CN217314006U - Self-adaptive workpiece positioning device based on CMA spraying robot - Google Patents
Self-adaptive workpiece positioning device based on CMA spraying robot Download PDFInfo
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- CN217314006U CN217314006U CN202121060697.3U CN202121060697U CN217314006U CN 217314006 U CN217314006 U CN 217314006U CN 202121060697 U CN202121060697 U CN 202121060697U CN 217314006 U CN217314006 U CN 217314006U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
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Abstract
The utility model relates to the spraying field, in particular to a self-adaptive workpiece positioning device based on a CMA spraying robot, which comprises a positioning gear device and is used for ensuring the synchronous rotation of a workpiece and internal parts; a belt driving device for controlling the rotation of the belt; the positioning cylinder device is used for sensing and positioning the belt driving device, and S1, the belt driving device enters a spraying room; s2, eliminating front and back deviation of the workpiece; s3, connecting a speed reducer and a belt; s4, operating a motor; s5, corresponding position relation; s6, driving the positioning gear to rotate by the belt; s7, the belt continuously drives the positioning gear to rotate; s8, continuously rotating the belt at a set speed; s9, starting spraying; s10, stopping working of the clutch cylinder; s11, stopping working of the positioning cylinder; the workpiece is driven to rotate through the positioning gear, the workpiece posture can be dynamically adjusted, the workpiece uncertainty deviation caused by manual workpiece feeding is eliminated, the labor cost for manually adjusting the workpiece posture is saved, and the automation rate of a spraying production line is improved.
Description
Technical Field
The utility model relates to a spraying field specifically is self-adaptation work piece positioner based on CMA spraying robot.
Background
In the 21 st century, the environmental protection requirements of countries around the world are higher, and the manual spraying mode adopted by the traditional spraying industry is replaced by the automatic spraying mode. The spraying robot is being used as an automatic spraying device in the industries of furniture, hardware, rail transit and the like. The CMA spray robot is widely used in various spray industries as an excellent home-made spray robot. At present, a spraying robot is generally matched with conveying equipment for use: the spraying robot is fixedly installed, the conveying equipment conveys the workpiece to a spraying position, and the robot performs spraying. Because the spraying robot adopts the manual trail of trying to teach first, then this orbit of automatic repetitive motion, therefore how to guarantee that the work piece stops in same position every time is the prerequisite of guaranteeing the robot spraying effect. In the prior art, a stopper is usually installed at a proper position of a conveying device, when a workpiece reaches a spraying position, the conveying device is stopped, and then a robot performs spraying, but due to the fact that the conveying device creeps forward for a certain distance after the stopper stops the conveying device, the stopping position of the workpiece and the position of a trial track have certain deviation, namely front-back deviation; at present, an artificial pendant is commonly used in a pendant area, the condition that workpieces are completely hung can not be guaranteed, a left deviation and a right deviation are generated when the workpieces rotate by a certain angle, the left deviation and the right deviation are irrelevant to a conveying device and are completely artificial deviations, and an effective solution for the deviation is not available at present. In order to solve the problems of front-back deviation and left-right deviation of a workpiece to be sprayed, a self-adaptive workpiece positioning method based on a CMA spraying robot is indispensable.
Disclosure of Invention
In order to solve the problem, the utility model provides an adaptive work piece positioner based on CMA spraying robot.
Self-adaptation work piece positioner based on CMA spraying robot includes:
the positioning gear device is used for ensuring that the workpiece and the internal part rotate synchronously;
the belt driving device is distributed in parallel with the positioning gear device and is used for controlling the rotation of the belt;
and the positioning cylinder device is arranged on the positioning gear device and used for sensing and positioning the belt driving device.
The positioning gear device comprises a connecting beam serving as a fixing and mounting platform of the whole positioning gear device, a first connecting rod and a second connecting rod which are respectively fixed at two ends of the connecting beam and used for fixing the positioning gear device on conveying equipment, a positioning gear which is mounted in the middle of the connecting beam and used for realizing free rotation, a first salient point and a second salient point which are mounted on the upper surface of the positioning gear and used for determining the position of a workpiece, a hanging rod which is connected with the positioning gear through the connecting beam and used for ensuring synchronous rotation of the workpiece and the positioning gear, and an oil receiving disc which is connected with the connecting beam through the hanging rod and used for collecting lubricating oil of the positioning gear device.
The distance between the first salient point and the second salient point is the radius length of the positioning gear.
The belt driving device comprises a tray, a mounting bottom plate arranged above the tray, a mounting beam frame arranged on the mounting bottom plate and used for being reliably connected with the conveying equipment, a motor arranged on the mounting bottom plate, a speed reducer arranged on the mounting bottom plate and connected with the motor and used for transmitting the rotating speed and the torque of the motor, a belt arranged below the mounting bottom plate through bolts and matched with the speed reducer, and a clutch cylinder arranged on the mounting bottom plate.
The positioning cylinder device comprises a square pipe support, two groups of square connecting pipes arranged on the square pipe support, a first connecting plate and a second connecting plate which are fixed on the two groups of square connecting pipes respectively, a square connecting pipe fixedly connected with one end of the square pipe support, a second adjustable square pipe connected with one end of the square pipe support away from the square connecting pipe, a cylinder body fixedly connected with one end of the square pipe support, a first adjustable square pipe matched with the second adjustable square pipe through an adjusting screw, a mounting plate connected with the first adjustable square pipe, a first inductive switch and a second inductive switch which are fixed on the mounting plate and have the same spacing distance with the first salient point and the second salient point, a cylinder rod arranged on the cylinder body, a V-shaped positioning block arranged on the front side of the cylinder rod and used for clamping a hanging rod of a positioning gear device at the bottom end through screw fixation, and a mounting block arranged on the cylinder rod.
The first induction switch and the second induction switch, the first salient point and the second salient point are matched for use, signals need to be output when the first induction switch or the second induction switch is positioned right above the first salient point or the second salient point, and if the first induction switch or the second induction switch is not positioned right above the first salient point or the second salient point, no signals are output.
The cylinder rod and the cylinder body are matched for use, the cylinder rod and the cylinder body form a positioning cylinder, the cylinder rod contracts when the positioning cylinder does not work, and the cylinder rod extends out to drive the V-shaped positioning block to move when the positioning cylinder works.
The utility model has the advantages that: the positioning gear drives the workpiece to rotate, so that the attitude of the workpiece can be dynamically adjusted, the uncertainty deviation of the workpiece caused by manual workpiece loading is eliminated, the labor cost for manually adjusting the attitude of the workpiece is saved, and the automation rate of a spraying production line is improved; the V-shaped clamping groove is controlled by the positioning cylinder, each workpiece entering the spraying station is fixed at the same position, the consistency of the stop positions of the workpieces is ensured, the position deviation caused by the creeping of a conveying chain and different loads is eliminated, the precision requirement on the conveying device is greatly reduced, the hardware cost and the debugging cost of the conveying device are reduced, and the spraying quality of the spraying robot is improved; the relative positions of the induction switch and the two bulges are judged, so that the rotating speed control is realized, the spraying beat is promoted while the consistency of the stop positions of the workpieces is ensured, the creative method can correct the rotation deviation of the workpieces at various angles, the fault tolerance of the positions of the workpieces is increased, the workload of an installation area is greatly reduced, the positioning time of the workpieces is saved, the production beat is improved, the cost of an enterprise is saved, and the efficiency is improved.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic view of an assembly structure of the present invention;
FIG. 2 is a schematic structural view of the positioning gear device of the present invention;
FIG. 3 is a schematic view of the structure of the belt driving device of the present invention;
FIG. 4 is a schematic structural view of the positioning cylinder device of the present invention;
FIG. 5 is a block diagram showing the flow structure of the present invention;
description of the drawings: 1. a belt drive device; 11. a speed reducer; 12. a motor; 13. a belt; 14. a tray; 15. a clutch cylinder; 16. mounting a bottom plate; 17. mounting a beam frame; 2. positioning a gear device; 21. a first connecting rod; 22. positioning a gear; 23. a first salient point; 24. a second salient point; 25. a connecting beam; 26. an oil receiving disc; 27. a hanging rod; 28. a second connecting rod; 3. positioning the cylinder device; 31. a first connecting plate; 32. a square tube bracket; 33. a first inductive switch; 34. mounting a plate; 35. a second inductive switch; 36. a V-shaped positioning block; 37. mounting blocks; 38. a cylinder rod; 39. an adjustable square tube I; 310. adjusting screws; 311. an adjustable square tube II; 312. a cylinder body; 313. a second connecting plate; 314. and connecting the square pipes.
Detailed Description
In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, and the utility model is further explained below.
As shown in fig. 1 to 5, the adaptive workpiece positioning device based on CMA coating robot includes:
the positioning gear device 2 is used for ensuring that the workpiece and the internal parts rotate synchronously;
the belt driving device 1 and the positioning gear device 2 are distributed in parallel and used for controlling the rotation of the belt 13;
and the positioning cylinder device 3 is arranged on the positioning gear device 2 and used for sensing and positioning the belt driving device 1.
The belt 13 of the belt driving device 1 and the positioning gear 22 of the positioning gear device 2 are positioned on the same plane, and the belt 13 rotates to drive the positioning gear 22 to rotate; the connecting beam 25 of the positioning gear device 2 and the mounting block 37 of the positioning cylinder device 3 ensure reliable contact; the positions of the first inductive switch 33 and the second inductive switch 35 of the positioning cylinder device 3 need to be matched with the positioning gear 22 of the positioning gear device 2, when the positioning gear 22 rotates, effective induction of the two salient points on the positioning gear 22 and the two inductive switches of the positioning cylinder is achieved at specific positions, and the two salient points and the two inductive switches can be successfully induced at the specific positions at the same time.
The positioning gear 22 drives the workpiece to rotate, so that the attitude of the workpiece can be dynamically adjusted, the uncertainty deviation of the workpiece caused by manual workpiece loading is eliminated, the labor cost for manually adjusting the attitude of the workpiece is saved, and the automation rate of a spraying production line is improved; the V-shaped clamping groove is controlled by the positioning cylinder, each workpiece entering the spraying station is fixed at the same position, the consistency of the stop positions of the workpieces is ensured, the position deviation caused by the creeping of a conveying chain and different loads is eliminated, the precision requirement on the conveying device is greatly reduced, the hardware cost and the debugging cost of the conveying device are reduced, and the spraying quality of the spraying robot is improved; the relative positions of the induction switch and the two bulges are judged, so that the rotating speed control is realized, the spraying beat is promoted while the consistency of the stop positions of the workpieces is ensured, the creative method can correct the rotation deviation of the workpieces at various angles, the fault tolerance of the positions of the workpieces is increased, the workload of an installation area is greatly reduced, the positioning time of the workpieces is saved, the production beat is improved, the cost of an enterprise is saved, and the efficiency is improved.
The positioning gear device 2 comprises a connecting beam 25 serving as a fixing and mounting platform of the whole positioning gear device 2, a first connecting rod 21 and a second connecting rod 28 which are respectively fixed at two ends of the connecting beam 25 and used for fixing the positioning gear device 2 on conveying equipment, a positioning gear 22 which is mounted in the middle of the connecting beam 25 and used for realizing free rotation, a first salient point 23 and a second salient point 24 which are mounted on the upper surface of the positioning gear 22 and used for determining the position of a workpiece, a hanging rod 27 which is connected with the positioning gear 22 through the connecting beam 25 and used for ensuring synchronous rotation of the workpiece and the positioning gear 22, and an oil receiving disc 26 which is connected with the connecting beam 25 through the hanging rod 27 and used for collecting lubricating oil of the positioning gear device 2.
The first connecting rod 21 and the second connecting rod 28 are fixed at two ends of the connecting beam and are used for fixing the positioning gear device 2 on the conveying equipment.
The positioning gear 22 is arranged in the middle of the connecting beam 25, and the positioning gear 22 realizes the free rotation of the gear.
The first salient point 23 and the second salient point 24 are identical metal small cylinders and are arranged on the upper surface of the positioning gear 22, the first salient point 23 and the second salient point 24 are arranged at a certain interval, and the first salient point 23 and the second salient point 24 are used for determining the position of a workpiece.
The two sides of the connecting beam 25 are fixed with the first connecting rod 21 and the second connecting rod 28, the positioning gear 22 is arranged on the connecting beam 25, the oil receiving disc 26 and the hanging rod 27 are arranged below the connecting beam 25, and the connecting beam 25 is used as a fixing and mounting platform of the whole positioning gear device 2.
The oil receiving tray 26 is a stainless steel tray, is connected with the connecting beam 25 through a hanging rod 27, and is used for collecting lubricating oil of the positioning gear device 2 and preventing the lubricating oil from dropping to a workpiece and the ground.
The hanging rod 27 is a metal connecting rod, the upper end of the metal connecting rod is connected with the positioning gear 22 through the connecting beam 25, the lower end of the metal connecting rod is hung with a workpiece, and the function of the metal connecting rod is to ensure that the workpiece and the positioning gear 22 rotate synchronously.
The interval installation distance between the first salient point 23 and the second salient point 24 is the radius length of the positioning gear 22.
The belt driving device 1 comprises a tray 14, a mounting base plate 16 arranged above the tray 14, a mounting beam frame 17 mounted on the mounting base plate 16 and used for being reliably connected with conveying equipment, a motor 12 mounted on the mounting base plate 16, a speed reducer 11 mounted on the mounting base plate 16 and connected with the motor 12 and used for transmitting the rotating speed and the torque of the motor 12, a belt 13 mounted below the mounting base plate 16 through bolts and matched with the speed reducer 11, and a clutch cylinder 15 mounted on the mounting base plate 16.
The speed reducer 11 is used for transmitting the rotating speed and the torque of the motor 12 and driving the belt 13 to move; the motor 12 is selected to be a servo motor, and is installed on the installation bottom plate 16, and the motor 12 is connected with the speed reducer 11 and works in cooperation with the speed reducer 11.
The clutch cylinder 15 is arranged on the mounting base plate 16, when the clutch cylinder 15 does not work, the belt 13 and the speed reducer 11 are in a separation state, the speed reducer 11 cannot drive the belt 13 to rotate, when the clutch cylinder 15 works, the speed reducer 11 and the belt 13 are successfully separated, and when the speed reducer 11 rotates, the belt 13 is driven to rotate; the belt 13 is installed below the installation bottom plate 16 and connected with the installation bottom plate 16 through bolts, and the belt 13 is used for driving the positioning gear 22 to rotate through self rotation.
The mounting base plate 16 is a steel plate and is used for fixing the motor 12, the speed reducer 11 and the clutch cylinder 15; the mounting beam 17 is a set of square tubes for secure attachment to the conveyor apparatus.
The positioning cylinder device 3 comprises a square pipe support 32, two groups of square connecting pipes 314 arranged on the square pipe support 32, a first connecting plate 31 and a second connecting plate 313 which are respectively fixed on the two groups of square connecting pipes 314, a square connecting pipe 314 fixedly connected with one end of the square pipe support 32, an adjustable square pipe 311 connected with one end of the square pipe support 32 far away from the square connecting pipe 314, a cylinder body 312 fixedly connected with one end of the square pipe support 32, an adjustable square pipe I39 matched with the adjustable square pipe II 311 through an adjusting screw 310, a mounting plate 34 connected with the adjustable square pipe I39, a first induction switch 33 and a second induction switch 35 which are fixed on the mounting plate 34 and have the same interval distance with a first salient point 23 and a second salient point 24, a cylinder rod 38 installed on the cylinder body 312, a V-shaped positioning block 36 which is installed on the front side of the cylinder rod 38 and is fixed through screws and used for clamping a hanging rod 27 of the positioning gear device 2 at the bottom end, A mounting block 37 disposed on a cylinder rod 38.
The first inductive switch 33 and the second inductive switch 35 are used in cooperation, the first salient point 23 and the second salient point 24 are used in cooperation, signals need to be output when the first inductive switch 33 or the second inductive switch 35 is located right above the first salient point 23 or the second salient point 24, and if the first inductive switch 33 or the second inductive switch 35 is not located right above the first salient point 23 or the second salient point 24, no signals are output.
The cylinder rod 38 and the cylinder body 312 are used in a matched mode, the cylinder rod 38 and the cylinder body 312 form a positioning cylinder, when the positioning cylinder does not work, the cylinder rod 38 contracts, and when the positioning cylinder works, the cylinder rod 38 extends out to drive the V-shaped positioning block 36 to move.
One end of the square pipe support 32 is fixedly connected with the connecting square pipe 314, the other end of the square pipe support is connected with the adjustable square pipe 311, the square pipe support 32 is fixedly connected with the cylinder body 312, and the square pipe support 32 is used for fixedly connecting the square pipe 314, the adjustable square pipe 311 and the cylinder body 312.
The first inductive switch 33 and the second inductive switch 35 are fixed on the mounting plate 34, the mounting distance between the two inductive switches needs to be the same as the mounting distance between the first salient point 23 and the second salient point 24 in the positioning gear device 2, and the two inductive switches are used in cooperation with the first salient point 23 and the second salient point 24.
The mounting block 37 is a steel plate, and the V-shaped positioning block 36 and the cylinder rod 38 are securely connected by screws.
The positioning method of the self-adaptive workpiece positioning device based on the CMA spraying robot comprises the following specific steps:
s1, entering a spraying room: the workpiece to be sprayed is hung on the first connecting rod 21 and the second connecting rod 28 of the positioning gear device 2, enters the spraying room along the running direction of the conveying device, reaches the stop position set by the conveying device, and then enters step S2;
s2, eliminating front and back deviation of the workpiece: the stop position is a position to be sprayed by the robot, when the workpiece reaches the spraying position, the positioning cylinder of the positioning cylinder device 3 acts, the cylinder rod 38 drives the V-shaped positioning block 36 to move, the hanging rod 27 of the positioning gear device 2 is clamped at the bottom end of the V-shaped positioning block 36, when the hanging rod 27 of each workpiece is clamped at the bottom end of the V-shaped positioning block 36, the front and back deviation of the workpiece is eliminated, and the step S3 is entered;
s3, connecting the speed reducer 11 with the belt 13: the clutch cylinder 15 of the belt driving device 1 operates to connect the speed reducer 11 and the belt 13, and the process proceeds to step S4;
s4, the motor 12 works: the motor 12 of the belt driving device 1 works, the motor 12 rotates and drives the belt 13 to rotate through the speed reducer 11, and the step S5 is entered;
s5, correspondence position relationship: before the belt 13 rotates, in the XY plane, there are several conditions of relative position relationship between the first inductive switch 33 and the second inductive switch 35 and the first salient point 23 and the second salient point 24:
1, the first bump 23 and the second bump 24 are both outside the first inductive switch 33 and the second inductive switch 35, and the step S6 is entered;
2, the bump one 23 is outside the sensing switch one 33 and the sensing switch two 35, and the bump two 24 is between the sensing switch one 33 and the sensing switch two 35, and the step S7 is executed;
step S8, in which the first bump 23 is located between the first inductive switch 33 and the second inductive switch 35, and the second bump 24 is located outside the first inductive switch 33 and the second inductive switch 35;
s6, the belt 13 drives the positioning gear 22 to rotate: the belt 13 continuously rotates at a set speed to drive the positioning gear 22 to rotate, when the first salient point 23 or the second salient point 24 moves to a position right above the first induction switch 33, the belt 13 rotates at a half set speed, when the first salient point 23 and the second salient point 24 simultaneously move to a position right above the first induction switch 33 and the second induction switch 35, the belt 13 stops rotating, the positioning gear 22 stops accordingly, the workpiece is located at a zero position, and the step S9 is performed;
s7, the belt 13 continuously drives the positioning gear 22 to rotate: the belt 13 continuously rotates at a set speed to drive the positioning gear 22 to rotate, when the second salient point 24 moves to a position right below the second induction switch 35, the first salient point 23 simultaneously moves to a position right below the first induction switch 33, the belt 13 stops rotating, the positioning gear 22 stops accordingly, the workpiece is located at a zero point position, and the step S9 is performed;
s8, the belt 13 continuously rotates at a set speed: the belt 13 continuously rotates at a set speed to drive the positioning gear 22 to rotate, when the first salient point 23 moves to a position right below the second inductive switch 35, the belt 13 rotates at a half set speed, when the second salient point 24 moves to a position right below the first inductive switch 33, the belt 13 continuously rotates at a half set speed, when the first salient point 23 and the second salient point 24 simultaneously move to positions right above the first inductive switch 33 and the second inductive switch 35, the belt 13 stops rotating, the positioning gear 22 stops accordingly, the workpiece is located at a zero position, and the step S9 is performed;
s9, starting spraying: after the workpieces are positioned at the zero point, the spraying robot starts spraying, when each workpiece is positioned at the zero point, the spraying is started, the left-right deviation of the workpieces is eliminated, and after the robot finishes spraying, the operation goes to step S10;
s10, stopping the operation of the clutch cylinder 15: the clutch cylinder 15 of the belt driving device 1 stops working, the speed reducer 11 is disconnected from the belt 13, and the process goes to step S11;
s11, stopping the positioning cylinder: the positioning cylinder of the positioning cylinder device 3 stops working, the V-shaped positioning block 36 is retracted, the V-shaped positioning block 36 is separated from the hanging rod 27 of the positioning gear device 2, the conveying device operates, the sprayed workpiece is taken away, and the step S1 is performed.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are intended to fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. Self-adaptation work piece positioner based on CMA spraying robot, its characterized in that: the method comprises the following steps:
the positioning gear device (2) is used for ensuring that the workpiece and the internal part rotate synchronously;
the belt driving device (1) and the positioning gear device (2) are distributed in parallel and used for controlling the rotation of the belt (13);
and the positioning cylinder device (3) is arranged on the positioning gear device (2) and is used for sensing and positioning the belt driving device (1).
2. The adaptive CMA-based workpiece positioning device of claim 1, wherein: the positioning gear device (2) comprises a connecting beam (25) serving as a fixing and mounting platform of the whole positioning gear device (2), a first connecting rod (21) and a second connecting rod (28) which are respectively fixed at two ends of the connecting beam (25) and used for fixing the positioning gear device (2) on conveying equipment, a positioning gear (22) which is mounted in the middle of the connecting beam (25) and used for achieving free rotation, a first salient point (23) and a second salient point (24) which are mounted on the upper surface of the positioning gear (22) and used for determining the position of a workpiece, a hanging rod (27) which is connected with the positioning gear (22) through the connecting beam (25) and used for ensuring synchronous rotation of the workpiece and the positioning gear (22), and an oil receiving disc (26) which is connected with the connecting beam (25) through the hanging rod (27) and used for collecting lubricating oil of the positioning gear device (2).
3. The adaptive CMA-based workpiece positioning device of claim 2, wherein: the interval installation distance between the first salient point (23) and the second salient point (24) is the radius length of the positioning gear (22).
4. The adaptive CMA-based workpiece positioning device of claim 1, wherein: the belt driving device (1) comprises a tray (14), a mounting base plate (16) arranged above the tray (14), a mounting beam frame (17) mounted on the mounting base plate (16) and used for being reliably connected with conveying equipment, a motor (12) mounted on the mounting base plate (16), a speed reducer (11) mounted on the mounting base plate (16) and connected with the motor (12) and used for transmitting the rotating speed and the torque of the motor (12), a belt (13) mounted below the mounting base plate (16) through bolts and matched with the speed reducer (11), and a clutch cylinder (15) mounted on the mounting base plate (16).
5. The adaptive CMA painting robot-based workpiece positioning device of claim 3, wherein: the positioning cylinder device (3) comprises a square pipe support (32), two groups of square connecting pipes (314) arranged on the square pipe support (32), a first connecting plate (31) and a second connecting plate (313) which are respectively fixed on the two groups of square connecting pipes (314), a square connecting pipe (314) fixedly connected with one end of the square pipe support (32), an adjustable square pipe (311) connected with one end of the square pipe support (32) far away from the square connecting pipe (314), a cylinder body (312) fixedly connected with one end of the square pipe support (32), an adjustable square pipe (39) matched with the adjustable square pipe (311) through an adjusting screw (310), a mounting plate (34) connected with the adjustable square pipe (39), a first induction switch (33) and a second induction switch (35) which are fixed on the mounting plate (34) and have the same interval distance with a first salient point (23) and a second salient point (24), a cylinder rod (38) and a second induction switch (35) which are arranged on the cylinder body (312), A V-shaped positioning block (36) which is installed at the front side of the cylinder rod (38) and is used for clamping the hanging rod (27) of the positioning gear device (2) at the bottom end through screws, and an installation block (37) which is arranged on the cylinder rod (38).
6. The CMA spray robot-based adaptive workpiece positioning device of claim 5, wherein: the first inductive switch (33) is matched with the second inductive switch (35) and the first salient point (23) is matched with the second salient point (24), signals need to be output when the first inductive switch (33) or the second inductive switch (35) is located right above the first salient point (23) or the second salient point (24), and if the first inductive switch (33) or the second inductive switch (35) is not located right above the first salient point (23) or the second salient point (24), no signals are output.
7. The CMA spray robot-based adaptive workpiece positioning device of claim 5, wherein: the cylinder rod (38) and the cylinder body (312) are matched for use, the cylinder rod and the cylinder body form a positioning cylinder, the cylinder rod (38) contracts when the positioning cylinder does not work, and the cylinder rod (38) extends out to drive the V-shaped positioning block (36) to move when the positioning cylinder works.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121060697.3U CN217314006U (en) | 2021-05-18 | 2021-05-18 | Self-adaptive workpiece positioning device based on CMA spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121060697.3U CN217314006U (en) | 2021-05-18 | 2021-05-18 | Self-adaptive workpiece positioning device based on CMA spraying robot |
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| Publication Number | Publication Date |
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| CN217314006U true CN217314006U (en) | 2022-08-30 |
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| CN202121060697.3U Active CN217314006U (en) | 2021-05-18 | 2021-05-18 | Self-adaptive workpiece positioning device based on CMA spraying robot |
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| Country | Link |
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| CN (1) | CN217314006U (en) |
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- 2021-05-18 CN CN202121060697.3U patent/CN217314006U/en active Active
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