A workpiece positioning system

Abstract

The application discloses a material piece positioning system, which comprises a feeding conveying device, a grabbing device, a rotating positioning device, a material piece sensing device and a control device; the rotating positioning device comprises a material piece receiving table; the feeding conveying device can convey a target material piece to a target feeding position along a preset direction; the control device is arranged to control the grabbing device to move the target material piece to the material piece receiving table and control the rotating positioning device to rotate in response to a feeding signal of the target feeding position; the material piece sensing device is used to collect identification characteristic information of the target material piece on the material piece receiving table and send the information to the control device; the control device is further arranged to control the rotating positioning device to stop rotating in response to the identification characteristic information; in the application, the control device controls the rotating positioning device to stop rotating by detecting the identification characteristic information of the target material piece through the material piece sensing device, so that the target material piece is positioned at a required positioning angle, and the structure is simple and easy to operate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, in particular to a material part positioning system. BACKGROUND

[0002] In the automatic equipment, the position of the workpiece to be processed often needs to be positioned and adjusted. In the prior art, a combination of mechanical equipment and CCD visual detection equipment is usually used to achieve this. Although this method can realize the positioning and adjustment of the angle of the workpiece to be processed with specific angle requirements, the overall structure is complex, the operation action is cumbersome, and the CCD visual detection equipment itself is high in price. The movement precision of the mechanical equipment part matched with it is also high, thereby greatly increasing the cost of the equipment.

[0003] Therefore, it is necessary to provide an improved material part positioning system to solve the above problems. SUMMARY

[0004] In order to solve the above-mentioned prior art problems, the present application discloses a material part positioning system, which comprises a feeding conveying device, a grabbing device, a rotating positioning device, a material part sensing device and a control device. The control device is in communication connection with the feeding conveying device, the grabbing device, the rotating positioning device and the material part sensing device respectively. The material part sensing device is arranged on the rotating positioning device. The rotating positioning device comprises a material part receiving table. The feeding conveying device can convey a target material part to a target feeding position along a predetermined direction. The control device is configured to control the grabbing device to move the target material part to the material part receiving table and control the rotating positioning device to rotate in response to a feeding signal of the target feeding position. The feeding signal represents the presence of a material loading disc or the target material part on the target feeding position. The material part sensing device is used to collect the identification feature information of the target material part on the material part receiving table and send it to the control device. The control device is further configured to control the rotating positioning device to stop rotating in response to the identification feature information.

[0005] Further, a through groove structure is arranged on the material part receiving table, and a functional identification area of the material part sensing device can pass through the through groove structure. The material part sensing device can collect the identification feature information of the target material part.

[0006] Further, a plurality of feature identification parts are arranged on the target material part, and the plurality of feature identification parts are arranged circumferentially along the rotation center of the target material part. The rotation center of the target material part is arranged concentrically with the rotation center of the material part receiving table. In the state that the target material part is located on the material part receiving table, the through groove structure and the plurality of feature identification parts are located on the same circumference.

[0007] Further, the material positioning system further comprises a driving device, the material feeding device comprises a sliding rail, a material loading disc and a position sensing device; the sliding rail is in sliding connection with the material loading disc, and the position sensing device is in communication connection with the control device; the position sensing device is used to collect a material feeding signal of the material loading disc; the target material feeding position is arranged on the sliding rail; the driving device is in driving connection with the material loading disc, and under the driving of the driving device, the material loading disc can reciprocate on the sliding rail; under the condition that the material loading disc moves to the target material feeding position, the control device controls the driving device to stop driving the material loading disc to move in response to the material feeding signal.

[0008] Further, a plurality of material loading platforms are arranged on the material loading disc, and the material loading platforms can accommodate the target material.

[0009] Further, the grabbing device comprises a clamping jaw mechanism and a magnetic induction device, the magnetic induction device is in communication connection with the control device; the clamping jaw mechanism is in communication connection with the control device; the control device is arranged to control the clamping jaw mechanism to perform a clamping operation and control the clamping jaw mechanism to move the target material to the material receiving platform in response to the material feeding signal; the magnetic induction device is used to collect clamping jaw opening information of the clamping jaw mechanism and send the information to the control device, and the control device is further arranged to control the clamping jaw mechanism to perform the clamping operation in response to the clamping jaw opening information.

[0010] Further, the control device is further arranged to receive updated clamping jaw opening information sent by the magnetic induction device after controlling the clamping jaw mechanism to perform the clamping operation in response to the clamping jaw opening information; and control the clamping jaw mechanism to move the target material to the material receiving platform in the case that the updated clamping jaw opening information meets a target clamping state.

[0011] Further, the control device is further arranged to control the clamping jaw mechanism to repeatedly perform the clamping operation in the case that the updated clamping jaw opening information does not meet the target clamping state.

[0012] Further, a positioning platform is further included, the target material is provided with a positioning hole, and the positioning platform is provided with a positioning column matched with the positioning hole; the control device is further arranged to control the grabbing device to move the target material to the positioning platform in response to the stop of the rotating positioning device.

[0013] Further, the positioning column is in driving connection with the driving device, and under the driving of the driving device, the positioning column can reciprocate along the axial direction of the positioning table; the control device is further configured to control the positioning column to extend towards the target workpiece when the target workpiece is located on the positioning table.

[0014] The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art and the advantages thereof, a brief introduction will be given to the drawings needed in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.

[0016] Figure 1 The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate.

[0017] Figure 2 The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate.

[0018] Figure 3 The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate.

[0019] Figure 4 The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate.

[0020] Figure 5 The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate.

[0021] Figure 6 The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate.

[0022] Figure 7 The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate.

[0023] Figure 8 The workpiece positioning system provided by the application comprises a feeding conveying device, a grabbing device, a rotating positioning device, a workpiece sensing device, a control device and a driving device. The workpiece sensing device is configured to collect the identification characteristic information of the target workpiece on the workpiece receiving table and send the information to the control device. The control device is configured to control the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned at the required positioning angle. The workpiece positioning system has simple structure and is easy to operate.

[0024] Figure 9A schematic structural diagram of the carrier tray is provided in the embodiments of the present application.

[0025] In the figure: 1 - feeding conveying device, 2 - grabbing device, 3 - rotating positioning device, 4 - workpiece sensing device, 5 - carrier tray, 6 - positioning table, 10 - target workpiece, 11 - slide rail, 12 - position sensing device, 21 - clamping jaw mechanism, 31 - workpiece receiving table, 51 - carrier table, 61 - positioning column, 101 - feature recognition part, 102 - positioning hole, 311 - through slot structure. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described accompanying drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product, or apparatus that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product, or apparatus.

[0028] The embodiments will be described below with reference to the accompanying drawings, which do not limit the application content described in the claims.

[0029] In the description of the embodiments, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description of the present application, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0030] Reference should be made to Figures 1-9The embodiment of the present application provides a workpiece positioning system, which comprises a feeding conveying device 1, a grabbing device 2, a rotating positioning device 3, a workpiece sensing device 4 and a control device; the control device is in communication connection with the feeding conveying device 1, the grabbing device 2, the rotating positioning device 3 and the workpiece sensing device 4 respectively, the workpiece sensing device 4 is arranged on the rotating positioning device 3; the rotating positioning device 3 comprises a workpiece receiving table 31; the feeding conveying device 1 can convey a target workpiece 10 to a target feeding position along a preset direction; the control device is arranged to control the grabbing device 2 to move the target workpiece 10 to the workpiece receiving table 31 and control the rotating positioning device 3 to rotate in response to a feeding signal of the target feeding position; the feeding signal represents that a carrier disc 5 or the target workpiece 10 exists on the target feeding position.

[0031] The workpiece sensing device 4 is used for collecting identification characteristic information of the target workpiece 10 on the workpiece receiving table 31 and sending the identification characteristic information to the control device; the control device is further arranged to control the rotating positioning device 3 to stop rotating in response to the identification characteristic information.

[0032] In this way, in the embodiment, the identification characteristic information of the target workpiece on the workpiece receiving table is collected by the workpiece sensing device arranged and is sent to the control device; the control device controls the rotating positioning device to stop rotating in response to the identification characteristic information, so that the target workpiece is positioned according to the required positioning angle requirement, and the structure is simple and easy to operate.

[0033] In some embodiments, as shown in the figure, Figure 5 The functional identification area of the workpiece sensing device 4 can pass through the through groove structure 311, and the workpiece sensing device 4 can collect the identification characteristic information of the target workpiece 10.

[0034] Specifically, the workpiece sensing device 4 can be a photoelectric sensor, the signal emitted by the emitting end of the photoelectric sensor can pass through the through groove structure 311 and can collect the identification characteristic information of the target workpiece 10, so as to realize the positioning of the target workpiece 10.

[0035] Specifically, the workpiece sensing device 4 used in the present application is different from a visual detection device, the visual detection is to replace the human eye with a machine to measure and judge; for example, CMOS device and CCD device; and the workpiece sensing device 4 can also respond to the shielding of the target workpiece 10 and send an object shielding signal to the control device; the control device is used for controlling the rotating positioning device 3 to rotate in response to the object shielding signal.

[0036] In other embodiments, the through groove structure 311 can be an arc-shaped through groove, and the arc center of the arc-shaped through groove is arranged concentrically with the rotating center of the rotating positioning device 3.

[0037] In some embodiments, the target workpiece 10 is provided with a plurality of feature recognition portions 101, the plurality of feature recognition portions 101 are arranged circumferentially along a rotation center of the target workpiece 10, the rotation center of the target workpiece 10 is concentrically arranged with a rotation center of the workpiece receiving table 31, and in a state where the target workpiece 10 is located on the workpiece receiving table 31, the through-slot structure 311 is located on the same circumference as the plurality of feature recognition portions 101.

[0038] Specifically, the recognition feature portion 101 can be a recognition through-hole, and the target workpiece 10 can be provided with at least two recognition through-holes.

[0039] For example, as shown in the figure, the target workpiece 10 can be provided with three circumferential arrays of recognition through-holes, that is, the central angle between adjacent recognition through-holes is 120°, and the radius of the circumferential array of recognition through-holes is the same as the radius of the arc-shaped through-slot, the width dimension of the arc-shaped through-slot is adapted to the structure dimension of the recognition through-hole, and the central angle corresponding to the arc-shaped through-slot is slightly larger than the central angle 120° between the adjacent two recognition through-holes. Figure 6

[0040] In the present embodiment, by matching the structure dimension of the arc-shaped through-slot and the structure dimension of the recognition through-hole, the workpiece sensing device 4 can accurately recognize the recognition through-hole provided on the target workpiece 10, and thus the positioning of the target workpiece 10 at the required positioning angle is realized.

[0041] In some embodiments, the workpiece positioning system further comprises a driving device, and the feeding conveying device 1 comprises a sliding rail 11, a workpiece loading disc 5, and a position sensing device 12; the sliding rail 11 is in sliding connection with the workpiece loading disc 5, and the position sensing device 12 is in communication connection with the control device; the position sensing device 12 is used to collect a feeding signal of the workpiece loading disc 5; a target feeding position is arranged on the sliding rail 11; the driving device is in driving connection with the workpiece loading disc 5, and under the driving of the driving device, the workpiece loading disc 5 can make reciprocating motion on the sliding rail 11; in a state where the workpiece loading disc 5 moves to the target feeding position, the control device controls the driving device to stop driving the workpiece loading disc 5 to move in response to the feeding signal.

[0042] Specifically, the position sensing device 12 can be arranged at the target feeding position of the sliding rail 11.

[0043] Specifically, the position sensing device 12 can be a position sensor, and the feeding signal can be a position signal representing that the workpiece loading disc 5 moves to the target feeding position.

[0044] ​In the embodiment, when the carrier tray 5 moves to the target loading position along the slide rail 11, the position sensing device 12 collects the position information of the carrier tray 5 moving to the target loading position, generates a loading signal and sends the loading signal to the control device, and the control device controls the driving device to stop driving the carrier tray 5 to move in response to the loading signal, so as to facilitate the grabbing device 2 to grab the target workpiece 10 at the most suitable position and facilitate the control system to control the grabbing device 2.

[0045] In other embodiments, the rotating positioning device 3 is further provided with a positioning pin, the positioning pin is in transmission connection with the driving device, the positioning pin is arranged at a position matched with the position of the through slot structure 311 of the workpiece receiving table in the initial position state, and the positioning pin can reciprocate along the axial direction of the workpiece receiving table 31 under the driving of the driving device; in the state that the workpiece sensing device 4 collects the identification feature information of the target workpiece 10, the driving device drives the positioning pin to be in matching connection with the identification through hole.

[0046] In some embodiments, as shown in Figure 9 The carrier tray 5 is provided with a plurality of carrier tables 51, and the carrier tables 51 can accommodate the target workpiece 10.

[0047] Specifically, the carrier table 51 can be provided with a positioning boss, and a center positioning hole matched with the positioning boss can be arranged at the center of the target workpiece 10. Through the cooperation of the center positioning hole of the target workpiece 10 and the positioning boss of the carrier table 51, the position of the target workpiece 10 can be preliminarily positioned.

[0048] In some embodiments, the grabbing device 2 includes a jaw mechanism 21 and a magnetic sensing device, the magnetic sensing device is in communication connection with the control device, the jaw mechanism 21 is in communication connection with the control device, the control device is configured to control the jaw mechanism 21 to perform a clamping operation in response to the loading signal, and control the jaw mechanism 21 to move the target workpiece 10 to the workpiece receiving table 31, and the magnetic sensing device is used to collect jaw opening information of the jaw mechanism 21 and send the jaw opening information to the control device, and the control device is further configured to control the jaw mechanism 21 to perform a grabbing operation in response to the jaw opening information.

[0049] Specifically, the jaw mechanism 21 includes a jaw, and the jaw opening information can be represented as that the jaw is opened to a preset state, the jaw is closed, and the jaw is in a state of grabbing the target workpiece 10 between the two states.

[0050] Specifically, the magnetic sensing device collects the information of the open state of the gripper and sends it to the control device when the control device controls the gripper of the gripper mechanism 21 to be open to the preset state. The control device controls the gripper mechanism 21 to perform the grabbing operation in response to the information of the open state of the gripper, that is, the control device controls the gripper of the gripper mechanism 21 to be open to the preset state until the magnetic sensing device collects the information of the state of grabbing the target material piece 10 and sends it to the control device. The control device controls the gripper mechanism 21 to move the grabbed target material piece 10 to the material piece receiving table 31 in response to the information of the state of grabbing the target material piece 10.

[0051] Specifically, the magnetic sensing device collects the information of the open state of the gripper and sends it to the control device when the control device controls the gripper of the gripper mechanism 21 to be open to the preset state. The control device controls the gripper mechanism 21 to perform the grabbing operation in response to the information of the open state of the gripper, that is, the control device controls the gripper of the gripper mechanism 21 to be open to the preset state until the magnetic sensing device collects the information of the state of grabbing the target material piece 10 and sends it to the control device. The control device controls the gripper mechanism 21 to perform the grabbing operation in response to the information of the open state of the gripper.

[0052] Specifically, the gripper mechanism 21 can include a pneumatic cylinder. The power shaft of the pneumatic cylinder is in transmission connection with the gripper. Under the drive of the pneumatic cylinder, the gripper can reciprocate along the axis of the target material piece 10. In the state that the gripper grabs the target material piece 10, the gripper drives the grabbed target material piece 10 to move out of the material loading table 51 under the drive of the pneumatic cylinder.

[0053] The gripper is in the open state under the drive of the pneumatic cylinder.

[0054] In this embodiment, by setting the gripper to be always open, the time for the gripper mechanism 21 to open the gripper can be saved, and the time for the gripper mechanism 21 to grab the target material can be reduced, thereby improving the positioning efficiency of the material positioning system on the target material.

[0055] In some embodiments, the control device is further configured to receive updated gripper opening degree information sent by the magnetic sensing device after the control device controls the gripper mechanism 21 to perform the grabbing operation in response to the gripper opening degree information. When the updated gripper opening degree information meets the target grabbing state, the control device controls the gripper mechanism 21 to move the target material piece 10 to the material piece receiving table 31.

[0056] In some embodiments, the control device is further configured to control the gripper mechanism 21 to repeatedly perform the grabbing operation when the updated gripper opening degree information does not meet the target grabbing state.

[0057] In some embodiments, the workpiece positioning system further comprises a positioning table 6, the target workpiece 10 is provided with a positioning hole 102, and the positioning table 6 is provided with a positioning column 61 matched with the positioning hole 102; the control device is further configured to control the grabbing device 2 to transfer the target workpiece 10 to the positioning table 6 in response to the stop of the rotating positioning device 3.

[0058] Specifically, the workpiece positioning system further comprises a positioning receiving disc, and the positioning receiving disc is provided with a plurality of positioning tables 6, each of which can be provided with three positioning columns 61, and correspondingly, the target workpiece 10 can be provided with three positioning holes 102 matched with the positioning columns 61, and the precise positioning of the target workpiece 10 is realized through the cooperation of the three positioning columns 61 and the three positioning holes 102.

[0059] In some embodiments, the positioning column 61 is in driving connection with the driving device, and under the driving of the driving device, the positioning column 61 can reciprocate along the axial direction of the positioning table 6; the control device is further configured to control the positioning column 61 to extend towards the target workpiece 10 when the target workpiece 10 is located on the positioning table 6.

[0060] In the embodiment, the positioning column 61 is arranged to reciprocate along the axial direction of the positioning table 6, which avoids the interference between the target workpiece 10 and the positioning column 61 during the process of transferring the target workpiece 10 to the positioning table 6 by the jaw mechanism 21, and thus improves the positioning accuracy of the workpiece positioning system.

[0061] The workpiece positioning system provided in the application at least has the following beneficial effects:

[0062] 1. In the application, the workpiece sensing device is combined with the rotating positioning device, the identification feature information of the target workpiece is detected by the workpiece sensing device during the process that the driving device drives the rotating positioning device to rotate and further drives the target workpiece to rotate, the control device controls the rotating positioning device to stop rotating in response to the identification feature information, and thus the positioning of the target workpiece at the required angle is realized, which has high automation degree and simple structure and is easy to operate.

[0063] 2. In the application, the functional identification area of the workpiece sensing device can pass through the through groove structure on the workpiece receiving table, and the workpiece sensing device can collect the identification feature information of the target workpiece, so that the positioning of the target workpiece at the required angle is more accurate, and the positioning accuracy is improved.

[0064] 3、The application sets up the claw mechanism and the magnetic induction device in the grabbing device, collects the claw opening information of the claw mechanism through the magnetic induction device, until the magnetic induction device collects the state information of grabbing the target material piece, and sends to the control device, the control device responds to the state information of grabbing the target material piece to control the claw mechanism to move the grabbed target material piece to the material receiving table, ensures the accuracy of the grabbing device grabbing the target material piece, and improves the positioning efficiency of the material positioning system to the target material piece.

[0065] 4、The application sets up the positioning column on the positioning table, and cooperates with the positioning hole of the target material piece, so as to ensure the accuracy of the positioning of the target material piece according to the required rotation positioning angle, and further ensure the positioning reliability of the material positioning system.

[0066] Please refer to Figures 1-9 The positioning method of the material positioning system to the target material piece is as follows:

[0067] Step one: the driving device drives the material carrying disc 5 to move along the slide rail 11, and then drives the target material piece 10 to move, until it moves to the target feeding position, the position sensing device sends the collected feeding signal of the material carrying disc 5 to the control device, and the control device controls the driving device to stop driving the material carrying disc 5 to move.

[0068] Step two: the control device responds to the feeding signal to control the driving device to drive the claw mechanism 21 in the grabbing device 2 to perform the grabbing operation, the magnetic induction device collects the state information of grabbing the target material piece 10, and sends to the control device, the control device responds to the state information of grabbing the target material piece 10 to control the claw mechanism 21 to move the grabbed target material piece 10 to the material receiving table 31.

[0069] Step three: the control device controls the driving device to drive the rotating positioning device 3 to rotate, until the material sensing device 4 collects the identification through hole of the target material piece 10, the control device controls the driving device to stop driving the rotating positioning device 3 to rotate, and sends the stop rotating signal to the control device.

[0070] Step four: the control device responds to the stop rotating signal to control the driving device to drive the positioning pin to extend along the axial direction of the target material piece 10, until the positioning pin is completely extended and cooperates with the identification through hole of the target material piece 10.

[0071] Step five: the control device controls the driving device to drive the grabbing device 2 to move the target material piece 10 on the material receiving table 31 to the positioning table 6.

[0072] Step six: the control device controls the driving device to drive the positioning column 61 to extend along the axial direction of the target material piece 10, until the positioning column 61 is completely extended and cooperates with the positioning hole 102 of the target material piece 10.

[0073] Embodiment 1

[0074] Referring to Figures 1-9 , the embodiment provides a material piece positioning system, which comprises a feeding conveying device 1, a grabbing device 2, a rotating positioning device 3, a material piece sensing device 4 and a control device; the control device is in communication connection with the feeding conveying device 1, the grabbing device 2, the rotating positioning device 3 and the material piece sensing device 4 respectively, and the material piece sensing device 4 is arranged on the rotating positioning device 3; the rotating positioning device 3 comprises a material piece receiving table 31; the feeding conveying device 1 can convey a target material piece 10 to a target feeding position along a preset direction; the control device is configured to control the grabbing device 2 to move the target material piece 10 to the material piece receiving table 31 and control the rotating positioning device 3 to rotate in response to a feeding signal of the target feeding position; the feeding signal represents that there is a carrier disc 5 or the target material piece 10 on the target feeding position.

[0075] The material piece sensing device 4 is used for collecting identification feature information of the target material piece 10 on the material piece receiving table 31 and sending the identification feature information to the control device; and the control device is further configured to control the rotating positioning device 3 to stop rotating in response to the identification feature information.

[0076] In the embodiment, as shown in Figure 6 , the target material piece 10 can be a circular ring product, and the target material piece 10 is provided with a central positioning hole, three positioning holes 102 and three identification through holes; and the material piece sensing device 4 is an optical sensor.

[0077] Specifically, the central angle between adjacent identification through holes is 120°, the central angle between adjacent positioning holes 102 is 120°, the array radii of the identification through holes and the positioning holes 102 obtained by the circular array are different, and the array center is the rotation center of the target material piece 10.

[0078] Further, the material piece receiving table 31 is provided with an arc-shaped through groove, the arc center of the arc-shaped through groove is the rotation center of the material piece receiving table 31, and the central angle of the arc-shaped through groove can be 120°.

[0079] The rotating positioning device 3 is further provided with a positioning pin, the rotating positioning device 3 is in an initial position, a signal emitted by an emitting end of the optical sensor passes through the middle position of the arc-shaped through groove, and the extending end of the positioning pin can be matched with one end of the arc-shaped through groove.

[0080] The feeding conveying device 1 comprises a sliding rail 11, a carrier disc 5 and a position sensing device 12; the carrier disc 5 is provided with a plurality of carrier tables 51 for accommodating the target material piece 10; the position sensing device 12 is a position sensor and is used for collecting a movement position signal of the carrier disc 5, i.e., a feeding signal of the carrier disc 5.

[0081] The carrier tray 5 is provided with a positioning boss for cooperating with a center positioning hole of the target workpiece 10.

[0082] The workpiece positioning system further comprises a driving device, the carrier tray 5 is capable of reciprocating on the slide rail 11 under the action of the driving device, thereby driving the target workpiece 10 to move, in the state that the carrier tray 5 moves to the target feeding position, the position signal collected by the position sensing device 12 is sent to the control device, the control device controls the driving device to stop driving the carrier tray 5 to move in response to the position signal.

[0083] The grabbing device 2 comprises a gripper mechanism 21 and a magnetic induction device, the control device is configured to control the gripper mechanism 21 to perform a clamping operation in response to the feeding signal, and control the gripper mechanism 21 to move the target workpiece 10 to the workpiece receiving table 31.

[0084] Specifically, in the state that the control device controls the gripper mechanism 21 to open the gripper to a preset state, the magnetic induction device collects the gripper opening state information and sends it to the control device, the control device controls the gripper mechanism 21 to grab the target workpiece 10 in response to the gripper opening state information until the magnetic induction device collects the state information that the target workpiece 10 is grabbed and sends it to the control device, the control device controls the gripper mechanism 21 to move the grabbed target workpiece 10 to the workpiece receiving table 31 in response to the state information that the target workpiece 10 is grabbed.

[0085] If the magnetic induction device does not collect the state information that the target workpiece 10 is grabbed twice in succession in the same station, the control device controls the grabbing device 2 to re-perform the grabbing operation at the next station.

[0086] In the state that the gripper mechanism 21 moves the grabbed target workpiece 10 to the workpiece receiving table 31, the control device controls the driving device to drive the rotating positioning device 3 to rotate, thereby driving the target workpiece 10 to rotate, until the photoelectric sensor recognizes the identification feature information of the identification hole on the target workpiece 10 and sends it to the control device, the control device controls the driving device to stop driving the rotating positioning device 3, and then controls the driving device to drive the positioning pin to extend along the axial direction of the target workpiece 10 until it is completely extended and cooperates with the positioning hole 102.

[0087] When the positioning pin is in the completely extended state, the control device controls the grabbing device 2 to move the target workpiece 10 out of the workpiece receiving table 31.

[0088] In the state that the target workpiece 10 is moved out of the workpiece receiving table 31, the control device controls the driving device to drive the rotating positioning device 3 to rotate to the initial position.

[0089] The positioning system for the workpiece further comprises a positioning tray, the positioning tray is provided with a plurality of positioning tables 6, each positioning table can be provided with three positioning columns 61, the positioning column 61 is used for cooperating with the positioning hole 102 of the target workpiece 10, the positioning column 61 is drivingly connected with the driving device, and under the driving of the driving device, the positioning column 61 can reciprocate along the axial direction of the positioning table 6.

[0090] The control device controls the grabbing device 2 to move the target workpiece 10 from the workpiece receiving table 31 to the positioning table 6, and controls the positioning column 61 to extend towards the target workpiece 10 until the positioning column 61 is fully extended and cooperates with the positioning hole 102 of the target workpiece 10.

[0091] Embodiment 2

[0092] Please refer to Figures 1-9 , the commonalities of Embodiment 2 and Embodiment 1 will not be described here, and only the differences between Embodiment 2 and Embodiment 1 will be described.

[0093] The difference between Embodiment 2 and Embodiment 1 lies in the different numbers of the rotating positioning devices 3 and the different numbers of the clamping jaw mechanisms 21.

[0094] The embodiment provides a workpiece positioning system, which comprises a feeding conveying device 1, a grabbing device 2, a rotating positioning device 3, a workpiece sensing device 4 and a control device; the control device is in communication connection with the feeding conveying device 1, the grabbing device 2, the rotating positioning device 3 and the workpiece sensing device 4 respectively, and the workpiece sensing device 4 is arranged on the rotating positioning device 3; the rotating positioning device 3 comprises a workpiece receiving table 31; the feeding conveying device 1 can convey a target workpiece 10 to a target feeding position along a preset direction; the control device is arranged to control the grabbing device 2 to move the target workpiece 10 to the workpiece receiving table 31 and control the rotating positioning device 3 to rotate in response to a feeding signal of the target feeding position; the feeding signal represents that there is a workpiece receiving tray 5 or a target workpiece 10 on the target feeding position.

[0095] The workpiece sensing device 4 is used for collecting identification feature information of the target workpiece 10 on the workpiece receiving table 31 and sending the identification feature information to the control device; the control device is further arranged to control the rotating positioning device 3 to stop rotating in response to the identification feature information.

[0096] The positioning system for the workpiece further comprises a positioning tray, the positioning tray is provided with a plurality of positioning tables 6, each positioning table can be provided with three positioning columns 61, the positioning column 61 is used for cooperating with the positioning hole 102 of the target workpiece 10, the positioning column 61 is drivingly connected with the driving device, and under the driving of the driving device, the positioning column 61 can reciprocate along the axial direction of the positioning table 6.

[0097] Specifically, the rotary positioning device can be provided with at least two rotating positioning devices 3, and the number of the rotating positioning devices 3 corresponds to the number of the material piece receiving tables 31, the number of the material piece sensing devices 4, the number of the positioning pins and the number of the jaw mechanisms 21.

[0098] The embodiment is described by taking the example of the rotary positioning device provided with two rotating positioning devices 3, two material piece receiving tables 31, two material piece sensing devices 4, two positioning pins and two jaw mechanisms 21.

[0099] Correspondingly, the two target material pieces 10 can be successfully grabbed by the two jaw mechanisms 21 at the same time and placed on the corresponding material piece receiving tables 31, and the control device can control the driving device to drive the corresponding material piece receiving tables 31 to rotate until the two material piece sensing devices 4 both sense the identification feature information on the respective target material pieces 10, and then the driving device 4 controls the two rotating positioning devices 3 to stop driving.

[0100] In the state that the rotating positioning devices 3 stop rotating, the control device controls the positioning pins to extend along the axial direction of the target material pieces 10 and cooperate with the positioning holes 102 of the target material pieces 10 until the positioning pins are completely extended.

[0101] Then the control device controls the two jaw mechanisms 21 to grab the corresponding target material pieces 10 and move the target material pieces 10 out of the material piece receiving tables 31.

[0102] In the state that the target material pieces 10 are moved out of the material piece receiving tables 31, the control device controls the two rotating positioning devices 3 to rotate to the initial positions, respectively.

[0103] And the control device controls the two jaw mechanisms 21 to place the two target material pieces 10 grabbed on the positioning table 6.

[0104] Then the control device controls the positioning column 61 to extend towards the target material pieces 10 until the positioning column 61 is completely extended and cooperates with the positioning holes 102 of the target material pieces 10.

[0105] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment mainly describes the difference from other embodiments.

[0106] It should be noted that all the features (including the technical features recorded in different embodiments) recorded in the present application can be combined arbitrarily under reasonable circumstances, and the new technical solutions formed by the combination are all within the protection scope of the present application.

[0107] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A workpiece positioning system, comprising: The material positioning system comprises a feeding conveying device (1), a grabbing device (2), a rotating positioning device (3), a material sensing device (4) and a control device. The control device is in communication connection with the feeding conveying device (1), the grabbing device (2), the rotating positioning device (3) and the material sensing device (4) respectively, and the material sensing device (4) is arranged on the rotating positioning device (3). The rotating positioning device (3) comprises a material receiving table (31). The feeding conveying device (1) can convey a target material (10) to a target feeding position along a preset direction. The control device is arranged to control the grabbing device (2) to move the target material (10) to the material receiving table (31) and control the rotating positioning device (3) to rotate in response to a feeding signal of the target feeding position, and the feeding signal represents that there is a material loading disc (5) or the target material (10) on the target feeding position. The material receiving table (31) is provided with a through groove structure (311), and a functional identification area of the material sensing device (4) can pass through the through groove structure (311), the material sensing device (4) is used for collecting identification characteristic information of the target material (10) on the material receiving table (31) and sending the identification characteristic information to the control device, and the control device is further arranged to control the rotating positioning device (3) to stop rotating in response to the identification characteristic information. The target material (10) is provided with a plurality of feature identification parts (101), the feature identification part (101) is an identification through hole, the through groove structure (311) is an arc-shaped through groove, and the structure size of the arc-shaped through groove and the structure size of the identification through hole are matched to enable the material sensing device (4) to identify the feature identification part (101) on the target material (10), thereby realizing positioning of the target material (10) at a required positioning angle.

2. A workpiece positioning system according to claim 1, wherein, The plurality of feature identification parts (101) are arranged circumferentially along a rotation center of the target material (10), and the rotation center of the target material (10) is concentrically arranged with a rotation center of the material receiving table (31). In a state where the target material (10) is located on the material receiving table (31), the through groove structure (311) and the plurality of feature identification parts (101) are located on the same circumference.

3. A workpiece positioning system according to claim 1 wherein, The material positioning system further comprises a driving device, and the feeding conveying device (1) comprises a sliding rail (11), a material loading disc (5) and a position sensing device (12). The sliding rail (11) is in sliding connection with the material loading disc (5), the position sensing device (12) is in communication connection with the control device, the position sensing device (12) is used for collecting a feeding signal of the material loading disc (5), and the target feeding position is arranged on the sliding rail (11). The driving device is in driving connection with the material loading disc (5), and under the driving of the driving device, the material loading disc (5) can make reciprocating motion on the sliding rail (11). In the state that the carrier disc (5) moves to the target feeding position, the control device controls the driving device to stop driving the carrier disc (5) to move in response to the feeding signal.

4. A workpiece positioning system according to claim 3, wherein, A plurality of carrier tables (51) are arranged on the carrier disc (5), and the carrier tables (51) can accommodate the target workpiece (10).

5. The workpiece positioning system of claim 1, wherein, The grabbing device (2) comprises a gripper mechanism (21) and a magnetic induction device, and the magnetic induction device is in communication connection with the control device; the gripper mechanism (21) is in communication connection with the control device. The control device is configured to control the gripper mechanism (21) to perform a clamping operation and control the gripper mechanism (21) to move the target workpiece (10) to the workpiece receiving table (31) in response to the feeding signal; the magnetic induction device is used to collect the gripper opening information of the gripper mechanism (21) and send it to the control device, and the control device is further configured to control the gripper mechanism (21) to perform a grabbing operation in response to the gripper opening information.

6. A workpiece positioning system according to claim 5, wherein, The control device is further configured to receive updated gripper opening information sent by the magnetic induction device after controlling the gripper mechanism (21) to perform the grabbing operation in response to the gripper opening information; and control the gripper mechanism (21) to move the target workpiece (10) to the workpiece receiving table (31) when the updated gripper opening information meets a target clamping state.

7. A workpiece positioning system according to claim 6, wherein, The control device is further configured to control the gripper mechanism (21) to repeatedly perform the grabbing operation when the updated gripper opening information does not meet the target clamping state.

8. The workpiece positioning system of claim 1, wherein, Further comprising a positioning table (6), the target workpiece (10) is provided with a positioning hole (102), and the positioning table (6) is provided with a positioning column (61) matched with the positioning hole (102); The control device is further configured to control the grabbing device (2) to move the target workpiece (10) to the positioning table (6) in response to the stop of the rotating positioning device (3).

9. A workpiece positioning system according to claim 8, wherein, The workpiece positioning system further comprises a driving device in driving connection with the carrier disc (5); The positioning column (61) is in driving connection with the driving device, and under the driving of the driving device, the positioning column (61) can reciprocate along the axial direction of the positioning table (6); The control device is further configured to control the positioning column (61) to extend towards the target workpiece (10) when the target workpiece (10) is located on the positioning table (6).

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