CN114044358B - Workpiece position calibration equipment and workpiece position calibration system - Google Patents
Workpiece position calibration equipment and workpiece position calibration system Download PDFInfo
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- CN114044358B CN114044358B CN202111458011.0A CN202111458011A CN114044358B CN 114044358 B CN114044358 B CN 114044358B CN 202111458011 A CN202111458011 A CN 202111458011A CN 114044358 B CN114044358 B CN 114044358B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The application discloses workpiece position calibration equipment and a workpiece position calibration system, wherein the workpiece position calibration equipment comprises a control device, a driving device, an adsorption device and a clamping device; the adsorption device and the clamping device are respectively in driving connection with the driving device; the control device is respectively in communication connection with the adsorption device and the clamping device; the control device is used for controlling the adsorption device to adsorb or release the workpiece to be calibrated; the control device is used for controlling the driving device to output driving force to the adsorption device and the clamping device respectively; under the driving action of the driving device, the adsorption device can move towards the direction approaching or far away from the clamping device, so that the adsorption device drives the workpiece to be calibrated to move towards the direction approaching or far away from the clamping device; the adsorption device can also move in the horizontal direction with the clamping device; the control device is also used for controlling the clamping device to clamp the workpiece to be calibrated when the workpiece to be calibrated on the adsorption device moves to a preset position so as to calibrate the position of the workpiece to be calibrated.
Description
Technical Field
The application relates to the technical field of workpiece calibration, in particular to workpiece position calibration equipment and a workpiece position calibration system.
Background
The product is located in the initial feeding tray before being placed on the product detection device, the product to be detected in the initial feeding tray is in a coarse positioning state, and the position of the product to be detected needs to be accurately positioned in the mechanism design.
In the prior art, a single middle working platform is generally arranged for accurately positioning the product to be detected; when detecting the product to be detected, the product to be detected is clamped from an initial feeding tray and then is placed on the set middle working platform to position the product to be detected; then, the positioned product to be detected is conveyed to a product detection device from the middle working platform; the design mode not only can increase the cost, but also occupies the equipment space, and is complex in flow and low in efficiency.
Disclosure of Invention
In order to solve the technical problems, the workpiece position calibration equipment disclosed by the application has the advantages that through the adsorption device and the clamping device, when the clamping device clamps the workpiece to be calibrated on the adsorption device in the air, the position calibration of the workpiece to be calibrated is directly realized.
In order to achieve the above object, the present application provides a workpiece position calibration apparatus, comprising a control device, a driving device, an adsorption device and a clamping device; the adsorption device and the clamping device are respectively in driving connection with the driving device; the control device is respectively in communication connection with the adsorption device and the clamping device;
the control device is used for controlling the adsorption device to adsorb or release the workpiece to be calibrated;
the control device is used for controlling the driving device to output driving force to the adsorption device and the clamping device respectively;
under the driving action of the driving device, the adsorption device can move towards the direction approaching or far away from the clamping device, so that the adsorption device drives the workpiece to be calibrated to move towards the direction approaching or far away from the clamping device;
the adsorption device can also move in the horizontal direction with the clamping device under the driving action of the driving device;
the control device is also used for controlling the clamping device to clamp the workpiece to be calibrated when the workpiece to be calibrated on the adsorption device moves to a preset position so as to calibrate the position of the workpiece to be calibrated.
In some embodiments, the clamping device comprises a clamping assembly and a clamping drive mechanism in driving connection with the drive device;
the adsorption device comprises an adsorption component which is used for adsorbing or releasing the workpiece to be calibrated;
when the workpiece to be calibrated on the adsorption assembly moves to a preset position, the clamping driving mechanism drives the clamping assembly to clamp the workpiece to be calibrated.
In some embodiments, the clamping assembly includes a first jaw and a second jaw;
the control device is used for controlling the clamping driving mechanism to output driving force to the first clamping jaw and the second clamping jaw respectively;
under the driving action of the clamping driving mechanism, the first clamping jaw and the second clamping jaw can cooperatively move in the directions of approaching to each other or separating from each other, so that the clamping assembly clamps or releases a workpiece to be calibrated;
the adsorption component is positioned between the first clamping jaw and the second clamping jaw;
the control device is configured to control the first clamping jaw and the second clamping jaw to clamp the workpiece to be calibrated when the workpiece to be calibrated moves to a preset position between the first clamping jaw and the second clamping jaw on the adsorption assembly.
In some embodiments, the first jaw includes a fixedly connected first connecting end and a first clamping end;
the second clamping jaw comprises a second connecting end and a second clamping end which are fixedly connected;
the first connecting end and the second connecting end are respectively and fixedly connected with the clamping driving mechanism;
the clamping driving mechanism is used for driving the first connecting end and the second connecting end to move towards the direction approaching or separating from each other in a coordinated manner so as to drive the first clamping end and the second clamping end to move towards the direction approaching or separating from each other.
In some embodiments, the second clamping end is provided with at least one opening and a guide structure provided on a side wall of the opening;
the opening of the opening part faces the first clamping jaw, and the opening part is used for accommodating the workpiece to be calibrated;
in the process of clamping the workpiece to be calibrated by the first clamping end and the second clamping end, the guiding structure can guide the workpiece to be calibrated, so that the workpiece to be calibrated enters the opening part.
In some embodiments, the adsorption device further comprises a fixture;
the adsorption component is in driving connection with the driving device through the fixing piece;
the driving device is used for driving the fixing piece to move, so that the fixing piece drives the adsorption component to move in a direction approaching to or far from the clamping device.
In some embodiments, the absorbent assembly includes an absorbent plate and at least one absorbent member; the adsorption plate is fixedly connected with the connecting piece;
the adsorption plate is provided with a containing cavity of the adsorption element, and the adsorption element is positioned in the containing cavity; one end of the adsorption piece, which is far away from the adsorption plate, is used for adsorbing or releasing the workpiece to be calibrated.
In some embodiments, the adsorbing member is provided with a silica gel sucker and a pressure vessel;
the pressure container can provide adsorption force for the silica gel sucker in a negative pressure state so that the silica gel sucker adsorbs the workpiece to be calibrated;
the pressure container can enable the silica gel sucker to lose adsorption force under the non-negative pressure state, so that the silica gel sucker releases the workpiece to be calibrated.
In some embodiments, the drive means comprises a mover structure and a stator structure;
the clamping device is in driving connection with the stator structure;
the adsorption device is in driving connection with the rotor structure.
The application also describes a workpiece position calibration system which comprises a workpiece placing table, workpiece position calibration equipment and a workpiece detection jig; the workpiece position calibration device is the workpiece position calibration device;
the workpiece placing table is used for placing workpieces to be calibrated;
the control device of the workpiece position calibration equipment is used for controlling the adsorption device to adsorb at least one workpiece to be calibrated on the workpiece placing table; the clamping device is controlled to clamp the workpiece to be calibrated adsorbed on the adsorption device so as to calibrate the position of the workpiece to be calibrated;
the control device is used for controlling the adsorption device to adsorb the workpiece to be calibrated on the clamping device again and controlling the adsorption device to place the workpiece to be calibrated on the workpiece detection jig.
The embodiment of the application has the following beneficial effects:
according to the workpiece position calibration equipment disclosed by the application, through the adsorption device and the clamping device, when the clamping device clamps the workpiece to be calibrated on the adsorption device in the air, the position calibration of the workpiece to be calibrated is directly realized;
according to the multi-station detection system disclosed by the application, the workpiece position calibration equipment is used for calibrating the position of the workpiece to be calibrated in the air, so that the calibration of the position can be rapidly and accurately finished, the space of the equipment is saved, the action flow is saved, and the equipment cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a workpiece position calibration apparatus according to an embodiment of the present application;
FIG. 2 is an enlarged view of a portion of the structure of FIG. 1;
fig. 3 is a schematic structural diagram of an adsorption device of a workpiece position calibration apparatus according to an embodiment of the present application;
FIG. 4 is a schematic view of a part of a workpiece position calibration apparatus according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a control device according to an embodiment of the present application;
wherein, the reference numerals in the figures correspond to: 1-driving device, 11-stator structure, 12-mover structure, 2-adsorption device, 21-adsorption assembly, 211-adsorption plate, 212-adsorption piece, 22-fixing piece, 3-clamping device, 31-clamping assembly, 311-first clamping jaw, 3111-first connecting end, 3112-first clamping end, 312-second clamping jaw, 3121-second connecting end, 3122-second clamping end, 31221-opening, 31222-guiding structure, 32-clamping driving mechanism, 4-workpiece to be calibrated.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings, for the purpose of making the objects, technical solutions and advantages of the present application more apparent.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. The terms "comprising" and "having," as well as any variations thereof, are intended to cover a non-exclusive inclusion. In different embodiment variants, identical components have identical reference numerals.
Example 1
As shown in fig. 1 to 4, the present application provides a workpiece position calibration apparatus, comprising a control device, a driving device 1, an adsorption device 2 and a clamping device 3; the adsorption device 2 and the clamping device 3 are respectively in driving connection with the driving device 1; the control device is respectively in communication connection with the adsorption device 2 and the clamping device 3;
the control device is used for controlling the adsorption device 2 to adsorb or release the workpiece 4 to be calibrated;
the control device is used for controlling the driving device 1 to output driving force to the adsorption device 2 and the clamping device 3 respectively;
under the driving action of the driving device 1, the adsorption device 2 can move towards the direction approaching or separating from the clamping device 3, so that the adsorption device 2 drives the workpiece 4 to be calibrated to move towards the direction approaching or separating from the clamping device 3;
specifically, the clamping device 3 comprises a clamping assembly 31 and a clamping driving mechanism 32, and the clamping driving mechanism 32 is in driving connection with the driving device 1;
the adsorption device 2 comprises an adsorption assembly 21, wherein the adsorption assembly 21 is used for adsorbing or releasing the workpiece 4 to be calibrated;
under the driving action of the driving device 1, the adsorption component 21 can move towards the direction approaching or separating from the clamping component 31, so that the adsorption component 21 drives the workpiece 4 to be calibrated to move towards the direction approaching or separating from the clamping component 31;
the adsorption device 2 can also move in the horizontal direction with the clamping device 3 under the driving action of the driving device 1;
in particular, it is movable in the x-axis and/or y-axis direction, and the suction device 2 and the holding device 3 move synchronously in the x-axis and/or y-axis direction; this design allows the suction device 2 to accurately find the position of the workpiece 4 to be calibrated by moving the position in the horizontal plane when sucking the workpiece 4 to be calibrated.
The control device is further used for controlling the clamping device 3 to clamp the workpiece 4 to be calibrated when the workpiece 4 to be calibrated on the adsorption device 2 moves to a preset position so as to calibrate the position of the workpiece 4 to be calibrated;
specifically, when the workpiece 4 to be calibrated on the suction assembly 21 moves to a preset position, the clamping driving mechanism 32 drives the clamping assembly 31 to clamp the workpiece 4 to be calibrated.
The preset position may be a target position of the clamping assembly 31, that is, when the workpiece 4 to be calibrated moves to the target position of the clamping assembly 31, the position reaches the preset position;
preferably, it may be the position between the jaws of the clamping assembly 31;
according to the application, through the adsorption device 2 and the clamping device 3, when the clamping device 3 clamps the workpiece 4 to be calibrated on the adsorption device 2 rising into the air, the position calibration of the workpiece 4 to be calibrated is directly realized, and the application not only can realize the accurate calibration of the position of the workpiece 4 to be calibrated rapidly, but also saves the space of equipment, saves the action flow and reduces the equipment cost.
In an embodiment of the present application, as shown in fig. 2, the clamping assembly 31 may include a first clamping jaw 311 and a second clamping jaw 312;
the control device is used for controlling the clamping driving mechanism 32 to output driving force to the first clamping jaw 311 and the second clamping jaw 312 respectively;
under the driving action of the clamping driving mechanism 32, the first clamping jaw 311 and the second clamping jaw 312 can cooperatively move in directions approaching to or separating from each other, so that the clamping assembly 31 clamps or releases a workpiece to be calibrated;
the suction assembly 21 is located between the first jaw 311 and the second jaw 312;
specifically, the suction member 21 may be located at a gap between the first jaw 311 and the second jaw 312, and the suction member 21 may move through the gap between the first jaw 311 and the second jaw 312 in a direction approaching the first jaw 311 and the second jaw 312 or in a direction moving away from the first jaw 311 and the second jaw 312; the design ensures that the first clamping jaw 311 and the second clamping jaw 312 are convenient to clamp the workpiece 4 to be calibrated when the first clamping jaw 311 and the second clamping jaw 312 move to a position between the first clamping jaw 311 and the second clamping jaw 312 in the process that the adsorption assembly 21 drives the workpiece 4 to be calibrated to ascend or descend;
the control device is configured to control the first clamping jaw 311 and the second clamping jaw 312 to clamp the workpiece 4 to be calibrated when the workpiece 4 to be calibrated on the adsorption assembly 21 moves to a preset position between the first clamping jaw 311 and the second clamping jaw 312.
Specifically, when the adsorption component 21 drives the workpiece 4 to be calibrated to move to a cross area between the side wall of the workpiece 4 to be calibrated and one sides of the first clamping jaw 311 and the second clamping jaw 312, which are close to the workpiece 4 to be calibrated, the first clamping jaw 311 and the second clamping jaw 312 are controlled to clamp the workpiece 4 to be calibrated;
preferably, when the workpiece 4 to be calibrated moves to the position that the center line of the side wall of the workpiece 4 to be calibrated is coincident with the center line of the side, close to the workpiece 4 to be calibrated, of the first clamping jaw 311 and the second clamping jaw 312, the first clamping jaw 311 and the second clamping jaw 312 are controlled to clamp the workpiece 4 to be calibrated; so that the first clamping jaw 311 and the second clamping jaw 312 can clamp the workpiece 4 to be calibrated quickly and accurately.
In the embodiment of the present application, as shown in fig. 2, the first clamping jaw 311 includes a first connecting end 3111 and a first clamping end 3112 that are fixedly connected;
the second clamping jaw 312 comprises a second connecting end 3121 and a second clamping end 3122 which are fixedly connected;
the first connection end 3111 and the second connection end 3121 are respectively connected to the clamping drive mechanism 32;
specifically, the clamping driving mechanism 32 includes a first end and a second end that are disposed opposite to each other, the first end of the clamping driving mechanism 32 is fixedly connected to the first connection end 3111, and the second end is fixedly connected to the second connection end 3121;
the clamping driving mechanism 32 is configured to drive the first connection end 3111 and the second connection end to move in a direction approaching or moving away from each other, so as to drive the first clamping end 3112 and the second clamping end 3122 to move in a direction approaching or moving away from each other.
Specifically, the second clamping end 3122 is provided with at least one opening 31221 and a guide structure 31222 provided on a sidewall of the opening 31221;
the opening 31221 is opened toward the first clamping jaw 311, and the opening 31221 is used for accommodating the workpiece 4 to be calibrated;
specifically, when the relative positions between the suction unit 21 and the first clamping jaw 311 and the second clamping jaw 312 are set, the distances between the suction unit 21 and the first clamping jaw 311 and the second clamping jaw 312 may be set in advance, so that when the suction unit 21 drives the workpiece 4 to be calibrated to move between the first clamping jaw 311 and the second clamping jaw 312, the distance between the clamping surface of the first clamping end 3112 and the workpiece 4 to be calibrated is equal to the distance between the opening bottom of the opening 31221 of the second clamping end 3122 and the workpiece 4 to be calibrated; this design enables the jaws to grip precisely when gripping the workpiece 4 to be calibrated.
Specifically, during the process of clamping the workpiece 4 to be calibrated by the first clamping end 3112 and the second clamping end 3122, the guiding structure 31222 can guide the workpiece 4 to be calibrated so that the workpiece 4 to be calibrated enters the opening 31221;
specifically, as shown in fig. 2, the side walls of the opening 31221 are provided with guide structures 31222, and the guide structures 31222 are disposed at one end of the opening 31221 near the first clamping end 3112; the guide surface of the guide structure 31222 is in a step transition shape; and the distance between the guide surfaces of the two guide structures 31222 decreases in order from the end near the first clamping end 3112 to the end near the bottom of the opening 31221;
specifically, the maximum distance between the guide surfaces of the two guide structures 31222 is greater than or equal to the widest distance in the same direction (the same direction as the clamping of the workpiece 4 to be calibrated) of the workpiece placing groove on the workpiece placing table; so that the first clamping jaw 311 and the second clamping jaw 312 can fully accommodate the workpiece 4 to be calibrated when clamping the workpiece 4 to be calibrated adsorbed by the adsorption assembly 21; the situation that the workpiece 4 to be calibrated adsorbed by the adsorption component 21 cannot be accommodated is avoided;
the minimum distance between the guide surfaces of the two guide structures 31222 is smaller than or equal to the same-direction widest distance of the workpiece placing groove on the workpiece detection jig; so that the workpiece after the first clamping jaw 311 and the second clamping jaw 312 are clamped and positioned can be accurately placed into the workpiece placing groove on the workpiece detection jig by the adsorption component 21.
Specifically, a protective layer is provided on the inner wall of the opening 31221 to avoid clamping the workpiece 4 to be calibrated when clamping the workpiece 4 to be calibrated;
preferably, the inner walls of the opening 31221 are each provided with a protective layer on the inner wall that holds the workpiece 4 to be calibrated and may be in contact with the workpiece 4 to be calibrated;
the protective layer can be a teflon layer.
In the embodiment of the present application, as shown in fig. 3, the adsorption device 2 further includes a fixing member 22; the fixing piece 22 is fixedly connected with the adsorption component 21;
the adsorption component 21 is in driving connection with the driving device 1 through the fixing piece 22;
the driving device 1 is used for driving the fixing piece 22 to move, so that the fixing piece 22 drives the adsorption assembly 21 to move towards or away from the clamping device 3.
Specifically, the device can also comprise a connecting piece; one end of the connecting piece is fixedly connected with the fixing piece 22, and the other end of the connecting piece is fixedly connected with the adsorption component 21;
the control device is used for controlling the driving device 1 to drive the fixing piece 22 to move towards or away from the clamping device 3, so that the fixing piece 22 drives the adsorption component 21 to move towards or away from the clamping device 3 through the connecting piece.
Specifically, in the embodiment of the present application, the adsorption assembly 21 includes an adsorption plate 211 and at least one adsorption member 212; the adsorption plate 211 is fixedly connected with the connecting piece;
the adsorption plate 211 is provided with a containing cavity of the adsorption piece 212, and the adsorption piece 212 is positioned in the containing cavity; the end of the adsorbing member 212 away from the adsorbing plate 211 is used for adsorbing or releasing the workpiece to be calibrated.
Specifically, four adsorbing elements 212 may be provided, so that the adsorbing assembly 21 may adsorb four workpieces 4 to be calibrated simultaneously;
specifically, the number of the openings 31221 corresponds to the number of the suction members 212 on the suction unit 21 one by one;
in a preferred embodiment of the present application, the adsorbing member 212 is provided with a silica gel suction cup and a pressure vessel;
the pressure container can provide adsorption force for the silica gel sucker in a negative pressure state so that the silica gel sucker adsorbs the workpiece 4 to be calibrated;
the pressure container can enable the silica gel sucker to lose adsorption force under the non-negative pressure state, so that the silica gel sucker releases the workpiece 4 to be calibrated.
In particular, the pressure vessel may be a vacuum bag;
specifically, the silica gel sucker is adopted, so that the workpiece 4 to be calibrated can be quickly and firmly adsorbed, and the workpiece 4 to be calibrated can be prevented from being damaged during adsorption;
specifically, the silica gel sucker can deform, so that when the first clamping jaw 311 and the second clamping jaw 312 clamp the workpiece 4 to be calibrated, which is adsorbed on the silica gel sucker, the silica gel sucker deforms by twisting, so that the clamping jaw clamps the workpiece 4 to be calibrated more quickly and accurately.
In another embodiment of the application, the adsorbent member may be a magnetic adsorbent member, preferably an electromagnetic adsorbent member.
In the embodiment of the present application, as shown in fig. 4, the driving device 1 includes a mover structure 12 and a stator structure 11;
the clamping device 3 is in driving connection with the stator structure 11;
specifically, the clamping device 3 is in driving connection with the stator structure 11 through a fixing plate;
one end of the fixed plate is fixedly connected with the clamping driving mechanism 32 of the clamping device 3, and the other end of the fixed plate is fixedly connected with the stator mechanism;
the stator structure 11 drives the fixing plate to move in the x-axis and/or y-axis direction, so as to drive the clamping device 3 to move in the x-axis and/or y-axis direction;
the adsorption device 2 is in driving connection with the rotor structure 12;
the mover structure 12 is in driving connection with the adsorption component 21 through a fixing piece 22; the mover structure 12 drives the fixing piece 22 to move in the z-axis direction, so as to drive the adsorption component 21 of the adsorption device 2 to move in a direction approaching or separating from the clamping component 31;
specifically, the x-axis, y-axis, and z-axis referred to above are relative to the structural interface of the driving device 1 and the suction device 2 and the holding device 3.
Preferably, the drive means 1 may be a KK module.
In the embodiment of the present application, as shown in fig. 5, the control device may include a first control module, an information acquisition module, a second control module, and a third control module; the first control module, the information acquisition module, the second control module and the third control module are in communication connection;
the first control module is used for controlling the adsorption assembly to drive the workpiece to be calibrated to move towards the direction close to the clamping assembly under the condition that the adsorption assembly is detected to be adsorbed to the workpiece to be calibrated;
the information acquisition module is used for monitoring the position of the workpiece to be calibrated in the process that the workpiece to be calibrated moves towards the clamping assembly;
the second control module is used for controlling the clamping assembly to clamp the workpiece to be calibrated to calibrate the position of the workpiece to be calibrated if the current position of the workpiece to be calibrated is monitored to be a preset clamping position;
specifically, the preset clamping position may be a target position of the clamping assembly, that is, when the workpiece to be calibrated moves to the target position of the clamping assembly, the position of the workpiece reaches the preset clamping position;
preferably, it may be a position between the first jaw and the second jaw of the clamping assembly.
And the third control module is used for controlling the adsorption component to release the workpiece to be calibrated under the condition that the clamping component is detected to finish the clamping action of the workpiece to be calibrated, so that the workpiece to be calibrated is positioned at a target calibration position.
In the embodiment of the present application, it should be noted that the clamping action of the clamping assembly to complete the workpiece to be calibrated may be that the clamping assembly clamps the workpiece to be calibrated between the first clamping jaw and the second clamping jaw, and the workpiece to be calibrated is located in the opening of the second clamping end, so that it may be determined that the clamping assembly completes the clamping action of the workpiece to be calibrated.
In this embodiment of the present specification, further includes:
and the fourth control module is used for controlling the adsorption assembly to adsorb the workpiece to be calibrated on the clamping assembly so that the workpiece to be calibrated is fixedly connected to the adsorption assembly.
In this embodiment of the present specification, further includes:
the judging module is used for judging whether the current position of the workpiece to be calibrated is a preset position between the first clamping jaw and the second clamping jaw of the clamping assembly;
and the judging module is used for judging that the position of the workpiece to be calibrated is a preset clamping position if the current position of the workpiece to be calibrated is the preset position between the first clamping jaw and the second clamping jaw of the clamping assembly.
In an embodiment of the present disclosure, the second control module includes:
and the control unit is used for controlling the first clamping jaw and the second clamping jaw of the clamping assembly to move towards the directions close to each other at the same time if the current position of the workpiece to be calibrated is monitored to be the preset clamping position, so that the first clamping jaw and the second clamping jaw clamp the workpiece to be calibrated.
Specifically, in the in-process that control first clamping jaw and second clamping jaw moved to the direction that is close to each other simultaneously, the first clamping end of first clamping jaw contacted with one side of waiting to calibrate the work piece, the guide structure on the opening of second clamping jaw contacted with the opposite side of waiting to calibrate the work piece for under the direction effect of first clamping end and guide structure, with waiting to calibrate the work piece propelling movement entering opening in, make first clamping end and second clamping end centre gripping wait to calibrate the work piece, and then realized waiting to calibrate the calibration of the position of work piece.
In this embodiment of the present specification, further includes:
the position acquisition module is used for acquiring the initial position of the workpiece to be calibrated;
the fifth control module is used for controlling the driving device to drive the adsorption assembly to move towards the initial position of the workpiece to be calibrated;
and the sixth control module is used for controlling the adsorption component to adsorb the workpiece to be calibrated under the condition that the adsorption component is detected to move to the initial position of the workpiece to be calibrated.
Specifically, in the embodiment of the application, under the condition that the adsorption component is detected to move to the initial position of the workpiece to be calibrated, the adsorption component is controlled to contact with the workpiece to be calibrated, and the adsorption component is controlled to adsorb the calibration workpiece;
in the embodiment of the application, the pressure container of the adsorption piece can be controlled to be in a negative pressure state so as to provide adsorption force for the silica gel sucker, and the silica gel sucker can adsorb a workpiece to be calibrated;
in another embodiment of the application, the suction cup of the suction piece can be controlled to be electrified so as to provide electromagnetic suction force for the suction cup, and further the silica gel suction cup can be used for sucking a workpiece to be calibrated;
specifically, when the adsorption component is detected to adsorb the workpiece to be calibrated on the adsorption component, the adsorption component can be controlled to ascend, namely, move towards the direction close to the clamping component, so that the adsorption component drives the workpiece to be calibrated to move towards the direction close to the clamping component.
The calibration principle of the workpiece position calibration device of the application is as follows:
when the position correction is required to be performed on the workpiece 4 to be calibrated, the control device controls the driving device 1 to output driving force to the fixing piece 22, so that the movable element structure 12 on the driving device 1 drives the fixing piece 22 to move along the axial direction of the movable element mechanism 12, and further drives the adsorption assembly 21 to move in the direction away from the clamping assembly 31, and simultaneously moves in the direction approaching to the workpiece 4 to be calibrated; when the adsorption component 21 adsorbs the workpiece 4 to be calibrated, the control device can control the driving device 1 to output driving force to the fixing piece 22 and the clamping driving mechanism 32, and the stator structure 11 on the real-time driving device 1 drives the fixing piece 22 and the clamping driving mechanism 32 to move in the x-axis and y-axis directions, so that the clamping component 31 and the adsorption component 21 are driven to synchronously move, and the adsorption component 21 can accurately position the workpiece 4 to be calibrated and adsorb the workpiece 4 to be calibrated;
after detecting that the adsorption component 212 adsorbs the workpiece 4 to be calibrated, the control device controls the driving device 1 to output driving force to the fixing piece 22, so that the mover structure 12 on the driving device 1 drives the fixing piece 22 to move along the axial direction of the mover mechanism 12, and further drives the adsorption component 21 to move towards the direction close to the clamping component 31, when detecting that the workpiece 4 to be calibrated adsorbed on the adsorption component 212 moves to a preset position between the first clamping jaw 311 and the second clamping jaw 312 of the clamping component 31, the control device controls the clamping driving mechanism 32 to output driving force to the clamping component 31, so that the first clamping jaw 311 and the second clamping jaw 312 cooperatively move towards the direction close to each other until the first clamping end 3112 of the first clamping jaw 311 contacts with one side of the workpiece 4 to be calibrated, and the guide structure 31222 on the opening 31221 of the second clamping jaw 312 contacts with the other side of the workpiece 4 to be calibrated, so that the workpiece 4 to be calibrated is pushed into the opening 31221 under the guide effect of the first clamping end 3112 and the guide structure 31222, and the workpiece 4 to be calibrated is clamped by the first clamping end 3112 and the second clamping end 3122, and the calibration of the workpiece 4 to be calibrated is realized at the same time;
after detecting that the clamping assembly 31 calibrates the position of the workpiece 4 to be calibrated, the control device controls the silica gel sucker on the adsorption assembly 21 to release air pressure so that the silica gel sucker releases the workpiece to be calibrated; then controlling the adsorption component 21 to adsorb the workpiece 4 to be calibrated after the position calibration again; the control device controls the driving device to output driving force to the fixing piece 22, so that the driving device 1 drives the fixing piece 22 to move towards the direction close to the workpiece detection jig and move towards the x axis and/or the y axis, the fixing piece 22 further drives the adsorption component 21 to move towards the direction close to the workpiece detection jig and move towards the x axis and/or the y axis, the adsorption component 21 further drives the workpiece 4 to be calibrated after the position calibration to the workpiece detection position on the workpiece detection jig, and the workpiece 4 to be calibrated after the position calibration is released, so that the workpiece is detected.
According to the workpiece position calibration equipment disclosed by the application, through the adsorption device and the clamping device, when the clamping device clamps the workpiece to be calibrated on the adsorption device in the air, the position calibration of the workpiece to be calibrated is directly realized.
Example 3
The application provides a workpiece position calibration system, which comprises a workpiece placing table, workpiece position calibration equipment and a workpiece detection jig; the workpiece position calibration device is the workpiece position calibration device;
the workpiece placing table is used for placing a workpiece 4 to be calibrated;
the control device of the workpiece position calibration equipment is used for controlling the adsorption device 2 to adsorb at least one workpiece 4 to be calibrated on the workpiece placing table; and controlling the clamping device 3 to clamp the workpiece 4 to be calibrated adsorbed on the adsorption device 2 so as to calibrate the position of the workpiece 4 to be calibrated;
the control device is used for controlling the adsorption device 2 to adsorb the workpiece 4 to be calibrated on the clamping device 3 again and controlling the adsorption device 2 to place the workpiece 4 to be calibrated on the workpiece detection jig.
When the workpiece calibration system is used, the adsorption device 2 on the workpiece position calibration equipment adsorbs the workpiece 4 to be calibrated from the workpiece placement table, drives the workpiece 4 to be calibrated to ascend until the preset position of the clamping component 31 on the clamping device 3, clamps the workpiece 4 to be calibrated by the clamping component 31, realizes the position calibration of the workpiece 4 to be calibrated, and then the workpiece position calibration equipment conveys and places the workpiece 4 to be calibrated after the position calibration to the workpiece detection jig so as to realize the detection of the workpiece.
According to the workpiece position calibration system disclosed by the application, the calibration of the position of the workpiece to be calibrated is realized in the air through the workpiece position calibration equipment, so that the calibration of the position can be quickly and accurately finished, the space of the equipment is saved, the action flow is saved, and the equipment cost is reduced.
The above disclosure is only a preferred embodiment of the present application, and it is needless to say that the scope of the application is not limited thereto, and therefore, the equivalent changes according to the claims of the present application still fall within the scope of the present application.
Claims (8)
1. The workpiece position calibration equipment is characterized by comprising a control device, a driving device (1), an adsorption device (2) and a clamping device (3); the adsorption device (2) and the clamping device (3) are respectively in driving connection with the driving device (1); the control device is respectively in communication connection with the adsorption device (2) and the clamping device (3);
the clamping device (3) comprises a clamping assembly (31) and a clamping driving mechanism (32), and the clamping driving mechanism (32) is in driving connection with the driving device (1);
the adsorption device (2) comprises an adsorption assembly (21);
the control device is used for controlling the adsorption assembly (21) to adsorb or release the workpiece (4) to be calibrated;
the control device is used for controlling the driving device (1) to output driving force to the adsorption device (2) and the clamping device (3) respectively;
under the driving action of the driving device (1), the adsorption component (21) can move towards a direction approaching or separating from the clamping device (3), so that the adsorption component (21) drives the workpiece (4) to be calibrated to move towards the direction approaching or separating from the clamping device (3);
the adsorption assembly (21) can also synchronously move with the clamping device (3) in the horizontal direction under the driving action of the driving device (1);
the clamping assembly (31) comprises a first clamping jaw (311) and a second clamping jaw (312); the control device is used for controlling the clamping driving mechanism (32) to output driving force to the first clamping jaw (311) and the second clamping jaw (312) respectively; under the driving action of the clamping driving mechanism (32), the first clamping jaw (311) and the second clamping jaw (312) can cooperatively move in directions approaching to or separating from each other, so that the workpiece (4) to be calibrated is clamped or released by the clamping assembly (31);
-the suction assembly (21) is located between the first jaw (311) and the second jaw (312);
-the second jaw (312) comprises a second gripping end (3122); the second clamping end (3122) is provided with at least one opening (31221) and a guide structure (31222) arranged on the side wall of the opening (31221);
the control device is also used for controlling the driving device (1) to drive the clamping driving mechanism (32) to drive the first clamping jaw (311) and the second clamping jaw (312) to clamp the workpiece (4) to be calibrated when the workpiece (4) to be calibrated on the adsorption assembly (21) moves to a preset position between the first clamping jaw (311) and the second clamping jaw (312), so as to calibrate the position of the workpiece (4) to be calibrated; when the workpiece (4) to be calibrated moves to a preset position between the first clamping jaw (311) and the second clamping jaw (312), a cross area exists between the side wall of the workpiece (4) to be calibrated and one side of the first clamping jaw (311) and one side of the second clamping jaw (312) close to the workpiece (4) to be calibrated.
2. The workpiece position calibration device according to claim 1, characterized in that the first clamping jaw (311) comprises a fixedly connected first connecting end (3111) and a first clamping end (3112);
-said second jaw (312) comprises a second connection end (3121);
the first connecting end (3111) and the second connecting end (3121) are respectively fixedly connected with the clamping driving mechanism (32);
the clamping driving mechanism (32) is used for driving the first connecting end (3111) and the second connecting end to move towards or away from each other in a coordinated manner so as to drive the first clamping end (3112) and the second clamping end (3122) to move towards or away from each other.
3. The workpiece position calibration device of claim 2 wherein,
an opening of the opening portion (31221) faces the first clamping jaw (311), and the opening portion (31221) is used for accommodating the workpiece (4) to be calibrated;
during the process of clamping the workpiece (4) to be calibrated by the first clamping end (3112) and the second clamping end (3122), the guiding structure (31222) can guide the workpiece (4) to be calibrated so that the workpiece (4) to be calibrated enters the opening (31221).
4. Workpiece position calibration equipment according to claim 1, characterized in that the suction device (2) further comprises a fixture (22);
the adsorption component (21) is in driving connection with the driving device (1) through the fixing piece (22);
the driving device (1) is used for driving the fixing piece (22) to move, so that the fixing piece (22) drives the adsorption assembly (21) to move towards or away from the clamping device (3).
5. The workpiece position calibration device according to claim 4, characterized in that the suction assembly (21) comprises a suction plate (211) and at least one suction member (212); the adsorption plate (211) is fixedly connected with the connecting piece;
the adsorption plate (211) is provided with a containing cavity of the adsorption piece (212), and the adsorption piece (212) is positioned in the containing cavity; one end of the adsorption piece (212) far away from the adsorption plate (211) is used for adsorbing or releasing the workpiece (4) to be calibrated.
6. The workpiece position calibration device according to claim 5, characterized in that the suction element (212) is provided with a silicone suction cup and a pressure vessel;
the pressure container can provide adsorption force for the silica gel sucker in a negative pressure state so that the silica gel sucker adsorbs the workpiece (4) to be calibrated;
the pressure container can enable the silica gel sucker to lose adsorption force under the non-negative pressure state, so that the silica gel sucker releases the workpiece (4) to be calibrated.
7. Workpiece position calibration device according to claim 1, characterized in that the drive means (1) comprise a mover structure (12) and a stator structure (11);
the clamping device (3) is in driving connection with the stator structure (11);
the adsorption device (2) is in driving connection with the rotor structure (12).
8. The workpiece position calibration system is characterized by comprising a workpiece placement table, workpiece position calibration equipment and a workpiece detection jig; the workpiece position calibration apparatus is the workpiece position calibration apparatus according to any one of claims 1 to 7;
the workpiece placing table is used for placing a workpiece (4) to be calibrated;
the control device of the workpiece position calibration equipment is used for controlling the adsorption device (2) to adsorb at least one workpiece (4) to be calibrated on the workpiece placing table; and controlling the clamping device (3) to clamp the workpiece (4) to be calibrated adsorbed on the adsorption device (2) so as to calibrate the position of the workpiece (4) to be calibrated;
the control device is used for controlling the adsorption device (2) to adsorb the workpiece (4) to be calibrated on the clamping device (3) again and controlling the adsorption device (2) to place the workpiece (4) to be calibrated on the workpiece detection jig.
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| CN202111458011.0A CN114044358B (en) | 2021-12-02 | 2021-12-02 | Workpiece position calibration equipment and workpiece position calibration system |
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| CN202111458011.0A CN114044358B (en) | 2021-12-02 | 2021-12-02 | Workpiece position calibration equipment and workpiece position calibration system |
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| CN114044358B true CN114044358B (en) | 2023-10-17 |
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| JPH08143098A (en) * | 1994-11-14 | 1996-06-04 | Niigata Eng Co Ltd | Cap attaching & detaching device |
| JP2000094372A (en) * | 1998-09-22 | 2000-04-04 | Advantest Corp | Part handling device and control method therefor |
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| CN114044358A (en) | 2022-02-15 |
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