Positioning Method of Four-Station Loading and Unloading Mechanism

Abstract

The present invention relates to a positioning method, in particular to a positioning method for a four-station loading and unloading mechanism. A positioning seat and a positioning mandrel are provided. The positioning seat has a guiding and positioning hole that cooperates with the guiding rod to install the positioning seat on the rotary loading tray, thereby simulating the installation position of the clamping mechanism. The positioning mandrel is vertically and fixedly installed at the end of the working shaft to simulate the axis of the working shaft. The positioning seat is also provided with a mandrel hole arranged in the vertical direction, and the positioning mandrel can be coaxially inserted into the mandrel hole. In the positioning process of the present invention, there is no need to intersperse the general assembly process. With the cooperation of the positioning seat, the positioning mandrel and the working shaft, the loading and unloading mechanism can be separately positioned and assembled into a set with the working shaft. While the process flow is clear, the assembly efficiency is improved, and the consistency of functional components is ensured.

Description

Technical Field

[0001] The present invention relates to a positioning method, and in particular to a positioning method for a four-station loading and unloading mechanism. Background Art

[0002] A four-station loading and unloading mechanism is an automated device with four working positions, which is used for loading and unloading materials in a production line or a processing process. The four-station loading and unloading mechanism is widely used in fields such as automotive parts, aerospace, mechanical manufacturing, die manufacturing, and electronic manufacturing. Especially in a production line that requires efficient, precise, and continuous loading and unloading operations, this mechanism reduces manual intervention through automated loading and unloading operations, improves the continuity and stability of the production line, and thus enhances the overall production efficiency.

[0003] As Figure 1 shown, an existing four-station loading and unloading mechanism, wherein the frame includes a bracket for installing a working shaft and a rotary turntable for arranging a clamping mechanism. The working shaft is an auxiliary clamping center mechanism, and the axis of the auxiliary clamping center mechanism coincides with the axis of the corresponding station. The rotary turntable is rotatably sleeved on the bracket, and four clamping mechanisms forming an annular layout are provided on the rotary turntable to clamp workpieces at four stations. However, this four-station loading and unloading mechanism needs to accurately position and assemble four clamping mechanisms and four stations in order to ensure the accurate positioning and loading and unloading of the device during subsequent use. However, the existing positioning methods usually require the insertion of general assembly processes during the positioning process and cannot complete the positioning and assembly of the four-station loading and unloading mechanism at one time, resulting in low positioning and assembly efficiency. Therefore, there is an urgent need to propose a new positioning method for a four-station loading and unloading mechanism. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a positioning method for a four-station loading and unloading mechanism to solve the problem of low positioning and assembly efficiency in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A positioning method for a four-station loading and unloading mechanism. The four-station loading and unloading mechanism includes a bracket and a rotary loading tray rotatably sleeved on the bracket. The rotary turntable has four clamping mechanism mounting positions corresponding to the first station, the second station, the third station, and the fourth station arranged in sequence along the clockwise direction. The clamping mechanism mounting positions are provided with guide rods for positioning. On two adjacent sides of the bracket, a first working shaft and a second working shaft are installed at a 90° angle, and the first working shaft and the second working shaft are respectively arranged at the first station and the second station, and the axes of the first working shaft and the second working shaft coincide with the working axes of the first station and the second station respectively. A positioning seat and a positioning mandrel are provided. The positioning seat has a guide positioning hole that cooperates with the guide rod to install the positioning seat on the rotary loading tray, thereby simulating the installation position of the clamping mechanism. The positioning mandrel is vertically and fixedly installed at the end of the working shaft to simulate the working shaft axis. The positioning seat is also provided with a mandrel hole arranged in the vertical direction, and the positioning mandrel can be coaxially inserted into the mandrel hole. This positioning method specifically includes the following steps:

[0007] Step 1. Install the positioning mandrel on the first working shaft and the second working shaft, and adjust the radial runout of the positioning mandrel so that its axis coincides with the working axis;

[0008] Step 2. Install the positioning seats at the positions on the rotary turntable for installing the clamping mechanism through the guide rods. By adjusting the guide rod at the position of the first station, make the mandrel hole in the positioning seat at the first station coincide with the positioning mandrel on the first working shaft, and at the same time make the side surface of the positioning seat parallel to the side reference surface of the bracket;

[0009] Step 3. Lift the first working shaft to separate the positioning mandrel on the first working shaft from the corresponding positioning seat, and then rotate the rotary turntable 90° clockwise so that the positioning seat originally located at the first station rotates to the second station, and press down the second working shaft located at the second station so that the positioning mandrel on the second working shaft coincides with the mandrel hole in the positioning seat currently located at the second station. If the positioning mandrel on the second working shaft does not coincide with the mandrel hole in the positioning seat currently located at the second station, adjust the guide rod to make the positioning mandrel on the second working shaft coincide with the mandrel hole in the positioning seat currently located at the second station;

[0010] Synchronously adjust the positioning seat currently located at the first station so that the mandrel hole in the positioning seat at the first station coincides with the positioning mandrel on the first working shaft, and at the same time make the side surface of the positioning seat parallel to the side reference surface of the bracket;

[0011] Step 4. Repeat the above steps 2 and 3 so that the mandrel holes in the positioning seats at the second station, the third station, and the fourth station can respectively coincide with the positioning mandrels of the first working shaft and the second working shaft;

[0012] And when the mandrel holes in the positioning seats at any two adjacent stations can coincide with the positioning mandrels of the first working shaft and the second working shaft simultaneously, the positioning of the four-station loading and unloading mechanism is completed.

[0013] Further, in step 3, the rotary turntable is driven to rotate by a servo motor to ensure that the rotation angle of the rotary turntable is 90°.

[0014] Further, when the rotary turntable is rotated clockwise by 90°, the parallelism between the side surface of the positioning seat rotated from the first station to the second station and the side reference surface of the bracket is detected to verify whether the rotary turntable has rotated by 90°. If it is parallel, it can be determined that the rotation angle of the rotary turntable is 90°.

[0015] The beneficial effects of the present invention are as follows:

[0016] A positioning method for a four-station loading and unloading mechanism provided by the present invention does not require the insertion of the general assembly process during the positioning process. With the cooperation of the positioning seat, the positioning mandrel, and the working shaft, the loading and unloading mechanism can be separately positioned and assembled into a set with the small column component (working shaft). While the process flow is clear, the assembly efficiency is improved, and the consistency of the functional components is ensured.

[0017] Other advantages, objectives, and features of the present invention will be described to some extent in the subsequent description, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be described in detail preferably with reference to the accompanying drawings, where:

[0019] Figure 1 It is a layout schematic diagram of four stations in a four-station loading and unloading mechanism in the prior art;

[0020] Figure 2 It is a layout schematic diagram of four stations in a four-station loading and unloading mechanism in the embodiment;

[0021] Figure 3 It is an assembly schematic diagram of the frame in a four-station loading and unloading mechanism in the embodiment;

[0022] Figure 4Schematic diagram of the principle of a positioning method for a four-station loading and unloading mechanism in an embodiment;

[0023] Figure 5 Schematic diagram of adjusting the parallelism of the positioning seat in a positioning method for a four-station loading and unloading mechanism in an embodiment Figure 1 ;

[0024] Figure 6 Schematic diagram of adjusting the parallelism of the positioning seat in a positioning method for a four-station loading and unloading mechanism in an embodiment Figure 2 ;

[0025] Figure 7 Schematic diagram of the positioning seat after positioning in a positioning method for a four-station loading and unloading mechanism in an embodiment;

[0026] Figure 8 Schematic diagram of the structure of the positioning seat in an embodiment;

[0027] Figure 9 Cross-sectional view of the positioning seat in an embodiment;

[0028] Figure 10 Schematic diagram of the structure of the positioning mandrel in an embodiment;

[0029] Figure 11 Cross-sectional view of the positioning mandrel in an embodiment.

[0030] Reference numerals: guiding positioning hole 1, mandrel hole 2, fixed connection hole 3. Detailed implementation manners

[0031] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0032] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and cannot be understood as a limitation to the present invention; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged or reduced, and do not represent the dimensions of actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0033] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be construed as a limitation of the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] As Figure 1 shown, there is a conventional four-station loading and unloading mechanism for clamping workpieces on four stations, including a frame. The frame includes a bracket for installing working shafts and a rotary turntable for arranging clamping mechanisms. On two adjacent sides of the bracket, a first working shaft and a second working shaft with a 90° included angle are installed. The working shafts are auxiliary clamping center mechanisms, and the axes of the auxiliary clamping center mechanisms coincide with the axes of the corresponding stations. The rotary turntable is rotatably sleeved on the bracket, and four clamping mechanisms forming an annular layout are provided on the rotary turntable to clamp the workpieces on the four stations.

[0035] Please refer to Figures 2 to 11 , for a positioning method of a four-station loading and unloading mechanism. This positioning method is to achieve the coaxiality positioning and indexing of Figure 1 the four stations shown with the axes of the first working shaft and the second working shaft, and finally to achieve that the four loading and unloading positions can coincide with the axes of the first working shaft and the second working shaft forming a 90° angle through rotation.

[0036] As Figure 2 shown, to achieve the positioning of the above four-station loading and unloading mechanism, the following prerequisite conditions need to be met:

[0037] 1. The four stations can respectively coincide with the centers of the axes of the first working shaft through rotation; 2. The four stations can respectively coincide with the centers of the axes of the second working shaft through rotation; 3. After the four stations are exchanged by 90°, the station centers simultaneously meet the requirements of coinciding with the axes of the first working shaft and the second working shaft.

[0038] As Figures 8 to 11As shown, for the positioning method of the four-station loading and unloading mechanism, a positioning seat and a positioning mandrel are provided. The positioning seat is used to simulate the clamping mechanism installed on the rotary turntable. It has a guiding and positioning hole 1 that cooperates with the guiding rod on the rotary turntable to install the positioning seat on the rotary turntable to simulate the installation position of the clamping mechanism. The positioning mandrel is provided with a fixed connection hole 3 to vertically and fixedly install it at the end of the working shaft to simulate the axis of the working shaft. The positioning seat is also provided with a mandrel hole 2 arranged in the vertical direction, and the positioning mandrel can be coaxially inserted into the mandrel hole 2.

[0039] Preferably, in this embodiment, the rotary turntable is driven to rotate by a servo motor to ensure that the rotation angle of the rotary turntable is a standard 90°.

[0040] As Figure 3 and Figure 4 shown, to meet the above requirements, the following conditions need to be satisfied:

[0041] 1. The parallelism between the rotary turntable and the bottom surface of the bracket should be satisfied; 2. The coaxiality adjustment between the rotary turntable and the center of the bracket should be achieved; 3. The 90° accurate indexing of the rotation angle of the rotary turntable should be satisfied; 4. The coaxiality between the central axis hole 2 of the positioning seat and the positioning mandrel should be achieved; 5. The reference side surface of the positioning seat should be parallel to the positive side reference surface of the bracket.

[0042] As Figures 5 to 7 shown, the positioning method of the four-station loading and unloading mechanism specifically includes the following steps:

[0043] Step 1. Install the positioning mandrel on the first working shaft and the second working shaft, and adjust the radial runout of the positioning mandrel so that its axis can replace the working axis.

[0044] Step 2. Install the positioning seat at the positions on the rotary turntable for installing the clamping mechanism through the guiding rod. By adjusting the guiding rod at the position of the first station, make the mandrel hole in the positioning seat at the first station coincide with the positioning mandrel on the first working shaft, and at the same time make the side surface of the positioning seat parallel to the side reference surface of the bracket; as Figure 5 shown.

[0045] Step 3. Lift the first working shaft to disengage the positioning mandrel on the first working shaft from the corresponding positioning seat, then start the servo motor to rotate the rotary turntable clockwise by 90°, so that the positioning seat originally located at the first station rotates to the second station, and press down the second working shaft located at the second station, so that the positioning mandrel on the second working shaft coincides with the mandrel hole in the positioning seat currently located at the second station. If the positioning mandrel on the second working shaft cannot coincide with the mandrel hole in the positioning seat currently located at the second station, adjust the guide rod to make the positioning mandrel on the second working shaft coincide with the mandrel hole in the positioning seat currently located at the second station; as Figure 6 shown.

[0046] Synchronously adjust the positioning seat currently located at the first station so that the mandrel hole in the positioning seat at the first station coincides with the positioning mandrel on the first working shaft, and at the same time make the side surface of the positioning seat parallel to the side reference surface of the bracket;

[0047] Step 4. Repeat the above steps 2 and 3 so that the mandrel holes in the positioning seats originally located at the second station, the third station, and the fourth station can respectively coincide with the positioning mandrels of the first working shaft and the second working shaft, and at the same time satisfy that the mandrel holes in the positioning seats at any two adjacent stations can coincide with the positioning mandrels of the first working shaft and the second working shaft at the same time, then the positioning of the four-station loading and unloading mechanism is completed. As Figure 7 shown.

[0048] Preferably, in step 3, after starting the servo motor to rotate the rotary turntable clockwise by 90°, check the parallelism between the side surface of the positioning seat rotated from the first station to the second station and the side reference surface of the bracket to verify whether the rotary turntable has rotated by 90°. If it is parallel, it can be judged that the rotation angle of the rotary turntable is 90°.

[0049] Secondly, after completing the positioning of the above four-station loading and unloading mechanism, the accuracy of the positioning indexing can usually be determined by the parallelism error between the reference surface of the positioning seat and the 90° process reference surface. When the parallelism fluctuation between the reference surface of the positioning seat and the process reference surface is within 0.03, it meets the requirements.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A positioning method for a four-station loading and unloading mechanism, the four-station loading and unloading mechanism comprising a bracket and a rotary turntable rotatably sleeved on the bracket, the rotary turntable having four clamping mechanism mounting positions corresponding to the No. 1 station, the No. 2 station, the No. 3 station and the No. 4 station arranged in a clockwise direction, respectively, the clamping mechanism mounting position having a guide rod for positioning, a first working axis and a second working axis at an angle of 90° are installed on adjacent two sides of the bracket, and the first working axis and the second working axis are respectively arranged at the No. 1 station and the No. 2 station, and the axes of the first working axis and the second working axis coincide with the working axes of the No. 1 station and the No. 2 station, respectively, and the characteristics are: A positioning seat and a positioning spindle are provided, wherein the positioning seat has a guide positioning hole matched with the guide rod, so as to install the positioning seat on the rotary turntable, thereby simulating the installation position of the clamping mechanism, and the positioning spindle is vertically fixedly installed on the ends of the first working shaft and the second working shaft to simulate the axis of the working shaft, and the positioning seat is also provided with a spindle hole arranged in the vertical direction, and the positioning spindle can be coaxially inserted into the spindle hole. The positioning method specifically includes the following steps: Step 1. Install the positioning mandrel on the first working shaft and the second working shaft, and adjust the radial runout of the positioning mandrel so that its axis coincides with the working axis; Step 2. The positions on the rotary turntable for installing the clamping mechanism are all equipped with the positioning seats through guide rods, and the guide rods at the No. 1 station are adjusted so that the spindle hole in the positioning seat at the No. 1 station coincides with the positioning spindle on the first working axis, and the side surface of the positioning seat is parallel to the side reference surface of the bracket; Step 3. Lift the first working axis to disengage the positioning spindle on the first working axis from the corresponding positioning seat, then rotate the rotary turntable 90° clockwise to rotate the positioning seat originally located at the No. 1 station to the No. 2 station, and press down the second working axis located at the No. 2 station to make the positioning spindle on the second working axis coincide with the spindle hole in the positioning seat currently located at the No. 2 station; if the positioning spindle on the second working axis cannot coincide with the spindle hole in the positioning seat currently located at the No. 2 station, adjust the guide rod to make the positioning spindle on the second working axis coincide with the spindle hole in the positioning seat currently located at the No. 2 station; Synchronously adjust the positioning seat currently located at the No. 1 station so that the spindle hole in the positioning seat at the No. 1 station coincides with the positioning spindle on the first working axis, and at the same time make the side surface of the positioning seat parallel to the side reference surface of the bracket; Step 4. Repeat the above steps 2 and 3, so that the mandrel holes in the positioning seats at the second station, the third station and the fourth station can overlap with the positioning mandrels of the first working axis and the second working axis respectively; When the mandrel holes in the positioning seats at any two adjacent workstations can coincide with the positioning mandrels of the first working axis and the second working axis at the same time, the positioning of the four-station loading and unloading mechanism is completed; After the turntable is rotated 90° clockwise, the parallelism between the side surface of the positioning seat rotated from the first station to the second station and the reference surface on the bracket side is detected to verify whether the turntable has rotated 90°. If they are parallel, it can be determined that the turntable has rotated 90°.

2. The positioning method of the four-station loading and unloading mechanism according to claim 1 is characterized in that: In step 3, the rotary turntable is driven to rotate by a servo motor to ensure that the rotation degree of the rotary turntable is 90°.

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