CN213320183U

CN213320183U - 3D product positioning device

Info

Publication number: CN213320183U
Application number: CN202022380209.9U
Authority: CN
Inventors: 王宏科
Original assignee: Lens Intelligent Robot Changsha Co Ltd
Current assignee: Lens Intelligent Robot Changsha Co Ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2021-06-01
Anticipated expiration: 2030-10-22

Abstract

The utility model discloses a 3D product positioner, including being used for placing and fixing the tool of product and being used for the location the electronic clamping jaw of product, be equipped with on the electronic clamping jaw and can fix a position in the X direction arm lock of product and can fix a position in the Y direction arm lock of product. The utility model provides a 3D product positioner, through electronic clamping jaw comes to fix a position the product, and positioning accuracy is high, can also pass through simultaneously electronic clamping jaw is from the clamping-force size of the real-time change arm lock of moment control mode in area to damage the product.

Description

3D product positioning device

Technical Field

The utility model relates to a positioning device field especially relates to a 3D product positioner.

Background

At present, when the transfer printing is carried out on a glass product, the adopted automatic equipment is an XY axis centering and positioning mechanism, incoming material products grabbed from a grill are subjected to primary coarse positioning, and then the products are placed on a jig to be accurately positioned by a CCD camera for the products. The plane is in the middle of the conventional product, the pad printing process can be performed by attaching the plane in the middle of the product to the plane of the jig, the force bearing surface of the product and the jig can be attached by coarse positioning under the condition, and complete attachment is not needed.

However, when the product is the 3D product of full song, the product does not have the plane with tool contact position, if the product snatchs and not totally coincide on the tool and will cause two curved surfaces to laminate not well, still influence bat printing precision or even crushing product when can reducing tool vacuum suction. And among the prior art, the product after the robot will pass through the coarse positioning snatchs to the product of bat printing tool in-process and has the displacement, and the jig can not laminate completely after the holohedral 3D product is placed on the jig, and two curved surfaces need to laminate and only can not satisfy through the coarse positioning, need install accurate positioning mechanism on the jig. The precision positioning mechanism in the prior art generally drives the screw rod through the motor so as to position, and has the advantages of large structural volume and high maintenance cost.

Therefore, how to improve the positioning accuracy of the 3D product positioning device is a technical problem that needs to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a 3D product positioner, this 3D product positioner can effectual improvement to the positioning accuracy of 3D product.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a 3D product positioner, is including being used for placing and fixing the tool of product and being used for the location the electronic clamping jaw of product, be equipped with on the electronic clamping jaw and fix a position in the X direction arm lock of product and can fix a position in the Y direction arm lock of product.

Preferably, the X-direction clamping arm and the Y-direction clamping arm are respectively provided with a clamping rod extending along the longitudinal direction, and the clamping rods can be in contact with the edge of the product.

Preferably, the X-direction clamp arm includes a first X-direction clamp arm and a second X-direction clamp arm respectively located at two sides of the product in the X direction; the Y-direction clamping arms comprise a first Y-direction clamping arm and a second Y-direction clamping arm which are respectively positioned at two sides of the product in the Y direction; the first X-direction clamping arm and the second X-direction clamping arm are respectively provided with at least one clamping rod, and the first Y-direction clamping arm and the second Y-direction clamping arm are respectively provided with at least two clamping rods.

Preferably, an arc-shaped groove for the clamping rod to move into is formed in the side face of the jig.

Preferably, the jig further comprises a shooting component for acquiring the position of the product and a controller capable of calculating the position adjustment amount of the jig according to the position of the product and the target position.

Preferably, the jig device further comprises a jig mounting part for mounting the jig and a jig position adjusting assembly capable of driving the jig mounting part to move along the X axis and the Y axis and rotate around the Z axis respectively.

Preferably, the jig position adjusting assembly comprises an X-axis driving part and a Y-axis driving part which can drive the jig mounting part to move along the X-axis and the Y-axis respectively, and a rotating part which is used for driving the jig mounting part to rotate around the Z-axis.

Preferably, the X-axis driving part is a linear motor, and the Y-axis driving part is a stepping motor.

Preferably, the electric chuck further comprises a protective cover for accommodating the electric chuck jaw, the Y-axis driving member and the rotating member, and the protective cover is mounted on the X-axis driving member.

Preferably, the jig further comprises a cover plate which can be arranged at the top of the protective cover, and the cover plate is provided with a profiling hole for the jig to extend out of the outer side of the cover plate.

The utility model provides a 3D product positioner, including being used for placing and fixing the tool of product and being used for the location the electronic clamping jaw of product, be equipped with on the electronic clamping jaw and can fix a position in the X direction arm lock of product and can fix a position in the Y direction arm lock of product. The utility model provides a 3D product positioner, through electronic clamping jaw comes to fix a position the product, and positioning accuracy is high, can also pass through simultaneously electronic clamping jaw is from the clamping-force size of the real-time change arm lock of moment control mode in area to damage the product.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is an exploded schematic view of a specific embodiment of a 3D product positioning device provided by the present invention;

fig. 2 is a schematic view of an assembly structure of a specific embodiment of the 3D product positioning device provided by the present invention;

fig. 3 is a schematic structural view of each component in the protection cover in the 3D product positioning device provided by the present invention;

fig. 4 is a schematic structural view of an electric clamping jaw and a jig in the 3D product positioning device provided by the present invention;

wherein: 1-X axis drive components; 2-a protective cover; a 3-Y axis drive component; 4-a rotating member; 5-an electric clamping jaw; 6-cover plate; 7-products; 8-X direction clamping arms; 9-Y direction clamping arms; 10-a clamping bar; 11-closing plate; 12-a jig; 12-1-a jig mounting part; 13-shooting means.

Detailed Description

The core of the utility model is to provide a 3D product positioner, this 3D product positioner can effectual improvement to the positioning accuracy of 3D product.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 4, fig. 1 is an exploded schematic view of a 3D product positioning device according to an embodiment of the present invention; fig. 2 is a schematic view of an assembly structure of a specific embodiment of the 3D product positioning device provided by the present invention; fig. 3 is a schematic structural view of each component in the protection cover in the 3D product positioning device provided by the present invention; fig. 4 is a schematic structural view of the electric clamping jaw and the jig in the 3D product positioning device.

In this embodiment, the 3D product positioning device comprises a jig 12 and an electric jaw 5. Wherein, be equipped with the 3D holding surface on tool 12 for place and fixed 3D product 7, after 7 location completions of product, tool 12 realizes the fixed to product 7 through adsorbing product 7, and electronic clamping jaw 5 is used for fixing a position product 7, and is concrete, is equipped with X direction arm lock 8 and Y direction arm lock 9 on the electronic clamping jaw 5, and X direction arm lock 8 can fix a position product 7 in X direction, and Y direction arm lock 9 can fix a position product 7 in the Y direction. Specifically, the jig 12 is provided with a 3D supporting surface for placing the 3D product 7.

The utility model provides a 3D product positioner fixes a position product 7 through electronic clamping jaw 5, and positioning accuracy is high, can also change the clamping-force size of arm lock in real time through the moment control mode of electronic clamping jaw 5 self-bring simultaneously to avoid damaging product 7.

Furthermore, the X-direction clamp arm 8 and the Y-direction clamp arm 9 are both provided with a clamp rod 10, the clamp rod 10 extends along the longitudinal direction, and the clamp rod 10 can contact with the edge of the product 7 to adjust the position of the product 7.

Furthermore, the X-direction clamp arms 8 include a first X-direction clamp arm 8 and a second X-direction clamp arm 8 respectively located on two sides of the product 7 in the X direction, and the first X-direction clamp arm 8 and the second X-direction clamp arm 8 approach each other in the process; the Y-direction clamping arms 9 comprise a first Y-direction clamping arm 9 and a second Y-direction clamping arm 9 which are respectively positioned on two sides of the product 7 in the Y direction; specifically, in the process that the first X-direction clamp arm 8 and the second X-direction clamp arm 8 approach each other, the clamp rods 10 located on the first X-direction clamp arm 8 and the second X-direction clamp arm 8 push the product 7 to move to the position in the X direction; when the first Y-direction clamp arm 9 and the second Y-direction clamp arm 9 approach each other, the clamp rod 10 on the first Y-direction clamp arm 9 and the second Y-direction clamp arm 9 pushes the product 7 to move in the Y-direction.

Preferably, the first X-direction arm clamp 8 and the second X-direction arm clamp 8 are both provided with at least one clamping rod 10, and the first Y-direction arm clamp 9 and the second Y-direction arm clamp 9 are both provided with at least two clamping rods 10. By the arrangement, the product 7 is provided with the two clamping rods 10 in the X direction, and the product 7 is provided with the four clamping rods 10 in the Y direction, so that the stability of the product 7 in positioning can be effectively ensured. Of course, at least two clamping rods 10 may be disposed on both the first X-direction clamping arm 8 and the second X-direction clamping arm 8, and at least one clamping rod 10 may be disposed on both the first Y-direction clamping arm 9 and the second Y-direction clamping arm 9.

On the basis of the above embodiments, the side surface of the jig 12 is provided with an arc-shaped groove for the clamping rod 10 to move into, as shown in fig. 4, the arc-shaped groove can be suitable for products 7 with different sizes.

In addition to the above embodiments, the present invention further includes a photographing device 13 for acquiring the position of the product 7, and a controller capable of calculating the position adjustment amount of the jig 12 according to the position of the product 7 and the target position. Specifically, the image capturing unit 13 is preferably a CCD camera, and the controller is preferably a PLC controller.

Further, the jig device comprises a jig mounting part 12-1 for mounting the jig 12 and a jig position adjusting assembly capable of driving the jig mounting part 12-1 to move along the X axis and the Y axis and rotate around the Z axis respectively, wherein the jig mounting part 12-1 is connected with the jig 12 through a sealing plate 11. The controller is in communication connection with the jig position adjusting assembly, and when the controller calculates the position adjusting amount of the jig 12, the controller sends the position adjusting amount to the jig position adjusting assembly, and the jig 12 is moved in place by the jig position adjusting assembly. The target position is set based on the position of the print head, and the target position should be adjusted appropriately each time the print head is replaced.

Specifically, the jig position adjusting assembly comprises an X-axis driving part 1 and a Y-axis driving part 3 which can drive the jig mounting part 12-1 to move along the X-axis and the Y-axis respectively, and a rotating part 4 which is used for driving the jig mounting part 12-1 to rotate around the Z-axis. More specifically, the rotating member 4 is mounted on the bottom of the jig 12, and the rotating member 4 is mounted on the Y-axis driving member 3.

Further, the protective cover 2 is used for accommodating the electric clamping jaw 5, the Y-axis driving component 3 and the rotating component 4, the protective cover 2 is installed on the X-axis driving component 1, and the protective cover 2 can move on the X-axis driving component 1 along the X-axis direction. The protective cover 2 can be dust-proof, prevent personal injuries and prevent the products 7 from falling.

Preferably, the X-axis driving part 1 is a linear motor, and the Y-axis driving part 3 is a stepping motor. By the arrangement, the requirement of large-amplitude movement from the positioning process to the printing process on the X axis can be met, the position adjustment of the jig 12 can be met, the movement of the Y axis is mainly used for the position adjustment of the jig 12, and the precision of the stepping motor is high.

On the basis of the above embodiments, the protective cover further comprises a cover plate 6 which can be installed on the top of the protective cover 2, and the cover plate 6 is provided with a contour hole for the jig 12 to extend out of the cover plate 6. The setting of apron 6 can prevent effectively that product 7 from dropping, and protection personnel's safety simultaneously.

In one embodiment, the robot picks the roughly positioned product 7 onto the jig 12; a driver of the electric clamping jaw 5 drives the X-direction clamping arm 8 and the Y-direction clamping arm 9 to move towards the X-axis direction and the Y-axis direction respectively, and drives the clamping rods 10 on the X-direction clamping arm 8 and the Y-direction clamping arm 9 to move towards the X-axis direction and the Y-axis direction respectively, so that the product 7 is positioned, and the product 7 is ensured to be completely attached to the curved surface of the jig 12; the vacuum is started, and the jig 12 tightly sucks the product 7; when the electric clamping jaw 5 clamps the product 7, the clamping force can be controlled through the torque mode of the electric clamping jaw 5, so that the product 7 is not damaged; meanwhile, a CCD camera above the jig 12 shoots to obtain position coordinates of the product 7, position adjustment amount is sent to the X-axis driving part 1, the Y-axis driving part 3 and the rotating part 4 through calculation of the PLC to adjust the final position of the product 7, the printing head is pressed down, and transfer printing of the product 7 is completed.

The 3D product positioner that this embodiment provided has replaced the XY axle centering locate mode that realizes through motor plus lead screw among the prior art with the less electronic clamping jaw 5 locate mode of volume, and the device simple structure, compactness, the maintenance cost is low, and the precision is high, and the size of accessible moment mode control clamping-force guarantees that product 7 can not damaged, is applicable to the work piece that warp easily and easily damaged, and the location is efficient.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

It is right above the utility model provides a 3D product positioner introduces in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. The utility model provides a 3D product positioner, its characterized in that, is including tool (12) that are used for placing and fix product (7) and being used for the location electronic clamping jaw (5) of product (7), be equipped with on electronic clamping jaw (5) and can fix a position in the X direction arm lock (8) of product (7) and can fix a position in the Y direction arm lock (9) of product (7).

2. 3D product positioning device according to claim 1, characterized in that the X-direction clamping arm (8) and the Y-direction clamping arm (9) are each provided with a longitudinally extending clamping bar (10), which clamping bars (10) are contactable with an edge of the product (7).

3. 3D product positioning device according to claim 2, characterized in that the X-direction clamp arms (8) comprise a first X-direction clamp arm (8) and a second X-direction clamp arm (8) located on either side of the product (7) in the X-direction, respectively; the Y-direction clamping arms (9) comprise a first Y-direction clamping arm (9) and a second Y-direction clamping arm (9) which are respectively positioned on two sides of the product (7) in the Y direction; first X direction arm lock (8) with all be provided with at least one clamping bar (10) on second X direction arm lock (8), first Y direction arm lock (9) with all be provided with two at least clamping bar (10) on second Y direction arm lock (9).

4. 3D product positioning device according to claim 2, characterized in that the side of the jig (12) is provided with an arc-shaped groove into which the clamping bar (10) moves.

5. The 3D product positioning device according to any one of claims 1 to 4, further comprising a camera (13) for acquiring the position of the product (7) and a controller capable of calculating the position adjustment amount of the jig (12) according to the position of the product (7) and a target position.

6. The 3D product positioning device according to claim 5, further comprising a jig mounting part (12-1) for mounting the jig (12) and a jig position adjusting assembly for driving the jig mounting part (12-1) to move along the X-axis and the Y-axis and rotate around the Z-axis, respectively.

7. The 3D product positioning device according to claim 6, wherein the jig position adjustment assembly comprises an X-axis driving part (1) and a Y-axis driving part (3) for driving the jig mounting part (12-1) to move along the X-axis and the Y-axis, respectively, and a rotating part (4) for driving the jig mounting part (12-1) to rotate around the Z-axis.

8. The 3D product positioning device according to claim 7, wherein the X-axis drive part (1) is a linear motor and the Y-axis drive part (3) is a stepper motor.

9. The 3D product positioning device according to claim 7, further comprising a protective cover (2) for accommodating the motorized clamping jaw (5), the Y-axis drive member (3) and the rotation member (4), the protective cover (2) being mounted on the X-axis drive member (1).

10. The 3D product positioning device according to claim 9, further comprising a cover plate (6) capable of being installed on top of the protection cover (2), wherein the cover plate (6) is provided with a contour hole for the jig (12) to extend to the outside of the cover plate (6).