Method for actually measuring size of workpiece on positioner and positioner

Abstract

The invention provides a method for actually measuring the size of a workpiece on a positioner and a novel positioner. According to the method, after the size of the workpiece is measured on the positioner, clamping and overturning are carried out according to actually measured accurate data, damage such as empty clamping or jamming caused by errors is avoided, and safe and stable operation of equipment is guaranteed. And meanwhile, the number measurement is realized on the positioner, and the construction progress is not influenced. According to the multifunctional positioner capable of measuring the number, the size of a workpiece can be actually measured, a unique open type rotating mechanism and a clamp are adopted, and the shape of the machined workpiece is almost not limited. According to the semi-circular clamp, one side is completely opened, the other side clamps the workpieces in sequence, in one machining step, the positioner has no interference influence on construction of the workpieces, the positioner is matched with other positioner components to complete part displacement operation in the large-scale heavy industry and building field, a series of machining of the workpieces is continuously completed, and the machining efficiency is improved. And the automatic gapless construction efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of positioner and its application. Background Art

[0002] Automated production and processing has become the main development direction in the field of manufacturing and processing today. In the steel structure processing station, the positioner, as a machine that works with the robotic arm, is mainly responsible for transporting, fixing and flipping the workpiece. However, in actual applications, the input data of the workpiece cannot always be guaranteed to be accurate. When errors occur, it will cause safety hazards when the positioner performs the task. For example, when the input workpiece data is larger than the actual size of the workpiece, it will cause the positioner to clamp falsely, and it will vibrate when flipping, causing damage to the mechanical structure of the positioner; when the input workpiece data is smaller than the actual size of the workpiece, it may cause the servo motor driving the clamping component to get stuck, causing the task to stagnate. Summary of the invention

[0003] One of the purposes of the present invention is to solve the above-mentioned deficiencies existing in the prior art and to provide a method for measuring the size of a workpiece on a positioner, so as to execute the positioner task after measuring the actual precise size of the workpiece and eliminate safety hazards.

[0004] Another object of the present invention is to provide a new type of positioner that can quickly and efficiently implement a method for measuring workpieces, while at least completing the transportation, fixing and flipping tasks of existing positioners.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A method for measuring the size of a workpiece on a positioner, the method comprising:

[0007] 1) The fixture for clamping the workpiece adopts a translational clamp, and the jaws of the translational clamp are driven by an independent servo motor A. The servo motor A is controlled by PLC and includes a torque mode and a position mode;

[0008] 2) Measure the workpiece width: Make the translational clamp horizontal, and the servo motor A drives the two jaws to the maximum spacing; the positioner moves to the processing position, and the servo motor A uses the torque mode to drive the two jaws to clamp the workpiece, read the current position and switch to the position mode, so as to obtain the workpiece width;

[0009] 3) Measure the workpiece height: the positioner rotates the workpiece longitudinally by 90° and then releases it; the clamping jaws are moved horizontally to the workpiece position and placed in a horizontal state. The servo motor A drives the two jaws to the maximum spacing, and then the servo motor A switches to the torque mode to drive the two jaws to clamp the workpiece, read the position at this time, and switch the position mode to open, so as to obtain the workpiece height.

[0010] Furthermore, anti-collision bars are set on the claws of the translation clamp. When the servo motor A uses the torque mode to clamp the workpiece, the anti-collision bar on the claw returns a contact signal. At this time, the servo motor A switches to the position mode to read the current position information, that is, to obtain the workpiece width or height data.

[0011] Furthermore, during the measurement process, it is first determined whether there is a workpiece, and sensors are set on both jaws of the clamp to prevent the positioner from clamping beyond the hard limit and causing damage to the workpiece. Considering that the servo motor may not have enough output torque to push the workpiece, during the clamping process, when one side of the sensor detects that it is in contact with the workpiece and the torque of the jaw is insufficient, the torque of the jaw is gradually increased until the other jaw sensor detects that it is in contact with the workpiece, and then the servo motor A is modified to the position mode, the current position is saved, and the width or height data of the workpiece at this time is obtained. Finally, the jaws are released until the maximum spacing, and the measurement is completed.

[0012] For large workpieces such as building steel structures, two or more positioners are generally required to be used in groups to clamp and change the position of the workpiece together.

[0013] In order to better implement the method of measuring the size of workpieces on a positioner of this patent, this patent also provides a new multifunctional positioner, including a rotating mechanism, a main clamp and a secondary clamp. The main clamp is arranged on the rotating mechanism, and the secondary clamp is arranged horizontally on the base of the positioner; the rotating mechanism is driven by a servo motor B to rotate clockwise or counterclockwise on the Y axis, and the main clamp and the secondary clamp are both translational clamps.

[0014] Furthermore, the rotating mechanism includes a frame, a driving module, a slide rail module and a rotating frame, the driving module includes a motor, a gear and a motor connector, the gear is connected to the output shaft of the motor, and the motor connector is used to install the motor on the frame; the slide rail module includes an arc-shaped rack, a centering roller and an eccentric roller, the centering roller and the eccentric roller are respectively fixed on the frame, the centering rollers are located in pairs at the lower part of the frame, the eccentric rollers are respectively located on both sides of the centering roller, and the middle track formed by multiple centering rollers and eccentric rollers is adapted to the arc-shaped rack; the arc-shaped rack is arranged in the middle track formed by the centering roller and the eccentric roller; the gear is meshed with the gear teeth of the arc-shaped rack; the rotating frame is fixed on the arc-shaped rack of the slide rail module and rotates with the arc-shaped rack.

[0015] Furthermore, the driving module also includes a reducer disposed between the motor and the gear.

[0016] Furthermore, the driving module also includes a slide rail and a matching slider, the slide rail is fixed on the frame, and the slider is fixedly connected to the motor connector, which can drive the motor connector and the motor to move along the slide rail, thereby determining the movement range of the motor relative to the frame.

[0017] Furthermore, the drive module also includes an elastic positioning device, which is arranged on the frame, and one end of the elastic device is in contact with the motor connector, which can ensure that the gear and the gear teeth of the arc-shaped rack are fully meshed under normal circumstances; at the same time, when the gear is stuck, the radial force generated by the rotation of the gear will in turn compress the elastic positioning device, so that the gear will be out of meshing state and avoid component damage. The elastic positioning device 102-7 can preferably be a nitrogen spring, which is fixed to the frame by a tightening member.

[0018] Furthermore, there are more than two driving modules, preferably disposed on both sides of the centering roller.

[0019] Furthermore, the slide rail module also includes a felt wheel and / or a felt brush, which are respectively fixed on the frame and located on the outer side of the gear teeth of the arc-shaped rack.

[0020] Furthermore, the arc-shaped rack is semicircular with a radius of 600-1000mm; its gear teeth are cylindrical teeth. Furthermore, there are more than two pairs of centering rollers, which play the main supporting and guiding roles; and there are more than 10 eccentric rollers, which play the auxiliary supporting and guiding roles.

[0021] Furthermore, the rotating frame body is a semicircular arc frame, which is sleeved on the outer side of the arc track of the arc rack.

[0022] Furthermore, the main clamp includes a support plate, a linear guide, a first claw, a first slider, a second claw, a second slider, a servo motor and a bidirectional lead screw, the linear guide is fixed on the support plate, the first claw is fixed on the first slider, the second claw is fixed on the second slider, and the first slider and the second slider are both arranged on the linear guide; the bidirectional lead screw is arranged above the linear guide and parallel to the linear guide; the first slider is connected to the left-hand nut of the bidirectional lead screw, the second slider is connected to the right-hand nut of the bidirectional lead screw, and the servo motor is arranged on the support plate for driving the bidirectional lead screw; the servo motor is controlled by PLC and includes torque mode and position mode.

[0023] Furthermore, the support plate is provided with a workpiece supporting plate on one side of the opening and closing opening of the first claw piece and the second claw piece.

[0024] Furthermore, anti-collision strips are provided on the inner sides of the first claw piece and the second claw piece.

[0025] Furthermore, the servo motor and the bidirectional lead screw are synchronously driven via a belt.

[0026] Furthermore, the main clamp is also provided with a position sensor, and the position sensor is arranged on the support plate and located on the side of the middle part of the bidirectional screw.

[0027] The main clamp further includes a group of electric lifting rods and a support frame, the support plate is connected to the lifting rods of the electric lifting rods, the electric lifting rods are fixed on the support frame, and the support plate can move up and down driven by the electric lifting rods.

[0028] The auxiliary clamp preferably adopts the same structure as the main clamp.

[0029] The novel multifunctional positioner mentioned above may further include a travel guide rail. The positioner is arranged on the travel guide rail and can move forward and backward along the travel guide rail to enter the workpiece position. The travel guide rail includes a guide rail with a rack, a roller with a gear, a drive motor C and a travel seat. The positioner body is arranged on the travel seat. The rack is meshed with the gear. The drive motor C is used to drive the roller to move along the guide rail. When the positioners are used in groups, each independent positioner has two sets of independent travel guide rails, and synchronous travel can be achieved through the PLC control system of the drive motor C.

[0030] Beneficial effects of the present invention:

[0031] The method provided by the present invention can detect the actual size of the workpiece on the positioner. After measuring the size of the workpiece, clamping and flipping are performed according to the measured accurate data, avoiding damages such as empty clamping or jamming caused by errors, and ensuring the safe and stable operation of the equipment. At the same time, the measurement is realized on the positioner without affecting the construction process.

[0032] The multifunctional positioner capable of measuring numbers provided by the present invention can not only measure the size of the workpiece, but also has almost no restrictions on the shape of the workpiece to be processed by adopting a unique open rotating mechanism and fixture. At the same time, the semicircular configuration is fully open on one side and clamped in sequence on the other side. In one processing step, the positioner has no interference with the construction of the workpiece, and cooperates with other positioner components to complete the part displacement operation in the field of large-scale heavy industry and construction, continuously completing a series of processing of the workpiece, greatly improving the efficiency of automated gapless construction.

[0033] The expressions of direction or orientation such as "left, right, up, down, inside, outside" etc. described in this patent are based on the drawings and are intended to illustrate the structural features of the positioner, but are not limitations on the component connection relationship or structure of the positioner; the actual moving direction or orientation may change due to changes in the usage scenario or the different spaces in which the entire fixture is installed and fixed.

[0034] The specific embodiments of the present invention are described below with reference to the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A set of multifunctional positioner reference diagrams provided for an embodiment of the present invention.

[0036] Figure 2A schematic diagram of the translation fixture structure of the multifunctional positioner provided in an embodiment of the present invention.

[0037] Figure 3 A schematic diagram of the translation fixture structure of the multifunctional positioner provided in an embodiment of the present invention.

[0038] Figure 4 A schematic diagram of the rotating mechanism structure of the multifunctional positioner provided in an embodiment of the present invention.

[0039] Figure 5 An exploded view of the rotating mechanism of the multifunctional positioner provided in an embodiment of the present invention.

[0040] Figure 6 A schematic structural diagram of a driving module of a rotating mechanism of a multifunctional positioner provided in an embodiment of the present invention.

[0041] Figure 7 An exploded view of a drive module of a rotating mechanism of a multifunctional positioner provided in an embodiment of the present invention.

[0042] Figure 8 A schematic structural diagram of a slide rail module of a rotating device provided in an embodiment of the present invention.

[0043] Fig. 9 A schematic diagram of the travel guide rail structure of the multifunctional positioner provided in an embodiment of the present invention.

[0044] Fig.10 The present invention provides an example of the operation flow of loading and unloading and measuring workpieces using the multifunctional positioner according to the embodiment of the present invention.

[0045] Fig.11 The present invention provides an example of the operation flow of rotating a workpiece using the multifunctional positioner according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The specific embodiments described herein are only used to explain the technical solution of this patent, rather than to limit the disclosed technical solution. It should also be noted that, for ease of description, only the parts related to the disclosed technical solution are shown in the drawings, rather than all structures.

[0047] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structures of the device components and / or modules themselves mentioned in the embodiments, if not described in detail, are understandable to those skilled in the art based on the existing public technology or commercially available products.

[0048] refer to Figure 1This embodiment provides a new type of multifunctional positioner, including a rotating mechanism 1, a main clamp 2, a secondary clamp 3 and a walking guide rail 4. The main clamp 2 is arranged on the rotating mechanism 1, and the secondary clamp 3 is horizontally arranged on the positioner base; the rotating mechanism 1 is driven by a servo motor B to rotate clockwise or counterclockwise on the Y axis, and the main clamp 2 and the secondary clamp 3 are both translational clamps; the positioner body is arranged on the walking guide rail 4 and can move along the walking guide rail 4 to enter the workpiece position.

[0049] refer to Figure 6-8 The present embodiment provides a rotating mechanism, including a frame 101, a driving module 102, a slide rail module 103 and a rotating frame 104, wherein the driving module 102 includes a motor 102-1, a gear 102-2 and a motor connector 102-3, wherein the gear 102-2 is connected to the output shaft of the motor 102-1, and the motor connector 102-3 is used to set the motor 102-1 on the frame 101; the slide rail module 103 includes an arc-shaped gear rail 103-1, a centering roller 103-2 and an eccentric roller 103-3, wherein the centering roller 103-2 and the eccentric roller 103-3 are respectively fixed to On the frame 101, the centering rollers 103-2 are located in pairs at the lower part of the frame 101, and the eccentric rollers 103-3 are respectively located on both sides of the centering rollers 103-2. The intermediate track formed by the multiple centering rollers 103-2 and the eccentric rollers 103-3 is adapted to the arc-shaped rack 103-1; the arc-shaped rack 103-1 is arranged in the intermediate track formed by the centering rollers 103-2 and the eccentric rollers 103-3; the gear 102-2 is meshed with the gear teeth of the arc-shaped rack 103-1; the rotating frame 104 is fixed on the arc-shaped rack 103-1 of the slide rail module 103, and rotates with the arc-shaped rack 103-1.

[0050] The frame 101 is the carrier of the entire rotating mechanism. The drive module 102 and the slide rail module 103 are partially fixed to the component, which directly or indirectly determines the relative position and movement mode of other components. The drive module 102 is used to drive the arc-shaped rack 103-1 to rotate relative to the frame 101. The slide rail module 103 is used to drive and connect the fixture that fixes the workpiece, and is also used to ensure the rotation accuracy and the contact strength of the rotating frame connected to it relative to the frame.

[0051] A preferred solution of the driving module 102 is to further include a reducer 102 - 4 , which is arranged between the motor 102 - 1 and the gear 102 - 2 to ensure stable operation.

[0052] One of the further preferred solutions of the driving module 102 further includes a slide rail 102-5 and a matching slider 102-6, wherein the slide rail 102-5 is fixed on the frame 101, and the slider 102-6 is fixedly connected to the motor connector 102-3, and can drive the motor connector 102-3 and the motor 102-1 to move along the slide rail 102-5, thereby determining the movement range of the motor 102-1 relative to the frame 101. The slider 102-6 gives the motor overload disengagement capability to prevent the motor from getting stuck and causing damage to the equipment.

[0053] The second preferred solution of the driving module 102 further includes an elastic positioning 102-7, which is arranged on the frame 101, and one end of the elasticity is in contact with the motor connector 102-3, which can ensure that the gear 102-2 and the arc-shaped rack 103-1 are fully meshed under normal circumstances; at the same time, when the gear 102-2 is in a stuck state, the radial force generated by the rotation of the gear 102-2 will in turn compress the elastic positioning 102-7, so that the gear 102-2 is out of meshing state to avoid component damage. The elastic positioning 102-7 can preferably be a nitrogen spring 102-7a, which is fixed to the frame 101 through a tightening member 102-7b, and the other end of the nitrogen spring is against the motor connector, which can provide a large rebound force.

[0054] The driving modules 102 are provided with more than two, preferably disposed on both sides of the centering roller 103 - 2 , to provide a sufficiently stable driving force to ensure that the arc-shaped rack rail 103 - 1 can rotate freely in two directions.

[0055] The preferred solution of the slide rail module 103 further includes a felt wheel 103-4 and / or a felt brush 103-5, which are respectively fixed on the frame 101 and located outside the gear teeth of the arc-shaped rack 103-1. The felt wheel 103-4 is used to oil the gear teeth of the arc-shaped rack 103-1 and clean up debris at the same time. The felt brush 103-5 is used to oil the arc-shaped rail part of the arc-shaped rack 103-1 and clean up debris at the same time.

[0056] The arc gear rail 103-1 is preferably semicircular with a radius of 600-1000 mm; the gear teeth are cylindrical teeth. The use of an open arc gear rail 103-1 can facilitate the processing of workpieces in various postures. The semicircular arc gear rail can run stably in different directions.

[0057] A further preferred solution also includes that the centering rollers 103-2 are provided with more than two pairs, which play the role of main support and main guide; the eccentric rollers 103-3 are provided with more than 10, which play the role of auxiliary support and guide. Most preferably, the centering rollers 302 are provided with two pairs, and the eccentric rollers 303 are provided with 10, and the centering rollers are mainly provided at the quarter positions of the semicircle (i.e., one pair at ±90° and one pair at about 0°); eccentric rollers are provided beside the centering rollers, with a total of 3 pairs (-90°, 0°, +90°), and 2 pairs of eccentric rollers are provided at (-45°, +45°).

[0058] Correspondingly, the most preferred solution of the rotating frame 104 is that the main body is a semicircular arc frame, which is sleeved on the outer side of the arc rail of the arc rack 103-1 and rotates with the arc rack 103-1. The rotating frame 104 can be used to install workpiece fixtures and other positioner functional mechanisms and is a carrier for the positioner action.

[0059] Since the arc-shaped rack is meshed with the gear, when the motor drives the gear to rotate, the arc-shaped rack runs in the arc-shaped track limited by the centering roller and the eccentric roller, and then drives the workpiece fixed thereon to move. With the rotating mechanism provided by this patent installed, the positioner can realize the function of automatically and continuously turning over the workpiece.

[0060] refer to Figure 2 and Figure 3 The present embodiment provides a multifunctional main clamp, including a support plate 201, a linear guide 202, a first claw piece 203, a first slider 204, a second claw piece 205, a second slider 206, a servo motor 207 and a bidirectional lead screw 208, wherein the linear guide 202 is fixed on the support plate 201, the first claw piece 203 is fixed on the first slider 204, the second claw piece 205 is fixed on the second slider 206, and the first slider 204 and the second slider 206 are both arranged on the linear guide 202; the bidirectional lead screw 208 is arranged above the linear guide 202 and is parallel to the linear guide 220; the first slider 204 is connected to the left-handed nut of the bidirectional lead screw 208, the second slider 206 is connected to the right-handed nut of the bidirectional lead screw 208, and the servo motor 207 is arranged on the support plate 201 for driving the bidirectional lead screw 208; the servo motor 207 is controlled by PLC, including torque mode and position mode.

[0061] The servo motor drives the bidirectional lead screw to rotate, and the first slider provided on the positive trapezoidal lead screw segment and the second slider provided on the negative trapezoidal lead screw segment respectively drive the first claw piece and the second claw piece to move in opposite directions along the guide rail at the same time, so as to realize synchronous clamping or loosening of the claw pieces. The translation fixture of this patent is generally used in groups, that is, more than two are used in combination, and can be assembled on two positioners to fix and transfer large-sized steel materials, etc. At the same time, this open translation fixture has very good adaptability to the shape of the workpiece and will not affect the automated processing of the workpiece on the construction line.

[0062] The support plate 201 is further provided with a workpiece supporting plate 201 - 1 on one side of the opening and closing opening of the first claw piece 203 and the second claw piece 205 for supporting the workpiece.

[0063] Furthermore, anti-collision strips 209 are provided inside the first claw piece 203 and the second claw piece 205, which not only protect the clamping jaws and the workpiece, but also can judge whether the clamping jaws are clamped by the level state of the anti-collision strips.

[0064] Furthermore, the servo motor 207 and the bidirectional lead screw 208 are synchronously driven via a belt 210 .

[0065] One of the preferred solutions is to set a position sensor 211 on the main clamp 2. The position sensor 211 is arranged on the support plate 201 and is located outside the middle of the bidirectional screw 208 to prevent the positioner from clamping beyond the hard limit and causing damage to the workpiece.

[0066] The main clamp 2 further includes a group of electric lifting rods 212 and a support frame 213. The support plate 201 is connected to the lifting rod of the electric lifting rod 212. The electric lifting rod 212 is fixed on the support frame 213. The support plate 201 can move up and down under the drive of the electric lifting rod 212, thereby driving the entire clamp to move up and down in the direction of the lifting rod, thereby realizing the position adjustment of the workpiece in different directions.

[0067] The auxiliary clamp 3 preferably adopts the same structure as the main clamp 2.

[0068] The preferred solution of the walking guide rail 4 is to include a guide rail 401 with a rack, a roller 402 with a gear, a drive motor C403 and a walking seat 404. The main body of the positioner is arranged on the walking seat, the rack is meshed with the gear, and the drive motor C403 is used to drive the roller 402 to move along the guide rail 401. When the positioners are used in groups, each independent positioner has two sets of its own independent walking guide rails, and synchronous walking can be achieved through the PLC control system of the drive motor C403.

[0069] refer to Fig. 9 For large workpieces such as building steel structures, two or more positioners are generally required to be used in groups to clamp and change the position of the workpiece 5 together.

[0070] This embodiment provides a method for measuring the size of a workpiece on a positioner, comprising:

[0071] 1) The fixture for clamping the workpiece adopts a translational clamp, and the jaws of the translational clamp are driven by an independent servo motor A. The servo motor A is controlled by PLC and includes a torque mode and a position mode;

[0072] 2) Measure the workpiece width: Make the translational clamp horizontal, and the servo motor A drives the two jaws to the maximum spacing; the positioner moves to the processing position, and the servo motor A uses the torque mode to drive the two jaws to clamp the workpiece, read the current position and switch to the position mode, so as to obtain the workpiece width;

[0073] 3) Measure the workpiece height: the positioner rotates the workpiece longitudinally by 90° and then releases it; the clamping jaws are moved horizontally to the workpiece position and placed in a horizontal state. The servo motor A drives the two jaws to the maximum spacing, and then the servo motor A switches to the torque mode to drive the two jaws to clamp the workpiece, read the position at this time, and switch the position mode to open, so as to obtain the workpiece height.

[0074] Taking the positioner provided in the above embodiment as an example, the operation flow of loading, measuring width, measuring height and unloading can refer to Fig.10 .

[0075] When servo motor A uses torque mode to clamp the workpiece, the anti-collision bar set on the claw of the translation clamp returns a contact signal. At this time, servo motor A switches to position mode to read the current position information, that is, to obtain the workpiece width or height data.

[0076] For the sake of safety, during the measurement process, first determine whether there is a workpiece. The sensors set on the two jaws of the clamp can prevent the positioner from clamping beyond the hard limit and causing damage to the workpiece. Considering that the servo motor may not have enough output torque to push the workpiece, during the clamping process, when one side of the sensor detects that it is in contact with the workpiece and the torque of the jaw is insufficient, the torque of the jaw is gradually increased until the other jaw sensor detects that it is in contact with the workpiece, then the servo motor A is modified to the position mode, the current position is saved, and the width or height data of the workpiece at this time is obtained. Finally, the jaws are released until the maximum spacing, and the measurement is completed.

[0077] After verifying the actual size of the workpiece, the workpiece needs to be flipped and moved during processing to match different processing techniques. The flipping operation process can be referred to Fig.11 The positioner provided by this patent can provide flexible and accurate flipping action, and the processing robot can perform continuous construction online.

[0078] The above is an example of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for measuring the size of a workpiece on a positioner, the method comprising: 1) The fixture for clamping the workpiece adopts a translational clamp, and the jaws of the translational clamp are driven by an independent servo motor A. The servo motor A is controlled by PLC and includes a torque mode and a position mode; 2) Measure the width of the workpiece: Make the translational clamping jaws in a horizontal state, and the servo motor A drives the two jaws to the maximum distance; The positioner moves to the processing position, and the servo motor A uses the torque mode to drive the two claws to clamp the workpiece, read the current position and switch to the position mode, thus obtaining the workpiece width; 3) Measure the workpiece height: the positioner rotates the workpiece longitudinally by 90° and then releases it; the clamping jaws are moved horizontally to the workpiece position and placed in a horizontal state. The servo motor A drives the two jaws to the maximum spacing, and then the servo motor A switches to the torque mode to drive the two jaws to clamp the workpiece, read the position at this time, and switch the position mode to open, so as to obtain the workpiece height.

2. The method for measuring the size of a workpiece on a positioner according to claim 1, characterized in that: Anti-collision bars are provided on the claws of the translational clamp. When the servo motor A clamps the workpiece in torque mode, the anti-collision bars on the claws return a contact signal. At this time, the servo motor A switches to position mode to read the current position information.

3. The method for measuring the size of a workpiece on a positioner according to claim 1 or 2, characterized in that: Sensors are set on both jaws of the gripper. During the measurement process, it is first determined whether there is a workpiece. When the sensor on one side detects that it is in contact with the workpiece and the torque of the jaw is insufficient, the torque of the gripper is gradually increased until the sensor of the other jaw detects that it is in contact with the workpiece. Then, the servo motor A is modified to the position mode, the current position is saved, and the width or height data of the workpiece at this time is obtained. Finally, the gripper is released until the maximum spacing is reached, and the measurement is completed.

4. A multifunctional positioner, characterized in that: The invention comprises a rotating mechanism (1), a main clamp (2) and a secondary clamp (3), wherein the main clamp (2) is arranged on the rotating mechanism (1), and the secondary clamp (3) is arranged horizontally on the positioner base; the rotating mechanism (1) is driven by a servo motor B to rotate clockwise or counterclockwise on the Y axis, and the main clamp (2) and the secondary clamp (3) are both translational clamps.

5. The multifunctional positioner according to claim 4, characterized in that: It also includes a walking guide rail (4), and the positioner body is arranged on the walking guide rail (4) and moves along the walking guide rail (4) to enter the workpiece position.

6. The multifunctional positioner according to claim 4 or 5, characterized in that: The rotating mechanism (1) comprises a frame (101), a driving module (102), a slide rail module (103) and a rotating frame (104); the driving module (102) comprises a motor (102-1), a gear (102-2) and a motor connector (102-3); the gear (102-2) is connected to the output shaft of the motor (102-1); the motor connector (102-3) is used to arrange the motor (102-1) on the frame (101); the slide rail module (103) comprises an arc-shaped gear rail (103-1), a centering roller (103-2) and an eccentric roller (103-3); the centering roller (103-2) and the eccentric roller (103-3) are respectively fixed to On a frame (101), centering rollers (103-2) are located in pairs at the lower part of the frame (101), eccentric rollers (103-3) are located on both sides of the centering rollers (103-2), and an intermediate track formed by a plurality of centering rollers (103-2) and eccentric rollers (103-3) is adapted to an arc-shaped rack (103-1); the arc-shaped rack (103-1) is arranged in the intermediate track formed by the centering rollers (103-2) and the eccentric rollers (103-3); the gear (102-2) is meshed with the gear teeth of the arc-shaped rack (103-1); and the rotating frame (104) is arranged on the arc-shaped rack (103-1) of the slide rail module (103) and rotates along with the arc-shaped rack (103-1).

7. The multifunctional positioner according to claim 6, characterized in that: The driving module (102) further comprises a slide rail (102-5) and a slider (102-6) matched therewith, wherein the slide rail (102-5) is fixed on the frame (101), and the slider (102-6) is fixedly connected to the motor connector (102-3), driving the motor connector (102-3) and the motor (102-1) to move along the slide rail (102-5), thereby determining the movement range of the motor (102-1) relative to the frame (101).

8. The multifunctional positioner according to claim 6, characterized in that: The driving module 102 further comprises an elastic positioning member (102-7) which is arranged on the frame (101), and one elastic end of the elastic positioning member is in contact with and connected to the motor connecting member (102-3).

9. The multifunctional positioner according to claim 6, characterized in that: The arc-shaped rack (103-1) is semicircular, and its gear teeth are cylindrical teeth; the main body of the rotating frame (104) is a semicircular arc frame.

10. The multifunctional positioner according to claim 4 or 5, characterized in that: The main clamp (2) comprises a support plate (201), a linear guide rail (202), a first claw piece (203), a first slider (204), a second claw piece 205, a second slider (206), a servo motor (207) and a bidirectional lead screw (208), wherein the linear guide rail (202) is fixed on the support plate (201), the first claw piece (203) is fixed on the first slider (204), the second claw piece (205) is fixed on the second slider (206), and the first slider (204) and the second slider (206) are connected to each other. 06) are both arranged on the linear guide rail (202); the bidirectional lead screw (208) is arranged above the linear guide rail (202) and is parallel to the linear guide rail (220); the first slider (204) is connected to the left-handed nut of the bidirectional lead screw (208), and the second slider (206) is connected to the right-handed nut of the bidirectional lead screw (208); the servo motor 207 is arranged on the support plate (201) and is used to drive the bidirectional lead screw (208); the servo motor (207) is controlled by PLC and includes a torque mode and a position mode.

11. The multifunctional positioner according to claim 4 or 5, characterized in that: The structure of the auxiliary clamp (3) is the same as that of the main clamp (2).

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