CN113370022A - Single-piece positioning assembly, clamping jaw mechanism and feeding and discharging device - Google Patents

Abstract

The invention provides a single-chip positioning assembly, a clamping jaw mechanism and a loading and unloading device, wherein the single-chip positioning assembly comprises a base, a first positioning unit and a second positioning unit, and the first positioning unit and the second positioning unit are arranged on the base; the first positioning units are provided with a plurality of positioning reference surfaces which are not parallel to each other and are used for being matched with the jig; the second positioning unit is used for being matched with the first positioning unit so as to enable the side edge of the product to abut against the positioning reference surface to achieve accurate positioning. After the product is placed on the jig, the first positioning units are respectively matched with the jig to obtain at least two non-parallel positioning reference surfaces which are used as positioning references of the product, and the second positioning units further enable the side edges of the product to abut against the positioning reference surfaces, so that the product is accurately positioned on the jig in the automatic feeding process.

Description

Single-piece positioning assembly, clamping jaw mechanism and feeding and discharging device

Technical Field

The invention relates to the field of product positioning, in particular to a single-chip positioning assembly, a clamping jaw mechanism and a feeding and discharging device.

Background

When the border of processing slice or platelike product, the comparatively common mode is fixed the product on the tool to utilize drive arrangement to order about the tool translation simultaneously and rotatory, make the different positions at product border successively with processingequipment contact, thereby realize contour machining.

In the profiling process, the translation and rotation of the jig are completed under the precise control of the controller and the servo motor, so that the machining precision depends on the positioning precision between the product and the jig to a great extent. The positioning accuracy includes centering and orienting the product, wherein centering means that the center of the product coincides with the rotation axis of the jig (generally, the center of the jig), and orienting means that each side of the product is parallel to the corresponding side on the jig.

The existing product feeding process is mostly completed automatically by a manipulator, and the positioning precision between a product and a jig is difficult to guarantee in the automatic feeding process.

Disclosure of Invention

In order to solve the problem that the positioning precision between a product and a jig is difficult to guarantee in the automatic feeding process in the prior art, the invention aims to provide a single-piece positioning assembly.

The invention provides the following technical scheme:

a single-chip positioning assembly is used for accurately positioning a product on a jig and comprises a base, a first positioning unit and a second positioning unit, wherein the first positioning unit and the second positioning unit are arranged on the base;

the first positioning units are provided with a plurality of positioning reference surfaces which are not parallel to each other and are used for being matched with the jig to obtain at least two positioning reference surfaces;

the second positioning unit is used for being matched with the first positioning unit so as to enable the side edge of the product to abut against the positioning datum plane to achieve accurate positioning.

As a further optional scheme for the single-chip positioning assembly, the first positioning unit includes a first driving element and a positioning reference block, the first driving element is disposed on the base, and the first driving element is configured to drive the positioning reference block to abut against the fixture to obtain the positioning reference surface.

As a further optional scheme of the single-chip positioning assembly, a first reference surface and a second reference surface are arranged on the positioning reference block, and the first reference surface is used for abutting against the jig so that the second reference surface becomes the positioning reference surface.

As a further optional solution to the single-piece positioning assembly, the second positioning unit includes a second driving element and a positioning stop, the second driving element is disposed on the base, and the positioning stop is driven by the second driving element to push the product to abut against the positioning reference surface.

As a further optional solution to the single-chip positioning assembly, the second positioning units are the same in number and respectively correspond to the positioning reference surfaces, the positioning stoppers are opposite to the corresponding positioning reference surfaces, and the moving direction of the positioning stoppers is perpendicular to the corresponding positioning reference surfaces.

As a further alternative to the single-piece positioning assembly, the second positioning unit corresponds to two non-parallel positioning reference surfaces, and the moving direction of the positioning stopper intersects with the two corresponding positioning reference surfaces.

It is another object of the present invention to provide a jaw mechanism.

The invention provides the following technical scheme:

the clamping jaw mechanism comprises the single-piece positioning assembly, a mounting plate and at least one material taking assembly, wherein the base is provided with the material taking assembly which is arranged on the mounting plate.

The invention further aims to provide a loading and unloading device.

The invention provides the following technical scheme:

the utility model provides a loading and unloading device, includes above-mentioned clamping jaw mechanism, robot, transfer chain and board, the mounting panel with the robot links to each other, the robot with the transfer chain all set up in on the board.

As a further optional scheme for the loading and unloading device, a primary positioning mechanism is arranged on the conveying line, and the primary positioning mechanism is used for performing primary positioning on the product before the product is transferred onto the jig by the material taking assembly;

the primary positioning mechanism comprises a bearing platform, a positioning piece and a fourth driving piece;

the supporting platform is used for placing the product in the initial positioning process, and the positioning piece and the fourth driving piece are arranged on the supporting platform;

the positioning piece is provided with at least two side edges which are not parallel to each other and respectively correspond to the two side edges of the product;

the fourth driving part is used for pushing the product to abut against the positioning part.

As a further optional scheme for the feeding and discharging device, spraying and draining mechanisms are arranged on the machine platform in pairs, and the two spraying and draining mechanisms are respectively located at two ends of the robot along the length direction of the conveying line.

The embodiment of the invention has the following beneficial effects:

after the product is placed on the jig, the first positioning units are respectively matched with the jig to obtain at least two non-parallel positioning reference surfaces which are used as positioning references of the product, and the second positioning units further enable the side edges of the product to abut against the positioning reference surfaces, so that the product is accurately positioned on the jig in the automatic feeding process.

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible and comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic diagram of an apparatus for a conventional single-wafer flow peripheral polishing process;

FIG. 2 illustrates a top view of a monolithic positioning assembly provided in embodiment 1 of the present invention;

FIG. 3 is a schematic diagram illustrating an overall axial structure of a monolithic positioning assembly provided in embodiment 1 of the present invention;

fig. 4 is a schematic diagram illustrating a matching relationship between a positioning reference block and a jig and a product in a monolithic positioning assembly according to embodiment 1 of the present invention;

fig. 5 is a schematic diagram illustrating an overall axial structure of a clamping jaw mechanism provided in embodiment 2 of the present invention;

fig. 6 is a schematic view showing an overall axial structure of a loading and unloading device provided in embodiment 3 of the present invention;

fig. 7 is a schematic view illustrating an internal structure of a loading and unloading device according to embodiment 3 of the present invention;

fig. 8 is a schematic structural diagram illustrating a conveying line in a loading and unloading device according to embodiment 3 of the present invention;

fig. 9 is a schematic structural diagram illustrating an initial positioning mechanism in the loading and unloading device according to embodiment 3 of the present invention;

fig. 10 is a schematic structural view illustrating a spraying and draining mechanism in the loading and unloading device according to embodiment 3 of the present invention.

Description of the main element symbols:

100-a jaw mechanism; 110-a monolithic positioning assembly; 111-a base; 112-a first positioning unit; 112 a-a first drive member; 112 b-positioning the reference block; 112c — a first datum plane; 112 d-second datum level; 113-a second positioning unit; 113 a-a second drive member; 113 b-positioning stops; 120-a mounting plate; 130-a take-off assembly; 131-a third driving member; 132-vacuum chuck; 140-air knife; 200-a robot; 300-a conveying line; 310-roller drive motor; 320-conveying rollers; 400-a machine table; 410-an electric cabinet; 420-alarm lamp; 430-a window; 440-an access door; 450-a radiator fan; 460-an operation panel; 500-initial positioning mechanism; 510-a support platform; 520-a positioning member; 530 — a fourth drive; 540-a second roller; 600-a spray drainage mechanism; 610-a nozzle; 620-a waste water collection assembly; 700-product; 800-jig; 900-rotating disk.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

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.

Unless defined otherwise, 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. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1, in order to polish the edge of a sheet or plate-shaped product 700 (such as mobile phone glass), a conventional single-flow periphery polishing process is characterized in that the product 700 is transferred from a transmission line to a fixture 800 one by one, and then transferred to the transmission line after edge polishing is completed in time and enters the next process.

The polishing process uses a turntable 900 with four stations, and each station of the turntable 900 is provided with a fixture 800, so that four products 700 can be processed simultaneously. In addition, the turntable 900 intermittently rotates 90 degrees, so that the four stations alternately approach the transmission line to carry out loading and unloading.

In the polishing process, the position of the polishing wheel is kept unchanged, and the jig 800 is driven by the driving device to simultaneously translate and rotate, so that different positions of the edge of the product 700 are sequentially contacted with the polishing wheel, and profiling polishing is realized. Since the translation and rotation of the jig 800 are often performed under the precise control of the controller and the servo motor, a key factor affecting the polishing precision is the positioning precision between the product 700 and the jig 800.

Taking a mobile phone glass as an example, the upper surface of the mobile phone glass is rectangular, the periphery of the mobile phone glass is rounded, and the corresponding jig 800 is also rectangular. On one hand, the center of the mobile phone glass and the center of the jig 800 need to be aligned along the normal direction of the upper surface of the mobile phone glass, so that the mobile phone glass can be ensured to rotate by taking the center of the mobile phone glass as a rotation axis. On the other hand, if the side of the mobile phone glass needs to be parallel to the side of the jig 800, that is, the distance between the side of the mobile phone glass and the corresponding side of the jig 800 is a fixed value, the controller can calculate the position of the edge of the mobile phone glass according to the position of the jig 800, so as to drive the jig 800 to move horizontally, and adjust the position of the edge of the mobile phone glass.

In the process of automatic loading and unloading by using the manipulator, the manipulator can only grab the product 700 according to a preset program and puts the product 700 to a specific position. First, the robot has errors in grasping the product 700 and the position of different products 700 relative to the robot is different. Secondly, there is an error in the movement of the robot itself, making it difficult to ensure that the product 700 is delivered to the same point each time. Finally, when the four jigs 800 rotate along with the turntable 900, the positions of the feeding and discharging positions cannot be completely overlapped, and errors also exist. Therefore, in the automatic loading and unloading process, the positioning accuracy between the product 700 and the jig 800 is difficult to ensure, and the polishing accuracy of the product 700 is affected.

Referring to fig. 2 to 4, in order to solve the above problem, the present embodiment provides a single-piece positioning assembly 110 for an automatic feeding apparatus to accurately position a product 700 on a fixture 800 during an automatic feeding process. The monolithic positioning assembly 110 includes a base 111, a first positioning unit 112 and a second positioning unit 113, the base 111 is used as a mounting carrier, and the first positioning unit 112 and the second positioning unit 113 are both disposed on the base 111. The first positioning unit 112 uses the jig 800 as a reference to construct a positioning datum, and the second positioning unit 113 uses the positioning datum to accurately position the product 700.

Specifically, the base 111 has a plate shape. After the product 700 is placed on the jig 800, the base 111 is moved above the product 700 to face the upper surface of the product 700.

Specifically, the first positioning units 112 are provided in plurality, and the plurality of first positioning units 112 cooperate with the jig 800 to obtain at least two non-parallel positioning reference planes.

In this embodiment, the product 700 is a mobile phone glass, the upper surface of the product is rectangular, and the two first positioning units 112 correspond to one short side and one long side of the product 700, respectively.

In another embodiment of the present application, the product 700 may also be triangular, pentagonal, hexagonal, etc. At this time, two first positioning units 112 are disposed, and the two first positioning units 112 correspond to two adjacent sides of the product 700, respectively.

Specifically, the first positioning unit 112 is composed of a first driving member 112a and a positioning reference block 112 b. The first driving member 112a is disposed on the base 111, and the positioning reference block 112b is suspended outside the base 111. The top end of the positioning reference block 112b is connected to the first driving member 112a, the middle portion is opposite to the side of the product 700, and the lower portion is opposite to the side of the fixture 800, and is driven by the first driving member 112a to move toward the fixture 800.

In addition, the positioning reference block 112b is provided with a first reference surface 112c and a second reference surface 112d which are parallel to each other, and the distance between the first reference surface 112c and the second reference surface 112d is equal to the distance between the side edge of the product 700 after fine positioning and the side edge of the jig 800. The first reference surface 112c is located at the lower portion of the positioning reference block 112b, is opposite to and parallel to the side surface of the jig 800, and has a height lower than the product 700. The second reference surface 112d is located at the middle of the positioning reference block 112b, opposite to the side of the product 700.

After the product 700 is placed on the fixture 800, the first driving member 112a drives the positioning reference block 112b to move toward the fixture 800 until the first reference surface 112c abuts against the fixture 800, so as to accurately position the positioning reference block 112b by means of the fixture 800. At this time, the second reference surface 112d on the positioning reference block 112b serves as a positioning reference surface, i.e., a reference for positioning the product 700.

In another embodiment of the present application, the second reference surface 112d may not be parallel to the first reference surface 112c, and it is only necessary to ensure that the second reference surface 112d is attached to the side edge of the product 700 after being precisely positioned when the first reference surface 112c abuts against the side surface of the fixture 800.

Specifically, the second positioning unit 113 is composed of a second driving member 113a and a positioning stopper 113 b. The second driving member 113a is disposed on the base 111, and the positioning stopper 113b is suspended outside the base 111. The upper portion of the positioning block 113b is connected to the second driving member 113a, and the lower portion is opposite to the side of the product 700 facing away from the positioning reference block 112b, and is driven by the second driving member 113a to move toward the positioning reference block 112 b.

After the first reference surface 112c of the reference block 112b to be positioned abuts against the jig 800, the second driving member 113a drives the positioning stopper 113b to move toward the positioning reference block 112b, so that the product 700 can be pushed toward the positioning reference block 112b until the product 700 abuts against the second reference surface 112 d.

Since the second reference surface 112d and the first reference surface 112c are parallel to each other, the side of the product 700 and the side of the fixture 800 are parallel to each other, so as to achieve the orientation. Meanwhile, the distance between the side of the product 700 after fine positioning and the side of the jig 800 is measured in advance, and the distance between the second reference surface 112d and the first reference surface 112c is set according to the distance, so that the center of the product 700 is ensured to be aligned with the center of the jig 800 under the condition that the jig 800 abuts against the first reference surface 112c and the product 700 abuts against the second reference surface 112 d. After orienting and centering the product 700, the product 700 is precisely positioned on the jig 800.

In the present embodiment, the first driving member 112a and the second driving member 113a each employ an air cylinder. The cylinder body of the air cylinder is bolted and fixed with the upper surface of the base 111, and the piston rod is bolted and fixed with the positioning reference block 112b or the positioning stopper 113 b.

In another embodiment of the present application, the first driving member 112a and the second driving member 113a may also use a motor as a power source, and output a linear motion through the cooperation of a lead screw and a nut seat, or the cooperation of a gear and a rack, or the cooperation of a sprocket and a chain, and drive the positioning reference block 112b or the positioning stop block 113b to move through an elastic element such as a spring. Due to the existence of the elastic elements such as the spring, after the first reference surface 112c abuts against the jig 800 or the second reference surface 112d abuts against the product 700, even if the motor continues to operate, the motor cannot be locked, and only the elastic force of the spring is gradually increased until the motor stops operating.

In this embodiment, two second positioning units 113 are provided, and the two positioning units respectively correspond to the other short side and the other long side of the product 700. At this time, the two positioning stoppers 113b face the two positioning reference blocks 112b, respectively, and the moving direction of the positioning stopper 113b is directed perpendicularly to the positioning reference surface on the corresponding positioning reference block 112 b.

In another embodiment of the present application, only one second positioning unit 113 may be provided, and the moving direction of the positioning stopper 113b may be obliquely directed to the positioning reference surfaces on the two positioning reference blocks 112b, that is, the moving direction of the positioning stopper 113b obliquely intersects both the short side of the product 700 and the long side of the product 700. When the second driving member 113a drives the positioning block 113b to move, the positioning block 113b simultaneously pushes the product 700 to the two positioning reference blocks 112b until the product 700 abuts against the two positioning reference blocks 112 b.

Example 2

Referring to fig. 5, the embodiment provides a clamping jaw mechanism 100, which includes the single-piece positioning assembly 110, a mounting plate 120, a material taking assembly 130, and an air knife 140.

Specifically, the mounting plate 120 is parallel to the base 111 and is located above the base 111, and the mounting plate and the base are bolted and fixed by a plurality of columns.

Specifically, the take-off assembly 130 is comprised of a third drive member 131 and a vacuum chuck 132. The third driving member 131 is disposed on the mounting plate 120, and the vacuum chuck 132 is connected to an output end of the third driving member 131.

In this embodiment, the third driving member 131 is a lifting cylinder. The cylinder body of the lifting cylinder is bolted and fixed on the upper surface of the mounting plate 120, and the piston rod of the lifting cylinder vertically penetrates through the mounting plate 120 downwards and is bolted and fixed with the vacuum chuck 132. When the piston rod of the lifting cylinder extends, the vacuum chuck 132 is lifted and lowered.

In this embodiment, there are two material taking assemblies 130, and the single-piece positioning assembly 110 and the two material taking assemblies 130 are sequentially arranged on the mounting plate 120.

When the clamping jaw mechanism 100 participates in the loading and unloading operation, one of the empty vacuum chucks 132 firstly adsorbs and grabs the polished product 700 on the jig 800, and transfers the product 700 to one side along with the movement of the whole clamping jaw mechanism 100, then the other vacuum chuck 132 carrying the unpolished product 700 places the unpolished product 700 on the jig 800, and finally the single-piece positioning assembly 110 accurately positions the product 700.

Specifically, the air knife 140 is fixedly connected to the mounting plate 120 and located between the two material taking assemblies 130, so as to blow away foreign matters such as powder from the jig 800 and the product 700.

Example 3

Referring to fig. 6 to 10, the present embodiment provides a loading and unloading apparatus, including the above-mentioned clamping jaw mechanism 100, further including a robot 200, a conveying line 300, a machine table 400, a primary positioning mechanism 500, and a spraying and draining mechanism 600.

Specifically, the machine table 400 is a supporting structure, the robot 200, the conveying line 300, the primary positioning mechanism 500 and the spraying and draining mechanism 600 are all fixed by the machine table 400, and the mounting plate 120 in the clamping jaw mechanism 100 is fixedly connected with the robot 200. In addition, the machine table 400 is further provided with an electric cabinet 410, an alarm lamp 420, a window 430, an access door 440, a cooling fan 450, an operation panel 460 and other structures.

Specifically, the conveyor line 300 conveys the product 700 in a horizontal direction and passes under the robot 200 and the gripper mechanism 100. As the product 700 moves under the gripper mechanism 100, the take off assembly 130 in the gripper mechanism 100 may suction grip the product 700.

In the embodiment, the conveying line 300 is a roller line, and the conveying roller 320 is driven to rotate by the roller driving motor 310, so as to convey the product 700 forward by using friction force.

Specifically, the primary positioning mechanism 500 is disposed below the robot 200 and the clamping jaw mechanism 100, and is used for performing primary positioning on the product 700 before the material taking assembly 130 transfers the product 700 onto the jig 800, and the primary positioning mechanism 500 includes a supporting platform 510, a positioning member 520, and a fourth driving member 530.

The supporting platform 510 is fixedly connected to the machine platform 400 and is disposed along a horizontal direction, and the positioning element 520 and the fourth driving element 530 are disposed on an upper surface of the supporting platform 510.

The positioning members 520 are at least two to correspond to two non-parallel sides of the product 700, respectively, and the fourth driving member 530 is opposite to the positioning members 520.

In use, the take-off assembly 130 first picks the product 700 from the conveyor line 300, and then places the product 700 on the support platform 510 with the product 700 between the positioning member 520 and the fourth drive 530. The fourth driving member 530 pushes the product 700 to the positioning member 520 until the product 700 abuts against the positioning member 520, so as to initially position the product 700. At this time, the material taking assembly 130 again grabs the product 700, so that the position error of the product 700 relative to the material taking assembly 130 is greatly reduced, and the single sheet positioning assembly 110 further accurately positions the product 700.

In the present embodiment, the number of the positioning members 520 is four. The four positioning members 520 are divided into two pairs, and the two pairs of positioning members 520 respectively correspond to one short side and one long side of the product 700.

In the present embodiment, the fourth driving member 530 employs a side push cylinder. The side-push cylinders are arranged in pairs, and the two side-push cylinders are respectively opposite to the two pairs of positioning pieces 520. The cylinder body of the side-push cylinder is fixedly connected with the upper surface of the supporting platform 510, and the piston rod points to the corresponding positioning piece 520.

Further, during the initial positioning of the product 700, one side of the product 700 tends to collide with the corresponding positioning member 520 before the other side. During the process that the other side of the product 700 is close to the corresponding positioning element 520, friction may occur between the product 700 and the positioning element 520 that has been abutted. To avoid scratching the product 700, the positioning member 520 employs a first roller.

The first roller is rotatably connected to the upper surface of the supporting platform 510, and the rotation axis of the first roller is perpendicular to the upper surface of the supporting platform 510. When the product 700 continues to move under the condition that the product 700 abuts against the side wall of one of the first rollers, rolling friction exists between the product 700 and the first roller, so that the friction force is greatly reduced and the product is not easy to wear.

Further, in the same consideration, a second roller 540 is rotatably connected to an output end of the fourth driving member 530 (i.e., a piston rod end of the side push cylinder). The second roller 540 is also perpendicular to the upper surface of the supporting platform 510, and the fourth driving member 530 pushes the product 700 through the second roller 540.

Further, two sets of the positioning members 520 and the fourth driving members 530 are provided, and each set of the two pairs of positioning members 520 and the two fourth driving members 530 can be used alternately.

Specifically, the shower drainage mechanism 600 is provided in pairs. Two spraying and draining mechanisms 600 are respectively located at both ends of the robot 200 along the length direction of the conveyor line 300.

The spray drain mechanism 600 is composed of a spray nozzle 610 and a waste water collection assembly 620, wherein the spray nozzle 610 is positioned above the conveyor line 300, and the waste water collection assembly 620 is positioned below the conveyor line 300.

When the product 700 to be polished and the polished product 700 pass through the two spray drainage mechanisms 600, respectively, the nozzles 610 spray water downward to clean and moisturize the product 700. The generated wastewater is collected by the wastewater collection module 620 and discharged to the corresponding wastewater pipe through the hose.

In operation of the loading and unloading apparatus, unpolished products 700 are advanced on the conveyor line 300 and one of the take off assemblies 130 removes the products 700 from the conveyor line 300 and places them on the pallet 510. After the initial positioning of the product 700, the take-out assembly 130 again grabs the product 700. The robot 200 transfers the clamping jaw mechanism 100 to the interior of the polishing machine, firstly, the air knife 140 blows the surface of the polished product 700 on the jig 800 clean, then the polished product 700 is taken away by another vacant material taking assembly 130, then the unpolished product 700 is placed on the jig 800 by the material taking assembly 130 carrying the unpolished product 700, and finally, the single-piece positioning assembly 110 is used for accurately positioning the product 700. After the loading and unloading are completed, the robot 200 removes the clamping jaw mechanism 100 from the interior of the polishing machine, and the material taking assembly 130 places the polished product 700 on the conveying line 300 for conveying to the next process.

The feeding and discharging device can complete automatic feeding and discharging of the product 700 in the polishing process of the single-chip product 700, can ensure that the product 700 and the jig 800 have high enough positioning precision to ensure the polishing precision, and can also moisturize and clean the product 700 before and after polishing.

In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (10)

1. A single-chip positioning assembly is characterized in that the single-chip positioning assembly is used for accurately positioning a product on a jig and comprises a base, a first positioning unit and a second positioning unit, wherein the first positioning unit and the second positioning unit are arranged on the base;

the first positioning units are provided with a plurality of positioning reference surfaces which are not parallel to each other and are used for being matched with the jig to obtain at least two positioning reference surfaces;

the second positioning unit is used for being matched with the first positioning unit so as to enable the side edge of the product to abut against the positioning datum plane to achieve accurate positioning.

2. The single-piece positioning assembly of claim 1, wherein the first positioning unit comprises a first driving member and a positioning reference block, the first driving member is disposed on the base, and the first driving member is configured to drive the positioning reference block against the fixture to obtain the positioning reference surface.

3. The single-piece positioning assembly according to claim 2, wherein the positioning reference block is provided with a first reference surface and a second reference surface, and the first reference surface is used for abutting against the jig so that the second reference surface becomes the positioning reference surface.

4. The single piece positioning assembly of claim 2, wherein the second positioning unit comprises a second driving member and a positioning stop, the second driving member is disposed on the base, and the positioning stop is driven by the second driving member to push the product against the positioning reference surface.

5. The single-piece positioning assembly according to claim 4, wherein the second positioning units correspond to the positioning reference surfaces in the same number, the positioning stoppers are opposite to the corresponding positioning reference surfaces, and the moving direction of the positioning stoppers is perpendicular to the corresponding positioning reference surfaces.

6. The monolithic positioning assembly as recited in claim 4, wherein the second positioning unit corresponds to two non-parallel positioning reference surfaces, and the moving direction of the positioning block intersects with the two corresponding positioning reference surfaces.

7. A gripper mechanism comprising a monolithic positioning assembly according to any of claims 1-6, a mounting plate, and at least one take-out assembly, said base and said take-out assembly each being disposed on said mounting plate.

8. A loading and unloading device is characterized by comprising the clamping jaw mechanism as claimed in claim 7, a robot, a conveying line and a machine table, wherein the mounting plate is connected with the robot, and the robot and the conveying line are arranged on the machine table.

9. The loading and unloading device according to claim 8, wherein a primary positioning mechanism is arranged on the conveying line, and the primary positioning mechanism is used for performing primary positioning on the product before the product is transferred onto the jig by the material taking assembly;

the primary positioning mechanism comprises a bearing platform, a positioning piece and a fourth driving piece;

the supporting platform is used for placing the product in the initial positioning process, and the positioning piece and the fourth driving piece are arranged on the supporting platform;

the positioning piece is provided with at least two side edges which are not parallel to each other and respectively correspond to the two side edges of the product;

the fourth driving part is used for pushing the product to abut against the positioning part.

10. The loading and unloading device as recited in claim 8, wherein the platform is provided with a pair of spraying and draining mechanisms, and the two spraying and draining mechanisms are respectively located at two ends of the robot along the length direction of the conveying line.

Images