Positioning mechanism

Abstract

The invention discloses a positioning mechanism, which comprises a base, wherein a fixed platform is arranged above the base; at least three elastic hinge bars which are parallel and not completely coplanar are arranged between the base and the fixed platform; two ends of each elastic hinge bar are universally articulated with the base and the fixed platform respectively; the elastic hinge bars can elastically stretch in the axial direction and have the same maximal lengths; a plurality of first elastic elements which are used for jacking the fixed platform are also arranged between the base and the fixed platform; the elastic hinge rods reach the maximal lengths and are in a vertical state under the action of the first elastic elements in an initial state; the fixed platform is arranged at a reference position relative to the base; a mobile platform which is driven by a first power device is arranged above the fixed platform; a first centering and orientating mechanism is arranged between the mobile platform and the fixed platform. The positioning mechanism can rapidly perform aligning and positioning, also can compensate positioning deviation, and is low in cost, and relatively simple, reliable and practical in structure.

Description

technical field [0001] The invention relates to the technical field of positioning mechanisms. Background technique [0002] At present, there are generally two ways to realize the functions of traditional positioning mechanisms such as positioning supply platform devices: [0003] 1. The positioning supply platform and the reclaiming platform (installed on the X-Y-Z three-axis manipulator to realize workpiece transfer) are rigidly connected and fixed between the bases. Using this device, real-time deviation compensation cannot be performed, and it can only be achieved by the matching gap between the shaft and the sleeve. To make up for the deviation of retrieving materials, once the location of the positioning supply platform changes accidentally, it will cause the reclaiming platform to fail to complete the retrieving action, and even damage the equipment; at the same time, the alignment of the positioning supply platform is very cumbersome, and requires the skills of the ...

AI Technical Summary

Problems solved by technology

[0003] 1. The positioning supply platform and the reclaiming platform (installed on the X-Y-Z three-axis manipulator to realize workpiece transfer) are rigidly connected and fixed between the bases. Using this device, real-time deviation compensation cannot be performed, and it can only be achieved by the matching gap between the shaft and the sleeve. To make up for the deviation of retrieving materials, once the location of the positioning supply platform changes accidentally, it will cause the reclaiming platform to fail to complete the retrieving action, and even damage the equipment; at the same time, the alignment of the positioning supply platform is very cumbersome, and requires the skills of the installation and commissioning personnel Relatively high, under the daily mass production working conditions, it is easy to produce position changes and parts deformation, resulting in the inability of the positioning supply platform to work stably, thus bringing hidden dangers of downtime to stable production

[0004] 2. When the rigid connection between the positioning supply platform and the base of the reclaiming platform cannot be used, it is necessary to install a visual camera on the reclaiming platform to confirm the actual position of the positioning supply platform, and output the compensation value to the three- and four-axis manipulators. Drive the reclaiming platform to complete the picking and unloading action; the device needs to be equipped with a four-axis manipulator to compensate for angular deviation and translation deviation. To compensate for parallel deviation, more axes of manipulators and visual cameras are required, which requires high equipment costs and limited installation space. It may be limited, and the skill level of debugging personnel is relatively high

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