Product manual feeding alignment device and centering debugging method

Abstract

The application provides a product manual feeding alignment device and centering debugging method, which comprises a feeding positioning mechanism, a carrying arm and a working position positioning mechanism, a feeding positioning mechanism, a feeding base, the carrying arm comprises a mounting seat and a carrying jig, the working positioning mechanism comprises a working base and a working jig, the centering shaft body is provided with a first positioning part for circumferential limiting at the top and the bottom of the centering shaft body which deviate from the shaft center of the centering shaft body; the second positioning part is arranged at the position deviating from the center of the top of the feeding base, the bottom of the mounting seat and the top of the working base; the sixth positioning part is arranged on the feeding base, the mounting seat and the working base and cooperates with the radial limiting of the centering shaft body. The three positioning references are aligned through the centering shaft body, so that the positioning references in the feeding, carrying and processing processes are consistent; the centering positioning can be realized even if the base deviates from the scale line, the centering debugging difficulty is reduced and the centering debugging speed is improved.

Description

Technical Field

[0001] The present invention relates to the field of alignment technology, in particular to a product manual feeding alignment device and an alignment and debugging method. Background Art

[0002] Currently, the main alignment methods on the market are manual alignment (mechanical edge alignment) and automatic alignment (CCD image-guided alignment). Automatic alignment generally uses CCD image guidance and platform correction. This method has a high degree of equipment integration and requires an automatic adjustment mechanism and is paired with a vision-based industrial computer. It is often used in automated equipment, but its cost is high. Manual alignment generally uses mechanical alignment, setting XY edge alignment on the fixture platform. It is mostly used in semi-automatic machines. Although it is low-cost, it is only suitable for loading workpieces with flat surfaces. However, if the product has an irregular curved surface, it is necessary to ensure the deviation of the XY position and theta angle of the product when loading. The general manual mechanical positioning cannot meet the requirements. To ensure accurate loading in the market, R&D personnel usually design contoured loading jigs, transport jigs and working jigs to accurately place the product for processing. However, these three usually have reference deviation problems during use, resulting in unqualified product processing. The existing means to solve this problem are usually to set corresponding scale lines on the corresponding bases for installing the jigs. As long as the jigs are aligned with the scale lines, they are aligned; but after long-term use, the bases are inevitably offset to a certain extent, which will result in the inability to adjust the positioning bases of the three even if they are aligned, and users need to explore and debug based on experience; and it is also possible that the scale lines are covered by oil, dust, etc. and cannot be seen clearly. Summary of the Invention

[0003] In order to solve the above problems, the purpose of the present invention is to provide a product manual loading and positioning device and a centering and debugging method.

[0004] The present invention is implemented by the following method: a product manual loading and positioning device, including a loading positioning mechanism, a transport arm and a work position positioning mechanism, the loading positioning mechanism loading jig and a loading base, the transport arm including a mounting seat and a transport jig, the work positioning mechanism including a work base and a work jig, including a centering axis body for auxiliary centering, the top and bottom of the centering axis body deviating from the axis center of the centering axis body are both provided with a first positioning part for circumferential limiting, and the first positioning parts at the bottom and the top are coaxial; the top of the loading base, the bottom of the mounting seat and the top of the work base are all provided with a second positioning part that cooperates with the first positioning part, the bottom of the loading jig is provided with a third positioning part that cooperates with the second positioning part of the loading base, the top of the transport jig is provided with a fourth positioning part that cooperates with the second positioning part of the mounting seat, and the bottom of the work jig is provided with a fifth positioning part that cooperates with the second positioning part of the work base; the loading base, the mounting seat and the work base are all provided with a sixth positioning part that cooperates with the radial limiting of the centering axis body.

[0005] Preferably, it further includes a positioning pin, the first positioning portion is a first positioning pin hole, the second positioning portion is a second positioning pin hole, and the positioning pin can be inserted into the first positioning pin hole and the second positioning pin hole.

[0006] Preferably, the diameters of the first positioning pin hole and the second positioning pin hole are both equal to the diameter of the positioning pin.

[0007] Preferably, the sixth positioning portion of the loading base is a first positioning groove opened on the top of the loading base, the first positioning groove has the same diameter as the centering axis, the second positioning pin hole is arranged on the bottom surface of the first positioning groove, and the centering axis can be inserted into the first positioning groove.

[0008] Preferably, the shape and size of the bottom of the loading jig are the same as the shape and size of the first positioning groove, and the third positioning portion is arranged at a position deviating from the axis of the loading jig, which is a third positioning pin hole, and a positioning pin can be inserted between the third positioning pin hole and the second positioning pin hole of the loading base.

[0009] Preferably, the mounting seat includes a mounting base plate and a jig mounting plate, the sixth positioning portion of the mounting seat is a positioning circular hole opened on the mounting plate, the lower surface of the jig mounting plate is provided with a downwardly protruding positioning frustum, the positioning frustum is inserted into the positioning circular hole, the diameter of the positioning frustum is the same as the diameter of the positioning circular hole and the centering axis, and the second positioning pin hole is provided on the lower surface of the positioning frustum.

[0010] Preferably, the shape and size of the top of the transport jig are the same as the shape and size of the positioning circular hole, and the fourth positioning portion is arranged on the upper surface away from the axis of the transport jig, which is a fourth positioning pin hole, and a positioning pin can be inserted between the fourth positioning pin hole and the second positioning pin hole of the mounting seat.

[0011] Preferably, the sixth positioning portion of the working base is a second positioning groove opened on the top of the working base, the second positioning groove has the same diameter as the centering axis, the second positioning is arranged on the bottom surface of the second positioning groove, and the centering axis can be inserted into the second positioning groove.

[0012] Preferably, the shape and size of the bottom of the working jig are the same as the shape and size of the second positioning groove, and the fifth positioning portion is arranged on the lower surface away from the axis of the transport jig, which is the fifth positioning pin hole, and a positioning pin can be inserted between the fifth positioning pin hole and the second positioning pin hole of the working base.

[0013] A method for centering and debugging a product manual feeding and positioning device, characterized in that the debugging is performed according to the following steps:

[0014] Step S1: Mount the centering shaft on the work base, so that the centering shaft cooperates with the sixth positioning portion of the work base to achieve planar alignment, and so that the first positioning portion of the centering shaft cooperates with the second positioning portion of the work base to achieve circumferential positioning alignment between the centering shaft and the work base;

[0015] Step S2: Move the transport arm to drive the mounting seat to move closer to the centering shaft, and then fine-tune the mounting seat in the radial direction of the centering shaft so that the sixth position of the mounting seat is aligned with the centering shaft in the radial direction;

[0016] Step S3: Adjust the mounting base so that it rotates around the axis of the centering shaft so that the second positioning portion of the mounting base is aligned with the first positioning portion at the other end of the centering shaft, thereby achieving accurate circumferential positioning of the centering shaft and the mounting base of the transport arm. This completes the alignment of the mounting base and the working base, after which the centering shaft can be detached from the working base.

[0017] Step S4: Ensure the connection between the centering shaft and the mounting seat, move the mounting seat by the transport arm, move the centering shaft to the loading base, and fine-tune the centering shaft to align with the sixth positioning portion of the loading base. Then, rotate the loading base so that it rotates around the centering shaft to align the second positioning portion of the loading base with the first positioning portion of the centering shaft. This completes the centering of the loading base and the mounting seat, and removes the centering shaft.

[0018] Step S5, install the loading jig on the loading base so that the third fixed portion is aligned and fixed with the second positioning portion of the loading base; install the transport jig on the mounting seat so that the fourth positioning portion of the transport jig is aligned and fixed with the second positioning portion of the mounting seat; install the working jig on the working base so that the fifth positioning portion of the working jig is aligned and fixed with the second positioning portion of the working base.

[0019] The beneficial effects of the present invention are: the present invention provides a product manual loading and positioning device and a centering and debugging method. Compared with the existing technology, the present invention has at least the following technical effects: 1. Through the setting of the centering axis body and the cooperation of the sixth positioning part of the mounting seat, the loading base and the working base, the radial alignment of the centering axis body and the mounting seat, the loading base and the working base (that is, the alignment of the XY plane) can be easily achieved. Then, through the eccentrically arranged first positioning part on the centering axis body and the second positioning part at the position off-center of the mounting seat, the loading base and the working base, the unified alignment of the θ direction of the mounting seat, the loading base and the working base can be achieved. Then, the third positioning part of the loading jig, the fourth positioning part of the transport jig, and the fifth positioning part of the working jig are cooperated with each second positioning part to fix the installation; the positioning references of the three are aligned by the centering axis body, so that the positioning references during loading, transporting and processing can be guaranteed to be consistent; there is no need to use scale lines, and the base can be centered even if it is offset, which reduces the difficulty of debugging and centering and improves the speed of debugging and centering. 2. The first positioning part and the second positioning part are set as pin holes, and a positioning pin can be inserted between the two at the same time to complete the alignment in the circumferential direction, that is, the θ direction. It is simple and crude, and there is no need to align the centering axis and the corresponding base scale line. 3. The sixth positioning part is a groove or a circular hole that matches the shape and size of the centering axis. As long as the centering axis can be inserted into the groove or the circular hole, the XY direction alignment can be quickly achieved, which is convenient, fast and accurate. 4. The mounting seat is provided with a positioning circular hole mounting base and a jig mounting plate with a positioning frustum, so that the jig mounting plate loaded with the mounting base can rotate around the axis, so that the jig mounting plate can be aligned with the working base and the loading base in the θ direction, that is, the θ direction alignment of the transport jig, the loading jig and the working jig. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a manual product loading and positioning device of the present invention.

[0021] Figure 2 It is a schematic diagram of the separate states of a loading fixture and a loading base of a manual loading and positioning device for a product of the present invention.

[0022] Figure 3 This is a separate schematic diagram of a mounting base and a handling fixture of a manual loading and positioning device for a product of the present invention.

[0023] Figure 4 This is another discrete schematic diagram of a mounting base and a handling fixture for a manual loading and positioning device of a product of the present invention.

[0024] Figure 5 This is a separate schematic diagram of a working base and a working fixture of a manual loading and positioning device for a product of the present invention.

[0025] Figure 6 It is a structural schematic diagram of the centering shaft of a manual loading and positioning device for a product of the present invention.

[0026] Figure 7 This is a schematic diagram of the alignment and debugging of the working fixture and the transport fixture.

[0027] Figure 8 This is a schematic diagram of the alignment and debugging of the handling jig and the loading jig.

[0028] Explanation of the accompanying numbers: 1. Loading jig; 2. Loading base; 3. Mounting seat; 31. Mounting base plate; 32. Jig mounting plate; 4. Transport jig; 41. Fourth positioning part; 5. Working base; 6. Working jig; 61. Fifth positioning part; 7. Centering axis; 71. First positioning part; 8. Second positioning part; 9. Positioning pin; 10. Sixth positioning part; 11. Product. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] See also Figures 1 to 8, a product 11 manual loading and positioning device, including a loading positioning mechanism, a transport arm and a work position positioning mechanism, the loading positioning mechanism loading fixture 1 and the loading base 2, the transport arm includes a mounting seat 3 and a transport fixture 4, the work positioning mechanism includes a work base 5 and a work fixture 6, including an auxiliary centering axis 7, the top and bottom of the centering axis 7 deviating from the axis of the centering axis 7 are provided with a first positioning part 71 for circumferential limitation, the bottom and top of the first positioning part 71 are coaxial; the top of the loading base 2, the bottom of the mounting seat 3 and the A second positioning portion 8 cooperating with the first positioning portion 71 is provided at a position off-center at the top of the working base 5, a third positioning portion cooperating with the second positioning portion 8 of the loading base 2 is provided at the bottom of the loading jig 1, a fourth positioning portion 41 cooperating with the second positioning portion 8 of the mounting seat 3 is provided at the top of the transport jig 4, and a fifth positioning portion 61 cooperating with the second positioning portion 8 of the working base 5 is provided at the bottom of the working jig 6; a sixth positioning portion 10 cooperating with the radial limit of the centering shaft 7 is provided on the loading base 2, the mounting seat 3 and the working base 5. By providing the centering axis 7 and cooperating with the sixth positioning portion 10 of the mounting base 3, loading base 2, and working base 5, radial alignment (i.e., alignment in the XY plane) of the centering axis 7 with the mounting base 3, loading base 2, and working base 5 can be easily achieved. Subsequently, by eccentrically positioning the first positioning portion 71 on the centering axis 7 and disposing the second positioning portion 8 off-center at the mounting base 3, loading base 2, and working base 5, uniform alignment in the θ direction of the mounting base 3, loading base 2, and working base 5 can be achieved. The third positioning portion of the loading jig 1, the fourth positioning portion 41 of the transport jig 4, and the fifth positioning portion 61 of the working jig 6 are then cooperating with the second positioning portions 8 to secure the jig 1. The centering axis 7 aligns the positioning references of the three components, ensuring consistent positioning references during loading, transport, and processing. Even if the base is offset, centering can be achieved without the use of scale lines, reducing the difficulty and speed of debugging and centering. Product 11 is placed in the contoured cavity of the loading jig 1.

[0031] See also Figures 1 to 8 Preferably, a positioning pin 9 is further included. The first positioning portion 71 is a first positioning pin hole, and the second positioning portion 8 is a second positioning pin hole. The positioning pin 9 can be inserted into both the first and second positioning pin holes. By configuring the first and second positioning portions 71, 8 as pin holes and simultaneously inserting a positioning pin 9 between them, circumferential alignment, i.e., the θ direction, is achieved. This is simple and crude, and there is no need to align the center axis 7 with the corresponding base scale line.

[0032] See also Figures 1 to 8Preferably, the diameters of the first and second positioning pin holes are equal to the diameter of the positioning pin 9, ensuring accurate centering in the θ direction. Alternatively, the positioning pin 9 can be directly fixed to the first positioning pin hole, i.e., the centering shaft 7 has coaxial protruding cylinders on its upper and lower surfaces.

[0033] See also Figures 1 to 2 、 Figure 6 Preferably, the sixth positioning portion 10 of the loading base 2 is a first positioning groove provided on the top of the loading base 2. The first positioning groove has the same diameter as the centering shaft 7. The second positioning pin hole is provided on the bottom surface of the first positioning groove, and the centering shaft 7 can be inserted into the first positioning groove. Since the dimensions of the centering shaft 7 and the first positioning groove match, the centering shaft 7 is placed in the first groove to achieve alignment in the XY plane. Thereafter, the circumferential axis is rotated so that the pin is inserted into the first and second positioning pin holes to complete the alignment in the θ direction. Of course, in other embodiments, the sixth positioning portion 10 of the loading base 2 is a protruding frustum, and the outer rings of the upper and lower surfaces of the centering shaft 7 have circular rings, the inner rings of which have the same diameter as the protruding frustum. The same applies to the working base 5. The positioning frustum protrudes from the lower surface of the positioning circular hole, and the outer circumference of the connection between the corresponding loading jig 1, the handling jig 4, and the working jig 6 and the corresponding base and the mounting seat 3 has a circular ring of corresponding size.

[0034] See also Figures 1 to 2 、 Figure 6 Preferably, the shape and size of the bottom of the loading jig 1 are the same as the shape and size of the first positioning groove. The third positioning portion is provided at a position deviating from the axis of the loading jig 1 and is a third positioning pin hole. A positioning pin 9 can be inserted between the third positioning pin hole and the second positioning pin hole of the loading base 2. Similarly, the loading jig 1 is placed into the first positioning groove to complete the alignment with the loading base 2 in the XY plane. After that, it is rotated so that the positioning pin 9 can be inserted into the third positioning pin hole and the second positioning pin hole at the same time to complete the alignment in the θ direction. Of course, the third positioning pin hole can be fixed with a positioning pin 9, and the positioning of the loading jig 1 and the loading base 2 is directly achieved through the positioning pin 9.

[0035] See also Figure 1 、 Figure 3 、 Figure 4 、 Figure 6Preferably, the mounting seat 3 includes a mounting base plate 31 and a jig mounting plate 32. The sixth positioning portion 10 of the mounting seat 3 is a positioning circular hole opened on the mounting plate. The lower surface of the jig mounting plate 32 is provided with a downwardly protruding positioning cone, which is inserted into the positioning circular hole. The diameter of the positioning cone is the same as the diameter of the positioning circular hole and the centering shaft 7. The second positioning pin hole is provided on the lower surface of the positioning cone. A first locking hole is provided at a position of the jig mounting plate 32 that deviates from the cone, and a second locking hole is provided on the corresponding mounting base plate 31, so as to completely fix the jig mounting plate 32 to the mounting plate after alignment adjustment; and the second positioning pin hole passes through the upper and lower surfaces of the jig mounting plate 32, so as to insert the positioning pin 9 into the first positioning pin 9 of the centering shaft 7 after adjustment to achieve circumferential limiting of the two, and then the first locking hole and the second locking hole are locked by bolts to fix the jig mounting plate 32.

[0036] See also Figure 1 、 Figure 3 、 Figure 4 、 Figure 6 Preferably, the shape and size of the top of the transport jig 4 are the same as those of the positioning circular hole. The fourth positioning portion 41 is provided on the upper surface, offset from the axis of the transport jig 4, and is a fourth positioning pin hole. A positioning pin 9 can be inserted between the fourth positioning pin hole and the second positioning pin hole of the mounting seat 3. This facilitates the alignment and connection of the transport jig 4 and the jig mounting seat 3.

[0037] See also Figure 1 、 Figure 5 、 Figure 6 Preferably, the sixth positioning portion 10 of the working base 5 is a second positioning groove provided on the top of the working base 5. The second positioning groove has the same diameter as the centering shaft 7. The second positioning member is provided on the bottom surface of the second positioning groove, and the centering shaft 7 can be inserted into the second positioning groove. The principle of alignment between the centering shaft 7 and the loading base 2 is discussed below and will not be described in detail.

[0038] See also Figure 1 、 Figure 5 、 Figure 6 Preferably, the shape and size of the bottom of the working jig 6 are the same as those of the second positioning groove. The fifth positioning portion 61 is provided on the lower surface, offset from the axis of the transport jig 4, and is a fifth positioning pin hole. A positioning pin 9 can be inserted between the fifth positioning pin hole and the second positioning pin hole of the working base 5. See the working principle of the loading jig 1 being installed on the loading base 2, and detailed description is not provided here.

[0039] Preferably, the first positioning groove, the second positioning groove, and the positioning circular hole are provided with chamfers at their edges to facilitate pushing the centering shaft 7 in. Conversely, the upper and lower end surface edges of the centering shaft 7 may also be chamfered.

[0040] A method for centering and debugging a manual loading and positioning device for a product 11, characterized in that the debugging is performed according to the following steps:

[0041] Step S1: Install the centering shaft 7 on the work base 5, so that the centering shaft 7 cooperates with the sixth positioning portion 10 of the work base 5 to achieve planar alignment, and so that the first positioning portion 71 of the centering shaft 7 cooperates with the second positioning portion 8 of the work base 5 to achieve circumferential positioning alignment of the centering shaft 7 and the work base 5;

[0042] Step S2: Move the transport arm to drive the mounting seat 3 to move closer to the centering shaft 7, and then fine-tune the mounting seat 3 along the radial direction of the centering shaft 7 so that the sixth position of the mounting seat 3 is aligned with the centering shaft 7 in the radial direction;

[0043] Step S3: Adjust the mounting base 3 so that it rotates around the axis of the centering shaft 7 so that the second positioning portion 8 of the mounting base 3 is aligned with the first positioning portion 71 at the other end of the centering shaft 7, thereby achieving accurate circumferential positioning of the centering shaft 7 and the mounting base 3 of the transport arm. This completes the alignment of the mounting base 3 and the working base 5, after which the centering shaft 7 can be detached from the working base 5.

[0044] Step S4: Ensure the connection between the centering shaft 7 and the mounting base 3. Move the mounting base 3 by the transport arm to move the centering shaft 7 onto the loading base 2. Fine-tune the centering shaft 7 so that it is aligned with the sixth positioning portion 10 of the loading base 2. Then, rotate the loading base 2 so that it rotates around the centering shaft 7 so that the second positioning portion 8 of the loading base 2 is aligned with the first positioning portion of the centering shaft 7. This achieves the centering of the loading base 2 and the mounting base 3. Remove the centering shaft 7.

[0045] Step S5: Install the loading jig 1 on the loading base 2 so that the third fixed portion is aligned and fixed with the second positioning portion 8 of the loading base 2; install the transport jig 4 on the mounting base 3 so that the fourth positioning portion 41 of the transport jig 4 is aligned and fixed with the second positioning portion 8 of the mounting base 3; install the working jig 6 on the working base 5 so that the fifth positioning portion 61 of the working jig 6 is aligned and fixed with the second positioning portion 8 of the working base 5. Of course, the θ direction and the XY direction can be directly aligned in one step, that is, first insert the locating pin 9 into the first locating pin hole, then align the second locating pin hole with the locating pin 9, and then adjust the position of the centering shaft 7 so that it can be inserted into the corresponding groove or positioning circular hole. The installation of the jig can also be deduced in this way.

[0046] The present invention has the following working principle:

[0047] like Figure 7 As shown, there is a screenshot of the alignment and debugging of the working fixture 6 and the transport fixture 4; the specific steps are as follows:

[0048] A. Based on the working fixture, assemble the centering shaft 7 and the working base 5, and place the centering shaft 7 into the second positioning groove (center the outer circle of the centering shaft 7, and the positioning pin 9 and the positioning pin hole are angled);

[0049] B. Move the transport arm close to the centering axis 7 and fine-tune the XY position to ensure that the positioning circular hole of the mounting base 31 of the transport arm is perfectly aligned with the centering axis 7. Lift the transport arm along the Z axis to insert the positioning circular hole of the mounting base 31 of the transport arm into the centering axis 7, thus completing the XY alignment of the two.

[0050] C. Install the positioning pin 9 in the second positioning pin hole of the jig mounting plate 32 on the transport arm to match the centering body axis. At this time, there is an angle deviation and the angle of the jig mounting plate 32 on the arm needs to be adjusted. In this way, the angle θ of the two is aligned;

[0051] D. By doing so, the XY positions and θ angles of the working fixture 6 and the transport fixture 4 can be adjusted and calibrated.

[0052] Alignment and debugging method of transport fixture 4 and loading fixture 1:

[0053] like Figure 8 The following is a screenshot of the alignment and debugging of the transport fixture 4 and the loading fixture 1; the specific steps are as follows:

[0054] A. Based on the handling arm fixture, place the auxiliary centering shaft between the handling arm and the loading base 2 (center the outer circle of the centering shaft 7 and the pins divide the angles);

[0055] B. Using the jig mounting plate 32 of the transport arm as a reference, align the centering axis 7 with the jig mounting plate 32 in XYθ;

[0056] C. Adjust the distance between the loading base 2 and the fixture mounting plate 32 of the transport arm, that is, place the outer circle of the centering shaft 7 into the first positioning groove of the loading base, thus completing the XY alignment of the two;

[0057] D. Fit the pin installed in the loading position base with the auxiliary centering shaft. If there is an angle deviation, the angle of the loading base 2 needs to be adjusted to complete the θ angle alignment of the two.

[0058] E. By doing so, the XY position and θ angle of the mounting base 3 of the transport arm and the loading base 2 can be adjusted and calibrated.

[0059] Finally, the working jig 6 is aligned and installed on the working base 5, the loading jig 1 is aligned and installed on the loading base 2, and the transport jig 4 is aligned and installed in the positioning circular hole of the mounting base 31 to complete the final alignment and debugging.

[0060] Several points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which can be mechanical connection or electrical connection, or internal communication between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may change.

[0061] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0062] Finally, the above description is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiment. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

[0063] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications without departing from the principle of the present invention should also be considered as the scope of protection of the present invention.

Claims

1. A manual loading and positioning device for a product, comprising a loading positioning mechanism, a transport arm, and a work position positioning mechanism, wherein the loading positioning mechanism comprises a loading fixture and a loading base, the transport arm comprises a mounting seat and a transport fixture, and the work position positioning mechanism comprises a work base and a work fixture, characterized in that: It includes a centering axis body for auxiliary centering, and the top and bottom of the centering axis body are both provided with a first positioning part for circumferential limitation at the position deviated from the axis center of the centering axis body, and the first positioning parts at the bottom and the top are coaxial; the top of the loading base, the bottom of the mounting seat and the top of the working base are all provided with a second positioning part that cooperates with the first positioning part, the bottom of the loading jig is provided with a third positioning part that cooperates with the second positioning part of the loading base, the top of the transport jig is provided with a fourth positioning part that cooperates with the second positioning part of the mounting seat, and the bottom of the working jig is provided with a fifth positioning part that cooperates with the second positioning part of the working base; the loading base, the mounting seat and the working base are all provided with a sixth positioning part that cooperates with the radial limitation of the centering axis body.

2. A manual product loading and positioning device according to claim 1, characterized in that: It also includes a positioning pin, the first positioning portion is a first positioning pin hole, the second positioning portion is a second positioning pin hole, and the positioning pin can be inserted into the first positioning pin hole and the second positioning pin hole.

3. A manual product loading and positioning device according to claim 2, characterized in that: The diameters of the first positioning pin hole and the second positioning pin hole are both equal to the diameter of the positioning pin.

4. A product manual loading and positioning device according to claim 2, characterized in that: The sixth positioning portion of the loading base is a first positioning groove opened on the top of the loading base. The first positioning groove has the same diameter as the centering axis. The second positioning pin hole is arranged on the bottom surface of the first positioning groove. The centering axis can be inserted into the first positioning groove.

5. A manual product loading and positioning device according to claim 4, characterized in that: The shape and size of the bottom of the loading jig are the same as the shape and size of the first positioning groove. The third positioning portion is arranged at a position deviating from the axis of the loading jig and is a third positioning pin hole. A positioning pin can be inserted between the third positioning pin hole and the second positioning pin hole of the loading base.

6. A manual product loading and positioning device according to claim 2, characterized in that: The mounting seat includes a mounting base plate and a jig mounting plate. The sixth positioning portion of the mounting seat is a positioning circular hole opened on the mounting plate. The lower surface of the jig mounting plate is provided with a downwardly protruding positioning frustum. The positioning frustum is inserted into the positioning circular hole. The diameter of the positioning frustum is the same as the diameter of the positioning circular hole and the centering axis. The second positioning pin hole is provided on the lower surface of the positioning frustum.

7. A manual product loading and positioning device according to claim 6, characterized in that: The shape and size of the top of the transport jig are the same as those of the positioning circular hole. The fourth positioning portion is arranged on the upper surface, deviating from the axis of the transport jig, and is a fourth positioning pin hole. A positioning pin can be inserted between the fourth positioning pin hole and the second positioning pin hole of the mounting seat.

8. A manual product loading and positioning device according to claim 2, characterized in that: The sixth positioning portion of the working base is a second positioning groove opened on the top of the working base. The second positioning groove has the same diameter as the centering axis. The second positioning is arranged on the bottom surface of the second positioning groove. The centering axis can be inserted into the second positioning groove.

9. A manual product loading and positioning device according to claim 8, characterized in that: The shape and size of the bottom of the working jig are the same as those of the second positioning groove. The fifth positioning portion is arranged on the lower surface, deviating from the axis of the transport jig, and is a fifth positioning pin hole. A positioning pin can be inserted between the fifth positioning pin hole and the second positioning pin hole of the working base.

10. A centering and debugging method for a manual product loading and positioning device according to any one of claims 1 to 9, characterized in that: Follow these steps to debug: Step S1: Mount the centering shaft on the work base, so that the centering shaft cooperates with the sixth positioning portion of the work base to achieve planar alignment, and so that the first positioning portion of the centering shaft cooperates with the second positioning portion of the work base to achieve circumferential positioning alignment between the centering shaft and the work base; Step S2: Move the transport arm to drive the mounting seat to move closer to the centering shaft, and then fine-tune the mounting seat in the radial direction of the centering shaft so that the sixth position of the mounting seat is aligned with the centering shaft in the radial direction; Step S3: Adjust the mounting base so that it rotates around the axis of the centering shaft so that the second positioning portion of the mounting base is aligned with the first positioning portion at the other end of the centering shaft, thereby achieving accurate circumferential positioning of the centering shaft and the mounting base of the transport arm. This completes the alignment of the mounting base and the working base, after which the centering shaft can be detached from the working base. Step S4: Ensure the connection between the centering shaft and the mounting seat, move the mounting seat by the transport arm, move the centering shaft to the loading base, and fine-tune the centering shaft to align with the sixth positioning portion of the loading base. Then, rotate the loading base so that it rotates around the centering shaft to align the second positioning portion of the loading base with the first positioning portion of the centering shaft. This completes the centering of the loading base and the mounting seat, and removes the centering shaft. Step S5: Install the loading jig on the loading base so that the third fixed portion is aligned and fixed with the second positioning portion of the loading base; Install the transport jig on the mounting seat so that the fourth positioning portion of the transport jig is aligned and fixed with the second positioning portion of the mounting seat; install the work jig on the work base so that the fifth positioning portion of the work jig is aligned and fixed with the second positioning portion of the work base.

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