Workpiece circumferential positioning mechanism, device and positioning method

Abstract

The present invention discloses a workpiece circumferential positioning mechanism, device and positioning method, belonging to the field of manipulator technology. A clamping assembly is provided with a clamping space for placing a workpiece; a rotating assembly is arranged in the clamping space; a positioning block and a first identification assembly are both arranged on the clamping assembly, and the positioning block is at a first height, and the first identification assembly is at a second height, the first height is greater than or less than the second height, and the first identification assembly is used to identify and locate the workpiece at the second height, and when the first identification assembly identifies that the workpiece rotates to the point where the notch step is offset from the positioning block, the clamping assembly releases the clamping of the workpiece; the clamping assembly can also clamp the workpiece to the point where the notch step is at the first height, and the rotating assembly drives the workpiece to rotate in the clamping space so that the positioning block abuts against the notch step. The workpiece circumferential positioning mechanism disclosed in the present invention can automatically realize circumferential positioning of the base while reducing the failure rate of the mechanism, which helps to improve production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a workpiece circumferential positioning mechanism, device and positioning method. Background Art

[0002] In factory production, the core component of hair dryers, the blowing assembly, is mostly assembled manually. The applicant disclosed an assembly system for the air supply unit of a hair dryer in the Chinese patent document with application number CN202311522137.9, which realizes the automatic assembly of the blowing assembly.

[0003] Before the assembly system of the air supply unit of the hair dryer automatically clamps the base, workers need to manually place the motor base on the loading platform in a specific posture to meet the requirements of automatic assembly. To address this problem, the applicant disclosed a manipulator for workpiece posture adjustment and positioning in the Chinese patent document with application number CN202410423335.8. The invention realizes the automatic positioning of the motor base by setting a latch on the manipulator.

[0004] However, during the rotation and positioning of the motor base by the above-mentioned robot arm used for workpiece posture adjustment and positioning, the locking pin is always in contact with the side of the motor base, which will interfere with the rotation of the motor base and easily cause jamming, resulting in abnormal use and affecting production efficiency; and the spring will produce pressure on the workpiece to counteract the rotational force, and the two have poor compatibility. Summary of the invention

[0005] The object of the present invention is to provide a workpiece circumferential positioning mechanism, device and positioning method, which can automatically realize circumferential positioning of a base while reducing the failure rate of the mechanism, thereby helping to improve production efficiency.

[0006] In a first aspect, the present invention provides a workpiece circumferential positioning mechanism for positioning a cylindrical workpiece having a notch step, comprising:

[0007] A clamping assembly, provided with a clamping space for placing a workpiece;

[0008] A rotating assembly is disposed in the clamping space, and is used to drive the workpiece to rotate in the clamping space;

[0009] A positioning block, provided on the clamping assembly, wherein the positioning block is at a first height;

[0010] A first identification component is arranged on the clamping component, the first identification component is at a second height, the first height is greater than or less than the second height, the first identification component is used to identify and locate the workpiece at the second height, when the first identification component identifies that the workpiece is rotated to the point where the notch step is offset from the positioning block, the clamping component releases the clamping of the workpiece; the clamping component can also clamp the workpiece to the point where the notch step is at the first height, the rotating component drives the workpiece to rotate in the clamping space so that the positioning block abuts against the notch step.

[0011] The workpiece circumferential positioning mechanism provided by the present invention is configured such that the first recognition component and the positioning block are arranged at different heights of the clamping component. When the notch step is at the second height, the first recognition component can recognize the rotating workpiece. When the first recognition component recognizes that the notch step is staggered with the positioning block, the rotating component is controlled to stop rotating, and the clamping component releases the clamping of the workpiece. After the positioning block avoids the notch step, the clamping component can move again to clamp the workpiece. At this time, the notch step is at the first height, and the rotating component drives the workpiece to rotate again, so that the notch step abuts against the positioning block, thereby completing the circumferential positioning of the workpiece. The present invention can quickly complete the positioning of the workpiece by performing two rotation positioning on the workpiece, while avoiding the collision and interference between the positioning block and the notch step during the movement process. Moreover, the workpiece can always maintain smooth operation during the rotation positioning process, avoiding interference with other components, thereby reducing the failure rate of the mechanism and helping to improve production efficiency.

[0012] Furthermore, the rotating assembly includes a driving roller, a driven roller group and a roller driving assembly, the driving roller and the driven roller group are both arranged in the clamping space, the roller driving assembly is arranged on the clamping assembly, and the output end of the roller driving assembly is connected to the driving roller.

[0013] Furthermore, the roller drive assembly includes a first synchronous pulley, a second synchronous pulley, a drive motor and a synchronous belt, the output end of the drive motor is connected to the first synchronous pulley, the synchronous belt is respectively connected to the first synchronous pulley and the second synchronous pulley, and the second synchronous pulley is connected to the drive roller.

[0014] By adopting the above technical solution, the first synchronous pulley and the second synchronous pulley are linked by the synchronous belt, so that the power of the drive motor is output to the drive roller. When the positioning block abuts against the notch step, the flexible transmission synchronous belt can idle, thereby reducing the wear of the transmission system and helping to reduce the failure rate of the mechanism.

[0015] Further, the driven roller group includes a first driven roller, a second driven roller and a third driven roller, and the first driven roller, the second driven roller, the third driven roller and the driving roller can be arranged in a circular array in the clamping space in sequence, the connecting line between the first driven roller and the third driven roller is a first connecting line, the connecting line between the second driven roller and the driving roller is a second connecting line, the angle between the first connecting line and the second connecting line is 60°, and the intersection of the first connecting line and the second connecting line coincides with the center of the circular array.

[0016] By adopting the above technical solution, the driving roller and the driven roller group can provide four contact points to abut the workpiece, and the angle between the intersection lines of the four contact points is 60°, which helps to shorten the length of the clamping assembly and facilitates the clamping assembly to clamp the workpiece.

[0017] Furthermore, the central angle between the first driven roller and the driving roller is 120°, the outer diameter of the driving roller and the first driven roller are both R1, and the outer diameter of the second driven roller and the third driven roller are both R2, wherein R1>R2.

[0018] By adopting the above technical solution, the outer diameter R2 of the roller at the front end is smaller than the outer diameter R1 of the roller at the rear end, which can reduce the volume of the front end of the clamping component without reducing the driving force, and helps to achieve miniaturization of the driving module.

[0019] Furthermore, it also includes a second recognition component, which is arranged on the clamping component at a distance from the first recognition component in the height direction. When the second recognition component recognizes that there is a workpiece in the clamping space, the first recognition component is at the same height as the notch step.

[0020] By adopting the above technical solution, a second identification component is set to identify the height of the workpiece on the clamping component, ensuring that the notched step and the first identification component are at the same height when the workpiece is rotated for the first time, which helps to improve the operating accuracy of the mechanism.

[0021] Furthermore, the first identification component includes an L-shaped plate and a positioning optical fiber, one end of the L-shaped plate is arranged on the clamping component, and the other end of the L-shaped plate is arranged toward the clamping space, and a plurality of mounting holes are provided at one end of the L-shaped plate facing the clamping space, and the plurality of mounting holes are arranged at intervals from high to low, and the positioning optical fiber is removably arranged in one of the plurality of mounting holes.

[0022] By adopting the above technical solution, by setting a plurality of mounting holes on the L-shaped plate, the positioning optical fiber can select the corresponding mounting holes for installation according to the shapes and sizes of different types of workpieces, which helps to improve the versatility of the mechanism.

[0023] Furthermore, the clamping assembly includes a first clamping jaw, a second clamping jaw and an opening and closing drive assembly, and the first clamping jaw and the second clamping jaw are movably arranged on the opening and closing drive assembly, and the opening and closing drive assembly can drive the first clamping jaw and the second clamping jaw to move closer to or away from each other to close or open the clamping space.

[0024] In a second aspect, the present invention provides a workpiece circumferential positioning device, comprising:

[0025] Any of the above workpiece circumferential positioning mechanisms;

[0026] A vibrating material tray, used to output workpieces with notches and steps at the same height to the clamping assembly;

[0027] The mechanical arm is used to drive the clamping assembly to move between the vibrating material tray and the tooling area.

[0028] In a third aspect, the present invention provides a positioning method for a workpiece circumferential positioning device, comprising the following steps:

[0029] Step 1: The robotic arm drives the clamping assembly to move to the output end of the vibrating tray;

[0030] Step 2: When the clamping assembly moves to make the notch step at a second height, the clamping assembly clamps the workpiece in the clamping space;

[0031] Step 3: The rotating assembly drives the workpiece to rotate in the clamping space;

[0032] Step 4: The first recognition component recognizes and locates the notch step. When the first recognition component recognizes that the workpiece rotates until the notch step is offset from the positioning block, the workpiece stops rotating in the clamping space.

[0033] Step 5: The robotic arm drives the clamping assembly to move to the tooling area, and the clamping assembly releases the clamping of the workpiece;

[0034] Step six: When the robot arm drives the clamping assembly to move so that the positioning block and the notch step are at the same height, the clamping assembly clamps the workpiece, and the rotating assembly drives the workpiece to rotate in the clamping space so that the positioning block abuts against the notch step.

[0035] As can be seen from the above, the workpiece circumferential positioning mechanism provided by the present invention sets the first recognition component and the positioning block at different heights of the clamping component. When the notch step is at the second height, the first recognition component can identify the rotating workpiece. When the first recognition component recognizes that the notch step is staggered with the positioning block, it controls the rotating component to stop rotating, and the clamping component releases the clamping of the workpiece; after the positioning block avoids the notch step, the clamping component can move again to clamp the workpiece. At this time, the notch step is at the first height, and the rotating component drives the workpiece to rotate again, so that the notch step abuts against the positioning block, thereby completing the circumferential positioning of the workpiece. The present invention can quickly complete the positioning of the workpiece by performing two rotation positioning on the workpiece while avoiding collision and interference between the positioning block and the notch step during the movement process, and the workpiece always maintains smooth operation during the rotation positioning process, avoiding interference with other components, thereby reducing the failure rate of the mechanism and helping to improve production efficiency.

[0036] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the embodiments of the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the workpiece structure.

[0038] Figure 2 This is a schematic structural diagram of a workpiece circumferential positioning mechanism proposed by the present invention.

[0039] Figure 3 for Figure 2 Structural schematic diagram of the workpiece circumferential positioning mechanism from another perspective.

[0040] Figure 4 for Figure 2 Schematic diagram of the structure in which the middle positioning block and the notch step are staggered.

[0041] Figure 5 for Figure 2 Schematic diagram of the structure in which the middle positioning block abuts against the notch step.

[0042] Figure 6 for Figure 2 Schematic diagram of the exploded structure of the workpiece circumferential positioning mechanism.

[0043] Figure 7 for Figure 2 Schematic diagram of the structure in which the rotating component and the workpiece are in a clamping state.

[0044] Figure 8 A schematic structural diagram of a workpiece circumferential positioning device provided by the present invention.

[0045] In the accompanying drawings: 10, workpiece; 11, notch step; 100, clamping assembly; 110, clamping space; 120, first clamping jaw; 130, second clamping jaw; 140, opening and closing drive assembly; 141, first nut; 142, second nut; 143, bidirectional screw; 200, rotating assembly; 210, driving roller; 220, driven roller group; 221, first driven roller; 222, second driven roller; 223, third driven roller; 230, roller driving assembly; 231, first synchronous pulley; 232, second synchronous pulley; 233, driving motor; 234, synchronous belt; 300, positioning block; 400, first identification assembly; 410, L-shaped plate; 411, mounting hole; 420, positioning optical fiber; 500, second identification assembly; 20, vibrating tray; 30, robotic arm. DETAILED DESCRIPTION

[0046] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0048] Reference Figure 1 The workpiece circumferential positioning mechanism disclosed in the present invention is mainly used to position a cylindrical workpiece with a notched step. The workpiece circumferential positioning mechanism does not need to use a spring to drive the bayonet to abut against the workpiece, which can reduce the failure rate of the mechanism and help improve production efficiency. It is worth noting that the workpiece of the present invention can be, but is not limited to, the motor base of the blowing assembly.

[0049] Reference Figure 2 , attached Figure 3In one embodiment, the workpiece circumferential positioning mechanism includes a clamping assembly 100, a rotating assembly 200, a positioning block 300 and a first identification assembly 400. The clamping assembly 100 is provided with a clamping space 110 for placing the workpiece 10; the rotating assembly 200 is provided in the clamping space 110, and the rotating assembly 200 is used to drive the workpiece 10 to rotate in the clamping space 110; the positioning block 300 is provided on the clamping assembly 100, and the positioning block 300 is at a first height; the first identification assembly 400 is provided on the clamping assembly 100, and the first identification assembly 400 is at a second height, the first height is greater than or less than the second height, and the first identification assembly 400 is used to identify and locate the workpiece 10 at the second height (such as the attached Figure 4 As shown in the figure, when the first recognition component 400 recognizes that the workpiece 10 rotates to the point where the notched step 11 is offset from the positioning block 300, the clamping component 100 releases the clamping of the workpiece 10; the clamping component 100 can also clamp the workpiece 10 to the point where the notched step 11 is at a first height, and the rotating component 200 drives the workpiece 10 to rotate in the clamping space 110 so that the positioning block 300 abuts against the notched step 11 (as shown in the figure). Figure 5 as shown).

[0050] Specifically, the first identification component 400 can use optical fiber identification or acoustic wave identification for positioning.

[0051] The principle of the first recognition component 400 identifying that the notched step 11 is offset from the positioning block 300 is as follows: since the circumferential positions between the positioning block 300 and the first recognition component 400 are fixed and offset from each other, when the rotating component 200 drives the workpiece 10 to rotate until the notched step 11 passes through the first recognition component 400, the first recognition component 400 controls the rotating component 200 to stop driving the workpiece 10 to rotate, thereby ensuring that the notched step 11 and the positioning block 300 are offset from each other after the workpiece 10 stops rotating.

[0052] As can be seen from the above, the workpiece circumferential positioning mechanism provided by the present invention is achieved by arranging the first recognition component 400 and the positioning block 300 at different heights of the clamping component 100. When the notch step 11 is at the second height, the first recognition component 400 can recognize the rotating workpiece 10. When the first recognition component 400 recognizes that the notch step 11 is misaligned with the positioning block 300, the rotating component 200 is controlled to stop rotating, and the clamping component 100 releases the clamping of the workpiece 10. After the positioning block 300 avoids the notch step 11, the clamping component 100 can move again to clamp the workpiece 10. At this time, the notch step 11 is at the first height, and the rotating component 200 drives the workpiece 10 to rotate again, so that the notch step 11 abuts against the positioning block 300, thereby completing the circumferential positioning of the workpiece 10. The present invention performs two rotational positioning operations on the workpiece 10, thereby quickly completing the positioning of the workpiece 10 and avoiding collision and interference between the positioning block 300 and the notched step 11 during movement. The workpiece 10 always maintains smooth operation during the rotational positioning process, avoiding interference with other components, thereby reducing the failure rate of the mechanism and helping to improve production efficiency.

[0053] Reference Figure 2 In one embodiment, the clamping assembly 100 includes a first clamping jaw 120, a second clamping jaw 130 and an opening and closing driving assembly 140. The first clamping jaw 120 and the second clamping jaw 130 are movably arranged on the opening and closing driving assembly 140. The opening and closing driving assembly 140 can drive the first clamping jaw 120 and the second clamping jaw 130 to move closer to or away from each other to close or open the clamping space 110.

[0054] Specifically, the opening and closing drive assembly 140 includes a first nut 141, a second nut 142 and a bidirectional screw rod 143. The first nut 141 and the second nut 142 are respectively arranged on the bidirectional screw rod 143. The rotation of the bidirectional screw rod 143 can drive the first nut 141 and the second nut 142 to approach or move away from each other. The first clamping jaw 120 is arranged on the first nut 141, and the second clamping jaw 130 is arranged on the second nut 142.

[0055] Reference Figure 3 In one embodiment, the first identification component 400 includes an L-shaped plate 410 and a positioning optical fiber 420, one end of the L-shaped plate 410 is arranged on the clamping component 100, and the other end of the L-shaped plate 410 is arranged toward the clamping space 110, and a plurality of mounting holes 411 are provided at one end of the L-shaped plate 410 facing the clamping space 110, and the plurality of mounting holes 411 are arranged at intervals from high to low, and the positioning optical fiber 420 is removably arranged in one of the plurality of mounting holes 411.

[0056] By adopting the above technical solution, by setting a plurality of mounting holes 411 on the L-shaped plate 410, the positioning optical fiber 420 can be installed by selecting the corresponding mounting hole 411 according to the shape and size of different types of workpieces 10, which helps to improve the versatility of the mechanism.

[0057] Reference Figure 4 In one embodiment, it also includes a second recognition component 500. The second recognition component 500 and the first recognition component 400 are arranged on the clamping component 100 at intervals along the height direction. When the second recognition component 500 recognizes that there is a workpiece 10 in the clamping space 110, the first recognition component 400 is at the same height as the notch step 11.

[0058] Specifically, when the notch step 11 is provided at the end of the workpiece 10, the number of the second recognition component 500 may be one, and the second recognition component 500 is used to identify and locate the end of the workpiece 10 away from the notch step 11. When the first recognition component 400 and the second recognition component 500 simultaneously identify the existence of the workpiece 10, the first recognition component 400 and the notch step 11 are at the same height; when the notch step 11 is provided in the middle of the workpiece 10, the number of the second recognition component 500 may be two, and the two second recognition components 500 respectively identify and locate the two opposite ends of the workpiece 10. It is worth noting that the second recognition component 500 can also use optical fiber for positioning.

[0059] By adopting the above technical solution, the second identification component 500 is set to identify the height of the workpiece 10 on the clamping component 100, ensuring that the notched step 11 and the first identification component 400 can be at the same height when the workpiece 10 is rotated and positioned for the first time, which helps to improve the operating accuracy of the mechanism.

[0060] Reference Figure 6 In one embodiment, the rotating assembly 200 includes a driving roller 210, a driven roller group 220 and a roller driving assembly 230. The driving roller 210 and the driven roller group 220 are both arranged in the clamping space 110. The roller driving assembly 230 is arranged on the clamping assembly 100, and the output end of the roller driving assembly 230 is connected to the driving roller 210.

[0061] Specifically, when the clamping assembly 100 closes the clamping space 110, the driving roller 210 and the driven roller group 220 can abut and fix the workpiece 10, and the roller driving assembly 230 drives the driving roller 210 to rotate, thereby driving the workpiece 10 to rotate, and the driven roller group 220 rotates with the rotation of the workpiece 10.

[0062] In the patent document "A manipulator for workpiece posture adjustment and positioning" with invention number 202410423335.8, the bayonet always contacts the side of the motor base, which will interfere with the rotation of the motor base. Therefore, the motor base requires a large driving force to drive it. The above patent uses gear meshing transmission to drive the active roller to rotate. However, when the bayonet is inserted into the motor base, the active roller is still in a rotating state. At this time, the meshing gears are prone to wear, causing the transmission system to malfunction.

[0063] In one embodiment, the roller drive assembly 230 includes a first synchronous pulley 231, a second synchronous pulley 232, a drive motor 233 and a synchronous belt 234, the output end of the drive motor 233 is connected to the first synchronous pulley 231, the synchronous belt 234 is respectively connected to the first synchronous pulley 231 and the second synchronous pulley 232, and the second synchronous pulley 232 is connected to the drive roller 210.

[0064] By adopting the above technical solution, the first synchronous pulley 231 and the second synchronous pulley 232 are linked by the synchronous belt 234, so that the power of the drive motor 233 is output to the drive roller 210. When the positioning block 300 abuts against the notched step 11, the flexible transmission synchronous belt 234 can idle, thereby reducing the wear of the transmission system and helping to reduce the failure rate of the mechanism.

[0065] Specifically, the driving roller 210 is made of silicone rubber, which has great hardness and elasticity, and a large friction coefficient; the driving roller 210 and the second synchronous pulley 232 are driven by a rolling shaft pin.

[0066] Reference Figure 6 , Attachment Figure 7 In one embodiment, the driven roller group 220 includes a first driven roller 221, a second driven roller 222 and a third driven roller 223. The first driven roller 221, the second driven roller 222, the third driven roller 223 and the driving roller 210 can be arranged in a circular array in the clamping space 110 in sequence. The connecting line between the first driven roller 221 and the third driven roller 223 is the first connecting line, and the connecting line between the second driven roller 222 and the driving roller 210 is the second connecting line. The angle between the first connecting line and the second connecting line is 60°, and the intersection of the first connecting line and the second connecting line coincides with the center of the circular array. It is worth noting that the angle between the first connecting line and the second connecting line is 60°, which refers to the angle when the first driven roller 221, the second driven roller 222, the third driven roller 223 and the driving roller 210 are all in contact with the workpiece 10 for clamping.

[0067] By adopting the above technical solution, the driving roller 210 and the driven roller group 220 can provide four contact points to abut the workpiece 10, and the angle between the intersection lines of the four contact points is 60°, which helps to shorten the length of the clamping assembly 100 and facilitate the clamping assembly 100 to clamp the workpiece 10.

[0068] Specifically, the first driven roller 221, the second driven roller 222 and the third driven roller 223 are made of nylon material, the rollers are first sleeved on the copper sleeve, the copper sleeve is then sleeved on the rolling pin, and the opposite ends of the rolling pin are fixed to the clamping assembly 100 through the retaining spring. The sleeved copper sleeve between the roller and the rolling pin helps to alleviate the wear of the rolling pin and increase the service life.

[0069] In one embodiment, the center angle of the first driven roller 221 and the driving roller 210 is 120°, the outer diameter of the driving roller 210 and the outer diameter of the first driven roller 221 are both R1, and the outer diameter of the second driven roller 222 and the outer diameter of the third driven roller 223 are both R2, wherein R1>R2. It is worth noting that the center angle of the first driven roller 221 and the driving roller 210 being 120° refers to the center angle when the first driven roller 221, the second driven roller 222, the third driven roller 223 and the driving roller 210 are all in contact with the workpiece 10 for clamping.

[0070] By adopting the above technical solution, the outer diameter R2 of the roller at the front end is smaller than the outer diameter R1 of the roller at the rear end, which can reduce the volume of the front end of the clamping assembly 100 without reducing the driving force, and helps to achieve miniaturization of the driving module.

[0071] Specifically, when the workpiece 10 is a motor base, the operation process of the workpiece circumferential positioning mechanism is as follows:

[0072] The clamping assembly 100 is moved to the top of the motor base, and the motor base is placed at the center of the four rollers;

[0073] When the clamping assembly 100 moves to the point where the second identification assembly 500 identifies the motor base, the first clamping jaw 120 and the second clamping jaw 130 move closer to each other to close the clamping space 110, driving the motor base to move upward;

[0074] The driving roller 210 drives the motor base to rotate in the clamping space 110, and the positioning optical fiber 420 generates an electrical signal after recognizing that the notched step 11 of the motor base passes and is offset from the positioning block 300. The electrical signal is sent to the PLC, and the PLC controls the driving motor 233 to stop rotating, and the motor base stops rotating accordingly;

[0075] The first clamping jaw 120 and the second clamping jaw 130 move away from each other, and the motor base automatically falls onto the motor under the action of gravity, completing the preliminary fitting of the motor and the motor base;

[0076] The first clamping jaw 120 and the second clamping jaw 130 approach each other again to clamp the motor base, and at this time, the notched step 11 is at the first height of the clamping assembly 100;

[0077] The driving motor 233 rotates again, driving the motor base to rotate until the notched step 11 abuts against the positioning block 300, thereby completing the positioning of the motor base on the motor.

[0078] Reference Figure 8 The present invention also provides a workpiece circumferential positioning device, comprising the workpiece circumferential positioning mechanism of any of the above embodiments, a vibrating tray 20 and a mechanical arm 30. The vibrating tray 20 is used to output the workpiece 10 with the notched steps 11 at the same height to the clamping assembly 100; the mechanical arm 30 is used to drive the clamping assembly 100 to move between the vibrating tray 20 and the tooling area.

[0079] The present invention also provides a positioning method for a workpiece circumferential positioning device, comprising the following steps:

[0080] Step 1: The robot arm 30 drives the clamping assembly 100 to move to the output end of the vibrating tray 20;

[0081] Step 2: When the clamping assembly 100 moves to make the notch step 11 at a second height, the clamping assembly 100 clamps the workpiece 10 in the clamping space 110;

[0082] Step 3: The rotating assembly 200 drives the workpiece 10 to rotate in the clamping space 110;

[0083] Step 4: The first recognition component 400 recognizes and locates the notched step 11. When the first recognition component 400 recognizes that the workpiece 10 rotates until the notched step 11 is offset from the positioning block 300, the workpiece 10 stops rotating in the clamping space 110.

[0084] Step 5: The robot arm 30 drives the clamping assembly 100 to move to the tooling area, and the clamping assembly 100 releases the clamping of the workpiece 10;

[0085] Step six: When the robot arm 30 drives the clamping assembly 100 to move to make the positioning block 300 and the notched step 11 at the same height, the clamping assembly 100 clamps the workpiece 10, and the rotating assembly 200 drives the workpiece 10 to rotate in the clamping space 110 so that the positioning block 300 abuts against the notched step 11.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0087] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A workpiece circumferential positioning mechanism for positioning a cylindrical workpiece (10) having a notched step (11). It is characterized in that include: A clamping assembly (100) is provided with a clamping space (110) for placing a workpiece (10); A rotating assembly (200) is disposed in the clamping space (110), and the rotating assembly (200) is used to drive the workpiece (10) to rotate in the clamping space (110); A positioning block (300) is provided on the clamping assembly (100), and the positioning block (300) is at a first height; A first recognition component (400) is disposed on the clamping component (100), the first recognition component (400) is at a second height, the first height is greater than or less than the second height, the first recognition component (400) is used to identify and locate the workpiece (10) at the second height, when the first recognition component (400) identifies that the workpiece (10) rotates to the point where the notch step (11) is offset from the positioning block, the clamping component (100) releases the clamping of the workpiece (10); the clamping component (100) can also clamp the workpiece (10) to the point where the notch step (11) is at the position of the positioning block. The rotating assembly (200) drives the workpiece (10) to rotate in the clamping space (110) so that the positioning block (300) abuts against the notched step (11); the rotating assembly (200) comprises a driving roller (210), a driven roller group (220) and a roller driving assembly (230); the driving roller (210) and the driven roller group (220) are both arranged in the clamping space (110); the roller driving assembly (230) is arranged on the clamping assembly (100); and an output end of the roller driving assembly (230) is connected to the driving roller (210). The roller drive assembly (230) comprises a first synchronous pulley (231), a second synchronous pulley (232), a drive motor (233) and a synchronous belt (234); the output end of the drive motor (233) is connected to the first synchronous pulley (231); the synchronous belt (234) is respectively connected to the first synchronous pulley (231) and the second synchronous pulley (232); the second synchronous pulley (232) is connected to the drive roller (210); the driven roller assembly (220) comprises a first driven roller (221), a second driven roller (222) and a third driven roller (223); The first driven roller (221), the second driven roller (222), the third driven roller (223) and the driving roller (210) can be arranged in sequence in a circular array in the clamping space (110); a connecting line between the first driven roller (221) and the third driven roller (223) is a first connecting line; a connecting line between the second driven roller (222) and the driving roller (210) is a second connecting line; an angle between the first connecting line and the second connecting line is 60°; and an intersection point of the first connecting line and the second connecting line coincides with the center of the circular array.

2. A workpiece circumferential positioning mechanism according to claim 1, It is characterized in that The central angle between the first driven roller (221) and the driving roller (210) is 120°, the outer diameter of the driving roller (210) and the outer diameter of the first driven roller (221) are both R1, and the outer diameter of the second driven roller (222) and the outer diameter of the third driven roller (223) are both R2, wherein R1>R2.

3. A workpiece circumferential positioning mechanism according to claim 1 or 2, It is characterized in that The invention also comprises a second recognition component (500), wherein the second recognition component (500) and the first recognition component (400) are arranged on the clamping component (100) at intervals in the height direction, and when the second recognition component (500) recognizes that there is a workpiece (10) in the clamping space (110), the first recognition component (400) is at the same height as the notch step (11).

4. A workpiece circumferential positioning mechanism according to claim 1, It is characterized in that The first identification component (400) comprises an L-shaped plate (410) and a positioning optical fiber (420); one end of the L-shaped plate (410) is arranged on the clamping component (100); the other end of the L-shaped plate (410) is arranged toward the clamping space (110); and a plurality of mounting holes (411) are provided at one end of the L-shaped plate (410) facing the clamping space (110); the plurality of mounting holes (411) are arranged at intervals from high to low; and the positioning optical fiber (420) is detachably arranged in one of the plurality of mounting holes (411).

5. A workpiece circumferential positioning mechanism according to claim 1, It is characterized in that The clamping assembly (100) comprises a first clamping jaw (120), a second clamping jaw (130) and an opening and closing driving assembly (140); the first clamping jaw (120) and the second clamping jaw (130) are movably arranged on the opening and closing driving assembly (140); the opening and closing driving assembly (140) is capable of driving the first clamping jaw (120) and the second clamping jaw (130) to move closer to or farther from each other, so as to close or open the clamping space (110).

6. A workpiece circumferential positioning device, It is characterized in that include: The workpiece circumferential positioning mechanism according to any one of claims 1 to 5; A vibrating material tray (20) for delivering workpieces (10) whose notched steps (11) are at the same height to the clamping assembly (100); The mechanical arm (30) is used to drive the clamping assembly (100) to move between the vibrating material tray (20) and the tooling area.

7. A positioning method for the workpiece circumferential positioning device according to claim 6, It is characterized in that The steps include: Step 1: The mechanical arm (30) drives the clamping assembly (100) to move to the output end of the vibrating material tray (20); Step 2: When the clamping assembly (100) moves to a point where the notch step (11) is at a second height, the clamping assembly (100) clamps the workpiece (10) in the clamping space (110); Step 3: The rotating assembly (200) drives the workpiece (10) to rotate in the clamping space (110); Step 4: the first recognition component (400) recognizes and locates the notched step (11), and when the first recognition component (400) recognizes that the workpiece (10) rotates until the notched step (11) is offset from the positioning block (300), the workpiece (10) stops rotating in the clamping space (110); Step 5: the robot arm (30) drives the clamping assembly (100) to move to the tooling area, and the clamping assembly (100) releases the clamping of the workpiece (10); Step six: When the robot arm (30) drives the clamping assembly (100) to move so that the positioning block (300) and the notched step (11) are at the same height, the clamping assembly (100) clamps the workpiece (10), and the rotating assembly (200) drives the workpiece (10) to rotate in the clamping space (110) so that the positioning block (300) abuts against the notched step (11).

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