CN112025195B

CN112025195B - Circular biax machine of shifting

Info

Publication number: CN112025195B
Application number: CN202010981361.4A
Authority: CN
Inventors: 周曙君; 赵公元; 陈维鹏; 梅庆峰; 薛建文; 潘海龙; 钟航
Original assignee: Nanjing Letter Intelligent Equipment Co ltd
Current assignee: Nanjing Letter Intelligent Equipment Co ltd
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2021-04-16
Anticipated expiration: 2040-09-17
Also published as: CN112025195A

Abstract

The invention provides a circular double-shaft positioner which at least comprises two overturning components arranged in parallel, wherein each overturning component comprises a base, a rotating frame, a gear ring and a first power source, wherein the rotating frame is arranged on the base and used for fixing and rotating a workpiece, the gear ring is fixedly connected to the outer side of the rotating frame, and the first power source is used for driving the gear ring to rotate; the rotating frame comprises an upper body and a lower body, wherein one end of the lower body is rotatably connected with the upper body through a turnover pin shaft, and the other end of the lower body is opened or locked with the upper body through an opening and closing locking unit; the opening and closing locking unit is arranged at the end part of the lower body and comprises a steering turbine worm speed reducer, a first screw rod, a locking sliding block, a base, a hand wheel and a locking pin shaft. Compared with the prior art, the rotary frame of the circular double-shaft positioner provided by the invention is of a split structure, the upper body can be opened or closed relative to the lower body, when the circular double-shaft positioner is used for feeding, the upper body is opened, a workpiece is placed into the rotary frame from the upper part, the upper body and the lower body can be quickly fixed through the opening and closing locking units, and the whole feeding process is quick and safe.

Description

Circular biax machine of shifting

Technical Field

The invention relates to the technical field of automatic welding of cantilever structures, in particular to a circular double-shaft positioner.

Background

Welding, also known as fusion welding, is a manufacturing process and technique for joining metals or other thermoplastic materials by heating, high temperature, or high pressure, and generally requires a biaxial positioner to fix a welded product when automated welding is performed by a robot.

Chinese patent publication No.: CN202174389U discloses an automatic machine of shifting of reservoir welding for locomotive, specifically includes motor, connecting axle, automatic machine of shifting main shaft, bearing frame, self-aligning bearing, automatic machine of shifting ring flange, lathe chuck, is used for the chuck jack catch of centre gripping locomotive cylinder body left end portion, is used for supporting the movable top device of locomotive cylinder body right end portion, lead screw box subassembly, locomotive frame bottom plate, regulator and electric cabinet, and the motor device comprises cycloid pinwheel speed reducer and motor.

The end of the automatic positioner is fixed through a lathe chuck, and the fixing mode is not favorable for clamping workpieces, so that the whole clamping process is time-consuming and labor-consuming.

In view of the above-mentioned drawbacks, the applicant of the present invention actively develops a circular biaxial positioner to make it more practical.

Disclosure of Invention

In view of this, the invention provides a circular double-shaft positioner, and aims to solve the technical problem that the positioner wastes time and labor in the process of clamping a workpiece during automatic welding in the prior art.

The invention provides a circular double-shaft positioner, which at least comprises two overturning components arranged in parallel, wherein each overturning component comprises a base, a rotating frame, a gear ring and a first power source, wherein the rotating frame is arranged on the base and used for fixing and rotating a workpiece, the gear ring is fixedly connected to the outer side of the rotating frame, and the first power source is used for driving the gear ring to rotate; wherein the content of the first and second substances,

the axes of the two gear rings are overlapped; the rotating frame comprises an upper body and a lower body, wherein one end of the lower body is rotatably connected with the upper body through a turnover pin shaft, and the other end of the lower body is opened and closed or locked with the upper body through an opening and closing locking unit;

the locking unit sets up that opens and shuts this tip down, including turning to worm gear speed reducer, first lead screw, locking slider, base, hand wheel, locking pin axle, worm gear speed reducer's input with hand wheel connection, the output with first lead screw is connected, locking slider with first lead screw threaded connection, be provided with the pothook on the locking slider, the base includes two distributions at least the guide face of locking slider both sides is right locking slider is spacing, the wearing of locking pin axle is established go up on the body.

Further, still including setting up on the body, and be used for compressing tightly the lift unit that compresses tightly to the work piece, the power take off end that the unit was compressed tightly in the lift is provided with the nylon cushion.

The lifting device further comprises an opening and closing driving unit which is arranged on the base and used for driving the upper body to open and close relatively, wherein the opening and closing driving unit comprises a first cylinder, an opening and closing hinged lever and a lifting hanging fork;

a rotating point is arranged in the middle of the opening and closing hinged lever, one end of the rotating point is hinged with the power output end of the first air cylinder, and the other end of the rotating point is hinged with the lifting hanging fork;

the first cylinder is hinged with the base;

the other end of the lifting hanging fork is provided with a clamping part, and the clamping part comprises two parallel rollers.

Further, the device also comprises a limiting unit, wherein the limiting unit comprises a second air cylinder and a rotating sleeve;

the lower body is provided with a limiting hole;

the rotating sleeve is connected with the second cylinder and is arranged opposite to the limiting hole;

the second cylinder drives the rotary sleeve to enter the limiting hole to limit the lower body.

The centering unit comprises a second screw rod, a nut, a first guide rail, a supporting plate, a clamping seat and a second power source for driving the second screw rod to rotate;

the nut is sleeved on the second screw rod;

the bottom end of the clamping seat is fixedly connected with the nut, and two sides of the clamping seat are connected with the first guide rail in a sliding mode through sliding blocks respectively;

the supporting plate is arranged between the two clamping seats and used for bearing a workpiece.

Furthermore, the second power source is arranged at one end, far away from the limiting hole, of the rotary sleeve, and when the rotary sleeve enters the limiting hole and is in butt joint with the end part of the second screw rod, the second power source drives the second screw rod to rotate through the rotary sleeve.

The conductive device is arranged on the outer side of the lower body and comprises a conductive copper rod, a first spring and an insulating sleeve;

the conductive copper rod penetrates through the insulating sleeve, one end of the conductive copper rod is provided with a thread and used for being connected with a cable, and the other end of the conductive copper rod is provided with a boss;

the first spring penetrates through the conductive copper bar and is arranged between the boss and the insulating sleeve, so that the boss is attached to the turned edge.

The movable base is arranged along the connecting line direction of the two overturning components and used for driving one overturning component to relatively approach or separate from the other overturning component.

Further, the end positioning unit comprises a second guide rail, a sliding plate arranged on the second guide rail and a power assembly driving the sliding plate to slide.

Further, the end positioning unit further comprises a force unloading unit arranged on the sliding plate, and the force unloading unit comprises a fixed seat, a force unloading terminal and a second spring;

the fixed seat is provided with an installation groove;

the force unloading terminals are annularly arrayed in the mounting groove;

the second spring is arranged between two adjacent force unloading terminals;

the force unloading terminal comprises a first inclined wedge and second inclined wedges which are arranged on two sides of the first inclined wedge respectively and are in contact with the first inclined wedge through inclined surfaces, and when one side, close to a workpiece, of the first inclined wedge is stressed, the two second inclined wedges slide towards the side, far away from the workpiece, of the first inclined wedge.

Compared with the prior art, the rotary frame of the circular double-shaft positioner has the beneficial effects that the rotary frame is of a split structure, the upper body can be opened or closed relative to the lower body, when the circular double-shaft positioner is used for feeding, the upper body is opened, a workpiece is placed into the rotary frame from the upper part, the upper body and the lower body can be quickly fixed through the opening and closing locking units, and the whole feeding process is quick and safe.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 is a schematic structural diagram of a circular biaxial positioner provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a flip assembly according to an embodiment of the present invention;

FIG. 3 is a schematic view of a rotating frame in a locked state according to an embodiment of the present invention;

fig. 4 is a schematic view of the rotating frame provided in the embodiment of the present invention in an open/close state;

fig. 5 is a schematic structural diagram for embodying a lifting and pressing unit according to an embodiment of the present invention;

FIG. 6 is an enlarged view of a structure for embodying the opening and closing locking unit provided in the embodiment of the present invention;

fig. 7 is a schematic structural diagram of a driving unit for embodying opening and closing according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a lifting fork according to an embodiment of the present invention;

fig. 9 is an enlarged schematic view of a structure for embodying a connection of a lifting fork and an upper body according to an embodiment of the present invention;

fig. 10 is a schematic diagram for showing the position of the limiting unit according to the embodiment of the present invention;

fig. 11 is a partially enlarged view of a structure for embodying a position limiting unit according to an embodiment of the present invention;

fig. 12 is a schematic diagram for showing positions of the centering unit and the limiting unit according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a centering unit according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram for showing a connection position of the centering unit and the limiting unit according to the embodiment of the present invention;

FIG. 15 is a schematic structural diagram of a conductive device according to an embodiment of the present invention;

FIG. 16 is a cross-sectional view A-A of FIG. 15;

FIG. 17 is a schematic diagram illustrating the location of a mobile base and an end positioning unit according to an embodiment of the present invention;

FIG. 18 is a schematic structural diagram of an end positioning unit according to an embodiment of the present invention;

FIG. 19 is a schematic view of a circular biaxial positioner according to an embodiment of the present invention in a working state;

FIG. 20 is a cross-sectional view of a structure for embodying a force-releasing unit according to an embodiment of the present invention;

fig. 21 is a schematic structural view of a fixing base according to an embodiment of the present invention;

FIG. 22 is a cross-sectional view of the anchor block of FIG. 21 taken along any diameter;

FIG. 23 is a schematic structural diagram of a force-releasing terminal according to an embodiment of the present invention;

reference numerals: 1. a turnover assembly; 11. a base; 12. a rotating frame; 121. an upper body; 1211. flanging; 122. a lower body; 1221. a limiting hole; 123. an opening and closing locking unit; 1231. a worm gear reducer; 1232. a first lead screw; 1233. locking the sliding block; 1234. a base; 1235. a hand wheel; 1236. locking the pin shaft; 13. a ring gear; 14. a first power source; 2. a lifting pressing unit; 21. nylon cushion blocks; 3. an opening and closing drive unit; 31. a first cylinder; 32. opening and closing the hinged bar; 321. rotating points; 33. lifting the hanging fork; 331. a clamping portion; 3312. a roller; 4. a limiting unit; 41. a second cylinder; 42. a rotating sleeve; 5. a centering unit; 51. a second lead screw; 52. a nut; 53. a first guide rail; 54. a support plate; 55. a clamping seat; 56. a second power source; 6. a conductive device; 61. a conductive copper bar; 612. a boss; 62. a first spring; 63. an insulating sleeve; 7. moving the base; 8. an end positioning unit; 81. a second guide rail; 82. a slide plate; 83. a force-releasing unit; 831. a fixed seat; 83a, a force-releasing terminal; 8311. mounting grooves; 8312. a first tapered wedge; 8313. a second tapered wedge; 8314. a second spring; 84. and a power assembly.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 23, it can be seen that an embodiment of the present invention provides a circular biaxial positioner, which at least includes two parallel tilting assemblies 1, where the tilting assemblies 1 include a base 11, a rotating frame 12 disposed on the base 11 and used for fixing and rotating a workpiece, a gear ring 13 fixedly connected to an outer side of the rotating frame 12, and a first power source 14 for driving the gear ring 13 to rotate. The axes of the two gear rings 13 are overlapped, that is, the two gear rings 13 are coaxially arranged, the rotating frame 12 comprises an upper body 121 and a lower body 122, one end of the lower body 122 is rotatably connected with the upper body 121 through a turnover pin shaft, and the other end of the lower body 122 is opened and closed or locked with the upper body 121 through an opening and closing locking unit 123; it should be noted that the structure of the ring gear 13 corresponds to the rotary frame 12, and is also divided into an upper ring gear and a lower ring gear. The opening and closing locking unit 123 is arranged at the end of the lower body 122, and comprises a steering worm gear speed reducer 1231, a first screw rod 1232, a locking slider 1233, a base 1234, a hand wheel 1235 and a locking pin shaft 1236, wherein the input end of the worm gear speed reducer 1231 is connected with the hand wheel 1235, the output end of the worm gear speed reducer is connected with the first screw rod 1232, the locking slider 1233 is in threaded connection with the first screw rod 1232, a clamping hook 12331 is arranged on the locking slider 1233, the base 1234 at least comprises two guide surfaces 12341 which are distributed on two sides of the locking slider 1233, the locking slider 1233 is limited, and the locking pin shaft 1236 is arranged on the upper body 121. When a workpiece needs to be placed on the turnover assembly 1, the hand wheel 1235 is rotated to separate the clamping hook 12331 from the locking pin shaft 1236, the locking pin shaft 1236 is pulled out, the upper body 121 is opened, when locking is needed, the upper body 121 is closed, the locking pin shaft 1236 is inserted, and the clamping hook 12331 is abutted against the locking pin shaft 1236 through the rotating hand wheel 1235.

With continuing reference to fig. 2 and 5, the circular biaxial positioner according to the embodiment of the present invention further includes a lifting and pressing unit 2 (the structure is prior art, and details of the structure are not described) disposed on the upper body 121 for pressing a workpiece, after the workpiece is placed in the rotating frame 12, the workpiece is further fixed by controlling the telescopic rod of the lifting and pressing unit 2 to descend and abut against the surface of the workpiece with a certain pressure, and the arrangement of the lifting and pressing unit 2 enables the circular biaxial positioner to be applicable to workpieces of different heights, increases the application range, and simultaneously enables the fixation to be more reliable. As a preferred embodiment, in order to prevent the end of the lifting and pressing unit 2 from damaging the surface of the workpiece, the end of the lifting and pressing unit 2 is further provided with a nylon block 21, and the arrangement of the nylon block 21 can also increase the friction force with the surface of the workpiece, thereby preventing the workpiece from slipping during welding.

With continuing reference to fig. 2, 3, 7, 8 and 9, it can be seen that the circular biaxial positioner according to the embodiment of the present invention further includes an opening and closing driving unit 3 disposed on the base 11 for driving the upper body 121 to open and close relatively, and the driving unit 3 is disposed to further improve the workpiece feeding efficiency and save labor, specifically, the opening and closing driving unit 3 includes a first cylinder 31, an opening and closing hinge bar 32, and a lifting fork 33, wherein one end of the opening and closing hinge bar 32 is hinged to the power output end of the first cylinder 31, the other end is hinged to the lifting fork 33, a rotation point 321 is disposed in the middle of the opening and closing hinge bar 32, and specifically, the rotation point can be rotatably connected to the base 11 through a pin, the other end of the first cylinder 31 is hinged to the base 11 through a hinge seat, that is, both ends of the first cylinder 31 are hinged, the other end of the lifting fork 33 is disposed with a clamping portion 331, the clamping portion includes two rollers 3312 disposed in parallel, the two rollers 3312 are disposed on the upper and lower sides of the flange 1211 to clamp the upper body 121. It should be further noted that the flanges 1211 are disposed on both sides of the rotating frame 12, and both sides are outwardly protruded, have a diameter smaller than that of the gear ring 13, and are disposed concentrically with the gear ring 13. The arrangement of the roller 3312 can produce adaptive sliding on the upper body 121 when the first cylinder 31 extends and retracts, so that the phenomenon of jamming can not occur, and the safety performance is improved.

Referring to fig. 10, 11, and 12, it can be seen that the circular biaxial positioner provided in the embodiment of the present invention further includes a limiting unit 4 to further increase the safety of the workpiece feeding process, specifically, the limiting unit 4 includes a second cylinder 41 and a rotating sleeve 42, the lower body 122 is provided with a limiting hole 1221, and the rotating sleeve 42 is connected to the second cylinder 41 and disposed opposite to the limiting hole 1221; when the position limitation is needed, the second cylinder 41 drives the rotary sleeve 42 to enter the position limitation hole 1221, and the lower body 122 can be prevented from rotating.

With continuing reference to fig. 12, 13 and 14, it can be seen that the circular biaxial positioner provided in the embodiment of the present invention further includes a centering unit 5, which adjusts the position of the workpiece to make the workpiece be located at the center of the rotating frame, and meanwhile, ensures the coaxiality of the two turnover assemblies 1, in the embodiment, the centering unit 5 includes a second lead screw 51, a nut 52, a first guide rail 53, a support plate 54, a clamping seat 55 and a second power source 56 for driving the second lead screw 51 to rotate; the nut 52 is sleeved on the second screw rod 51; the bottom end of the clamping seat 55 is fixedly connected with the nut 52, and two sides of the clamping seat 55 are respectively connected with the first guide rail 53 in a sliding manner through sliding blocks; the support plate 54 is disposed between the two clamping seats 55 for carrying the workpiece. The second power source 56 adjusts the position of the support plate 54 by driving the second lead screw 51 to rotate.

As a preferred embodiment, as shown in fig. 11 to 14, the second power source 56 is disposed at an end of the rotary sleeve 42, the other end of the rotary sleeve 42 is butted against an end of the second lead screw 51 through a non-circular notch, and after the rotary sleeve 42 enters the limiting hole 1221 and is butted against the end of the second lead screw 51, the second power source 56 drives the second lead screw 51 to rotate through the rotary sleeve 42. By providing the second power source 56 at the end of the rotary sleeve 42, firstly, the position of the centering unit 5 can be adjusted only in the locked state, which avoids the phenomenon of misalignment of the workpiece due to erroneous operation during welding, and secondly, the installation space can be saved.

With continuing reference to fig. 2, 15 and 16, it can be seen that the circular biaxial positioner provided in the embodiment of the present invention further includes a conductive device 6 disposed outside the lower body 122, the conductive device 6 includes a conductive copper rod 61, a first spring 62 and an insulating sleeve 63, wherein the conductive copper rod 61 is inserted into the insulating sleeve 63, one end of the conductive copper rod 61 is provided with a thread for connecting with a cable, and the other end is provided with a boss 612; the first spring 62 is disposed through the conductive copper rod 61 and between the boss 612 and the insulating sleeve 63, so that the boss 612 is always abutted against the flange 1211. In the actual use process, the end with the threads of the conductive copper rod is connected with the ground wire, so that the welding current is ensured not to be over-electrified through a bearing, a gear and other transmission parts.

Referring to fig. 17, in order to further increase the application range to adapt to workpieces with different lengths, a movable base 7 is disposed below one of the turning assemblies 1, and the movable base 7 is disposed along a connecting line direction of the two turning assemblies 1 to drive one of the turning assemblies 1 to relatively approach or move away from the other turning assembly 1.

With continuing reference to fig. 17 and 18, the circular biaxial positioner according to the embodiment of the present invention further includes an end positioning unit 8, the end positioning unit 8 is disposed on a side of one of the turning assemblies 1 relatively far from the other turning assembly 1, and the end positioning unit 8 includes a second guide rail 81, a sliding plate 82 disposed on the second guide rail 81, and a power assembly 84 for driving the sliding plate 82 to slide. After the work piece is put on upset subassembly 1, remove through drive slide 82, make slide 82 tip paste and lean on at the work piece tip and drive the work piece and remove along self axis direction, come to work piece propelling movement to specific position, the accurate of the welding original point of being convenient for seeks the location, promptly, is convenient for initial welding position's search.

As a preferred embodiment, as shown in fig. 19 to 23, since the end of the workpiece is circular and has a large weight, and the bearing capacity of the sliding plate 82 needs to be considered in the process of aligning the end, the sliding plate 82 is further provided with a force unloading unit 83, which has a damping effect while decomposing the vertical load force on the sliding plate 82 to various directions, specifically, the end positioning unit 8 further includes the force unloading unit 83 provided on the sliding plate 82, the force unloading unit 83 includes a fixing base 831, a force unloading terminal 83a and a second spring 8314, the fixing base 831 is provided with a mounting groove 8311, the mounting groove 8311 is annular, the width of one end close to the workpiece is large, the width of one end far away from the workpiece is small, that is, the width of the bottom is small, and the force unloading terminals 83a are annularly arrayed in the mounting groove 8311; the first spring 8314 is arranged between the two adjacent unloading terminals 83 a; the force unloading terminal 83a comprises a first inclined wedge 8312 and second inclined wedges 8313 which are respectively arranged on two sides of the first inclined wedge 8312 and are in contact with the first inclined wedge 8312 through inclined surfaces, when one side of the first inclined wedge 8312 close to a workpiece is stressed, the two second inclined wedges 8313 slide towards one side which is relatively far away, the force is laterally decomposed, and meanwhile, the second spring 8314 has the buffering and damping effects.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A circular double-shaft positioner is characterized by at least comprising two overturning assemblies (1) arranged in parallel, wherein each overturning assembly (1) comprises a base (11), a rotating frame (12) arranged on the base (11) and used for fixing and rotating a workpiece, a gear ring (13) fixedly connected to the outer side of the rotating frame (12) and a first power source (14) for driving the gear ring (13) to rotate; wherein the content of the first and second substances,

the axes of the gear rings (13) of the two overturning components (1) are overlapped;

the rotating frame (12) comprises an upper body (121) and a lower body (122), wherein one end of the lower body (122) is rotatably connected with the upper body (121) through a turnover pin shaft, and the other end of the lower body is opened and closed or locked with the upper body (121) through an opening and closing locking unit (123);

the opening and closing locking unit (123) is arranged at the end of the lower body (122) and comprises a worm gear speed reducer (1231), a first screw rod (1232), a locking sliding block (1233), a base (1234), a hand wheel (1235) and a locking pin shaft (1236), the input end of the worm gear speed reducer (1231) is connected with the hand wheel (1235), the output end of the worm gear speed reducer is connected with the first screw rod (1232), the locking sliding block (1233) is in threaded connection with the first screw rod (1232), a clamping hook (12331) is arranged on the locking sliding block (1233), the base (1234) at least comprises two guide surfaces (12341) distributed on two sides of the locking sliding block (1233) and limits the locking sliding block (1233), and the locking pin shaft (1236) penetrates through the upper body (121);

the opening and closing driving unit (3) is arranged on the base (11) and used for driving the upper body (121) to open and close relatively, and the opening and closing driving unit (3) comprises a first air cylinder (31), an opening and closing hinge rod (32) and a lifting hanging fork (33);

a rotating point (321) is arranged in the middle of the opening and closing hinged rod (32), one end of the rotating point is hinged with the power output end of the first cylinder (31), and the other end of the rotating point is hinged with the lifting hanging fork (33);

the other end of the first cylinder (31) is hinged with the base (11);

the other end of the lifting hanging fork (33) is provided with a clamping part (331), the clamping part (331) comprises two parallel rollers (3312), and the two rollers (3312) carry out follow-up clamping on the upper body (121);

the turnover device is characterized by further comprising a movable base (7) arranged below one of the turnover assemblies (1), wherein the movable base (7) is arranged along the connecting line direction of the two turnover assemblies (1) and is used for driving one of the turnover assemblies (1) to relatively approach or separate from the other turnover assembly (1);

the end positioning unit (8) comprises a second guide rail (81), a sliding plate (82) arranged on the second guide rail (81), and a power assembly (84) for driving the sliding plate (82) to slide;

the end positioning unit (8) further comprises a force unloading unit (83) arranged on the sliding plate (82), and the force unloading unit (83) comprises a fixing seat (831), a force unloading terminal (83 a) and a second spring (8314);

the fixing seat (831) is provided with a mounting groove (8311);

the force unloading terminals (83 a) are annularly arrayed in the mounting groove (8311);

the second spring (8314) is arranged between two adjacent force unloading terminals (83 a);

the force unloading terminal (83 a) comprises a first inclined wedge block (8312) and second inclined wedge blocks (8313) which are arranged on two sides of the first inclined wedge block (8312) respectively and are in contact with the first inclined wedge block (8312) through inclined surfaces, and when one side, close to a workpiece, of the first inclined wedge block (8312) is stressed, the two second inclined wedge blocks (8313) slide towards one side which is relatively far away.

2. The circular biaxial positioner of claim 1, further comprising a lifting and pressing unit (2) arranged on the upper body (121) and used for pressing a workpiece, wherein a nylon cushion block (21) is arranged at a power output end of the lifting and pressing unit (2).

3. The circular biaxial positioner according to any one of claims 1-2, further comprising a limiting unit (4), wherein the limiting unit (4) comprises a second cylinder (41) and a rotating sleeve (42);

a limiting hole (1221) is formed in the lower body (122);

the rotating sleeve (42) is connected with the second air cylinder (41) and is arranged opposite to the limiting hole (1221);

the second air cylinder (41) drives the rotary sleeve (42) to enter the limiting hole (1221) to limit the lower body (122).

4. The circular biaxial machine according to claim 3, further comprising a centering unit (5), wherein the centering unit (5) comprises a second screw rod (51), a nut (52), a first guide rail (53), a support plate (54), a clamping seat (55) and a second power source (56) for driving the second screw rod (51) to rotate;

the nut (52) is sleeved on the second screw rod (51);

the bottom end of the clamping seat (55) is fixedly connected with the nut (52), and two sides of the clamping seat (55) are connected with the first guide rail (53) in a sliding mode through sliding blocks respectively;

the supporting plate (54) is arranged between the two clamping seats (55) and is used for bearing a workpiece.

5. The circular biaxial positioner according to claim 4, wherein the second power source (56) is arranged at one end of the rotary sleeve (42) far away from the limiting hole (1221), and when the rotary sleeve (42) enters the limiting hole (1221) and is in butt joint with the end part of the second lead screw (51), the second power source (56) drives the second lead screw (51) to rotate through the rotary sleeve (42).

6. The circular biaxial positioner according to claim 3, further comprising a conductive device (6) arranged outside the lower body (122), wherein the conductive device (6) comprises a conductive copper rod (61), a first spring (62) and an insulating sleeve (63);

the conductive copper rod (61) penetrates through the insulating sleeve (63), one end of the conductive copper rod (61) is provided with threads for being connected with a cable, and the other end of the conductive copper rod is provided with a boss (612);

the first spring (62) penetrates through the conductive copper rod (61) and is arranged between the boss (612) and the insulating sleeve (63) so that the boss (612) is always attached to the flange (1211).