate 19 includes a lateral plate 192 and a longitudinal plate 191 connected to each other, the moving end of the first linear driving mechanism 11 is fixed to the longitudinal plate 191, the stationary end of the second linear driving mechanism 12 is fixed to the lateral plate 192, and the lateral plate 192 is formed to extend away from the moving end of the first linear driving mechanism 11, so that the second linear driving mechanism 12 can be installed below the lateral plate 192 to make full use of a height space. The horizontal plate 192 is parallel to the X direction and the vertical plate 191 is parallel to the Z direction, so that the connecting plate 19 is L-shaped.

Referring to fig. 3, in one embodiment of the positioning device 100, the positioning device 100 further includes a first sensor 16 and a first triggering member 193, the first triggering member 193 is used for triggering the first sensor 16, and the first sensor 16 is used for detecting whether the positioning table 13 is located right below the feeding opening. The first sensor 16 may be a photoelectric sensor, and when the first trigger 193 blocks the emission receiving opening of the first sensor 16, it indicates that the positioning table 13 has reached the position right below the discharging opening, and triggers the second linear driving mechanism 12 to operate. More specifically, the first sensor 16 may be fixed to the first mounting plate 171, provided directly below the feed opening. The first trigger 193 can be secured to the attachment plate 19, such as to the longitudinal plate 191 of the attachment plate 19. The first trigger 193 may have a bar shape, and the length direction is parallel to the X direction.

Referring to fig. 2 and fig. 3, in one embodiment of the positioning device 100, the positioning device 100 further includes two buffering members 15, where the two buffering members 15 are respectively disposed at two ends of the moving stroke of the first linear driving mechanism 11 and are used for buffering the first linear driving mechanism 11, so that the first linear driving mechanism 11 can be smoothly stopped when the movement is about to stop, and the mechanism itself is prevented from being damaged. When the positioning table 13 is gradually close to the lower part of the feed opening, one of the buffer members 15 abuts against the connecting plate 19, so that the movement speed of the moving end of the first linear driving mechanism 11 is gradually reduced; when the positioning table 13 is close to the lower part of the clamping and overturning mechanism 14, the other buffer 15 is abutted against the other side of the connecting plate 19, so that the moving speed of the moving end of the first linear driving mechanism 11 is gradually reduced. More specifically, both buffers 15 are intended to abut against the longitudinal plates 191 of the connection plate 19. The buffer member 15 may be fixed to the first mounting plate 171 by a fixing block or the like. The buffer member 15 is selected from elastic members such as springs, rubber, oil buffers, etc., which are capable of being deformed when pressed.

Referring to fig. 2, in one embodiment of the positioning apparatus 100, the first linear driving mechanism 11, the second linear driving mechanism 12 and the positioning table 13 are connected in sequence. The positioning device 100 further includes a first sliding assembly 18, the first sliding assembly 18 includes a first sliding rail 181 and a first sliding block 182, the first sliding block 182 is slidably connected to the first sliding rail 181, and a sliding direction of the first sliding block 182 is parallel to a driving direction of the second linear driving mechanism 12. The first slide rail 181 can be fixed on the connecting plate 19, and the first slide block 182 is fixed on the positioning table 13. Further, since the first slider 182 slides in the Z direction, the first slide rail 181 is vertically disposed, and the first slide rail 181 can be fixed to the vertical plate 191 of the connecting plate 19. When the moving end of the second linear driving mechanism 12 has no circumferential constraint, it will drive the positioning table 13 to rotate circumferentially, the first sliding block 182 is disposed on the side surface of the positioning table 13, and when the positioning table 13 is fixedly connected with the first sliding block 182, it will be constrained circumferentially, and the positioning table 13 will not rotate circumferentially. When the moving end of the second linear driving mechanism 12 moves up and down, the first slider 182 moves up and down along with the positioning table 13 under the guidance of the first slide rail 181, and does not restrict the up and down movement of the positioning table 13.

Optionally, a limiting member 183 is disposed between the first sliding block 182 and the positioning table 13, and the limiting member 183 is L-shaped. Since the first sliding block 182 is disposed on the side surface of the positioning table 13, the first sliding block 182 and the positioning table 13 need to be connected by the L-shaped limiting member 183 to synchronize the movement of the first sliding block 182 and the positioning table 13.

Referring to fig. 4 and 5, in one embodiment of the clamping and overturning mechanism 14, the clamping assembly 141 includes a first cylinder 1411 and a second cylinder 1413 which are disposed opposite to each other, a moving end of the first cylinder 1411 is connected to a first clamping plate 1412, a moving end of the second cylinder 1413 is connected to a second clamping plate 1414, the first clamping plate 1412 and the second clamping plate 1414 are also disposed opposite to each other, and a clamping groove capable of clamping a part is formed after the first clamping plate 1412 and the second clamping plate 1414 are close to each other. The clamping assembly 141 may be disposed above a clamping position of the positioning table 13, where the clamping position is a position where the positioning table 13 moves along with the first linear driving mechanism 11 to be ready for part clamping. In other embodiments, a single air cylinder can be arranged to clamp the parts.

Furthermore, the clamping and overturning mechanism 14 further comprises a second sliding assembly 1416, the second sliding assembly 1416 comprises a supporting plate 1417, a second sliding rail 1418 and two second sliding blocks 1419, both the second sliding blocks 1419 are slidably connected to the second sliding rail 1418, and the sliding direction of the second sliding blocks 1419 is the same as the moving direction of the first clamping plate 1412 and the second clamping plate 1414. Two second sliding blocks 1419 are respectively connected to the first clamping plate 1412 and the second clamping plate 1414 and move on the second sliding rail 1418 along with the movement of the first clamping plate 1412 and the second clamping plate 1414. Second slide assembly 1416 is configured to guide the movement of first and

second cleats

1412 and 1414 and prevent first and

second cleats

1412 and 1414 from wobbling. The second slide rail 1418 is fixed to the support plate 1417, the stationary end of the first cylinder 1411 and the stationary end of the second cylinder 1413 are both fixed to the support plate 1417, and the support plate 1417 provides mounting positions for the first cylinder 1411, the second cylinder 1413 and the second slide rail 1418, so that the clamping assembly 141 forms a module, which is convenient for the clamping assembly 141 to be integrally mounted and dismounted. The end of the post 174 adjacent the clamp and tilt assembly 142 may be fixedly attached to the support plate 1417.

Alternatively, the moving direction of the first and

second splints

1412, 1414 is the X-direction or the Y-direction.

Referring to fig. 5, in one embodiment of the clamping and overturning mechanism 14, a second sensor 1415 is disposed on each of the first clamping plate 1412 and the second clamping plate 1414, and the second sensor 1415 is used for detecting whether the part is located inside the clamping groove. When the part moves to the inside of the clamping groove along with the first linear driving mechanism 11, the part can shield and trigger the second sensor 1415, and after the first cylinder 1411 and the second cylinder 1413 receive triggering information, the first clamping plate 1412 and the second clamping plate 1414 are close to each other to clamp the part. The second sensors 1415 are optionally correlation sensors, wherein a signal from one second sensor 1415 that is blocked by a part and not received by another second sensor 1415 indicates that the part is inside the pod.

Referring to fig. 4 and 5, in one embodiment of the clamping and flipping mechanism 14, the flipping unit 142 includes a rotating driving unit 1421, and a moving end of the rotating driving unit 1421 is connected to the clamping unit 141, so that the clamping unit 141 flips along with the rotating driving unit 1421. The rotary drive 1421 may be a mechanism capable of outputting a rotary motion, such as a motor. More specifically, the moving end of the rotary driving member 1421 is connected to the supporting plate 1417, and since the first cylinder 1411, the second cylinder 1413 and the second slide 1418 are all fixed to the supporting plate 1417, the clamping assembly 141 can be turned by turning the supporting plate 1417.

Optionally, the flipping module 142 further comprises two bearings 1423, a second mounting plate 172, and a third mounting plate 173. The moving end of one of the bearings 1423 is fixedly connected to the output end of the rotary driving member 1421 via a coupling 1422. The second mounting plate 172 and the third mounting plate 173 are spaced apart from each other, the clamping assembly 141 is disposed between the second mounting plate 172 and the third mounting plate 173, the fixed ends of the two bearings 1423 are fixed to the second mounting plate 172 and the second mounting plate 172, respectively, and the movable ends of the two bearings 1423 are fixed to two sides of the supporting plate 1417, respectively. In this way, the support plate 1417 is supported by the two bearings 1423, making the rotation of the support plate 1417 more stable. The fixed end of the rotary driving member 1421 is fixed to the first mounting plate 171 or the second mounting plate 172.

Referring to fig. 4, in one embodiment of the clamping and overturning mechanism 14, the clamping and overturning mechanism 14 further includes a third sensor 1425 and a second trigger 1424, and the second trigger 1424 is used for triggering the third sensor 1425. The second triggering member 1424 may be fixed to the output end of the supporting plate 1417 or the output end of the rotary driving member 1421, and can rotate with the output end of the rotary driving member 1421, and the third sensor 1425 may be fixed to the second mounting plate 172 or the third mounting plate 173. The third sensor 1425 is optionally a photoelectric sensor, and when the second trigger 1424 rotates to the third sensor 1425, the third sensor 1425 is shielded and triggered, and the clamping assembly 141 is turned to a predetermined position. The turning angle of the clamping assembly 141 is not limited herein, and may be 90 °, 180 °, 270 °, and the like.

The embodiment of the invention also provides an automatic polishing workstation.

Referring to fig. 6 to 8, the automated polishing workstation includes the positioning device 100, the feeding device 300, the robot 400 and the polishing device 500 according to any of the embodiments described above. Material feeding unit 300 has the feed opening, and material feeding unit 300 transports the part to the feed opening in proper order, is received by positioner 100, and positioner 100 is fixed a position and the upset back to the part, shifts the part to grinding device 500 by manipulator 400, polishes the part. Wherein the grinding device 500 may be selected as an abrasive belt machine. The automatic polishing workstation integrates the processes of feeding, positioning, polishing and the like into one workstation, so that polishing streamline operation of parts is realized, and the processing efficiency is improved. Moreover, the feeding device 300 and the positioning device 100 are adopted to realize the automation of part feeding and positioning, reduce the labor intensity of manpower, and improve the processing efficiency, the processing precision and the level of automatic operation.

Referring to fig. 8, in one embodiment of the automated grinding workstation, the feeding device 300 includes a vibration plate 31, a straight vibration rail 32, and a straight vibration generator 33, one end of the straight vibration rail 32 is connected to an outlet of the vibration plate 31, the other end of the straight vibration rail 32 has a feed opening, and the straight vibration generator 33 is used for vibrating the straight vibration rail 32. A plurality of part bulk cargos are placed in vibration dish 31, through the vibration of vibration dish 31, discharge each part from the export of vibration dish 31 one by one to can arrange in proper order on straight track 32 that shakes, transport the part one by one to the feed opening through the vibration of straight track 32 that shakes. In other embodiments, the feeding device 300 may also be a belt feeding device, and the specific structure of the feeding device 300 is not limited herein.

Further, referring to fig. 7, the outer cover 34 is disposed on the outer periphery of the vibration plate 31, and the vibration plate 31 is covered in the outer cover 34, so as to prevent dust and reduce noise generated by the vibration plate 31.

Referring to fig. 6, in one embodiment of the automated polishing workstation, the automated polishing workstation further includes a housing 200, and the feeding device 300, the positioning device 100, the robot 400, the polishing device 500, and the like are all disposed in the housing 200, so as to prevent polishing dust from falling into a workshop. Part of the housing 200 may be made of transparent material such as glass to facilitate the observation of the operation of the internal device from the outside. The housing 200 includes a housing body 21, a main door 22 connected to the housing body 21, and a loading door 23 connected to the housing body 21. The provision of the main door 22 facilitates servicing or maintenance of the internal apparatus. The feeding door 23 is arranged on one side of the vibrating disk 31, and when feeding is needed, the feeding door 23 can be opened only to feed materials to the vibrating disk 31.

The embodiment of the invention also provides a feeding and polishing method which is applied to the automatic polishing workstation in any one of the embodiments.

Referring to fig. 9, the feeding and polishing method includes the following steps:

s10: the feeding device 300 conveys the parts to a feed opening;

s20: the first linear driving mechanism 11 moves the positioning table 13 to the lower part of the feed opening, the second linear driving mechanism 12 pushes the positioning table 13 upwards to transfer the part to the positioning table 13, and the first linear driving mechanism 11 moves reversely to move the part on the positioning table 13 into the clamping assembly 141;

s30: after the clamping assembly 141 clamps the part, the overturning assembly 142 overturns the clamping assembly 141 and the part;

s40: the robot 400 picks up the part from the gripper assembly 141 and transfers it to the grinding device 500, and the grinding device 500 grinds the part.

The feeding device 300 may be the feeding device 300 in any of the above embodiments. The driving direction of the first linear driving mechanism 11 is the X direction, and the driving direction of the second linear driving mechanism 12 is the Z direction. The turning angle of the turning assembly 142 may be 90 °, 180 °, 270 °, etc., and the turning angle is not limited.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A positioning device, comprising:

2. The positioning device of claim 1, wherein: the first linear driving mechanism, the second linear driving mechanism and the positioning table are sequentially connected, and the driving direction of the first linear driving mechanism is perpendicular to the driving direction of the second linear driving mechanism.

3. The positioning device of claim 2, wherein: and a connecting plate is arranged between the first linear driving mechanism and the second linear driving mechanism, one end of the connecting plate is fixed at the moving end of the first linear driving mechanism, and the other end of the connecting plate is fixed at the fixed end of the second linear driving mechanism.

4. The positioning device of claim 3, wherein: the positioning device further comprises a first sensor used for detecting whether the positioning table is located under the feed opening, and a first trigger piece used for triggering the first sensor is fixed on the connecting plate.

5. The positioning device of claim 3, wherein: the positioning device further comprises two buffer pieces which are used for being abutted to the connecting plate to buffer the first linear driving mechanism, and the two buffer pieces are respectively arranged at two ends of the moving stroke of the first linear driving mechanism.

6. The positioning device of claim 3, wherein: the connecting plate is provided with a first sliding assembly, the first sliding assembly comprises a first sliding rail fixed on the connecting plate and a first sliding block fixed on the positioning table, and the sliding direction of the first sliding block is parallel to the driving direction of the second linear driving mechanism.

7. The positioning device of claim 6, wherein: the connecting plate comprises a transverse plate and a longitudinal plate which are connected with each other, the moving end of the first linear driving mechanism and the sliding rail are fixed on the longitudinal plate, and the fixed end of the second linear driving mechanism is fixed on the transverse plate.

8. The positioning device of claim 1, wherein: the centre gripping subassembly is including relative first cylinder and the second cylinder that sets up, the motion end of first cylinder is connected with first splint, the motion end of second cylinder is connected with second splint, first splint with the second splint just to forming the double-layered groove that is used for pressing from both sides the part.

9. The positioning device of claim 8, wherein: the clamping and overturning mechanism further comprises a second sliding assembly, the second sliding assembly comprises a supporting plate, a second sliding rail fixed on the supporting plate and two second sliding blocks, and the two second sliding blocks are fixedly connected with the first clamping plate and the second clamping plate respectively.

10. The positioning device of claim 8, wherein: and the first clamping plate and the second clamping plate are respectively provided with a second sensor used for detecting whether the part is positioned in the clamping groove.

11. The positioning device of claim 9, wherein: the overturning assembly comprises a rotary driving piece, and the moving end of the rotary driving piece is fixedly connected to the supporting plate.

12. The positioning apparatus of claim 11, wherein: the clamping and turning mechanism further comprises a third sensor for detecting whether the clamping assembly turns in place or not, and a second trigger piece for triggering the third sensor is fixed at the moving end of the rotary driving piece.

13. Automatic change workstation of polishing, its characterized in that: comprising a positioning device according to any of claims 1-12, further comprising a feeding device for feeding and having a feed opening, a grinding device for grinding the part, and a robot for moving the part from the clamping assembly to the grinding device.

14. The automated sanding workstation of claim 13, wherein: the feeding device comprises a vibration disk, a straight vibration track connected with the outlet of the vibration disk and a straight vibration generator used for vibrating the straight vibration track, and the tail end of the straight vibration track is provided with the feed opening.

15. A charge grinding method for use in an automated grinding station according to claim 13 or 14, comprising the steps of:

the feeding device conveys the parts to a feed opening;