Precise positioning method and device for disc workpieces

Abstract

The invention provides a disc workpiece fine positioning device which comprises a robot and a placing rack, the robot is connected with a grabbing device, the grabbing device is provided with a positioning device, the positioning device is a flexible positioning device, and the placing rack is provided with a positioning groove; primary center positioning is carried out on the disc type workpiece through the positioning groove, and secondary fine positioning is carried out on the disc type workpiece placed in the positioning groove through the flexible positioning device; and the risk that rigid positioning damages equipment and disc workpieces is avoided. A positioning groove is formed in the anti-placement platform, so that the compatibility and the universality of the positioning equipment are improved; the invention further provides a precise positioning method for the disc workpieces, positioning consistency of the disc workpieces is achieved through two times of positioning, and the automatic assembly quality and assembly efficiency of the disc workpieces are improved.

Description

Technical Field

[0001] The invention relates to the technical field of disc-type parts assembly, and in particular to a disc-type workpiece precision positioning method and device. Background Art

[0002] In the prior art, during the automatic assembly process of disc-type workpieces, the workpieces are loaded into the assembly table for assembly in a fixed direction and posture by a gripping device, but the disc-type workpieces need to be precisely positioned in advance before loading.

[0003] Generally, the standard for precise positioning of disc-type workpieces is that the threaded holes on the disc-type workpieces are all in the same position, so that the threaded holes on the disc-type workpieces are aligned after loading. In order to align the threaded holes on the disc-type workpieces, guide rods are generally installed on the workpieces to guide the threaded holes to align. This method of installing guide rods on the workpieces increases the difficulty of installation. In addition, during the installation process, the threaded hole alignment is generally precisely positioned through visual guidance and the incoming material of the workpiece, but after the robot grabs and places the workpiece, there is often a problem that the assembly requirements for the alignment accuracy of the workpiece threaded holes are not met. In addition to installing guide rods on the workpiece to guide the alignment of the threaded holes, there is also a method of adding guide devices to the placement position to guide the alignment of the threaded holes on the disc-type workpiece, but this method is prone to problems such as poor compatibility of the anti-placement position or increased model changes.

[0004] After searching, no patent document identical to the technical solution of the present application has been found.

[0005] In summary, how to design a disc-type workpiece precision positioning device to improve the positioning accuracy of the disc-type workpiece to improve the position consistency of subsequent automated assembly is a technical problem that needs to be solved urgently. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a method and device for precise positioning of disc-like workpieces to improve the precise positioning of disc-like workpieces and to improve the position consistency of subsequent automated assembly, in view of the defect in the prior art that the alignment accuracy of the threaded holes on the disc-like workpieces is not high during the automatic assembly process.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: a disk workpiece precision positioning device, comprising a robot and a placement stand, the robot is connected to a gripping device, the gripping device is provided with a positioning device, the positioning device is a flexible positioning device, and the placement stand is provided with a positioning groove; The disc-like workpiece is centrally positioned once by the positioning groove, and the disc-like workpiece placed in the positioning groove is precisely positioned twice by the flexible positioning device.

[0008] Furthermore, the placement stand has a placement table, the positioning groove is a circular positioning groove and the positioning groove is arranged on the placement table, and the diameter of the circular positioning groove matches the disc-type workpiece.

[0009] Furthermore, the flexible positioning device is a spring positioning pin, which includes a mounting seat, a spring and a tapered pin. The mounting seat is provided with a central through hole along its central axis direction. The spring is arranged in the central through hole and connected to the upper end of the tapered pin. The tapered pin can move relatively in the central through hole. Secondary precision positioning is performed by contacting and cooperating between the spring positioning pin and the threaded hole on the disk-like workpiece.

[0010] Furthermore, the mounting seat is also provided with at least two mounting holes along the axis direction of the central through hole, and bolts are passed through the mounting holes and locked onto the grasping device, thereby mounting the spring locating pin on the grasping device.

[0011] Furthermore, the tapered pin comprises a rod portion and a tapered head portion, and the tapered head portion is provided with an inclined frustum of a cone portion and a hemispherical end portion.

[0012] A method for precise positioning of a disc-like workpiece, using the precise positioning device for a disc-like workpiece according to any one of claims 1 to 5, wherein the precise positioning method comprises the following steps: S1: One-time center positioning: The gripping device places the disc-like workpiece into the positioning slot of the placement stand to complete one-time center positioning; S2: Secondary precision positioning: After completing the primary center positioning, the threaded holes on the disc-like workpiece are secondarily precisely positioned by the flexible positioning device, so that the positions of the threaded holes on each disc-like workpiece grasped into the positioning groove are consistent.

[0013] Furthermore, the fixed groove is a circular positioning groove, and the diameter of the circular positioning groove matches the disc-like workpiece; In step S1, when the grasping device places the disc-like workpiece into the positioning groove of the placing stand, the inner wall of the circular positioning groove is in contact with the outer peripheral surface of the disc-like workpiece, so that the central axis of the positioning groove and the central axis of the disc-like workpiece coincide with each other, thereby performing a center positioning of the disc-like workpiece.

[0014] Further, the flexible positioning device is a spring positioning pin, the spring positioning pin comprises a mounting seat, a spring and a tapered pin, the mounting seat is provided with a central through hole along the central axis direction thereof, the spring is provided in the central through hole and connected with the upper end of the tapered pin, and the tapered pin can move relatively in the central through hole; the tapered pin has a rod portion and a tapered head portion, the tapered head portion is provided with an inclined truncated cone portion and a hemispherical end portion; The step S2 is specifically as follows: first, the cone head of the flexible positioning device is controlled to descend along the vertically set running track of the robot; during the descent process, the cone head is used to contact and cooperate with the threaded hole on the disc workpiece, so that the disc workpiece rotates circumferentially along the positioning groove; when the disc workpiece rotates until the threaded hole and the central axis of the cone head coincide with each other, the cone head is completely inserted into the threaded hole, so that the disc workpiece stops rotating circumferentially, completing the secondary precision positioning.

[0015] Furthermore, the use of the contact and cooperation between the cone head and the threaded hole on the disk-like workpiece to make the disk-like workpiece rotate circumferentially along the positioning groove means: during the descending process, the hemispherical end of the cone head is inserted into the threaded hole on the disk-like workpiece and the frustum of the cone head contacts the hole end of the threaded hole of the disk-like workpiece, and the frustum of the cone head contacts the hole end of the threaded hole of the disk-like workpiece, so that the disk-like workpiece will give the cone head an upward reaction force to compress the spring, and at this time, the cone head is controlled to stop descending; then, under the action of the restoring force of the spring, the disk-like workpiece will rotate circumferentially along the positioning groove, and when the disk-like workpiece rotates until its threaded hole and the central axis of the cone head coincide with each other, at this time, the cone head is completely inserted into the threaded hole, so that the disk-like workpiece stops rotating circumferentially, completing the secondary precision positioning.

[0016] Beneficial effects of the present invention: (1) The present invention realizes secondary precise positioning of the disc-like workpiece by arranging a flexible positioning device on the gripping device, thereby realizing flexible precise positioning, improving the positioning consistency of the disc-like workpiece while avoiding the risk of damaging the equipment and the disc-like workpiece due to rigid positioning.

[0017] (2) The present invention provides a positioning groove on the anti-placement platform of the disc-type workpiece, and can provide a plurality of circular positioning grooves of different sizes, so that one disc-type workpiece positioning device can simultaneously meet the one-time center positioning of multiple disc-type workpieces, thereby improving the compatibility and versatility of the positioning device.

[0018] (3) The present invention realizes a method for precisely positioning a disk-like workpiece by designing a precise positioning device for the disk-like workpiece, thereby improving the automated assembly quality and assembly efficiency of the disk-like workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a device for precisely positioning a disk-type workpiece according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a placement stand according to an embodiment of the present invention; Figure 3 A schematic structural diagram of a spring positioning pin according to an embodiment of the present invention; Figure 4 is a schematic diagram of a secondary positioning process according to an embodiment of the present invention; Figure 5 for Figure 4 A partial enlarged view of middle A; Figure 6 is a schematic diagram of a secondary positioning process according to an embodiment of the present invention; Figure 7 is a schematic diagram of a secondary positioning process according to an embodiment of the present invention; In the figure: 1. robot, 11. grasping device, 111. first step, 112. second step, 12. spring locating pin, 121. tapered pin, 1211. cone head, 1212. rod, 1213. hemispherical end, 1214. frustum, 122. spring, 123. mounting seat, 1231. mounting hole, 1233. center through hole, 2. anti-placement stand, 21. placement table, 211. positioning groove, 3. disk-like workpiece, 31. threaded hole, L1. center axis of tapered pin, L2. center axis of threaded hole. DETAILED DESCRIPTION

[0020] 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.

[0021] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0022] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed", and "installed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] To make the purpose, technical solution and advantages of the embodiments of the invention more clear, the following will be combined with the appended drawings of the embodiments of the invention to Figure 1-7, clearly and completely describe the technical solutions of the embodiments of the invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention. Example

[0024] like Figure 1 and Figure 2 As shown, the device for precisely positioning disc-like workpieces of the present application includes a robot 1 and a placement stand 2 for placing disc-like workpieces 3, the placement stand 2 is provided with a placement table 21, and the placement table is provided with a positioning groove 211; the robot 1 is provided with a grasping device 11, and a flexible positioning device is fixed on the grasping device 11.

[0025] It should be noted that the disc-like workpiece has a threaded hole 31 .

[0026] When the grasping device 11 places the grasped disc-like workpiece 3 on the placement table, since the placement table 21 of the placement stand 2 provided in the present application is provided with a positioning groove 211, the positioning groove 211 is a circular positioning groove 211 and the diameter of the positioning groove 211 matches the disc-like workpiece 3, the purpose of such a setting is to position the disc-like workpiece 3 through the positioning groove 211, so that the disc-like workpiece is placed in the positioning groove 211, and a one-time center positioning is achieved (i.e., a one-time center positioning); After the disc-like workpiece 3 is centrally positioned once, a flexible positioning device is provided to contact and cooperate with the threaded hole 31 on the disc-like workpiece 3 for secondary precision positioning, thereby achieving flexible precision positioning of the disc-like workpiece 3 and avoiding rigid contact during the positioning process to damage the robot 1 and the disc-like workpiece 3.

[0027] By positioning the disc-like workpiece twice, the position accuracy of the disc-like workpiece 3 is guaranteed when it is grabbed by the robot 1 for the next assembly process, that is, the position of the threaded hole 31 of the disc-like workpiece 3 is consistent, thereby improving the assembly speed and assembly quality of the entire disc-like workpiece 3 automated assembly process.

[0028] Specifically, Figure 3 As shown, the above-mentioned flexible positioning device is a spring positioning pin 12, which includes a mounting seat 123, a spring 122 and a tapered pin 121, and a central through hole 1233 is provided in the mounting seat 123 along its central axis direction, the spring 122 is arranged in the central through hole 1233 and is fixedly connected to the upper end of the tapered pin 121, and the tapered pin 121 can move vertically in the central through hole 1233. Figure 3 As shown, the mounting seat 123 is also provided with at least two mounting holes 1231 along the axis direction of the central through hole 1233, and the mounting holes 1231 are provided to mount the spring positioning pin 12 to the grasping device 11 by bolts; Figure 5-7As shown, the spring positioning pin 12 is in contact with the threaded hole 31 on the disc-like workpiece 3 to perform secondary precision positioning. When performing secondary precision positioning, in order to make the positions of the threaded holes 31 of the disc-like workpiece 3 consistent, the spring positioning pin 12 uses the restoring force provided by the compressed spring 122 to exert a force on the disc-like workpiece 3, so that the disc-like workpiece 3 rotates circumferentially in the positioning groove 211, and then corrects the position of the threaded hole 31. The spring positioning pin 12 is used to flexibly adjust the position of the disc-like workpiece 3, avoiding damage to the robot 1, the gripping device 11 and the disc-like workpiece 3 when the rigid positioning device is in rigid contact with the disc-like workpiece 3.

[0029] It should be noted that the secondary precision positioning is based on the tapered pin 121. When the central axis L1 of the tapered pin 121 coincides with the central axis L2 of the threaded hole 31 in the disk-like workpiece 3, the standard position of the threaded hole 31 is obtained (e.g. Figure 7 ).

[0030] In this embodiment, Figure 2 As shown, the placement table 21 of the placement stand 2 is provided with a plurality of positioning grooves 211 for disc-like workpieces 3, which can be used for precise positioning of disc-like workpieces 3 of various sizes and diameters, thereby increasing the versatility and compatibility of the disc-like workpiece positioning device. When the gripping device places the disc-like workpiece into the positioning groove 211 of the placement stand, the inner wall of the circular positioning groove 211 contacts the outer peripheral surface of the disc-like workpiece 3, thereby performing a center positioning of the disc-like workpiece 3.

[0031] like Figure 3 and Figure 4 As shown, the conical pin 121 has a rod portion 1212 and a conical head portion 1211, and the conical head portion 1211 is provided with an inclined truncated cone portion 1214 and a hemispherical end portion 1213. This arrangement enables the spring positioning pin 12 to perform secondary precision positioning on the disk-like workpiece 3, such as Figure 5 As shown, when the lower end of the spring locating pin 12 contacts the edge of the threaded hole 31 of the disk-like workpiece 3, it will be an arc-shaped contact surface, which reduces the friction of the tapered pin 121 on the threaded hole 31 when the tapered pin 121 is inserted into the threaded hole 31 of the disk-like workpiece 3, so that the tapered pin 121 can be smoothly inserted into the threaded hole 31 on the disk-like workpiece 3, avoiding the lower end face of the tapered pin 121 from getting stuck on the edge of the threaded hole 31 of the disk-like workpiece 3 to hinder positioning.

[0032] The present application also provides a method for accurately positioning a disk-type workpiece, such as Figure 1 , Figure 2 and Figure 5-7 As shown, the steps of using the above-mentioned disk-type workpiece precise positioning device to perform precise positioning are: S1: primary center positioning: the robot 1 uses the front-end grasping device 11 to place the disk-like workpiece 3 into the positioning groove 211 of the placement table 21, completing primary center positioning; Specifically, the positioning groove 211 is a circular positioning groove 211, and the diameter of the circular positioning groove 211 matches the disc workpiece 3; in step S1, when the grasping device places the disc workpiece 3 into the positioning groove 211 of the placement table 21, the inner wall of the circular positioning groove 3 is in contact with the outer peripheral surface of the disc workpiece 3, so that the central axis of the positioning groove 211 and the central axis of the disc workpiece 3 coincide with each other, and the disc workpiece 3 is centrally positioned.

[0033] S2: Secondary precision positioning: After completing the primary center positioning, the threaded hole 31 of the disc-like workpiece 3 is secondarily precisely positioned through the trajectory points of the robot 1, so that the position of the threaded hole 31 of each disc-like workpiece 3 captured in the positioning groove 211 is consistent.

[0034] Specifically, the cone head 1211 of the spring positioning pin 12 is first controlled to descend along the vertically set running trajectory of the robot. During the descent, the hemispherical end 1213 of the cone head 1211 is inserted into the threaded hole 31 on the disk workpiece 3 and the truncated cone part 1214 of the cone head 1211 contacts the hole end of the threaded hole 31 of the disk workpiece 3. The truncated cone part 1214 of the cone head 1211 contacts the hole end of the threaded hole 31 of the disk workpiece 3, so that the disk workpiece 3 will give the cone head 1211 an upward reaction force to compress the spring 122. At this time, the cone head 1211 is controlled to stop descending; then, under the action of the restoring force of the spring 122, the disk workpiece 3 will rotate circumferentially along the positioning groove 211. When the disk workpiece 3 rotates until its threaded hole 31 and the central axis of the cone head 1211 coincide with each other (that is, the central axis L1 of the cone pin 121 coincides with the central axis L2 of the threaded hole 31 on the disk workpiece 3) Figure 7 As shown), at this time, the cone head 1211 is completely inserted into the threaded hole 31, so that the disc-like workpiece 3 stops circumferential rotation, completing the secondary precision positioning.

[0035] A method for precisely positioning a disk-like workpiece is achieved by designing a disk-like workpiece precise positioning device, thereby improving the automated assembly quality and assembly efficiency of the disk-like workpiece.

[0036] The above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Technicians in the relevant technical field may make various changes or modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should also fall within the protection scope of the present invention, and the protection scope of the present invention should be defined by the claims.

Claims

1. A precision positioning device for disc-type workpieces, comprising a robot and a placement stand, wherein the robot is connected to a gripping device, and a positioning device is provided on the gripping device, characterized in that: The positioning device is a flexible positioning device, and the placement stand is provided with a positioning groove; The disc-like workpiece is centrally positioned once by the positioning groove, and the disc-like workpiece placed in the positioning groove is precisely positioned twice by the flexible positioning device.

2. The disk workpiece precision positioning device according to claim 1, characterized in that: The placing stand has a placing table surface, the positioning groove is a circular positioning groove and is arranged on the placing table surface, and the diameter of the positioning groove matches the disk-like workpiece.

3. The disk workpiece precision positioning device according to claim 2, characterized in that: The flexible positioning device is a spring positioning pin, which includes a mounting seat, a spring and a tapered pin. The mounting seat is provided with a central through hole along its central axis. The spring is arranged in the central through hole and connected to the upper end of the tapered pin. The tapered pin can move relatively in the central through hole. Secondary precision positioning is performed by contacting and cooperating between the spring positioning pin and the threaded hole on the disk-like workpiece.

4. The disk workpiece precision positioning device according to claim 3, characterized in that: The mounting seat is also provided with at least two mounting holes along the axis direction of the central through hole, and bolts are passed through the mounting holes and locked onto the grabbing device, thereby mounting the spring positioning pin on the grabbing device.

5. The disk workpiece precision positioning device according to claim 4, characterized in that: The tapered pin comprises a rod portion and a tapered head portion, wherein the tapered head portion is provided with a truncated cone portion and a hemispherical end portion.

6. A method for precisely positioning a disk-like workpiece, using the device for precisely positioning a disk-like workpiece according to any one of claims 1 to 5, characterized in that: The steps of the precise positioning method are: S1: One-time center positioning: The gripping device places the disc-like workpiece into the positioning slot of the placement stand to complete one-time center positioning; S2: Secondary precision positioning: After completing the primary center positioning, the threaded holes on the disc-like workpiece are secondarily precisely positioned by the flexible positioning device, so that the positions of the threaded holes on each disc-like workpiece grasped into the positioning groove are consistent.

7. The disk workpiece precision positioning method according to claim 6, characterized in that: The positioning groove is a circular positioning groove, and the diameter of the circular positioning groove matches the disc-like workpiece; In step S1, when the grasping device places the disc-like workpiece into the positioning groove of the placement table, the inner wall of the circular positioning groove is in contact with the outer peripheral surface of the disc-like workpiece, so that the central axis of the positioning groove and the central axis of the disc-like workpiece coincide with each other, thereby performing a center positioning of the disc-like workpiece.

8. The disk workpiece precision positioning method according to claim 7, characterized in that: The flexible positioning device is a spring positioning pin, which includes a mounting seat, a spring and a tapered pin. The mounting seat is provided with a central through hole along the central axis direction thereof. The spring is provided in the central through hole and connected to the upper end of the tapered pin. The tapered pin can move relatively in the central through hole. The tapered pin has a rod portion and a tapered head portion, and the tapered head portion is provided with a truncated cone portion and a hemispherical end portion. The step S2 is: first control the cone head of the flexible positioning device to descend along the vertically set running track of the robot, and in the process of descending, utilize the cone head to contact and cooperate with the threaded hole on the disc workpiece to make the disc workpiece rotate circumferentially along the positioning groove, when the disc workpiece rotates until the threaded hole and the central axis of the cone head coincide with each other, at this time, the cone head is completely inserted into the threaded hole, so that the disc workpiece stops rotating circumferentially, completing the secondary precision positioning.

9. The disk workpiece precision positioning method according to claim 8, characterized in that: The use of the contact and cooperation between the cone head and the threaded hole on the disk-like workpiece to make the disk-like workpiece rotate circumferentially along the positioning groove means: during the descending process, the hemispherical end of the cone head is inserted into the threaded hole on the disk-like workpiece and the frustum of the cone head contacts the hole end of the threaded hole of the disk-like workpiece, and the frustum of the cone head contacts the hole end of the threaded hole of the disk-like workpiece, so that the disk-like workpiece will give the cone head an upward reaction force to compress the spring, and at this time, the cone head is controlled to stop descending; then, under the action of the restoring force of the spring, the disk-like workpiece will rotate circumferentially along the positioning groove, and when the disk-like workpiece rotates until its threaded hole and the central axis of the cone head coincide with each other, at this time, the cone head is completely inserted into the threaded hole, so that the disk-like workpiece stops rotating circumferentially, completing the secondary precision positioning.

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