CN113137942A

CN113137942A - Positioning system and positioning method

Info

Publication number: CN113137942A
Application number: CN202110407864.5A
Authority: CN
Inventors: 贺腾飞; 胡为纬; 李亮; 梁炎光; 蓝秋红; 曾泽航
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-07-20
Anticipated expiration: 2041-04-15
Also published as: CN113137942B

Abstract

The invention provides a positioning system and a positioning method. Wherein, positioning system includes: a machine base; the workpiece placing table is rotatably arranged on the base and used for bearing a workpiece to be positioned; the first driving device is connected with the workpiece placing table so as to drive the workpiece placing table to drive the workpiece to be positioned to rotate; the positioning bulge is telescopically arranged on the base and is used for being in limit fit with a concave part on a workpiece to be positioned; the first detection device is used for detecting the part to be detected on the workpiece to be positioned, the part to be detected is arranged corresponding to the concave part, and when the first detection device detects the part to be detected and the positioning bulge is in limit fit with the concave part, the first driving device is controlled to stop running so as to finish positioning the workpiece to be positioned. The invention effectively solves the problems of higher processing cost and difficult operation of the positioning system in the prior art.

Description

Positioning system and positioning method

Technical Field

The invention relates to the technical field of tool equipment, in particular to a positioning system and a positioning method.

Background

At present, workpieces are usually positioned in a manual mode, and due to the fact that manual positioning is low in efficiency, accuracy and speed, safety accidents are prone to occurring, and industrial injuries and asset losses are caused. In order to solve the above problems, in the prior art, a vision robot is used to perform vision recognition on a workpiece to analyze the shape of the workpiece, and a manipulator is used to adjust the workpiece to be in a positioning shape, so as to achieve the purpose of positioning.

However, the positioning method is expensive, and the action of the vision robot is complicated to debug, which increases the processing cost and the operation difficulty of the positioning system.

Disclosure of Invention

The invention mainly aims to provide a positioning system and a positioning method, and aims to solve the problems that the positioning system in the prior art is high in processing cost and difficult to operate.

In order to achieve the above object, according to one aspect of the present invention, there is provided a positioning system comprising: a machine base; the workpiece placing table is rotatably arranged on the base and used for bearing a workpiece to be positioned; the first driving device is connected with the workpiece placing table so as to drive the workpiece placing table to drive the workpiece to be positioned to rotate; the positioning bulge is telescopically arranged on the base and is used for being in limit fit with a concave part on a workpiece to be positioned; the first detection device is used for detecting the part to be detected on the workpiece to be positioned, the part to be detected is arranged corresponding to the concave part, and when the first detection device detects the part to be detected and the positioning bulge is in limit fit with the concave part, the first driving device is controlled to stop running so as to finish positioning the workpiece to be positioned.

Further, the frame has the mounting hole, and the protruding telescopically of location wears to establish in the mounting hole, and positioning system still includes: and an elastic member disposed in the mounting hole for applying an elastic force to the positioning protrusion to move toward the recess side.

Further, the positioning system further comprises: the second driving device is connected with the first detection device; the second detection device is positioned below the machine base and used for detecting the positioning bulge; when the second detection device detects the positioning protrusion, the second driving device is controlled to drive the first detection device to move towards the workpiece to be positioned, so that the first detection device is located at a preset position.

Furthermore, the workpiece to be positioned is of a cylindrical structure, at least part of the workpiece placing table extends into the cylindrical structure and is limited and stopped with the cylindrical structure, the part to be detected is a groove arranged on the inner surface of the cylindrical structure, and the groove extends along the axial direction of the cylindrical structure; wherein, along the radial of tubular structure, the concave part is located the outside of recess.

Furthermore, the positioning protrusion comprises a rod body and a stop plate arranged on the rod body, the mounting hole comprises a first hole section and a second hole section which are communicated with each other, a step surface is formed between the first hole section and the second hole section, the elastic piece and the stop plate are both located in the second hole section, the step surface is used for limiting and stopping the stop plate, and the first end of the rod body penetrates through the first hole section and then extends into the concave portion.

Further, the positioning system further comprises: the plugging plate is arranged on the base and used for plugging the second hole section, the plugging plate is provided with a through hole, and the second end of the rod body is mutually sensed with the second detection device after passing through the through hole.

Further, the positioning system further comprises: the supporting seat is arranged on the base, and the second driving device and the first detection device are arranged on the supporting seat, so that the first detection device is positioned above the workpiece placing table and the workpiece to be positioned.

Further, the supporting seat includes: the first plate body is arranged on the base; the second plate body is connected with the first plate body and forms a first included angle with the first plate body; and the third plate body is connected with the second plate body and arranged at a second included angle with the second plate body, and the second driving device and the first detection device are arranged on the third plate body.

Furthermore, the second driving device is a driving cylinder, the positioning system further comprises a transition connecting assembly, the transition connecting assembly is connected with a cylinder body or a piston of the driving cylinder, and the first detection device is arranged on the transition connecting assembly.

Further, the transition connection assembly includes: the fourth plate body is connected with a cylinder body or a piston of the driving cylinder; the bending plate body comprises a first plate section and a second plate section which are connected with each other, a third included angle is formed between the first plate section and the second plate section, and a fourth plate body is connected with the first plate section; the fifth plate body is movably arranged on the second plate section, and the first detection device is arranged on the fifth plate body.

Further, the second plate section has a chute, and the transition connection assembly further comprises a fastening structure, wherein the fastening structure is arranged in the fifth plate body and the chute in a penetrating manner, so that the fifth plate body is connected with the second plate section in a slidable manner.

Further, positioning system still includes the third detection device of setting on the frame, and third detection device is used for detecting whether the work piece is placed and whether is placed the work piece of pending location on placing the platform, and third detection device includes: the first induction structure is positioned on one side of the workpiece placing table; the second induction structure is positioned on the other side of the workpiece placing table; when the first induction structure and the second induction structure do not generate mutual inductance, the workpiece to be positioned is judged to be placed on the workpiece placing table.

According to another aspect of the present invention, there is provided a positioning method, which is applied to the positioning system described above, the positioning method including: placing a workpiece to be positioned on a workpiece placing table of a positioning system so as to judge the matching relation between a positioning bulge of the positioning system and a concave part of the workpiece to be positioned; if the positioning bulge extends into the concave part and is in limit fit with the concave part, the positioning system finishes positioning the workpiece to be positioned; if the positioning protrusion is not in limit fit with the concave part, a first driving device of the positioning system is controlled to be started, the first driving device drives the workpiece placing table to drive the workpiece to be positioned to rotate, and when a first detection device of the positioning system detects the part to be detected of the workpiece to be positioned and the positioning protrusion is in limit fit with the concave part, the first driving device is controlled to stop running so as to finish positioning the workpiece to be positioned.

By applying the technical scheme of the invention, when a workpiece to be positioned needs to be positioned, the workpiece to be positioned is placed on the workpiece placing table, and if the positioning bulge extends into the concave part of the workpiece to be positioned and is in limit fit with the concave part, the positioning system finishes positioning the workpiece to be positioned; if the positioning bulge is not in limit fit with the concave part at the moment, the first driving device is started, and the first driving device drives the workpiece placing table to drive the workpiece to be positioned to rotate. Therefore, in the rotating process of the workpiece to be positioned, if the first detection device detects the part to be detected and the positioning bulge extends into the concave part and is in limit fit with the concave part, the first driving device is controlled to stop running, and the positioning system finishes positioning the workpiece to be positioned.

Compared with the prior art in which a manual mode is used for positioning a workpiece to be positioned, the positioning system is used for positioning the workpiece to be positioned instead of the manual mode, so that the problems that the processing cost of the positioning system is high and the operation is difficult in the prior art are solved, the labor intensity of workers is reduced, and the positioning efficiency is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 shows a top view of an embodiment of a positioning system according to the invention;

FIG. 2 shows an enlarged schematic view at B of the positioning system of FIG. 1;

FIG. 3 shows a cross-sectional view A-A of the positioning system of FIG. 1;

FIG. 4 shows an enlarged schematic view at C of the positioning system of FIG. 3;

FIG. 5 shows a cross-sectional view of the positioning system of FIG. 3 with a workpiece to be positioned removed; and

fig. 6 shows a bottom view of a workpiece to be positioned of the positioning system of fig. 1.

Wherein the figures include the following reference numerals:

10. a machine base; 11. mounting holes; 111. a first bore section; 112. a second bore section; 20. a workpiece placing table; 30. a workpiece to be positioned; 31. a recess; 32. a portion to be detected; 40. a first driving device; 50. positioning the projection; 51. a rod body; 52. a stopper plate; 60. a first detection device; 70. an elastic member; 80. a second driving device; 90. a second detection device; 100. a plugging plate; 110. a supporting seat; 1101. a first plate body; 1102. a second plate body; 1103. a third plate body; 120. a transition connection assembly; 121. a fourth plate body; 122. bending the plate body; 123. a fifth plate body; 124. a chute; 130. a third detection device; 131. a first sensing structure; 132. a second sensing structure; 140. a bearing structure; 150. a connecting seat.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application 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.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, unless stated to the contrary, use of the directional terms "upper and lower" are generally directed to the orientation shown in the drawings, or to the vertical, or gravitational direction; likewise, for ease of understanding and description, "left and right" are generally to the left and right as shown in the drawings; "inner and outer" refer to the inner and outer relative to the profile of the respective member itself, but the above directional terms are not intended to limit the present invention.

In order to solve the problems that a positioning system in the prior art is high in machining cost and difficult to operate, the application provides the positioning system and the positioning method.

As shown in fig. 1 to 6, the positioning system includes a machine base 10, a workpiece placing table 20, a first driving device 40, a positioning protrusion 50, and a first detecting device 60. Wherein, the workpiece placing table 20 is rotatably arranged on the machine base 10 for carrying the workpiece 30 to be positioned. The first driving device 40 is connected with the workpiece placing table 20 to drive the workpiece 30 to be positioned to rotate. The positioning protrusion 50 is telescopically arranged on the machine base 10 and is used for being in limit fit with the concave part 31 on the workpiece 30 to be positioned. The first detection device 60 is used for detecting the portion to be detected 32 on the workpiece 30 to be positioned, the portion to be detected 32 is arranged corresponding to the concave portion 31, so that when the first detection device 60 detects the portion to be detected 32 and the positioning protrusion 50 is in limit fit with the concave portion 31, the first driving device 40 is controlled to stop running, and the workpiece 30 to be positioned is positioned.

By applying the technical scheme of the embodiment, when the workpiece 30 to be positioned needs to be positioned, the workpiece 30 to be positioned is placed on the workpiece placing table 20, and if the positioning protrusion 50 extends into the concave portion 31 of the workpiece 30 to be positioned and is in limit fit with the concave portion 31 at the moment, the positioning system finishes positioning the workpiece 30 to be positioned; if the positioning protrusion 50 is not in limit fit with the concave portion 31 at this time, the first driving device 40 is started, and the first driving device 40 drives the workpiece placing table 20 to drive the workpiece 30 to be positioned to rotate. In this way, in the process of rotating the workpiece 30 to be positioned, if the first detection device 60 detects the portion 32 to be detected and the positioning protrusion 50 extends into the concave portion 31 and is in limit fit with the concave portion 31, the first driving device 40 is controlled to stop operating, and at this time, the positioning system finishes positioning the workpiece 30 to be positioned.

Compared with the prior art in which a workpiece to be positioned is positioned by a manual mode, the positioning system is used for positioning the workpiece to be positioned 30 instead of the manual mode, so that the problems of high processing cost and difficult operation of the positioning system in the prior art are solved, the labor intensity of workers is reduced, and the positioning efficiency is improved.

As shown in fig. 4, the base 10 has a mounting hole 11, the positioning protrusion 50 is telescopically inserted into the mounting hole 11, and the positioning system further includes an elastic member 70. Wherein the elastic member 70 is provided in the mounting hole 11 for applying an elastic force to the positioning boss 50 to move toward the side of the recess 31. Thus, when the positioning system is in an initial state, the positioning protrusion 50 can be in an extending position to be in limit fit with the concave portion 31, and the positioning reliability of the positioning system is further improved.

Optionally, the resilient member 70 is a spring.

Specifically, when the positioning system is in the initial state, the elastic member 70 applies an elastic force to the positioning boss 50 to place the positioning boss 50 in the extended position. After a worker or a manipulator places the workpiece 30 to be positioned on the workpiece placing table 20, if the positioning protrusion 50 directly extends into the concave portion 31 and is in limit fit with the concave portion 31, the positioning system positions the workpiece 30 to be positioned. If the workpiece 30 to be positioned presses the positioning protrusion 50 and retracts into the mounting hole 11, the first driving device 40 is started, and the first driving device 40 drives the workpiece placing table 20 to drive the workpiece 30 to be positioned to rotate. In this way, in the process of rotating the workpiece 30 to be positioned, if the first detection device 60 detects the portion 32 to be detected and the positioning protrusion 50 extends into the concave portion 31 and is in limit fit with the concave portion 31, the first driving device 40 is controlled to stop operating, and at this time, the positioning system finishes positioning the workpiece 30 to be positioned.

As shown in fig. 1, 3 to 5, the positioning system further includes a second driving device 80 and a second detecting device 90. The second driving means 80 is connected to the first detecting means 60. The second detecting device 90 is located below the base 10 to detect the positioning protrusion 50. When the second detection device 90 detects the positioning protrusion 50, the second driving device 80 is controlled to drive the first detection device 60 to move towards the workpiece 30 to be positioned, so that the first detection device 60 is at the preset position. Thus, when the workpiece 30 to be positioned presses the positioning protrusion 50 and the second detection device 90 detects the positioning protrusion 50, it is determined that the positioning system is in the locating state, at this time, the second driving device 80 is started, and the second driving device 80 drives the first detection device 60 to move towards the workpiece 30 to be positioned, so that the first detection device 60 detects the portion 32 to be detected, and the detection accuracy of the first detection device 60 is improved.

Specifically, in the initial state, the first detection device 60 is located on one side of the workpiece placing table 20 to ensure that the workpiece 30 to be positioned can be placed on the workpiece placing table 20. When the workpiece 30 to be positioned needs to be positioned, the workpiece 30 to be positioned can be placed on the workpiece placing table 20, and if the positioning system is in a locating state at this time, the second driving device 80 is started, so that the second driving device 80 drives the first detection device 60 to move, so that the first detection device 60 is located above the workpiece placing table 20 and the workpiece 30 to be positioned, and the first detection device 60 can detect the part to be detected 32 conveniently.

In this embodiment, the workpiece 30 to be positioned is a tubular structure, at least a part of the workpiece placing table 20 extends into the tubular structure and is limited and stopped by the tubular structure, and the part to be detected 32 is a groove arranged on the inner surface of the tubular structure, and the groove extends along the axial direction of the tubular structure. Wherein the recess 31 is located outside the groove in the radial direction of the tubular structure. In this way, after the workpiece 30 to be positioned is placed on the workpiece placing table 20, the workpiece placing table 20 limits and stops the workpiece 30 to be positioned, and then fixes the workpiece 30 to be positioned, so as to prevent the workpiece 30 to be positioned from rotating relative to the workpiece placing table 20. Meanwhile, when the first detecting device 60 detects the portion 32 to be detected, the worker can determine that the positioning protrusion 50 extends into the concave portion 31 and is in limit fit with the concave portion 31, so that the worker can conveniently obtain the positioning condition of the positioning system.

Specifically, the worker can obtain the telescopic state of the positioning protrusion 50 according to the detection result of the first detection device 60, that is, when the first detection device 60 detects the portion to be detected 32, it is determined that the positioning protrusion 50 is in the extended position and extends into the concave portion 31, and the positioning system positions the workpiece to be positioned 30; if the first detecting device 60 does not detect the part 32 to be detected, it is determined that the positioning protrusion 50 is in the retracted position and is not engaged with the concave portion 31, and the positioning system is still in the locating state until the workpiece 30 to be positioned rotates until the first detecting device 60 detects the part 32 to be detected.

As shown in fig. 4, the positioning protrusion 50 includes a rod body 51 and a stop plate 52 disposed on the rod body 51, the mounting hole 11 includes a first hole section 111 and a second hole section 112 that are communicated with each other, a step surface is formed between the first hole section 111 and the second hole section 112, the elastic element 70 and the stop plate 52 are both located in the second hole section 112, the step surface is used for limiting and stopping the stop plate 52, and a first end of the rod body 51 passes through the first hole section 111 and then extends into the recess 31. In this way, the positioning protrusion 50 can slide along the mounting hole 11, so that the positioning protrusion 50 can be switched between the extended position and the retracted position, thereby ensuring that the positioning system can position the workpiece 30 to be positioned, and improving the positioning reliability of the positioning system. Meanwhile, the arrangement can prevent the positioning projection 50 from being separated from the mounting hole 11 to influence the normal positioning of the positioning system.

Specifically, the diameter of the second hole section 112 is larger than that of the first hole section 111, and the step surface therebetween can limit and stop the stop plate 52 to prevent the positioning protrusion 50 from coming out of the mounting hole 11. The first hole section 111 and the second hole section 112 each extend in the height direction of the workpiece 30 to be positioned to ensure that the positioning projection 50 can move toward or away from the recess 31.

In the present embodiment, the stopper plate 52 is a circular plate, and the circular plate is disposed coaxially with the rod body 51.

As shown in fig. 4, the positioning system further includes a blanking plate 100. The blocking plate 100 is disposed on the base 10 and is used for blocking the second hole section 112, the blocking plate 100 has a through hole, and the second end of the rod body 51 passes through the through hole and then interacts with the second detecting device 90. Thus, on one hand, the arrangement makes the assembly and disassembly of the positioning bulge 50 and the elastic piece 70 easier and simpler, and reduces the assembly and disassembly difficulty; on the other hand, the positioning projection 50 is prevented from being separated from the mounting hole 11 to influence the normal use of the positioning system.

Specifically, the blocking plate 100 is detachably provided on the lower surface of the housing 10 for stopping the elastic member 70 and the positioning protrusion 50. Thus, when the positioning protrusion 50 needs to be disassembled, the plugging plate 100 only needs to be disassembled from the machine base 10, so that the worker can disassemble and assemble the positioning protrusion 50 more easily and conveniently, and the disassembling and assembling difficulty is reduced.

In this embodiment, the first detecting device 60 is a laser sensor, and when the laser sensor detects the portion to be detected 32, since the thickness of the workpiece 30 to be positioned at the portion to be detected 32 is different from the thicknesses at the other positions, the detection value of the laser sensor is changed, and it is determined that the first detecting device 60 detects the portion to be detected 32.

As shown in fig. 3, the positioning system further includes a support base 110. The supporting base 110 is disposed on the machine base 10, and the second driving device 80 and the first detecting device 60 are disposed on the supporting base 110, so that the first detecting device 60 is located above the workpiece placing table 20 and the workpiece 30 to be positioned. Thus, the first detection device 60 and the base 10 can be more easily and conveniently disassembled and assembled, and the disassembling and assembling difficulty is reduced. Meanwhile, the arrangement ensures that the first detection device 60 can detect the part 32 to be detected, thereby improving the positioning reliability of the positioning system.

As shown in fig. 3, the supporting base 110 includes a first board 1101, a second board 1102 and a third board 1103. Wherein, the first plate 1101 is disposed on the base 10. Second plate 1102 is connected to first plate 1101 and forms a first included angle with first plate 1101. The third plate 1103 is connected to the second plate 1102 and forms a second included angle with the second plate 1102, and the second driving device 80 and the first detecting device 60 are both disposed on the third plate 1103. Optionally, the first included angle is 90 °. Optionally, the second included angle is 90 °. Thus, the structure of the supporting seat 110 is simpler, and the processing cost of the positioning system is reduced. Meanwhile, the arrangement improves the supporting stability of the supporting seat 110, and prevents the first detecting device 60 from shifting relative to the machine base 10 to affect the detection precision.

As shown in fig. 1, 3 and 5, the second driving device 80 is a driving cylinder, the positioning system further includes a transition connecting assembly 120, the transition connecting assembly 120 is connected to a cylinder or a piston of the driving cylinder, and the first detecting device 60 is disposed on the transition connecting assembly 120. Thus, the first detection device 60 and the driving cylinder are easier and simpler to disassemble and assemble, and the disassembling and assembling difficulty of the positioning system is reduced.

As shown in fig. 3 and 5, the transition connection assembly 120 includes a fourth plate 121, a bent plate 122, and a fifth plate 123. Wherein, the fourth plate 121 is connected with the cylinder body or piston of the driving cylinder. The bending plate 122 includes a first plate section and a second plate section that are connected to each other, a third included angle is formed between the first plate section and the second plate section, and the fourth plate 121 is connected to the first plate section. The fifth plate 123 is movably disposed on the second plate section, and the first detecting device 60 is disposed on the fifth plate 123. Thus, the transition connecting assembly 120 is simpler in structure, easy to machine and implement, and the machining cost of the transition connecting assembly 120 is reduced.

As shown in fig. 2, the second plate segment has a sliding slot 124, and the transition connection assembly 120 further includes a fastening structure, which is inserted into the fifth plate 123 and the sliding slot 124, so that the fifth plate 123 is slidably connected to the second plate segment. Optionally, the fastening structure is a screw or bolt. Like this, when needing to adjust the position of first detection device 60, the staff operates fifth plate body 123 to make fifth plate body 123 slide along spout 124, until first detection device 60 slides to setting for the position department, so that the staff is easier, simple and convenient to the position adjustment of first detection device 60, has reduced the adjustment degree of difficulty.

In this embodiment, there are two sliding grooves 124, the two sliding grooves 124 are parallel to each other, the two fastening structures are two sets, and the two sets of fastening structures are disposed in one-to-one correspondence with the two sliding grooves 124. Each group of fastening structures includes two fastening structures, so that the connection stability of the fifth plate 123 and the second plate section is increased.

As shown in fig. 1, fig. 3 and fig. 5, the positioning system further includes a third detecting device 130 disposed on the machine base 10, the third detecting device 130 is used for detecting whether the workpiece 30 to be positioned is placed on the workpiece placing table 20, and the third detecting device 130 includes a first sensing structure 131 and a second sensing structure 132. The first sensing structure 131 is located at one side of the workpiece placing table 20. The second sensing structure 132 is located on the other side of the workpiece placement stage 20. When the first induction structure 131 and the second induction structure 132 do not generate mutual inductance, it is determined that the workpiece 30 to be positioned is placed on the workpiece placing table 20. In this way, the worker can determine whether the workpiece 30 to be positioned is placed on the workpiece placing table 20 according to the detection result of the third detecting device 130, so that the worker can acquire the use state of the positioning system more easily and conveniently.

Specifically, the first sensing structure 131 and the second sensing structure 132 are in the radial direction of the workpiece placing table 20, thereby improving the detection accuracy of the third detection device 130.

As shown in fig. 3 and 5, the positioning system further includes a bearing structure 140 and a connection seat 150. The bearing structure 140 is disposed on the machine base 10 and sleeved outside the workpiece placing table 20, so as to support the workpiece placing table 20. The connecting seat 150 is disposed on the base 10 and below the base 10, and the second detecting device 90 is disposed on the connecting seat 150, so that the second detecting device 90 and the base 10 can be more easily and conveniently disassembled.

Specifically, the working principle of the positioning system is as follows:

the workpiece 30 to be positioned is placed on the workpiece placing table 20 by a robot arm, and if the workpiece 30 to be positioned is in a correct shape, the positioning protrusion 50 is just inserted into the concave portion 31, so that the positioning is directly completed. If the workpiece 30 to be positioned is not in a correct shape, the workpiece 30 to be positioned is lowered to press the positioning protrusion 50, the elastic piece 70 is compressed, the second detection device 90 detects the positioning protrusion 50 and generates a signal, meanwhile, the third detection device 130 detects the workpiece 30 to be positioned, the second driving device 80 acts to drive the first detection device 60 to extend to a positioning point, the first driving device 40 drives the workpiece placing table 20 to rotate, the workpiece 30 to be positioned slowly rotates on the workpiece placing table 20, the first detection device 60 searches for the part 32 to be detected on the inner side of the workpiece 30 to be positioned, when the first detection device 60 is located to the part 32 to be detected, the first driving device 40 can stop rotating or delay for a specified duration, meanwhile, the rotating speed of the first driving device 40 is slowed, the delay is finished, and the positioning protrusion 50 extends into the concave portion 31 and positioning is finished. If the workpiece 30 to be positioned is still rotating when the positioning protrusion 50 is inserted into the recess 31, the first driving device 40 will receive a moment feedback, and the first driving device 40 will preset a slight moment, when the fed-back moment exceeds the set moment, the first driving device 40 will stop rotating immediately, and the positioning is completed.

The application also provides a positioning method, which is applicable to the positioning system, and the positioning method comprises the following steps:

placing a workpiece to be positioned on a workpiece placing table of a positioning system so as to judge the matching relation between a positioning bulge of the positioning system and a concave part of the workpiece to be positioned;

if the positioning bulge extends into the concave part and is in limit fit with the concave part, the positioning system finishes positioning the workpiece to be positioned; if the positioning protrusion is not in limit fit with the concave part, a first driving device of the positioning system is controlled to be started, the first driving device drives the workpiece placing table to drive the workpiece to be positioned to rotate, and when a first detection device of the positioning system detects the part to be detected of the workpiece to be positioned and the positioning protrusion is in limit fit with the concave part, the first driving device is controlled to stop running so as to finish positioning the workpiece to be positioned.

Specifically, when a workpiece to be positioned needs to be positioned, the workpiece to be positioned is placed on the workpiece placing table, and if the positioning protrusion extends into the concave part of the workpiece to be positioned and is in limit fit with the concave part, the positioning system finishes positioning the workpiece to be positioned; if the positioning bulge is not in limit fit with the concave part at the moment, the first driving device is started, and the first driving device drives the workpiece placing table to drive the workpiece to be positioned to rotate. Therefore, in the rotating process of the workpiece to be positioned, if the first detection device detects the part to be detected and the positioning bulge extends into the concave part and is in limit fit with the concave part, the first driving device is controlled to stop running, and the positioning system finishes positioning the workpiece to be positioned.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

when a workpiece to be positioned needs to be positioned, the workpiece to be positioned is placed on the workpiece placing table, and if the positioning bulge extends into the concave part of the workpiece to be positioned and is in limit fit with the concave part, the positioning system finishes positioning the workpiece to be positioned; if the positioning bulge is not in limit fit with the concave part at the moment, the first driving device is started, and the first driving device drives the workpiece placing table to drive the workpiece to be positioned to rotate. Therefore, in the rotating process of the workpiece to be positioned, if the first detection device detects the part to be detected and the positioning bulge extends into the concave part and is in limit fit with the concave part, the first driving device is controlled to stop running, and the positioning system finishes positioning the workpiece to be positioned.

It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning system, comprising:

a frame (10);

the workpiece placing table (20), the workpiece placing table (20) is rotatably arranged on the base (10) and is used for bearing a workpiece (30) to be positioned;

the first driving device (40) is connected with the workpiece placing table (20) so as to drive the workpiece placing table (20) to drive the workpiece (30) to be positioned to rotate;

the positioning protrusion (50) is arranged on the base (10) in a telescopic mode and used for being in limit fit with a concave part (31) on the workpiece (30) to be positioned;

the first detection device (60) is used for detecting a part (32) to be detected on the workpiece (30) to be positioned, the part (32) to be detected is arranged corresponding to the concave part (31), and when the first detection device (60) detects the part (32) to be detected and the positioning protrusion (50) is in limit fit with the concave part (31), the first driving device (40) is controlled to stop running so as to finish positioning the workpiece (30) to be positioned.

2. The positioning system according to claim 1, wherein the housing (10) has a mounting hole (11), the positioning protrusion (50) is telescopically inserted into the mounting hole (11), and the positioning system further comprises:

an elastic member (70), the elastic member (70) being provided in the mounting hole (11) for applying an elastic force to the positioning protrusion (50) to move toward the side of the recess (31).

3. The positioning system of claim 2, further comprising:

a second drive device (80) connected to the first detection device (60);

a second detection device (90), said second detection device (90) being located below said machine base (10) for detecting said positioning protrusion (50); when the second detection device (90) detects the positioning projection (50), the second driving device (80) is controlled to drive the first detection device (60) to move towards the workpiece (30) to be positioned, so that the first detection device (60) is at a preset position.

4. The positioning system according to claim 1, characterized in that the workpiece (30) to be positioned is a cylindrical structure, at least part of the workpiece placing table (20) extends into the cylindrical structure and is limited and stopped by the cylindrical structure, the part to be detected (32) is a groove arranged on the inner surface of the cylindrical structure, and the groove extends along the axial direction of the cylindrical structure; wherein the recess (31) is located outside the groove in a radial direction of the cylindrical structure.

5. The positioning system according to claim 3, wherein the positioning protrusion (50) comprises a rod body (51) and a stop plate (52) arranged on the rod body (51), the mounting hole (11) comprises a first hole section (111) and a second hole section (112) which are communicated with each other, a step surface is formed between the first hole section (111) and the second hole section (112), the elastic member (70) and the stop plate (52) are both located in the second hole section (112), the step surface is used for limiting and stopping the stop plate (52), and the first end of the rod body (51) passes through the first hole section (111) and then extends into the recess (31).

6. The positioning system of claim 5, further comprising:

the blocking plate (100) is arranged on the base (10) and used for blocking the second hole section (112), the blocking plate (100) is provided with a through hole, and the second end of the rod body (51) penetrates through the through hole and then mutually senses with the second detection device (90).

7. The positioning system of claim 3, further comprising:

the supporting seat (110) is arranged on the machine base (10), and the second driving device (80) and the first detection device (60) are arranged on the supporting seat (110), so that the first detection device (60) is positioned above the workpiece placing table (20) and the workpiece (30) to be positioned.

8. The positioning system according to claim 7, wherein the support base (110) comprises:

a first plate (1101) disposed on the base (10);

the second plate body (1102) is connected with the first plate body (1101) and forms a first included angle with the first plate body (1101);

the third plate body (1103) is connected with the second plate body (1102) and arranged between the second plate body (1102) in a second included angle mode, and the second driving device (80) and the first detection device (60) are arranged on the third plate body (1103).

9. The positioning system according to claim 3, wherein the second driving means (80) is a driving cylinder, the positioning system further comprising a transition connection assembly (120), the transition connection assembly (120) being connected with a cylinder or a piston of the driving cylinder, the first detection means (60) being provided on the transition connection assembly (120).

10. The positioning system of claim 9, wherein the transition connection assembly (120) comprises:

a fourth plate (121) connected to the cylinder or piston of the drive cylinder;

the bending plate body (122) comprises a first plate section and a second plate section which are connected with each other, a third included angle is formed between the first plate section and the second plate section, and the fourth plate body (121) is connected with the first plate section;

a fifth plate body (123) movably arranged on the second plate section, wherein the first detection device (60) is arranged on the fifth plate body (123).

11. The positioning system as claimed in claim 10, wherein the second plate segment has a slide slot (124), the transition connection assembly (120) further comprising a fastening structure passing through the fifth plate body (123) and the slide slot (124) to slidably connect the fifth plate body (123) with the second plate segment.

12. The positioning system according to claim 1, further comprising a third detecting device (130) disposed on the base (10), the third detecting device (130) being configured to detect whether the workpiece (30) to be positioned is placed on the workpiece placing table (20), the third detecting device (130) comprising:

a first induction structure (131) located at one side of the workpiece placing table (20);

a second sensing structure (132) located at the other side of the workpiece placement table (20); when the first induction structure (131) and the second induction structure (132) do not generate mutual induction, judging that the workpiece (30) to be positioned is placed on the workpiece placing table (20).

13. A positioning method, applicable to the positioning system of any one of claims 1 to 12, comprising:

placing a workpiece to be positioned on a workpiece placing table of the positioning system so as to judge the matching relationship between a positioning bulge of the positioning system and a concave part of the workpiece to be positioned;

if the positioning protrusion extends into the concave part and is in limit fit with the concave part, the positioning system completes positioning on the workpiece to be positioned; if the positioning protrusion is not in limit fit with the concave part, a first driving device of the positioning system is controlled to start, the first driving device drives the workpiece placing table to drive the workpiece to be positioned to rotate, and when a first detection device of the positioning system detects the part to be detected of the workpiece to be positioned and the positioning protrusion is in limit fit with the concave part, the first driving device is controlled to stop running so as to position the workpiece to be positioned.